修改节点坐标形式为x,y,z，新增测试坐标，新增对目标检测节点参数的验证

backend_service/src/py_tree_generator.py

@@ -154,19 +154,91 @@ def _generate_pytree_schema(allowed_actions: set, allowed_conditions: set) -> di
     # 所有可能的节点类型
     node_types = ["action", "condition", "Sequence", "Selector", "Parallel"]
     
+    # 目标检测相关的类别枚举
+    target_classes = [
+        "person", "bicycle", "car", "motorcycle", "airplane", "bus", "train", "truck", "boat",
+        "traffic_light", "fire_hydrant", "stop_sign", "parking_meter", "bench", "bird", "cat",
+        "dog", "horse", "sheep", "cow", "elephant", "bear", "zebra", "giraffe", "backpack",
+        "umbrella", "handbag", "tie", "suitcase", "frisbee", "skis", "snowboard", "sports_ball",
+        "kite", "baseball_bat", "baseball_glove", "skateboard", "surfboard", "tennis_racket",
+        "bottle", "wine_glass", "cup", "fork", "knife", "spoon", "bowl", "banana", "apple",
+        "sandwich", "orange", "broccoli", "carrot", "hot_dog", "pizza", "donut", "cake", "chair",
+        "couch", "potted_plant", "bed", "dining_table", "toilet", "tv", "laptop", "mouse", "remote",
+        "keyboard", "cell_phone", "microwave", "oven", "toaster", "sink", "refrigerator", "book",
+        "clock", "vase", "scissors", "teddy_bear", "hair_drier", "toothbrush"
+    ]
+    
     # 递归节点定义
     node_definition = {
         "type": "object",
         "properties": {
             "type": {"type": "string", "enum": node_types},
-            "name": {"type": "string"},  # 放宽对name的验证
+            "name": {"type": "string"},
             "params": {"type": "object"},
             "children": {
                 "type": "array",
                 "items": {"$ref": "#/definitions/node"}
             }
         },
-        "required": ["type", "name"]
+        "required": ["type", "name"],
+        "allOf": [
+            # 动作节点验证
+            {
+                "if": {"properties": {"type": {"const": "action"}}},
+                "then": {"properties": {"name": {"enum": sorted(list(allowed_actions))}}}
+            },
+            # 条件节点验证
+            {
+                "if": {"properties": {"type": {"const": "condition"}}},
+                "then": {"properties": {"name": {"enum": sorted(list(allowed_conditions))}}}
+            },
+            # 目标检测动作节点的参数验证
+            {
+                "if": {
+                    "properties": {
+                        "type": {"const": "action"},
+                        "name": {"const": "object_detect"}
+                    }
+                },
+                "then": {
+                    "properties": {
+                        "params": {
+                            "type": "object",
+                            "properties": {
+                                "target_class": {"type": "string", "enum": target_classes},
+                                "description": {"type": "string"},
+                                "count": {"type": "integer", "minimum": 1}
+                            },
+                            "required": ["target_class"],
+                            "additionalProperties": False
+                        }
+                    }
+                }
+            },
+            # 目标检测条件节点的参数验证
+            {
+                "if": {
+                    "properties": {
+                        "type": {"const": "condition"},
+                        "name": {"const": "object_detected"}
+                    }
+                },
+                "then": {
+                    "properties": {
+                        "params": {
+                            "type": "object",
+                            "properties": {
+                                "target_class": {"type": "string", "enum": target_classes},
+                                "description": {"type": "string"},
+                                "count": {"type": "integer", "minimum": 1}
+                            },
+                            "required": ["target_class"],
+                            "additionalProperties": False
+                        }
+                    }
+                }
+            }
+        ]
     }
     
     # 完整的Schema结构