Initial commit: 无人机行为规划后端系统

Made-with: Cursor

config/node_schema.json

@@ -0,0 +1,109 @@
+{
+  "_instruction": "作为行为树规划器，你只能使用以下定义的节点和参数。不要使用起飞、降落等底层动作，它们由系统自动包装。",
+  "actions": {
+    "fly_to_waypoint": {
+      "desc": "飞往指定坐标点（ENU 坐标系）",
+      "params": {
+        "x": "float",
+        "y": "float",
+        "z": "float"
+      }
+    },
+    "fly_sequence": {
+      "desc": "按顺序飞往多个航点",
+      "params": {
+        "waypoints": "array of {x,y,z}"
+      }
+    },
+    "move_direction": {
+      "desc": "沿指定方向移动固定距离",
+      "params": {
+        "direction": "front|back|left|right|up|down",
+        "distance": "float"
+      }
+    },
+    "search_pattern": {
+      "desc": "按螺旋或网格模式搜索目标",
+      "params": {
+        "pattern_type": "spiral|grid",
+        "radius": "float",
+        "target_class": "string"
+      }
+    },
+    "rotate_search": {
+      "desc": "原地旋转搜索目标",
+      "params": {
+        "target_class": "string"
+      }
+    },
+    "track_object": {
+      "desc": "跟踪指定类型的目标",
+      "params": {
+        "target_class": "string",
+        "track_time": "float"
+      }
+    },
+    "take_photos": {
+      "desc": "对目标拍照",
+      "params": {
+        "target_class": "string",
+        "count": "int"
+      }
+    },
+    "report_message": {
+      "desc": "上报消息",
+      "params": {
+        "message": "string"
+      }
+    },
+    "manual_confirmation": {
+      "desc": "请求用户手动确认",
+      "params": {
+        "prompt_message": "string"
+      }
+    }
+  },
+  "conditions": {
+    "object_detected": {
+      "desc": "检测到指定类型的目标",
+      "params": {
+        "target_class": "string"
+      }
+    }
+  },
+  "control_flow": {
+    "Sequence": {
+      "desc": "顺序执行子节点，全部成功才成功",
+      "params": {},
+      "requires_children": true
+    },
+    "Selector": {
+      "desc": "选择执行子节点，有一个成功即成功",
+      "params": {},
+      "requires_children": true
+    },
+    "Parallel": {
+      "desc": "并行执行子节点",
+      "params": {
+        "policy": "success_on_one|success_on_all"
+      },
+      "requires_children": true
+    }
+  },
+  "decorators": {
+    "Timeout": {
+      "desc": "限制子节点最大执行时间",
+      "params": {
+        "max_time": "float"
+      },
+      "requires_child": true
+    },
+    "Repeat": {
+      "desc": "重复执行子节点指定次数",
+      "params": {
+        "times": "int"
+      },
+      "requires_child": true
+    }
+  }
+}