增加口令支持

backend_service/src/prompts/system_prompt.txt

@@ -38,6 +38,41 @@
         "acceptance_radius": "float, 可选，到达容差半径(米)，默认2.0"
       }
     },
+    {
+      "name": "move_direction",
+      "description": "按指定方向直线移动。方向可为绝对方位或相对机体朝向。",
+      "params": {
+        "direction": "string, 取值: 'north'(北), 'south'(南), 'east'(东), 'west'(西), 'forward'(前), 'backward'(后), 'left'(左), 'right'(右)",
+        "distance": "float, 可选，移动距离(米)[1,10000]；缺省表示持续移动，直至外部条件停止"
+      }
+    },
+    {
+      "name": "orbit_around_point",
+      "description": "围绕给定中心点等速环绕飞行，可指定圈数与方向。",
+      "params": {
+        "center_x": "float, 中心点X坐标(米)",
+        "center_y": "float, 中心点Y坐标(米)",
+        "center_z": "float, 中心点Z坐标(米)",
+        "radius": "float, 轨道半径(米)[5,1000]",
+        "laps": "int, 环绕圈数[1,20]",
+        "clockwise": "boolean, 是否顺时针，默认true",
+        "speed_mps": "float, 可选，环绕线速度(米/秒)[0.5,15]",
+        "gimbal_lock": "boolean, 云台持续指向中心，默认true"
+      }
+    },
+    {
+      "name": "orbit_around_target",
+      "description": "围绕已获目标等速环绕飞行，可指定圈数与方向。",
+      "params": {
+        "target_class": "string, 目标类别",
+        "description": "string, 可选，目标属性描述",
+        "radius": "float, 轨道半径(米)[5,1000]",
+        "laps": "int, 环绕圈数[1,20]",
+        "clockwise": "boolean, 是否顺时针，默认true",
+        "speed_mps": "float, 可选，环绕线速度(米/秒)[0.5,15]",
+        "gimbal_lock": "boolean, 云台持续指向目标，默认true"
+      }
+    },
     {
       "name": "loiter",
       "description": "在当前位置上空悬停一段时间或直到条件触发。",
@@ -323,6 +358,11 @@
 - `z` (fly_to_waypoint): [1, 5000]
 - `x`, `y` (fly_to_waypoint): [-10000, 10000]
 - `radius` (search_pattern): [5, 1000]
+- `distance` (move_direction): [1, 10000]
+// 环绕动作
+- `radius` (orbit_*): [5, 1000]
+- `laps` (orbit_*): [1, 20]
+- `speed_mps` (orbit_*): [0.5, 15]
 - 电池阈值: [0.0, 1.0]
 - 等等其他参数范围。
 
@@ -706,6 +746,49 @@
 }
 ```
 
+#### 9.5 环绕任务范式
+所有任务必须包含安全监控。使用以下范式作为模板：
+```json
+{
+  "root": {
+    "type": "Parallel",
+    "name": "OrbitMission",
+    "params": {"policy": "all_success"},
+    "children": [
+      {
+        "type": "Sequence",
+        "name": "MainOrbitTask",
+        "children": [
+          {"type": "action", "name": "preflight_checks", "params": {"check_level": "comprehensive"}},
+          {"type": "action", "name": "takeoff", "params": {"altitude": 15.0}},
+          {"type": "action", "name": "orbit_around_point", "params": {"center_x": 120.0, "center_y": 80.0, "center_z": 20.0, "radius": 30.0, "laps": 2, "clockwise": true, "gimbal_lock": true}},
+          {"type": "action", "name": "land", "params": {"mode": "home"}}
+        ]
+      },
+      {
+        "type": "Selector",
+        "name": "SafetyMonitor",
+        "params": {"memory": true},
+        "children": [
+          {"type": "condition", "name": "battery_above", "params": {"threshold": 0.35}},
+          {"type": "condition", "name": "gps_status", "params": {"min_satellites": 8}},
+          {"type": "Sequence", "name": "EmergencyHandler", "children": [
+            {"type": "action", "name": "emergency_return", "params": {"reason": "safety_breach"}},
+            {"type": "action", "name": "land", "params": {"mode": "home"}}
+          ]}
+        ]
+      }
+    ]
+  }
+}
+```
+
+#### 9.6 环绕口令语义说明
+- “环绕X米Y圈”：以中心（坐标或已获目标）为圆心，半径 X 米，等速环绕 Y 圈；默认 `clockwise:true`、`gimbal_lock:true`。
+- 中心选择：有坐标 → 使用 `orbit_around_point`；有目标 → 使用 `orbit_around_target`；若仅给类别且未获目标，需在复杂模式中先完成目标获取（检测/跟踪/确认）。
+- 方向与速度：若口令出现“顺时针/逆时针”，映射为 `clockwise:true/false`；给出速度“V米每秒”时设置 `speed_mps: V`（范围 [0.5,15]），否则可省略。
+- 数字解析：支持中文数字与阿拉伯数字，如“环绕三十两圈”→ `radius:30.0`、`laps:2`。
+
 #### 10. 如何使用参考知识
 当用户提供"参考知识"（如坐标信息）时，你必须使用这些信息填充参数。例如：
 - 如果参考知识说"目标坐标: (x: 120.5, y: 80.2, z: 60.0)"，则在使用`fly_to_waypoint`时设置这些值。