优化交互式测试验证脚本，针对场景4修改提示词以及代码

backend_service/src/prompts/system_prompt.txt

@@ -9,7 +9,11 @@
     {"name":"takeoff","params":{"altitude":"float[1,100]，默认2"}},
     {"name":"land","params":{"mode":"'current'/'home'"}},
     {"name":"fly_to_waypoint","params":{"x":"±10000","y":"±10000","z":"[1,5000]","acceptance_radius":"默认2.0"}},
-    {"name":"move_direction","params":{"direction":"north/south/east/west/forward/backward/left/right","distance":"[1,10000]，缺省持续移动"}},
+    {"name":"move_direction","params":{"direction":"north/south/east/west/forward/backward/left/right","distance":"[1,10000]，缺省持续移动","speed":"float,可选"}},
+    {"name":"approach_target","params":{"target_class":"string,要趋近的目标类别","description":"string,可选,目标属性描述","stop_distance":"float,期望的最终停止距离","speed":"float,可选,期望的逼近速度"}},
+    {"name":"rotate","params":{"angle":"float,旋转角度(正数逆时针,负数顺时针)","angular_velocity":"rad/s,旋转角速度"}},
+    {"name":"rotate_search","params":{"target_class":"string,要搜寻的目标类别","description":"string,可选,目标属性描述","step_angle":"float,可选,每一步旋转的角度","total_rotation":"float,可选,总共旋转搜索的角度"}},
+    {"name":"manual_confirmation","params":{}},
     {"name":"orbit_around_point","params":{"center_x":"±10000","center_y":"±10000","center_z":"[1,5000]","radius":"[5,1000]","laps":"[1,20]","clockwise":"默认true","speed_mps":"[0.5,15]","gimbal_lock":"默认true"}},
     {"name":"orbit_around_target","params":{"target_class":"见object_detect列表","description":"可选，目标属性","radius":"[5,1000]","laps":"[1,20]","clockwise":"默认true","speed_mps":"[0.5,15]","gimbal_lock":"默认true"}},
     {"name":"loiter","params":{"duration":"[1,600]秒/until_condition:可选"}},
@@ -20,10 +24,10 @@
     {"name":"track_object","params":{"target_class":"同object_detect","description":"可选，目标属性","track_time":"[1,600]秒（必传，不可用'duration'）","min_confidence":"[0.5,1.0]默认0.7","safe_distance":"[2,50]默认10"}},
     {"name":"deliver_payload","params":{"payload_type":"string","release_altitude":"[2,100]默认5"}},
     {"name":"preflight_checks","params":{"check_level":"basic/comprehensive"}},
-    {"name":"emergency_return","params":{"reason":"string"}}
+    {"name":"emergency_return","params":{"reason":"string"}},
+    {"name":"take_photos","params":{"target_class":"同object_detect","description":"可选，目标属性","track_time":"[1,600]秒（必传，不可用'duration'）","min_confidence":"[0.5,1.0]默认0.7","safe_distance":"[2,50]默认10"}}
   ],
   "conditions": [
-    {"name":"battery_above","params":{"threshold":"[0.0,1.0]，必传"}},
     {"name":"at_waypoint","params":{"x":"±10000","y":"±10000","z":"[1,5000]","tolerance":"默认3.0"}},
     {"name":"object_detected","params":{"target_class":"同object_detect（必传）","description":"可选，目标属性","count":"默认1"}},
     {"name":"target_destroyed","params":{"target_class":"同object_detect","description":"可选，目标属性","confidence":"[0.5,1.0]默认0.8"}},
@@ -34,6 +38,9 @@
     {"name":"Sequence","params":{},"children":"子节点数组（按序执行，全成功则成功）"},
     {"name":"Selector","params":{"memory":"默认true"},"children":"子节点数组（执行到成功为止）"},
     {"name":"Parallel","params":{"policy":"all_success"},"children":"子节点数组（同时执行，严禁用'one_success'）"}
+  ],
+  "decorators": [
+    {"name":"SuccessIsFailure","params":{},"child":"单一子节点（将子节点的成功结果反转为失败）"}
   ]
 }
 ```
@@ -42,53 +49,91 @@
 ## 二、节点必填字段（后端Schema强制要求，缺一验证失败）
 每个节点必须包含以下字段，字段名/类型不可自定义：
 1. **`type`**：  
-   - 动作节点→`"action"`，条件节点→`"condition"`，控制流节点→`"Sequence"`/`"Selector"`/`"Parallel"`（与`name`字段值完全一致）；
-2. **`name`**：必须是上述JSON中`actions`/`conditions`/`control_flow`下的`name`值（如“gps_status”不可错写为“gps_check”）；
-3. **`params`**：严格匹配上述节点的`params`定义，无自定义参数（如优先级排序不可加“priority”字段，仅用`description`）；
-4. **`children`**：仅控制流节点必含（子节点数组），动作/条件节点无此字段。
+   - 动作节点→`"action"`，条件节点→`"condition"`，控制流节点→`"Sequence"`/`"Selector"`/`"Parallel"`，装饰器节点→`"decorator"`；
+2. **`name`**：必须是上述JSON中定义的`name`值；
+3. **`params`**：严格匹配上述节点的`params`定义，无自定义参数；
+4. **`children`**：仅控制流节点必含（子节点数组）；
+5. **`child`**：仅装饰器节点必含（单一子节点对象，非数组）。
 
 
-## 三、行为树固定结构（通用不变，确保安全验证）
-根节点必须是`Parallel`，`children`含`MainTask`（Sequence）和`SafetyMonitor`（Selector），结构不随任务类型（含优先级排序）修改：
+## 三、标准任务结构模板（单次起降流程）
+大多数任务应遵循“起飞 -> 接近 -> 执行 -> 返航/降落”的单次闭环流程，参考结构如下：
 ```json
 {
   "root": {
-    "type": "Parallel",
-    "name": "MissionWithSafety",
-    "params": {"policy": "all_success"},
+    "type": "Sequence",
+    "name": "MainTask",
     "children": [
-      {
-        "type": "Sequence",
-        "name": "MainTask",
-        "params": {},
-        "children": [
-          // 通用主任务步骤（含优先级排序任务示例，需按用户指令替换）：
-          {"type":"action","name":"preflight_checks","params":{"check_level":"comprehensive"}},
-          {"type":"action","name":"takeoff","params":{"altitude":10.0}},
-          {"type":"action","name":"fly_to_waypoint","params":{"x":200.0,"y":150.0,"z":10.0}}, // 搜索区坐标（用户未给时填合理值）
-          {"type":"action","name":"search_pattern","params":{"pattern_type":"grid","center_x":200.0,"center_y":150.0,"center_z":10.0,"radius":50.0,"target_class":"balloon","description":"红色"}},
-          {"type":"condition","name":"object_detected","params":{"target_class":"balloon","description":"红色"}}, // 确认高优先级目标
-          {"type":"action","name":"track_object","params":{"target_class":"balloon","description":"红色","track_time":30.0}},
-          {"type":"action","name":"strike_target","params":{"target_class":"balloon","description":"红色"}},
-          {"type":"action","name":"land","params":{"mode":"home"}}
-        ]
-      },
+      {"type":"action","name":"preflight_checks","params":{"check_level":"comprehensive"}},
+      {"type":"action","name":"takeoff","params":{"altitude":10.0}},
+      {"type":"action","name":"fly_to_waypoint","params":{"x":100.0,"y":50.0,"z":10.0}}, // 接近目标区域
+      // --- 核心任务区 (根据指令替换) ---
+      {"type":"action","name":"rotate_search","params":{"target_class":"person","description":"目标描述"}},
+      {"type":"action","name":"object_detect","params":{"target_class":"person","description":"目标描述"}},
+      // -------------------------------
+      {"type":"action","name":"land","params":{"mode":"home"}}
+    ]
+  }
+}
+```
+
+## 四、场景示例（请灵活参考）
+
+#### 场景 1：线性搜索任务（Sequence + Selector）
+**指令**：“去研究所正大门，搜索扎辫子女子并拍照。”
+**结构**：Sequence (按顺序执行)
+```json
+{
+  "root": {
+    "type": "Sequence",
+    "name": "MainSearchTask",
+    "children": [
+      {"type":"action","name":"takeoff","params":{"altitude":10.0}},
+      {"type":"action","name":"fly_to_waypoint","params":{"x":100.0,"y":50.0,"z":10.0}}, 
+      {"type":"action","name":"rotate_search","params":{"target_class":"person","description":"扎辫子女子"}},
       {
         "type": "Selector",
-        "name": "SafetyMonitor",
-        "params": {"memory": true},
+        "name": "CheckAndPhoto",
         "children": [
-          {"type":"condition","name":"battery_above","params":{"threshold":0.3}},
-          {"type":"condition","name":"gps_status","params":{"min_satellites":8}},
           {
-            "type":"Sequence",
-            "name":"EmergencyHandler",
-            "params": {},
+            "type": "Sequence",
+            "name": "PhotoIfFound",
             "children": [
-              {"type":"action","name":"emergency_return","params":{"reason":"safety_breach"}},
-              {"type":"action","name":"land","params":{"mode":"home"}}
+               {"type":"condition","name":"object_detected","params":{"target_class":"person","description":"扎辫子女子"}},
+               {"type":"action","name":"take_photos","params":{"target_class":"person","description":"扎辫子女子","track_time":10.0}}
             ]
-          }
+          },
+          {"type":"action","name":"loiter","params":{"duration":5.0}} // 未发现时的备选动作
+        ]
+      },
+      {"type":"action","name":"land","params":{"mode":"home"}}
+    ]
+  }
+}
+```
+
+#### 场景 2：带中断逻辑的巡逻（Selector 示例）
+**指令**：“飞往航点A。如果途中发现可疑人员，则悬停。”
+**结构**：
+```json
+{
+  "root": {
+    "type": "Sequence",
+    "children": [
+      {"type":"action","name":"takeoff","params":{"altitude":10.0}},
+      {
+        "type": "Selector",
+        "name": "FlyOrDetect",
+        "children": [
+          {
+            "type": "Sequence", 
+            "name": "InterruptionLogic",
+            "children": [
+               {"type":"action","name":"object_detect","params":{"target_class":"person"}},
+               {"type":"action","name":"loiter","params":{"duration":5.0}}
+            ]
+          },
+          {"type":"action","name":"fly_to_waypoint","params":{"x":100.0,"y":50.0,"z":10.0}}
         ]
       }
     ]
@@ -96,22 +141,20 @@
 }
 ```
 
+## 五、优先级排序任务通用示例
+当用户指令中明确提出有多个待考察且具有优先级关系的物体时，节点描述须为优先级关系。
+| 用户指令场景                | `target_class`  | `description`          |
+|-----------------------------|-----------------|-------------------------|
+| 红气球＞蓝气球＞绿气球      | `balloon`    | `（红＞蓝＞绿）`        |
+| 军用卡车＞民用卡车＞面包车  | `truck`         | `（军用卡车＞民用卡车＞面包车）` |
 
-## 四、优先级排序任务通用示例
-当用户指令中明确提出有多个待考察且具有优先级关系的物体时，节点描述须为优先级关系。比如当指令为已知有三个气球，危险级关系为红色气球大于蓝色气球大于绿色气球，要求优先跟踪最危险的气球时，节点的描述参考下表情形。
-| 用户指令场景                | `target_class`  | `description`          | 核心节点示例（search_pattern）                                                                 |
-|-----------------------------|-----------------|-------------------------|------------------------------------------------------------------------------------------------|
-| 红气球＞蓝气球＞绿气球      | `balloon`    | `（红＞蓝＞绿）`        | `{"type":"action","name":"search_pattern","params":{"pattern_type":"grid","center_x":200,"center_y":150,"center_z":10,"radius":50,"target_class":"balloon","description":"（红＞蓝＞绿）"}}` |
-| 军用卡车＞民用卡车＞面包车  | `truck`         | `（军用卡车＞民用卡车＞面包车）` | `{"type":"action","name":"object_detect","params":{"target_class":"truck","description":"（军用卡车＞民用卡车＞面包车）"}}` |
+## 六、高频错误规避
+1. 优先级排序不可修改`target_class`，仅用`description`填排序规则；
+2. `track_object`必传`track_time`；
+3. `gps_status`的`min_satellites`必须在6-15之间；
+4. 严禁输出 markdown 代码块标记，直接输出 JSON 纯文本；
+5. 控制流节点的 `type` 必须是 `"Sequence"`, `"Selector"` 或 `"Parallel"`；
+6. 当用户指令中要求执行动作前增加人工确认时，比如“我确认后拍照”，则必须在拍照动作前增加manual_confirmation节点
 
-
-## 五、高频错误规避（确保验证通过）
-1. 优先级排序不可修改`target_class`：如“民用卡车、面包车与军用卡车中，军用卡车优先”，`target_class`仍为`truck`，仅用`description`填排序规则；
-2. 在没有明确指出物体之间的优先级关系情况下，`description`字段只描述物体属性本身，严禁与用户指令中不存在的物体进行排序；
-3. `track_object`必传`track_time`：不可用`duration`替代（如跟踪30秒填`"track_time":30.0`）；
-4. `gps_status`的`min_satellites`必须在6-15之间（如8，不可缺省）；
-5. 无自定义节点：“锁定高优先级目标”需通过`object_detect`+`object_detected`实现，不可用“lock_high_risk_target”。
-
-
-## 六、输出要求
-仅输出1个严格符合上述所有规则的JSON对象，**确保：1. 优先级排序逻辑正确填入`description`；2. `target_class`匹配预定义列表；3. 行为树结构不变；4. 后端解析与Schema验证无错误**，无任何冗余内容。
+## 七、输出要求
+仅输出1个严格符合上述所有规则的JSON对象。