mirror of
https://github.com/deepmodeling/Uni-Lab-OS
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9ef24b7768
Replace scipy differential_evolution with custom DE loop for per-device crossover, circular θ wrapping, and configurable mutation strategy (currenttobest1bin default, best1bin as turbo mode). Key improvements: - Graduate ALL hard constraints during DE (proportional penalty instead of flat inf), giving DE smooth gradient for reachability, min_spacing, etc. Binary inf preserved for final pass/fail reporting. - 2-axis sweep-and-prune AABB broad phase for collision pair pruning - Multi-seed injection from multiple seeder presets + Gaussian variants - snap_theta_safe: collision-check after angle snapping, revert on violation - Weight normalization (100 distance / 60 angle / 5× hard multiplier) - Constraint priority field (critical/high/normal/low → weight multiplier) with LLM intent interpreter setting priority per constraint type - Final success field now checks user hard constraints in binary mode - arm_slider added to mock checker reach table (1.07m) Tests: 202 passed, 24 new tests added (optimizer 7, constraints 6, broad_phase 11) Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
362 lines
13 KiB
Python
362 lines
13 KiB
Python
"""意图解释器：将语义化意图翻译为 Constraint 列表。"""
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from __future__ import annotations
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import itertools
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from collections.abc import Callable
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from dataclasses import dataclass, field
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from .models import Constraint, Intent
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# 优先级权重映射
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_PRIORITY_WEIGHTS: dict[str, float] = {"low": 1.0, "medium": 3.0, "high": 8.0}
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_DEFAULT_WEIGHT = _PRIORITY_WEIGHTS["medium"]
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@dataclass
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class InterpretResult:
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"""意图解释结果。"""
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constraints: list[Constraint] = field(default_factory=list)
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translations: list[dict] = field(default_factory=list)
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errors: list[str] = field(default_factory=list)
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workflow_edges: list[list[str]] = field(default_factory=list)
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def _handle_reachable_by(intent: Intent, result: InterpretResult) -> None:
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"""reachable_by：机械臂必须能到达指定设备列表。"""
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arm = intent.params.get("arm")
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targets = intent.params.get("targets", [])
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if arm is None:
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result.errors.append(f"reachable_by: 缺少必要参数 'arm'")
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return
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if not targets:
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result.errors.append(f"reachable_by: 参数 'targets' 不能为空")
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return
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generated: list[dict] = []
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for target in targets:
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c = Constraint(
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type="hard",
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rule_name="reachability",
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params={"arm_id": arm, "target_device_id": target},
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priority="critical",
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)
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result.constraints.append(c)
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generated.append({"type": c.type, "rule_name": c.rule_name, "params": c.params, "weight": c.weight})
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result.translations.append({
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"source_intent": intent.intent,
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"source_description": intent.description,
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"source_params": intent.params,
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"generated_constraints": generated,
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"explanation": f"机械臂 '{arm}' 需要能够到达 {len(targets)} 个目标设备",
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})
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def _handle_close_together(intent: Intent, result: InterpretResult) -> None:
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"""close_together：设备组内两两最小化距离。"""
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devices: list[str] = intent.params.get("devices", [])
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priority: str = intent.params.get("priority", "medium")
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if len(devices) < 2:
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result.errors.append(f"close_together: 参数 'devices' 至少需要 2 个设备，当前 {len(devices)} 个")
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return
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weight = _PRIORITY_WEIGHTS.get(priority, _DEFAULT_WEIGHT)
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# 映射 intent priority 到 constraint priority 等级
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constraint_priority = "high" if priority == "high" else "normal"
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generated: list[dict] = []
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for dev_a, dev_b in itertools.combinations(devices, 2):
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c = Constraint(
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type="soft",
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rule_name="minimize_distance",
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params={"device_a": dev_a, "device_b": dev_b},
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weight=weight,
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priority=constraint_priority,
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)
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result.constraints.append(c)
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generated.append({"type": c.type, "rule_name": c.rule_name, "params": c.params, "weight": c.weight})
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result.translations.append({
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"source_intent": intent.intent,
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"source_description": intent.description,
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"source_params": intent.params,
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"generated_constraints": generated,
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"explanation": f"设备组 {devices} 应尽量靠近（优先级: {priority}）",
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})
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def _handle_far_apart(intent: Intent, result: InterpretResult) -> None:
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"""far_apart：设备组内两两最大化距离。"""
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devices: list[str] = intent.params.get("devices", [])
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priority: str = intent.params.get("priority", "medium")
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if len(devices) < 2:
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result.errors.append(f"far_apart: 参数 'devices' 至少需要 2 个设备，当前 {len(devices)} 个")
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return
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weight = _PRIORITY_WEIGHTS.get(priority, _DEFAULT_WEIGHT)
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# 映射 intent priority 到 constraint priority 等级
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constraint_priority = "high" if priority == "high" else "normal"
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generated: list[dict] = []
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for dev_a, dev_b in itertools.combinations(devices, 2):
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c = Constraint(
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type="soft",
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rule_name="maximize_distance",
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params={"device_a": dev_a, "device_b": dev_b},
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weight=weight,
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priority=constraint_priority,
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)
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result.constraints.append(c)
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generated.append({"type": c.type, "rule_name": c.rule_name, "params": c.params, "weight": c.weight})
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result.translations.append({
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"source_intent": intent.intent,
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"source_description": intent.description,
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"source_params": intent.params,
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"generated_constraints": generated,
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"explanation": f"设备组 {devices} 应尽量分散（优先级: {priority}）",
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})
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def _handle_max_distance(intent: Intent, result: InterpretResult) -> None:
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"""max_distance：两设备间距不超过指定值。"""
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device_a = intent.params.get("device_a")
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device_b = intent.params.get("device_b")
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distance = intent.params.get("distance")
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if device_a is None or device_b is None or distance is None:
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result.errors.append(
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f"max_distance: 缺少必要参数，需要 'device_a'、'device_b' 和 'distance'，"
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f"当前: device_a={device_a}, device_b={device_b}, distance={distance}"
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)
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return
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c = Constraint(
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type="hard",
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rule_name="distance_less_than",
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params={"device_a": device_a, "device_b": device_b, "distance": distance},
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priority="normal",
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)
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result.constraints.append(c)
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result.translations.append({
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"source_intent": intent.intent,
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"source_description": intent.description,
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"source_params": intent.params,
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"generated_constraints": [{"type": c.type, "rule_name": c.rule_name, "params": c.params, "weight": c.weight}],
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"explanation": f"设备 '{device_a}' 与 '{device_b}' 之间的距离不得超过 {distance} 米",
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})
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def _handle_min_distance(intent: Intent, result: InterpretResult) -> None:
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"""min_distance：两设备间距不小于指定值。"""
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device_a = intent.params.get("device_a")
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device_b = intent.params.get("device_b")
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distance = intent.params.get("distance")
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if device_a is None or device_b is None or distance is None:
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result.errors.append(
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f"min_distance: 缺少必要参数，需要 'device_a'、'device_b' 和 'distance'，"
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f"当前: device_a={device_a}, device_b={device_b}, distance={distance}"
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)
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return
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c = Constraint(
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type="hard",
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rule_name="distance_greater_than",
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params={"device_a": device_a, "device_b": device_b, "distance": distance},
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priority="normal",
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)
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result.constraints.append(c)
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result.translations.append({
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"source_intent": intent.intent,
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"source_description": intent.description,
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"source_params": intent.params,
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"generated_constraints": [{"type": c.type, "rule_name": c.rule_name, "params": c.params, "weight": c.weight}],
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"explanation": f"设备 '{device_a}' 与 '{device_b}' 之间的距离不得小于 {distance} 米",
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})
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def _handle_min_spacing(intent: Intent, result: InterpretResult) -> None:
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"""min_spacing：所有设备之间的最小间隙。"""
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min_gap: float = intent.params.get("min_gap", 0.3)
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c = Constraint(
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type="hard",
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rule_name="min_spacing",
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params={"min_gap": min_gap},
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priority="high",
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)
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result.constraints.append(c)
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result.translations.append({
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"source_intent": intent.intent,
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"source_description": intent.description,
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"source_params": intent.params,
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"generated_constraints": [{"type": c.type, "rule_name": c.rule_name, "params": c.params, "weight": c.weight}],
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"explanation": f"所有设备之间至少保持 {min_gap} 米的间隙",
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})
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def _handle_face_outward(intent: Intent, result: InterpretResult) -> None:
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"""face_outward：设备朝向偏好为向外。"""
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c = Constraint(
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type="soft",
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rule_name="prefer_orientation_mode",
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params={"mode": "outward"},
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priority="low",
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)
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result.constraints.append(c)
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result.translations.append({
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"source_intent": intent.intent,
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"source_description": intent.description,
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"source_params": intent.params,
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"generated_constraints": [{"type": c.type, "rule_name": c.rule_name, "params": c.params, "weight": c.weight}],
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"explanation": "设备开口偏好朝向实验室外侧",
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})
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def _handle_face_inward(intent: Intent, result: InterpretResult) -> None:
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"""face_inward：设备朝向偏好为向内。"""
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c = Constraint(
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type="soft",
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rule_name="prefer_orientation_mode",
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params={"mode": "inward"},
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priority="low",
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)
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result.constraints.append(c)
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result.translations.append({
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"source_intent": intent.intent,
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"source_description": intent.description,
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"source_params": intent.params,
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"generated_constraints": [{"type": c.type, "rule_name": c.rule_name, "params": c.params, "weight": c.weight}],
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"explanation": "设备开口偏好朝向实验室内侧",
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})
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def _handle_align_cardinal(intent: Intent, result: InterpretResult) -> None:
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"""align_cardinal：设备偏好对齐到主轴方向。"""
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c = Constraint(
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type="soft",
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rule_name="prefer_aligned",
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params={},
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priority="low",
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)
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result.constraints.append(c)
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result.translations.append({
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"source_intent": intent.intent,
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"source_description": intent.description,
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"source_params": intent.params,
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"generated_constraints": [{"type": c.type, "rule_name": c.rule_name, "params": c.params, "weight": c.weight}],
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"explanation": "设备偏好与实验室主轴对齐（0°/90°/180°/270°）",
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})
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def _handle_keep_adjacent(intent: Intent, result: InterpretResult) -> None:
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"""keep_adjacent：两个设备保持相邻（同 close_together 逻辑，支持 priority 映射）。"""
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devices: list[str] = intent.params.get("devices", [])
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priority: str = intent.params.get("priority", "medium")
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if len(devices) < 2:
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result.errors.append(f"keep_adjacent: 参数 'devices' 至少需要 2 个设备，当前 {len(devices)} 个")
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return
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weight = _PRIORITY_WEIGHTS.get(priority, _DEFAULT_WEIGHT)
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# 映射 intent priority 到 constraint priority 等级
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constraint_priority = "high" if priority == "high" else "normal"
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generated: list[dict] = []
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for dev_a, dev_b in itertools.combinations(devices, 2):
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c = Constraint(
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type="soft",
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rule_name="minimize_distance",
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params={"device_a": dev_a, "device_b": dev_b},
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weight=weight,
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priority=constraint_priority,
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)
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result.constraints.append(c)
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generated.append({"type": c.type, "rule_name": c.rule_name, "params": c.params, "weight": c.weight})
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result.translations.append({
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"source_intent": intent.intent,
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"source_description": intent.description,
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"source_params": intent.params,
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"generated_constraints": generated,
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"explanation": f"设备组 {devices} 应保持相邻（优先级: {priority}）",
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})
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def _handle_workflow_hint(intent: Intent, result: InterpretResult) -> None:
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"""workflow_hint：工作流顺序暗示，相邻步骤设备靠近。"""
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workflow: str = intent.params.get("workflow", "")
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devices: list[str] = intent.params.get("devices", [])
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if len(devices) < 2:
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result.errors.append(
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f"workflow_hint: 参数 'devices' 至少需要 2 个设备，当前 {len(devices)} 个"
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)
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return
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generated: list[dict] = []
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for dev_a, dev_b in zip(devices[:-1], devices[1:]):
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c = Constraint(
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type="soft",
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rule_name="minimize_distance",
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params={"device_a": dev_a, "device_b": dev_b},
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priority="normal",
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)
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result.constraints.append(c)
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generated.append({"type": c.type, "rule_name": c.rule_name, "params": c.params, "weight": c.weight})
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result.workflow_edges.append([dev_a, dev_b])
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result.translations.append({
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"source_intent": intent.intent,
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"source_description": intent.description,
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"source_params": intent.params,
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"generated_constraints": generated,
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"explanation": f"工作流 '{workflow}' 中相邻步骤设备应靠近",
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"confidence": "low",
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})
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# 意图处理器分发表
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_HANDLERS: dict[str, Callable[[Intent, InterpretResult], None]] = {
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"reachable_by": _handle_reachable_by,
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"close_together": _handle_close_together,
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"far_apart": _handle_far_apart,
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"max_distance": _handle_max_distance,
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"min_distance": _handle_min_distance,
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"min_spacing": _handle_min_spacing,
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"face_outward": _handle_face_outward,
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"face_inward": _handle_face_inward,
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"align_cardinal": _handle_align_cardinal,
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"workflow_hint": _handle_workflow_hint,
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}
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def interpret_intents(intents: list[Intent]) -> InterpretResult:
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"""将意图列表翻译为约束列表。
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Args:
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intents: 语义化意图列表（通常由 LLM 生成）
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Returns:
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InterpretResult，包含约束、翻译记录、错误信息和工作流边
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"""
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result = InterpretResult()
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for intent in intents:
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handler = _HANDLERS.get(intent.intent)
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if handler is None:
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result.errors.append(f"未知意图类型: '{intent.intent}'，跳过处理")
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continue
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handler(intent, result)
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return result
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