""" LangChain Tools for UAV Control Wraps the UAV API client as LangChain tools using @tool decorator All tools accept JSON string input for consistent parameter handling """ from langchain.tools import tool from uav_api_client import UAVAPIClient import math import heapq import json from typing import List, Dict, Any, Optional class TargetInfo: def __init__(self, data: Dict[str, Any]): self.id: str = data.get("id") self.name: str = data.get("name") self.type: str = data.get("type") self.position: Dict[str, float] = data.get("position") self.description: str = data.get("description") self.velocity: Optional[Dict[str, float]] = data.get("velocity") self.radius: Optional[float] = data.get("radius") self.created_at: float = data.get("created_at") self.last_updated: float = data.get("last_updated") self.moving_path: Optional[List[Dict[str, float]]] = data.get("moving_path") self.moving_duration: Optional[float] = data.get("moving_duration") self.current_path_index: Optional[int] = data.get("current_path_index") self.path_direction: Optional[int] = data.get("path_direction") self.time_in_direction: Optional[float] = data.get("time_in_direction") self.calculated_speed: Optional[float] = data.get("calculated_speed") self.charge_amount: Optional[float] = data.get("charge_amount") self.vertices: Optional[List[Dict[str, float]]] = data.get("vertices") self.is_reached: bool = data.get("is_reached") self.reached_by: List[str] = data.get("reached_by") def __hash__(self): return hash(self.id) def __eq__(self, other): return isinstance(other, TargetInfo) and self.id == other.id def to_dict(self): return { "id": self.id, "name": self.name, "type": self.type, "position": self.position, "description": self.description, "velocity": self.velocity, "radius": self.radius, "created_at": self.created_at, "last_updated": self.last_updated, "moving_path": self.moving_path, "moving_duration": self.moving_duration, "current_path_index": self.current_path_index, "path_direction": self.path_direction, "time_in_direction": self.time_in_direction, "calculated_speed": self.calculated_speed, "charge_amount": self.charge_amount, "vertices": self.vertices, "is_reached": self.is_reached, "reached_by": self.reached_by, } class ObstacleInfo: def __init__(self, data: Dict[str, Any]): self.id: str = data.get("id") self.name: str = data.get("name") self.type: str = data.get("type") self.position: Dict[str, float] = data.get("position") self.description: str = data.get("description") self.radius: Optional[float] = data.get("radius") self.vertices: Optional[List[Dict[str, float]]] = data.get("vertices") self.width: Optional[float] = data.get("width") self.length: Optional[float] = data.get("length") self.height: Optional[float] = data.get("height") self.area: Optional[float] = data.get("area") self.created_at: float = data.get("created_at") self.last_updated: float = data.get("last_updated") def __hash__(self): return hash(self.id) def __eq__(self, other): return isinstance(other, ObstacleInfo) and self.id == other.id def to_dict(self): return { "id": self.id, "name": self.name, "type": self.type, "position": self.position, "description": self.description, "radius": self.radius, "vertices": self.vertices, "width": self.width, "length": self.length, "height": self.height, "area": self.area, "created_at": self.created_at, "last_updated": self.last_updated, } targets_expolred : set[TargetInfo] = set() obstacles_detected : set[ObstacleInfo] = set() # --- 内部几何算法类 --- class GeometryUtils: @staticmethod def point_to_segment_dist_sq(p, a, b): """计算点 p 到线段 ab 的最短距离的平方""" px, py = p[0], p[1] ax, ay = a[0], a[1] bx, by = b[0], b[1] l2 = (ax - bx)**2 + (ay - by)**2 if l2 == 0: return (px - ax)**2 + (py - ay)**2 t = ((px - ax) * (bx - ax) + (py - ay) * (by - ay)) / l2 t = max(0, min(1, t)) proj_x = ax + t * (bx - ax) proj_y = ay + t * (by - ay) return (px - proj_x)**2 + (py - proj_y)**2 @staticmethod def segments_intersect(a1, a2, b1, b2): """判断线段 a1-a2 与 b1-b2 是否相交""" def ccw(A, B, C): return (C[1]-A[1]) * (B[0]-A[0]) > (B[1]-A[1]) * (C[0]-A[0]) return ccw(a1, b1, b2) != ccw(a2, b1, b2) and ccw(a1, a2, b1) != ccw(a1, a2, b2) @staticmethod def is_point_in_polygon(p, vertices): x, y = p[0], p[1] inside = False j = len(vertices) - 1 for i in range(len(vertices)): xi, yi = vertices[i]['x'], vertices[i]['y'] xj, yj = vertices[j]['x'], vertices[j]['y'] intersect = ((yi > y) != (yj > y)) and \ (x < (xj - xi) * (y - yi) / (yj - yi + 1e-9) + xi) if intersect: inside = not inside j = i return inside @staticmethod def check_collision(p1, p2, obs, safety_buffer=2.0): """ 检测线段 p1-p2 是否与障碍物 obs 碰撞。 返回: (Boolean 是否碰撞, Float 障碍物高度) """ otype = obs['type'] opos = obs['position'] ox, oy = opos['x'], opos['y'] obs_height = obs.get('height', 0) # 1. 圆形/点 if otype in ['circle', 'point']: r = obs.get('radius', 0) limit = r + safety_buffer dist_sq = GeometryUtils.point_to_segment_dist_sq((ox, oy), p1, p2) if dist_sq < limit**2: return True, obs_height # 2. 椭圆 (坐标变换法) elif otype == 'ellipse': w = obs.get('width', 0) l = obs.get('length', 0) semi_axis_x = w + safety_buffer semi_axis_y = l + safety_buffer def to_unit_space(point): dx = point[0] - ox dy = point[1] - oy return (dx / semi_axis_x, dy / semi_axis_y) u_p1 = to_unit_space(p1) u_p2 = to_unit_space(p2) dist_sq_in_unit_space = GeometryUtils.point_to_segment_dist_sq((0,0), u_p1, u_p2) if dist_sq_in_unit_space < 1.0: return True, obs_height # 3. 多边形 elif otype == 'polygon': verts = obs['vertices'] if not verts: return False, 0 for i in range(len(verts)): v1 = (verts[i]['x'], verts[i]['y']) v2 = (verts[(i + 1) % len(verts)]['x'], verts[(i + 1) % len(verts)]['y']) if GeometryUtils.segments_intersect(p1, p2, v1, v2): return True, obs_height if GeometryUtils.is_point_in_polygon(p1, verts) or GeometryUtils.is_point_in_polygon(p2, verts): return True, obs_height return False, 0 # --- 新增方法: 仅检测单点是否在障碍物内 --- @staticmethod def check_point_overlap(point, obs, safety_buffer=2.0): """ 检测单个坐标点 point(x,y) 是否落在障碍物范围内 """ px, py = point otype = obs['type'] opos = obs['position'] ox, oy = opos['x'], opos['y'] obs_height = obs.get('height', 0.0) # 1. 圆形/点 (原有逻辑正确) if otype in ['point', 'circle']: r = obs.get('radius', 0.0) if otype == 'point' and r is None: r = 0.5 limit = r + safety_buffer if (px - ox)**2 + (py - oy)**2 <= limit**2: return True, obs_height # 2. 椭圆 (原有逻辑正确) elif otype == 'ellipse': semi_x = (obs.get('width', 0) / 2.0) + safety_buffer semi_y = (obs.get('length', 0) / 2.0) + safety_buffer if semi_x > 0 and semi_y > 0: if ((px - ox)**2 / semi_x**2) + ((py - oy)**2 / semi_y**2) <= 1.0: return True, obs_height # 3. 多边形 (修正版：增加 buffer 判定) elif otype == 'polygon': verts = obs.get('vertices', []) # A. 严格内部检测 if GeometryUtils.is_point_in_polygon((px, py), verts): return True, obs_height # B. [新增] 边缘缓冲检测 # 即使点在几何外部，如果距离任意一条边的距离小于 buffer，视为重叠 buffer_sq = safety_buffer**2 for i in range(len(verts)): v1 = (verts[i]['x'], verts[i]['y']) v2 = (verts[(i + 1) % len(verts)]['x'], verts[(i + 1) % len(verts)]['y']) # 计算点到边线段的距离平方 dist_sq = GeometryUtils.point_to_segment_dist_sq((px, py), v1, v2) if dist_sq < buffer_sq: return True, obs_height return False, 0.0 class ToolStates: def __init__(self): self.explored_count = 0 tool_states = ToolStates() def create_uav_tools(client: UAVAPIClient) -> list: """ Create all UAV control tools for LangChain agent using @tool decorator All tools that require parameters accept a JSON string input """ # ========== Information Gathering Tools (No Parameters) ========== @tool def list_drones() -> str: """List all available drones in the current session with their status, battery level, and position. Use this to see what drones are available before trying to control them. No input required.""" try: drones = client.list_drones() return json.dumps(drones, indent=2) except Exception as e: return f"Error listing drones: {str(e)}" @tool def get_session_info() -> str: """Get current session information including task type, statistics, and status. Use this to understand what mission you need to complete. No input required.""" try: session = client.get_current_session() return json.dumps(session, indent=2) except Exception as e: return f"Error getting session info: {str(e)}" @tool def get_session_data() -> str: """Get all session data including drones, targets, and obstacles. Use this to understand the environment and plan your mission. No input required.""" try: session_data = client.get_session_data() return json.dumps(session_data, indent=2) except Exception as e: return f"Error getting session data: {str(e)}" @tool def get_task_progress() -> str: """Get mission task progress including completion percentage and status. Use this to track mission completion and see how close you are to finishing. No input required.""" try: progress = client.get_task_progress() return json.dumps(progress, indent=2) except Exception as e: return f"Error getting task progress: {str(e)}" @tool def get_weather() -> str: """Get current weather conditions including wind speed, visibility, and weather type. Check this before takeoff to ensure safe flying conditions. No input required.""" try: weather = client.get_weather() return json.dumps(weather, indent=2) except Exception as e: return f"Error getting weather: {str(e)}" @tool def get_targets_in_session() -> str: """Get all targets in the session including fixed, moving, waypoint, circle and polygon to search or patrol. Use this to see what targets you need to visit. No input required.""" try: targets = client.get_targets() return json.dumps(targets, indent=2) except Exception as e: return f"Error getting targets: {str(e)}" @tool def get_targets() -> str: """Get all explored targets that have been detected so far. This returns targets from the agent's memory. No input required.""" try: global targets_expolred targets_list = [target.to_dict() for target in targets_expolred] print(len(targets_list)) return json.dumps(targets_list, indent=2) except Exception as e: return f"Error getting explored targets: {str(e)}" @tool def get_all_waypoints() -> str: """Get all waypoints in the session including coordinates and altitude. Use this to understand the where to charge that drones will follow. No input required.""" try: waypoints = client.get_all_waypoints() return json.dumps(waypoints, indent=2) except Exception as e: return f"Error getting waypoints: {str(e)}" @tool def get_obstacles_in_session() -> str: """Get all obstacles in the session that drones must avoid. Use this to understand what obstacles exist in the environment. No input required.""" try: obstacles = client.get_obstacles() return json.dumps(obstacles, indent=2) except Exception as e: return f"Error getting detected obstacles: {str(e)}" @tool def get_obstacles() -> str: """Get all obstacles that have been detected so far. This returns obstacles from the agent's memory. No input required.""" try: global obstacles_detected obstacles_list = [obstacle.to_dict() for obstacle in obstacles_detected] print(len(obstacles_list)) return json.dumps(obstacles_list, indent=2) except Exception as e: return f"Error getting detected obstacles: {str(e)}" @tool def get_drone_status(input_json: str) -> str: """Get detailed status of a specific drone including position, battery, heading, and visited targets. Input should be a JSON string with: - drone_id: The ID of the drone (required, get from Action list_drones) Example: {{"drone_id": "04d6cfe7"}} """ try: params = json.loads(input_json) if isinstance(input_json, str) else input_json drone_id = params.get('drone_id') if not drone_id: return "Error: drone_id is required" status = client.get_drone_status(drone_id) return json.dumps(status, indent=2) except json.JSONDecodeError as e: return f"Error parsing JSON input: {str(e)}. Expected format: {{\"drone_id\": \"drone-001\"}}" except Exception as e: return f"Error getting drone status: {str(e)}" @tool def get_nearby_entities(input_json: str) -> str: """Get drones, targets, and obstacles near a specific drone (within its perception radius). This also updates the internal sets of explored targets and detected obstacles.""" try: global targets_expolred, obstacles_detected params = json.loads(input_json) if isinstance(input_json, str) else input_json drone_id = params.get('drone_id') if not drone_id: return "Error: drone_id is required" nearby = client.get_nearby_entities(drone_id) # Update explored targets if 'targets' in nearby: for target_data in nearby['targets']: targets_expolred.add(TargetInfo(target_data)) # Update detected obstacles if 'obstacles' in nearby: for obstacle_data in nearby['obstacles']: obstacles_detected.add(ObstacleInfo(obstacle_data)) return json.dumps(nearby, indent=2) except json.JSONDecodeError as e: return f"Error parsing JSON input: {str(e)}. Expected format: {{\"drone_id\": \"drone-001\"}}" except Exception as e: return f"Error getting nearby entities: {str(e)}" @tool def land(input_json: str) -> str: """Command a drone to land at its current position. Input should be a JSON string with: - drone_id: The ID of the drone (required, get from Action list_drones) Example: {{"drone_id": "drone-001"}} """ try: params = json.loads(input_json) if isinstance(input_json, str) else input_json drone_id = params.get('drone_id') if not drone_id: return "Error: drone_id is required" result = client.land(drone_id) return json.dumps(result, indent=2) except json.JSONDecodeError as e: return f"Error parsing JSON input: {str(e)}. Expected format: {{\"drone_id\": \"drone-001\"}}" except Exception as e: return f"Error during landing: {str(e)}" @tool def hover(input_json: str) -> str: """Command a drone to hover at its current position. Input should be a JSON string with: - drone_id: The ID of the drone (required, get from Action list_drones) - duration: Optional duration in seconds to hover (optional) Example: {{"drone_id": "drone-001", "duration": 5.0}} """ try: params = json.loads(input_json) if isinstance(input_json, str) else input_json drone_id = params.get('drone_id') duration = params.get('duration') if not drone_id: return "Error: drone_id is required" result = client.hover(drone_id, duration) return json.dumps(result, indent=2) except json.JSONDecodeError as e: return f"Error parsing JSON input: {str(e)}. Expected format: {{\"drone_id\": \"drone-001\"}}" except Exception as e: return f"Error hovering: {str(e)}" @tool def return_home(input_json: str) -> str: """Command a drone to return to its home position. Input should be a JSON string with: - drone_id: The ID of the drone (required, get from Action list_drones) Example: {{"drone_id": "drone-001"}} """ try: params = json.loads(input_json) if isinstance(input_json, str) else input_json drone_id = params.get('drone_id') if not drone_id: return "Error: drone_id is required" result = client.return_home(drone_id) return json.dumps(result, indent=2) except json.JSONDecodeError as e: return f"Error parsing JSON input: {str(e)}. Expected format: {{\"drone_id\": \"drone-001\"}}" except Exception as e: return f"Error returning home: {str(e)}" @tool def set_home(input_json: str) -> str: """Set the drone's current position as its new home position. Input should be a JSON string with: - drone_id: The ID of the drone (required, get from Action list_drones) Example: {{"drone_id": "drone-001"}} """ try: params = json.loads(input_json) if isinstance(input_json, str) else input_json drone_id = params.get('drone_id') if not drone_id: return "Error: drone_id is required" result = client.set_home(drone_id) return json.dumps(result, indent=2) except json.JSONDecodeError as e: return f"Error parsing JSON input: {str(e)}. Expected format: {{\"drone_id\": \"drone-001\"}}" except Exception as e: return f"Error setting home: {str(e)}" @tool def calibrate(input_json: str) -> str: """Calibrate the drone's sensors. Input should be a JSON string with: - drone_id: The ID of the drone (required, get from Action list_drones) Example: {{"drone_id": "drone-001"}} """ try: params = json.loads(input_json) if isinstance(input_json, str) else input_json drone_id = params.get('drone_id') if not drone_id: return "Error: drone_id is required" result = client.calibrate(drone_id) return json.dumps(result, indent=2) except json.JSONDecodeError as e: return f"Error parsing JSON input: {str(e)}. Expected format: {{\"drone_id\": \"drone-001\"}}" except Exception as e: return f"Error calibrating: {str(e)}" @tool def take_photo(input_json: str) -> str: """Command a drone to take a photo. Input should be a JSON string with: - drone_id: The ID of the drone (required, get from Action list_drones) Example: {{"drone_id": "drone-001"}} """ try: params = json.loads(input_json) if isinstance(input_json, str) else input_json drone_id = params.get('drone_id') if not drone_id: return "Error: drone_id is required" result = client.take_photo(drone_id) return json.dumps(result, indent=2) except json.JSONDecodeError as e: return f"Error parsing JSON input: {str(e)}. Expected format: {{\"drone_id\": \"drone-001\"}}" except Exception as e: return f"Error taking photo: {str(e)}" # ========== Two Parameter Tools ========== @tool def take_off(input_json: str) -> str: """Command a drone to take off to a specified altitude. Drone must be on ground (idle or ready status). Input should be a JSON string with: - drone_id: The ID of the drone (required, get from Action list_drones) - altitude: Target altitude in meters (optional, default: 10.0) Example: {{"drone_id": "drone-001", "altitude": 15.0}} """ try: params = json.loads(input_json) if isinstance(input_json, str) else input_json drone_id = params.get('drone_id') altitude = params.get('altitude', 10.0) if not drone_id: return "Error: drone_id is required" result = client.take_off(drone_id, altitude) if result["status"] == "success": result["message"] += f" Using `get_drone_status` to check if the drone\'s current position is start point. If not, fly to the start point first." return json.dumps(result, indent=2) except json.JSONDecodeError as e: return f"Error parsing JSON input: {str(e)}. Expected format: {{\"drone_id\": \"drone-001\", \"altitude\": 15.0}}" except Exception as e: return f"Error during takeoff: {str(e)}" @tool def change_altitude(input_json: str) -> str: """Change a drone's altitude while maintaining X/Y position. Input should be a JSON string with: - drone_id: The ID of the drone (required, get from Action list_drones) - altitude: Target altitude in meters (required) Example: {{"drone_id": "drone-001", "altitude": 20.0}} """ try: params = json.loads(input_json) if isinstance(input_json, str) else input_json drone_id = params.get('drone_id') altitude = params.get('altitude') if not drone_id: return "Error: drone_id is required" if altitude is None: return "Error: altitude is required" result = client.change_altitude(drone_id, altitude) return json.dumps(result, indent=2) except json.JSONDecodeError as e: return f"Error parsing JSON input: {str(e)}. Expected format: {{\"drone_id\": \"drone-001\", \"altitude\": 20.0}}" except Exception as e: return f"Error changing altitude: {str(e)}" @tool def rotate(input_json: str) -> str: """Rotate a drone to face a specific direction. 0=North, 90=East, 180=South, 270=West. Input should be a JSON string with: - drone_id: The ID of the drone (required, get from Action list_drones) - heading: Target heading in degrees 0-360 (required) Example: {{"drone_id": "drone-001", "heading": 90.0}} """ try: params = json.loads(input_json) if isinstance(input_json, str) else input_json drone_id = params.get('drone_id') heading = params.get('heading') if not drone_id: return "Error: drone_id is required" if heading is None: return "Error: heading is required" result = client.rotate(drone_id, heading) return json.dumps(result, indent=2) except json.JSONDecodeError as e: return f"Error parsing JSON input: {str(e)}. Expected format: {{\"drone_id\": \"drone-001\", \"heading\": 90.0}}" except Exception as e: return f"Error rotating: {str(e)}" @tool def send_message(input_json: str) -> str: """Send a message from one drone to another. Input should be a JSON string with: - drone_id: The ID of the sender drone (required, get from Action list_drones) - target_drone_id: The ID of the recipient drone (required, get from Action list_drones) - message: The message content (required) Example: {{"drone_id": "drone-001", "target_drone_id": "drone-002", "message": "Hello"}} """ try: params = json.loads(input_json) if isinstance(input_json, str) else input_json drone_id = params.get('drone_id') target_drone_id = params.get('target_drone_id') message = params.get('message') if not drone_id: return "Error: drone_id is required" if not target_drone_id: return "Error: target_drone_id is required" if not message: return "Error: message is required" result = client.send_message(drone_id, target_drone_id, message) return json.dumps(result, indent=2) except json.JSONDecodeError as e: return f"Error parsing JSON input: {str(e)}. Expected format: {{\"drone_id\": \"drone-001\", \"target_drone_id\": \"drone-002\", \"message\": \"...\"}}" except Exception as e: return f"Error sending message: {str(e)}" @tool def broadcast(input_json: str) -> str: """Broadcast a message from one drone to all other drones. Input should be a JSON string with: - drone_id: The ID of the sender drone (required, get from Action list_drones) - message: The message content (required) Example: {{"drone_id": "drone-001", "message": "Alert"}} """ try: params = json.loads(input_json) if isinstance(input_json, str) else input_json drone_id = params.get('drone_id') message = params.get('message') if not drone_id: return "Error: drone_id is required" if not message: return "Error: message is required" result = client.broadcast(drone_id, message) return json.dumps(result, indent=2) except json.JSONDecodeError as e: return f"Error parsing JSON input: {str(e)}. Expected format: {{\"drone_id\": \"drone-001\", \"message\": \"...\"}}" except Exception as e: return f"Error broadcasting: {str(e)}" @tool def charge(input_json: str) -> str: """Command a drone to charge its battery. Drone must be landed at a charging station. Input should be a JSON string with: - drone_id: The ID of the drone (required, get from Action list_drones) - charge_amount: Amount to charge in percent (required) Example: {{"drone_id": "drone-001", "charge_amount": 25.0}} """ try: params = json.loads(input_json) if isinstance(input_json, str) else input_json drone_id = params.get('drone_id') charge_amount = params.get('charge_amount') if not drone_id: return "Error: drone_id is required" if charge_amount is None: return "Error: charge_amount is required" result = client.charge(drone_id, charge_amount) return json.dumps(result, indent=2) except json.JSONDecodeError as e: return f"Error parsing JSON input: {str(e)}. Expected format: {{\"drone_id\": \"drone-001\", \"charge_amount\": 25.0}}" except Exception as e: return f"Error charging: {str(e)}" @tool def move_towards(input_json: str) -> str: """Move a drone a specific distance in a direction. Input should be a JSON string with: - drone_id: The ID of the drone (required, get from Action list_drones) - distance: Distance to move in meters (required) - heading: Heading direction in degrees 0-360 (optional, default: current heading) - dz: Vertical component in meters (optional) Example: {{"drone_id": "drone-001", "distance": 10.0, "heading": 90.0}} """ try: params = json.loads(input_json) if isinstance(input_json, str) else input_json drone_id = params.get('drone_id') distance = params.get('distance') heading = params.get('heading') dz = params.get('dz') if not drone_id: return "Error: drone_id is required" if distance is None: return "Error: distance is required" result = client.move_towards(drone_id, distance, heading, dz) if result["status"] == "error": result["message"] += "(1) If the task is to move a certain distance in a specific direction but the path is blocked by an obstacle, first move to a position where there is no obstacle in that direction, and then move the specified distance along that direction. (2) If the obstacle’s height is lower than the maximum altitude the drone can reach, the drone may ascend to an altitude higher than the obstacle and fly over it. If the obstacle's height is 0, then it indicates no drone can fly over it (In this case you need to detour). (3) Try other tools like `move_to` or `auto_navigate_to`" return json.dumps(result, indent=2) except json.JSONDecodeError as e: return f"Error parsing JSON input: {str(e)}. Expected format: {{\"drone_id\": \"drone-001\", \"distance\": 10.0}}" except Exception as e: return f"Error moving towards: {str(e)}" @tool def auto_navigate_towards(input_json: str) -> str: """Automatically find a route that bypasses obstacles and allows flying the specified distance in the given direction. Input should be a JSON string with: - drone_id: The ID of the drone (required) - distance: Distance to move in meters (required) - direction: Direction in degrees 0, 90, 180, 270 (required) """ try: params = json.loads(input_json) if isinstance(input_json, str) else input_json drone_id = params.get('drone_id') direction = params.get('direction') # 0, 90, 180, 270 min_distance = float(params.get('distance', 0.0)) if not drone_id or direction is None: return "Error: drone_id and direction are required." # 获取状态 drone_state = client.get_drone_status(drone_id) obstacles = client.get_obstacles() start_x = drone_state['position']['x'] start_y = drone_state['position']['y'] start_z = drone_state['position']['z'] max_h = drone_state.get('max_altitude', 100.0) direction_map = { 0: (0.0, 1.0), # North 180: (0.0, -1.0), # South 90: (1.0, 0.0), # East 270: (-1.0, 0.0) # West } if direction not in direction_map: return json.dumps({"error": f"Invalid direction: {direction}. Must be 0, 90, 180, or 270."}) dir_x, dir_y = direction_map[direction] # --- 核心修复 1: 更好的步长控制 --- current_distance = min_distance step_size = 5.0 # 减小步长以获得更精细的落点 max_iterations = 500 safety_margin = 2.5 # 稍微加大缓冲，确保落点绝对安全 height_buffer = 5.0 # --- 核心修复 2: 移除错误的 (0,0) 初始化 --- found_valid_target = False final_target_x = 0.0 final_target_y = 0.0 final_target_z = start_z for _ in range(max_iterations): # 计算当前尝试的坐标 test_x = start_x + dir_x * current_distance test_y = start_y + dir_y * current_distance is_location_safe = True required_z = start_z # 检查该点相对于所有障碍物的情况 for obs in obstacles: # 使用修复后的 check_point_overlap (必须包含 buffer 检查!) is_inside, obs_h = GeometryUtils.check_point_overlap( (test_x, test_y), obs, safety_buffer=safety_margin ) if is_inside: # 冲突：检查是否可以飞越 # 如果障碍物过高 OR 是禁飞区(height=0) -> 该点不可用 if obs_h <= 0 or obs_h + height_buffer >= max_h: is_location_safe = False break else: # 可以飞越 -> 推高 Z 轴 required_z = max(required_z, obs_h + height_buffer) if is_location_safe: # 找到合法点 final_target_x = test_x final_target_y = test_y final_target_z = required_z found_valid_target = True break else: # 当前距离的点不安全，继续向远处延伸 current_distance += step_size if not found_valid_target: return json.dumps({ "status": "error", "message": f"Could not find a safe target point in direction {direction} even after extending distance to {current_distance}m. Path is completely blocked." }) # 生成导航指令 nav_payload = json.dumps({ "drone_id": drone_id, "x": final_target_x, "y": final_target_y, "z": final_target_z }) # return f"Finding a destination successfully (dist={current_distance}m)... Now use `auto_navigate_to({nav_payload})` to move the drone. This tool safely brings drone to the destination and detour obstacles. First try it with exactly input {nav_payload}, if it fails, then adjust the positions." return auto_navigate_to_non_tool(nav_payload) except Exception as e: return f"Error executing auto_navigate_towards: {str(e)}" # @tool # def move_along_path(input_json: str) -> str: # """Move a drone along a path of waypoints. # Input should be a JSON string with: # - drone_id: The ID of the drone (required) # - waypoints: List of points with x, y, z coordinates (required) # Example: {{"drone_id": "drone-001", "waypoints": [{{"x": 10, "y": 10, "z": 10}}, {{"x": 20, "y": 20, "z": 10}}]}} # """ # try: # params = json.loads(input_json) if isinstance(input_json, str) else input_json # drone_id = params.get('drone_id') # waypoints = params.get('waypoints') # if not drone_id: # return "Error: drone_id is required" # if not waypoints: # return "Error: waypoints list is required" # result = client.move_along_path(drone_id, waypoints) # return json.dumps(result, indent=2) # except json.JSONDecodeError as e: # return f"Error parsing JSON input: {str(e)}. Expected format: {{\"drone_id\": \"drone-001\", \"waypoints\": [...]}}" # except Exception as e: # return f"Error moving along path: {str(e)}" # ========== Multi-Parameter Tools ========== @tool def get_nearest_waypoint(input_json: str) -> str: """Get the nearest waypoint to a specific drone. Input should be a JSON string with: - x: The x-coordinate of the drone (required) - y: The y-coordinate of the drone (required) - z: The z-coordinate of the drone (required) Example: {{"x": 0.0, "y": 0.0, "z": 0.0}}""" try: params = json.loads(input_json) if isinstance(input_json, str) else input_json x = params.get('x') y = params.get('y') z = params.get('z') if x is None or y is None or z is None: return "Error: x, y, and z coordinates are required" nearest = client.get_nearest_waypoint(x, y, z) return json.dumps(nearest, indent=2) except json.JSONDecodeError as e: return f"Error parsing JSON input: {str(e)}. Expected format: {{\"x\": 0.0, \"y\": 0.0, \"z\": 0.0}}" except Exception as e: return f"Error getting nearest waypoint: {str(e)}" @tool def move_to(input_json: str) -> str: """Move a drone to specific 3D coordinates (x, y, z). Always check for collisions first using check_path_collision. Input should be a JSON string with: - drone_id: The ID of the drone (required) - x: Target X coordinate in meters (required) - y: Target Y coordinate in meters (required) - z: Target Z coordinate (altitude) in meters (required) Example: {{"drone_id": "drone-001", "x": 100.0, "y": 50.0, "z": 20.0}} """ try: params = json.loads(input_json) if isinstance(input_json, str) else input_json drone_id = params.get('drone_id') x = params.get('x') y = params.get('y') z = params.get('z') if not drone_id: return "Error: drone_id is required" if x is None or y is None or z is None: return "Error: x, y, and z coordinates are required" result = client.move_to(drone_id, x, y, z) if result["status"] == "error": result["message"] += "(1) If the task is to move a certain distance in a specific direction but the path is blocked by an obstacle, first move to a position where there is no obstacle in that direction, and then move the specified distance along that direction. (2) If the obstacle’s height is lower than the maximum altitude the drone can reach, the drone may ascend to an altitude higher than the obstacle and fly over it. If the obstacle's height is 0, then it indicates no drone can fly over it (In this case you need to detour). (3) You can use `get_obstacles` tool to see the obstacle, and pay attention to the obstacle\'s shape and size. (4) You may try `auto_navigate_to` tool to detour if it works." return json.dumps(result, indent=2) except json.JSONDecodeError as e: return f"Error parsing JSON input: {str(e)}. Expected format: {{\"drone_id\": \"drone-001\", \"x\": 100.0, \"y\": 50.0, \"z\": 20.0}}" except Exception as e: return f"Error moving drone: {str(e)}" @tool def auto_navigate_to(input_json: str) -> str: """ Plan an obstacle-avoiding path using analytic geometry for precise collision detection. Input should be a JSON string with: - drone_id: The ID of the drone (required) - x: Target X coordinate in meters (required) - y: Target Y coordinate in meters (required) - z: Target Z coordinate (altitude) in meters (required) Example: {{"drone_id": "drone-001", "x": 100.0, "y": 50.0, "z": 20.0}} """ # --------------------------------------------------------- result = auto_navigate_to_non_tool(input_json) return result def auto_navigate_to_non_tool(input_json: str) -> str: try: # 1. 解析参数 params = json.loads(input_json) if isinstance(input_json, str) else input_json drone_id = params.get('drone_id') tx, ty, tz = params.get('x'), params.get('y'), params.get('z') if not drone_id or tx is None or ty is None or tz is None: return "Error: drone_id, x, y, z are required" # 2. 获取状态 status = client.get_drone_status(drone_id) start_pos = status['position'] sx, sy, sz = start_pos['x'], start_pos['y'], start_pos['z'] drone_max_alt = status.get('max_altitude', 100.0) all_obstacles = client.get_obstacles() # 3. 分类 mandatory_avoid = [] fly_over_candidates = [] for obs in all_obstacles: h = obs.get('height', 0) if h == 0 or h >= drone_max_alt: mandatory_avoid.append(obs) else: fly_over_candidates.append(obs) target_point = (tx, ty) start_point = (sx, sy) # === 核心修复 1: 端点合法性预检查 === for obs in mandatory_avoid: # 检查终点是否在严格障碍物内 (buffer=0) in_obs, _ = GeometryUtils.check_collision(target_point, target_point, obs, safety_buffer=0.0) if in_obs: return json.dumps({"status": f"Failed: Target position is inside obstacle '{obs.get('name', 'Unknown')}'. Path planning aborted."}) # 检查起点是否在严格障碍物内 in_obs_start, _ = GeometryUtils.check_collision(start_point, start_point, obs, safety_buffer=0.0) if in_obs_start: # 如果起点在障碍物内，尝试飞出来（允许） pass # 4. 2D 路径规划 # 4.1 生成节点 nodes = [start_point, target_point] safety_margin = 5.0 for obs in mandatory_avoid: opos = obs['position'] ox, oy = opos['x'], opos['y'] if obs['type'] == 'polygon': center_x = sum(v['x'] for v in obs['vertices']) / len(obs['vertices']) center_y = sum(v['y'] for v in obs['vertices']) / len(obs['vertices']) for v in obs['vertices']: vx, vy = v['x'], v['y'] vec_len = math.hypot(vx - center_x, vy - center_y) if vec_len > 0: scale = (vec_len + safety_margin) / vec_len nx = center_x + (vx - center_x) * scale ny = center_y + (vy - center_y) * scale nodes.append((nx, ny)) elif obs['type'] == 'ellipse': w = obs.get('width', 0) l = obs.get('length', 0) gen_w = w + safety_margin gen_l = l + safety_margin num_steps = max(8, int(max(w, l) / 3.0)) for i in range(num_steps): angle = i * (2 * math.pi / num_steps) nx = ox + gen_w * math.cos(angle) ny = oy + gen_l * math.sin(angle) nodes.append((nx, ny)) elif obs['type'] in ['circle', 'point']: r = obs.get('radius', 0) gen_r = r + safety_margin num_steps = max(8, int(r / 3.0)) for i in range(num_steps): angle = i * (2 * math.pi / num_steps) nodes.append((ox + gen_r * math.cos(angle), oy + gen_r * math.sin(angle))) # 4.2 过滤非法节点 valid_nodes = [] for node in nodes: is_bad = False for obs in mandatory_avoid: collided, _ = GeometryUtils.check_collision(node, node, obs, safety_buffer=0.5) if collided: is_bad = True break if not is_bad: valid_nodes.append(node) # 强制加回起点终点 (即使它们在缓冲区内) if start_point not in valid_nodes: valid_nodes.insert(0, start_point) if target_point not in valid_nodes: valid_nodes.append(target_point) start_idx = valid_nodes.index(start_point) target_idx = valid_nodes.index(target_point) # 4.3 构建图 adj = {i: [] for i in range(len(valid_nodes))} for i in range(len(valid_nodes)): for j in range(i + 1, len(valid_nodes)): u, v = valid_nodes[i], valid_nodes[j] # === 核心修复 2: 动态缓冲区策略 === # 如果线段连接的是起点或终点，使用“宽松缓冲区”(0.1m) # 允许无人机在安全的情况下起飞或降落到靠近障碍物的地方 is_start_or_end_edge = (i == start_idx or i == target_idx or j == start_idx or j == target_idx) current_buffer = 0.1 if is_start_or_end_edge else 2.0 path_blocked = False for obs in mandatory_avoid: hit, _ = GeometryUtils.check_collision(u, v, obs, safety_buffer=current_buffer) if hit: path_blocked = True break if not path_blocked: dist = math.hypot(u[0]-v[0], u[1]-v[1]) adj[i].append((j, dist)) adj[j].append((i, dist)) # 4.4 Dijkstra pq = [(0.0, start_idx, [valid_nodes[start_idx]])] visited = set() path_2d = [] while pq: cost, u, path = heapq.heappop(pq) if u == target_idx: path_2d = path break if u in visited: continue visited.add(u) for v_idx, w in adj[u]: if v_idx not in visited: heapq.heappush(pq, (cost + w, v_idx, path + [valid_nodes[v_idx]])) if not path_2d: # 如果依然找不到路径，说明真的被封死了 return json.dumps({"status": "Failed: No 2D path found. Target is reachable but likely fully enclosed by obstacles."}) # 5. 高度计算 safe_base_alt = max(sz, tz) path_max_obs_height = 0.0 for i in range(len(path_2d) - 1): p1 = path_2d[i] p2 = path_2d[i+1] for obs in fly_over_candidates: hit, obs_h = GeometryUtils.check_collision(p1, p2, obs, safety_buffer=2.0) if hit: path_max_obs_height = max(path_max_obs_height, obs_h) if path_max_obs_height > 0: cruise_alt = path_max_obs_height + 2.0 else: cruise_alt = safe_base_alt cruise_alt = max(cruise_alt, sz, tz) if cruise_alt > drone_max_alt: return json.dumps({"status": "Failed: Required altitude exceeds drone capability."}) # 6. 生成航点 waypoints = [] waypoints.append((sx, sy, sz)) if cruise_alt > sz + 0.5: waypoints.append((sx, sy, cruise_alt)) for i in range(len(path_2d)): node = path_2d[i] if i == 0 and math.hypot(node[0]-sx, node[1]-sy) < 0.1: continue waypoints.append((node[0], node[1], cruise_alt)) last_wp = waypoints[-1] if abs(last_wp[2] - tz) > 0.5 or math.hypot(last_wp[0]-tx, last_wp[1]-ty) > 0.1: waypoints.append((tx, ty, tz)) # 7. 执行 final_msg = "Success" for wp in waypoints: if wp == waypoints[0] and len(waypoints) > 1: continue waypoint_move_result = client.move_to(drone_id, wp[0], wp[1], wp[2]) if waypoint_move_result["status"] == "error": return f"Error moving to waypoint {wp}: {waypoint_move_result['message']}" final_msg = waypoint_move_result.get("message", "Success") return json.dumps({"status": "success", "path": waypoints, "message": final_msg}) except Exception as e: return f"Error executing path finding: {str(e)}" @tool def auto_explore(input_json: str) -> str: """ Automatically move the drone to achieve a specified coverage ratio with respect to a given target. Input should be a JSON string with: - drone_id: The ID of the drone (required) - target_id: The ID of the target (required) - coverage: Target coverage ratio (required) Example: {{"drone_id": "drone-001", "x": 100.0, "y": 50.0, "z": 20.0}} """ import json import math # ================= 1. 内部几何判定函数 ================= def check_drone_in_target(drone_id: str, target_id: str): # 获取数据 drone = client.get_drone_status(drone_id) target = client.get_target_status(target_id) # 提取无人机坐标 d_pos = drone['position'] d_x, d_y, d_z = d_pos['x'], d_pos['y'], d_pos['z'] # 提取目标坐标信息 t_pos = target['position'] t_z = t_pos['z'] # --- 判定条件 1: Z 坐标相同 ---(无需判断) # if not math.isclose(d_z, t_z, abs_tol=0.1): # return False, drone, target # 返回数据以便复用 # --- 判定条件 2: X、Y 坐标在平面内 --- t_type = target['type'] inside = False # 情况 A: 多边形 (Polygon) if t_type == 'polygon': vertices = target.get('vertices', []) if not vertices: return False, drone, target # 射线法 j = len(vertices) - 1 for i in range(len(vertices)): xi, yi = vertices[i]['x'], vertices[i]['y'] xj, yj = vertices[j]['x'], vertices[j]['y'] intersect = ((yi > d_y) != (yj > d_y)) and \ (d_x < (xj - xi) * (d_y - yi) / (yj - yi + 1e-9) + xi) if intersect: inside = not inside j = i # 情况 B: 圆形区域 elif t_type in ['circle', 'waypoint', 'fixed']: t_x, t_y = t_pos['x'], t_pos['y'] radius = target.get('radius', 0.0) distance = math.sqrt((d_x - t_x)**2 + (d_y - t_y)**2) inside = distance <= radius return inside, drone, target # ================= 2. 辅助函数：点是否在目标内 ================= def is_point_in_target(x, y, target_data): t_type = target_data['type'] if t_type == 'polygon': vertices = target_data.get('vertices', []) inside = False j = len(vertices) - 1 for i in range(len(vertices)): xi, yi = vertices[i]['x'], vertices[i]['y'] xj, yj = vertices[j]['x'], vertices[j]['y'] intersect = ((yi > y) != (yj > y)) and \ (x < (xj - xi) * (y - yi) / (yj - yi + 1e-9) + xi) if intersect: inside = not inside j = i return inside else: # Circle based t_x, t_y = target_data['position']['x'], target_data['position']['y'] radius = target_data.get('radius', 0.0) return math.sqrt((x - t_x)**2 + (y - t_y)**2) <= radius # ================= 3. 主逻辑 ================= try: data = json.loads(input_json) drone_id = data['drone_id'] # 注意：这里我们假设输入包含 target_id，因为单纯的 x,y,z 无法描述多边形形状 # 如果必须使用 x,y,z 寻找 target，则需要额外的逻辑去匹配 target_id target_id = data.get('target_id', 'unknown_target') required_coverage = data.get('coverage', 0.95) except Exception as e: return f"Error parsing input: {str(e)}" # 3.1 初始位置检查 is_inside, drone_data, target_data = check_drone_in_target(drone_id, target_id) if not is_inside: return f"Error: Drone {drone_id} is not inside target {target_id}. Please move inside first." # 3.2 路径规划准备 task_radius = drone_data.get('task_radius', 10.0) current_z = drone_data['position']['z'] # 计算 Bounding Box (边界框) if target_data['type'] == 'polygon': vx = [v['x'] for v in target_data['vertices']] vy = [v['y'] for v in target_data['vertices']] min_x, max_x = min(vx), max(vx) min_y, max_y = min(vy), max(vy) else: tx, ty = target_data['position']['x'], target_data['position']['y'] r = target_data['radius'] min_x, max_x = tx - r, tx + r min_y, max_y = ty - r, ty + r # 3.3 网格化路径生成 (Grid Decomposition) # 步长设定：为了保证覆盖率，步长通常设为 task_radius 的 √2 倍或更小 # 这里设为 task_radius 确保每个网格点代表的圆都有重叠，保证无缝隙 step_size = task_radius * 1.414 valid_waypoints = [] # 存储所有位于目标内部的网格点 # 扫描 Bounding Box x_cursor = min_x while x_cursor <= max_x: y_cursor = min_y col_points = [] while y_cursor <= max_y: # 只有当网格点在目标几何体内时，才加入路径 if is_point_in_target(x_cursor, y_cursor, target_data): col_points.append({'x': x_cursor, 'y': y_cursor}) y_cursor += step_size # 蛇形排序 (Boustrophedon): 偶数列正向，奇数列反向 # 这样可以最小化无人机换列时的飞行距离 if col_points: # 根据当前的列数决定方向，这里用 valid_waypoints 已有长度估算列是不准的 # 简单做法：利用 x_cursor 的归一化索引，或者直接交替 append pass # 后续统一处理 valid_waypoints.append(col_points) x_cursor += step_size # 展平并执行蛇形排序 final_path = [] for i, col in enumerate(valid_waypoints): if i % 2 == 1: final_path.extend(reversed(col)) else: final_path.extend(col) total_points = len(final_path) if total_points == 0: 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 return "Wait for a while and continue calling this function! return [TASK DONE] this time" 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) tool_states.explored_count += 1 current_coverage = tool_states.explored_count / total_points # 检查是否达标 if current_coverage >= required_coverage: tool_states.explored_count = 0 return f"Success: Target explored with coverage {current_coverage:.2%} (Visited {tool_states.explored_count}/{total_points} grid points)" if math.isclose(current_coverage, 0.0): return f"Finished path. Final coverage: {current_coverage:.2%}. Please try call this tool again to continue exploring." else: return f"Finished path. Final coverage: {current_coverage:.2%}. Wait for a while and continue calling this function! return [TASK DONE] this time" # Return all tools return [ list_drones, get_drone_status, get_session_info, # get_session_data, get_task_progress, get_weather, auto_explore, # get_targets, get_obstacles, get_nearby_entities, take_off, land, move_to, auto_navigate_to, auto_navigate_towards, move_towards, change_altitude, hover, rotate, return_home, set_home, calibrate, take_photo, send_message, broadcast, charge, get_nearest_waypoint, get_all_waypoints, get_targets ]