108 lines
6.2 KiB
Plaintext
108 lines
6.2 KiB
Plaintext
2026-02-26 19:00:57,073 - INFO - Anonymized telemetry enabled. See https://docs.trychroma.com/telemetry for more information.
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2026-02-26 19:00:57,211 - INFO - 成功找到节点定义JSON代码块
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2026-02-26 19:00:57,211 - INFO - 成功解析出动作节点: ['approach_target', 'deliver_payload', 'fly_sequence', 'fly_to_waypoint', 'land', 'loiter', 'manual_confirmation', 'move_direction', 'object_detect', 'return_emergency', 'rotate', 'rotate_search', 'search_pattern', 'system_checks', 'take_photos', 'takeoff', 'track_object']
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2026-02-26 19:00:57,211 - INFO - 成功解析出条件节点: ['at_waypoint', 'object_detected']
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INFO: Started server process [26111]
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INFO: Waiting for application startup.
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2026-02-26 19:00:57,217 - INFO - WebSocket event loop configured.
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INFO: Application startup complete.
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INFO: Uvicorn running on http://0.0.0.0:8000 (Press CTRL+C to quit)
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INFO: 127.0.0.1:46065 - "GET /docs HTTP/1.1" 200 OK
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2026-02-26 19:01:05,074 - INFO - ========== [Stage 1] Task Understanding ==========
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2026-02-26 19:01:05,881 - INFO - HTTP Request: POST http://localhost:8081/v1/chat/completions "HTTP/1.1 200 OK"
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2026-02-26 19:01:05,886 - INFO - Task Understanding Results: mode=scene1, state=in_air, intent=generic_mission, risks=[]
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INFO: 127.0.0.1:46071 - "POST /debug_stage HTTP/1.1" 200 OK
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2026-02-26 19:01:23,412 - INFO - ========== [Stage 1] Task Understanding ==========
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2026-02-26 19:01:23,780 - INFO - HTTP Request: POST http://localhost:8081/v1/chat/completions "HTTP/1.1 200 OK"
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2026-02-26 19:01:23,780 - INFO - Task Understanding Results: mode=scene1, state=in_air, intent=generic_mission, risks=[]
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INFO: 127.0.0.1:44329 - "POST /debug_stage HTTP/1.1" 200 OK
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2026-02-26 19:01:36,748 - INFO - ========== [Stage 1] Task Understanding ==========
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2026-02-26 19:01:37,168 - INFO - HTTP Request: POST http://localhost:8081/v1/chat/completions "HTTP/1.1 200 OK"
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2026-02-26 19:01:37,169 - INFO - Task Understanding Results: mode=scene1, state=in_air, intent=generic_mission, risks=[]
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INFO: 127.0.0.1:44483 - "POST /debug_stage HTTP/1.1" 200 OK
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2026-02-26 19:15:34,050 - INFO - ========== [Stage 1] Task Understanding ==========
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2026-02-26 19:15:34,569 - INFO - HTTP Request: POST http://localhost:8081/v1/chat/completions "HTTP/1.1 200 OK"
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2026-02-26 19:15:34,570 - INFO - Task Understanding Results: mode=scene1, state=in_air, intent=generic_mission, risks=[]
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2026-02-26 19:15:34,570 - INFO - ========== [Stage 2] Context Binding ==========
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2026-02-26 19:15:34,799 - INFO - Context Binding Results: Required Actions=['Selector', 'Sequence', 'fly_to_waypoint', 'land', 'move_direction', 'object_detect', 'object_detected', 'rotate_search', 'take_photos', 'takeoff'], RAG Scopes=['location', 'pattern']
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INFO: 127.0.0.1:47143 - "POST /debug_stage HTTP/1.1" 200 OK
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2026-02-26 19:18:26,812 - INFO - ========== [Stage 1] Task Understanding ==========
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2026-02-26 19:18:27,220 - INFO - HTTP Request: POST http://localhost:8081/v1/chat/completions "HTTP/1.1 200 OK"
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2026-02-26 19:18:27,220 - INFO - Task Understanding Results: mode=scene1, state=in_air, intent=generic_mission, risks=[]
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2026-02-26 19:18:27,220 - INFO - ========== [Stage 2] Context Binding ==========
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2026-02-26 19:18:27,276 - INFO - Context Binding Results: Required Actions=['Selector', 'Sequence', 'fly_to_waypoint', 'land', 'move_direction', 'object_detect', 'object_detected', 'rotate_search', 'take_photos', 'takeoff'], RAG Scopes=['location', 'pattern']
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2026-02-26 19:18:27,276 - INFO - ========== [Stage 3] Macro Planning (Round 1) ==========
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2026-02-26 19:18:27,278 - INFO - [Round 1] System Prompt Preview (first 500 chars):
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任务：根据用户的自然语言指令，规划无人机的宏观执行流程结构，并提取执行该流程所需的外部参数。
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你现在是第一阶段“宏观规划与意图提取”AI。你只需要做两件事：
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1. 分析意图并排出正确的骨架树（不需要填充任何 parameters/params）。
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2. 从用户指令中提取出需要查询确切位置或目标属性的实体清单（如地标、方向、距离、识别目标）。
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**严格约束**：仅输出符合以下 JSON 格式的数据，**禁止**包含任何外部分析、Markdown 标记外的纯文本，或者多余的字段。
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输出格式约定：
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```json
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{
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"macro_tree": { ... 纯结构树 ... },
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"parameter_requests": [
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{
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"node": "节点名称",
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"intent": "对该节点意图的简短描述",
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"extracted_entities": {
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"实体key": "实体value"
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}
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}
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]
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}
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```
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## 一、核心节点定义（裁剪后）
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#### 1. 可用节点定义 (必须遵守...
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2026-02-26 19:18:27,278 - INFO - [Round 1] User Prompt:
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飞到广场东边50米
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---
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参考知识：
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【地点知识】
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{"property": "location", "information": {"name": "广场", "coordinates": {"x": 100, "y": 260, "z": 0}}}
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{"property": "location", "information": {"name": "飞行场地", "coordinates": {"x": 0, "y": 0, "z": 0}}}
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{"property": "location", "information": {"name": "大楼外围四个点东南天坐标系坐标", "coordinates": {"A": {"x": -24.0, "y": 241.8, "z": 0}, "B": {"x": -108.5, "y": 241.8, "z": 0}, "C": {"x": -108.5, "y": 289.8, "z": 0}, "D": {"x": -24.0, "y": 292.8, "z": 0}}}}
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【任务模式】
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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。
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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。
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地面起飞后到面前大楼约12米高度，沿外围巡查打开窗户；如发现窗户则拍照回传。
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---
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2026-02-26 19:18:36,039 - INFO - HTTP Request: POST http://localhost:8081/v1/chat/completions "HTTP/1.1 200 OK"
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2026-02-26 19:18:36,039 - INFO - [Round 1] Output Macro Tree:
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{
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"root": {
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"type": "Sequence",
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"name": "FlyToSquareEast50",
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"children": [
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{
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"type": "action",
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"name": "fly_to_waypoint"
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}
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]
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}
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}
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2026-02-26 19:18:36,039 - INFO - [Round 1] Output Parameter Requests:
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[
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{
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"node": "fly_to_waypoint",
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"intent": "前往广场东边50米",
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"extracted_entities": {
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"landmark": "广场",
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"direction": "东",
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"distance": 50.0
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}
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}
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]
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INFO: 127.0.0.1:46185 - "POST /debug_stage HTTP/1.1" 200 OK
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