增加环绕侦察场景适配

backend_service/src/py_tree_generator.py

@@ -485,6 +485,11 @@ def _add_nodes_and_edges(node: dict, dot, parent_id: str | None = None) -> str:
     
     # 递归处理子节点 (Sequence, Selector, Parallel 等)
     children = node.get("children", [])
+    
+    # 兼容 decorator 类型的 child 字段 (处理为单元素列表以便统一逻辑)
+    if node_type == 'decorator' and 'child' in node:
+        children = [node['child']]
+        
     if children:
         # 记录所有子节点的ID
         child_ids = []
@@ -501,10 +506,10 @@ def _add_nodes_and_edges(node: dict, dot, parent_id: str | None = None) -> str:
                 for cid in child_ids:
                     s.node(cid)
 
-    # 递归处理单子节点 (Decorator)
-    child = node.get("child")
-    if child:
-        _add_nodes_and_edges(child, dot, current_id)
+    # 递归处理单子节点 (Decorator) - 已合并到 children 处理逻辑中，此处删除旧逻辑
+    # child = node.get("child")
+    # if child:
+    #     _add_nodes_and_edges(child, dot, current_id)
     
     return current_id