新增测试方法，优化系统提示词

backend_service/src/py_tree_generator.py

@@ -3,7 +3,7 @@ import os
 import logging
 import uuid
 import re
-from typing import Dict, Any, Optional, Set
+from typing import Dict, Any, Optional, Set, List
 import chromadb
 import openai
 from openai import OpenAIError
@@ -144,6 +144,45 @@ def _fallback_parse_nodes(prompt_text: str) -> tuple[Set[str], Set[str]]:
     logging.error("在所有JSON代码块中都没有找到有效的节点定义结构。")
     return set(), set()
 
+def _find_nodes_by_name(node: Dict, target_name: str) -> List[Dict]:
+    """递归查找所有指定名称的节点"""
+    nodes_found = []
+    
+    if node.get("name") == target_name:
+        nodes_found.append(node)
+    
+    # 递归搜索子节点
+    for child in node.get("children", []):
+        nodes_found.extend(_find_nodes_by_name(child, target_name))
+    
+    return nodes_found
+
+def _validate_safety_monitoring(pytree_instance: dict) -> bool:
+    """验证行为树是否包含必要的安全监控"""
+    root_node = pytree_instance.get("root", {})
+    
+    # 查找所有电池监控节点
+    battery_nodes = _find_nodes_by_name(root_node, "battery_above")
+    
+    # 检查是否包含安全监控结构
+    safety_monitors = _find_nodes_by_name(root_node, "SafetyMonitor")
+    
+    if not battery_nodes and not safety_monitors:
+        logging.warning("⚠️ 安全警告: 行为树中没有发现电池监控节点或安全监控器")
+        return False
+    
+    # 检查电池阈值设置是否合理
+    for battery_node in battery_nodes:
+        threshold = battery_node.get("params", {}).get("threshold")
+        if threshold is not None:
+            if threshold < 0.25:
+                logging.warning(f"⚠️ 安全警告: 电池阈值设置过低 ({threshold})，建议不低于0.25")
+            elif threshold > 0.5:
+                logging.warning(f"⚠️ 安全警告: 电池阈值设置过高 ({threshold})，可能影响任务执行")
+    
+    logging.info("✅ 安全监控验证通过")
+    return True
+
 def _generate_pytree_schema(allowed_actions: set, allowed_conditions: set) -> dict:
     """
     根据允许的行动和条件节点，动态生成一个JSON Schema。
@@ -234,6 +273,48 @@ def _generate_pytree_schema(allowed_actions: set, allowed_conditions: set) -> di
                         }
                     }
                 }
+            },
+            # 电池监控节点的参数验证
+            {
+                "if": {
+                    "properties": {
+                        "type": {"const": "condition"},
+                        "name": {"const": "battery_above"}
+                    }
+                },
+                "then": {
+                    "properties": {
+                        "params": {
+                            "type": "object",
+                            "properties": {
+                                "threshold": {"type": "number", "minimum": 0.0, "maximum": 1.0}
+                            },
+                            "required": ["threshold"],
+                            "additionalProperties": False
+                        }
+                    }
+                }
+            },
+            # GPS状态节点的参数验证
+            {
+                "if": {
+                    "properties": {
+                        "type": {"const": "condition"},
+                        "name": {"const": "gps_status"}
+                    }
+                },
+                "then": {
+                    "properties": {
+                        "params": {
+                            "type": "object",
+                            "properties": {
+                                "min_satellites": {"type": "integer", "minimum": 6, "maximum": 15}
+                            },
+                            "required": ["min_satellites"],
+                            "additionalProperties": False
+                        }
+                    }
+                }
             }
         ]
     }
@@ -260,14 +341,26 @@ def _validate_pytree_with_schema(pytree_instance: dict, schema: dict) -> bool:
     """
     try:
         jsonschema.validate(instance=pytree_instance, schema=schema)
-        logging.info("验证成功！Pytree格式和内容均符合规范。")
-        return True
+        logging.info("✅ JSON Schema验证成功")
+        
+        # 额外验证安全监控
+        safety_valid = _validate_safety_monitoring(pytree_instance)
+        
+        return True and safety_valid
     except jsonschema.ValidationError as e:
-        logging.warning("--- Pytree验证失败 ---")
+        logging.warning("❌ Pytree验证失败")
         logging.warning(f"错误信息: {e.message}")
         error_path = list(e.path)
         logging.warning(f"错误路径: {' -> '.join(map(str, error_path)) if error_path else '根节点'}")
-        logging.warning(f"出错的实例部分: {e.instance}")
+        
+        # 提供更具体的错误信息
+        if "object_detect" in str(e.message) or "object_detected" in str(e.message):
+            logging.warning("💡 提示: 请确保目标类别是预定义列表中的有效值")
+        elif "battery_above" in str(e.message):
+            logging.warning("💡 提示: 电池阈值必须在0.0到1.0之间")
+        elif "gps_status" in str(e.message):
+            logging.warning("💡 提示: 最小卫星数量必须在6到15之间")
+        
         return False
     except Exception as e:
         logging.error(f"进行JSON Schema验证时发生未知错误: {e}")
@@ -316,10 +409,10 @@ def _visualize_pytree(node: Dict, file_path: str):
 
         # 保存为 .png 文件，并自动删除源码 .gv 文件
         output_path = dot.render(render_path, format='png', cleanup=True, view=False)
-        logging.info("--- 任务树可视化成功 ---")
+        logging.info("✅ 任务树可视化成功")
         logging.info(f"图形已保存到: {output_path}")
     except Exception as e:
-        logging.error("--- 错误：生成可视化图形失败 ---")
+        logging.error("❌ 生成可视化图形失败")
         logging.error("请确保您的系统已经正确安装了Graphviz图形库。")
         logging.error(f"错误详情: {e}")
 
@@ -382,6 +475,11 @@ def _add_nodes_and_edges(node: dict, dot, parent_id: str | None = None) -> str:
         style = 'filled'
         fillcolor = '#e1d5e7'  # 紫色
     
+    # 特别标记安全相关节点
+    if node.get('name') in ['battery_above', 'gps_status', 'SafetyMonitor']:
+        border_color = '#ff0000'  # 红色边框突出显示安全节点
+        style = 'filled,bold'  # 加粗
+    
     dot.node(current_id, label=node_label, shape=shape, style=style, fillcolor=fillcolor, color=border_color)
     
     # 连接父节点
@@ -505,7 +603,7 @@ class PyTreeGenerator:
                 pytree_str = response.choices[0].message.content
                 pytree_dict = json.loads(pytree_str)
                 if _validate_pytree_with_schema(pytree_dict, self.schema):
-                    logging.info("成功生成并验证了Pytree。")
+                    logging.info("✅ 成功生成并验证了Pytree")
                     plan_id = str(uuid.uuid4())
                     pytree_dict['plan_id'] = plan_id