diff --git a/llm/main_ai.py b/llm/main_ai.py index c4020d0..882f273 100644 --- a/llm/main_ai.py +++ b/llm/main_ai.py @@ -483,6 +483,38 @@ async def spawn_pedestrians(self, pedestrian_type='pedestrian', count=1): await self.start_tick_loop() app_logger.info("🔄 已启动后台tick循环，行人将开始移动") + # 再次确保所有行人控制器都有目标位置 + if spawned_pedestrians: + import asyncio + await asyncio.sleep(0.5) # 等待一小段时间让控制器初始化 + for pedestrian in spawned_pedestrians: + try: + # 获取行人的控制器 + controller = pedestrian.get_control() + if controller: + # 重新设置随机目标位置 + target_location = self.world.get_random_location_from_navigation() + if target_location: + # 通过walker的controller来设置目标 + walker_controller = None + for actor in self.world.get_actors(): + if 'controller.ai.walker' in actor.type_id: + # 检查这个控制器是否附着到当前行人 + try: + if hasattr(actor, 'parent') and actor.parent == pedestrian: + walker_controller = actor + break + except: + pass + + if walker_controller: + walker_controller.go_to_location(target_location) + walker_controller.set_max_speed(1.4 + (0.5 - 1.0)) # 随机速度 0.9-1.9 m/s + app_logger.info(f"🚶 为行人 {pedestrian.id} 重新设置目标位置和速度") + except Exception as e: + app_logger.warning(f"⚠️ 为行人设置目标时出错: {e}") + continue + return spawned_pedestrians except Exception as e: @@ -697,10 +729,10 @@ async def spawn_pedestrian_impl(query: str, count: int = 1, **kwargs) -> str: pedestrians = await carla_client.spawn_pedestrians(query, count=count) if pedestrians: if len(pedestrians) == 1: - return f"✅ 已生成1个{query}行人 (ID: {pedestrians[0].id})" + return f"✅ 已生成1个{query}行人 (ID: {pedestrians[0].id})，行人已开始自动行走" else: last_pedestrian = pedestrians[-1] - return f"✅ 已生成{len(pedestrians)}个{query}行人，最后一个行人ID: {last_pedestrian.id}" + return f"✅ 已生成{len(pedestrians)}个{query}行人，最后一个行人ID: {last_pedestrian.id}，所有行人已开始自动行走" return "❌ 行人生成失败，请确保CARLA服务器已连接且地图有可用导航点" @@ -1120,6 +1152,90 @@ async def execute_fastmcp_tool_call(self, tool_call): "t3": "Volkswagen T3" } + # 车辆中文到英文的映射 + VEHICLE_TYPE_MAP = { + # Tesla + "特斯拉": "model3", + "特斯拉model3": "model3", + "model3": "model3", + # Audi + "奥迪": "a2", + "奥迪a2": "a2", + "a2": "a2", + "奥迪etron": "etron", + "etron": "etron", + "奥迪tt": "tt", + "tt": "tt", + # BMW + "宝马": "grandtourer", + "宝马grandtourer": "grandtourer", + "grandtourer": "grandtourer", + "宝马i8": "i8", + "i8": "i8", + "宝马mini": "mini", + "mini": "mini", + # Chevrolet + "雪佛兰": "impala", + "雪佛兰impala": "impala", + "impala": "impala", + # Citroen + "雪铁龙": "c3", + "雪铁龙c3": "c3", + "c3": "c3", + # Dodge + "道奇": "charger2020", + "道奇警车": "charger_police", + "charger_police": "charger_police", + "道奇charger": "charger2020", + "charger2020": "charger2020", + # Ford + "福特": "mustang", + "福特野马": "mustang", + "野马": "mustang", + "mustang": "mustang", + "福特crown": "crown", + "crown": "crown", + # Jeep + "吉普": "wrangler_rubicon", + "吉普牧马人": "wrangler_rubicon", + "牧马人": "wrangler_rubicon", + "wrangler_rubicon": "wrangler_rubicon", + # Lincoln + "林肯": "mkz_2020", + "林肯mkz2017": "mkz_2017", + "mkz_2017": "mkz_2017", + "林肯mkz2020": "mkz_2020", + "mkz_2020": "mkz_2020", + # Mercedes + "奔驰": "benz_coupe", + "奔驰轿跑": "benz_coupe", + "benz_coupe": "benz_coupe", + "奔驰敞篷": "cabrio", + "cabrio": "cabrio", + "奔驰ccc": "ccc", + "ccc": "ccc", + # Mini + "迷你": "cooper_s", + "迷你cooper": "cooper_s", + "cooper_s": "cooper_s", + # Nissan + "日产": "patrol", + "日产micra": "micra", + "micra": "micra", + "日产patrol": "patrol", + "patrol": "patrol", + # Seat + "西雅特": "leon", + "西雅特leon": "leon", + "leon": "leon", + # Volkswagen + "大众": "t2", + "大众t2": "t2", + "t2": "t2", + "大众t3": "t3", + "t3": "t3" + } + PEDESTRIAN_TYPES = { "pedestrian": "普通行人", "elderly": "老年人", @@ -1130,6 +1246,28 @@ async def execute_fastmcp_tool_call(self, tool_call): "jogger": "慢跑者" } + # 中文到英文的映射 + PEDESTRIAN_TYPE_MAP = { + "普通行人": "pedestrian", + "行人": "pedestrian", + "人": "pedestrian", + "老年人": "elderly", + "老人": "elderly", + "儿童": "child", + "小孩": "child", + "孩子": "child", + "建筑工人": "construction_worker", + "工人": "construction_worker", + "警察": "police", + "警官": "police", + "商务人士": "business", + "商人": "business", + "白领": "business", + "慢跑者": "jogger", + "跑步者": "jogger", + "跑步的人": "jogger" + } + def _check_spawn_intent(self, message): """检测用户是否有生成车辆或行人的意图，但缺少必要参数 @@ -1146,10 +1284,12 @@ def _check_spawn_intent(self, message): import re has_count = bool(re.search(r'\d+\s*[辆个]', message)) - # 检测车辆类型 - has_vehicle_type = any(vtype in message for vtype in self.VEHICLE_TYPES.keys()) - # 检测行人类型 - has_pedestrian_type = any(ptype in message for ptype in self.PEDESTRIAN_TYPES.keys()) + # 检测车辆类型（支持英文和中文） + has_vehicle_type = any(vtype in message for vtype in self.VEHICLE_TYPES.keys()) or \ + any(vname in message for vname in self.VEHICLE_TYPE_MAP.keys()) + # 检测行人类型（支持英文和中文）- 但排除泛指的"行人" + specific_pedestrian_keywords = set(self.PEDESTRIAN_TYPES.keys()) | set(self.PEDESTRIAN_TYPE_MAP.keys()) - {"行人", "人"} + has_pedestrian_type = any(ptype in message for ptype in specific_pedestrian_keywords) # 检查是否是模糊的车辆生成请求 is_vehicle_request = any(kw in message for kw in vehicle_keywords) @@ -1183,14 +1323,16 @@ def _generate_spawn_prompt(self, check_result): prompt_parts = [] if check_result['needs_vehicle_type']: - vehicle_list = "\n".join([f" • {key} - {name}" for key, name in self.VEHICLE_TYPES.items()]) + # 使用中文展示可用的车辆类型 + vehicle_list = "\n".join([f" • {name} ({key})" for key, name in self.VEHICLE_TYPES.items()]) prompt_parts.append(f"🚗 **可用车辆类型：**\n{vehicle_list}") if check_result['needs_vehicle_count']: prompt_parts.append("🚗 **车辆数量：** 支持生成 1-100+ 辆车（取决于地图可用生成点数量）") if check_result['needs_pedestrian_type']: - pedestrian_list = "\n".join([f" • {key} - {name}" for key, name in self.PEDESTRIAN_TYPES.items()]) + # 使用中文展示可用的行人类型 + pedestrian_list = "\n".join([f" • {name} ({key})" for key, name in self.PEDESTRIAN_TYPES.items()]) prompt_parts.append(f"🚶 **可用行人类型：**\n{pedestrian_list}") if check_result['needs_pedestrian_count']: @@ -1200,11 +1342,15 @@ def _generate_spawn_prompt(self, check_result): prompt_parts.insert(0, "请提供以下信息以完成生成：\n") prompt_parts.append("\n💡 **示例指令：**") if check_result['needs_vehicle_type'] or check_result['needs_vehicle_count']: - prompt_parts.append(' • "生成5辆model3"') - prompt_parts.append(' • "来10辆mustang"') + prompt_parts.append(' • "生成5辆特斯拉"') + prompt_parts.append(' • "来10辆福特野马"') + prompt_parts.append(' • "生成3辆宝马"') + prompt_parts.append(' • "来5辆奔驰"') if check_result['needs_pedestrian_type'] or check_result['needs_pedestrian_count']: - prompt_parts.append(' • "生成3个police"') - prompt_parts.append(' • "来5个pedestrian"') + prompt_parts.append(' • "生成3个老年人"') + prompt_parts.append(' • "来5个警察"') + prompt_parts.append(' • "生成2个儿童"') + prompt_parts.append(' • "来10个普通行人"') return "\n\n".join(prompt_parts) @@ -1243,8 +1389,12 @@ async def chat(self, user_message): - 当用户提到"连接"、"服务器"、"CARLA"等明确要求连接时，使用connect_carla - 当用户提到"车辆"、"生成"、"创建汽车"、"车"等，使用spawn_vehicle，count参数默认为1 - 当用户提到"多辆车"、"生成X辆车"、"几辆车"、指定数量（如5辆、10辆），必须设置count参数为对应数字 +- 车辆类型支持中文：特斯拉(model3)、奥迪(a2/etron/tt)、宝马(grandtourer/i8/mini)、雪佛兰(impala)、雪铁龙(c3)、道奇(charger_police/charger2020)、福特(mustang/crown)、吉普(wrangler_rubicon)、林肯(mkz_2017/mkz_2020)、奔驰(benz_coupe/cabrio/ccc)、迷你(cooper_s)、日产(micra/patrol)、西雅特(leon)、大众(t2/t3) +- 当用户使用中文车辆类型（如"生成3辆特斯拉"），你需要将中文类型转换为对应的英文类型：model3、a2、etron、tt、grandtourer、i8、mini、impala、c3、charger_police、charger2020、mustang、crown、wrangler_rubicon、mkz_2017、mkz_2020、benz_coupe、cabrio、ccc、cooper_s、micra、patrol、leon、t2、t3 - 当用户提到"行人"、"生成行人"、"创建行人"、"人"等，直接使用spawn_pedestrian，count参数默认为1 - 当用户提到"多个行人"、"生成X个行人"、"几个行人"、指定数量（如5个、10个），必须设置count参数为对应数字 +- 行人类型支持中文：普通行人/行人/人、老年人/老人、儿童/小孩/孩子、建筑工人/工人、警察/警官、商务人士/商人/白领、慢跑者/跑步者/跑步的人 +- 当用户使用中文行人类型（如"生成5个老年人"），你需要将中文类型转换为对应的英文类型：elderly、child、construction_worker、police、business、jogger、pedestrian - 当用户提到"自动驾驶"、"车辆运行"、"车自己开"等，使用setup_autopilot - 当用户提到"行人移动"、"行人走路"、"行人运行"等，使用setup_pedestrian_movement - 当用户提到"天气"、"下雨"、"晴天"、"雾天"等，使用set_weather @@ -1272,12 +1422,20 @@ async def chat(self, user_message): - "生成10辆车" -> spawn_vehicle(query="model3", count=10) - "给我来3辆奥迪a2" -> spawn_vehicle(query="a2", count=3) - "创建20辆车" -> spawn_vehicle(query="model3", count=20) +- "生成3辆特斯拉" -> spawn_vehicle(query="model3", count=3) +- "生成5辆宝马" -> spawn_vehicle(query="grandtourer", count=5) +- "生成2辆奔驰" -> spawn_vehicle(query="benz_coupe", count=2) +- "生成4辆福特野马" -> spawn_vehicle(query="mustang", count=4) - "生成一个行人" -> spawn_pedestrian(query="pedestrian", count=1) - "生成5个行人" -> spawn_pedestrian(query="pedestrian", count=5) - "生成3个老年人" -> spawn_pedestrian(query="elderly", count=3) - "生成10个警察" -> spawn_pedestrian(query="police", count=10) - "生成一个人" -> spawn_pedestrian(query="pedestrian", count=1) - "生成5个人" -> spawn_pedestrian(query="pedestrian", count=5) +- "生成3个小孩" -> spawn_pedestrian(query="child", count=3) +- "生成5个建筑工人" -> spawn_pedestrian(query="construction_worker", count=5) +- "生成2个商务人士" -> spawn_pedestrian(query="business", count=2) +- "生成4个慢跑者" -> spawn_pedestrian(query="jogger", count=4) - "开启车辆自动驾驶" -> setup_autopilot(enable=True, radius=0.0) - "让车辆自己开" -> setup_autopilot(enable=True) - "开启行人移动" -> setup_pedestrian_movement(enable=True, radius=0.0)