989 lines
50 KiB
Plaintext
989 lines
50 KiB
Plaintext
2025-12-03 17:01:57,749 - INFO - Anonymized telemetry enabled. See https://docs.trychroma.com/telemetry for more information.
|
||
2025-12-03 17:01:57,855 - ERROR - 在系统提示词中未找到'可用节点定义'部分的JSON代码块。
|
||
2025-12-03 17:01:57,855 - WARNING - 使用备用方案解析节点定义...
|
||
2025-12-03 17:01:57,855 - INFO - 从第1个JSON块中成功解析出节点定义
|
||
2025-12-03 17:01:57,855 - INFO - 动作节点: ['battle_damage_assessment', 'deliver_payload', 'emergency_return', 'fly_to_waypoint', 'land', 'loiter', 'move_direction', 'object_detect', 'orbit_around_point', 'orbit_around_target', 'preflight_checks', 'search_pattern', 'strike_target', 'takeoff', 'track_object']
|
||
2025-12-03 17:01:57,855 - INFO - 条件节点: ['at_waypoint', 'battery_above', 'gps_status', 'object_detected', 'target_destroyed', 'time_elapsed']
|
||
INFO: Started server process [19716]
|
||
INFO: Waiting for application startup.
|
||
2025-12-03 17:01:57,858 - INFO - WebSocket event loop configured.
|
||
INFO: Application startup complete.
|
||
INFO: Uvicorn running on http://0.0.0.0:8000 (Press CTRL+C to quit)
|
||
2025-12-03 17:01:59,643 - INFO - 接收到用户请求: 起飞
|
||
2025-12-03 17:02:00,278 - INFO - HTTP Request: POST http://localhost:8081/v1/chat/completions "HTTP/1.1 200 OK"
|
||
2025-12-03 17:02:00,282 - INFO - 分类结果: simple
|
||
2025-12-03 17:02:00,282 - INFO - --- 开始从向量数据库检索上下文 ---
|
||
2025-12-03 17:02:00,324 - INFO - --- 成功检索到上下文信息 ---
|
||
2025-12-03 17:02:00,324 - INFO - 📚 检索到的上下文内容:
|
||
在地图上有一个名为 '跷跷板' 的地点或区域，它的leisure是'playground'，其中心位置坐标大约在 (x:15, y:-8.5, z:1.2)。
|
||
|
||
在地图上有一个名为 'A地' 的地点或区域，它的building是'commercial'，其中心位置坐标大约在 (x:10, y:-10, z:2)。
|
||
|
||
在地图上有一个名为 '学生宿舍' 的地点或区域，它的building是'dormitory'，其中心位置坐标大约在 (x:5, y:3, z:2)。
|
||
2025-12-03 17:02:00,324 - INFO - --- 第 1/3 次尝试生成Pytree ---
|
||
2025-12-03 17:02:02,279 - INFO - HTTP Request: POST http://localhost:8081/v1/chat/completions "HTTP/1.1 200 OK"
|
||
2025-12-03 17:02:02,280 - INFO - ✅ 简单模式JSON Schema验证成功
|
||
2025-12-03 17:02:02,395 - INFO - ✅ 任务树可视化成功
|
||
2025-12-03 17:02:02,395 - INFO - 图形已保存到: /home/huangfukk/DronePlanning/backend_service/generated_visualizations/py_tree.png
|
||
2025-12-03 17:02:02,395 - INFO - 未在模型输出中发现 <think> 推理链片段。若需捕获，请设置 ENABLE_REASONING_CAPTURE=true 以放宽JSON强制格式。
|
||
INFO: 127.0.0.1:45113 - "POST /generate_plan HTTP/1.1" 200 OK
|
||
INFO: 127.0.0.1:45121 - "GET /docs HTTP/1.1" 200 OK
|
||
2025-12-03 17:02:12,960 - INFO - 接收到用户请求: 起飞后移动到学生宿舍上方降落
|
||
2025-12-03 17:02:13,486 - INFO - HTTP Request: POST http://localhost:8081/v1/chat/completions "HTTP/1.1 200 OK"
|
||
2025-12-03 17:02:13,487 - INFO - 分类结果: complex
|
||
2025-12-03 17:02:13,487 - INFO - --- 开始从向量数据库检索上下文 ---
|
||
2025-12-03 17:02:13,675 - INFO - --- 成功检索到上下文信息 ---
|
||
2025-12-03 17:02:13,675 - INFO - 📚 检索到的上下文内容:
|
||
在地图上有一个名为 '学生宿舍' 的地点或区域，它的building是'dormitory'，其中心位置坐标大约在 (x:5, y:3, z:2)。
|
||
|
||
在地图上有一个名为 '跷跷板' 的地点或区域，它的leisure是'playground'，其中心位置坐标大约在 (x:15, y:-8.5, z:1.2)。
|
||
|
||
在地图上有一个名为 'A地' 的地点或区域，它的building是'commercial'，其中心位置坐标大约在 (x:10, y:-10, z:2)。
|
||
2025-12-03 17:02:13,675 - INFO - --- 第 1/3 次尝试生成Pytree ---
|
||
2025-12-03 17:02:22,835 - INFO - HTTP Request: POST http://localhost:8081/v1/chat/completions "HTTP/1.1 200 OK"
|
||
2025-12-03 17:02:22,838 - INFO - ✅ JSON Schema验证成功
|
||
2025-12-03 17:02:22,838 - INFO - ✅ 安全监控验证通过
|
||
2025-12-03 17:02:22,838 - INFO - ✅ 成功生成并验证了Pytree
|
||
2025-12-03 17:02:22,895 - INFO - ✅ 任务树可视化成功
|
||
2025-12-03 17:02:22,895 - INFO - 图形已保存到: /home/huangfukk/DronePlanning/backend_service/generated_visualizations/py_tree.png
|
||
2025-12-03 17:02:22,895 - INFO - 未在模型输出中发现 <think> 推理链片段。若需捕获，请设置 ENABLE_REASONING_CAPTURE=true 以放宽JSON强制格式。
|
||
INFO: 127.0.0.1:46965 - "POST /generate_plan HTTP/1.1" 200 OK
|
||
2025-12-03 17:02:23,899 - INFO - 接收到用户请求: 起飞后移动到学生宿舍上方查找蓝色的车
|
||
2025-12-03 17:02:24,310 - INFO - HTTP Request: POST http://localhost:8081/v1/chat/completions "HTTP/1.1 200 OK"
|
||
2025-12-03 17:02:24,310 - INFO - 分类结果: complex
|
||
2025-12-03 17:02:24,311 - INFO - --- 开始从向量数据库检索上下文 ---
|
||
2025-12-03 17:02:24,355 - INFO - --- 成功检索到上下文信息 ---
|
||
2025-12-03 17:02:24,355 - INFO - 📚 检索到的上下文内容:
|
||
在地图上有一个名为 '学生宿舍' 的地点或区域，它的building是'dormitory'，其中心位置坐标大约在 (x:5, y:3, z:2)。
|
||
|
||
在地图上有一个名为 '跷跷板' 的地点或区域，它的leisure是'playground'，其中心位置坐标大约在 (x:15, y:-8.5, z:1.2)。
|
||
|
||
在地图上有一个名为 'A地' 的地点或区域，它的building是'commercial'，其中心位置坐标大约在 (x:10, y:-10, z:2)。
|
||
2025-12-03 17:02:24,355 - INFO - --- 第 1/3 次尝试生成Pytree ---
|
||
2025-12-03 17:02:37,209 - INFO - HTTP Request: POST http://localhost:8081/v1/chat/completions "HTTP/1.1 200 OK"
|
||
2025-12-03 17:02:37,212 - INFO - ✅ JSON Schema验证成功
|
||
2025-12-03 17:02:37,212 - INFO - ✅ 安全监控验证通过
|
||
2025-12-03 17:02:37,212 - INFO - ✅ 成功生成并验证了Pytree
|
||
2025-12-03 17:02:37,296 - INFO - ✅ 任务树可视化成功
|
||
2025-12-03 17:02:37,296 - INFO - 图形已保存到: /home/huangfukk/DronePlanning/backend_service/generated_visualizations/py_tree.png
|
||
2025-12-03 17:02:37,296 - INFO - 未在模型输出中发现 <think> 推理链片段。若需捕获，请设置 ENABLE_REASONING_CAPTURE=true 以放宽JSON强制格式。
|
||
INFO: 127.0.0.1:45243 - "POST /generate_plan HTTP/1.1" 200 OK
|
||
2025-12-03 17:02:41,517 - INFO - 接收到用户请求: 起飞
|
||
2025-12-03 17:02:42,120 - INFO - HTTP Request: POST http://localhost:8081/v1/chat/completions "HTTP/1.1 200 OK"
|
||
2025-12-03 17:02:42,121 - INFO - 分类结果: simple
|
||
2025-12-03 17:02:42,121 - INFO - --- 开始从向量数据库检索上下文 ---
|
||
2025-12-03 17:02:42,153 - INFO - --- 成功检索到上下文信息 ---
|
||
2025-12-03 17:02:42,153 - INFO - 📚 检索到的上下文内容:
|
||
在地图上有一个名为 '跷跷板' 的地点或区域，它的leisure是'playground'，其中心位置坐标大约在 (x:15, y:-8.5, z:1.2)。
|
||
|
||
在地图上有一个名为 'A地' 的地点或区域，它的building是'commercial'，其中心位置坐标大约在 (x:10, y:-10, z:2)。
|
||
|
||
在地图上有一个名为 '学生宿舍' 的地点或区域，它的building是'dormitory'，其中心位置坐标大约在 (x:5, y:3, z:2)。
|
||
2025-12-03 17:02:42,153 - INFO - --- 第 1/3 次尝试生成Pytree ---
|
||
2025-12-03 17:02:44,012 - INFO - HTTP Request: POST http://localhost:8081/v1/chat/completions "HTTP/1.1 200 OK"
|
||
2025-12-03 17:02:44,012 - INFO - ✅ 简单模式JSON Schema验证成功
|
||
2025-12-03 17:02:44,042 - INFO - ✅ 任务树可视化成功
|
||
2025-12-03 17:02:44,042 - INFO - 图形已保存到: /home/huangfukk/DronePlanning/backend_service/generated_visualizations/py_tree.png
|
||
2025-12-03 17:02:44,042 - INFO - 未在模型输出中发现 <think> 推理链片段。若需捕获，请设置 ENABLE_REASONING_CAPTURE=true 以放宽JSON强制格式。
|
||
INFO: 127.0.0.1:46939 - "POST /generate_plan HTTP/1.1" 200 OK
|
||
2025-12-03 17:02:45,046 - INFO - 接收到用户请求: 起飞后移动到学生宿舍上方降落
|
||
2025-12-03 17:02:45,454 - INFO - HTTP Request: POST http://localhost:8081/v1/chat/completions "HTTP/1.1 200 OK"
|
||
2025-12-03 17:02:45,454 - INFO - 分类结果: complex
|
||
2025-12-03 17:02:45,454 - INFO - --- 开始从向量数据库检索上下文 ---
|
||
2025-12-03 17:02:45,505 - INFO - --- 成功检索到上下文信息 ---
|
||
2025-12-03 17:02:45,506 - INFO - 📚 检索到的上下文内容:
|
||
在地图上有一个名为 '学生宿舍' 的地点或区域，它的building是'dormitory'，其中心位置坐标大约在 (x:5, y:3, z:2)。
|
||
|
||
在地图上有一个名为 '跷跷板' 的地点或区域，它的leisure是'playground'，其中心位置坐标大约在 (x:15, y:-8.5, z:1.2)。
|
||
|
||
在地图上有一个名为 'A地' 的地点或区域，它的building是'commercial'，其中心位置坐标大约在 (x:10, y:-10, z:2)。
|
||
2025-12-03 17:02:45,506 - INFO - --- 第 1/3 次尝试生成Pytree ---
|
||
2025-12-03 17:02:55,237 - INFO - HTTP Request: POST http://localhost:8081/v1/chat/completions "HTTP/1.1 200 OK"
|
||
2025-12-03 17:02:55,240 - INFO - ✅ JSON Schema验证成功
|
||
2025-12-03 17:02:55,240 - INFO - ✅ 安全监控验证通过
|
||
2025-12-03 17:02:55,240 - INFO - ✅ 成功生成并验证了Pytree
|
||
2025-12-03 17:02:55,300 - INFO - ✅ 任务树可视化成功
|
||
2025-12-03 17:02:55,300 - INFO - 图形已保存到: /home/huangfukk/DronePlanning/backend_service/generated_visualizations/py_tree.png
|
||
2025-12-03 17:02:55,300 - INFO - 未在模型输出中发现 <think> 推理链片段。若需捕获，请设置 ENABLE_REASONING_CAPTURE=true 以放宽JSON强制格式。
|
||
INFO: 127.0.0.1:44861 - "POST /generate_plan HTTP/1.1" 200 OK
|
||
2025-12-03 17:09:29,783 - INFO - 接收到用户请求: 起飞
|
||
2025-12-03 17:09:30,321 - INFO - HTTP Request: POST http://localhost:8081/v1/chat/completions "HTTP/1.1 200 OK"
|
||
2025-12-03 17:09:30,321 - INFO - 分类结果: simple
|
||
2025-12-03 17:09:30,321 - INFO - --- 开始从向量数据库检索上下文 ---
|
||
2025-12-03 17:09:30,356 - INFO - --- 成功检索到上下文信息 ---
|
||
2025-12-03 17:09:30,356 - INFO - 📚 检索到的上下文内容:
|
||
在地图上有一个名为 '跷跷板' 的地点或区域，它的leisure是'playground'，其中心位置坐标大约在 (x:15, y:-8.5, z:1.2)。
|
||
|
||
在地图上有一个名为 'A地' 的地点或区域，它的building是'commercial'，其中心位置坐标大约在 (x:10, y:-10, z:2)。
|
||
|
||
在地图上有一个名为 '学生宿舍' 的地点或区域，它的building是'dormitory'，其中心位置坐标大约在 (x:5, y:3, z:2)。
|
||
2025-12-03 17:09:30,356 - INFO - --- 第 1/3 次尝试生成Pytree ---
|
||
2025-12-03 17:09:32,209 - INFO - HTTP Request: POST http://localhost:8081/v1/chat/completions "HTTP/1.1 200 OK"
|
||
2025-12-03 17:09:32,210 - INFO - ✅ 简单模式JSON Schema验证成功
|
||
2025-12-03 17:09:32,242 - INFO - ✅ 任务树可视化成功
|
||
2025-12-03 17:09:32,242 - INFO - 图形已保存到: /home/huangfukk/DronePlanning/backend_service/generated_visualizations/py_tree.png
|
||
2025-12-03 17:09:32,242 - INFO - 未在模型输出中发现 <think> 推理链片段。若需捕获，请设置 ENABLE_REASONING_CAPTURE=true 以放宽JSON强制格式。
|
||
INFO: 127.0.0.1:45687 - "POST /generate_plan HTTP/1.1" 200 OK
|
||
2025-12-03 17:09:33,246 - INFO - 接收到用户请求: 起飞后移动到学生宿舍上方降落
|
||
2025-12-03 17:09:33,569 - INFO - HTTP Request: POST http://localhost:8081/v1/chat/completions "HTTP/1.1 200 OK"
|
||
2025-12-03 17:09:33,569 - INFO - 分类结果: complex
|
||
2025-12-03 17:09:33,569 - INFO - --- 开始从向量数据库检索上下文 ---
|
||
2025-12-03 17:09:33,617 - INFO - --- 成功检索到上下文信息 ---
|
||
2025-12-03 17:09:33,617 - INFO - 📚 检索到的上下文内容:
|
||
在地图上有一个名为 '学生宿舍' 的地点或区域，它的building是'dormitory'，其中心位置坐标大约在 (x:5, y:3, z:2)。
|
||
|
||
在地图上有一个名为 '跷跷板' 的地点或区域，它的leisure是'playground'，其中心位置坐标大约在 (x:15, y:-8.5, z:1.2)。
|
||
|
||
在地图上有一个名为 'A地' 的地点或区域，它的building是'commercial'，其中心位置坐标大约在 (x:10, y:-10, z:2)。
|
||
2025-12-03 17:09:33,617 - INFO - --- 第 1/3 次尝试生成Pytree ---
|
||
2025-12-03 17:09:43,203 - INFO - HTTP Request: POST http://localhost:8081/v1/chat/completions "HTTP/1.1 200 OK"
|
||
2025-12-03 17:09:43,206 - INFO - ✅ JSON Schema验证成功
|
||
2025-12-03 17:09:43,206 - INFO - ✅ 安全监控验证通过
|
||
2025-12-03 17:09:43,207 - INFO - ✅ 成功生成并验证了Pytree
|
||
2025-12-03 17:09:43,261 - INFO - ✅ 任务树可视化成功
|
||
2025-12-03 17:09:43,261 - INFO - 图形已保存到: /home/huangfukk/DronePlanning/backend_service/generated_visualizations/py_tree.png
|
||
2025-12-03 17:09:43,261 - INFO - 未在模型输出中发现 <think> 推理链片段。若需捕获，请设置 ENABLE_REASONING_CAPTURE=true 以放宽JSON强制格式。
|
||
INFO: 127.0.0.1:44521 - "POST /generate_plan HTTP/1.1" 200 OK
|
||
2025-12-03 17:09:44,264 - INFO - 接收到用户请求: 起飞后移动到学生宿舍上方查找蓝色的车
|
||
2025-12-03 17:09:44,620 - INFO - HTTP Request: POST http://localhost:8081/v1/chat/completions "HTTP/1.1 200 OK"
|
||
2025-12-03 17:09:44,621 - INFO - 分类结果: complex
|
||
2025-12-03 17:09:44,621 - INFO - --- 开始从向量数据库检索上下文 ---
|
||
2025-12-03 17:09:44,655 - INFO - --- 成功检索到上下文信息 ---
|
||
2025-12-03 17:09:44,655 - INFO - 📚 检索到的上下文内容:
|
||
在地图上有一个名为 '学生宿舍' 的地点或区域，它的building是'dormitory'，其中心位置坐标大约在 (x:5, y:3, z:2)。
|
||
|
||
在地图上有一个名为 '跷跷板' 的地点或区域，它的leisure是'playground'，其中心位置坐标大约在 (x:15, y:-8.5, z:1.2)。
|
||
|
||
在地图上有一个名为 'A地' 的地点或区域，它的building是'commercial'，其中心位置坐标大约在 (x:10, y:-10, z:2)。
|
||
2025-12-03 17:09:44,655 - INFO - --- 第 1/3 次尝试生成Pytree ---
|
||
2025-12-03 17:09:56,596 - INFO - HTTP Request: POST http://localhost:8081/v1/chat/completions "HTTP/1.1 200 OK"
|
||
2025-12-03 17:09:56,599 - INFO - ✅ JSON Schema验证成功
|
||
2025-12-03 17:09:56,599 - INFO - ✅ 安全监控验证通过
|
||
2025-12-03 17:09:56,600 - INFO - ✅ 成功生成并验证了Pytree
|
||
2025-12-03 17:09:56,681 - INFO - ✅ 任务树可视化成功
|
||
2025-12-03 17:09:56,681 - INFO - 图形已保存到: /home/huangfukk/DronePlanning/backend_service/generated_visualizations/py_tree.png
|
||
2025-12-03 17:09:56,681 - INFO - 未在模型输出中发现 <think> 推理链片段。若需捕获，请设置 ENABLE_REASONING_CAPTURE=true 以放宽JSON强制格式。
|
||
INFO: 127.0.0.1:45915 - "POST /generate_plan HTTP/1.1" 200 OK
|
||
2025-12-03 17:09:57,684 - INFO - 接收到用户请求: 起飞后移动到学生宿舍上方寻找蓝色的车
|
||
2025-12-03 17:09:57,997 - INFO - HTTP Request: POST http://localhost:8081/v1/chat/completions "HTTP/1.1 200 OK"
|
||
2025-12-03 17:09:57,997 - INFO - 分类结果: complex
|
||
2025-12-03 17:09:57,998 - INFO - --- 开始从向量数据库检索上下文 ---
|
||
2025-12-03 17:09:58,034 - INFO - --- 成功检索到上下文信息 ---
|
||
2025-12-03 17:09:58,034 - INFO - 📚 检索到的上下文内容:
|
||
在地图上有一个名为 '学生宿舍' 的地点或区域，它的building是'dormitory'，其中心位置坐标大约在 (x:5, y:3, z:2)。
|
||
|
||
在地图上有一个名为 '跷跷板' 的地点或区域，它的leisure是'playground'，其中心位置坐标大约在 (x:15, y:-8.5, z:1.2)。
|
||
|
||
在地图上有一个名为 'A地' 的地点或区域，它的building是'commercial'，其中心位置坐标大约在 (x:10, y:-10, z:2)。
|
||
2025-12-03 17:09:58,034 - INFO - --- 第 1/3 次尝试生成Pytree ---
|
||
2025-12-03 17:10:10,462 - INFO - HTTP Request: POST http://localhost:8081/v1/chat/completions "HTTP/1.1 200 OK"
|
||
2025-12-03 17:10:10,465 - INFO - ✅ JSON Schema验证成功
|
||
2025-12-03 17:10:10,465 - INFO - ✅ 安全监控验证通过
|
||
2025-12-03 17:10:10,465 - INFO - ✅ 成功生成并验证了Pytree
|
||
2025-12-03 17:10:10,547 - INFO - ✅ 任务树可视化成功
|
||
2025-12-03 17:10:10,547 - INFO - 图形已保存到: /home/huangfukk/DronePlanning/backend_service/generated_visualizations/py_tree.png
|
||
2025-12-03 17:10:10,547 - INFO - 未在模型输出中发现 <think> 推理链片段。若需捕获，请设置 ENABLE_REASONING_CAPTURE=true 以放宽JSON强制格式。
|
||
INFO: 127.0.0.1:45807 - "POST /generate_plan HTTP/1.1" 200 OK
|
||
2025-12-03 17:10:11,550 - INFO - 接收到用户请求: 起飞后移动到学生宿舍上方检测蓝色的车
|
||
2025-12-03 17:10:11,884 - INFO - HTTP Request: POST http://localhost:8081/v1/chat/completions "HTTP/1.1 200 OK"
|
||
2025-12-03 17:10:11,885 - INFO - 分类结果: complex
|
||
2025-12-03 17:10:11,885 - INFO - --- 开始从向量数据库检索上下文 ---
|
||
2025-12-03 17:10:11,922 - INFO - --- 成功检索到上下文信息 ---
|
||
2025-12-03 17:10:11,922 - INFO - 📚 检索到的上下文内容:
|
||
在地图上有一个名为 '学生宿舍' 的地点或区域，它的building是'dormitory'，其中心位置坐标大约在 (x:5, y:3, z:2)。
|
||
|
||
在地图上有一个名为 '跷跷板' 的地点或区域，它的leisure是'playground'，其中心位置坐标大约在 (x:15, y:-8.5, z:1.2)。
|
||
|
||
在地图上有一个名为 'A地' 的地点或区域，它的building是'commercial'，其中心位置坐标大约在 (x:10, y:-10, z:2)。
|
||
2025-12-03 17:10:11,922 - INFO - --- 第 1/3 次尝试生成Pytree ---
|
||
2025-12-03 17:10:21,907 - INFO - HTTP Request: POST http://localhost:8081/v1/chat/completions "HTTP/1.1 200 OK"
|
||
2025-12-03 17:10:21,910 - INFO - ✅ JSON Schema验证成功
|
||
2025-12-03 17:10:21,910 - INFO - ✅ 安全监控验证通过
|
||
2025-12-03 17:10:21,910 - INFO - ✅ 成功生成并验证了Pytree
|
||
2025-12-03 17:10:21,986 - INFO - ✅ 任务树可视化成功
|
||
2025-12-03 17:10:21,986 - INFO - 图形已保存到: /home/huangfukk/DronePlanning/backend_service/generated_visualizations/py_tree.png
|
||
2025-12-03 17:10:21,986 - INFO - 未在模型输出中发现 <think> 推理链片段。若需捕获，请设置 ENABLE_REASONING_CAPTURE=true 以放宽JSON强制格式。
|
||
INFO: 127.0.0.1:46201 - "POST /generate_plan HTTP/1.1" 200 OK
|
||
2025-12-03 17:10:22,989 - INFO - 接收到用户请求: 飞到学生宿舍上方查找蓝色的车
|
||
2025-12-03 17:10:23,307 - INFO - HTTP Request: POST http://localhost:8081/v1/chat/completions "HTTP/1.1 200 OK"
|
||
2025-12-03 17:10:23,308 - INFO - 分类结果: complex
|
||
2025-12-03 17:10:23,308 - INFO - --- 开始从向量数据库检索上下文 ---
|
||
2025-12-03 17:10:23,376 - INFO - --- 成功检索到上下文信息 ---
|
||
2025-12-03 17:10:23,376 - INFO - 📚 检索到的上下文内容:
|
||
在地图上有一个名为 '学生宿舍' 的地点或区域，它的building是'dormitory'，其中心位置坐标大约在 (x:5, y:3, z:2)。
|
||
|
||
在地图上有一个名为 '跷跷板' 的地点或区域，它的leisure是'playground'，其中心位置坐标大约在 (x:15, y:-8.5, z:1.2)。
|
||
|
||
在地图上有一个名为 'A地' 的地点或区域，它的building是'commercial'，其中心位置坐标大约在 (x:10, y:-10, z:2)。
|
||
2025-12-03 17:10:23,376 - INFO - --- 第 1/3 次尝试生成Pytree ---
|
||
2025-12-03 17:10:34,651 - INFO - HTTP Request: POST http://localhost:8081/v1/chat/completions "HTTP/1.1 200 OK"
|
||
2025-12-03 17:10:34,654 - INFO - ✅ JSON Schema验证成功
|
||
2025-12-03 17:10:34,654 - INFO - ✅ 安全监控验证通过
|
||
2025-12-03 17:10:34,654 - INFO - ✅ 成功生成并验证了Pytree
|
||
2025-12-03 17:10:34,737 - INFO - ✅ 任务树可视化成功
|
||
2025-12-03 17:10:34,738 - INFO - 图形已保存到: /home/huangfukk/DronePlanning/backend_service/generated_visualizations/py_tree.png
|
||
2025-12-03 17:10:34,738 - INFO - 未在模型输出中发现 <think> 推理链片段。若需捕获，请设置 ENABLE_REASONING_CAPTURE=true 以放宽JSON强制格式。
|
||
INFO: 127.0.0.1:46321 - "POST /generate_plan HTTP/1.1" 200 OK
|
||
2025-12-03 17:10:35,741 - INFO - 接收到用户请求: 飞到学生宿舍上方查找蓝色车辆并进行打击
|
||
2025-12-03 17:10:36,062 - INFO - HTTP Request: POST http://localhost:8081/v1/chat/completions "HTTP/1.1 200 OK"
|
||
2025-12-03 17:10:36,063 - INFO - 分类结果: complex
|
||
2025-12-03 17:10:36,063 - INFO - --- 开始从向量数据库检索上下文 ---
|
||
2025-12-03 17:10:36,098 - INFO - --- 成功检索到上下文信息 ---
|
||
2025-12-03 17:10:36,098 - INFO - 📚 检索到的上下文内容:
|
||
在地图上有一个名为 '学生宿舍' 的地点或区域，它的building是'dormitory'，其中心位置坐标大约在 (x:5, y:3, z:2)。
|
||
|
||
在地图上有一个名为 '跷跷板' 的地点或区域，它的leisure是'playground'，其中心位置坐标大约在 (x:15, y:-8.5, z:1.2)。
|
||
|
||
在地图上有一个名为 'A地' 的地点或区域，它的building是'commercial'，其中心位置坐标大约在 (x:10, y:-10, z:2)。
|
||
2025-12-03 17:10:36,098 - INFO - --- 第 1/3 次尝试生成Pytree ---
|
||
2025-12-03 17:10:47,961 - INFO - HTTP Request: POST http://localhost:8081/v1/chat/completions "HTTP/1.1 200 OK"
|
||
2025-12-03 17:10:47,964 - WARNING - ❌ Pytree验证失败
|
||
2025-12-03 17:10:47,964 - WARNING - 错误信息: 'vehicle' is not one of ['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', 'balloon']
|
||
2025-12-03 17:10:47,964 - WARNING - 错误路径: root -> children -> 0 -> children -> 4 -> params -> target_class
|
||
2025-12-03 17:10:47,965 - WARNING - ❌ 未通过验证的Pytree（第 1/3 次尝试）：
|
||
{
|
||
"root": {
|
||
"type": "Parallel",
|
||
"name": "MissionWithSafety",
|
||
"params": {
|
||
"policy": "all_success"
|
||
},
|
||
"children": [
|
||
{
|
||
"type": "Sequence",
|
||
"name": "MainTask",
|
||
"params": {},
|
||
"children": [
|
||
{
|
||
"type": "action",
|
||
"name": "preflight_checks",
|
||
"params": {
|
||
"check_level": "comprehensive"
|
||
}
|
||
},
|
||
{
|
||
"type": "action",
|
||
"name": "takeoff",
|
||
"params": {
|
||
"altitude": 10.0
|
||
}
|
||
},
|
||
{
|
||
"type": "action",
|
||
"name": "fly_to_waypoint",
|
||
"params": {
|
||
"x": 5.0,
|
||
"y": 3.0,
|
||
"z": 2.0
|
||
}
|
||
},
|
||
{
|
||
"type": "action",
|
||
"name": "search_pattern",
|
||
"params": {
|
||
"pattern_type": "grid",
|
||
"center_x": 5.0,
|
||
"center_y": 3.0,
|
||
"center_z": 2.0,
|
||
"radius": 50.0,
|
||
"target_class": "vehicle",
|
||
"description": "蓝色"
|
||
}
|
||
},
|
||
{
|
||
"type": "condition",
|
||
"name": "object_detected",
|
||
"params": {
|
||
"target_class": "vehicle",
|
||
"description": "蓝色"
|
||
}
|
||
},
|
||
{
|
||
"type": "action",
|
||
"name": "track_object",
|
||
"params": {
|
||
"target_class": "vehicle",
|
||
"description": "蓝色",
|
||
"track_time": 30.0
|
||
}
|
||
},
|
||
{
|
||
"type": "action",
|
||
"name": "strike_target",
|
||
"params": {
|
||
"target_class": "vehicle",
|
||
"description": "蓝色"
|
||
}
|
||
}
|
||
]
|
||
},
|
||
{
|
||
"type": "Selector",
|
||
"name": "SafetyMonitor",
|
||
"params": {
|
||
"memory": true
|
||
},
|
||
"children": [
|
||
{
|
||
"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"
|
||
}
|
||
}
|
||
]
|
||
}
|
||
]
|
||
}
|
||
]
|
||
}
|
||
}
|
||
2025-12-03 17:10:47,965 - WARNING - 生成的Pytree验证失败，正在重试...
|
||
2025-12-03 17:10:47,965 - INFO - --- 第 2/3 次尝试生成Pytree ---
|
||
2025-12-03 17:10:58,017 - INFO - HTTP Request: POST http://localhost:8081/v1/chat/completions "HTTP/1.1 200 OK"
|
||
2025-12-03 17:10:58,020 - WARNING - ❌ Pytree验证失败
|
||
2025-12-03 17:10:58,020 - WARNING - 错误信息: 'vehicle' is not one of ['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', 'balloon']
|
||
2025-12-03 17:10:58,021 - WARNING - 错误路径: root -> children -> 0 -> children -> 4 -> params -> target_class
|
||
2025-12-03 17:10:58,021 - WARNING - ❌ 未通过验证的Pytree（第 2/3 次尝试）：
|
||
{
|
||
"root": {
|
||
"type": "Parallel",
|
||
"name": "MissionWithSafety",
|
||
"params": {
|
||
"policy": "all_success"
|
||
},
|
||
"children": [
|
||
{
|
||
"type": "Sequence",
|
||
"name": "MainTask",
|
||
"params": {},
|
||
"children": [
|
||
{
|
||
"type": "action",
|
||
"name": "preflight_checks",
|
||
"params": {
|
||
"check_level": "comprehensive"
|
||
}
|
||
},
|
||
{
|
||
"type": "action",
|
||
"name": "takeoff",
|
||
"params": {
|
||
"altitude": 10.0
|
||
}
|
||
},
|
||
{
|
||
"type": "action",
|
||
"name": "fly_to_waypoint",
|
||
"params": {
|
||
"x": 5.0,
|
||
"y": 3.0,
|
||
"z": 2.0
|
||
}
|
||
},
|
||
{
|
||
"type": "action",
|
||
"name": "search_pattern",
|
||
"params": {
|
||
"pattern_type": "grid",
|
||
"center_x": 5.0,
|
||
"center_y": 3.0,
|
||
"center_z": 2.0,
|
||
"radius": 50.0,
|
||
"target_class": "vehicle",
|
||
"description": "蓝色"
|
||
}
|
||
},
|
||
{
|
||
"type": "condition",
|
||
"name": "object_detected",
|
||
"params": {
|
||
"target_class": "vehicle",
|
||
"description": "蓝色"
|
||
}
|
||
},
|
||
{
|
||
"type": "action",
|
||
"name": "track_object",
|
||
"params": {
|
||
"target_class": "vehicle",
|
||
"description": "蓝色",
|
||
"track_time": 30.0
|
||
}
|
||
},
|
||
{
|
||
"type": "action",
|
||
"name": "strike_target",
|
||
"params": {
|
||
"target_class": "vehicle",
|
||
"description": "蓝色"
|
||
}
|
||
}
|
||
]
|
||
},
|
||
{
|
||
"type": "Selector",
|
||
"name": "SafetyMonitor",
|
||
"params": {
|
||
"memory": true
|
||
},
|
||
"children": [
|
||
{
|
||
"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"
|
||
}
|
||
}
|
||
]
|
||
}
|
||
]
|
||
}
|
||
]
|
||
}
|
||
}
|
||
2025-12-03 17:10:58,021 - WARNING - 生成的Pytree验证失败，正在重试...
|
||
2025-12-03 17:10:58,021 - INFO - --- 第 3/3 次尝试生成Pytree ---
|
||
2025-12-03 17:11:08,547 - INFO - HTTP Request: POST http://localhost:8081/v1/chat/completions "HTTP/1.1 200 OK"
|
||
2025-12-03 17:11:08,550 - INFO - ✅ JSON Schema验证成功
|
||
2025-12-03 17:11:08,550 - INFO - ✅ 安全监控验证通过
|
||
2025-12-03 17:11:08,550 - INFO - ✅ 成功生成并验证了Pytree
|
||
2025-12-03 17:11:08,629 - INFO - ✅ 任务树可视化成功
|
||
2025-12-03 17:11:08,629 - INFO - 图形已保存到: /home/huangfukk/DronePlanning/backend_service/generated_visualizations/py_tree.png
|
||
2025-12-03 17:11:08,629 - INFO - 未在模型输出中发现 <think> 推理链片段。若需捕获，请设置 ENABLE_REASONING_CAPTURE=true 以放宽JSON强制格式。
|
||
INFO: 127.0.0.1:45455 - "POST /generate_plan HTTP/1.1" 200 OK
|
||
2025-12-03 17:11:09,633 - INFO - 接收到用户请求: 起飞后移动到学生宿舍上方搜索蓝色车辆，并进行打击
|
||
2025-12-03 17:11:09,965 - INFO - HTTP Request: POST http://localhost:8081/v1/chat/completions "HTTP/1.1 200 OK"
|
||
2025-12-03 17:11:09,965 - INFO - 分类结果: complex
|
||
2025-12-03 17:11:09,965 - INFO - --- 开始从向量数据库检索上下文 ---
|
||
2025-12-03 17:11:10,023 - INFO - --- 成功检索到上下文信息 ---
|
||
2025-12-03 17:11:10,023 - INFO - 📚 检索到的上下文内容:
|
||
在地图上有一个名为 '学生宿舍' 的地点或区域，它的building是'dormitory'，其中心位置坐标大约在 (x:5, y:3, z:2)。
|
||
|
||
在地图上有一个名为 '跷跷板' 的地点或区域，它的leisure是'playground'，其中心位置坐标大约在 (x:15, y:-8.5, z:1.2)。
|
||
|
||
在地图上有一个名为 'A地' 的地点或区域，它的building是'commercial'，其中心位置坐标大约在 (x:10, y:-10, z:2)。
|
||
2025-12-03 17:11:10,023 - INFO - --- 第 1/3 次尝试生成Pytree ---
|
||
2025-12-03 17:11:22,441 - INFO - HTTP Request: POST http://localhost:8081/v1/chat/completions "HTTP/1.1 200 OK"
|
||
2025-12-03 17:11:22,445 - WARNING - ❌ Pytree验证失败
|
||
2025-12-03 17:11:22,445 - WARNING - 错误信息: 'vehicle' is not one of ['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', 'balloon']
|
||
2025-12-03 17:11:22,445 - WARNING - 错误路径: root -> children -> 0 -> children -> 4 -> params -> target_class
|
||
2025-12-03 17:11:22,445 - WARNING - ❌ 未通过验证的Pytree（第 1/3 次尝试）：
|
||
{
|
||
"root": {
|
||
"type": "Parallel",
|
||
"name": "MissionWithSafety",
|
||
"params": {
|
||
"policy": "all_success"
|
||
},
|
||
"children": [
|
||
{
|
||
"type": "Sequence",
|
||
"name": "MainTask",
|
||
"params": {},
|
||
"children": [
|
||
{
|
||
"type": "action",
|
||
"name": "preflight_checks",
|
||
"params": {
|
||
"check_level": "comprehensive"
|
||
}
|
||
},
|
||
{
|
||
"type": "action",
|
||
"name": "takeoff",
|
||
"params": {
|
||
"altitude": 10.0
|
||
}
|
||
},
|
||
{
|
||
"type": "action",
|
||
"name": "fly_to_waypoint",
|
||
"params": {
|
||
"x": 5.0,
|
||
"y": 3.0,
|
||
"z": 2.0
|
||
}
|
||
},
|
||
{
|
||
"type": "action",
|
||
"name": "search_pattern",
|
||
"params": {
|
||
"pattern_type": "grid",
|
||
"center_x": 5.0,
|
||
"center_y": 3.0,
|
||
"center_z": 2.0,
|
||
"radius": 50.0,
|
||
"target_class": "vehicle",
|
||
"description": "蓝色"
|
||
}
|
||
},
|
||
{
|
||
"type": "condition",
|
||
"name": "object_detected",
|
||
"params": {
|
||
"target_class": "vehicle",
|
||
"description": "蓝色"
|
||
}
|
||
},
|
||
{
|
||
"type": "action",
|
||
"name": "track_object",
|
||
"params": {
|
||
"target_class": "vehicle",
|
||
"description": "蓝色",
|
||
"track_time": 30.0
|
||
}
|
||
},
|
||
{
|
||
"type": "action",
|
||
"name": "strike_target",
|
||
"params": {
|
||
"target_class": "vehicle",
|
||
"description": "蓝色"
|
||
}
|
||
}
|
||
]
|
||
},
|
||
{
|
||
"type": "Selector",
|
||
"name": "SafetyMonitor",
|
||
"params": {
|
||
"memory": true
|
||
},
|
||
"children": [
|
||
{
|
||
"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"
|
||
}
|
||
}
|
||
]
|
||
}
|
||
]
|
||
}
|
||
]
|
||
}
|
||
}
|
||
2025-12-03 17:11:22,445 - WARNING - 生成的Pytree验证失败，正在重试...
|
||
2025-12-03 17:11:22,445 - INFO - --- 第 2/3 次尝试生成Pytree ---
|
||
2025-12-03 17:11:32,776 - INFO - HTTP Request: POST http://localhost:8081/v1/chat/completions "HTTP/1.1 200 OK"
|
||
2025-12-03 17:11:32,779 - WARNING - ❌ Pytree验证失败
|
||
2025-12-03 17:11:32,779 - WARNING - 错误信息: 'vehicle' is not one of ['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', 'balloon']
|
||
2025-12-03 17:11:32,779 - WARNING - 错误路径: root -> children -> 0 -> children -> 4 -> params -> target_class
|
||
2025-12-03 17:11:32,779 - WARNING - ❌ 未通过验证的Pytree（第 2/3 次尝试）：
|
||
{
|
||
"root": {
|
||
"type": "Parallel",
|
||
"name": "MissionWithSafety",
|
||
"params": {
|
||
"policy": "all_success"
|
||
},
|
||
"children": [
|
||
{
|
||
"type": "Sequence",
|
||
"name": "MainTask",
|
||
"params": {},
|
||
"children": [
|
||
{
|
||
"type": "action",
|
||
"name": "preflight_checks",
|
||
"params": {
|
||
"check_level": "comprehensive"
|
||
}
|
||
},
|
||
{
|
||
"type": "action",
|
||
"name": "takeoff",
|
||
"params": {
|
||
"altitude": 10.0
|
||
}
|
||
},
|
||
{
|
||
"type": "action",
|
||
"name": "fly_to_waypoint",
|
||
"params": {
|
||
"x": 5.0,
|
||
"y": 3.0,
|
||
"z": 2.0
|
||
}
|
||
},
|
||
{
|
||
"type": "action",
|
||
"name": "search_pattern",
|
||
"params": {
|
||
"pattern_type": "grid",
|
||
"center_x": 5.0,
|
||
"center_y": 3.0,
|
||
"center_z": 2.0,
|
||
"radius": 50.0,
|
||
"target_class": "vehicle",
|
||
"description": "蓝色"
|
||
}
|
||
},
|
||
{
|
||
"type": "condition",
|
||
"name": "object_detected",
|
||
"params": {
|
||
"target_class": "vehicle",
|
||
"description": "蓝色"
|
||
}
|
||
},
|
||
{
|
||
"type": "action",
|
||
"name": "track_object",
|
||
"params": {
|
||
"target_class": "vehicle",
|
||
"description": "蓝色",
|
||
"track_time": 30.0
|
||
}
|
||
},
|
||
{
|
||
"type": "action",
|
||
"name": "strike_target",
|
||
"params": {
|
||
"target_class": "vehicle",
|
||
"description": "蓝色"
|
||
}
|
||
}
|
||
]
|
||
},
|
||
{
|
||
"type": "Selector",
|
||
"name": "SafetyMonitor",
|
||
"params": {
|
||
"memory": true
|
||
},
|
||
"children": [
|
||
{
|
||
"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"
|
||
}
|
||
}
|
||
]
|
||
}
|
||
]
|
||
}
|
||
]
|
||
}
|
||
}
|
||
2025-12-03 17:11:32,779 - WARNING - 生成的Pytree验证失败，正在重试...
|
||
2025-12-03 17:11:32,779 - INFO - --- 第 3/3 次尝试生成Pytree ---
|
||
2025-12-03 17:11:42,913 - INFO - HTTP Request: POST http://localhost:8081/v1/chat/completions "HTTP/1.1 200 OK"
|
||
2025-12-03 17:11:42,916 - WARNING - ❌ Pytree验证失败
|
||
2025-12-03 17:11:42,916 - WARNING - 错误信息: 'vehicle' is not one of ['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', 'balloon']
|
||
2025-12-03 17:11:42,916 - WARNING - 错误路径: root -> children -> 0 -> children -> 4 -> params -> target_class
|
||
2025-12-03 17:11:42,916 - WARNING - ❌ 未通过验证的Pytree（第 3/3 次尝试）：
|
||
{
|
||
"root": {
|
||
"type": "Parallel",
|
||
"name": "MissionWithSafety",
|
||
"params": {
|
||
"policy": "all_success"
|
||
},
|
||
"children": [
|
||
{
|
||
"type": "Sequence",
|
||
"name": "MainTask",
|
||
"params": {},
|
||
"children": [
|
||
{
|
||
"type": "action",
|
||
"name": "preflight_checks",
|
||
"params": {
|
||
"check_level": "comprehensive"
|
||
}
|
||
},
|
||
{
|
||
"type": "action",
|
||
"name": "takeoff",
|
||
"params": {
|
||
"altitude": 10.0
|
||
}
|
||
},
|
||
{
|
||
"type": "action",
|
||
"name": "fly_to_waypoint",
|
||
"params": {
|
||
"x": 5.0,
|
||
"y": 3.0,
|
||
"z": 2.0
|
||
}
|
||
},
|
||
{
|
||
"type": "action",
|
||
"name": "search_pattern",
|
||
"params": {
|
||
"pattern_type": "grid",
|
||
"center_x": 5.0,
|
||
"center_y": 3.0,
|
||
"center_z": 2.0,
|
||
"radius": 50.0,
|
||
"target_class": "vehicle",
|
||
"description": "蓝色"
|
||
}
|
||
},
|
||
{
|
||
"type": "condition",
|
||
"name": "object_detected",
|
||
"params": {
|
||
"target_class": "vehicle",
|
||
"description": "蓝色"
|
||
}
|
||
},
|
||
{
|
||
"type": "action",
|
||
"name": "track_object",
|
||
"params": {
|
||
"target_class": "vehicle",
|
||
"description": "蓝色",
|
||
"track_time": 30.0
|
||
}
|
||
},
|
||
{
|
||
"type": "action",
|
||
"name": "strike_target",
|
||
"params": {
|
||
"target_class": "vehicle",
|
||
"description": "蓝色"
|
||
}
|
||
}
|
||
]
|
||
},
|
||
{
|
||
"type": "Selector",
|
||
"name": "SafetyMonitor",
|
||
"params": {
|
||
"memory": true
|
||
},
|
||
"children": [
|
||
{
|
||
"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"
|
||
}
|
||
}
|
||
]
|
||
}
|
||
]
|
||
}
|
||
]
|
||
}
|
||
}
|
||
2025-12-03 17:11:42,916 - WARNING - 生成的Pytree验证失败，正在重试...
|
||
INFO: 127.0.0.1:44761 - "POST /generate_plan HTTP/1.1" 200 OK
|
||
2025-12-03 17:11:43,919 - INFO - 接收到用户请求: 起飞到学生宿舍上方搜索被困人员，并为被困人员投递救援物资
|
||
2025-12-03 17:11:44,249 - INFO - HTTP Request: POST http://localhost:8081/v1/chat/completions "HTTP/1.1 200 OK"
|
||
2025-12-03 17:11:44,249 - INFO - 分类结果: complex
|
||
2025-12-03 17:11:44,249 - INFO - --- 开始从向量数据库检索上下文 ---
|
||
2025-12-03 17:11:44,319 - INFO - --- 成功检索到上下文信息 ---
|
||
2025-12-03 17:11:44,319 - INFO - 📚 检索到的上下文内容:
|
||
在地图上有一个名为 '学生宿舍' 的地点或区域，它的building是'dormitory'，其中心位置坐标大约在 (x:5, y:3, z:2)。
|
||
|
||
在地图上有一个名为 '跷跷板' 的地点或区域，它的leisure是'playground'，其中心位置坐标大约在 (x:15, y:-8.5, z:1.2)。
|
||
|
||
在地图上有一个名为 'A地' 的地点或区域，它的building是'commercial'，其中心位置坐标大约在 (x:10, y:-10, z:2)。
|
||
2025-12-03 17:11:44,320 - INFO - --- 第 1/3 次尝试生成Pytree ---
|
||
2025-12-03 17:11:56,142 - INFO - HTTP Request: POST http://localhost:8081/v1/chat/completions "HTTP/1.1 200 OK"
|
||
2025-12-03 17:11:56,145 - INFO - ✅ JSON Schema验证成功
|
||
2025-12-03 17:11:56,145 - INFO - ✅ 安全监控验证通过
|
||
2025-12-03 17:11:56,145 - INFO - ✅ 成功生成并验证了Pytree
|
||
2025-12-03 17:11:56,228 - INFO - ✅ 任务树可视化成功
|
||
2025-12-03 17:11:56,229 - INFO - 图形已保存到: /home/huangfukk/DronePlanning/backend_service/generated_visualizations/py_tree.png
|
||
2025-12-03 17:11:56,229 - INFO - 未在模型输出中发现 <think> 推理链片段。若需捕获，请设置 ENABLE_REASONING_CAPTURE=true 以放宽JSON强制格式。
|
||
INFO: 127.0.0.1:45089 - "POST /generate_plan HTTP/1.1" 200 OK
|
||
2025-12-03 17:11:57,232 - INFO - 接收到用户请求: 飞到学生宿舍上方搜索方圆10米范围内的蓝色车辆
|
||
2025-12-03 17:11:57,589 - INFO - HTTP Request: POST http://localhost:8081/v1/chat/completions "HTTP/1.1 200 OK"
|
||
2025-12-03 17:11:57,590 - INFO - 分类结果: complex
|
||
2025-12-03 17:11:57,590 - INFO - --- 开始从向量数据库检索上下文 ---
|
||
2025-12-03 17:11:57,655 - INFO - --- 成功检索到上下文信息 ---
|
||
2025-12-03 17:11:57,655 - INFO - 📚 检索到的上下文内容:
|
||
在地图上有一个名为 '学生宿舍' 的地点或区域，它的building是'dormitory'，其中心位置坐标大约在 (x:5, y:3, z:2)。
|
||
|
||
在地图上有一个名为 '跷跷板' 的地点或区域，它的leisure是'playground'，其中心位置坐标大约在 (x:15, y:-8.5, z:1.2)。
|
||
|
||
在地图上有一个名为 'A地' 的地点或区域，它的building是'commercial'，其中心位置坐标大约在 (x:10, y:-10, z:2)。
|
||
2025-12-03 17:11:57,655 - INFO - --- 第 1/3 次尝试生成Pytree ---
|
||
2025-12-03 17:12:09,347 - INFO - HTTP Request: POST http://localhost:8081/v1/chat/completions "HTTP/1.1 200 OK"
|
||
2025-12-03 17:12:09,351 - INFO - ✅ JSON Schema验证成功
|
||
2025-12-03 17:12:09,351 - INFO - ✅ 安全监控验证通过
|
||
2025-12-03 17:12:09,351 - INFO - ✅ 成功生成并验证了Pytree
|
||
2025-12-03 17:12:09,434 - INFO - ✅ 任务树可视化成功
|
||
2025-12-03 17:12:09,434 - INFO - 图形已保存到: /home/huangfukk/DronePlanning/backend_service/generated_visualizations/py_tree.png
|
||
2025-12-03 17:12:09,434 - INFO - 未在模型输出中发现 <think> 推理链片段。若需捕获，请设置 ENABLE_REASONING_CAPTURE=true 以放宽JSON强制格式。
|
||
INFO: 127.0.0.1:44449 - "POST /generate_plan HTTP/1.1" 200 OK
|
||
2025-12-03 17:12:10,437 - INFO - 接收到用户请求: 飞到学生宿舍上方搜索半径为10米区域范围内的蓝色车辆
|
||
2025-12-03 17:12:10,791 - INFO - HTTP Request: POST http://localhost:8081/v1/chat/completions "HTTP/1.1 200 OK"
|
||
2025-12-03 17:12:10,792 - INFO - 分类结果: complex
|
||
2025-12-03 17:12:10,792 - INFO - --- 开始从向量数据库检索上下文 ---
|
||
2025-12-03 17:12:10,843 - INFO - --- 成功检索到上下文信息 ---
|
||
2025-12-03 17:12:10,843 - INFO - 📚 检索到的上下文内容:
|
||
在地图上有一个名为 '学生宿舍' 的地点或区域，它的building是'dormitory'，其中心位置坐标大约在 (x:5, y:3, z:2)。
|
||
|
||
在地图上有一个名为 '跷跷板' 的地点或区域，它的leisure是'playground'，其中心位置坐标大约在 (x:15, y:-8.5, z:1.2)。
|
||
|
||
在地图上有一个名为 'A地' 的地点或区域，它的building是'commercial'，其中心位置坐标大约在 (x:10, y:-10, z:2)。
|
||
2025-12-03 17:12:10,843 - INFO - --- 第 1/3 次尝试生成Pytree ---
|
||
2025-12-03 17:12:23,160 - INFO - HTTP Request: POST http://localhost:8081/v1/chat/completions "HTTP/1.1 200 OK"
|
||
2025-12-03 17:12:23,163 - INFO - ✅ JSON Schema验证成功
|
||
2025-12-03 17:12:23,163 - INFO - ✅ 安全监控验证通过
|
||
2025-12-03 17:12:23,163 - INFO - ✅ 成功生成并验证了Pytree
|
||
2025-12-03 17:12:23,243 - INFO - ✅ 任务树可视化成功
|
||
2025-12-03 17:12:23,243 - INFO - 图形已保存到: /home/huangfukk/DronePlanning/backend_service/generated_visualizations/py_tree.png
|
||
2025-12-03 17:12:23,243 - INFO - 未在模型输出中发现 <think> 推理链片段。若需捕获，请设置 ENABLE_REASONING_CAPTURE=true 以放宽JSON强制格式。
|
||
INFO: 127.0.0.1:46047 - "POST /generate_plan HTTP/1.1" 200 OK
|
||
2025-12-03 17:12:24,247 - INFO - 接收到用户请求: 起飞到学生宿舍搜索有没有被困人员，然后抛洒救援物资
|
||
2025-12-03 17:12:24,574 - INFO - HTTP Request: POST http://localhost:8081/v1/chat/completions "HTTP/1.1 200 OK"
|
||
2025-12-03 17:12:24,574 - INFO - 分类结果: complex
|
||
2025-12-03 17:12:24,574 - INFO - --- 开始从向量数据库检索上下文 ---
|
||
2025-12-03 17:12:24,637 - INFO - --- 成功检索到上下文信息 ---
|
||
2025-12-03 17:12:24,637 - INFO - 📚 检索到的上下文内容:
|
||
在地图上有一个名为 '学生宿舍' 的地点或区域，它的building是'dormitory'，其中心位置坐标大约在 (x:5, y:3, z:2)。
|
||
|
||
在地图上有一个名为 '跷跷板' 的地点或区域，它的leisure是'playground'，其中心位置坐标大约在 (x:15, y:-8.5, z:1.2)。
|
||
|
||
在地图上有一个名为 'A地' 的地点或区域，它的building是'commercial'，其中心位置坐标大约在 (x:10, y:-10, z:2)。
|
||
2025-12-03 17:12:24,637 - INFO - --- 第 1/3 次尝试生成Pytree ---
|
||
2025-12-03 17:12:35,228 - INFO - HTTP Request: POST http://localhost:8081/v1/chat/completions "HTTP/1.1 200 OK"
|
||
2025-12-03 17:12:35,231 - INFO - ✅ JSON Schema验证成功
|
||
2025-12-03 17:12:35,231 - INFO - ✅ 安全监控验证通过
|
||
2025-12-03 17:12:35,231 - INFO - ✅ 成功生成并验证了Pytree
|
||
2025-12-03 17:12:35,315 - INFO - ✅ 任务树可视化成功
|
||
2025-12-03 17:12:35,315 - INFO - 图形已保存到: /home/huangfukk/DronePlanning/backend_service/generated_visualizations/py_tree.png
|
||
2025-12-03 17:12:35,315 - INFO - 未在模型输出中发现 <think> 推理链片段。若需捕获，请设置 ENABLE_REASONING_CAPTURE=true 以放宽JSON强制格式。
|
||
INFO: 127.0.0.1:47031 - "POST /generate_plan HTTP/1.1" 200 OK
|