feat(inspection): 增加巡检点位语料配置功能
- 在 inspection_waypoint 表中新增 chinese_corpus 和 english_corpus 字段存储中英文语料 - 创建 InspectionWaypointCorpusConfigVO 用于巡检点位语料查询节点参数 - 实现 InspectionWaypointCorpusMapper 提供按检测项ID查询语料的数据库操作 - 开发 InspectionWaypointCorpusOperateService 处理语料类型识别和语料获取逻辑 - 添加语料类型支持包括中文/英文、zh-CN/en-US、zh/en或0/1等多种格式 - 实现语料验证机制确保巡检点位配置了相应语言语料 - 编写单元测试验证中英文语料获取和类型解析功能 - 为 VisionLocateOperateService 增加完整的测试用例覆盖安全方向校准和平面定位功能
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package com.cmvr.test.flow.runtime.operator.llm;
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import com.alibaba.fastjson2.JSONObject;
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import com.cmvr.common.exception.GlobalException;
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import com.cmvr.test.enums.ActionEnum;
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import com.cmvr.test.flow.runtime.message.TaskNodeExecuteMessage;
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import com.cmvr.test.flow.runtime.message.TaskNodeExecuteResult;
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import com.cmvr.test.mapper.InspectionWaypointCorpusMapper;
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import com.cmvr.test.model.vo.inspection.InspectionWaypointCorpusConfigVO;
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import com.cmvr.test.model.vo.inspection.InspectionWaypointCorpusVO;
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import lombok.RequiredArgsConstructor;
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import org.apache.commons.lang3.StringUtils;
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import org.springframework.stereotype.Service;
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import java.util.Locale;
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/** 根据检测项和语料类型读取巡检点位配置的播放语料。 */
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@Service
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@RequiredArgsConstructor
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public class InspectionWaypointCorpusOperateService implements LLMOperateService
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{
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private final InspectionWaypointCorpusMapper inspectionWaypointCorpusMapper;
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@Override
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public boolean supports(ActionEnum action)
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{
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return ActionEnum.INSPECTION_WAYPOINT_CORPUS.equals(action);
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}
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@Override
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public TaskNodeExecuteResult execute(TaskNodeExecuteMessage message)
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{
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JSONObject input = message.getInputParams() == null ? new JSONObject() : message.getInputParams();
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InspectionWaypointCorpusConfigVO config = input.to(InspectionWaypointCorpusConfigVO.class);
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String detectItemId = StringUtils.trimToNull(config.getDetectItemId());
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String type = StringUtils.trimToNull(config.getType());
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if (detectItemId == null)
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{
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throw new GlobalException("检测项ID不能为空");
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}
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if (type == null)
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{
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throw new GlobalException("语料类型不能为空");
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}
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InspectionWaypointCorpusVO waypoint =
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inspectionWaypointCorpusMapper.selectByDetectItemId(detectItemId);
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if (waypoint == null)
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{
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throw new GlobalException("未找到检测项对应的巡检点位: " + detectItemId);
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}
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String corpus = resolveCorpus(waypoint, type);
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if (StringUtils.isBlank(corpus))
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{
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throw new GlobalException("巡检点位未配置" + languageName(type) + "语料");
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}
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return TaskNodeExecuteResult.success(new JSONObject().fluentPut("corpus", corpus));
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}
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private String resolveCorpus(InspectionWaypointCorpusVO waypoint, String type)
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{
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return isChinese(type) ? waypoint.getChineseCorpus() : waypoint.getEnglishCorpus();
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}
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private String languageName(String type)
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{
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return isChinese(type) ? "中文" : "英文";
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}
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private boolean isChinese(String type)
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{
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String normalized = type.trim().toLowerCase(Locale.ROOT).replace('_', '-');
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if ("0".equals(normalized) || "cn".equals(normalized) || "chinese".equals(normalized)
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|| "中文".equals(normalized) || normalized.startsWith("zh"))
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{
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return true;
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}
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if ("1".equals(normalized) || "english".equals(normalized) || "英文".equals(normalized)
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|| normalized.startsWith("en"))
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{
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return false;
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}
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throw new GlobalException("不支持的语料类型: " + type);
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}
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}
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package com.cmvr.test.mapper;
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import com.cmvr.test.model.vo.inspection.InspectionWaypointCorpusVO;
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import org.apache.ibatis.annotations.Param;
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import org.apache.ibatis.annotations.Select;
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/** 巡检点位语料查询Mapper。 */
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public interface InspectionWaypointCorpusMapper
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{
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@Select("select chinese_corpus as chineseCorpus, english_corpus as englishCorpus "
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+ "from inspection_waypoint where detect_item_id = #{detectItemId} limit 1")
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InspectionWaypointCorpusVO selectByDetectItemId(@Param("detectItemId") String detectItemId);
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}
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package com.cmvr.test.model.vo.inspection;
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import io.swagger.annotations.ApiModel;
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import io.swagger.annotations.ApiModelProperty;
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import lombok.Data;
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/** 巡检点位语料查询工作流节点参数。 */
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@Data
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@ApiModel(value = "InspectionWaypointCorpusConfigVO",
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description = "INSPECTION_WAYPOINT_CORPUS节点参数")
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public class InspectionWaypointCorpusConfigVO
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{
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@ApiModelProperty(value = "点位关联的检测项ID", required = true)
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private String detectItemId;
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@ApiModelProperty(value = "语料类型，支持中文/英文、zh-CN/en-US、zh/en或0/1",
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required = true, example = "zh-CN")
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private String type;
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}
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package com.cmvr.test.model.vo.inspection;
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import lombok.Data;
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/** 巡检点位中英文语料查询结果。 */
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@Data
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public class InspectionWaypointCorpusVO
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{
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private String chineseCorpus;
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private String englishCorpus;
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}
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package com.cmvr.test.flow.runtime.operator.edge;
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import com.alibaba.fastjson2.JSONArray;
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import com.alibaba.fastjson2.JSONObject;
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import com.cmvr.llm.analysis.MediaAnalysisClient;
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import com.cmvr.test.enums.ActionEnum;
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import com.cmvr.test.flow.runtime.message.TaskNodeExecuteMessage;
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import com.cmvr.test.flow.runtime.operator.llm.LLMMediaAnalysisOperateService;
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import com.cmvr.test.vision.domain.VisionCalibrationProfile;
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import com.cmvr.test.vision.math.VisionCalibrationMath;
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import org.junit.Test;
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import java.lang.reflect.Proxy;
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import java.util.List;
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import java.util.concurrent.atomic.AtomicReference;
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import static org.junit.Assert.assertEquals;
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public class VisionLocateOperateServiceTest {
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@Test
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public void calibratedSafeDirectionKeepsTheFinalFlangeOrientationStable() {
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VisionLocateOperateService service = new VisionLocateOperateService(
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null, null, null, null);
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double[][] currentFlange = VisionCalibrationMath.fromCartesianPose(
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cmvr.api.ArmCommand.CartesianPose.newBuilder()
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.setRx(0.45).setRy(-0.3).setRz(0.7).build());
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double[][] flangeToTcp = VisionCalibrationMath.fromCartesianPose(
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cmvr.api.ArmCommand.CartesianPose.newBuilder()
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.setX(0.07).setZ(0.01)
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.setRx(0.08).setRy(-0.04).setRz(0.12).build());
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double[][] currentTcp = VisionGeometry.multiply(currentFlange, flangeToTcp);
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double[][] safeFlange = VisionCalibrationMath.fromCartesianPose(
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cmvr.api.ArmCommand.CartesianPose.newBuilder()
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.setRx(Math.PI).setRy(0.04).setRz(-0.2).build());
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VisionCalibrationProfile toolProfile = new VisionCalibrationProfile();
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toolProfile.setId("tool-profile-1");
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toolProfile.setMetadataJson(new JSONObject()
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.fluentPut("safeDirectionPose", matrixArray(safeFlange))
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.toJSONString());
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VisionLocateOperateService.StableToolOrientation orientation =
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service.stableToolOrientation(currentTcp, flangeToTcp, toolProfile);
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double[][] finalFlange = VisionGeometry.multiply(
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orientation.tcpPose(), VisionGeometry.rigidInverse(flangeToTcp));
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assertEquals("TOOL_CALIBRATION_SAFE_DIRECTION", orientation.source());
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assertRotationEquals(safeFlange, finalFlange, 1e-10);
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}
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@Test
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public void missingSafeDirectionPreservesCurrentTcpOrientation() {
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VisionLocateOperateService service = new VisionLocateOperateService(
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null, null, null, null);
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double[][] currentTcp = VisionCalibrationMath.fromCartesianPose(
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cmvr.api.ArmCommand.CartesianPose.newBuilder()
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.setRx(0.2).setRy(0.4).setRz(-0.6).build());
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double[][] identity = VisionCalibrationMath.identity();
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VisionLocateOperateService.StableToolOrientation orientation =
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service.stableToolOrientation(currentTcp, identity, null);
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assertEquals("CURRENT_TCP", orientation.source());
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assertRotationEquals(currentTcp, orientation.tcpPose(), 0.0);
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}
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@Test
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public void calibratedPlaneMakesTargetZIndependentFromRgbdDepthNoise() {
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VisionLocateOperateService service = new VisionLocateOperateService(
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null, null, null, null);
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double[][] identity = VisionCalibrationMath.identity();
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double[][] safeFlange = VisionCalibrationMath.identity();
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safeFlange[2][3] = 0.5;
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VisionCalibrationProfile toolProfile = new VisionCalibrationProfile();
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toolProfile.setId("tool-profile-plane");
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toolProfile.setMetadataJson(new JSONObject()
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.fluentPut("safeDirectionPose", matrixArray(safeFlange))
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.fluentPut("planeNormalBase", new JSONArray()
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.fluentAdd(0.0).fluentAdd(0.0).fluentAdd(1.0))
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.toJSONString());
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VisionLocateOperateService.StableToolOrientation orientation =
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service.stableToolOrientation(identity, identity, toolProfile);
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com.cmvr.edge.client.model.camera.EdgeCameraRgbdSnapshot snapshot =
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com.cmvr.edge.client.model.camera.EdgeCameraRgbdSnapshot.builder()
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.width(640).height(480)
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.fx(600).fy(600).cx(320).cy(240)
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.build();
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VisionLocateOperateService.TargetPosition first = service.targetPosition(
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identity, snapshot, 380, 240, new double[]{0.056, 0, 0.56},
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List.of(), orientation, 0.0D);
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VisionLocateOperateService.TargetPosition second = service.targetPosition(
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identity, snapshot, 380, 240, new double[]{0.062, 0, 0.62},
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List.of(), orientation, 0.0D);
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assertEquals("TOOL_CALIBRATION_PLANE_OFFSET", first.source());
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assertEquals(0.05, first.point()[0], 1e-12);
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assertEquals(0.5, first.point()[2], 1e-12);
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assertEquals(first.point()[2], second.point()[2], 0.0);
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assertEquals(60.0, first.depthResidualMm(), 1e-9);
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assertEquals(120.0, second.depthResidualMm(), 1e-9);
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}
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@Test
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public void dynamicParallelPlaneTracksHeightButRejectsDepthOutliers() {
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VisionLocateOperateService service = new VisionLocateOperateService(
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null, null, null, null);
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double[][] identity = VisionCalibrationMath.identity();
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VisionLocateOperateService.StableToolOrientation orientation =
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new VisionLocateOperateService.StableToolOrientation(
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identity, "TEST", new double[]{0, 0, 0.5}, new double[]{0, 0, 1});
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com.cmvr.edge.client.model.camera.EdgeCameraRgbdSnapshot snapshot =
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com.cmvr.edge.client.model.camera.EdgeCameraRgbdSnapshot.builder()
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.width(640).height(480)
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.fx(600).fy(600).cx(320).cy(240)
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.build();
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List<double[]> lowerSamples = List.of(
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pointAtDepth(0.619), pointAtDepth(0.620), pointAtDepth(0.621),
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pointAtDepth(0.620), pointAtDepth(0.619), pointAtDepth(0.621),
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pointAtDepth(0.620), pointAtDepth(0.620), pointAtDepth(0.619),
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pointAtDepth(0.621), pointAtDepth(0.800));
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List<double[]> higherSamples = List.of(
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pointAtDepth(0.679), pointAtDepth(0.680), pointAtDepth(0.681),
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pointAtDepth(0.680), pointAtDepth(0.679), pointAtDepth(0.681),
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pointAtDepth(0.680), pointAtDepth(0.680), pointAtDepth(0.679),
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pointAtDepth(0.681), pointAtDepth(0.900));
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VisionLocateOperateService.TargetPosition lower = service.targetPosition(
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identity, snapshot, 380, 240, new double[]{0.09, 0, 0.90},
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lowerSamples, orientation, null);
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VisionLocateOperateService.TargetPosition higher = service.targetPosition(
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identity, snapshot, 380, 240, new double[]{0.05, 0, 0.50},
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higherSamples, orientation, null);
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assertEquals("RGBD_PARALLEL_PLANE", lower.source());
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assertEquals(0.620, lower.point()[2], 1e-12);
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assertEquals(0.680, higher.point()[2], 1e-12);
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assertEquals(0.062, lower.point()[0], 1e-12);
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assertEquals(0.068, higher.point()[0], 1e-12);
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}
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@Test
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public void preciseLocateUsesTheSameImageAnalysisRequestAsGenericPreciseMatch() {
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AtomicReference<JSONObject> captured = new AtomicReference<>();
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MediaAnalysisClient client = (MediaAnalysisClient) Proxy.newProxyInstance(
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MediaAnalysisClient.class.getClassLoader(),
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new Class<?>[]{MediaAnalysisClient.class},
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(proxy, method, args) -> {
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if (!"analyze".equals(method.getName())) {
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throw new UnsupportedOperationException(method.getName());
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}
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JSONObject request = (JSONObject) args[0];
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captured.set(request);
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return new JSONObject()
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.fluentPut("status", "SUCCEEDED")
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.fluentPut("analysisType", "IMAGE_ANALYSIS")
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.fluentPut("profileCode", "common.image_analysis.v1")
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.fluentPut("result", new JSONObject()
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.fluentPut("matched", true)
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.fluentPut("center", new JSONArray().fluentAdd(610).fluentAdd(238))
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.fluentPut("matchScore", 0.8D));
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}
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);
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LLMMediaAnalysisOperateService imageAnalysis =
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new LLMMediaAnalysisOperateService(client, null);
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imageAnalysis.execute(imageMessage(genericPreciseMatchInput()));
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JSONObject genericRequest = captured.get();
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VisionLocateOperateService visionLocate = new VisionLocateOperateService(
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null, null, imageAnalysis, null);
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visionLocate.analyze(visionMessage(), "https://files.example/scene.jpg",
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"common.image_analysis.v1", "定位目标中心点", visualLocateInput(),
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"REFERENCE_MATCH");
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JSONObject visualRequest = captured.get();
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assertEquals(genericRequest.getString("analysisType"), visualRequest.getString("analysisType"));
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assertEquals(genericRequest.getString("profileCode"), visualRequest.getString("profileCode"));
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assertEquals(genericRequest.getString("mediaUrl"), visualRequest.getString("mediaUrl"));
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assertEquals(genericRequest.getJSONArray("mediaUrls"), visualRequest.getJSONArray("mediaUrls"));
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assertEquals(genericRequest.getJSONObject("options"), visualRequest.getJSONObject("options"));
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assertEquals(genericRequest.getJSONObject("context"), visualRequest.getJSONObject("context"));
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}
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private JSONObject genericPreciseMatchInput() {
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return new JSONObject()
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.fluentPut("profileCode", "common.image_analysis.v1")
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.fluentPut("imageUrl", new JSONArray().fluentAdd("https://files.example/scene.jpg"))
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.fluentPut("referenceImageUrl", "https://files.example/reference.png")
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.fluentPut("prompt", "在大图中查找小图，返回原图像素坐标 [x1,y1,x2,y2]")
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.fluentPut("analysisMethod", "REFERENCE_MATCH")
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.fluentPut("analysisMode", "FAST")
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.fluentPut("asynchronous", false)
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.fluentPut("analysisTuning", new JSONObject()
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.fluentPut("maxWidth", 896)
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.fluentPut("maxImages", 12)
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.fluentPut("maxOutputTokens", 384)
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.fluentPut("matchThreshold", 0.48D)
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.fluentPut("matchSelector", "BEST")
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.fluentPut("matchIndex", 1)
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.fluentPut("matchSort", "ROW_MAJOR")
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.fluentPut("locateConfidenceThreshold", 0.45D));
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}
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private JSONObject visualLocateInput() {
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return new JSONObject()
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.fluentPut("referenceImageUrl", "https://files.example/reference.png")
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.fluentPut("analysisMode", "ACCURATE")
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.fluentPut("matchSelector", "BEST")
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.fluentPut("matchIndex", "1")
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.fluentPut("matchSort", "ROW_MAJOR")
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.fluentPut("confidenceThreshold", "0.45");
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}
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private TaskNodeExecuteMessage imageMessage(JSONObject input) {
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TaskNodeExecuteMessage message = baseMessage();
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message.setAction(ActionEnum.IMAGE_ANALYZE);
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message.setInputParams(input);
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return message;
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}
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private TaskNodeExecuteMessage visionMessage() {
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TaskNodeExecuteMessage message = baseMessage();
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message.setAction(ActionEnum.VISION_LOCATE_TARGET);
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message.setInputParams(visualLocateInput());
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return message;
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}
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private TaskNodeExecuteMessage baseMessage() {
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TaskNodeExecuteMessage message = new TaskNodeExecuteMessage();
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message.setInstId("inst-1");
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message.setTaskId("task-1");
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message.setItemId("item-1");
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message.setNodeId("node-1");
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message.setTrial(true);
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return message;
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}
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private JSONArray matrixArray(double[][] matrix) {
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JSONArray values = new JSONArray();
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for (double[] row : matrix) {
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for (double value : row) values.add(value);
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}
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return values;
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}
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private double[] pointAtDepth(double depth) {
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return new double[]{0, 0, depth};
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}
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private void assertRotationEquals(double[][] expected, double[][] actual, double tolerance) {
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for (int row = 0; row < 3; row++) {
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for (int column = 0; column < 3; column++) {
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assertEquals(expected[row][column], actual[row][column], tolerance);
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}
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}
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}
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}
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@ -0,0 +1,75 @@
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package com.cmvr.test.flow.runtime.operator.llm;
|
||||
|
||||
import com.alibaba.fastjson2.JSONObject;
|
||||
import com.cmvr.common.exception.GlobalException;
|
||||
import com.cmvr.test.enums.ActionEnum;
|
||||
import com.cmvr.test.flow.runtime.message.TaskNodeExecuteMessage;
|
||||
import com.cmvr.test.flow.runtime.message.TaskNodeExecuteResult;
|
||||
import com.cmvr.test.mapper.InspectionWaypointCorpusMapper;
|
||||
import com.cmvr.test.model.vo.inspection.InspectionWaypointCorpusVO;
|
||||
import org.junit.Test;
|
||||
|
||||
import java.lang.reflect.Proxy;
|
||||
|
||||
import static org.junit.Assert.assertEquals;
|
||||
import static org.junit.Assert.assertTrue;
|
||||
|
||||
public class InspectionWaypointCorpusOperateServiceTest
|
||||
{
|
||||
@Test
|
||||
public void returnsChineseCorpus()
|
||||
{
|
||||
InspectionWaypointCorpusOperateService service = service("开始巡检", "Start inspection");
|
||||
|
||||
TaskNodeExecuteResult result = service.execute(message("zh-CN"));
|
||||
|
||||
assertTrue(result.isSuccess());
|
||||
assertEquals("开始巡检", result.getOutputParams().getString("corpus"));
|
||||
}
|
||||
|
||||
@Test
|
||||
public void returnsEnglishCorpusForNumericType()
|
||||
{
|
||||
InspectionWaypointCorpusOperateService service = service("开始巡检", "Start inspection");
|
||||
|
||||
TaskNodeExecuteResult result = service.execute(message(1));
|
||||
|
||||
assertEquals("Start inspection", result.getOutputParams().getString("corpus"));
|
||||
assertTrue(service.supports(ActionEnum.INSPECTION_WAYPOINT_CORPUS));
|
||||
}
|
||||
|
||||
@Test(expected = GlobalException.class)
|
||||
public void rejectsUnsupportedCorpusType()
|
||||
{
|
||||
service("开始巡检", "Start inspection").execute(message("fr-FR"));
|
||||
}
|
||||
|
||||
private InspectionWaypointCorpusOperateService service(String chineseCorpus, String englishCorpus)
|
||||
{
|
||||
InspectionWaypointCorpusVO waypoint = new InspectionWaypointCorpusVO();
|
||||
waypoint.setChineseCorpus(chineseCorpus);
|
||||
waypoint.setEnglishCorpus(englishCorpus);
|
||||
InspectionWaypointCorpusMapper mapper = (InspectionWaypointCorpusMapper) Proxy.newProxyInstance(
|
||||
InspectionWaypointCorpusMapper.class.getClassLoader(),
|
||||
new Class<?>[]{InspectionWaypointCorpusMapper.class},
|
||||
(proxy, method, args) -> {
|
||||
if ("selectByDetectItemId".equals(method.getName()))
|
||||
{
|
||||
assertEquals("detect-item-1", args[0]);
|
||||
return waypoint;
|
||||
}
|
||||
throw new UnsupportedOperationException(method.getName());
|
||||
});
|
||||
return new InspectionWaypointCorpusOperateService(mapper);
|
||||
}
|
||||
|
||||
private TaskNodeExecuteMessage message(Object type)
|
||||
{
|
||||
TaskNodeExecuteMessage message = new TaskNodeExecuteMessage();
|
||||
message.setAction(ActionEnum.INSPECTION_WAYPOINT_CORPUS);
|
||||
message.setInputParams(new JSONObject()
|
||||
.fluentPut("detectItemId", "detect-item-1")
|
||||
.fluentPut("type", type));
|
||||
return message;
|
||||
}
|
||||
}
|
||||
4
sql/inspection_waypoint_corpus.sql
Normal file
4
sql/inspection_waypoint_corpus.sql
Normal file
@ -0,0 +1,4 @@
|
||||
-- 巡检点位增加中英文可播放语料。
|
||||
ALTER TABLE `inspection_waypoint`
|
||||
ADD COLUMN `chinese_corpus` text DEFAULT NULL COMMENT '该点位可播放的中文语料' AFTER `detect_item_id`,
|
||||
ADD COLUMN `english_corpus` text DEFAULT NULL COMMENT '该点位可播放的英文语料' AFTER `chinese_corpus`;
|
||||
Loading…
Reference in New Issue
Block a user