Merge branch 'main' of https://github.com/abnerhexu/masa-agent

template/parsing_error.py

@@ -15,6 +15,6 @@ REMINDER - Action Input must be valid JSON:
 - For multiple parameters: {{"drone_id": "drone-001", "altitude": 15.0}}
 - Numbers WITHOUT quotes, strings WITH quotes
 - We put your answer to langchain, so if you want to return {{ or }}, return double of the characters.
-- When the task is done, simply output "Final Answer:\n[TASK DONE]"
+- When the task is done, IMMEDIATELY output ONLY "Final Answer:\n[TASK DONE]" and nothing else after that.
 
 Please try again with proper JSON format."""

uav_langchain_tools.py

@@ -1203,10 +1203,36 @@ def create_uav_tools(client: UAVAPIClient) -> list:
             return "Error: Target area is too small or invalid geometry found."
 
         # 3.4 执行探索
-        
+        # 初始化覆盖率为0，防止在没有执行任何移动时变量未定义
+        current_coverage = 0.0
+        first_warning = 0
         for idx, wp in enumerate(final_path):
             if idx < tool_states.explored_count:
                 continue
+                
+            # 检查无人机电池电量
+            drone_status = client.get_drone_status(drone_id)
+            battery_level = drone_status.get('battery_level', 100.0)
+            
+            # 如果电量低于30%，则前往最近的充电站
+
+            if battery_level < 30.0:
+                # 查找最近的充电站
+                try:
+                    waypoints = client.get_all_waypoints()
+                    charging_stations = [wp for wp in waypoints if wp.get('charge_amount', 0) > 0]
+                    
+                    if charging_stations:
+                        #返回后交给充电工具处理, 充电完成后会再继续执行
+                        return f" {drone_id} is low on battery ({battery_level:.1f}%)! Please charge at the nearest station. Then continue auto exploring."
+
+                    else:
+                        if first_warning == 0:
+                            print("Warning: Low battery but no charging stations found!")
+                            first_warning = 1
+                except Exception as e:
+                    print(f"Error during charging process: {str(e)}")
+            
             # 移动无人机
             client.move_to(drone_id, wp['x'], wp['y'], current_z)