新增agent功能

main/CSS/agent.css

@@ -0,0 +1,175 @@
+/* Agent聊天区域样式 */
+.agent-chat {
+    margin-top: 30px;
+    padding: 20px;
+    background: linear-gradient(145deg, #e6e6e6, #ffffff);
+    border-radius: 15px;
+    box-shadow: 10px 10px 20px rgba(0, 0, 0, 0.1), -10px -10px 20px rgba(255, 255, 255, 0.7);
+    width: 100%;
+    max-width: 600px;
+}
+
+.agent-chat h3 {
+    margin-top: 0;
+    color: #333;
+    text-align: center;
+}
+
+/* LLM配置区域 */
+.llm-config {
+    margin-bottom: 20px;
+    padding: 15px;
+    background: #f5f5f5;
+    border-radius: 10px;
+    box-shadow: inset 3px 3px 6px rgba(0, 0, 0, 0.1), inset -3px -3px 6px rgba(255, 255, 255, 0.7);
+}
+
+.llm-config h4 {
+    margin: 0 0 10px 0;
+    color: #555;
+    font-size: 14px;
+}
+
+.config-row {
+    display: flex;
+    gap: 10px;
+    margin-bottom: 10px;
+    align-items: center;
+}
+
+.config-row:last-child {
+    margin-bottom: 0;
+}
+
+.config-row label {
+    width: 70px;
+    color: #666;
+    font-size: 14px;
+    flex-shrink: 0;
+}
+
+.config-row input {
+    flex: 1;
+    padding: 8px;
+    border: none;
+    border-radius: 8px;
+    background: #ffffff;
+    box-shadow: inset 2px 2px 4px rgba(0, 0, 0, 0.1), inset -2px -2px 4px rgba(255, 255, 255, 0.7);
+    font-size: 14px;
+}
+
+.config-row input:focus {
+    outline: none;
+    box-shadow: inset 3px 3px 6px rgba(0, 0, 0, 0.15), inset -3px -3px 6px rgba(255, 255, 255, 0.8);
+}
+
+.btn-config {
+    background: linear-gradient(145deg, #2196F3, #1976D2);
+    color: white;
+    border: none;
+    border-radius: 8px;
+    padding: 8px 16px;
+    font-size: 14px;
+    font-weight: bold;
+    cursor: pointer;
+    transition: all 0.3s ease;
+    box-shadow: 3px 3px 6px rgba(0, 0, 0, 0.1), -3px -3px 6px rgba(255, 255, 255, 0.7);
+    margin-left: 80px;
+}
+
+.btn-config:hover {
+    transform: translateY(-2px);
+    box-shadow: 5px 5px 10px rgba(0, 0, 0, 0.15), -5px -5px 10px rgba(255, 255, 255, 0.8);
+}
+
+/* 聊天输入区域 */
+.chat-input {
+    display: flex;
+    gap: 10px;
+    margin-bottom: 20px;
+    justify-content: center;
+}
+
+.chat-input input {
+    padding: 10px;
+    border: none;
+    border-radius: 10px;
+    background: #f5f5f5;
+    box-shadow: inset 5px 5px 10px rgba(0, 0, 0, 0.1), inset -5px -5px 10px rgba(255, 255, 255, 0.7);
+    width: 250px;
+    font-size: 16px;
+}
+
+.chat-history {
+    max-height: 300px;
+    overflow-y: auto;
+    background: #f5f5f5;
+    border-radius: 10px;
+    padding: 15px;
+    box-shadow: inset 5px 5px 10px rgba(0, 0, 0, 0.1), inset -5px -5px 10px rgba(255, 255, 255, 0.7);
+}
+
+.message {
+    margin-bottom: 10px;
+    padding: 10px;
+    border-radius: 10px;
+    max-width: 80%;
+}
+
+.message.user {
+    background: linear-gradient(145deg, #E3F2FD, #BBDEFB);
+    margin-left: auto;
+    box-shadow: 3px 3px 6px rgba(0, 0, 0, 0.1), -3px -3px 6px rgba(255, 255, 255, 0.7);
+}
+
+.message.agent {
+    background: linear-gradient(145deg, #E8F5E8, #C8E6C9);
+    margin-right: auto;
+    box-shadow: 3px 3px 6px rgba(0, 0, 0, 0.1), -3px -3px 6px rgba(255, 255, 255, 0.7);
+}
+
+.message p {
+    margin: 0;
+    color: #333;
+}
+
+/* 响应式设计 - Agent聊天 */
+@media (max-width: 650px) {
+    .chat-input {
+        flex-direction: column;
+        align-items: center;
+    }
+
+    .chat-input input {
+        width: 100%;
+        max-width: 300px;
+    }
+
+    .agent-chat {
+        padding: 15px;
+    }
+
+    .message {
+        max-width: 90%;
+    }
+
+    .config-row {
+        flex-direction: column;
+        align-items: flex-start;
+    }
+
+    .config-row label {
+        width: auto;
+        margin-bottom: 5px;
+    }
+
+    .config-row input {
+        width: 100%;
+    }
+
+    .btn-config {
+        margin-left: 0;
+        width: 100%;
+        margin-top: 10px;
+    }
+}

main/CSS/control.css

@@ -268,4 +268,5 @@
     .title {
         font-size: 20px;
     }
-}
+}
+

main/CSS/record.css

@@ -120,17 +120,17 @@
         flex-direction: column;
         align-items: center;
     }
-    
+
     .path-input input {
         width: 100%;
         max-width: 300px;
     }
-    
+
     .btn-save {
         width: 100%;
         max-width: 300px;
     }
-    
+
     .path-management {
         padding: 15px;
     }

main/CSS/style.css

@@ -56,16 +56,6 @@ h1 {
     color: white;
 }
 
-.btn-record {
-    background-color: #ff9800;
-    color: white;
-}
-
-.btn-playback {
-    background-color: #2196f3;
-    color: white;
-}
-
 .btn:hover {
     transform: translateY(-2px);
     box-shadow: 0 4px 8px rgba(0, 0, 0, 0.2);

main/Javascript/agent.js

@@ -0,0 +1,180 @@
+// Agent聊天功能
+document.addEventListener('DOMContentLoaded', function() {
+    const agentInput = document.getElementById('agentInput');
+    const sendAgentBtn = document.getElementById('sendAgentBtn');
+    const chatHistory = document.getElementById('chatHistory');
+    const status = document.getElementById('status');
+
+    // LLM配置相关元素
+    const apiUrlInput = document.getElementById('apiUrlInput');
+    const apiKeyInput = document.getElementById('apiKeyInput');
+    const modelInput = document.getElementById('modelInput');
+    const saveConfigBtn = document.getElementById('saveConfigBtn');
+    
+    // 添加清除缓存按钮
+    const clearCacheBtn = document.createElement('button');
+    clearCacheBtn.className = 'btn btn-config';
+    clearCacheBtn.id = 'clearCacheBtn';
+    clearCacheBtn.textContent = '清除缓存';
+    saveConfigBtn.parentNode.appendChild(clearCacheBtn);
+
+    // 从本地存储加载配置
+    function loadConfigFromLocalStorage() {
+        const savedConfig = localStorage.getItem('llmConfig');
+        if (savedConfig) {
+            try {
+                const config = JSON.parse(savedConfig);
+                apiUrlInput.value = config.api_url || '';
+                apiKeyInput.value = config.api_key || '';
+                modelInput.value = config.model || '';
+                return true;
+            } catch (error) {
+                console.log('解析本地存储配置失败:', error);
+            }
+        }
+        return false;
+    }
+
+    // 保存配置到本地存储
+    function saveConfigToLocalStorage(config) {
+        localStorage.setItem('llmConfig', JSON.stringify(config));
+    }
+
+    // 清除本地存储
+    function clearLocalStorage() {
+        localStorage.removeItem('llmConfig');
+        apiUrlInput.value = '';
+        apiKeyInput.value = '';
+        modelInput.value = '';
+        status.innerHTML = '<p>缓存已清除</p>';
+    }
+
+    // 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 = `<p>加载配置失败: ${error.message}</p>`;
+                });
+        }
+    }
+
+    // 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 = '<p>配置已保存</p>';
+            } else {
+                status.innerHTML = `<p>配置保存失败: ${data.message}</p>`;
+            }
+        })
+        .catch(error => {
+            console.error('配置保存失败:', error);
+            status.innerHTML = `<p>配置保存失败: ${error.message}</p>`;
+        });
+    }
+
+    // 发送消息
+    function sendMessage() {
+        const text = agentInput.value.trim();
+        if (!text) return;
+
+        addMessage('user', text);
+        agentInput.value = '';
+        status.innerHTML = '<p>处理中...</p>';
+
+        fetch('/agent_chat', {
+            method: 'POST',
+            headers: {
+                'Content-Type': 'application/json'
+            },
+            body: JSON.stringify({ text: text })
+        })
+        .then(response => response.json())
+        .then(data => {
+            console.log('聊天响应:', data);
+            addMessage('agent', data.message || '处理完成');
+
+            // 更新状态
+            status.innerHTML = `<p>${data.message || '处理完成'}</p>`;
+        })
+        .catch(error => {
+            console.error('通信错误:', error);
+            addMessage('agent', '通信错误，请重试');
+            status.innerHTML = `<p>通信错误: ${error.message}</p>`;
+        });
+    }
+
+    // 添加消息到聊天历史
+    function addMessage(type, content) {
+        const messageDiv = document.createElement('div');
+        messageDiv.className = `message ${type}`;
+        messageDiv.innerHTML = `<p>${content}</p>`;
+        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();
+});

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 = `<p>正在${direction === 'forward' ? '前进' : '后退'}...</p>`;
     
-    // 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 = `<p>录制完成，共记录 ${recordedActions.length} 个操作</p>`;
-    } else {
-        // 开始录制
-        isRecording = true;
-        recordedActions = [];
-        recordingStartTime = Date.now();
-        recordBtn.textContent = '停止录制';
-        status.innerHTML = `<p>开始录制...</p>`;
-    }
-});
-
-// 回放按钮点击事件
-playbackBtn.addEventListener('click', () => {
-    if (recordedActions.length === 0) {
-        status.innerHTML = `<p>没有可回放的操作</p>`;
-        return;
-    }
-    
-    status.innerHTML = `<p>开始回放...</p>`;
-    
-    // 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 = `<p>回放完成</p>`;
-                }, 2000);
-            }
-        }, action.timestamp - lastTimestamp);
-        
-        lastTimestamp = action.timestamp;
-    });
-});
-
 // 按钮点击事件
 forwardBtn.addEventListener('click', () => {
     controlMotor('forward');

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
+    }
+  ]
+}

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}'})

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）。**

main/camera.py

@@ -99,7 +99,7 @@ while True:
         if area < 75:  # 过滤噪声，增大阈值
             continue
         
-        if area > 8000:  # 过滤大面积假目标（如整个画面），减小阈值
+        if area > 5000:  # 过滤大面积假目标（如整个画面），减小阈值
             continue
 
         # 计算轮廓的宽高比，过滤不符合垃圾特征的目标
@@ -117,7 +117,7 @@ while True:
             best_match = None
             min_distance = float('inf')
             
-            search_radius = 100  # 目标锁定区域半径
+            search_radius = 80  # 目标锁定区域半径
 
             for area, cnt, x, y, w, h in valid_contours:
                 cx = x + w // 2
@@ -170,7 +170,7 @@ while True:
             cy = int(alpha * prev_cy + (1 - alpha) * cy)
 
         # 绘制画面中心
-        center_x = 50  # 画面中心x坐标
+        center_x = 90  # 画面中心x坐标
         center_y = 120  # 画面中心y坐标
         cv2.circle(frame, (center_x, center_y), 5, (255, 0, 0), -1)
         
@@ -197,7 +197,7 @@ while True:
                 tracking_target = None
         
         # 控制逻辑：根据x轴和y轴坐标控制垃圾桶移动
-        center_x = 160  # 画面中心x坐标
+        center_x = 90  # 画面中心x坐标
         center_y = 120  # 画面中心y坐标
         threshold = 15  # 阈值范围
 

main/index.html

@@ -6,11 +6,12 @@
     <title>垃圾桶控制界面</title>
     <link rel="stylesheet" href="CSS/control.css">
     <link rel="stylesheet" href="CSS/record.css">
+    <link rel="stylesheet" href="CSS/agent.css">
 </head>
 <body>
     <div class="container">
         <h1 class="title">垃圾桶控制界面</h1>
-        
+
         <!-- 手柄风格控制器 -->
         <div class="controller">
             <div class="controller-layout">
@@ -32,13 +33,13 @@
                         <button class="btn btn-backward-right" id="backwardRightBtn"><span>↘</span></button>
                     </div>
                 </div>
-                
+
                 <!-- 中间：录制回放控制 -->
                 <div class="center-controls">
                     <button class="btn btn-record" id="recordBtn"><span>录制</span></button>
                     <button class="btn btn-playback" id="playbackBtn"><span>回放</span></button>
                 </div>
-                
+
                 <!-- 右侧：旋转控制 -->
                 <div class="rotate-controls">
                     <button class="btn btn-rotate-left" id="rotateLeftBtn"><span>↶</span></button>
@@ -46,7 +47,7 @@
                 </div>
             </div>
         </div>
-        
+
         <!-- 轨迹管理区域 -->
         <div class="path-management">
             <h3>轨迹管理</h3>
@@ -59,15 +60,48 @@
                 <ul id="pathList"></ul>
             </div>
         </div>
-        
+
         <!-- 状态显示区域 -->
         <div class="status" id="status">
             <p>就绪</p>
         </div>
+
+        <!-- Agent聊天区域 -->
+        <div class="agent-chat">
+            <h3>智能控制助手</h3>
+
+            <!-- LLM配置区域 -->
+            <div class="llm-config">
+                <h4>LLM模型配置</h4>
+                <div class="config-row">
+                    <label for="apiUrlInput">API URL:</label>
+                    <input type="text" id="apiUrlInput" placeholder="例如: https://api.openai.com/v1">
+                </div>
+                <div class="config-row">
+                    <label for="apiKeyInput">API Key:</label>
+                    <input type="password" id="apiKeyInput" placeholder="输入API密钥">
+                </div>
+                <div class="config-row">
+                    <label for="modelInput">模型:</label>
+                    <input type="text" id="modelInput" placeholder="例如: gpt-3.5-turbo">
+                </div>
+                <button class="btn btn-config" id="saveConfigBtn">保存配置</button>
+            </div>
+
+            <!-- 聊天输入区域 -->
+            <div class="chat-input">
+                <input type="text" id="agentInput" placeholder="输入命令，例如：前进3秒、左转、执行路径test1">
+                <button class="btn btn-save" id="sendAgentBtn">发送</button>
+            </div>
+            <div class="chat-history" id="chatHistory">
+                <!-- 聊天历史记录 -->
+            </div>
+        </div>
     </div>
-    
+
     <script src="Javascript/control.js"></script>
     <script src="Javascript/record.js"></script>
     <script src="Javascript/joycon.js"></script>
+    <script src="Javascript/agent.js"></script>
 </body>
 </html>

main/motor.py

@@ -72,25 +72,25 @@ def motor_drive(name, speed):
 # ====================== 
 # 基础移动 
 # ====================== 
-def forward(speed=0.8): 
+def forward(speed=0.6): 
     motor_drive("M1", -speed) 
     motor_drive("M2", -speed) 
     motor_drive("M3", speed) 
     motor_drive("M4", speed) 
 
-def backward(speed=0.8): 
+def backward(speed=0.6): 
     motor_drive("M1", speed) 
     motor_drive("M2", speed) 
     motor_drive("M3", -speed) 
     motor_drive("M4", -speed) 
 
-def move_left(speed=0.8): 
+def move_left(speed=0.6): 
     motor_drive("M1", -speed) 
     motor_drive("M2", speed) 
     motor_drive("M3", speed) 
     motor_drive("M4", -speed) 
 
-def move_right(speed=0.8): 
+def move_right(speed=0.6): 
     motor_drive("M1", speed) 
     motor_drive("M2", -speed) 
     motor_drive("M3", -speed) 
@@ -99,13 +99,13 @@ def move_right(speed=0.8):
 # ====================== 
 # 旋转 
 # ====================== 
-def rotate_left(speed=0.8): 
+def rotate_left(speed=0.6): 
     motor_drive("M1", -speed) 
     motor_drive("M2", -speed) 
     motor_drive("M3", -speed) 
     motor_drive("M4", -speed) 
 
-def rotate_right(speed=0.8): 
+def rotate_right(speed=0.6): 
     motor_drive("M1", speed) 
     motor_drive("M2", speed) 
     motor_drive("M3", speed) 
@@ -114,25 +114,25 @@ def rotate_right(speed=0.8):
 # ====================== 
 # 斜向移动 
 # ====================== 
-def move_left_forward(speed=0.8): 
+def move_left_forward(speed=0.6): 
     motor_drive("M1", 0) 
     motor_drive("M2", speed) 
     motor_drive("M3", 0) 
     motor_drive("M4", -speed) 
 
-def move_right_forward(speed=0.8): 
+def move_right_forward(speed=0.6): 
     motor_drive("M1", speed) 
     motor_drive("M2", 0) 
     motor_drive("M3", -speed) 
     motor_drive("M4", 0) 
 
-def move_left_backward(speed=0.8): 
+def move_left_backward(speed=0.6): 
     motor_drive("M1", -speed) 
     motor_drive("M2", 0) 
     motor_drive("M3", speed) 
     motor_drive("M4", 0) 
 
-def move_right_backward(speed=0.8): 
+def move_right_backward(speed=0.6): 
     motor_drive("M1", 0) 
     motor_drive("M2", -speed) 
     motor_drive("M3", 0) 

main/server.py

@@ -3,6 +3,9 @@ import motor
 import time
 import os
 import json
+import sys
+sys.path.insert(0, os.path.dirname(__file__))
+import agent
 
 app = Flask(__name__)
 
@@ -94,19 +97,19 @@ def save_path():
     data = request.get_json()
     path_name = data.get('name')
     recorded_actions = data.get('actions')
-    
+
     if not path_name or not recorded_actions:
         return jsonify({'status': 'error', 'message': '路径名称和轨迹数据不能为空'})
-    
+
     try:
         # 确保Path目录存在
         os.makedirs('Path', exist_ok=True)
-        
+
         # 保存为JSON文件
         file_path = os.path.join('Path', f'{path_name}.json')
         with open(file_path, 'w', encoding='utf-8') as f:
             json.dump({'name': path_name, 'actions': recorded_actions}, f, ensure_ascii=False, indent=2)
-        
+
         return jsonify({'status': 'success', 'message': '轨迹保存成功'})
     except Exception as e:
         print(f"保存轨迹出错: {e}")
@@ -118,10 +121,10 @@ def list_paths():
     try:
         # 确保Path目录存在
         os.makedirs('Path', exist_ok=True)
-        
+
         # 列出所有轨迹文件
         path_files = [f.replace('.json', '') for f in os.listdir('Path') if f.endswith('.json')]
-        
+
         return jsonify({'status': 'success', 'paths': path_files})
     except Exception as e:
         print(f"列出轨迹出错: {e}")
@@ -131,18 +134,18 @@ def list_paths():
 @app.route('/load_path', methods=['GET'])
 def load_path():
     path_name = request.args.get('name')
-    
+
     if not path_name:
         return jsonify({'status': 'error', 'message': '路径名称不能为空'})
-    
+
     try:
         file_path = os.path.join('Path', f'{path_name}.json')
         if not os.path.exists(file_path):
             return jsonify({'status': 'error', 'message': '轨迹文件不存在'})
-        
+
         with open(file_path, 'r', encoding='utf-8') as f:
             data = json.load(f)
-        
+
         return jsonify({'status': 'success', 'data': data})
     except Exception as e:
         print(f"加载轨迹出错: {e}")
@@ -153,20 +156,22 @@ def load_path():
 def delete_path():
     data = request.get_json()
     path_name = data.get('name')
-    
+
     if not path_name:
         return jsonify({'status': 'error', 'message': '路径名称不能为空'})
-    
+
     try:
         file_path = os.path.join('Path', f'{path_name}.json')
         if not os.path.exists(file_path):
             return jsonify({'status': 'error', 'message': '轨迹文件不存在'})
-        
+
         os.remove(file_path)
         return jsonify({'status': 'success', 'message': '轨迹删除成功'})
     except Exception as e:
         print(f"删除轨迹出错: {e}")
         return jsonify({'status': 'error', 'message': f'删除轨迹出错: {e}'})
 
+agent.create_agent_routes(app, motor)
+
 if __name__ == '__main__':
-    app.run(host='0.0.0.0', port=5000, debug=True)
+    app.run(host='0.0.0.0', port=5000, debug=True)