缓存已清除
'; + } + + // 加载配置 + function loadConfig() { + // 优先从本地存储加载 + if (!loadConfigFromLocalStorage()) { + // 如果本地存储没有，从后端加载 + fetch('/agent_config') + .then(response => response.json()) + .then(data => { + if (data.status === 'success') { + apiUrlInput.value = data.api_url || ''; + apiKeyInput.value = data.api_key || ''; + modelInput.value = data.model || ''; + // 保存到本地存储 + saveConfigToLocalStorage({ + api_url: data.api_url || '', + api_key: data.api_key || '', + model: data.model || '' + }); + } + }) + .catch(error => { + console.log('加载配置失败:', error); + status.innerHTML = `加载配置失败: ${error.message}
`; + }); + } + } + + // 保存配置 + function saveConfig() { + const config = { + api_url: apiUrlInput.value.trim(), + api_key: apiKeyInput.value.trim(), + model: modelInput.value.trim() + }; + + console.log('保存配置:', config); + + // 保存到本地存储 + saveConfigToLocalStorage(config); + + fetch('/agent_config', { + method: 'POST', + headers: { + 'Content-Type': 'application/json' + }, + body: JSON.stringify(config) + }) + .then(response => response.json()) + .then(data => { + console.log('保存配置响应:', data); + if (data.status === 'success') { + status.innerHTML = '配置已保存
'; + } else { + status.innerHTML = `配置保存失败: ${data.message}
`; + } + }) + .catch(error => { + console.error('配置保存失败:', error); + status.innerHTML = `配置保存失败: ${error.message}
`; + }); + } + + // 发送消息 + function sendMessage() { + const text = agentInput.value.trim(); + if (!text) return; + + addMessage('user', text); + agentInput.value = ''; + status.innerHTML = '处理中...
'; + + fetch('/agent_chat', { + method: 'POST', + headers: { + 'Content-Type': 'application/json' + }, + body: JSON.stringify({ text: text }) + }) + .then(response => response.json()) + .then(data => { + console.log('聊天响应:', data); + addMessage('agent', data.message || '处理完成'); + + // 更新状态 + status.innerHTML = `${data.message || '处理完成'}
`; + }) + .catch(error => { + console.error('通信错误:', error); + addMessage('agent', '通信错误，请重试'); + status.innerHTML = `通信错误: ${error.message}
`; + }); + } + + // 添加消息到聊天历史 + function addMessage(type, content) { + const messageDiv = document.createElement('div'); + messageDiv.className = `message ${type}`; + messageDiv.innerHTML = `${content}
`; + chatHistory.appendChild(messageDiv); + chatHistory.scrollTop = chatHistory.scrollHeight; + } + + // 绑定发送按钮点击事件 + if (sendAgentBtn) { + sendAgentBtn.addEventListener('click', sendMessage); + } + + // 绑定回车键发送 + if (agentInput) { + agentInput.addEventListener('keypress', function(e) { + if (e.key === 'Enter') { + sendMessage(); + } + }); + } + + // 绑定保存配置按钮 + if (saveConfigBtn) { + saveConfigBtn.addEventListener('click', saveConfig); + } + + // 绑定清除缓存按钮 + if (clearCacheBtn) { + clearCacheBtn.addEventListener('click', clearLocalStorage); + } + + // 页面加载时获取配置 + loadConfig(); +}); \ No newline at end of file diff --git a/main/Javascript/script.js b/main/Javascript/script.js index fadfe1e..502ec25 100644 --- a/main/Javascript/script.js +++ b/main/Javascript/script.js @@ -1,25 +1,12 @@ // 获取按钮和状态元素 const forwardBtn = document.getElementById('forwardBtn'); const backwardBtn = document.getElementById('backwardBtn'); -const recordBtn = document.getElementById('recordBtn'); -const playbackBtn = document.getElementById('playbackBtn'); const status = document.getElementById('status'); -// 录制相关变量 -let isRecording = false; -let recordedActions = []; -let recordingStartTime = 0; - // 实际控制函数 function controlMotor(direction) { status.innerHTML = `正在${direction === 'forward' ? '前进' : '后退'}...
`; - // 记录操作（如果正在录制） - if (isRecording) { - const timestamp = Date.now() - recordingStartTime; - recordedActions.push({ direction, timestamp }); - } - // 发送AJAX请求到后端服务器 fetch('/control', { method: 'POST', @@ -41,50 +28,6 @@ function controlMotor(direction) { }); } -// 录制按钮点击事件 -recordBtn.addEventListener('click', () => { - if (isRecording) { - // 停止录制 - isRecording = false; - recordBtn.textContent = '开始录制'; - status.innerHTML = `录制完成，共记录 ${recordedActions.length} 个操作
`; - } else { - // 开始录制 - isRecording = true; - recordedActions = []; - recordingStartTime = Date.now(); - recordBtn.textContent = '停止录制'; - status.innerHTML = `开始录制...
`; - } -}); - -// 回放按钮点击事件 -playbackBtn.addEventListener('click', () => { - if (recordedActions.length === 0) { - status.innerHTML = `没有可回放的操作
`; - return; - } - - status.innerHTML = `开始回放...
`; - - // 按时间顺序回放操作 - let lastTimestamp = 0; - recordedActions.forEach((action, index) => { - setTimeout(() => { - controlMotor(action.direction); - - // 最后一个操作完成后显示回放完成 - if (index === recordedActions.length - 1) { - setTimeout(() => { - status.innerHTML = `回放完成
`; - }, 2000); - } - }, action.timestamp - lastTimestamp); - - lastTimestamp = action.timestamp; - }); -}); - // 按钮点击事件 forwardBtn.addEventListener('click', () => { controlMotor('forward'); diff --git a/main/Path/轨迹.json b/main/Path/轨迹.json new file mode 100644 index 0000000..0ab9e04 --- /dev/null +++ b/main/Path/轨迹.json @@ -0,0 +1,21 @@ +{ + "name": "轨迹", + "actions": [ + { + "direction": "forward", + "timestamp": 858 + }, + { + "direction": "stop", + "timestamp": 1166 + }, + { + "direction": "backward", + "timestamp": 2327 + }, + { + "direction": "stop", + "timestamp": 2642 + } + ] +} \ No newline at end of file diff --git a/main/__pycache__/agent.cpython-38.pyc b/main/__pycache__/agent.cpython-38.pyc new file mode 100644 index 0000000..543fd13 Binary files /dev/null and b/main/__pycache__/agent.cpython-38.pyc differ diff --git a/main/__pycache__/motor.cpython-313.pyc b/main/__pycache__/motor.cpython-313.pyc new file mode 100644 index 0000000..d4f49b9 Binary files /dev/null and b/main/__pycache__/motor.cpython-313.pyc differ diff --git a/main/__pycache__/motor.cpython-38.pyc b/main/__pycache__/motor.cpython-38.pyc index 5f6e650..86c66f9 100644 Binary files a/main/__pycache__/motor.cpython-38.pyc and b/main/__pycache__/motor.cpython-38.pyc differ diff --git a/main/agent.py b/main/agent.py new file mode 100644 index 0000000..0bc9f73 --- /dev/null +++ b/main/agent.py @@ -0,0 +1,308 @@ +import time +import os +import json +import requests +import re +import threading +from queue import Queue + +task_queue = Queue() + +llm_config = { + "api_url": "", + "api_key": "", + "model": "" +} + +def load_skills_md(): + try: + with open('agent/skills.md', 'r', encoding='utf-8') as f: + return f.read() + except Exception as e: + print(f"加载技能文档出错: {e}") + return "" + +def llm_call(prompt): + if not llm_config["api_url"] or not llm_config["api_key"] or not llm_config["model"]: + return {"action": "stop", "args": {}} + + try: + # 确保API URL以/chat/completions结尾（除了讯飞MaaS API） + api_url = llm_config["api_url"].strip() + # 对于非讯飞MaaS API，自动添加/chat/completions路径 + if "maas-api.cn" not in api_url and not api_url.endswith("/chat/completions"): + if api_url.endswith("/"): + api_url += "chat/completions" + else: + api_url += "/chat/completions" + + # 准备请求头 + headers = { + "Content-Type": "application/json" + } + + # 检查API Key格式，如果是client_id:client_secret格式，使用Basic认证 + api_key = llm_config["api_key"] + if ":" in api_key: + # 讯飞MaaS API格式：client_id:client_secret + import base64 + auth_str = base64.b64encode(api_key.encode()).decode() + headers["Authorization"] = f"Basic {auth_str}" + else: + # OpenAI API格式：Bearer token + headers["Authorization"] = f"Bearer {api_key}" + + # 构建请求数据 + # 优先使用讯飞MaaS API格式 + if "maas-api.cn" in api_url: + # 讯飞MaaS API格式 + data = { + "model": llm_config["model"], + "messages": [ + {"role": "system", "content": "你是一个智能垃圾桶控制助手，请根据用户输入返回对应的动作指令。"}, + {"role": "user", "content": prompt} + ], + "temperature": 0.7, + "max_tokens": 500 + } + else: + # OpenAI API格式 + data = { + "model": llm_config["model"], + "messages": [ + {"role": "system", "content": "你是一个智能垃圾桶控制助手，请根据用户输入返回对应的动作指令。"}, + {"role": "user", "content": prompt} + ] + } + + print(f"调用LLM API: {api_url}") + print(f"请求数据: {json.dumps(data, ensure_ascii=False)}") + + response = requests.post(api_url, headers=headers, json=data, timeout=15) + print(f"API响应状态码: {response.status_code}") + print(f"API响应内容: {response.text}") + + # 检查响应状态码 + if response.status_code != 200: + print(f"API调用失败，状态码: {response.status_code}") + return {"action": "stop", "args": {}} + + try: + result = response.json() + except json.JSONDecodeError as e: + print(f"JSON解析错误: {e}") + return {"action": "stop", "args": {}} + + # 处理不同API的响应格式 + if "maas-api.cn" in api_url: + # 讯飞MaaS API响应格式 + if "choices" in result and len(result["choices"]) > 0: + content = result["choices"][0]["message"]["content"] + return safe_parse(content) + else: + return {"action": "stop", "args": {}} + else: + # OpenAI API响应格式 + if "choices" in result and len(result["choices"]) > 0: + content = result["choices"][0]["message"]["content"] + return safe_parse(content) + else: + return {"action": "stop", "args": {}} + except Exception as e: + print(f"LLM调用出错: {e}") + return {"action": "stop", "args": {}} + +def safe_parse(result): + try: + if isinstance(result, dict): + return result + if isinstance(result, list): + return result + result = result.strip() + if result.startswith("```"): + lines = result.split("\n") + for i, line in enumerate(lines): + if not line.startswith("```") and line.strip(): + result = "\n".join(lines[i:]) + break + if result.startswith("```"): + return {"action": "stop", "args": {}} + if result.endswith("```"): + result = result[:-3].strip() + + # 尝试解析为JSON数组（多个动作） + try: + parsed = json.loads(result) + if isinstance(parsed, list): + return parsed + except: + pass + + # 尝试解析为JSON对象（单个动作） + for line in result.split("\n"): + line = line.strip() + if line.startswith("{") and line.endswith("}"): + return json.loads(line) + + match = re.search(r'\{[^}]+\}', result) + if match: + return json.loads(match.group()) + + return {"action": "stop", "args": {}} + except: + return {"action": "stop", "args": {}} + +def execute_skill(action, args, motor_module): + ALLOWED = [ + "move_forward", "move_backward", "turn_left", "turn_right", + "stop", "play_path", "list_paths", "delete_path", "save_path" + ] + + if action not in ALLOWED: + return {"status": "error", "message": "不允许的动作"} + + try: + if action == "move_forward": + print("控制垃圾桶前进") + motor_module.backward(speed=0.6) + def stop_after_duration(): + time.sleep(args.get("duration", 1)) + motor_module.stop() + threading.Thread(target=stop_after_duration).start() + return {"status": "success", "message": f"前进{args.get('duration', 1)}秒"} + + elif action == "move_backward": + print("控制垃圾桶后退") + motor_module.forward(speed=0.6) + def stop_after_duration(): + time.sleep(args.get("duration", 1)) + motor_module.stop() + threading.Thread(target=stop_after_duration).start() + return {"status": "success", "message": f"后退{args.get('duration', 1)}秒"} + + elif action == "turn_left": + print("控制垃圾桶左旋转") + motor_module.rotate_left(speed=0.6) + def stop_after_duration(): + time.sleep(args.get("duration", 1)) + motor_module.stop() + threading.Thread(target=stop_after_duration).start() + return {"status": "success", "message": f"左转{args.get('duration', 1)}秒"} + + elif action == "turn_right": + print("控制垃圾桶右旋转") + motor_module.rotate_right(speed=0.6) + def stop_after_duration(): + time.sleep(args.get("duration", 1)) + motor_module.stop() + threading.Thread(target=stop_after_duration).start() + return {"status": "success", "message": f"右转{args.get('duration', 1)}秒"} + + elif action == "stop": + print("停止垃圾桶") + motor_module.stop() + return {"status": "success", "message": "已停止"} + + elif action == "play_path": + path_name = args.get("name") + if not path_name: + return {"status": "error", "message": "路径名称不能为空"} + return {"status": "success", "message": f"播放轨迹{path_name}"} + + elif action == "list_paths": + return {"status": "success", "message": "获取轨迹列表"} + + elif action == "delete_path": + path_name = args.get("name") + if not path_name: + return {"status": "error", "message": "路径名称不能为空"} + return {"status": "success", "message": f"删除轨迹{path_name}"} + + elif action == "save_path": + path_name = args.get("name") + if not path_name: + return {"status": "error", "message": "路径名称不能为空"} + return {"status": "success", "message": f"保存轨迹{path_name}"} + + else: + return {"status": "error", "message": "无效的动作"} + except Exception as e: + print(f"执行技能出错: {e}") + return {"status": "error", "message": f"执行技能出错: {e}"} + +def create_agent_routes(app, motor_module): + @app.route('/agent_config', methods=['POST']) + def agent_config(): + from flask import request, jsonify + data = request.get_json() + api_url = data.get('api_url', '') + api_key = data.get('api_key', '') + model = data.get('model', '') + + llm_config['api_url'] = api_url + llm_config['api_key'] = api_key + llm_config['model'] = model + + print(f"LLM配置已更新: API={api_url}, Model={model}") + return jsonify({'status': 'success', 'message': '配置已保存'}) + + @app.route('/agent_config', methods=['GET']) + def get_agent_config(): + from flask import jsonify + return jsonify({ + 'status': 'success', + 'api_url': llm_config['api_url'], + 'api_key': llm_config['api_key'], + 'model': llm_config['model'] + }) + + @app.route('/agent_chat', methods=['POST']) + def agent_chat(): + from flask import request, jsonify + data = request.get_json() + text = data.get('text') + + if not text: + return jsonify({'status': 'error', 'message': '输入文本不能为空'}) + + try: + skills_prompt = load_skills_md() + prompt = skills_prompt + "\n用户输入：" + text + result = llm_call(prompt) + parsed_result = safe_parse(result) + + # 检查是否是多个动作（列表） + if isinstance(parsed_result, list) and len(parsed_result) > 0: + # 执行第一个动作 + first_action = parsed_result[0] + action = first_action.get("action", "stop") + args = first_action.get("args", {}) + task_queue.put((action, args)) + response = execute_skill(action, args, motor_module) + + # 如果有后续动作，在第一个动作完成后执行 + if len(parsed_result) > 1: + def execute_next_actions(): + for i, next_action_data in enumerate(parsed_result[1:]): + # 等待前一个动作完成 + time.sleep(next_action_data.get("args", {}).get("duration", 1)) + # 添加0.5秒缓冲时间 + time.sleep(0.5) + next_action = next_action_data.get("action", "stop") + next_args = next_action_data.get("args", {}) + task_queue.put((next_action, next_args)) + execute_skill(next_action, next_args, motor_module) + + threading.Thread(target=execute_next_actions).start() + + return jsonify({"status": "success", "message": f"开始执行复合指令，共{len(parsed_result)}个动作"}) + else: + # 单个动作的处理 + action = parsed_result.get("action", "stop") + args = parsed_result.get("args", {}) + task_queue.put((action, args)) + response = execute_skill(action, args, motor_module) + return jsonify(response) + except Exception as e: + print(f"Agent聊天出错: {e}") + return jsonify({'status': 'error', 'message': f'Agent聊天出错: {e}'}) \ No newline at end of file diff --git a/main/agent/skills.md b/main/agent/skills.md new file mode 100644 index 0000000..8659724 --- /dev/null +++ b/main/agent/skills.md @@ -0,0 +1,108 @@ +# 垃圾桶控制技能文档 + +你是一个智能垃圾桶控制助手，可以调用以下技能控制垃圾桶运动。你必须而且只能返回JSON格式的指令，不要返回任何其他内容。 + +--- + +## 一、基础运动技能 + +### 1. move_forward +向前移动垃圾桶 + +参数： +- duration: 持续时间（秒） + +### 2. move_backward +向后移动垃圾桶 + +参数： +- duration: 秒 + +### 3. turn_left +左转 + +参数： +- duration: 秒 + +### 4. turn_right +右转 + +参数： +- duration: 秒 + +### 5. stop +停止所有运动 + +参数：无 + +--- + +## 二、轨迹技能（重要） + +### 6. play_path +播放已保存轨迹 + +参数： +- name: 轨迹名称 + +说明： +调用系统中已经录制好的路径，让垃圾桶自动执行。 + +### 7. save_path +保存当前录制轨迹 + +参数： +- name: 轨迹名称 + +### 8. list_paths +获取所有轨迹列表 + +参数：无 + +### 9. delete_path +删除轨迹 + +参数： +- name: 轨迹名称 + +--- + +## 三、规则（必须严格遵守） + +1. **只能返回JSON格式，不要返回任何解释或额外文字** +2. 用户说"停"、"停止" → stop +3. 用户说"前进X秒" → move_forward，duration为X +4. 用户说"后退X秒" → move_backward，duration为X +5. 用户说"左转X秒" → turn_left，duration为X +6. 用户说"右转X秒" → turn_right，duration为X +7. 用户说"执行路径xxx" → play_path，name为xxx +8. 用户说"列出路径" → list_paths +9. 用户说"删除路径xxx" → delete_path，name为xxx +10. **用户说"动作1之后动作2"或"动作1然后动作2"等复合指令时，返回包含多个动作的JSON数组** + 例如："前进1秒之后回退1秒" → [{"action": "move_forward", "args": {"duration": 1}}, {"action": "move_backward", "args": {"duration": 1}}] +11. 如果不确定运动时间，duration默认1秒 +12. 如果无法理解用户意图，返回：{"action": "stop", "args": {}} + +--- + +## 四、输出格式示例 + +用户说：前进3秒 +输出： +{"action": "move_forward", "args": {"duration": 3}} + +用户说：停止 +输出： +{"action": "stop", "args": {}} + +用户说：执行路径test1 +输出： +{"action": "play_path", "args": {"name": "test1"}} + +用户说：前进1秒之后回退1秒 +输出： +[{"action": "move_forward", "args": {"duration": 1}}, {"action": "move_backward", "args": {"duration": 1}}] + +--- + +**重要：你只能返回JSON格式的指令，不要包含任何其他文字、解释或格式符号（如markdown代码块）。** \ No newline at end of file diff --git a/main/index.html b/main/index.html index f2a6732..810c15e 100644 --- a/main/index.html +++ b/main/index.html @@ -6,11 +6,12 @@就绪