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optimaze the scan func

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This commit is contained in:
莲子心
2026-01-28 18:31:58 +08:00
parent 5c667941be
commit 24d7737399
2 changed files with 55 additions and 42 deletions
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2
template/agent_prompt.py
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@@ -91,7 +91,7 @@ Tips for you to finish task in the most efficient way:
10. Line formation means after finishing the task the two (or more) drones should move to a same position.
Begin!
11. Before executing a task or moving to a new position, must get the nearby entities first.
12. The max moving distance for a single move_to or navigate_to command is 300 meters. If the distance is longer than that, find a mediam point to go first.
12. The max moving distance for a single move_to or navigate_to command is 500 meters. If the distance is longer than that, find a mediam point to go first.
13. When targets cannot be found, call `auto_scan_all_environment` as early as possible.
14. When `auto_scan_all_environment` is not completed, control multiple active drones move to unvisited scan points , use `get_scan_points` to get the list of scan points categorized by visited status and current drone positions.
15. Executing tasks implicitly performs environment perception, so avoid using the `get_nearby_entities` API as much as possible.

95
uav_langchain_tools.py
View File

@@ -12,40 +12,6 @@ from typing import List, Dict, Any, Optional
# --- 构建地图scan points ---
# 核心参数
r = 150 # 侦察半径(m)
map_width = 1024 # 地图宽度(m)
map_height = 768 # 地图高度(m)
dx = r * math.sqrt(3) # 横向点间距
dy = 1.5 * r # 纵向行间距
# 正六边形网格侦察点坐标列表 (x, y)
drone_points = [
# 第1行（奇数行）：y=150.0
(round(dx/2, 4), 150.0), # (129.9038, 150.0)
(round(dx/2 + dx, 4), 150.0), # (389.7114, 150.0)
(round(dx/2 + 2*dx, 4), 150.0), # (649.5190, 150.0)
(round(dx/2 + 3*dx, 4), 150.0), # (909.3266, 150.0)
# 第2行（偶数行）：y=375.0 (150+225)
(round(dx, 4), 375.0), # (259.8076, 375.0)
(round(dx + dx, 4), 375.0), # (519.6152, 375.0)
(round(dx + 2*dx, 4), 375.0), # (779.4228, 375.0)
(round(dx + 3*dx, 4), 375.0), # (1039.2304, 375.0) # 略超1024，覆盖右边缘
# 第3行（奇数行）：y=600.0 (375+225)
(round(dx/2, 4), 600.0), # (129.9038, 600.0)
(round(dx/2 + dx, 4), 600.0), # (389.7114, 600.0)
(round(dx/2 + 2*dx, 4), 600.0), # (649.5190, 600.0)
(round(dx/2 + 3*dx, 4), 600.0), # (909.3266, 600.0)
# 第4行（偶数行）：y=825.0 (600+225) # 略超768，覆盖上边缘
(round(dx, 4), 825.0), # (259.8076, 825.0)
(round(dx + dx, 4), 825.0), # (519.6152, 825.0)
(round(dx + 2*dx, 4), 825.0), # (779.4228, 825.0)
(round(dx + 3*dx, 4), 825.0) # (1039.2304, 825.0)
]
class ScanPointInfo:
def __init__(self, x: float, y: float):
self.x: float = x
@@ -59,8 +25,36 @@ class ScanPointInfo:
"y": self.y,
"visited": self.visited
}
scan_points = [ScanPointInfo(x, y) for x, y in drone_points]
def map_to_drones_points(map_width=1024.0, map_height=768.0) -> List[ScanPointInfo]:
"""Generate a list of scan points using a hexagonal grid pattern."""
# 核心参数
r = 150 # 侦察半径(m)
dx = r * math.sqrt(3) # 横向点间距
dy = 1.5 * r # 纵向行间距
# 确定坐标范围，处理负数、一正一负等情况
min_x, max_x = sorted([0.0, float(map_width)])
min_y, max_y = sorted([0.0, float(map_height)])
# 正六边形网格侦察点坐标列表 (x, y)
points = []
y = min_y + r
row = 1
while y < max_y + r:
# 奇数行偏移 dx/2，偶数行偏移 dx
x_start = min_x + ((dx / 2) if row % 2 != 0 else dx)
x = x_start
while x < max_x + r:
points.append(ScanPointInfo(round(x, 4), round(y, 4)))
x += dx
y += dy
row += 1
return points
#初始地图
scan_points = map_to_drones_points(1024,768)
def scan_point_is_reached(scan_point: ScanPointInfo, drone_pos: tuple[float, float], threshold: float = 30.0) -> bool:
"""判断当前位置在侦察点附近"""
@@ -1295,6 +1289,10 @@ def create_uav_tools(client: UAVAPIClient) -> list:
else:
error_str += f" Try not move so far."
return json.dumps({"status": "error", "message": error_str})
# check if the point is reached by any drone
scan_point_is_reached_by_drones(drone_id, wp[0], wp[1])
final_msg = waypoint_move_result.get("message", "Success")
if len(waypoints) > 1 and move_towards_flag:
@@ -1618,12 +1616,12 @@ def create_uav_tools(client: UAVAPIClient) -> list:
tasks[q_drones[i % len(q_drones)]].append(p)
assigned_points.add(p)
print("Drone Quadrants:", drone_quadrants)
print("Quadrants Points:", quadrants_points)
# print("Drone Quadrants:", drone_quadrants)
# print("Quadrants Points:", quadrants_points)
# 兜底：分配那些所在区域没有无人机的点
remaining_points = [p for p in unvisited_points if p not in assigned_points]
print("Remaining points:", remaining_points)
# print("Remaining points:", remaining_points)
if remaining_points:
for i, p in enumerate(remaining_points):
tasks[active_drones[i % num_drones]].append(p)
@@ -1707,7 +1705,21 @@ def create_uav_tools(client: UAVAPIClient) -> list:
except Exception as e:
return f"Error getting scan points: {str(e)}"
@tool
def get_more_possible_scan_points() -> str:
"""
When scan_points are all visited, but cannot find the target, use this function to get more possible scan points, which x or y is negative.
No input required.
"""
global scan_points
scan_points += map_to_drones_points(1024,-768)
scan_points += map_to_drones_points(-1024,768)
scan_points += map_to_drones_points(-1024,-768)
return """SUCCESS: Search area expanded with negative coordinate grids.
ACTION REQUIRED: Call 'get_scan_points' to retrieve the new unvisited points.
STRATEGY: Use `auto_scan_all_environment` first.Then Prioritize unvisited points within a 300m radius of (0,0), like (-157,57), (-157,-256),(256,-157).et.
"""
# Return all tools
return [
list_drones,
@@ -1740,5 +1752,6 @@ def create_uav_tools(client: UAVAPIClient) -> list:
get_all_waypoints,
get_targets,
auto_scan_all_environment,
get_scan_points
get_scan_points,
get_more_possible_scan_points
]