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atom_actio
| Author | SHA1 | Date | |
|---|---|---|---|
| b91291b734 | |||
| 00cde0d2dc | |||
| bef742db1b |
128
README.md
128
README.md
@@ -19,7 +19,6 @@
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│ │ │ └── classifier_prompt.txt # 指令简单/复杂分类提示词
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│ │ ├── ...
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│ ├── generated_visualizations/ # 存放最新生成的py_tree可视化图像
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│ ├── generated_reasoning_content/ # 存放最新推理链Markdown（<plan_id>.md）
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│ └── requirements.txt # 后端服务的Python依赖
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│
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├── tools/
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@@ -27,8 +26,7 @@
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│ ├── knowledge_base/ # 【处理后】存放build_knowledge_base.py生成的.ndjson文件
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│ ├── vector_store/ # 【数据库】存放最终的ChromaDB向量数据库
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│ ├── build_knowledge_base.py # 【步骤1】用于将原始数据转换为自然语言知识
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│ ├── ingest.py # 【步骤2】用于将自然语言知识摄入向量数据库
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│ └── test_llama_server.py # 直接调用本地8081端口llama-server，支持 --system / --system-file
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│ └── ingest.py # 【步骤2】用于将自然语言知识摄入向量数据库
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│
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├── / # ROS2接口定义 (保持不变)
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└── docs/
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@@ -63,6 +61,18 @@
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```bash
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./llama-server -m ~/models/gguf/Qwen/Qwen3-8B-GGUF/Qwen3-8B-Q4_K_M.gguf --port 8081 --gpu-layers 36 --host 0.0.0.0 -c 8192
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```
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至此llama.cpp推理框架就完成了，无需进一步即可启动后端
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如果使用vllm后端，则执行以下命令
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```bash
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vllm serve Qwen3-4B-AWQ --host=0.0.0.0 --port=8081 --dtype=auto --max-num-seqs=1 --max-model-len=16384 --served-model-name "qwen3-4b-awq" --trust-remote-code --gpu-memory-utilization=0.75 --uvicorn-log-level=debug
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```
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由于调用vllm时，在发送HTTP请求时需要指定模型名称，所以在启动后端服务前需要添加环境变量，执行以下命令
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```bash
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export CLASSIFIER_MODEL="qwen3-4b-awq"
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export SIMPLE_MODEL="qwen3-4b-awq"
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export COMPLEX_MODEL="qwen3-4b-awq"
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```
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2. **Embedding模型部署**
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@@ -97,10 +107,6 @@
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通用API Key：`OPENAI_API_KEY`
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推理链捕获相关：
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- `ENABLE_REASONING_CAPTURE`：是否允许模型返回含有 <think> 的原文以便捕获推理链；默认 true。
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- `REASONING_PREVIEW_LINES`：在后端日志中打印推理链预览的行数；默认 20。
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示例：
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```bash
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export CLASSIFIER_MODEL="qwen2.5-1.8b-instruct"
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@@ -110,10 +116,6 @@ export CLASSIFIER_BASE_URL="http://$ORIN_IP:8081/v1"
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export SIMPLE_BASE_URL="http://$ORIN_IP:8081/v1"
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export COMPLEX_BASE_URL="http://$ORIN_IP:8081/v1"
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export OPENAI_API_KEY="sk-no-key-required"
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# 推理链捕获（可选）
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export ENABLE_REASONING_CAPTURE=true # 默认已为true；如需关闭，设置为 false
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export REASONING_PREVIEW_LINES=30 # 调整日志预览行数
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```
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### 测试简单模式
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@@ -127,22 +129,6 @@ python test_api.py
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示例输入：“简单模式，起飞” 或 “起飞到10米”。返回结果为简单JSON（无 `root`）：包含 `mode`、`action`、`plan_id`、`visualization_url`。
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### 直接调用 llama-server（绕过后端）
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当仅需测试本地 8081 端口的推理服务（OpenAI 兼容接口）时，可使用内置脚本：
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```bash
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python tools/test_llama_server.py \
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--system-file backend_service/src/prompts/system_prompt.txt \
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--user "起飞到10米然后降落" \
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--base-url "http://127.0.0.1:8081/v1" \
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--verbose
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```
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说明：
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- 支持 `--system` 或 `--system-file` 自定义提示词文件；`--system-file` 优先。
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- 默认解析 OpenAI 风格返回，若包含 `<think>` 推理内容会显示在输出中（具体取决于模型和服务配置）。
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---
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## 工作流程
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@@ -228,96 +214,14 @@ python ingest.py
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完成前两个阶段后，即可启动并测试后端服务。
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#### 1. 启动所有服务（推荐方式：一键启动脚本）
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#### 1. 启动后端服务
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我们提供了一个一键启动脚本 `start_all.sh`，可以自动启动所有必需的服务：
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启动服务的关键在于**按顺序激活环境**：先激活ROS 2工作空间，再激活Conda环境。
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```bash
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# 1. 切换到项目根目录
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cd /path/to/your/drone
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# 2. 使用一键启动脚本（推荐）
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./start_all.sh start
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# 或者直接运行（start是默认命令）
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./start_all.sh
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```
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**脚本功能：**
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- 自动启动推理模型服务（llama-server，端口8081）
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- 自动启动Embedding模型服务（llama-server，端口8090）
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- 自动启动FastAPI后端服务（端口8000）
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- 自动检查端口占用、模型文件、环境配置等
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- 自动等待服务就绪
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- 统一管理日志文件（保存在 `logs/` 目录）
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**环境变量配置（可选）：**
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在运行脚本前，可以通过环境变量自定义配置：
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```bash
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# 设置llama-server路径（如果不在默认位置）
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export LLAMA_SERVER_DIR="/path/to/llama.cpp/build/bin"
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# 设置模型路径（如果不在默认位置）
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export INFERENCE_MODEL="~/models/gguf/Qwen/Qwen3-8B-GGUF/Qwen3-8B-Q4_K_M.gguf"
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export EMBEDDING_MODEL="~/models/gguf/Qwen/Qwen3-embedding-4B/Qwen3-Embedding-4B-Q4_K_M.gguf"
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# 设置Conda环境名称（如果使用不同的环境名）
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export CONDA_ENV="backend"
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# 然后运行脚本
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./start_all.sh
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```
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**脚本命令：**
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```bash
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./start_all.sh start # 启动所有服务（默认）
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./start_all.sh stop # 停止所有服务
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./start_all.sh restart # 重启所有服务
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./start_all.sh status # 查看服务状态
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```
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**日志查看：**
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所有服务的日志都保存在 `logs/` 目录下：
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```bash
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# 查看所有日志
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tail -f logs/*.log
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# 查看特定服务日志
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tail -f logs/inference_model.log # 推理模型
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tail -f logs/embedding_model.log # Embedding模型
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tail -f logs/fastapi.log # FastAPI服务
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```
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#### 2. 手动启动服务（备选方式）
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如果您需要手动控制每个服务的启动，可以按照以下步骤操作：
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**启动推理模型服务：**
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```bash
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cd /llama.cpp/build/bin
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./llama-server -m ~/models/gguf/Qwen/Qwen3-8B-GGUF/Qwen3-8B-Q4_K_M.gguf --port 8081 --gpu-layers 36 --host 0.0.0.0 -c 8192
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```
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**启动Embedding模型服务：**
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在另一个终端中：
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```bash
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cd /llama.cpp/build/bin
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./llama-server -m ~/models/gguf/Qwen/Qwen3-embedding-4B/Qwen3-Embedding-4B-Q4_K_M.gguf --gpu-layers 36 --port 8090 --embeddings --pooling last --host 0.0.0.0
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```
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**启动FastAPI后端服务：**
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在第三个终端中：
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```bash
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# 1. 切换到项目根目录
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cd /path/to/your/drone
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# 2. 激活ROS 2编译环境
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# 作用：将我们编译好的`drone_interfaces`包的路径告知系统，否则Python会报`ModuleNotFoundError`。
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# 注意：此命令必须在每次打开新终端时执行一次。
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@@ -328,9 +232,9 @@ conda activate backend
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# 4. 启动FastAPI服务
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cd backend_service/
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# 如果使用vllm后端此时还应当指定使用的模型名称
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uvicorn src.main:app --host 0.0.0.0 --port 8000
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```
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当您看到日志中出现 `Uvicorn running on http://0.0.0.0:8000` 时，表示服务已成功启动。
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#### 2. 运行API接口测试
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@@ -1,85 +0,0 @@
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好的，我现在需要处理用户的任务指令，生成一个符合要求的行为树JSON。首先，我得仔细阅读用户的指令和参考知识，确保理解所有要求。
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用户的目标是搜索并锁定危险性最高的气球（红色>蓝色>绿色），然后跟踪30秒后进行打击。参考知识中提到了三个地点，但用户可能希望搜索的区域是这些地点附近，或者需要根据这些坐标来规划路径。
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首先，我需要确定无人机的起降点。参考知识中的地点坐标可能作为搜索区域的中心。比如，用户提到的“学生宿舍”坐标是(5,3,2)，但可能需要选择一个合适的中心点进行搜索。不过用户没有明确指定搜索区域，可能需要使用search_pattern来覆盖这些区域，或者直接在某个中心点周围搜索。
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接下来，任务流程应该是：起飞→飞往搜索区域→搜索目标→检测到目标后跟踪→打击。同时必须包含安全监控。
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根据用户提供的参考知识，可能需要将搜索区域设置为某个中心点。比如，用户提到的“跷跷板”在(x:15, y:-8.5, z:1.2)，但z坐标需要调整到至少1米，所以可能设置为z=2。或者选择其他地点作为搜索中心。但用户没有明确说明，可能需要假设搜索区域是这些地点的附近，或者使用其中一个作为中心。
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另外，用户提到要搜索并锁定危险性最高的气球，所以需要使用search_pattern或者object_detect。但因为是未知区域，可能更适合使用search_pattern，或者先飞到某个区域再进行检测。
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根据任务范式，可能需要先飞到某个坐标点，然后进行搜索。例如，使用fly_to_waypoint飞到某个中心点，然后执行search_pattern。或者直接使用search_pattern覆盖多个区域。
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不过参考知识中的三个地点可能作为搜索区域的中心，可能需要将搜索区域设置为这些点的附近。但用户没有明确说明，可能需要选择一个中心点，比如“学生宿舍”的坐标，或者综合考虑。
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另外，用户提到要锁定危险性最高的气球，所以需要检测到红色气球。因此，在search_pattern中，target_class应为balloon，并且description为“红色气球危险性高于蓝色气球高于绿色气球”，或者在object_detect中设置description参数为“红>蓝>绿”。
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但根据搜索模式，search_pattern的参数需要target_class和description。所以可能需要设置target_class为balloon，description为“红>蓝>绿”。
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接下来，流程应该是：
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1. 起飞到一定高度。
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2. 飞往搜索区域的中心点（比如学生宿舍的坐标，调整z到2）。
|
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3. 执行search_pattern，搜索红色气球。
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4. 一旦检测到目标，进行跟踪。
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5. 跟踪30秒后打击。
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同时，安全监控必须包含电池和GPS检查，以及紧急处理。
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|
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现在需要构建行为树结构。根节点是Parallel，包含主任务和安全监控。主任务是Sequence，包含起飞、飞往搜索点、搜索、跟踪、打击、降落。
|
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|
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在搜索部分，可能需要使用search_pattern，或者先飞到某个点再进行object_detect。但根据用户指令，可能更适合使用search_pattern，因为需要在未知区域搜索。
|
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所以，主任务步骤：
|
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|
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- preflight_checks
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- takeoff
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- fly_to_waypoint到某个中心点（比如学生宿舍的坐标，调整z为2）
|
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- search_pattern，参数为balloon，description为“红>蓝>绿”，pattern_type可能是spiral或grid，假设用spiral，中心点为学生宿舍的坐标，半径适当，比如50米。
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- 然后，当检测到目标后，进行track_object，跟踪30秒。
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- 然后strike_target，打击。
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- 最后降落。
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|
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但需要确保在search_pattern之后，检测到目标，然后进入跟踪。或者可能需要使用Selector来选择直接检测或搜索。
|
||||
|
||||
但根据用户指令，可能需要先飞到某个点，再执行search_pattern。或者直接使用search_pattern覆盖多个区域。
|
||||
|
||||
参考知识中的三个地点可能作为搜索区域的中心，但用户没有明确说明，可能需要选择其中一个作为搜索中心。比如学生宿舍的坐标(x:5, y:3, z:2)，调整z为2。
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所以，fly_to_waypoint的参数是x=5, y=3, z=2, acceptance_radius=2.0。
|
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|
||||
然后执行search_pattern，参数为balloon，description为“红>蓝>绿”，pattern_type为spiral，中心点为学生宿舍的坐标，半径比如50米。
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|
||||
之后，当检测到目标后，进行track_object，参数为balloon，description为“红>蓝>绿”，track_time=30.0，min_confidence=0.7，safe_distance=15.0。
|
||||
|
||||
然后strike_target，参数为balloon，description为“红>蓝>绿”，count=1。
|
||||
|
||||
最后降落。
|
||||
|
||||
同时，安全监控需要包含电池和GPS检查，以及紧急处理。
|
||||
|
||||
现在需要构建JSON结构，确保所有参数符合约束，并且流程正确。
|
||||
|
||||
可能的搜索中心是学生宿舍的坐标，调整z为2。然后search_pattern的参数为balloon，description为“红>蓝>绿”，pattern_type为spiral，radius为50米，center_x=5, center_y=3, center_z=2。
|
||||
|
||||
然后，当检测到目标后，进行track_object，跟踪30秒，然后打击。
|
||||
|
||||
在行为树中，主任务Sequence的步骤包括：
|
||||
|
||||
- preflight_checks
|
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- takeoff (altitude=2.0)
|
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- fly_to_waypoint到学生宿舍的坐标，调整z为2
|
||||
- search_pattern，参数为balloon，description为“红>蓝>绿”，pattern_type为spiral，radius=50，center_x=5, center_y=3, center_z=2
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- 然后，当检测到目标后，进行track_object
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||||
- strike_target
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||||
- land
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||||
|
||||
同时，安全监控的Selector包含电池和GPS条件，以及紧急处理。
|
||||
|
||||
现在需要检查所有参数是否符合约束，例如z=2，符合≥1。
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||||
|
||||
其他参数如radius=50，符合[5,1000]。
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||||
|
||||
所以，生成的JSON结构应该符合这些要求，并且流程正确。
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||||
Binary file not shown.
|
Before Width: | Height: | Size: 78 KiB After Width: | Height: | Size: 224 KiB |
@@ -15,8 +15,8 @@ chromadb>=0.4.0
|
||||
# Visualization
|
||||
graphviz>=0.20.0
|
||||
|
||||
# ROS 2 Python Client - 已注释，项目已与ROS2解耦
|
||||
# rclpy>=0.0.1
|
||||
# ROS 2 Python Client
|
||||
rclpy>=0.0.1
|
||||
|
||||
# Document Processing
|
||||
unstructured[all]>=0.11.0
|
||||
@@ -30,10 +30,10 @@ rich>=13.7.0
|
||||
# Type Hints Support
|
||||
typing-extensions>=4.8.0
|
||||
|
||||
# ROS 2 Build Dependencies - 已注释，项目已与ROS2解耦
|
||||
# empy==3.3.4
|
||||
# catkin-pkg>=0.4.0
|
||||
# lark>=1.1.0
|
||||
# colcon-common-extensions>=0.3.0
|
||||
# vcstool>=0.2.0
|
||||
# rosdep>=0.22.0
|
||||
# ROS 2 Build Dependencies
|
||||
empy==3.3.4
|
||||
catkin-pkg>=0.4.0
|
||||
lark>=1.1.0
|
||||
colcon-common-extensions>=0.3.0
|
||||
vcstool>=0.2.0
|
||||
rosdep>=0.22.0
|
||||
|
||||
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@@ -3,13 +3,13 @@ import os
|
||||
from fastapi import FastAPI, WebSocket, WebSocketDisconnect
|
||||
from fastapi.staticfiles import StaticFiles
|
||||
import logging
|
||||
# import threading # ROS2相关，已注释
|
||||
# import rclpy # ROS2相关，已注释
|
||||
import threading
|
||||
import rclpy
|
||||
|
||||
from .models import GeneratePlanRequest, ExecuteMissionRequest
|
||||
from .websocket_manager import websocket_manager
|
||||
from .py_tree_generator import py_tree_generator
|
||||
# from .ros2_client import MissionActionClient # ROS2相关，已注释
|
||||
from .ros2_client import MissionActionClient
|
||||
|
||||
# --- Application Setup ---
|
||||
app = FastAPI(
|
||||
@@ -23,15 +23,14 @@ static_dir = os.path.abspath(os.path.join(os.path.dirname(__file__), '..', 'gene
|
||||
app.mount("/static", StaticFiles(directory=static_dir), name="static")
|
||||
|
||||
# --- ROS2 Node and Client Initialization ---
|
||||
# ROS2相关代码已注释，项目已与ROS2解耦
|
||||
# rclpy.init()
|
||||
# ros2_client = MissionActionClient()
|
||||
rclpy.init()
|
||||
ros2_client = MissionActionClient()
|
||||
|
||||
# def run_ros2_node():
|
||||
# """Spins the ROS2 node in a dedicated thread."""
|
||||
# logging.info("Starting to spin ROS2 node...")
|
||||
# rclpy.spin(ros2_client)
|
||||
# logging.info("ROS2 node has stopped spinning.")
|
||||
def run_ros2_node():
|
||||
"""Spins the ROS2 node in a dedicated thread."""
|
||||
logging.info("Starting to spin ROS2 node...")
|
||||
rclpy.spin(ros2_client)
|
||||
logging.info("ROS2 node has stopped spinning.")
|
||||
|
||||
# --- API Endpoints ---
|
||||
|
||||
@@ -50,12 +49,9 @@ async def generate_plan_endpoint(request: GeneratePlanRequest):
|
||||
async def execute_mission_endpoint(request: ExecuteMissionRequest):
|
||||
"""
|
||||
Receives a `py_tree.json` and sends it to the drone for execution.
|
||||
ROS2相关功能已注释，项目已与ROS2解耦。
|
||||
"""
|
||||
# ROS2相关代码已注释
|
||||
# ros2_client.send_goal(request.py_tree)
|
||||
logging.warning("execute_mission endpoint called but ROS2 is disabled. Mission execution is not available.")
|
||||
return {"status": "execution_disabled", "message": "ROS2 integration is disabled. Mission execution is not available."}
|
||||
ros2_client.send_goal(request.py_tree)
|
||||
return {"status": "execution_started"}
|
||||
|
||||
@app.websocket("/ws/status")
|
||||
async def websocket_endpoint(websocket: WebSocket):
|
||||
@@ -77,23 +73,21 @@ async def websocket_endpoint(websocket: WebSocket):
|
||||
async def startup_event():
|
||||
"""
|
||||
On startup, get the current asyncio event loop and pass it to the websocket manager.
|
||||
ROS2相关功能已注释，项目已与ROS2解耦。
|
||||
Also, start the ROS2 node in a background thread.
|
||||
"""
|
||||
# Configure WebSocket Manager
|
||||
loop = asyncio.get_running_loop()
|
||||
websocket_manager.set_loop(loop)
|
||||
logging.info("WebSocket event loop configured.")
|
||||
|
||||
# ROS2相关代码已注释
|
||||
# Start ROS2 node in a background thread
|
||||
# ros2_thread = threading.Thread(target=run_ros2_node, daemon=True)
|
||||
# ros2_thread.start()
|
||||
# logging.info("ROS2 node thread started.")
|
||||
ros2_thread = threading.Thread(target=run_ros2_node, daemon=True)
|
||||
ros2_thread.start()
|
||||
logging.info("ROS2 node thread started.")
|
||||
|
||||
@app.on_event("shutdown")
|
||||
async def shutdown_event():
|
||||
logging.info("Backend service shutting down.")
|
||||
# ROS2相关代码已注释
|
||||
# ros2_client.destroy_node()
|
||||
# rclpy.shutdown()
|
||||
# logging.info("ROS2 node shut down successfully.")
|
||||
ros2_client.destroy_node()
|
||||
rclpy.shutdown()
|
||||
logging.info("ROS2 node shut down successfully.")
|
||||
|
||||
24
backend_service/src/prompts/classifier_prompt.txt
Normal file
24
backend_service/src/prompts/classifier_prompt.txt
Normal file
@@ -0,0 +1,24 @@
|
||||
你是一个严格的任务分类器。只输出一个JSON对象，不要输出解释或多余文本。
|
||||
根据用户指令与下述可用节点定义，判断其为“简单”或“复杂”。
|
||||
|
||||
- 简单：单一原子动作即可完成（例如“起飞”“飞机自检”“移动到某地(已给定坐标)”“对着某点环绕XY圈（如‘对着学生宿舍环绕三十两圈’）”等），且无需行为树与安全并行监控。
|
||||
- 复杂：需要多步流程、搜索/检测/跟踪/评估、战损确认、或需要模板化任务结构与安全并行监控。
|
||||
|
||||
输出格式（严格遵守）：
|
||||
{"mode":"simple"} 或 {"mode":"complex"}
|
||||
|
||||
—— 可用节点定义——
|
||||
```json
|
||||
{
|
||||
"actions": [
|
||||
{"name": "takeoff"}, {"name": "land"}, {"name": "fly_to_waypoint"}, {"name": "move_direction"}, {"name": "orbit_around_point"}, {"name": "orbit_around_target"}, {"name": "loiter"},
|
||||
{"name": "object_detect"}, {"name": "strike_target"}, {"name": "battle_damage_assessment"},
|
||||
{"name": "search_pattern"}, {"name": "track_object"}, {"name": "deliver_payload"},
|
||||
{"name": "preflight_checks"}, {"name": "emergency_return"}
|
||||
],
|
||||
"conditions": [
|
||||
{"name": "battery_above"}, {"name": "at_waypoint"}, {"name": "object_detected"},
|
||||
{"name": "target_destroyed"}, {"name": "time_elapsed"}, {"name": "gps_status"}
|
||||
]
|
||||
}
|
||||
```
|
||||
@@ -1,41 +0,0 @@
|
||||
## 六、高频错误规避
|
||||
1. 控制流节点的 `type` 必须是 `"Sequence"`, `"Selector"` 或 `"Parallel"`
|
||||
2. **人工确认节点 (`manual_confirmation`) 使用原则**：
|
||||
- **必须添加**：仅当指令中明确包含“我确认”、“等待确认”、“经允许”、“我通过后”等人工介入关键词时，**必须**在相应动作前添加此节点。
|
||||
- **严禁添加**：若指令未提及上述关键词，**严禁**主动添加此节点（即使是拍照、返航或降落等动作，只要用户没说要确认，就直接执行）。
|
||||
3. 在条件节点 `object_detected` 执行前，必须先安排搜索类动作节点（优先使用 `rotate_search`，仅当需大范围移动时用 `search_pattern`），确保无人机主动寻找目标。
|
||||
4. 当使用rotate_search或者object_detect节点时，必须有object_detected节点
|
||||
5. 用户指令中要求在当前位置执行任务时，无需fly_to_waypoint节点
|
||||
6. **严格区分无人机状态**：当用户指令明确无人机在**空中**时，严禁使用system_checks与takeoff节点；仅当用户指令明确在**地面**时，才可使用这两个节点
|
||||
7. **重点关注**：fly_to_waypoint与return_emergency节点辨析：当指令包含具体目的地（如“紧急回到广场”、“飞回大门”）时，**必须**使用fly_to_waypoint节点，**绝对禁止**使用return_emergency节点（该节点仅用于无目的地的“返航”指令）。
|
||||
8. 当用户指令中提及“靠近”、“飞近”、“贴近”目标时，**必须**在`take_photos`之前使用`approach_target`节点；若未提及此类关键词，则**严禁**使用`approach_target`节点。
|
||||
9. **方向移动优先原则**：当指令为“快速去往东边100米”，直接使用 `move_direction` 节点+距离参数，严禁使用fly_to_waypoint
|
||||
|
||||
## 七、坐标计算规则（东南天坐标系 ENU）
|
||||
本系统统一使用东南天（ENU）坐标系：
|
||||
- **X轴**：正方向为**东** (East)，负方向为**西** (West)
|
||||
- **Y轴**：正方向为**南** (South)向为**北** (North)
|
||||
- **Z轴**：正方向为**天** (Up)，负方向为**地** (Down)
|
||||
|
||||
**仅当指令涉及前往“具体地点”（如广场、大门）的偏移位置时，才需计算绝对坐标并使用`fly_to_waypoint`：**
|
||||
|
||||
当指令包含“具体地点 + 方向 + 距离”的偏移时，按方向类型选择工具：
|
||||
- **单一方向**（东/西/南/北/上/下，如“广场西边200米”）：**必须**先调用工具`calc_offset_enu`计算绝对坐标，再使用`fly_to_waypoint`。工具参数：
|
||||
- `base`: 参考地点的ENU坐标（含x/y/z）
|
||||
- `direction`: east/west/north/south/up/down
|
||||
- `distance`: 偏移距离（米）
|
||||
- **中文复合方位**（东南/西北/东北/西南/南偏东10度/北偏西15度等）：**必须**先调用工具`calc_offset_esu_direction_text`计算绝对坐标，再使用`fly_to_waypoint`。工具参数：
|
||||
- `base`: 参考地点的ENU坐标（含x/y/z）
|
||||
- `direction_text`: 中文方位原文（如“东南”“南偏东10度”）
|
||||
- `distance`: 偏移距离（米）
|
||||
- **禁止简化**：当出现“东南/西北/东北/西南/南偏东/北偏西”等复合方位时，禁止将其简化为单一方向（如仅“东”或仅“南”）。
|
||||
|
||||
示例（必须遵守）：
|
||||
- “飞到广场东南方向100米” → 必须调用 `calc_offset_esu_direction_text`，参数 `direction_text` 为 `"东南"`，`distance` 为 `100`，再使用 `fly_to_waypoint`。
|
||||
- “飞到广场南偏东10度100米” → 必须调用 `calc_offset_esu_direction_text`，参数 `direction_text` 为 `"南偏东10度"`，`distance` 为 `100`。
|
||||
|
||||
当指令只有“方向 + 距离”且**没有具体地点名词**时，**禁止**调用`calc_offset_enu`，必须使用`move_direction`。
|
||||
当指令描述“附近/边上/区域内”等模糊位置且**无方向+距离**时，视为到该地点本身，不做偏移计算。
|
||||
|
||||
## 八、输出要求
|
||||
仅输出1个严格符合上述所有规则的JSON对象。
|
||||
@@ -1,185 +0,0 @@
|
||||
{
|
||||
"actions": [
|
||||
{
|
||||
"name": "takeoff",
|
||||
"params": {
|
||||
"altitude": "float[1,100]，默认2"
|
||||
}
|
||||
},
|
||||
{
|
||||
"name": "land",
|
||||
"params": {
|
||||
"mode": "'current'/'home'"
|
||||
}
|
||||
},
|
||||
{
|
||||
"name": "fly_to_waypoint",
|
||||
"params": {
|
||||
"x": "±10000",
|
||||
"y": "±10000",
|
||||
"z": "[1,5000]",
|
||||
"acceptance_radius": "默认2.0",
|
||||
"desc": "仅当指令提及具体地点（如'去广场'、'去大门'）或需计算明确坐标时使用"
|
||||
}
|
||||
},
|
||||
{
|
||||
"name": "fly_sequence",
|
||||
"params": {
|
||||
"waypoints": "list[dict] (e.g. [{'x':10,'y':20,'depth':5}, ...]；depth可选，不填则保持当前高度)",
|
||||
"coordinate_frame": "'global'/'local_enu'（global:经纬度, local_enu:以起飞点为原点的东南天坐标系）",
|
||||
"speed": "float,可选"
|
||||
}
|
||||
},
|
||||
{
|
||||
"name": "move_direction",
|
||||
"params": {
|
||||
"direction": "north/south/east/west/forward/backward/left/right",
|
||||
"distance": "[1,10000]，缺省则持续移动",
|
||||
"speed": "float,可选",
|
||||
"desc": "当指令仅包含'往东/西...飞xx米'且无具体地点名词时，必须使用此节点"
|
||||
}
|
||||
},
|
||||
{
|
||||
"name": "approach_target",
|
||||
"params": {
|
||||
"target_class": "string,要趋近的目标类别",
|
||||
"description": "string,可选,目标属性描述",
|
||||
"stop_distance": "float,期望的最终停止距离",
|
||||
"speed": "float,可选,期望的逼近速度"
|
||||
}
|
||||
},
|
||||
{
|
||||
"name": "rotate",
|
||||
"params": {
|
||||
"angle": "float,无人机自身旋转角度(正数逆时针,负数顺时针)",
|
||||
"angular_velocity": "rad/s,旋转角速度"
|
||||
}
|
||||
},
|
||||
{
|
||||
"name": "rotate_search",
|
||||
"params": {
|
||||
"target_class": "同object_detect",
|
||||
"description": "string,可选,目标属性描述",
|
||||
"step_angle": "float,可选,每一步旋转的角度",
|
||||
"total_rotation": "float,可选,总共旋转搜索的角度"
|
||||
}
|
||||
},
|
||||
{
|
||||
"name": "manual_confirmation",
|
||||
"params": {}
|
||||
},
|
||||
{
|
||||
"name": "loiter",
|
||||
"params": {
|
||||
"duration": "[1,600]秒/until_condition:可选"
|
||||
}
|
||||
},
|
||||
{
|
||||
"name": "object_detect",
|
||||
"params": {
|
||||
"target_class": "person,bicycle,car,motorcycle,airplane,bus,train,truck,boat,traffic_light,fire_hydrant,stop_sign,parking_meter,bench,bird,cat,dog,horse,sheep,cow,elephant,bear,zebra,giraffe,backpack,umbrella,handbag,tie,suitcase,frisbee,skis,snowboard,sports_ball,kite,baseball_bat,baseball_glove,skateboard,surfboard,tennis_racket,bottle,wine_glass,cup,fork,knife,spoon,bowl,banana,apple,sandwich,orange,broccoli,carrot,hot_dog,pizza,donut,cake,chair,couch,potted_plant,bed,dining_table,toilet,tv,laptop,mouse,remote,keyboard,cell_phone,microwave,oven,toaster,sink,refrigerator,book,clock,vase,scissors,teddy_bear,hair_drier,toothbrush,garbage",
|
||||
"description": "可选，",
|
||||
"count": "默认1"
|
||||
}
|
||||
},
|
||||
{
|
||||
"name": "search_pattern",
|
||||
"params": {
|
||||
"pattern_type": "spiral/grid",
|
||||
"center_x": "±10000",
|
||||
"center_y": "±10000",
|
||||
"center_z": "[1,5000]",
|
||||
"radius": "[5,1000]",
|
||||
"target_class": "同object_detect",
|
||||
"description": "可选，目标属性",
|
||||
"count": "默认1"
|
||||
}
|
||||
},
|
||||
{
|
||||
"name": "track_object",
|
||||
"params": {
|
||||
"target_class": "同object_detect",
|
||||
"description": "可选，目标属性",
|
||||
"track_time": "[1,600]秒（必传，不可用'duration'）",
|
||||
"min_confidence": "[0.5,1.0]默认0.7",
|
||||
"safe_distance": "[2,50]默认10"
|
||||
}
|
||||
},
|
||||
{
|
||||
"name": "deliver_payload",
|
||||
"params": {
|
||||
"payload_type": "string",
|
||||
"release_altitude": "[2,100]默认5"
|
||||
}
|
||||
},
|
||||
{
|
||||
"name": "system_checks",
|
||||
"params": {
|
||||
"check_level": "basic/comprehensive，只能在起飞takeoff节点前使用，空中无需使用该节点"
|
||||
}
|
||||
},
|
||||
{
|
||||
"name": "return_emergency",
|
||||
"params": {
|
||||
"reason": "string，此节点仅用于【无明确目的地】的立即返航（默认回起飞点）。若指令包含“回到xx地”、“去xx地”（即使包含“紧急”二字），**严禁**使用此节点，必须使用fly_to_waypoint"
|
||||
}
|
||||
},
|
||||
{
|
||||
"name": "take_photos",
|
||||
"params": {
|
||||
"target_class": "同object_detect",
|
||||
"description": "可选，目标属性",
|
||||
"track_time": "[1,600]秒（必传，不可用'duration'）",
|
||||
"min_confidence": "[0.5,1.0]默认0.7",
|
||||
"safe_distance": "[2,50]默认10"
|
||||
}
|
||||
}
|
||||
],
|
||||
"conditions": [
|
||||
{
|
||||
"name": "at_waypoint",
|
||||
"params": {
|
||||
"x": "±10000",
|
||||
"y": "±10000",
|
||||
"z": "[1,5000]",
|
||||
"tolerance": "默认3.0"
|
||||
}
|
||||
},
|
||||
{
|
||||
"name": "object_detected",
|
||||
"params": {
|
||||
"target_class": "同object_detect（必传）",
|
||||
"description": "可选，目标属性",
|
||||
"count": "默认1"
|
||||
}
|
||||
}
|
||||
],
|
||||
"control_flow": [
|
||||
{
|
||||
"name": "Sequence",
|
||||
"params": {},
|
||||
"children": "子节点数组（按序执行，全成功则成功）"
|
||||
},
|
||||
{
|
||||
"name": "Selector",
|
||||
"params": {
|
||||
"memory": "默认true"
|
||||
},
|
||||
"children": "子节点数组（执行到成功为止）"
|
||||
},
|
||||
{
|
||||
"name": "Parallel",
|
||||
"params": {
|
||||
"policy": "all_success/success_on_one"
|
||||
},
|
||||
"children": "子节点数组（同时执行，默认all_success）"
|
||||
}
|
||||
],
|
||||
"decorators": [
|
||||
{
|
||||
"name": "SuccessIsFailure",
|
||||
"params": {},
|
||||
"child": "单一子节点（将子节点的成功结果反转为失败）"
|
||||
}
|
||||
]
|
||||
}
|
||||
@@ -1 +0,0 @@
|
||||
任务：根据用户任意任务指令，生成结构化可执行的无人机行为树（Pytree）JSON。**仅输出单一JSON对象，无任何自然语言、注释或额外内容**。
|
||||
@@ -1,8 +0,0 @@
|
||||
## 二、节点必填字段（后端Schema强制要求，缺一验证失败）
|
||||
每个节点必须包含以下字段，字段名/类型不可自定义：
|
||||
1. **`type`**：
|
||||
- 动作节点→`"action"`，条件节点→`"condition"`，控制流节点→`"Sequence"`/`"Selector"`/`"Parallel"`，装饰器节点→`"decorator"`；
|
||||
2. **`name`**：必须是上述JSON中定义的`name`值；
|
||||
3. **`params`**：严格匹配上述节点的`params`定义，无自定义参数；
|
||||
4. **`children`**：仅控制流节点必含（子节点数组）；
|
||||
5. **`child`**：仅装饰器节点必含（单一子节点对象，非数组）。
|
||||
@@ -1,448 +0,0 @@
|
||||
## 四、场景示例
|
||||
|
||||
#### 场景 1：地面到12米绕外围查看打开的窗户（Sequence）
|
||||
**指令**：“无人机当前在地面，去面前大楼的12米高处，绕着外围看有没有打开的窗户，发现则进行拍照。”
|
||||
**结构**：
|
||||
```json
|
||||
{
|
||||
"root": {
|
||||
"type": "Sequence",
|
||||
"name": "FlyPerimeterAndPhotoWindows",
|
||||
"children": [
|
||||
{"type":"action","name":"system_checks","params":{"check_level":"comprehensive"}},
|
||||
{"type":"action","name":"takeoff","params":{"altitude":10.0}},
|
||||
{
|
||||
"type": "Parallel",
|
||||
"name": "PatrolAndDetectWindows",
|
||||
"params": {"policy": "success_on_one"},
|
||||
"children": [
|
||||
{
|
||||
"type": "action",
|
||||
"name": "fly_sequence",
|
||||
"params": {
|
||||
"waypoints": [
|
||||
{"x": -24.0, "y": 241.8, "depth": 12.0},
|
||||
{"x": -108.5, "y": 241.8, "depth": 12.0},
|
||||
{"x": -108.5, "y": 289.8, "depth": 12.0},
|
||||
{"x": -24.0, "y": 292.8, "depth": 12.0},
|
||||
{"x": -24.0, "y": 241.8, "depth": 12.0}
|
||||
],
|
||||
"coordinate_frame": "local_enu"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "decorator",
|
||||
"name": "SuccessIsFailure",
|
||||
"child": {
|
||||
"type": "Sequence",
|
||||
"name": "DetectOpenWindowsWhileFlying",
|
||||
"children": [
|
||||
{"type":"action","name":"object_detect","params":{"target_class":"window","description":"打开的窗户"}},
|
||||
{"type":"condition","name":"object_detected","params":{"target_class":"window","description":"打开的窗户"}},
|
||||
{"type":"action","name":"take_photos","params":{"target_class":"window","description":"打开的窗户","track_time":10.0}}
|
||||
]
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
#### 场景 2：地面到12米沿外围查找打开的窗户（Sequence）
|
||||
**指令**：“无人机当前在地面，去面前大楼的12米高处，沿着外围查找所有打开的窗户并拍照。”
|
||||
**结构**：
|
||||
```json
|
||||
{
|
||||
"root": {
|
||||
"type": "Sequence",
|
||||
"name": "FlyPerimeterAndPhotoOpenWindows",
|
||||
"children": [
|
||||
{"type":"action","name":"system_checks","params":{"check_level":"comprehensive"}},
|
||||
{"type":"action","name":"takeoff","params":{"altitude":10.0}},
|
||||
{
|
||||
"type": "Parallel",
|
||||
"name": "PatrolAndDetectOpenWindows",
|
||||
"params": {"policy": "success_on_one"},
|
||||
"children": [
|
||||
{
|
||||
"type": "action",
|
||||
"name": "fly_sequence",
|
||||
"params": {
|
||||
"waypoints": [
|
||||
{"x": -24.0, "y": 241.8, "depth": 12.0},
|
||||
{"x": -108.5, "y": 241.8, "depth": 12.0},
|
||||
{"x": -108.5, "y": 289.8, "depth": 12.0},
|
||||
{"x": -24.0, "y": 292.8, "depth": 12.0},
|
||||
{"x": -24.0, "y": 241.8, "depth": 12.0}
|
||||
],
|
||||
"coordinate_frame": "local_enu"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "decorator",
|
||||
"name": "SuccessIsFailure",
|
||||
"child": {
|
||||
"type": "Sequence",
|
||||
"name": "DetectAllOpenWindowsWhileFlying",
|
||||
"children": [
|
||||
{"type":"action","name":"object_detect","params":{"target_class":"window","description":"打开的窗户"}},
|
||||
{"type":"condition","name":"object_detected","params":{"target_class":"window","description":"打开的窗户"}},
|
||||
{"type":"action","name":"take_photos","params":{"target_class":"window","description":"打开的窗户","track_time":10.0}}
|
||||
]
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
#### 场景 3：空中上升后绕外围侦察打开窗户（Sequence）
|
||||
**指令**：“无人机当前在空中，再往上飞3米，接着绕这栋楼外围侦察有没有打开的窗户，看到了就拍照传回来。”
|
||||
**结构**：
|
||||
```json
|
||||
{
|
||||
"root": {
|
||||
"type": "Sequence",
|
||||
"name": "RiseAndDetectOpenWindows",
|
||||
"children": [
|
||||
{"type":"action","name":"move_direction","params":{"direction":"up","distance":3.0}},
|
||||
{
|
||||
"type": "Parallel",
|
||||
"name": "PatrolAndDetectOpenWindows",
|
||||
"params": {"policy": "success_on_one"},
|
||||
"children": [
|
||||
{
|
||||
"type": "action",
|
||||
"name": "fly_sequence",
|
||||
"params": {
|
||||
"waypoints": [
|
||||
{"x": -24.0, "y": 241.8},
|
||||
{"x": -108.5, "y": 241.8},
|
||||
{"x": -108.5, "y": 289.8},
|
||||
{"x": -24.0, "y": 292.8},
|
||||
{"x": -24.0, "y": 241.8}
|
||||
],
|
||||
"coordinate_frame": "local_enu"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "decorator",
|
||||
"name": "SuccessIsFailure",
|
||||
"child": {
|
||||
"type": "Sequence",
|
||||
"name": "DetectOpenWindowsWhileFlying",
|
||||
"children": [
|
||||
{"type":"action","name":"object_detect","params":{"target_class":"window","description":"打开的窗户"}},
|
||||
{"type":"condition","name":"object_detected","params":{"target_class":"window","description":"打开的窗户"}},
|
||||
{"type":"action","name":"take_photos","params":{"target_class":"window","description":"打开的窗户","track_time":10.0}}
|
||||
]
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
#### 场景 4：地面到12米绕外围巡视杂物堆积（Sequence）
|
||||
**指令**：“无人机当前在地面，去面前大楼的12米高处，绕着外围巡视杂物堆积现象，发现则进行拍照。”
|
||||
**结构**：
|
||||
```json
|
||||
{
|
||||
"root": {
|
||||
"type": "Sequence",
|
||||
"name": "FlyPerimeterAndPhotoGarbageObserve",
|
||||
"children": [
|
||||
{"type":"action","name":"system_checks","params":{"check_level":"comprehensive"}},
|
||||
{"type":"action","name":"takeoff","params":{"altitude":10.0}},
|
||||
{
|
||||
"type": "Parallel",
|
||||
"name": "PatrolAndDetectGarbageObserve",
|
||||
"params": {"policy": "success_on_one"},
|
||||
"children": [
|
||||
{
|
||||
"type": "action",
|
||||
"name": "fly_sequence",
|
||||
"params": {
|
||||
"waypoints": [
|
||||
{"x": -24.0, "y": 241.8, "depth": 12.0},
|
||||
{"x": -108.5, "y": 241.8, "depth": 12.0},
|
||||
{"x": -108.5, "y": 289.8, "depth": 12.0},
|
||||
{"x": -24.0, "y": 292.8, "depth": 12.0},
|
||||
{"x": -24.0, "y": 241.8, "depth": 12.0}
|
||||
],
|
||||
"coordinate_frame": "local_enu"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "decorator",
|
||||
"name": "SuccessIsFailure",
|
||||
"child": {
|
||||
"type": "Sequence",
|
||||
"name": "DetectGarbageWhileFlying",
|
||||
"children": [
|
||||
{"type":"action","name":"object_detect","params":{"target_class":"garbage","description":"杂物堆积"}},
|
||||
{"type":"condition","name":"object_detected","params":{"target_class":"garbage","description":"杂物堆积"}},
|
||||
{"type":"action","name":"take_photos","params":{"target_class":"garbage","description":"杂物堆积","track_time":10.0}}
|
||||
]
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
#### 场景 5：地面到12米沿外围查找杂物堆积（Sequence）
|
||||
**指令**：“无人机当前在地面，去面前大楼的12米高处，沿着外围查找所有的杂物堆积并拍照。”
|
||||
**结构**：
|
||||
```json
|
||||
{
|
||||
"root": {
|
||||
"type": "Sequence",
|
||||
"name": "FlyPerimeterAndPhotoGarbage",
|
||||
"children": [
|
||||
{"type":"action","name":"system_checks","params":{"check_level":"comprehensive"}},
|
||||
{"type":"action","name":"takeoff","params":{"altitude":10.0}},
|
||||
{
|
||||
"type": "Parallel",
|
||||
"name": "PatrolAndDetectGarbage",
|
||||
"params": {"policy": "success_on_one"},
|
||||
"children": [
|
||||
{
|
||||
"type": "action",
|
||||
"name": "fly_sequence",
|
||||
"params": {
|
||||
"waypoints": [
|
||||
{"x": -24.0, "y": 241.8, "depth": 12.0},
|
||||
{"x": -108.5, "y": 241.8, "depth": 12.0},
|
||||
{"x": -108.5, "y": 289.8, "depth": 12.0},
|
||||
{"x": -24.0, "y": 292.8, "depth": 12.0},
|
||||
{"x": -24.0, "y": 241.8, "depth": 12.0}
|
||||
],
|
||||
"coordinate_frame": "local_enu"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "decorator",
|
||||
"name": "SuccessIsFailure",
|
||||
"child": {
|
||||
"type": "Sequence",
|
||||
"name": "DetectGarbageWhileFlying",
|
||||
"children": [
|
||||
{"type":"action","name":"object_detect","params":{"target_class":"garbage","description":"杂物堆积"}},
|
||||
{"type":"condition","name":"object_detected","params":{"target_class":"garbage","description":"杂物堆积"}},
|
||||
{"type":"action","name":"take_photos","params":{"target_class":"garbage","description":"杂物堆积","track_time":10.0}}
|
||||
]
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
#### 场景 6：空中下降后绕外围侦察杂物堆积（Sequence）
|
||||
**指令**：“无人机当前在空中，往下飞3米，接着绕这栋楼外围侦察有没有杂物堆积，看到了就拍照传回来。”
|
||||
**结构**：
|
||||
```json
|
||||
{
|
||||
"root": {
|
||||
"type": "Sequence",
|
||||
"name": "DescendAndDetectGarbage",
|
||||
"children": [
|
||||
{"type":"action","name":"move_direction","params":{"direction":"down","distance":3.0}},
|
||||
{
|
||||
"type": "Parallel",
|
||||
"name": "PatrolAndDetectGarbage",
|
||||
"params": {"policy": "success_on_one"},
|
||||
"children": [
|
||||
{
|
||||
"type": "action",
|
||||
"name": "fly_sequence",
|
||||
"params": {
|
||||
"waypoints": [
|
||||
{"x": -24.0, "y": 241.8},
|
||||
{"x": -108.5, "y": 241.8},
|
||||
{"x": -108.5, "y": 289.8},
|
||||
{"x": -24.0, "y": 292.8},
|
||||
{"x": -24.0, "y": 241.8}
|
||||
],
|
||||
"coordinate_frame": "local_enu"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "decorator",
|
||||
"name": "SuccessIsFailure",
|
||||
"child": {
|
||||
"type": "Sequence",
|
||||
"name": "DetectGarbageWhileFlying",
|
||||
"children": [
|
||||
{"type":"action","name":"object_detect","params":{"target_class":"garbage","description":"杂物堆积"}},
|
||||
{"type":"condition","name":"object_detected","params":{"target_class":"garbage","description":"杂物堆积"}},
|
||||
{"type":"action","name":"take_photos","params":{"target_class":"garbage","description":"杂物堆积","track_time":10.0}}
|
||||
]
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
#### 场景 7：地面到12米绕外围查看是否有人（Sequence）
|
||||
**指令**：“无人机当前在地面，去面前大楼的12米高处，绕着外围看有没有人，发现则进行拍照。”
|
||||
**结构**：
|
||||
```json
|
||||
{
|
||||
"root": {
|
||||
"type": "Sequence",
|
||||
"name": "FlyPerimeterAndPhotoPerson",
|
||||
"children": [
|
||||
{"type":"action","name":"system_checks","params":{"check_level":"comprehensive"}},
|
||||
{"type":"action","name":"takeoff","params":{"altitude":10.0}},
|
||||
{
|
||||
"type": "Parallel",
|
||||
"name": "PatrolAndDetectPerson",
|
||||
"params": {"policy": "success_on_one"},
|
||||
"children": [
|
||||
{
|
||||
"type": "action",
|
||||
"name": "fly_sequence",
|
||||
"params": {
|
||||
"waypoints": [
|
||||
{"x": -24.0, "y": 241.8, "depth": 12.0},
|
||||
{"x": -108.5, "y": 241.8, "depth": 12.0},
|
||||
{"x": -108.5, "y": 289.8, "depth": 12.0},
|
||||
{"x": -24.0, "y": 292.8, "depth": 12.0},
|
||||
{"x": -24.0, "y": 241.8, "depth": 12.0}
|
||||
],
|
||||
"coordinate_frame": "local_enu"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "decorator",
|
||||
"name": "SuccessIsFailure",
|
||||
"child": {
|
||||
"type": "Sequence",
|
||||
"name": "DetectPersonWhileFlying",
|
||||
"children": [
|
||||
{"type":"action","name":"object_detect","params":{"target_class":"person","description":"人员"}},
|
||||
{"type":"condition","name":"object_detected","params":{"target_class":"person","description":"人员"}},
|
||||
{"type":"action","name":"take_photos","params":{"target_class":"person","description":"人员","track_time":10.0}}
|
||||
]
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
#### 场景 8：地面到12米沿外围逆时针查找人员（Sequence）
|
||||
**指令**：“无人机当前在地面，去面前大楼的12米高处，沿着外围逆时针查找所有的人并拍照。”
|
||||
**结构**：
|
||||
```json
|
||||
{
|
||||
"root": {
|
||||
"type": "Sequence",
|
||||
"name": "FlyPerimeterCounterClockwiseAndPhotoPerson",
|
||||
"children": [
|
||||
{"type":"action","name":"system_checks","params":{"check_level":"comprehensive"}},
|
||||
{"type":"action","name":"takeoff","params":{"altitude":10.0}},
|
||||
{
|
||||
"type": "Parallel",
|
||||
"name": "PatrolCCWAndDetectPerson",
|
||||
"params": {"policy": "success_on_one"},
|
||||
"children": [
|
||||
{
|
||||
"type": "action",
|
||||
"name": "fly_sequence",
|
||||
"params": {
|
||||
"waypoints": [
|
||||
{"x": -24.0, "y": 241.8, "depth": 12.0},
|
||||
{"x": -24.0, "y": 292.8, "depth": 12.0},
|
||||
{"x": -108.5, "y": 289.8, "depth": 12.0},
|
||||
{"x": -108.5, "y": 241.8, "depth": 12.0},
|
||||
{"x": -24.0, "y": 241.8, "depth": 12.0}
|
||||
],
|
||||
"coordinate_frame": "local_enu"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "decorator",
|
||||
"name": "SuccessIsFailure",
|
||||
"child": {
|
||||
"type": "Sequence",
|
||||
"name": "DetectPersonWhileFlying",
|
||||
"children": [
|
||||
{"type":"action","name":"object_detect","params":{"target_class":"person","description":"人员"}},
|
||||
{"type":"condition","name":"object_detected","params":{"target_class":"person","description":"人员"}},
|
||||
{"type":"action","name":"take_photos","params":{"target_class":"person","description":"人员","track_time":10.0}}
|
||||
]
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
#### 场景 9：空中上升后沿建筑外围侦察人员（Sequence）
|
||||
**指令**：“无人机当前在空中，再往上飞3米，接着绕这栋楼外围侦察有没有人，看到了就拍照传回来。”
|
||||
**结构**：
|
||||
```json
|
||||
{
|
||||
"root": {
|
||||
"type": "Sequence",
|
||||
"name": "RiseAndPatrolPerimeter",
|
||||
"children": [
|
||||
{"type":"action","name":"move_direction","params":{"direction":"up","distance":3.0}},
|
||||
{
|
||||
"type": "Parallel",
|
||||
"name": "PatrolAndDetect",
|
||||
"params": {"policy": "success_on_one"},
|
||||
"children": [
|
||||
{
|
||||
"type": "action",
|
||||
"name": "fly_sequence",
|
||||
"params": {
|
||||
"waypoints": [
|
||||
{"x": -24.0, "y": 241.8},
|
||||
{"x": -108.5, "y": 241.8},
|
||||
{"x": -108.5, "y": 289.8},
|
||||
{"x": -24.0, "y": 292.8},
|
||||
{"x": -24.0, "y": 241.8}
|
||||
],
|
||||
"coordinate_frame": "local_enu"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "decorator",
|
||||
"name": "SuccessIsFailure",
|
||||
"child": {
|
||||
"type": "Sequence",
|
||||
"name": "DetectAndPhotoWhileFlying",
|
||||
"children": [
|
||||
{"type":"action","name":"object_detect","params":{"target_class":"person","description":"建筑外围人员"}},
|
||||
{"type":"condition","name":"object_detected","params":{"target_class":"person","description":"建筑外围人员"}},
|
||||
{"type":"action","name":"take_photos","params":{"target_class":"person","description":"建筑外围人员","track_time":10.0}}
|
||||
]
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
@@ -1,208 +0,0 @@
|
||||
## 四、场景示例（请灵活参考）
|
||||
|
||||
#### 场景 1：线性搜索任务（Sequence + Selector）
|
||||
**指令**：“无人机当前在地面，去研究所正大门，搜索扎辫子女子，找到后拍照。”
|
||||
**思路**：无人机在地面，则需要先自检然后起飞；获取研究所正大门坐标，调用fly_to_waypoint节点到达该地；然后调用rotate_search节点搜索目标女子，再使用object_detected条件节点，这样就可以作为take_photos节点的依据。
|
||||
**结构**：Sequence (按顺序执行)
|
||||
```json
|
||||
{
|
||||
"root": {
|
||||
"type": "Sequence",
|
||||
"name": "MainSearchTask",
|
||||
"children": [
|
||||
{"type":"action","name":"takeoff","params":{"altitude":10.0}},
|
||||
{"type":"action","name":"fly_to_waypoint","params":{"x":100.0,"y":50.0,"z":10.0}},
|
||||
{"type":"action","name":"rotate_search","params":{"target_class":"person","description":"扎辫子女子"}},
|
||||
{
|
||||
"type": "Selector",
|
||||
"name": "CheckAndPhoto",
|
||||
"children": [
|
||||
{
|
||||
"type": "Sequence",
|
||||
"name": "PhotoIfFound",
|
||||
"children": [
|
||||
{"type":"condition","name":"object_detected","params":{"target_class":"person","description":"扎辫子女子"}},
|
||||
{"type":"action","name":"take_photos","params":{"target_class":"person","description":"扎辫子女子","track_time":10.0}}
|
||||
]
|
||||
},
|
||||
{"type":"action","name":"loiter","params":{"duration":5.0}} // 未发现时的备选动作
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
#### 场景 2：带中断逻辑的巡逻（Selector 示例）
|
||||
**指令**：“无人机当前在地面，飞往航点A。如果途中发现可疑人员，则悬停。”
|
||||
**参考知识**：航点A的坐标（x:100.0,y:50.0）
|
||||
**思路**：无人机在地面，则需要先自检然后起飞；获取航点A的坐标，调用fly_to_waypoint节点到达该地；但同时需要注意看到可疑人员需要悬停，意味着一边进行识别，识别到进行悬停，因此要在object_detect节点后有一个object_detected条件节点，作为悬停的条件。
|
||||
**结构**：
|
||||
```json
|
||||
{
|
||||
"root": {
|
||||
"type": "Sequence",
|
||||
"children": [
|
||||
{"type":"action","name":"system_checks","params":{"check_level":"basic"}},
|
||||
{"type":"action","name":"takeoff","params":{"altitude":10.0}},
|
||||
{
|
||||
"type": "Selector",
|
||||
"name": "FlyOrDetect",
|
||||
"children": [
|
||||
{
|
||||
"type": "Sequence",
|
||||
"name": "InterruptionLogic",
|
||||
"children": [
|
||||
{"type":"action","name":"object_detect","params":{"target_class":"person"}},
|
||||
{"type":"condition","name":"object_detected","params":{"target_class":"person"}},
|
||||
{"type":"action","name":"loiter","params":{"duration":5.0}}
|
||||
]
|
||||
},
|
||||
{"type":"action","name":"fly_to_waypoint","params":{"x":100.0,"y":50.0,"z":10.0}}
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
#### 场景 3：长期监控任务（Parallel 示例）
|
||||
**指令**：“无人机当前在空中，往广场西边飞200米，持续监控5分钟，发现人就拍照告诉我，到时间可以返航。”
|
||||
**参考知识**：广场西边200米的坐标（x:50.0,y:50.0,z:10.0）
|
||||
**思路**：无人机在空中，直接前往目标点；到达后需要并行执行两件事：1. 倒计时5分钟（主控时间）；2. 持续检测人并拍照（从属任务）。
|
||||
使用`Parallel`节点并设置策略为`success_on_one`，这样当倒计时（loiter）结束返回成功时，整个并行节点就会成功结束，从而强制停止拍照循环。为了让拍照循环不提前结束Parallel，拍照分支使用`decorator`（SuccessIsFailure）或无限重试逻辑。
|
||||
**结构**：
|
||||
```json
|
||||
{
|
||||
"root": {
|
||||
"type": "Sequence",
|
||||
"name": "MainTask",
|
||||
"children": [
|
||||
{
|
||||
"type": "action",
|
||||
"name": "fly_to_waypoint",
|
||||
"params": {
|
||||
"x": 50.0,
|
||||
"y": 50.0,
|
||||
"z": 10.0
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "Parallel",
|
||||
"name": "MonitorAndPhoto",
|
||||
"params": {
|
||||
"policy": "success_on_one"
|
||||
},
|
||||
"children": [
|
||||
{
|
||||
"type": "action",
|
||||
"name": "loiter",
|
||||
"params": {
|
||||
"time": 300
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "decorator",
|
||||
"name": "SuccessIsFailure",
|
||||
"child": {
|
||||
"type": "Sequence",
|
||||
"name": "CheckAndPhoto",
|
||||
"children": [
|
||||
{
|
||||
"type": "action",
|
||||
"name": "object_detect",
|
||||
"params": {
|
||||
"target_class": "person"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "condition",
|
||||
"name": "object_detected",
|
||||
"params": {
|
||||
"target_class": "person"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "action",
|
||||
"name": "take_photos",
|
||||
"params": {
|
||||
"target_class": "person"
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
]
|
||||
},
|
||||
{
|
||||
"type": "action",
|
||||
"name": "return_emergency",
|
||||
"params": {
|
||||
"reason": "任务完成"
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
#### 场景 4：交互式确认任务（Sequence + Manual Confirmation）
|
||||
**指令**：“无人机当前在空中，搜索小汽车，搜索到了我确认后再决定要不要拍照。”
|
||||
**思路**：无人机已在空中，无需起飞，直接进行搜索。首先使用`rotate_search`主动搜索目标，配合`object_detected`条件节点确认目标是否被检测到。检测到后，执行`manual_confirmation`节点等待用户确认。只有用户确认通过（返回Success），才会继续执行后续的`take_photos`动作。
|
||||
**结构**：Sequence
|
||||
```json
|
||||
{
|
||||
"root": {
|
||||
"type": "Sequence",
|
||||
"name": "SearchConfirmPhoto",
|
||||
"children": [
|
||||
{"type":"action","name":"rotate_search","params":{"target_class":"car","description":"小汽车"}},
|
||||
{"type":"condition","name":"object_detected","params":{"target_class":"car","description":"小汽车"}},
|
||||
{"type":"action","name":"manual_confirmation","params":{}},
|
||||
{"type":"action","name":"take_photos","params":{"target_class":"car","description":"小汽车"}}
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
#### 场景 5：后置确认任务（Sequence + Manual Confirmation）
|
||||
**指令**：“无人机当前在地面，搜索小汽车，搜索到了拍张照，我确认后再决定要不要返航”
|
||||
**思路**：无人机在地面，需起飞。搜索小汽车（`rotate_search` + `object_detected`）。搜索到后，先执行拍照（`take_photos`）。之后执行人工确认（`manual_confirmation`），确认通过后才执行返航（`return_emergency`）。
|
||||
**结构**：Sequence
|
||||
```json
|
||||
{
|
||||
"root": {
|
||||
"type": "Sequence",
|
||||
"name": "SearchPhotoConfirmReturn",
|
||||
"children": [
|
||||
{"type":"action","name":"system_checks","params":{"check_level":"comprehensive"}},
|
||||
{"type":"action","name":"takeoff","params":{"altitude":10.0}},
|
||||
{"type":"action","name":"rotate_search","params":{"target_class":"car","description":"小汽车"}},
|
||||
{"type":"condition","name":"object_detected","params":{"target_class":"car","description":"小汽车"}},
|
||||
{"type":"action","name":"take_photos","params":{"target_class":"car","description":"小汽车"}},
|
||||
{"type":"action","name":"manual_confirmation","params":{}},
|
||||
{"type":"action","name":"return_emergency","params":{"reason":"确认后返航"}}
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
#### 场景 6：移动后条件降落（Sequence）
|
||||
**指令**：“无人机当前在空中，紧急回到广场，看见了红绿灯之后直接降落。”
|
||||
**参考知识**：广场坐标（x:0.0, y:0.0, z:10.0）
|
||||
**思路**：无人机在空中，无需起飞。首先飞往广场（`fly_to_waypoint`），严禁使用`return_emergency`。到达后，为了满足“看见红绿灯”的条件，必须先执行主动搜索（`rotate_search`）。一旦检测到红绿灯（`object_detected`），即执行降落（`land`）。
|
||||
**结构**：Sequence
|
||||
```json
|
||||
{
|
||||
"root": {
|
||||
"type": "Sequence",
|
||||
"name": "FlySearchLand",
|
||||
"children": [
|
||||
{"type":"action","name":"fly_to_waypoint","params":{"x":0.0,"y":0.0,"z":10.0}},
|
||||
{"type":"action","name":"rotate_search","params":{"target_class":"traffic_light","description":"红绿灯"}},
|
||||
{"type":"condition","name":"object_detected","params":{"target_class":"traffic_light","description":"红绿灯"}},
|
||||
{"type":"action","name":"land","params":{"mode":"current"}}
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
@@ -1,18 +0,0 @@
|
||||
## 三、标准任务结构模板（单次起降流程）
|
||||
当无人机在地面时，大多数任务应遵循“起飞 -> 移动 -> 条件判断 -> 执行 -> 返航/降落”的单次闭环流程，参考结构如下：
|
||||
```json
|
||||
{
|
||||
"root": {
|
||||
"type": "Sequence",
|
||||
"name": "MainTask",
|
||||
"children": [
|
||||
{"type":"action","name":"system_checks","params":{"check_level":"comprehensive"}},
|
||||
{"type":"action","name":"takeoff","params":{"altitude":10.0}},
|
||||
{"type":"action","name":"fly_to_waypoint","params":{"x":100.0,"y":50.0,"z":10.0}}, // 接近目标区域
|
||||
// --- 核心任务区 (根据指令替换) ---
|
||||
// 默认不需要降落节点，除非用户明确要求
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
而当无人机在空中时，则无需system_checks与takeoff环节，直接执行用户任务即可
|
||||
@@ -1,489 +0,0 @@
|
||||
#### 场景 7：空中上升后沿建筑外围侦察（Sequence + Selector）
|
||||
**指令**：“无人机当前在空中，再往上飞3米，接着绕这栋楼外围侦察有没有人，看到了就拍照传回来。”
|
||||
**参考信息**：面前的大楼外围四个点东南天坐标系坐标：A(-24.00, 241.80),B(-108.50, 241.80),C(-108.50, 289.80),D(-24.00, 292.80)。
|
||||
**思路**：无人机在空中，无需自检与起飞。先向上移动3米（仅方向+距离，使用`move_direction`）。随后“边飞边判断”：用`Parallel`并行执行`fly_sequence`与持续检测分支。检测分支使用`object_detect` + `object_detected` + `take_photos`，再用`SuccessIsFailure`保证不会提前结束并行；并行策略为`success_on_one`，当巡查飞行完成即结束任务。
|
||||
**结构**：Sequence
|
||||
```json
|
||||
{
|
||||
"root": {
|
||||
"type": "Sequence",
|
||||
"name": "RiseAndPatrolPerimeter",
|
||||
"children": [
|
||||
{
|
||||
"type": "action",
|
||||
"name": "move_direction",
|
||||
"params": {
|
||||
"direction": "up",
|
||||
"distance": 3.0
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "Parallel",
|
||||
"name": "PatrolAndDetect",
|
||||
"params": {
|
||||
"policy": "success_on_one"
|
||||
},
|
||||
"children": [
|
||||
{
|
||||
"type": "action",
|
||||
"name": "fly_sequence",
|
||||
"params": {
|
||||
"waypoints": [
|
||||
{"x": -24.0, "y": 241.8},
|
||||
{"x": -108.5, "y": 241.8},
|
||||
{"x": -108.5, "y": 289.8},
|
||||
{"x": -24.0, "y": 292.8},
|
||||
{"x": -24.0, "y": 241.8}
|
||||
],
|
||||
"coordinate_frame": "local_enu"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "decorator",
|
||||
"name": "SuccessIsFailure",
|
||||
"child": {
|
||||
"type": "Sequence",
|
||||
"name": "DetectAndPhotoWhileFlying",
|
||||
"children": [
|
||||
{"type":"action","name":"object_detect","params":{"target_class":"person","description":"建筑外围人员"}},
|
||||
{"type":"condition","name":"object_detected","params":{"target_class":"person","description":"建筑外围人员"}},
|
||||
{"type":"action","name":"take_photos","params":{"target_class":"person","description":"建筑外围人员","track_time":10.0}}
|
||||
]
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
#### 场景 8：地面起飞到楼前12米高度并沿外围查找杂物（Sequence）
|
||||
**指令**：“无人机当前在地面，去面前大楼的12米高处，沿着外围查找所有的杂物堆积并拍照。”
|
||||
**参考信息**：面前的大楼外围四个点东南天坐标系坐标：A(-24.00, 241.80),B(-108.50, 241.80),C(-108.50, 289.80),D(-24.00, 292.80)。
|
||||
**思路**：无人机在地面，需自检后起飞。指令是到具体地点且明确高度，使用`fly_sequence`沿外围巡查，所有航点设置为12米高度（`depth`=12）。为满足“边飞边判断”，使用`Parallel`并行飞行与检测，检测分支持续执行`object_detect` + `object_detected` + `take_photos`，用`SuccessIsFailure`避免提前结束。
|
||||
**结构**：Sequence
|
||||
```json
|
||||
{
|
||||
"root": {
|
||||
"type": "Sequence",
|
||||
"name": "FlyPerimeterAndPhotoGarbage",
|
||||
"children": [
|
||||
{"type":"action","name":"system_checks","params":{"check_level":"comprehensive"}},
|
||||
{"type":"action","name":"takeoff","params":{"altitude":10.0}},
|
||||
{
|
||||
"type": "Parallel",
|
||||
"name": "PatrolAndDetectGarbage",
|
||||
"params": {
|
||||
"policy": "success_on_one"
|
||||
},
|
||||
"children": [
|
||||
{
|
||||
"type": "action",
|
||||
"name": "fly_sequence",
|
||||
"params": {
|
||||
"waypoints": [
|
||||
{"x": -24.0, "y": 241.8, "depth": 12.0},
|
||||
{"x": -108.5, "y": 241.8, "depth": 12.0},
|
||||
{"x": -108.5, "y": 289.8, "depth": 12.0},
|
||||
{"x": -24.0, "y": 292.8, "depth": 12.0},
|
||||
{"x": -24.0, "y": 241.8, "depth": 12.0}
|
||||
],
|
||||
"coordinate_frame": "local_enu"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "decorator",
|
||||
"name": "SuccessIsFailure",
|
||||
"child": {
|
||||
"type": "Sequence",
|
||||
"name": "DetectGarbageWhileFlying",
|
||||
"children": [
|
||||
{"type":"action","name":"object_detect","params":{"target_class":"garbage","description":"杂物堆积"}},
|
||||
{"type":"condition","name":"object_detected","params":{"target_class":"garbage","description":"杂物堆积"}},
|
||||
{"type":"action","name":"take_photos","params":{"target_class":"garbage","description":"杂物堆积","track_time":10.0}}
|
||||
]
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
#### 场景 9：地面到12米绕外围查看打开的窗户（Sequence）
|
||||
**指令**：“无人机当前在地面，去面前大楼的12米高处，绕着外围看有没有打开的窗户，发现则进行拍照。”
|
||||
**参考信息**：面前的大楼外围四个点东南天坐标系坐标：A(-24.00, 241.80),B(-108.50, 241.80),C(-108.50, 289.80),D(-24.00, 292.80)。
|
||||
**思路**：无人机在地面，先自检起飞。随后使用`fly_sequence`沿外围绕飞，航点高度为12米（`depth`=12）。同时并行执行检测分支，发现打开窗户就拍照。
|
||||
**结构**：Sequence
|
||||
```json
|
||||
{
|
||||
"root": {
|
||||
"type": "Sequence",
|
||||
"name": "FlyPerimeterAndPhotoWindows",
|
||||
"children": [
|
||||
{"type":"action","name":"system_checks","params":{"check_level":"comprehensive"}},
|
||||
{"type":"action","name":"takeoff","params":{"altitude":10.0}},
|
||||
{
|
||||
"type": "Parallel",
|
||||
"name": "PatrolAndDetectWindows",
|
||||
"params": {
|
||||
"policy": "success_on_one"
|
||||
},
|
||||
"children": [
|
||||
{
|
||||
"type": "action",
|
||||
"name": "fly_sequence",
|
||||
"params": {
|
||||
"waypoints": [
|
||||
{"x": -24.0, "y": 241.8, "depth": 12.0},
|
||||
{"x": -108.5, "y": 241.8, "depth": 12.0},
|
||||
{"x": -108.5, "y": 289.8, "depth": 12.0},
|
||||
{"x": -24.0, "y": 292.8, "depth": 12.0},
|
||||
{"x": -24.0, "y": 241.8, "depth": 12.0}
|
||||
],
|
||||
"coordinate_frame": "local_enu"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "decorator",
|
||||
"name": "SuccessIsFailure",
|
||||
"child": {
|
||||
"type": "Sequence",
|
||||
"name": "DetectOpenWindowsWhileFlying",
|
||||
"children": [
|
||||
{"type":"action","name":"object_detect","params":{"target_class":"window","description":"打开的窗户"}},
|
||||
{"type":"condition","name":"object_detected","params":{"target_class":"window","description":"打开的窗户"}},
|
||||
{"type":"action","name":"take_photos","params":{"target_class":"window","description":"打开的窗户","track_time":10.0}}
|
||||
]
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
#### 场景 10：地面到12米沿外围查找打开的窗户（Sequence）
|
||||
**指令**：“无人机当前在地面，去面前大楼的12米高处，沿着外围查找所有打开的窗户并拍照。”
|
||||
**参考信息**：面前的大楼外围四个点东南天坐标系坐标：A(-24.00, 241.80),B(-108.50, 241.80),C(-108.50, 289.80),D(-24.00, 292.80)。
|
||||
**思路**：无人机在地面，起飞后使用`fly_sequence`沿外围巡查（`depth`=12），并行持续检测打开的窗户并拍照。
|
||||
**结构**：Sequence
|
||||
```json
|
||||
{
|
||||
"root": {
|
||||
"type": "Sequence",
|
||||
"name": "FlyPerimeterAndPhotoOpenWindows",
|
||||
"children": [
|
||||
{"type":"action","name":"system_checks","params":{"check_level":"comprehensive"}},
|
||||
{"type":"action","name":"takeoff","params":{"altitude":10.0}},
|
||||
{
|
||||
"type": "Parallel",
|
||||
"name": "PatrolAndDetectOpenWindows",
|
||||
"params": {
|
||||
"policy": "success_on_one"
|
||||
},
|
||||
"children": [
|
||||
{
|
||||
"type": "action",
|
||||
"name": "fly_sequence",
|
||||
"params": {
|
||||
"waypoints": [
|
||||
{"x": -24.0, "y": 241.8, "depth": 12.0},
|
||||
{"x": -108.5, "y": 241.8, "depth": 12.0},
|
||||
{"x": -108.5, "y": 289.8, "depth": 12.0},
|
||||
{"x": -24.0, "y": 292.8, "depth": 12.0},
|
||||
{"x": -24.0, "y": 241.8, "depth": 12.0}
|
||||
],
|
||||
"coordinate_frame": "local_enu"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "decorator",
|
||||
"name": "SuccessIsFailure",
|
||||
"child": {
|
||||
"type": "Sequence",
|
||||
"name": "DetectAllOpenWindowsWhileFlying",
|
||||
"children": [
|
||||
{"type":"action","name":"object_detect","params":{"target_class":"window","description":"打开的窗户"}},
|
||||
{"type":"condition","name":"object_detected","params":{"target_class":"window","description":"打开的窗户"}},
|
||||
{"type":"action","name":"take_photos","params":{"target_class":"window","description":"打开的窗户","track_time":10.0}}
|
||||
]
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
#### 场景 11：空中上升后绕外围侦察打开窗户（Sequence）
|
||||
**指令**：“无人机当前在空中，再往上飞3米，接着绕这栋楼外围侦察有没有打开的窗户，看到了就拍照传回来。”
|
||||
**参考信息**：面前的大楼外围四个点东南天坐标系坐标：A(-24.00, 241.80),B(-108.50, 241.80),C(-108.50, 289.80),D(-24.00, 292.80)。
|
||||
**思路**：无人机在空中，先上升3米。随后并行执行绕飞巡查与检测，发现打开窗户立即拍照。
|
||||
**结构**：Sequence
|
||||
```json
|
||||
{
|
||||
"root": {
|
||||
"type": "Sequence",
|
||||
"name": "RiseAndDetectOpenWindows",
|
||||
"children": [
|
||||
{"type":"action","name":"move_direction","params":{"direction":"up","distance":3.0}},
|
||||
{
|
||||
"type": "Parallel",
|
||||
"name": "PatrolAndDetectOpenWindows",
|
||||
"params": {
|
||||
"policy": "success_on_one"
|
||||
},
|
||||
"children": [
|
||||
{
|
||||
"type": "action",
|
||||
"name": "fly_sequence",
|
||||
"params": {
|
||||
"waypoints": [
|
||||
{"x": -24.0, "y": 241.8},
|
||||
{"x": -108.5, "y": 241.8},
|
||||
{"x": -108.5, "y": 289.8},
|
||||
{"x": -24.0, "y": 292.8},
|
||||
{"x": -24.0, "y": 241.8}
|
||||
],
|
||||
"coordinate_frame": "local_enu"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "decorator",
|
||||
"name": "SuccessIsFailure",
|
||||
"child": {
|
||||
"type": "Sequence",
|
||||
"name": "DetectOpenWindowsWhileFlying",
|
||||
"children": [
|
||||
{"type":"action","name":"object_detect","params":{"target_class":"window","description":"打开的窗户"}},
|
||||
{"type":"condition","name":"object_detected","params":{"target_class":"window","description":"打开的窗户"}},
|
||||
{"type":"action","name":"take_photos","params":{"target_class":"window","description":"打开的窗户","track_time":10.0}}
|
||||
]
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
#### 场景 12：地面到12米绕外围巡视杂物堆积（Sequence）
|
||||
**指令**：“无人机当前在地面，去面前大楼的12米高处，绕着外围巡视杂物堆积现象，发现则进行拍照。”
|
||||
**参考信息**：面前的大楼外围四个点东南天坐标系坐标：A(-24.00, 241.80),B(-108.50, 241.80),C(-108.50, 289.80),D(-24.00, 292.80)。
|
||||
**思路**：无人机在地面，起飞后沿外围绕飞（`depth`=12），并行检测杂物堆积并拍照。
|
||||
**结构**：Sequence
|
||||
```json
|
||||
{
|
||||
"root": {
|
||||
"type": "Sequence",
|
||||
"name": "FlyPerimeterAndPhotoGarbageObserve",
|
||||
"children": [
|
||||
{"type":"action","name":"system_checks","params":{"check_level":"comprehensive"}},
|
||||
{"type":"action","name":"takeoff","params":{"altitude":10.0}},
|
||||
{
|
||||
"type": "Parallel",
|
||||
"name": "PatrolAndDetectGarbageObserve",
|
||||
"params": {
|
||||
"policy": "success_on_one"
|
||||
},
|
||||
"children": [
|
||||
{
|
||||
"type": "action",
|
||||
"name": "fly_sequence",
|
||||
"params": {
|
||||
"waypoints": [
|
||||
{"x": -24.0, "y": 241.8, "depth": 12.0},
|
||||
{"x": -108.5, "y": 241.8, "depth": 12.0},
|
||||
{"x": -108.5, "y": 289.8, "depth": 12.0},
|
||||
{"x": -24.0, "y": 292.8, "depth": 12.0},
|
||||
{"x": -24.0, "y": 241.8, "depth": 12.0}
|
||||
],
|
||||
"coordinate_frame": "local_enu"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "decorator",
|
||||
"name": "SuccessIsFailure",
|
||||
"child": {
|
||||
"type": "Sequence",
|
||||
"name": "DetectGarbageWhileFlying",
|
||||
"children": [
|
||||
{"type":"action","name":"object_detect","params":{"target_class":"garbage","description":"杂物堆积"}},
|
||||
{"type":"condition","name":"object_detected","params":{"target_class":"garbage","description":"杂物堆积"}},
|
||||
{"type":"action","name":"take_photos","params":{"target_class":"garbage","description":"杂物堆积","track_time":10.0}}
|
||||
]
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
#### 场景 13：空中下降后绕外围侦察杂物堆积（Sequence）
|
||||
**指令**：“无人机当前在空中，往下飞3米，接着绕这栋楼外围侦察有没有杂物堆积，看到了就拍照传回来。”
|
||||
**参考信息**：面前的大楼外围四个点东南天坐标系坐标：A(-24.00, 241.80),B(-108.50, 241.80),C(-108.50, 289.80),D(-24.00, 292.80)。
|
||||
**思路**：无人机在空中，先下降3米。随后并行执行绕飞巡查与检测，发现杂物堆积立即拍照。
|
||||
**结构**：Sequence
|
||||
```json
|
||||
{
|
||||
"root": {
|
||||
"type": "Sequence",
|
||||
"name": "DescendAndDetectGarbage",
|
||||
"children": [
|
||||
{"type":"action","name":"move_direction","params":{"direction":"down","distance":3.0}},
|
||||
{
|
||||
"type": "Parallel",
|
||||
"name": "PatrolAndDetectGarbage",
|
||||
"params": {
|
||||
"policy": "success_on_one"
|
||||
},
|
||||
"children": [
|
||||
{
|
||||
"type": "action",
|
||||
"name": "fly_sequence",
|
||||
"params": {
|
||||
"waypoints": [
|
||||
{"x": -24.0, "y": 241.8},
|
||||
{"x": -108.5, "y": 241.8},
|
||||
{"x": -108.5, "y": 289.8},
|
||||
{"x": -24.0, "y": 292.8},
|
||||
{"x": -24.0, "y": 241.8}
|
||||
],
|
||||
"coordinate_frame": "local_enu"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "decorator",
|
||||
"name": "SuccessIsFailure",
|
||||
"child": {
|
||||
"type": "Sequence",
|
||||
"name": "DetectGarbageWhileFlying",
|
||||
"children": [
|
||||
{"type":"action","name":"object_detect","params":{"target_class":"garbage","description":"杂物堆积"}},
|
||||
{"type":"condition","name":"object_detected","params":{"target_class":"garbage","description":"杂物堆积"}},
|
||||
{"type":"action","name":"take_photos","params":{"target_class":"garbage","description":"杂物堆积","track_time":10.0}}
|
||||
]
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
#### 场景 14：地面到12米绕外围查看是否有人（Sequence）
|
||||
**指令**：“无人机当前在地面，去面前大楼的12米高处，绕着外围看有没有人，发现则进行拍照。”
|
||||
**参考信息**：面前的大楼外围四个点东南天坐标系坐标：A(-24.00, 241.80),B(-108.50, 241.80),C(-108.50, 289.80),D(-24.00, 292.80)。
|
||||
**思路**：无人机在地面，起飞后沿外围绕飞（`depth`=12），并行检测人员并拍照。
|
||||
**结构**：Sequence
|
||||
```json
|
||||
{
|
||||
"root": {
|
||||
"type": "Sequence",
|
||||
"name": "FlyPerimeterAndPhotoPerson",
|
||||
"children": [
|
||||
{"type":"action","name":"system_checks","params":{"check_level":"comprehensive"}},
|
||||
{"type":"action","name":"takeoff","params":{"altitude":10.0}},
|
||||
{
|
||||
"type": "Parallel",
|
||||
"name": "PatrolAndDetectPerson",
|
||||
"params": {
|
||||
"policy": "success_on_one"
|
||||
},
|
||||
"children": [
|
||||
{
|
||||
"type": "action",
|
||||
"name": "fly_sequence",
|
||||
"params": {
|
||||
"waypoints": [
|
||||
{"x": -24.0, "y": 241.8, "depth": 12.0},
|
||||
{"x": -108.5, "y": 241.8, "depth": 12.0},
|
||||
{"x": -108.5, "y": 289.8, "depth": 12.0},
|
||||
{"x": -24.0, "y": 292.8, "depth": 12.0},
|
||||
{"x": -24.0, "y": 241.8, "depth": 12.0}
|
||||
],
|
||||
"coordinate_frame": "local_enu"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "decorator",
|
||||
"name": "SuccessIsFailure",
|
||||
"child": {
|
||||
"type": "Sequence",
|
||||
"name": "DetectPersonWhileFlying",
|
||||
"children": [
|
||||
{"type":"action","name":"object_detect","params":{"target_class":"person","description":"人员"}},
|
||||
{"type":"condition","name":"object_detected","params":{"target_class":"person","description":"人员"}},
|
||||
{"type":"action","name":"take_photos","params":{"target_class":"person","description":"人员","track_time":10.0}}
|
||||
]
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
#### 场景 15：地面到12米沿外围逆时针查找人员（Sequence）
|
||||
**指令**：“无人机当前在地面，去面前大楼的12米高处，沿着外围逆时针查找所有的人并拍照。”
|
||||
**参考信息**：面前的大楼外围四个点东南天坐标系坐标：A(-24.00, 241.80),B(-108.50, 241.80),C(-108.50, 289.80),D(-24.00, 292.80)。
|
||||
**思路**：无人机在地面，起飞后按逆时针顺序巡查外围（示例航点顺序：A→D→C→B→A），并行检测人员与拍照。
|
||||
**结构**：Sequence
|
||||
```json
|
||||
{
|
||||
"root": {
|
||||
"type": "Sequence",
|
||||
"name": "FlyPerimeterCounterClockwiseAndPhotoPerson",
|
||||
"children": [
|
||||
{"type":"action","name":"system_checks","params":{"check_level":"comprehensive"}},
|
||||
{"type":"action","name":"takeoff","params":{"altitude":10.0}},
|
||||
{
|
||||
"type": "Parallel",
|
||||
"name": "PatrolCCWAndDetectPerson",
|
||||
"params": {
|
||||
"policy": "success_on_one"
|
||||
},
|
||||
"children": [
|
||||
{
|
||||
"type": "action",
|
||||
"name": "fly_sequence",
|
||||
"params": {
|
||||
"waypoints": [
|
||||
{"x": -24.0, "y": 241.8, "depth": 12.0},
|
||||
{"x": -24.0, "y": 292.8, "depth": 12.0},
|
||||
{"x": -108.5, "y": 289.8, "depth": 12.0},
|
||||
{"x": -108.5, "y": 241.8, "depth": 12.0},
|
||||
{"x": -24.0, "y": 241.8, "depth": 12.0}
|
||||
],
|
||||
"coordinate_frame": "local_enu"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "decorator",
|
||||
"name": "SuccessIsFailure",
|
||||
"child": {
|
||||
"type": "Sequence",
|
||||
"name": "DetectPersonWhileFlying",
|
||||
"children": [
|
||||
{"type":"action","name":"object_detect","params":{"target_class":"person","description":"人员"}},
|
||||
{"type":"condition","name":"object_detected","params":{"target_class":"person","description":"人员"}},
|
||||
{"type":"action","name":"take_photos","params":{"target_class":"person","description":"人员","track_time":10.0}}
|
||||
]
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
@@ -1,24 +0,0 @@
|
||||
scenes:
|
||||
system:
|
||||
- header.txt
|
||||
- core_nodes.json
|
||||
- required_fields.txt
|
||||
- standard_template.txt
|
||||
- scene4_examples.txt
|
||||
- system_extra_examples.txt
|
||||
- common_rules.txt
|
||||
scene1:
|
||||
- header.txt
|
||||
- core_nodes.json
|
||||
- required_fields.txt
|
||||
- standard_template.txt
|
||||
- scene1_examples.txt
|
||||
scene4:
|
||||
- header.txt
|
||||
- core_nodes.json
|
||||
- required_fields.txt
|
||||
- standard_template.txt
|
||||
- scene4_examples.txt
|
||||
- common_rules.txt
|
||||
simple:
|
||||
- simple_mode_prompt.txt
|
||||
@@ -1,46 +0,0 @@
|
||||
你是一个严格的指令场景分类器。只输出一个JSON对象，不要输出解释或多余文本。
|
||||
根据用户指令与下述场景定义，判断其属于“simple / scene1 / scene4”之一。
|
||||
|
||||
输出格式（严格遵守）：
|
||||
{"mode":"simple"} 或 {"mode":"scene1"} 或 {"mode":"scene4"}
|
||||
|
||||
判定规则（严格遵守）：
|
||||
1. 若指令符合 scene1 或 scene4 的特征，必须输出对应模式；
|
||||
2. 若指令不符合 scene1 与 scene4，输出 simple；
|
||||
3. 仅允许以上三种取值，禁止输出其他字段或文本。
|
||||
|
||||
—— 场景定义 ——
|
||||
scene1（大楼外围巡查类）：
|
||||
- 关键词特征：面前大楼/这栋楼、外围/沿着外围/绕着外围、12米高处、逆时针等；
|
||||
- 任务类型：绕楼外围巡查、搜索窗户/杂物堆积/人员等并拍照；
|
||||
- 包含上下/下降移动（上升3米/下降3米）后绕楼侦察的也属于 scene1。
|
||||
|
||||
scene4（广场相关复合任务类）：
|
||||
- 关键词特征：广场、广场边上、广场南边、施工区域、紧急回到广场、回到广场；
|
||||
- 任务类型：在广场搜索/拍照/监控/返航/降落/靠近拍照等；
|
||||
- 可能包含“确认后拍照/返航”、“持续监控5分钟”、“挟持”等描述。
|
||||
|
||||
—— 场景指令样例 ——
|
||||
scene1 示例：
|
||||
- 无人机当前在地面，去面前大楼的12米高处，绕着外围看有没有打开的窗户，发现则进行拍照。
|
||||
- 无人机当前在地面，去面前大楼的12米高处，沿着外围查找所有打开的窗户并拍照。
|
||||
- 无人机当前在空中，再往上飞3米，接着绕这栋楼外围侦察有没有打开的窗户，看到了就拍照传回来。
|
||||
- 无人机当前在地面，去面前大楼的12米高处，绕着外围巡视杂物堆积现象，发现则进行拍照。
|
||||
- 无人机当前在地面，去面前大楼的12米高处，沿着外围查找所有的杂物堆积并拍照。
|
||||
- 无人机当前在空中，往下飞3米，接着绕这栋楼外围侦察有没有杂物堆积，看到了就拍照传回来。
|
||||
- 无人机当前在地面，去面前大楼的12米高处，绕着外围看有没有人，发现则进行拍照。
|
||||
- 无人机当前在地面，去面前大楼的12米高处，沿着外围逆时针查找所有的人并拍照。
|
||||
- 无人机当前在空中，再往上飞3米，接着绕这栋楼外围侦察有没有人，看到了就拍照传回来。
|
||||
|
||||
scene4 示例：
|
||||
- 无人机当前在地面，到广场查找穿红色衣服的人，找到后近距离拍照。
|
||||
- 无人机当前在空中，回到广场，对戴帽子的人进行拍照。
|
||||
- 无人机当前在空中，去广场南边40米，对过往的公交车拍张照，然后返航。
|
||||
- 无人机当前在地面，到广场查找绿色公交车，看见了拍个照片。
|
||||
- 无人机当前在空中，搜索小汽车，搜索到了我确认后再决定要不要拍照。
|
||||
- 无人机当前在空中，搜索小汽车，搜索到了拍张照，我确认后再决定要不要返航。
|
||||
- 无人机当前在空中，往广场南边飞40米，持续监控5分钟，发现人就拍照告诉我，到时间可以返航。
|
||||
- 无人机当前在地面，到广场边上的施工区域内，发现有没带安全帽的飞近后拍照。
|
||||
- 无人机当前在空中，紧急回到广场，看见了红绿灯之后直接降落。
|
||||
- 无人机当前在地面，快速去往东边60米，有身穿白色衣服，头戴帽子的男子在挟持他人，对其进行拍照。
|
||||
- 无人机当前在空中，离白色衣服戴帽子的人太远了照片看不清，贴近到3米距离拍，拍完可以直接返航。
|
||||
@@ -4,43 +4,41 @@
|
||||
- 只输出一个JSON对象，不要任何解释或多余文本。
|
||||
- JSON结构：
|
||||
{"root":{"type":"action","name":"<action_name>","params":{...}}}
|
||||
- root节点必须是action类型节点，不能是控制流节点。
|
||||
- <action_name> 与参数定义、取值范围，必须与“复杂模式”提示词（system_prompt.txt）中的定义完全一致。
|
||||
- 简单模式下root节点必须是action类型节点，不能是控制流节点。
|
||||
|
||||
示例：
|
||||
- “起飞到10米” → {"root":{"type":"action","name":"takeoff","params":{"altitude":10.0}}}
|
||||
- “移动到(120,80,20)” → {"root":{"type":"action","name":"fly_to_waypoint","params":{"x":120.0,"y":80.0,"z":20.0,"acceptance_radius":2.0}}}
|
||||
- “飞机自检” → {"root":{"type":"action","name":"system_checks","params":{"check_level":"comprehensive"}}}
|
||||
- “飞机自检” → {"root":{"type":"action","name":"preflight_checks","params":{"check_level":"comprehensive"}}}
|
||||
|
||||
—— 可用节点定义——
|
||||
```json
|
||||
{
|
||||
"actions": [
|
||||
{"name":"takeoff","params":{"altitude":"float[1,100]，默认2"}},
|
||||
{"name":"land","params":{"mode":"'current'/'home'"}},
|
||||
{"name":"fly_to_waypoint","params":{"x":"±10000","y":"±10000","z":"[1,5000]","acceptance_radius":"默认2.0"}},
|
||||
{"name":"fly_sequence","params":{"waypoints":"list[dict] (e.g. [{'x':10,'y':20,'depth':5}, ...]；depth可选，不填则保持当前高度)","coordinate_frame":"'global'/'local_enu'（global:经纬度, local_enu:以起飞点为原点的东南天坐标系）","speed":"float,可选"}},
|
||||
{"name":"move_direction","params":{"direction":"north/south/east/west/forward/backward/left/right/up/down","distance":"[1,10000]，缺省持续移动","speed":"float,可选"}},
|
||||
{"name":"approach_target","params":{"target_class":"string,要趋近的目标类别","description":"string,可选,目标属性描述","stop_distance":"float,期望的最终停止距离","speed":"float,可选,期望的逼近速度"}},
|
||||
{"name":"rotate","params":{"angle":"float,无人机自身旋转角度(正数逆时针,负数顺时针)","angular_velocity":"rad/s,旋转角速度"}},
|
||||
{"name":"rotate_search","params":{"target_class":"string,要搜寻的目标类别","description":"string,可选,目标属性描述","step_angle":"float,可选,每一步旋转的角度","total_rotation":"float,可选,总共旋转搜索的角度"}},
|
||||
{"name":"manual_confirmation","params":{}},
|
||||
{"name":"loiter","params":{"duration":"[1,600]秒/until_condition:可选"}},
|
||||
{"name":"object_detect","params":{"target_class":"person,bicycle,car,motorcycle,airplane,bus,train,truck,boat,traffic_light,fire_hydrant,stop_sign,parking_meter,bench,bird,cat,dog,horse,sheep,cow,elephant,bear,zebra,giraffe,backpack,umbrella,handbag,tie,suitcase,frisbee,skis,snowboard,sports_ball,kite,baseball_bat,baseball_glove,skateboard,surfboard,tennis_racket,bottle,wine_glass,cup,fork,knife,spoon,bowl,banana,apple,sandwich,orange,broccoli,carrot,hot_dog,pizza,donut,cake,chair,couch,potted_plant,bed,dining_table,toilet,tv,laptop,mouse,remote,keyboard,cell_phone,microwave,oven,toaster,sink,refrigerator,book,clock,vase,scissors,teddy_bear,hair_drier,toothbrush,garbage","description":"可选，","count":"默认1"}},
|
||||
{"name":"strike_target","params":{"target_class":"同object_detect","description":"可选，目标属性","count":"默认1"}},
|
||||
{"name":"battle_damage_assessment","params":{"target_class":"同object_detect","assessment_time":"[5,60]，默认15"}},
|
||||
{"name":"search_pattern","params":{"pattern_type":"spiral/grid","center_x":"±10000","center_y":"±10000","center_z":"[1,5000]","radius":"[5,1000]","target_class":"同object_detect","description":"可选，目标属性","count":"默认1"}},
|
||||
{"name":"track_object","params":{"target_class":"同object_detect","description":"可选，目标属性","track_time":"[1,600]秒（必传，不可用'duration'）","min_confidence":"[0.5,1.0]默认0.7","safe_distance":"[2,50]默认10"}},
|
||||
{"name":"deliver_payload","params":{"payload_type":"string","release_altitude":"[2,100]默认5"}},
|
||||
{"name":"system_checks","params":{"check_level":"basic/comprehensive"}},
|
||||
{"name":"return_emergency","params":{"reason":"string，此节点仅用于【无明确目的地】的立即返航。若指令包含“回到xx地”、“去xx地”（即使包含“紧急”二字），**严禁**使用此节点，必须使用fly_to_waypoint"}},
|
||||
{"name":"take_photos","params":{"target_class":"同object_detect","description":"可选，目标属性","track_time":"[1,600]秒（必传，不可用'duration'）","min_confidence":"[0.5,1.0]默认0.7","safe_distance":"[2,50]默认10"}}
|
||||
{"name": "takeoff", "description": "无人机从当前位置垂直起飞到指定的海拔高度。", "params": {"altitude": "float, 目标海拔高度(米)，范围[1, 100]，默认为2"}},
|
||||
{"name": "land", "description": "降落无人机。可选择当前位置或返航点降落。", "params": {"mode": "string, 可选值: 'current'（当前位置）, 'home'（返航点）"}},
|
||||
{"name": "fly_to_waypoint", "description": "导航至一个指定坐标点。使用相对坐标系（x,y,z），单位为米。", "params": {"x": "float", "y": "float", "z": "float", "acceptance_radius": "float, 可选，默认2.0"}},
|
||||
{"name": "move_direction", "description": "按指定方向直线移动。方向可为绝对方位或相对机体朝向。", "params": {"direction": "string: north|south|east|west|forward|backward|left|right", "distance": "float[1,10000], 可选, 不指定则持续移动"}},
|
||||
{"name": "orbit_around_point", "description": "以给定中心点为中心，等速圆周飞行指定圈数。", "params": {"center_x": "float", "center_y": "float", "center_z": "float", "radius": "float[5,1000]", "laps": "int[1,20]", "clockwise": "boolean, 可选, 默认true", "speed_mps": "float[0.5,15], 可选", "gimbal_lock": "boolean, 可选, 默认true"}},
|
||||
{"name": "orbit_around_target", "description": "以目标为中心，等速圆周飞行指定圈数（需已有目标）。", "params": {"target_class": "string, 取值同object_detect列表", "description": "string, 可选", "radius": "float[5,1000]", "laps": "int[1,20]", "clockwise": "boolean, 可选, 默认true", "speed_mps": "float[0.5,15], 可选", "gimbal_lock": "boolean, 可选, 默认true"}},
|
||||
{"name": "loiter", "description": "在当前位置上空悬停一段时间或直到条件触发。", "params": {"duration": "float, 可选[1,600]", "until_condition": "string, 可选"}},
|
||||
{"name": "object_detect", "description": "识别特定目标对象。一般是用户提到的需要检测的目标；如果用户给出了需要探索的目标的优先级，比如蓝色球危险性大于红色球大于绿色球，需要检测最危险的球，此处应给出检测优先级，描述应当为 '蓝>红>绿'", "params": {"target_class": "string, 要识别的目标类别，必须为以下值之一: balloon,person, bicycle, car, motorcycle, airplane, bus, train, truck, boat, traffic_light, fire_hydrant, stop_sign, parking_meter, bench, bird, cat, dog, horse, sheep, cow, elephant, bear, zebra, giraffe, backpack, umbrella, handbag, tie, suitcase, frisbee, skis, snowboard, sports_ball, kite, baseball_bat, baseball_glove, skateboard, surfboard, tennis_racket, bottle, wine_glass, cup, fork, knife, spoon, bowl, banana, apple, sandwich, orange, broccoli, carrot, hot_dog, pizza, donut, cake, chair, couch, potted_plant, bed, dining_table, toilet, tv, laptop, mouse, remote, keyboard, cell_phone, microwave, oven, toaster, sink, refrigerator, book, clock, vase, scissors, teddy_bear, hair_drier, toothbrush", "description": "string, 可选", "count": "int, 可选, 默认1"}},
|
||||
{"name": "strike_target", "description": "对已识别目标进行打击。", "params": {"target_class": "string", "description": "string, 可选", "count": "int, 可选, 默认1"}},
|
||||
{"name": "battle_damage_assessment", "description": "战损评估。", "params": {"target_class": "string", "assessment_time": "float[5-60], 默认15.0"}},
|
||||
{"name": "search_pattern", "description": "按模式搜索。", "params": {"pattern_type": "string: spiral|grid", "center_x": "float", "center_y": "float", "center_z": "float", "radius": "float[5,1000]", "target_class": "string", "description": "string, 可选", "count": "int, 可选, 默认1"}},
|
||||
{"name": "track_object", "description": "持续跟踪目标。", "params": {"target_class": "string, 取值同object_detect列表", "description": "string, 可选", "track_time": "float[1,600], 默认30.0", "min_confidence": "float[0.5-1.0], 默认0.7", "safe_distance": "float[2-50], 默认10.0"}},
|
||||
{"name": "deliver_payload", "description": "投放物资。", "params": {"payload_type": "string", "release_altitude": "float[2,100], 默认5.0"}},
|
||||
{"name": "preflight_checks", "description": "飞行前系统自检。", "params": {"check_level": "string: basic|comprehensive"}},
|
||||
{"name": "emergency_return", "description": "执行紧急返航程序。", "params": {"reason": "string"}}
|
||||
],
|
||||
"conditions": [
|
||||
{"name":"at_waypoint","params":{"x":"±10000","y":"±10000","z":"[1,5000]","tolerance":"默认3.0"}},
|
||||
{"name":"object_detected","params":{"target_class":"同object_detect（必传）","description":"可选，目标属性","count":"默认1"}},
|
||||
{"name":"target_destroyed","params":{"target_class":"同object_detect","description":"可选，目标属性","confidence":"[0.5,1.0]默认0.8"}},
|
||||
{"name":"time_elapsed","params":{"duration":"[1,2700]秒"}},
|
||||
{"name":"gps_status","params":{"min_satellites":"int[6,15]，必传（如8）"}}
|
||||
{"name": "battery_above", "description": "电池电量高于阈值。", "params": {"threshold": "float[0.0,1.0]"}},
|
||||
{"name": "at_waypoint", "description": "在指定坐标容差范围内。", "params": {"x": "float", "y": "float", "z": "float", "tolerance": "float, 可选, 默认3.0"}},
|
||||
{"name": "object_detected", "description": "检测到特定目标。", "params": {"target_class": "string", "description": "string, 可选", "count": "int, 可选, 默认1"}},
|
||||
{"name": "target_destroyed", "description": "目标已被摧毁。", "params": {"target_class": "string", "description": "string, 可选", "confidence": "float[0.5-1.0], 默认0.8"}},
|
||||
{"name": "time_elapsed", "description": "时间经过。", "params": {"duration": "float[1,2700]"}},
|
||||
{"name": "gps_status", "description": "GPS状态良好。", "params": {"min_satellites": "int[6,15], 默认10"}}
|
||||
]
|
||||
}
|
||||
```
|
||||
@@ -51,4 +49,14 @@
|
||||
- fly_to_waypoint.x,y: [-10000, 10000]
|
||||
- search_pattern.radius: [5, 1000]
|
||||
- move_direction.distance: [1, 10000]
|
||||
- orbit_around_point.radius: [5, 1000]
|
||||
- orbit_around_target.radius: [5, 1000]
|
||||
- orbit_around_point/target.laps: [1, 20]
|
||||
- orbit_around_point/target.speed_mps: [0.5, 15]
|
||||
- 若参考知识提供坐标，必须使用并裁剪到约束范围内
|
||||
|
||||
—— 口令转化规则（环绕类）——
|
||||
- “环绕X米Y圈” → 若有目标上下文则使用 `orbit_around_target`，否则根据是否给出中心坐标选择 `orbit_around_point`；`radius=X`，`laps=Y`，默认 `clockwise=true`，`gimbal_lock=true`
|
||||
- “顺时针/逆时针” → `clockwise=true/false`
|
||||
- “等速” → 若未给速度则 `speed_mps` 采用默认值（例如3.0）；若口令指明速度，裁剪到[0.5,15]
|
||||
- “以(x,y,z)为中心”/“当前位置为中心” → 选择 `orbit_around_point` 并填充 `center_x/center_y/center_z`
|
||||
118
backend_service/src/prompts/system_prompt.txt
Normal file
118
backend_service/src/prompts/system_prompt.txt
Normal file
@@ -0,0 +1,118 @@
|
||||
任务：根据用户任意任务指令，生成结构化可执行的无人机行为树（Pytree）JSON。**仅输出单一JSON对象，无任何自然语言、注释或额外内容**，需严格适配后端节点解析与Schema验证逻辑。
|
||||
|
||||
|
||||
## 一、核心规则：确保后端能解析允许的节点（必严格遵守）
|
||||
后端会从提示词中解析允许的节点列表，以下节点定义部分**格式不可修改**，否则会导致解析失败（进而触发节点非法错误）。
|
||||
|
||||
#### 2. 可用节点定义 (必须遵守)
|
||||
你必须严格从以下JSON定义的列表中选择节点来构建行为树。不允许使用任何未定义的节点（如"lock_target"等）。
|
||||
```json
|
||||
{
|
||||
"actions": [
|
||||
{"name":"takeoff","params":{"altitude":"float, 范围[1,100]，默认2"}},
|
||||
{"name":"land","params":{"mode":"string, 'current'/'home'"}},
|
||||
{"name":"fly_to_waypoint","params":{"x":"±10000","y":"±10000","z":"[1,5000]","acceptance_radius":"默认2.0"}},
|
||||
{"name":"move_direction","params":{"direction":"north/south/east/west/forward/backward/left/right","distance":"[1,10000]，缺省持续移动"}},
|
||||
{"name":"orbit_around_point","params":{"center_x":"±10000","center_y":"±10000","center_z":"[1,5000]","radius":"[5,1000]","laps":"[1,20]","clockwise":"默认true","speed_mps":"[0.5,15]","gimbal_lock":"默认true"}},
|
||||
{"name":"orbit_around_target","params":{"target_class":"见object_detect列表","description":"可选","radius":"[5,1000]","laps":"[1,20]","clockwise":"默认true","speed_mps":"[0.5,15]","gimbal_lock":"默认true"}},
|
||||
{"name":"loiter","params":{"duration":"[1,600]秒/until_condition:可选"}},
|
||||
{"name":"object_detect","params":{"target_class":"person,bicycle,car,motorcycle,airplane,bus,train,truck,boat,traffic_light,fire_hydrant,stop_sign,parking_meter,bench,bird,cat,dog,horse,sheep,cow,elephant,bear,zebra,giraffe,backpack,umbrella,handbag,tie,suitcase,frisbee,skis,snowboard,sports_ball,kite,baseball_bat,baseball_glove,skateboard,surfboard,tennis_racket,bottle,wine_glass,cup,fork,knife,spoon,bowl,banana,apple,sandwich,orange,broccoli,carrot,hot_dog,pizza,donut,cake,chair,couch,potted_plant,bed,dining_table,toilet,tv,laptop,mouse,remote,keyboard,cell_phone,microwave,oven,toaster,sink,refrigerator,book,clock,vase,scissors,teddy_bear,hair_drier,toothbrush","description":"可选，目标属性（如'穿黑色衣服'）","count":"默认1"}},
|
||||
{"name":"strike_target","params":{"target_class":"同object_detect","description":"可选，目标属性","count":"默认1"}},
|
||||
{"name":"battle_damage_assessment","params":{"target_class":"同object_detect","assessment_time":"[5,60]，默认15"}},
|
||||
{"name":"search_pattern","params":{"pattern_type":"spiral/grid","center_x":"±10000","center_y":"±10000","center_z":"[1,5000]","radius":"[5,1000]","target_class":"同object_detect","description":"可选","count":"默认1"}},
|
||||
{"name":"track_object","params":{"target_class":"同object_detect","description":"可选","track_time":"[1,600]秒（必传，不可用'duration'）","min_confidence":"[0.5,1.0]默认0.7","safe_distance":"[2,50]默认10"}},
|
||||
{"name":"deliver_payload","params":{"payload_type":"string","release_altitude":"[2,100]默认5"}},
|
||||
{"name":"preflight_checks","params":{"check_level":"basic/comprehensive"}},
|
||||
{"name":"emergency_return","params":{"reason":"string"}}
|
||||
],
|
||||
"conditions": [
|
||||
{"name":"battery_above","params":{"threshold":"[0.0,1.0]，必传"}},
|
||||
{"name":"at_waypoint","params":{"x":"±10000","y":"±10000","z":"[1,5000]","tolerance":"默认3.0"}},
|
||||
{"name":"object_detected","params":{"target_class":"同object_detect（必传）","description":"可选","count":"默认1"}},
|
||||
{"name":"target_destroyed","params":{"target_class":"同object_detect","description":"可选","confidence":"[0.5,1.0]默认0.8"}},
|
||||
{"name":"time_elapsed","params":{"duration":"[1,2700]秒"}},
|
||||
{"name":"gps_status","params":{"min_satellites":"int, 范围[6,15]，必传（如8）"}}
|
||||
],
|
||||
"control_flow": [
|
||||
{"name":"Sequence","params":{},"children":"子节点数组（按序执行，全成功则成功）"},
|
||||
{"name":"Selector","params":{"memory":"默认true"},"children":"子节点数组（执行到成功为止）"},
|
||||
{"name":"Parallel","params":{"policy":"all_success/one_success"},"children":"子节点数组（同时执行）"}
|
||||
]
|
||||
}
|
||||
```
|
||||
|
||||
|
||||
## 二、节点必填字段（后端Schema强制要求，缺一验证失败）
|
||||
每个节点必须包含以下字段，字段名不可自定义：
|
||||
1. **`type`**：节点类型（严格匹配）
|
||||
- 动作节点：`"action"`
|
||||
- 条件节点：`"condition"`
|
||||
- 控制流节点：`"Sequence"`/`"Selector"`/`"Parallel"`（与`name`字段值完全一致）
|
||||
2. **`name`**：节点名称（必须是上述JSON中`actions`/`conditions`/`control_flow`下的`name`值，如"gps_status"而非其他）
|
||||
3. **`params`**：参数对象（严格匹配上述JSON中对应节点的`params`定义，不可加自定义参数，如`object_detected`不可加"color"，需用"description"）
|
||||
4. **`children`**：子节点数组（仅控制流节点必含，动作/条件节点无此字段）
|
||||
|
||||
|
||||
## 三、根节点与安全监控固定结构（后端安全验证必含）
|
||||
根节点必须是`Parallel`，且`children`包含`MainTask`（Sequence）和`SafetyMonitor`（Selector），结构不可修改：
|
||||
```json
|
||||
{
|
||||
"root": {
|
||||
"type": "Parallel",
|
||||
"name": "MissionWithSafety",
|
||||
"params": {"policy": "all_success"},
|
||||
"children": [
|
||||
{
|
||||
"type": "Sequence",
|
||||
"name": "MainTask",
|
||||
"params": {},
|
||||
"children": [
|
||||
// 主任务步骤：按用户指令分解（如preflight_checks→takeoff→fly_to_waypoint→...→land）
|
||||
// 示例步骤（需替换为用户任务）：
|
||||
{"type":"action","name":"preflight_checks","params":{"check_level":"comprehensive"}},
|
||||
{"type":"action","name":"takeoff","params":{"altitude":2.0}},
|
||||
{"type":"action","name":"fly_to_waypoint","params":{"x":100.0,"y":80.0,"z":10.0}},
|
||||
{"type":"action","name":"object_detect","params":{"target_class":"person","description":"穿黑色衣服"}},
|
||||
{"type":"condition","name":"object_detected","params":{"target_class":"person","description":"穿黑色衣服"}},
|
||||
{"type":"action","name":"track_object","params":{"target_class":"person","description":"穿黑色衣服","track_time":30.0}},
|
||||
{"type":"action","name":"strike_target","params":{"target_class":"person","description":"穿黑色衣服"}},
|
||||
{"type":"action","name":"land","params":{"mode":"home"}}
|
||||
]
|
||||
},
|
||||
{
|
||||
"type": "Selector",
|
||||
"name": "SafetyMonitor",
|
||||
"params": {"memory": true},
|
||||
"children": [
|
||||
// 必含：电池监控（battery_above）、GPS监控（gps_status）、紧急处理（EmergencyHandler）
|
||||
{"type":"condition","name":"battery_above","params":{"threshold":0.3}},
|
||||
{"type":"condition","name":"gps_status","params":{"min_satellites":8}},
|
||||
{
|
||||
"type":"Sequence",
|
||||
"name":"EmergencyHandler",
|
||||
"params": {},
|
||||
"children": [
|
||||
{"type":"action","name":"emergency_return","params":{"reason":"safety_breach"}},
|
||||
{"type":"action","name":"land","params":{"mode":"home"}}
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
|
||||
## 四、高频错误规避（后端验证常失败点）
|
||||
1. **禁止自定义节点**：如"lock_target"是未定义节点，必须删除，用"object_detect"+"object_detected"替代锁定逻辑。
|
||||
2. **参数名严格匹配**：
|
||||
- `track_object`用`track_time`（不可用`duration`）；
|
||||
- `object_detected`描述目标属性用`description`（不可用`color`/`target`等）；
|
||||
- `gps_status`必传`min_satellites`（范围6-15，如8）。
|
||||
3. **条件节点`object_detected`必含`target_class`**：值必须是上述JSON中`object_detect`的`target_class`列表中的值（如"person"）。
|
||||
4. **控制流节点`name`与`type`一致**：如`type:"Sequence"`则`name:"Sequence"`，不可自定义`name`。
|
||||
|
||||
|
||||
## 五、输出要求
|
||||
仅输出1个严格符合上述所有规则的JSON对象，**确保后端能解析到所有节点（尤其是conditions中的gps_status），且无任何冗余内容**。
|
||||
File diff suppressed because it is too large
Load Diff
67
backend_service/src/ros2_client.py
Normal file
67
backend_service/src/ros2_client.py
Normal file
@@ -0,0 +1,67 @@
|
||||
import rclpy
|
||||
from rclpy.action import ActionClient
|
||||
from rclpy.node import Node
|
||||
import json
|
||||
from typing import Dict, Any
|
||||
import logging
|
||||
|
||||
from drone_interfaces.action import ExecuteMission
|
||||
from .websocket_manager import websocket_manager
|
||||
|
||||
class MissionActionClient(Node):
|
||||
"""
|
||||
Interfaces with the drone's `ExecuteMission` ROS2 Action Server.
|
||||
"""
|
||||
def __init__(self):
|
||||
super().__init__('mission_action_client')
|
||||
self._action_client = ActionClient(self, ExecuteMission, 'execute_mission')
|
||||
self.get_logger().info("MissionActionClient initialized.")
|
||||
|
||||
def send_goal(self, py_tree: Dict[str, Any]):
|
||||
"""
|
||||
Sends the mission (py_tree) to the action server.
|
||||
"""
|
||||
if not self._action_client.server_is_ready():
|
||||
self.get_logger().error("Action server not available, goal not sent.")
|
||||
# Optionally, you could broadcast a status update to the frontend here
|
||||
return
|
||||
|
||||
self.get_logger().info("Received request to send goal to drone.")
|
||||
goal_msg = ExecuteMission.Goal()
|
||||
goal_msg.py_tree_json = json.dumps(py_tree)
|
||||
|
||||
self.get_logger().info(f"Sending goal to action server...")
|
||||
send_goal_future = self._action_client.send_goal_async(
|
||||
goal_msg,
|
||||
feedback_callback=self.feedback_callback
|
||||
)
|
||||
|
||||
send_goal_future.add_done_callback(self.goal_response_callback)
|
||||
|
||||
def goal_response_callback(self, future):
|
||||
goal_handle = future.result()
|
||||
if not goal_handle.accepted:
|
||||
self.get_logger().info('Goal rejected :(')
|
||||
return
|
||||
|
||||
self.get_logger().info('Goal accepted :)')
|
||||
|
||||
self._get_result_future = goal_handle.get_result_async()
|
||||
self._get_result_future.add_done_callback(self.get_result_callback)
|
||||
|
||||
def get_result_callback(self, future):
|
||||
result = future.result().result
|
||||
self.get_logger().info(f'Result: {{success: {result.success}, message: {result.message}}}')
|
||||
# Optionally, you can broadcast the final result via WebSocket here
|
||||
|
||||
def feedback_callback(self, feedback_msg):
|
||||
"""
|
||||
This callback is triggered by the action server.
|
||||
It forwards the status to the QGC plugin via the WebSocket manager in a thread-safe manner.
|
||||
"""
|
||||
feedback = feedback_msg.feedback
|
||||
feedback_payload = json.dumps({"node_id": feedback.node_id, "status": feedback.status})
|
||||
self.get_logger().info(f"Received feedback: {feedback_payload}")
|
||||
websocket_manager.broadcast(feedback_payload)
|
||||
|
||||
# Note: The rclpy.init() and spinning of the node will be handled in main.py
|
||||
@@ -1 +0,0 @@
|
||||
"""工具模块包。"""
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
@@ -1,110 +0,0 @@
|
||||
from __future__ import annotations
|
||||
|
||||
import math
|
||||
import re
|
||||
from typing import Dict, Tuple
|
||||
|
||||
|
||||
_DIRECTION_DELTAS: Dict[str, Tuple[int, int, int]] = {
|
||||
"east": (1, 0, 0),
|
||||
"west": (-1, 0, 0),
|
||||
"north": (0, -1, 0),
|
||||
"south": (0, 1, 0),
|
||||
"up": (0, 0, 1),
|
||||
"down": (0, 0, -1),
|
||||
}
|
||||
|
||||
|
||||
def calc_offset_enu(base: Dict[str, float], direction: str, distance: float) -> Dict[str, float]:
|
||||
"""在ENU坐标系下按方向偏移固定距离。"""
|
||||
if distance < 0:
|
||||
raise ValueError("distance must be non-negative")
|
||||
if not isinstance(base, dict):
|
||||
raise ValueError("base must be an object with x/y/z")
|
||||
|
||||
direction_key = (direction or "").strip().lower()
|
||||
if direction_key not in _DIRECTION_DELTAS:
|
||||
raise ValueError(f"unsupported direction: {direction}")
|
||||
|
||||
try:
|
||||
x = float(base["x"])
|
||||
y = float(base["y"])
|
||||
z = float(base["z"])
|
||||
except Exception as exc:
|
||||
raise ValueError("base must contain numeric x/y/z") from exc
|
||||
|
||||
dx, dy, dz = _DIRECTION_DELTAS[direction_key]
|
||||
offset_x = x + dx * distance
|
||||
offset_y = y + dy * distance
|
||||
offset_z = z + dz * distance
|
||||
|
||||
return {"x": offset_x, "y": offset_y, "z": offset_z}
|
||||
|
||||
|
||||
_DIRECTION_TEXT_DIAGONALS_ESU: Dict[str, Tuple[float, float]] = {
|
||||
"东南": (1.0, 1.0),
|
||||
"西南": (-1.0, 1.0),
|
||||
"东北": (1.0, -1.0),
|
||||
"西北": (-1.0, -1.0),
|
||||
}
|
||||
|
||||
|
||||
def _parse_direction_text_esu(direction_text: str) -> Tuple[float, float]:
|
||||
text = (direction_text or "").strip().replace(" ", "")
|
||||
if not text:
|
||||
raise ValueError("direction_text must be a non-empty string")
|
||||
|
||||
for prefix in ("向", "正"):
|
||||
if text.startswith(prefix):
|
||||
text = text[len(prefix):]
|
||||
|
||||
if text in _DIRECTION_TEXT_DIAGONALS_ESU:
|
||||
x, y = _DIRECTION_TEXT_DIAGONALS_ESU[text]
|
||||
length = math.hypot(x, y)
|
||||
return x / length, y / length
|
||||
|
||||
if text in ("东", "西", "南", "北"):
|
||||
if text == "东":
|
||||
return 1.0, 0.0
|
||||
if text == "西":
|
||||
return -1.0, 0.0
|
||||
if text == "南":
|
||||
return 0.0, 1.0
|
||||
return 0.0, -1.0
|
||||
|
||||
match = re.match(r"^(南|北)偏(东|西)(\d+(?:\.\d+)?)度?$", text)
|
||||
if match:
|
||||
base_dir, toward_dir, angle_str = match.groups()
|
||||
angle_deg = float(angle_str)
|
||||
if angle_deg < 0 or angle_deg > 90:
|
||||
raise ValueError("angle must be between 0 and 90 degrees")
|
||||
angle_rad = math.radians(angle_deg)
|
||||
x_sign = 1.0 if toward_dir == "东" else -1.0
|
||||
if base_dir == "南":
|
||||
return math.sin(angle_rad) * x_sign, math.cos(angle_rad)
|
||||
return math.sin(angle_rad) * x_sign, -math.cos(angle_rad)
|
||||
|
||||
raise ValueError(f"unsupported direction_text: {direction_text}")
|
||||
|
||||
|
||||
def calc_offset_esu_direction_text(
|
||||
base: Dict[str, float], direction_text: str, distance: float
|
||||
) -> Dict[str, float]:
|
||||
"""在ESU坐标系下按中文方位偏移固定距离。"""
|
||||
if distance < 0:
|
||||
raise ValueError("distance must be non-negative")
|
||||
if not isinstance(base, dict):
|
||||
raise ValueError("base must be an object with x/y/z")
|
||||
|
||||
try:
|
||||
x = float(base["x"])
|
||||
y = float(base["y"])
|
||||
z = float(base["z"])
|
||||
except Exception as exc:
|
||||
raise ValueError("base must contain numeric x/y/z") from exc
|
||||
|
||||
dx_unit, dy_unit = _parse_direction_text_esu(direction_text)
|
||||
offset_x = x + dx_unit * distance
|
||||
offset_y = y + dy_unit * distance
|
||||
|
||||
return {"x": offset_x, "y": offset_y, "z": z}
|
||||
@@ -22,8 +22,7 @@ class ConnectionManager:
|
||||
def broadcast(self, message: str):
|
||||
"""
|
||||
Thread-safely broadcasts a message to all active WebSocket connections.
|
||||
This method is designed to be called from a different thread.
|
||||
(Note: ROS2 callback support has been removed as the project is decoupled from ROS2)
|
||||
This method is designed to be called from a different thread (e.g., a ROS2 callback).
|
||||
"""
|
||||
if not self.loop:
|
||||
logging.error("Event loop not set in ConnectionManager. Cannot broadcast.")
|
||||
|
||||
@@ -1,248 +0,0 @@
|
||||
<#
|
||||
.Synopsis
|
||||
Activate a Python virtual environment for the current PowerShell session.
|
||||
|
||||
.Description
|
||||
Pushes the python executable for a virtual environment to the front of the
|
||||
$Env:PATH environment variable and sets the prompt to signify that you are
|
||||
in a Python virtual environment. Makes use of the command line switches as
|
||||
well as the `pyvenv.cfg` file values present in the virtual environment.
|
||||
|
||||
.Parameter VenvDir
|
||||
Path to the directory that contains the virtual environment to activate. The
|
||||
default value for this is the parent of the directory that the Activate.ps1
|
||||
script is located within.
|
||||
|
||||
.Parameter Prompt
|
||||
The prompt prefix to display when this virtual environment is activated. By
|
||||
default, this prompt is the name of the virtual environment folder (VenvDir)
|
||||
surrounded by parentheses and followed by a single space (ie. '(.venv) ').
|
||||
|
||||
.Example
|
||||
Activate.ps1
|
||||
Activates the Python virtual environment that contains the Activate.ps1 script.
|
||||
|
||||
.Example
|
||||
Activate.ps1 -Verbose
|
||||
Activates the Python virtual environment that contains the Activate.ps1 script,
|
||||
and shows extra information about the activation as it executes.
|
||||
|
||||
.Example
|
||||
Activate.ps1 -VenvDir C:\Users\MyUser\Common\.venv
|
||||
Activates the Python virtual environment located in the specified location.
|
||||
|
||||
.Example
|
||||
Activate.ps1 -Prompt "MyPython"
|
||||
Activates the Python virtual environment that contains the Activate.ps1 script,
|
||||
and prefixes the current prompt with the specified string (surrounded in
|
||||
parentheses) while the virtual environment is active.
|
||||
|
||||
.Notes
|
||||
On Windows, it may be required to enable this Activate.ps1 script by setting the
|
||||
execution policy for the user. You can do this by issuing the following PowerShell
|
||||
command:
|
||||
|
||||
PS C:\> Set-ExecutionPolicy -ExecutionPolicy RemoteSigned -Scope CurrentUser
|
||||
|
||||
For more information on Execution Policies:
|
||||
https://go.microsoft.com/fwlink/?LinkID=135170
|
||||
|
||||
#>
|
||||
Param(
|
||||
[Parameter(Mandatory = $false)]
|
||||
[String]
|
||||
$VenvDir,
|
||||
[Parameter(Mandatory = $false)]
|
||||
[String]
|
||||
$Prompt
|
||||
)
|
||||
|
||||
<# Function declarations --------------------------------------------------- #>
|
||||
|
||||
<#
|
||||
.Synopsis
|
||||
Remove all shell session elements added by the Activate script, including the
|
||||
addition of the virtual environment's Python executable from the beginning of
|
||||
the PATH variable.
|
||||
|
||||
.Parameter NonDestructive
|
||||
If present, do not remove this function from the global namespace for the
|
||||
session.
|
||||
|
||||
#>
|
||||
function global:deactivate ([switch]$NonDestructive) {
|
||||
# Revert to original values
|
||||
|
||||
# The prior prompt:
|
||||
if (Test-Path -Path Function:_OLD_VIRTUAL_PROMPT) {
|
||||
Copy-Item -Path Function:_OLD_VIRTUAL_PROMPT -Destination Function:prompt
|
||||
Remove-Item -Path Function:_OLD_VIRTUAL_PROMPT
|
||||
}
|
||||
|
||||
# The prior PYTHONHOME:
|
||||
if (Test-Path -Path Env:_OLD_VIRTUAL_PYTHONHOME) {
|
||||
Copy-Item -Path Env:_OLD_VIRTUAL_PYTHONHOME -Destination Env:PYTHONHOME
|
||||
Remove-Item -Path Env:_OLD_VIRTUAL_PYTHONHOME
|
||||
}
|
||||
|
||||
# The prior PATH:
|
||||
if (Test-Path -Path Env:_OLD_VIRTUAL_PATH) {
|
||||
Copy-Item -Path Env:_OLD_VIRTUAL_PATH -Destination Env:PATH
|
||||
Remove-Item -Path Env:_OLD_VIRTUAL_PATH
|
||||
}
|
||||
|
||||
# Just remove the VIRTUAL_ENV altogether:
|
||||
if (Test-Path -Path Env:VIRTUAL_ENV) {
|
||||
Remove-Item -Path env:VIRTUAL_ENV
|
||||
}
|
||||
|
||||
# Just remove VIRTUAL_ENV_PROMPT altogether.
|
||||
if (Test-Path -Path Env:VIRTUAL_ENV_PROMPT) {
|
||||
Remove-Item -Path env:VIRTUAL_ENV_PROMPT
|
||||
}
|
||||
|
||||
# Just remove the _PYTHON_VENV_PROMPT_PREFIX altogether:
|
||||
if (Get-Variable -Name "_PYTHON_VENV_PROMPT_PREFIX" -ErrorAction SilentlyContinue) {
|
||||
Remove-Variable -Name _PYTHON_VENV_PROMPT_PREFIX -Scope Global -Force
|
||||
}
|
||||
|
||||
# Leave deactivate function in the global namespace if requested:
|
||||
if (-not $NonDestructive) {
|
||||
Remove-Item -Path function:deactivate
|
||||
}
|
||||
}
|
||||
|
||||
<#
|
||||
.Description
|
||||
Get-PyVenvConfig parses the values from the pyvenv.cfg file located in the
|
||||
given folder, and returns them in a map.
|
||||
|
||||
For each line in the pyvenv.cfg file, if that line can be parsed into exactly
|
||||
two strings separated by `=` (with any amount of whitespace surrounding the =)
|
||||
then it is considered a `key = value` line. The left hand string is the key,
|
||||
the right hand is the value.
|
||||
|
||||
If the value starts with a `'` or a `"` then the first and last character is
|
||||
stripped from the value before being captured.
|
||||
|
||||
.Parameter ConfigDir
|
||||
Path to the directory that contains the `pyvenv.cfg` file.
|
||||
#>
|
||||
function Get-PyVenvConfig(
|
||||
[String]
|
||||
$ConfigDir
|
||||
) {
|
||||
Write-Verbose "Given ConfigDir=$ConfigDir, obtain values in pyvenv.cfg"
|
||||
|
||||
# Ensure the file exists, and issue a warning if it doesn't (but still allow the function to continue).
|
||||
$pyvenvConfigPath = Join-Path -Resolve -Path $ConfigDir -ChildPath 'pyvenv.cfg' -ErrorAction Continue
|
||||
|
||||
# An empty map will be returned if no config file is found.
|
||||
$pyvenvConfig = @{ }
|
||||
|
||||
if ($pyvenvConfigPath) {
|
||||
|
||||
Write-Verbose "File exists, parse `key = value` lines"
|
||||
$pyvenvConfigContent = Get-Content -Path $pyvenvConfigPath
|
||||
|
||||
$pyvenvConfigContent | ForEach-Object {
|
||||
$keyval = $PSItem -split "\s*=\s*", 2
|
||||
if ($keyval[0] -and $keyval[1]) {
|
||||
$val = $keyval[1]
|
||||
|
||||
# Remove extraneous quotations around a string value.
|
||||
if ("'""".Contains($val.Substring(0, 1))) {
|
||||
$val = $val.Substring(1, $val.Length - 2)
|
||||
}
|
||||
|
||||
$pyvenvConfig[$keyval[0]] = $val
|
||||
Write-Verbose "Adding Key: '$($keyval[0])'='$val'"
|
||||
}
|
||||
}
|
||||
}
|
||||
return $pyvenvConfig
|
||||
}
|
||||
|
||||
|
||||
<# Begin Activate script --------------------------------------------------- #>
|
||||
|
||||
# Determine the containing directory of this script
|
||||
$VenvExecPath = Split-Path -Parent $MyInvocation.MyCommand.Definition
|
||||
$VenvExecDir = Get-Item -Path $VenvExecPath
|
||||
|
||||
Write-Verbose "Activation script is located in path: '$VenvExecPath'"
|
||||
Write-Verbose "VenvExecDir Fullname: '$($VenvExecDir.FullName)"
|
||||
Write-Verbose "VenvExecDir Name: '$($VenvExecDir.Name)"
|
||||
|
||||
# Set values required in priority: CmdLine, ConfigFile, Default
|
||||
# First, get the location of the virtual environment, it might not be
|
||||
# VenvExecDir if specified on the command line.
|
||||
if ($VenvDir) {
|
||||
Write-Verbose "VenvDir given as parameter, using '$VenvDir' to determine values"
|
||||
}
|
||||
else {
|
||||
Write-Verbose "VenvDir not given as a parameter, using parent directory name as VenvDir."
|
||||
$VenvDir = $VenvExecDir.Parent.FullName.TrimEnd("\\/")
|
||||
Write-Verbose "VenvDir=$VenvDir"
|
||||
}
|
||||
|
||||
# Next, read the `pyvenv.cfg` file to determine any required value such
|
||||
# as `prompt`.
|
||||
$pyvenvCfg = Get-PyVenvConfig -ConfigDir $VenvDir
|
||||
|
||||
# Next, set the prompt from the command line, or the config file, or
|
||||
# just use the name of the virtual environment folder.
|
||||
if ($Prompt) {
|
||||
Write-Verbose "Prompt specified as argument, using '$Prompt'"
|
||||
}
|
||||
else {
|
||||
Write-Verbose "Prompt not specified as argument to script, checking pyvenv.cfg value"
|
||||
if ($pyvenvCfg -and $pyvenvCfg['prompt']) {
|
||||
Write-Verbose " Setting based on value in pyvenv.cfg='$($pyvenvCfg['prompt'])'"
|
||||
$Prompt = $pyvenvCfg['prompt'];
|
||||
}
|
||||
else {
|
||||
Write-Verbose " Setting prompt based on parent's directory's name. (Is the directory name passed to venv module when creating the virtual environment)"
|
||||
Write-Verbose " Got leaf-name of $VenvDir='$(Split-Path -Path $venvDir -Leaf)'"
|
||||
$Prompt = Split-Path -Path $venvDir -Leaf
|
||||
}
|
||||
}
|
||||
|
||||
Write-Verbose "Prompt = '$Prompt'"
|
||||
Write-Verbose "VenvDir='$VenvDir'"
|
||||
|
||||
# Deactivate any currently active virtual environment, but leave the
|
||||
# deactivate function in place.
|
||||
deactivate -nondestructive
|
||||
|
||||
# Now set the environment variable VIRTUAL_ENV, used by many tools to determine
|
||||
# that there is an activated venv.
|
||||
$env:VIRTUAL_ENV = $VenvDir
|
||||
|
||||
$env:VIRTUAL_ENV_PROMPT = $Prompt
|
||||
|
||||
if (-not $Env:VIRTUAL_ENV_DISABLE_PROMPT) {
|
||||
|
||||
Write-Verbose "Setting prompt to '$Prompt'"
|
||||
|
||||
# Set the prompt to include the env name
|
||||
# Make sure _OLD_VIRTUAL_PROMPT is global
|
||||
function global:_OLD_VIRTUAL_PROMPT { "" }
|
||||
Copy-Item -Path function:prompt -Destination function:_OLD_VIRTUAL_PROMPT
|
||||
New-Variable -Name _PYTHON_VENV_PROMPT_PREFIX -Description "Python virtual environment prompt prefix" -Scope Global -Option ReadOnly -Visibility Public -Value $Prompt
|
||||
|
||||
function global:prompt {
|
||||
Write-Host -NoNewline -ForegroundColor Green "($_PYTHON_VENV_PROMPT_PREFIX) "
|
||||
_OLD_VIRTUAL_PROMPT
|
||||
}
|
||||
}
|
||||
|
||||
# Clear PYTHONHOME
|
||||
if (Test-Path -Path Env:PYTHONHOME) {
|
||||
Copy-Item -Path Env:PYTHONHOME -Destination Env:_OLD_VIRTUAL_PYTHONHOME
|
||||
Remove-Item -Path Env:PYTHONHOME
|
||||
}
|
||||
|
||||
# Add the venv to the PATH
|
||||
Copy-Item -Path Env:PATH -Destination Env:_OLD_VIRTUAL_PATH
|
||||
$Env:PATH = "$VenvExecDir$([System.IO.Path]::PathSeparator)$Env:PATH"
|
||||
@@ -1,76 +0,0 @@
|
||||
# This file must be used with "source bin/activate" *from bash*
|
||||
# You cannot run it directly
|
||||
|
||||
deactivate () {
|
||||
# reset old environment variables
|
||||
if [ -n "${_OLD_VIRTUAL_PATH:-}" ] ; then
|
||||
PATH="${_OLD_VIRTUAL_PATH:-}"
|
||||
export PATH
|
||||
unset _OLD_VIRTUAL_PATH
|
||||
fi
|
||||
if [ -n "${_OLD_VIRTUAL_PYTHONHOME:-}" ] ; then
|
||||
PYTHONHOME="${_OLD_VIRTUAL_PYTHONHOME:-}"
|
||||
export PYTHONHOME
|
||||
unset _OLD_VIRTUAL_PYTHONHOME
|
||||
fi
|
||||
|
||||
# Call hash to forget past locations. Without forgetting
|
||||
# past locations the $PATH changes we made may not be respected.
|
||||
# See "man bash" for more details. hash is usually a builtin of your shell
|
||||
hash -r 2> /dev/null
|
||||
|
||||
if [ -n "${_OLD_VIRTUAL_PS1:-}" ] ; then
|
||||
PS1="${_OLD_VIRTUAL_PS1:-}"
|
||||
export PS1
|
||||
unset _OLD_VIRTUAL_PS1
|
||||
fi
|
||||
|
||||
unset VIRTUAL_ENV
|
||||
unset VIRTUAL_ENV_PROMPT
|
||||
if [ ! "${1:-}" = "nondestructive" ] ; then
|
||||
# Self destruct!
|
||||
unset -f deactivate
|
||||
fi
|
||||
}
|
||||
|
||||
# unset irrelevant variables
|
||||
deactivate nondestructive
|
||||
|
||||
# on Windows, a path can contain colons and backslashes and has to be converted:
|
||||
case "$(uname)" in
|
||||
CYGWIN*|MSYS*|MINGW*)
|
||||
# transform D:\path\to\venv to /d/path/to/venv on MSYS and MINGW
|
||||
# and to /cygdrive/d/path/to/venv on Cygwin
|
||||
VIRTUAL_ENV=$(cygpath /home/a/DronePlanning/backend_service/venv)
|
||||
export VIRTUAL_ENV
|
||||
;;
|
||||
*)
|
||||
# use the path as-is
|
||||
export VIRTUAL_ENV=/home/a/DronePlanning/backend_service/venv
|
||||
;;
|
||||
esac
|
||||
|
||||
_OLD_VIRTUAL_PATH="$PATH"
|
||||
PATH="$VIRTUAL_ENV/"bin":$PATH"
|
||||
export PATH
|
||||
|
||||
VIRTUAL_ENV_PROMPT=venv
|
||||
export VIRTUAL_ENV_PROMPT
|
||||
|
||||
# unset PYTHONHOME if set
|
||||
# this will fail if PYTHONHOME is set to the empty string (which is bad anyway)
|
||||
# could use `if (set -u; : $PYTHONHOME) ;` in bash
|
||||
if [ -n "${PYTHONHOME:-}" ] ; then
|
||||
_OLD_VIRTUAL_PYTHONHOME="${PYTHONHOME:-}"
|
||||
unset PYTHONHOME
|
||||
fi
|
||||
|
||||
if [ -z "${VIRTUAL_ENV_DISABLE_PROMPT:-}" ] ; then
|
||||
_OLD_VIRTUAL_PS1="${PS1:-}"
|
||||
PS1="("venv") ${PS1:-}"
|
||||
export PS1
|
||||
fi
|
||||
|
||||
# Call hash to forget past commands. Without forgetting
|
||||
# past commands the $PATH changes we made may not be respected
|
||||
hash -r 2> /dev/null
|
||||
@@ -1,27 +0,0 @@
|
||||
# This file must be used with "source bin/activate.csh" *from csh*.
|
||||
# You cannot run it directly.
|
||||
|
||||
# Created by Davide Di Blasi <davidedb@gmail.com>.
|
||||
# Ported to Python 3.3 venv by Andrew Svetlov <andrew.svetlov@gmail.com>
|
||||
|
||||
alias deactivate 'test $?_OLD_VIRTUAL_PATH != 0 && setenv PATH "$_OLD_VIRTUAL_PATH" && unset _OLD_VIRTUAL_PATH; rehash; test $?_OLD_VIRTUAL_PROMPT != 0 && set prompt="$_OLD_VIRTUAL_PROMPT" && unset _OLD_VIRTUAL_PROMPT; unsetenv VIRTUAL_ENV; unsetenv VIRTUAL_ENV_PROMPT; test "\!:*" != "nondestructive" && unalias deactivate'
|
||||
|
||||
# Unset irrelevant variables.
|
||||
deactivate nondestructive
|
||||
|
||||
setenv VIRTUAL_ENV /home/a/DronePlanning/backend_service/venv
|
||||
|
||||
set _OLD_VIRTUAL_PATH="$PATH"
|
||||
setenv PATH "$VIRTUAL_ENV/"bin":$PATH"
|
||||
setenv VIRTUAL_ENV_PROMPT venv
|
||||
|
||||
|
||||
set _OLD_VIRTUAL_PROMPT="$prompt"
|
||||
|
||||
if (! "$?VIRTUAL_ENV_DISABLE_PROMPT") then
|
||||
set prompt = "("venv") $prompt:q"
|
||||
endif
|
||||
|
||||
alias pydoc python -m pydoc
|
||||
|
||||
rehash
|
||||
@@ -1,69 +0,0 @@
|
||||
# This file must be used with "source <venv>/bin/activate.fish" *from fish*
|
||||
# (https://fishshell.com/). You cannot run it directly.
|
||||
|
||||
function deactivate -d "Exit virtual environment and return to normal shell environment"
|
||||
# reset old environment variables
|
||||
if test -n "$_OLD_VIRTUAL_PATH"
|
||||
set -gx PATH $_OLD_VIRTUAL_PATH
|
||||
set -e _OLD_VIRTUAL_PATH
|
||||
end
|
||||
if test -n "$_OLD_VIRTUAL_PYTHONHOME"
|
||||
set -gx PYTHONHOME $_OLD_VIRTUAL_PYTHONHOME
|
||||
set -e _OLD_VIRTUAL_PYTHONHOME
|
||||
end
|
||||
|
||||
if test -n "$_OLD_FISH_PROMPT_OVERRIDE"
|
||||
set -e _OLD_FISH_PROMPT_OVERRIDE
|
||||
# prevents error when using nested fish instances (Issue #93858)
|
||||
if functions -q _old_fish_prompt
|
||||
functions -e fish_prompt
|
||||
functions -c _old_fish_prompt fish_prompt
|
||||
functions -e _old_fish_prompt
|
||||
end
|
||||
end
|
||||
|
||||
set -e VIRTUAL_ENV
|
||||
set -e VIRTUAL_ENV_PROMPT
|
||||
if test "$argv[1]" != "nondestructive"
|
||||
# Self-destruct!
|
||||
functions -e deactivate
|
||||
end
|
||||
end
|
||||
|
||||
# Unset irrelevant variables.
|
||||
deactivate nondestructive
|
||||
|
||||
set -gx VIRTUAL_ENV /home/a/DronePlanning/backend_service/venv
|
||||
|
||||
set -gx _OLD_VIRTUAL_PATH $PATH
|
||||
set -gx PATH "$VIRTUAL_ENV/"bin $PATH
|
||||
set -gx VIRTUAL_ENV_PROMPT venv
|
||||
|
||||
# Unset PYTHONHOME if set.
|
||||
if set -q PYTHONHOME
|
||||
set -gx _OLD_VIRTUAL_PYTHONHOME $PYTHONHOME
|
||||
set -e PYTHONHOME
|
||||
end
|
||||
|
||||
if test -z "$VIRTUAL_ENV_DISABLE_PROMPT"
|
||||
# fish uses a function instead of an env var to generate the prompt.
|
||||
|
||||
# Save the current fish_prompt function as the function _old_fish_prompt.
|
||||
functions -c fish_prompt _old_fish_prompt
|
||||
|
||||
# With the original prompt function renamed, we can override with our own.
|
||||
function fish_prompt
|
||||
# Save the return status of the last command.
|
||||
set -l old_status $status
|
||||
|
||||
# Output the venv prompt; color taken from the blue of the Python logo.
|
||||
printf "%s(%s)%s " (set_color 4B8BBE) venv (set_color normal)
|
||||
|
||||
# Restore the return status of the previous command.
|
||||
echo "exit $old_status" | .
|
||||
# Output the original/"old" prompt.
|
||||
_old_fish_prompt
|
||||
end
|
||||
|
||||
set -gx _OLD_FISH_PROMPT_OVERRIDE "$VIRTUAL_ENV"
|
||||
end
|
||||
@@ -1,7 +0,0 @@
|
||||
#!/home/huangfukk/DronePlanning/backend_service/venv/bin/python3
|
||||
import sys
|
||||
from chromadb.cli.cli import app
|
||||
if __name__ == '__main__':
|
||||
if sys.argv[0].endswith('.exe'):
|
||||
sys.argv[0] = sys.argv[0][:-4]
|
||||
sys.exit(app())
|
||||
@@ -1,7 +0,0 @@
|
||||
#!/home/a/DronePlanning/backend_service/venv/bin/python3
|
||||
import sys
|
||||
from coloredlogs.cli import main
|
||||
if __name__ == '__main__':
|
||||
if sys.argv[0].endswith('.exe'):
|
||||
sys.argv[0] = sys.argv[0][:-4]
|
||||
sys.exit(main())
|
||||
@@ -1,7 +0,0 @@
|
||||
#!/home/a/DronePlanning/backend_service/venv/bin/python3
|
||||
import sys
|
||||
from distro.distro import main
|
||||
if __name__ == '__main__':
|
||||
if sys.argv[0].endswith('.exe'):
|
||||
sys.argv[0] = sys.argv[0][:-4]
|
||||
sys.exit(main())
|
||||
@@ -1,7 +0,0 @@
|
||||
#!/home/a/DronePlanning/backend_service/venv/bin/python3
|
||||
import sys
|
||||
from dotenv.__main__ import cli
|
||||
if __name__ == '__main__':
|
||||
if sys.argv[0].endswith('.exe'):
|
||||
sys.argv[0] = sys.argv[0][:-4]
|
||||
sys.exit(cli())
|
||||
@@ -1,7 +0,0 @@
|
||||
#!/home/huangfukk/DronePlanning/backend_service/venv/bin/python3
|
||||
import sys
|
||||
from numpy.f2py.f2py2e import main
|
||||
if __name__ == '__main__':
|
||||
if sys.argv[0].endswith('.exe'):
|
||||
sys.argv[0] = sys.argv[0][:-4]
|
||||
sys.exit(main())
|
||||
@@ -1,7 +0,0 @@
|
||||
#!/home/a/DronePlanning/backend_service/venv/bin/python3
|
||||
import sys
|
||||
from fastapi.cli import main
|
||||
if __name__ == '__main__':
|
||||
if sys.argv[0].endswith('.exe'):
|
||||
sys.argv[0] = sys.argv[0][:-4]
|
||||
sys.exit(main())
|
||||
@@ -1,7 +0,0 @@
|
||||
#!/home/huangfukk/DronePlanning/backend_service/venv/bin/python3
|
||||
import sys
|
||||
from filetype.__main__ import main
|
||||
if __name__ == '__main__':
|
||||
if sys.argv[0].endswith('.exe'):
|
||||
sys.argv[0] = sys.argv[0][:-4]
|
||||
sys.exit(main())
|
||||
@@ -1,7 +0,0 @@
|
||||
#!/home/huangfukk/DronePlanning/backend_service/venv/bin/python3
|
||||
import sys
|
||||
from huggingface_hub.cli.hf import main
|
||||
if __name__ == '__main__':
|
||||
if sys.argv[0].endswith('.exe'):
|
||||
sys.argv[0] = sys.argv[0][:-4]
|
||||
sys.exit(main())
|
||||
@@ -1,7 +0,0 @@
|
||||
#!/home/a/DronePlanning/backend_service/venv/bin/python3
|
||||
import sys
|
||||
from httpx import main
|
||||
if __name__ == '__main__':
|
||||
if sys.argv[0].endswith('.exe'):
|
||||
sys.argv[0] = sys.argv[0][:-4]
|
||||
sys.exit(main())
|
||||
@@ -1,7 +0,0 @@
|
||||
#!/home/a/DronePlanning/backend_service/venv/bin/python3
|
||||
import sys
|
||||
from humanfriendly.cli import main
|
||||
if __name__ == '__main__':
|
||||
if sys.argv[0].endswith('.exe'):
|
||||
sys.argv[0] = sys.argv[0][:-4]
|
||||
sys.exit(main())
|
||||
@@ -1,7 +0,0 @@
|
||||
#!/home/a/DronePlanning/backend_service/venv/bin/python3
|
||||
import sys
|
||||
from isympy import main
|
||||
if __name__ == '__main__':
|
||||
if sys.argv[0].endswith('.exe'):
|
||||
sys.argv[0] = sys.argv[0][:-4]
|
||||
sys.exit(main())
|
||||
@@ -1,7 +0,0 @@
|
||||
#!/home/huangfukk/DronePlanning/backend_service/venv/bin/python3
|
||||
import sys
|
||||
from jsonschema.cli import main
|
||||
if __name__ == '__main__':
|
||||
if sys.argv[0].endswith('.exe'):
|
||||
sys.argv[0] = sys.argv[0][:-4]
|
||||
sys.exit(main())
|
||||
@@ -1,7 +0,0 @@
|
||||
#!/home/a/DronePlanning/backend_service/venv/bin/python3
|
||||
import sys
|
||||
from markdown_it.cli.parse import main
|
||||
if __name__ == '__main__':
|
||||
if sys.argv[0].endswith('.exe'):
|
||||
sys.argv[0] = sys.argv[0][:-4]
|
||||
sys.exit(main())
|
||||
@@ -1,7 +0,0 @@
|
||||
#!/home/huangfukk/DronePlanning/backend_service/venv/bin/python3
|
||||
import sys
|
||||
from nltk.cli import cli
|
||||
if __name__ == '__main__':
|
||||
if sys.argv[0].endswith('.exe'):
|
||||
sys.argv[0] = sys.argv[0][:-4]
|
||||
sys.exit(cli())
|
||||
@@ -1,7 +0,0 @@
|
||||
#!/home/a/DronePlanning/backend_service/venv/bin/python3
|
||||
import sys
|
||||
from charset_normalizer.cli import cli_detect
|
||||
if __name__ == '__main__':
|
||||
if sys.argv[0].endswith('.exe'):
|
||||
sys.argv[0] = sys.argv[0][:-4]
|
||||
sys.exit(cli_detect())
|
||||
@@ -1,7 +0,0 @@
|
||||
#!/home/huangfukk/DronePlanning/backend_service/venv/bin/python3
|
||||
import sys
|
||||
from numpy._configtool import main
|
||||
if __name__ == '__main__':
|
||||
if sys.argv[0].endswith('.exe'):
|
||||
sys.argv[0] = sys.argv[0][:-4]
|
||||
sys.exit(main())
|
||||
@@ -1,7 +0,0 @@
|
||||
#!/home/a/DronePlanning/backend_service/venv/bin/python3
|
||||
import sys
|
||||
from onnxruntime.tools.onnxruntime_test import main
|
||||
if __name__ == '__main__':
|
||||
if sys.argv[0].endswith('.exe'):
|
||||
sys.argv[0] = sys.argv[0][:-4]
|
||||
sys.exit(main())
|
||||
@@ -1,7 +0,0 @@
|
||||
#!/home/huangfukk/DronePlanning/backend_service/venv/bin/python3
|
||||
import sys
|
||||
from openai.cli import main
|
||||
if __name__ == '__main__':
|
||||
if sys.argv[0].endswith('.exe'):
|
||||
sys.argv[0] = sys.argv[0][:-4]
|
||||
sys.exit(main())
|
||||
@@ -1,7 +0,0 @@
|
||||
#!/home/huangfukk/DronePlanning/backend_service/venv/bin/python3
|
||||
import sys
|
||||
from oxmsg.cli import oxmsg
|
||||
if __name__ == '__main__':
|
||||
if sys.argv[0].endswith('.exe'):
|
||||
sys.argv[0] = sys.argv[0][:-4]
|
||||
sys.exit(oxmsg())
|
||||
@@ -1,7 +0,0 @@
|
||||
#!/home/huangfukk/DronePlanning/backend_service/venv/bin/python3
|
||||
import sys
|
||||
from pip._internal.cli.main import main
|
||||
if __name__ == '__main__':
|
||||
if sys.argv[0].endswith('.exe'):
|
||||
sys.argv[0] = sys.argv[0][:-4]
|
||||
sys.exit(main())
|
||||
@@ -1,7 +0,0 @@
|
||||
#!/home/huangfukk/DronePlanning/backend_service/venv/bin/python3
|
||||
import sys
|
||||
from pip._internal.cli.main import main
|
||||
if __name__ == '__main__':
|
||||
if sys.argv[0].endswith('.exe'):
|
||||
sys.argv[0] = sys.argv[0][:-4]
|
||||
sys.exit(main())
|
||||
@@ -1,7 +0,0 @@
|
||||
#!/home/huangfukk/DronePlanning/backend_service/venv/bin/python3
|
||||
import sys
|
||||
from pip._internal.cli.main import main
|
||||
if __name__ == '__main__':
|
||||
if sys.argv[0].endswith('.exe'):
|
||||
sys.argv[0] = sys.argv[0][:-4]
|
||||
sys.exit(main())
|
||||
@@ -1,7 +0,0 @@
|
||||
#!/home/huangfukk/DronePlanning/backend_service/venv/bin/python3
|
||||
import sys
|
||||
from pybase64.__main__ import main
|
||||
if __name__ == '__main__':
|
||||
if sys.argv[0].endswith('.exe'):
|
||||
sys.argv[0] = sys.argv[0][:-4]
|
||||
sys.exit(main())
|
||||
@@ -1,7 +0,0 @@
|
||||
#!/home/a/DronePlanning/backend_service/venv/bin/python3
|
||||
import sys
|
||||
from pygments.cmdline import main
|
||||
if __name__ == '__main__':
|
||||
if sys.argv[0].endswith('.exe'):
|
||||
sys.argv[0] = sys.argv[0][:-4]
|
||||
sys.exit(main())
|
||||
@@ -1,7 +0,0 @@
|
||||
#!/home/a/DronePlanning/backend_service/venv/bin/python3
|
||||
import sys
|
||||
from build.__main__ import entrypoint
|
||||
if __name__ == '__main__':
|
||||
if sys.argv[0].endswith('.exe'):
|
||||
sys.argv[0] = sys.argv[0][:-4]
|
||||
sys.exit(entrypoint())
|
||||
@@ -1,7 +0,0 @@
|
||||
#!/home/a/DronePlanning/backend_service/venv/bin/python3
|
||||
import sys
|
||||
from rsa.cli import decrypt
|
||||
if __name__ == '__main__':
|
||||
if sys.argv[0].endswith('.exe'):
|
||||
sys.argv[0] = sys.argv[0][:-4]
|
||||
sys.exit(decrypt())
|
||||
@@ -1,7 +0,0 @@
|
||||
#!/home/a/DronePlanning/backend_service/venv/bin/python3
|
||||
import sys
|
||||
from rsa.cli import encrypt
|
||||
if __name__ == '__main__':
|
||||
if sys.argv[0].endswith('.exe'):
|
||||
sys.argv[0] = sys.argv[0][:-4]
|
||||
sys.exit(encrypt())
|
||||
@@ -1,7 +0,0 @@
|
||||
#!/home/a/DronePlanning/backend_service/venv/bin/python3
|
||||
import sys
|
||||
from rsa.cli import keygen
|
||||
if __name__ == '__main__':
|
||||
if sys.argv[0].endswith('.exe'):
|
||||
sys.argv[0] = sys.argv[0][:-4]
|
||||
sys.exit(keygen())
|
||||
@@ -1,7 +0,0 @@
|
||||
#!/home/a/DronePlanning/backend_service/venv/bin/python3
|
||||
import sys
|
||||
from rsa.util import private_to_public
|
||||
if __name__ == '__main__':
|
||||
if sys.argv[0].endswith('.exe'):
|
||||
sys.argv[0] = sys.argv[0][:-4]
|
||||
sys.exit(private_to_public())
|
||||
@@ -1,7 +0,0 @@
|
||||
#!/home/a/DronePlanning/backend_service/venv/bin/python3
|
||||
import sys
|
||||
from rsa.cli import sign
|
||||
if __name__ == '__main__':
|
||||
if sys.argv[0].endswith('.exe'):
|
||||
sys.argv[0] = sys.argv[0][:-4]
|
||||
sys.exit(sign())
|
||||
@@ -1,7 +0,0 @@
|
||||
#!/home/a/DronePlanning/backend_service/venv/bin/python3
|
||||
import sys
|
||||
from rsa.cli import verify
|
||||
if __name__ == '__main__':
|
||||
if sys.argv[0].endswith('.exe'):
|
||||
sys.argv[0] = sys.argv[0][:-4]
|
||||
sys.exit(verify())
|
||||
@@ -1 +0,0 @@
|
||||
python3
|
||||
@@ -1 +0,0 @@
|
||||
/home/huangfukk/miniconda3/bin/python3
|
||||
@@ -1 +0,0 @@
|
||||
python3
|
||||
@@ -1,7 +0,0 @@
|
||||
#!/home/huangfukk/DronePlanning/backend_service/venv/bin/python3
|
||||
import sys
|
||||
from huggingface_hub.inference._mcp.cli import app
|
||||
if __name__ == '__main__':
|
||||
if sys.argv[0].endswith('.exe'):
|
||||
sys.argv[0] = sys.argv[0][:-4]
|
||||
sys.exit(app())
|
||||
@@ -1,7 +0,0 @@
|
||||
#!/home/a/DronePlanning/backend_service/venv/bin/python3
|
||||
import sys
|
||||
from tqdm.cli import main
|
||||
if __name__ == '__main__':
|
||||
if sys.argv[0].endswith('.exe'):
|
||||
sys.argv[0] = sys.argv[0][:-4]
|
||||
sys.exit(main())
|
||||
@@ -1,7 +0,0 @@
|
||||
#!/home/huangfukk/DronePlanning/backend_service/venv/bin/python3
|
||||
import sys
|
||||
from typer.cli import main
|
||||
if __name__ == '__main__':
|
||||
if sys.argv[0].endswith('.exe'):
|
||||
sys.argv[0] = sys.argv[0][:-4]
|
||||
sys.exit(main())
|
||||
@@ -1,7 +0,0 @@
|
||||
#!/home/huangfukk/DronePlanning/backend_service/venv/bin/python3
|
||||
import sys
|
||||
from uvicorn.main import main
|
||||
if __name__ == '__main__':
|
||||
if sys.argv[0].endswith('.exe'):
|
||||
sys.argv[0] = sys.argv[0][:-4]
|
||||
sys.exit(main())
|
||||
@@ -1,7 +0,0 @@
|
||||
#!/home/a/DronePlanning/backend_service/venv/bin/python3
|
||||
import sys
|
||||
from watchfiles.cli import cli
|
||||
if __name__ == '__main__':
|
||||
if sys.argv[0].endswith('.exe'):
|
||||
sys.argv[0] = sys.argv[0][:-4]
|
||||
sys.exit(cli())
|
||||
@@ -1,7 +0,0 @@
|
||||
#!/home/a/DronePlanning/backend_service/venv/bin/python3
|
||||
import sys
|
||||
from websockets.cli import main
|
||||
if __name__ == '__main__':
|
||||
if sys.argv[0].endswith('.exe'):
|
||||
sys.argv[0] = sys.argv[0][:-4]
|
||||
sys.exit(main())
|
||||
@@ -1,7 +0,0 @@
|
||||
#!/home/a/DronePlanning/backend_service/venv/bin/python3
|
||||
import sys
|
||||
from websocket._wsdump import main
|
||||
if __name__ == '__main__':
|
||||
if sys.argv[0].endswith('.exe'):
|
||||
sys.argv[0] = sys.argv[0][:-4]
|
||||
sys.exit(main())
|
||||
@@ -1,37 +0,0 @@
|
||||
#!/usr/local/bin/python
|
||||
# -*- coding: latin-1 -*-
|
||||
"""
|
||||
olefile (formerly OleFileIO_PL)
|
||||
|
||||
Module to read/write Microsoft OLE2 files (also called Structured Storage or
|
||||
Microsoft Compound Document File Format), such as Microsoft Office 97-2003
|
||||
documents, Image Composer and FlashPix files, Outlook messages, ...
|
||||
This version is compatible with Python 2.6+ and 3.x
|
||||
|
||||
Project website: http://www.decalage.info/olefile
|
||||
|
||||
olefile is copyright (c) 2005-2015 Philippe Lagadec (http://www.decalage.info)
|
||||
|
||||
olefile is based on the OleFileIO module from the PIL library v1.1.6
|
||||
See: http://www.pythonware.com/products/pil/index.htm
|
||||
|
||||
The Python Imaging Library (PIL) is
|
||||
Copyright (c) 1997-2005 by Secret Labs AB
|
||||
Copyright (c) 1995-2005 by Fredrik Lundh
|
||||
|
||||
See source code and LICENSE.txt for information on usage and redistribution.
|
||||
"""
|
||||
|
||||
# The OleFileIO_PL module is for backward compatibility
|
||||
|
||||
try:
|
||||
# first try to import olefile for Python 2.6+/3.x
|
||||
from olefile.olefile import *
|
||||
# import metadata not covered by *:
|
||||
from olefile.olefile import __version__, __author__, __date__
|
||||
|
||||
except:
|
||||
# if it fails, fallback to the old version olefile2 for Python 2.x:
|
||||
from olefile.olefile2 import *
|
||||
# import metadata not covered by *:
|
||||
from olefile.olefile2 import __doc__, __version__, __author__, __date__
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
@@ -1,33 +0,0 @@
|
||||
# This is a stub package designed to roughly emulate the _yaml
|
||||
# extension module, which previously existed as a standalone module
|
||||
# and has been moved into the `yaml` package namespace.
|
||||
# It does not perfectly mimic its old counterpart, but should get
|
||||
# close enough for anyone who's relying on it even when they shouldn't.
|
||||
import yaml
|
||||
|
||||
# in some circumstances, the yaml module we imoprted may be from a different version, so we need
|
||||
# to tread carefully when poking at it here (it may not have the attributes we expect)
|
||||
if not getattr(yaml, '__with_libyaml__', False):
|
||||
from sys import version_info
|
||||
|
||||
exc = ModuleNotFoundError if version_info >= (3, 6) else ImportError
|
||||
raise exc("No module named '_yaml'")
|
||||
else:
|
||||
from yaml._yaml import *
|
||||
import warnings
|
||||
warnings.warn(
|
||||
'The _yaml extension module is now located at yaml._yaml'
|
||||
' and its location is subject to change. To use the'
|
||||
' LibYAML-based parser and emitter, import from `yaml`:'
|
||||
' `from yaml import CLoader as Loader, CDumper as Dumper`.',
|
||||
DeprecationWarning
|
||||
)
|
||||
del warnings
|
||||
# Don't `del yaml` here because yaml is actually an existing
|
||||
# namespace member of _yaml.
|
||||
|
||||
__name__ = '_yaml'
|
||||
# If the module is top-level (i.e. not a part of any specific package)
|
||||
# then the attribute should be set to ''.
|
||||
# https://docs.python.org/3.8/library/types.html
|
||||
__package__ = ''
|
||||
@@ -1 +0,0 @@
|
||||
pip
|
||||
@@ -1,209 +0,0 @@
|
||||
Metadata-Version: 2.4
|
||||
Name: aiofiles
|
||||
Version: 25.1.0
|
||||
Summary: File support for asyncio.
|
||||
Project-URL: Changelog, https://github.com/Tinche/aiofiles#history
|
||||
Project-URL: Bug Tracker, https://github.com/Tinche/aiofiles/issues
|
||||
Project-URL: Repository, https://github.com/Tinche/aiofiles
|
||||
Author-email: Tin Tvrtkovic <tinchester@gmail.com>
|
||||
License: Apache-2.0
|
||||
License-File: LICENSE
|
||||
License-File: NOTICE
|
||||
Classifier: Development Status :: 5 - Production/Stable
|
||||
Classifier: Framework :: AsyncIO
|
||||
Classifier: License :: OSI Approved :: Apache Software License
|
||||
Classifier: Operating System :: OS Independent
|
||||
Classifier: Programming Language :: Python :: 3.9
|
||||
Classifier: Programming Language :: Python :: 3.10
|
||||
Classifier: Programming Language :: Python :: 3.11
|
||||
Classifier: Programming Language :: Python :: 3.12
|
||||
Classifier: Programming Language :: Python :: 3.13
|
||||
Classifier: Programming Language :: Python :: 3.14
|
||||
Classifier: Programming Language :: Python :: Implementation :: CPython
|
||||
Classifier: Programming Language :: Python :: Implementation :: PyPy
|
||||
Requires-Python: >=3.9
|
||||
Description-Content-Type: text/markdown
|
||||
|
||||
# aiofiles: file support for asyncio
|
||||
|
||||
[](https://pypi.python.org/pypi/aiofiles)
|
||||
[](https://github.com/Tinche/aiofiles/actions)
|
||||
[](https://github.com/Tinche/aiofiles/actions/workflows/main.yml)
|
||||
[](https://github.com/Tinche/aiofiles)
|
||||
[](https://github.com/astral-sh/ruff)
|
||||
|
||||
**aiofiles** is an Apache2 licensed library, written in Python, for handling local
|
||||
disk files in asyncio applications.
|
||||
|
||||
Ordinary local file IO is blocking, and cannot easily and portably be made
|
||||
asynchronous. This means doing file IO may interfere with asyncio applications,
|
||||
which shouldn't block the executing thread. aiofiles helps with this by
|
||||
introducing asynchronous versions of files that support delegating operations to
|
||||
a separate thread pool.
|
||||
|
||||
```python
|
||||
async with aiofiles.open('filename', mode='r') as f:
|
||||
contents = await f.read()
|
||||
print(contents)
|
||||
'My file contents'
|
||||
```
|
||||
|
||||
Asynchronous iteration is also supported.
|
||||
|
||||
```python
|
||||
async with aiofiles.open('filename') as f:
|
||||
async for line in f:
|
||||
...
|
||||
```
|
||||
|
||||
Asynchronous interface to tempfile module.
|
||||
|
||||
```python
|
||||
async with aiofiles.tempfile.TemporaryFile('wb') as f:
|
||||
await f.write(b'Hello, World!')
|
||||
```
|
||||
|
||||
## Features
|
||||
|
||||
- a file API very similar to Python's standard, blocking API
|
||||
- support for buffered and unbuffered binary files, and buffered text files
|
||||
- support for `async`/`await` ([PEP 492](https://peps.python.org/pep-0492/)) constructs
|
||||
- async interface to tempfile module
|
||||
|
||||
## Installation
|
||||
|
||||
To install aiofiles, simply:
|
||||
|
||||
```shell
|
||||
pip install aiofiles
|
||||
```
|
||||
|
||||
## Usage
|
||||
|
||||
Files are opened using the `aiofiles.open()` coroutine, which in addition to
|
||||
mirroring the builtin `open` accepts optional `loop` and `executor`
|
||||
arguments. If `loop` is absent, the default loop will be used, as per the
|
||||
set asyncio policy. If `executor` is not specified, the default event loop
|
||||
executor will be used.
|
||||
|
||||
In case of success, an asynchronous file object is returned with an
|
||||
API identical to an ordinary file, except the following methods are coroutines
|
||||
and delegate to an executor:
|
||||
|
||||
- `close`
|
||||
- `flush`
|
||||
- `isatty`
|
||||
- `read`
|
||||
- `readall`
|
||||
- `read1`
|
||||
- `readinto`
|
||||
- `readline`
|
||||
- `readlines`
|
||||
- `seek`
|
||||
- `seekable`
|
||||
- `tell`
|
||||
- `truncate`
|
||||
- `writable`
|
||||
- `write`
|
||||
- `writelines`
|
||||
|
||||
In case of failure, one of the usual exceptions will be raised.
|
||||
|
||||
`aiofiles.stdin`, `aiofiles.stdout`, `aiofiles.stderr`,
|
||||
`aiofiles.stdin_bytes`, `aiofiles.stdout_bytes`, and
|
||||
`aiofiles.stderr_bytes` provide async access to `sys.stdin`,
|
||||
`sys.stdout`, `sys.stderr`, and their corresponding `.buffer` properties.
|
||||
|
||||
The `aiofiles.os` module contains executor-enabled coroutine versions of
|
||||
several useful `os` functions that deal with files:
|
||||
|
||||
- `stat`
|
||||
- `statvfs`
|
||||
- `sendfile`
|
||||
- `rename`
|
||||
- `renames`
|
||||
- `replace`
|
||||
- `remove`
|
||||
- `unlink`
|
||||
- `mkdir`
|
||||
- `makedirs`
|
||||
- `rmdir`
|
||||
- `removedirs`
|
||||
- `link`
|
||||
- `symlink`
|
||||
- `readlink`
|
||||
- `listdir`
|
||||
- `scandir`
|
||||
- `access`
|
||||
- `getcwd`
|
||||
- `path.abspath`
|
||||
- `path.exists`
|
||||
- `path.isfile`
|
||||
- `path.isdir`
|
||||
- `path.islink`
|
||||
- `path.ismount`
|
||||
- `path.getsize`
|
||||
- `path.getatime`
|
||||
- `path.getctime`
|
||||
- `path.samefile`
|
||||
- `path.sameopenfile`
|
||||
|
||||
### Tempfile
|
||||
|
||||
**aiofiles.tempfile** implements the following interfaces:
|
||||
|
||||
- TemporaryFile
|
||||
- NamedTemporaryFile
|
||||
- SpooledTemporaryFile
|
||||
- TemporaryDirectory
|
||||
|
||||
Results return wrapped with a context manager allowing use with async with and async for.
|
||||
|
||||
```python
|
||||
async with aiofiles.tempfile.NamedTemporaryFile('wb+') as f:
|
||||
await f.write(b'Line1\n Line2')
|
||||
await f.seek(0)
|
||||
async for line in f:
|
||||
print(line)
|
||||
|
||||
async with aiofiles.tempfile.TemporaryDirectory() as d:
|
||||
filename = os.path.join(d, "file.ext")
|
||||
```
|
||||
|
||||
### Writing tests for aiofiles
|
||||
|
||||
Real file IO can be mocked by patching `aiofiles.threadpool.sync_open`
|
||||
as desired. The return type also needs to be registered with the
|
||||
`aiofiles.threadpool.wrap` dispatcher:
|
||||
|
||||
```python
|
||||
aiofiles.threadpool.wrap.register(mock.MagicMock)(
|
||||
lambda *args, **kwargs: aiofiles.threadpool.AsyncBufferedIOBase(*args, **kwargs)
|
||||
)
|
||||
|
||||
async def test_stuff():
|
||||
write_data = 'data'
|
||||
read_file_chunks = [
|
||||
b'file chunks 1',
|
||||
b'file chunks 2',
|
||||
b'file chunks 3',
|
||||
b'',
|
||||
]
|
||||
file_chunks_iter = iter(read_file_chunks)
|
||||
|
||||
mock_file_stream = mock.MagicMock(
|
||||
read=lambda *args, **kwargs: next(file_chunks_iter)
|
||||
)
|
||||
|
||||
with mock.patch('aiofiles.threadpool.sync_open', return_value=mock_file_stream) as mock_open:
|
||||
async with aiofiles.open('filename', 'w') as f:
|
||||
await f.write(write_data)
|
||||
assert await f.read() == b'file chunks 1'
|
||||
|
||||
mock_file_stream.write.assert_called_once_with(write_data)
|
||||
```
|
||||
|
||||
### Contributing
|
||||
|
||||
Contributions are very welcome. Tests can be run with `tox`, please ensure
|
||||
the coverage at least stays the same before you submit a pull request.
|
||||
@@ -1,26 +0,0 @@
|
||||
aiofiles-25.1.0.dist-info/INSTALLER,sha256=zuuue4knoyJ-UwPPXg8fezS7VCrXJQrAP7zeNuwvFQg,4
|
||||
aiofiles-25.1.0.dist-info/METADATA,sha256=a5a5kHMVigDdsBKlFINLSMPsX3Ms4Fn_zecASBdZqLU,6291
|
||||
aiofiles-25.1.0.dist-info/RECORD,,
|
||||
aiofiles-25.1.0.dist-info/WHEEL,sha256=qtCwoSJWgHk21S1Kb4ihdzI2rlJ1ZKaIurTj_ngOhyQ,87
|
||||
aiofiles-25.1.0.dist-info/licenses/LICENSE,sha256=y16Ofl9KOYjhBjwULGDcLfdWBfTEZRXnduOspt-XbhQ,11325
|
||||
aiofiles-25.1.0.dist-info/licenses/NOTICE,sha256=EExY0dRQvWR0wJ2LZLwBgnM6YKw9jCU-M0zegpRSD_E,55
|
||||
aiofiles/__init__.py,sha256=DYqUwak6MVosBjbAsgyEnFFP-HUZCG5h7X4owoeyYHw,345
|
||||
aiofiles/__pycache__/__init__.cpython-313.pyc,,
|
||||
aiofiles/__pycache__/base.cpython-313.pyc,,
|
||||
aiofiles/__pycache__/os.cpython-313.pyc,,
|
||||
aiofiles/__pycache__/ospath.cpython-313.pyc,,
|
||||
aiofiles/base.py,sha256=-fvh41PnictTZL3cg98HoN4h6jdebi5d7Mfh81zOBOc,2046
|
||||
aiofiles/os.py,sha256=slJ5oUNHVW1xWVuuIWQiYjw30n3L48H7oX4CJvD_1d4,1078
|
||||
aiofiles/ospath.py,sha256=c-Kqw4wMCZ-YRt8Jleb697cANwJQM9qux6lq97949C8,678
|
||||
aiofiles/tempfile/__init__.py,sha256=twoC7vaQ-JjFzh2Bbd-3-o0hmExH3CYJUmQcuiVwZfg,10207
|
||||
aiofiles/tempfile/__pycache__/__init__.cpython-313.pyc,,
|
||||
aiofiles/tempfile/__pycache__/temptypes.cpython-313.pyc,,
|
||||
aiofiles/tempfile/temptypes.py,sha256=3_hlc6l9r5wmino1fDrt4TpFlX4IKoR5IP_bBYVVuHg,2037
|
||||
aiofiles/threadpool/__init__.py,sha256=-65UURmzUHsGTXUz0TARdSzyXIfkCFtbczAQLEPpEcU,3140
|
||||
aiofiles/threadpool/__pycache__/__init__.cpython-313.pyc,,
|
||||
aiofiles/threadpool/__pycache__/binary.cpython-313.pyc,,
|
||||
aiofiles/threadpool/__pycache__/text.cpython-313.pyc,,
|
||||
aiofiles/threadpool/__pycache__/utils.cpython-313.pyc,,
|
||||
aiofiles/threadpool/binary.py,sha256=hp-km9VCRu0MLz_wAEUfbCz7OL7xtn9iGAawabpnp5U,2315
|
||||
aiofiles/threadpool/text.py,sha256=fNmpw2PEkj0BZSldipJXAgZqVGLxALcfOMiuDQ54Eas,1223
|
||||
aiofiles/threadpool/utils.py,sha256=VtIJ9KErbcIT9_Yz4V4rZgNEUjBH3cAYxzKQBMpEzik,1850
|
||||
@@ -1,4 +0,0 @@
|
||||
Wheel-Version: 1.0
|
||||
Generator: hatchling 1.27.0
|
||||
Root-Is-Purelib: true
|
||||
Tag: py3-none-any
|
||||
@@ -1,202 +0,0 @@
|
||||
Apache License
|
||||
Version 2.0, January 2004
|
||||
http://www.apache.org/licenses/
|
||||
|
||||
TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
|
||||
|
||||
1. Definitions.
|
||||
|
||||
"License" shall mean the terms and conditions for use, reproduction,
|
||||
and distribution as defined by Sections 1 through 9 of this document.
|
||||
|
||||
"Licensor" shall mean the copyright owner or entity authorized by
|
||||
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|
||||
|
||||
"Legal Entity" shall mean the union of the acting entity and all
|
||||
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|
||||
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|
||||
"control" means (i) the power, direct or indirect, to cause the
|
||||
direction or management of such entity, whether by contract or
|
||||
otherwise, or (ii) ownership of fifty percent (50%) or more of the
|
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outstanding shares, or (iii) beneficial ownership of such entity.
|
||||
|
||||
"You" (or "Your") shall mean an individual or Legal Entity
|
||||
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|
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|
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"Source" form shall mean the preferred form for making modifications,
|
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|
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"Work" shall mean the work of authorship, whether in Source or
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|
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|
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"Contribution" shall mean any work of authorship, including
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You may add Your own copyright statement to Your modifications and
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for use, reproduction, or distribution of Your modifications, or
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5. Submission of Contributions. Unless You explicitly state otherwise,
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any Contribution intentionally submitted for inclusion in the Work
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by You to the Licensor shall be under the terms and conditions of
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Notwithstanding the above, nothing herein shall supersede or modify
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with Licensor regarding such Contributions.
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|
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END OF TERMS AND CONDITIONS
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|
||||
APPENDIX: How to apply the Apache License to your work.
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|
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To apply the Apache License to your work, attach the following
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|
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|
||||
@@ -1,2 +0,0 @@
|
||||
Asyncio support for files
|
||||
Copyright 2016 Tin Tvrtkovic
|
||||
@@ -1,23 +0,0 @@
|
||||
"""Utilities for asyncio-friendly file handling."""
|
||||
|
||||
from . import tempfile
|
||||
from .threadpool import (
|
||||
open,
|
||||
stderr,
|
||||
stderr_bytes,
|
||||
stdin,
|
||||
stdin_bytes,
|
||||
stdout,
|
||||
stdout_bytes,
|
||||
)
|
||||
|
||||
__all__ = [
|
||||
"open",
|
||||
"tempfile",
|
||||
"stdin",
|
||||
"stdout",
|
||||
"stderr",
|
||||
"stdin_bytes",
|
||||
"stdout_bytes",
|
||||
"stderr_bytes",
|
||||
]
|
||||
Binary file not shown.
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user