Initial commit: 无人机行为规划后端系统
Made-with: Cursor
This commit is contained in:
235
playground.py
Normal file
235
playground.py
Normal file
@@ -0,0 +1,235 @@
|
||||
"""
|
||||
可视化交互测试台 - Streamlit
|
||||
|
||||
左侧边栏：切换 Blackboard.is_in_air（模拟在地面/空中）
|
||||
主界面：输入自然语言指令，分步展示四层流水线输出。
|
||||
"""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
import json
|
||||
import sys
|
||||
import time
|
||||
from pathlib import Path
|
||||
|
||||
# 确保 src 在路径中
|
||||
sys.path.insert(0, str(Path(__file__).resolve().parent / "src"))
|
||||
|
||||
import streamlit as st
|
||||
|
||||
from drone_planning.core.blackboard import DroneStateBlackboard
|
||||
from drone_planning.execution.tree_wrapper import parse_json_to_tree, tree_to_ascii, wrap_and_build_tree
|
||||
from drone_planning.pipeline.composer import _load_node_schema, build_system_prompt
|
||||
from drone_planning.pipeline.planner import plan
|
||||
from drone_planning.pipeline.router import route
|
||||
from drone_planning.rag.retriever import RAGRetriever
|
||||
|
||||
st.set_page_config(page_title="无人机行为规划测试台", page_icon="🚁", layout="wide")
|
||||
|
||||
# 缩小环节耗时、intents、entities 等数据的字体
|
||||
st.markdown("""
|
||||
<style>
|
||||
/* 环节耗时、intents、entities 等 metric 字体 */
|
||||
div[data-testid="stMetric"] { font-size: 0.8rem !important; }
|
||||
div[data-testid="stMetric"] label { font-size: 0.75rem !important; }
|
||||
div[data-testid="stMetric"] [data-testid="stMetricValue"] { font-size: 0.85rem !important; }
|
||||
/* JSON、code 块字体 */
|
||||
div[data-testid="stJson"], .stJson { font-size: 0.8rem !important; }
|
||||
div[data-testid="stCode"] code, .stCode code { font-size: 0.8rem !important; }
|
||||
/* expander 内标题与内容 */
|
||||
.streamlit-expanderHeader { font-size: 0.9rem !important; }
|
||||
.streamlit-expanderContent { font-size: 0.85rem !important; }
|
||||
/* caption 字体 */
|
||||
.stCaptionContainer { font-size: 0.8rem !important; }
|
||||
/* subheader 略小 */
|
||||
h3 { font-size: 1rem !important; }
|
||||
</style>
|
||||
""", unsafe_allow_html=True)
|
||||
|
||||
st.title("🚁 无人机行为规划 - 四层流水线测试台")
|
||||
st.caption("输入自然语言指令，观察 Layer 1~4 的逐步输出。切换「是否在空中」可验证 Layer 4 的起飞包装逻辑。")
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# 左侧边栏：Blackboard 状态
|
||||
# ---------------------------------------------------------------------------
|
||||
with st.sidebar:
|
||||
st.header("⚙️ 黑板状态")
|
||||
is_in_air = st.toggle("是否在空中 (is_in_air)", value=False, help="关=在地面，开=已起飞。关掉时 Layer 4 会在业务树前插入 SystemCheck + Takeoff")
|
||||
bb = DroneStateBlackboard()
|
||||
bb.is_in_air = is_in_air
|
||||
st.info(f"当前: {'已起飞' if is_in_air else '在地面'}")
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# 主界面：输入与执行
|
||||
# ---------------------------------------------------------------------------
|
||||
instruction = st.text_area("输入自然语言指令", height=80, placeholder="例如：飞到大门然后拍照、起飞、飞到广场然后搜索汽车")
|
||||
run_text = instruction.strip() if instruction else ""
|
||||
if run_text:
|
||||
st.divider()
|
||||
if st.button("执行规划", type="primary", key="run_plan"):
|
||||
# 再次同步 blackboard（用户可能在点击前改了侧边栏）
|
||||
bb = DroneStateBlackboard()
|
||||
bb.is_in_air = is_in_air
|
||||
|
||||
layer1_result = None
|
||||
rag_context = None
|
||||
layer2_prompt = None
|
||||
layer2_meta = None
|
||||
tool_call_log: list[dict] = []
|
||||
layer3_json = None
|
||||
layer4_ascii = None
|
||||
fast_path = False
|
||||
error_msg = None
|
||||
timing: dict[str, float] = {}
|
||||
|
||||
try:
|
||||
# Layer 1: Router
|
||||
t0 = time.perf_counter()
|
||||
layer1_result = route(run_text)
|
||||
timing["Layer1_Router"] = (time.perf_counter() - t0) * 1000
|
||||
fast_path = layer1_result.is_fast_path
|
||||
|
||||
if fast_path:
|
||||
st.success("✅ Layer 1 触发 Fast-Path 短路，后续层不执行")
|
||||
else:
|
||||
# RAG 检索（阶段二）
|
||||
t0 = time.perf_counter()
|
||||
retriever = RAGRetriever()
|
||||
rag_context = retriever.retrieve_context(
|
||||
intents=layer1_result.intents,
|
||||
entities=layer1_result.entities,
|
||||
user_text=run_text,
|
||||
)
|
||||
timing["RAG_检索"] = (time.perf_counter() - t0) * 1000
|
||||
|
||||
# Layer 2: Composer
|
||||
t0 = time.perf_counter()
|
||||
schema_json = _load_node_schema()
|
||||
layer2_prompt, layer2_meta = build_system_prompt(
|
||||
intents=layer1_result.intents,
|
||||
entities=layer1_result.entities,
|
||||
schema_json=schema_json,
|
||||
rag_context=rag_context,
|
||||
)
|
||||
timing["Layer2_Composer"] = (time.perf_counter() - t0) * 1000
|
||||
|
||||
# Layer 3: Planner（支持 Tool 循环）
|
||||
t0 = time.perf_counter()
|
||||
layer3_json = plan(
|
||||
system_prompt=layer2_prompt,
|
||||
user_text=run_text,
|
||||
tool_call_log=tool_call_log,
|
||||
)
|
||||
timing["Layer3_Planner"] = (time.perf_counter() - t0) * 1000
|
||||
|
||||
# Layer 4: 解析 + 包装（会读取 blackboard.is_in_air）
|
||||
t0 = time.perf_counter()
|
||||
root_node = layer3_json.get("root") or layer3_json
|
||||
business_tree = parse_json_to_tree(root_node)
|
||||
final_tree = wrap_and_build_tree(business_tree)
|
||||
layer4_ascii = tree_to_ascii(final_tree)
|
||||
timing["Layer4_Execution"] = (time.perf_counter() - t0) * 1000
|
||||
|
||||
except Exception as e:
|
||||
error_msg = str(e)
|
||||
import traceback
|
||||
st.error(f"❌ 执行出错: {error_msg}")
|
||||
st.code(traceback.format_exc(), language="text")
|
||||
|
||||
# -----------------------------------------------------------------------
|
||||
# 各环节耗时
|
||||
# -----------------------------------------------------------------------
|
||||
if timing:
|
||||
st.subheader("⏱️ 各环节耗时 (ms)")
|
||||
cols = st.columns(len(timing))
|
||||
for i, (name, ms) in enumerate(timing.items()):
|
||||
with cols[i]:
|
||||
st.metric(name, f"{ms:.0f} ms")
|
||||
st.caption(f"总计: {sum(timing.values()):.0f} ms")
|
||||
|
||||
# -----------------------------------------------------------------------
|
||||
# 分步展示
|
||||
# -----------------------------------------------------------------------
|
||||
st.subheader("📋 各层输出")
|
||||
|
||||
# Layer 1
|
||||
with st.expander("**Layer 1 (Router)** - 意图与实体", expanded=True):
|
||||
if layer1_result:
|
||||
col1, col2, col3 = st.columns(3)
|
||||
with col1:
|
||||
st.metric("intents", ", ".join(layer1_result.intents) or "-")
|
||||
with col2:
|
||||
ent_str = json.dumps(layer1_result.entities, ensure_ascii=False)
|
||||
st.metric("entities", ent_str[:60] + "..." if len(ent_str) > 60 else ent_str or "-")
|
||||
with col3:
|
||||
st.metric("Fast-Path", "是" if fast_path else "否")
|
||||
st.json(layer1_result.entities)
|
||||
else:
|
||||
st.warning("Layer 1 未执行或出错")
|
||||
|
||||
if not fast_path:
|
||||
# RAG 检索结果（Layer 1 与 Layer 2 之间）
|
||||
with st.expander("**RAG 检索结果** - 地图坐标、规则、Few-shot 示例", expanded=True):
|
||||
if rag_context:
|
||||
col1, col2 = st.columns(2)
|
||||
with col1:
|
||||
st.markdown("**地图坐标 (map_context)**")
|
||||
if rag_context.get("map_context"):
|
||||
st.code(rag_context["map_context"], language=None)
|
||||
else:
|
||||
st.caption("无匹配")
|
||||
with col2:
|
||||
st.markdown("**规则约束 (rule_context)**")
|
||||
if rag_context.get("rule_context"):
|
||||
st.code(rag_context["rule_context"], language=None)
|
||||
else:
|
||||
st.caption("无匹配")
|
||||
st.markdown("**Few-shot 示例**")
|
||||
if rag_context.get("few_shot_examples"):
|
||||
for i, ex in enumerate(rag_context["few_shot_examples"]):
|
||||
st.json({"instruction": ex.get("instruction"), "tree_json": ex.get("tree_json")})
|
||||
else:
|
||||
st.caption("无相似示例")
|
||||
else:
|
||||
st.caption("RAG 未执行")
|
||||
|
||||
# Layer 2
|
||||
with st.expander("**Layer 2 (Composer)** - 精简 Prompt 与选中节点", expanded=True):
|
||||
if layer2_meta:
|
||||
st.metric("Prompt 长度", f"{layer2_meta.get('prompt_length', 0)} 字符")
|
||||
st.metric("选中节点", ", ".join(layer2_meta.get("selected_actions", [])))
|
||||
st.metric("基准点坐标", json.dumps(layer2_meta.get("base_location_coords", {}), ensure_ascii=False))
|
||||
if layer2_prompt:
|
||||
preview = layer2_prompt[:2000] + ("..." if len(layer2_prompt) > 2000 else "")
|
||||
st.code(preview, language="text")
|
||||
|
||||
# 坐标计算与 Tool Call 日志（仅 LLM 通过 mcp 工具计算）
|
||||
rel_descs = (rag_context or {}).get("relative_descriptions") or []
|
||||
has_any = bool(rel_descs) or bool(tool_call_log)
|
||||
with st.expander("**坐标计算与 Tool Call 日志**", expanded=has_any):
|
||||
if rel_descs:
|
||||
st.markdown("**RAG 提供的相对描述**（需 LLM 调用 calculate_relative_coordinate）")
|
||||
for rd in rel_descs:
|
||||
st.json(rd)
|
||||
if tool_call_log:
|
||||
st.markdown("**LLM Tool Call**（大模型调用 mcp 计算）")
|
||||
for entry in tool_call_log:
|
||||
st.markdown(f"第 {entry.get('round', '?')} 次 `{entry.get('tool', '')}`")
|
||||
st.json({"arguments": entry.get("arguments"), "result": entry.get("result")})
|
||||
if not rel_descs and not tool_call_log:
|
||||
st.caption("无相对描述（指令仅含绝对地点时，直接使用 base_location_coords）")
|
||||
|
||||
# Layer 3
|
||||
with st.expander("**Layer 3 (Planner)** - 原生业务树 JSON", expanded=True):
|
||||
if layer3_json:
|
||||
st.json(layer3_json)
|
||||
else:
|
||||
st.warning("Layer 3 未执行")
|
||||
|
||||
# Layer 4
|
||||
with st.expander("**Layer 4 (Execution)** - 安全包装后的 py_trees ASCII 结构", expanded=True):
|
||||
if layer4_ascii:
|
||||
st.text("当 is_in_air=False 时，此处应看到 [Safe_Execution] -> [SystemCheck] -> [Takeoff] -> 业务树")
|
||||
st.code(layer4_ascii, language=None)
|
||||
else:
|
||||
st.warning("Layer 4 未执行")
|
||||
Reference in New Issue
Block a user