增加简单模式root键

backend_service/src/prompts/simple_mode_prompt.txt

@@ -3,14 +3,14 @@
 输出要求（必须遵守）：
 - 只输出一个JSON对象，不要任何解释或多余文本。
 - JSON结构：
-{"mode":"simple","action":{"name":"<action_name>","params":{...}}}
+{"root":{"type":"action","name":"<action_name>","params":{...}}}
 - <action_name> 与参数定义、取值范围，必须与“复杂模式”提示词（system_prompt.txt）中的定义完全一致。
-- 简单模式下不包含任何行为树结构与安全监控并行，仅输出单一原子动作。
+- 简单模式下root节点必须是action类型节点，不能是控制流节点。
 
 示例：
-- “起飞到10米” → {"mode":"simple","action":{"name":"takeoff","params":{"altitude":10.0}}}
-- “移动到(120,80,20)” → {"mode":"simple","action":{"name":"fly_to_waypoint","params":{"x":120.0,"y":80.0,"z":20.0,"acceptance_radius":2.0}}}
-- “飞机自检” → {"mode":"simple","action":{"name":"preflight_checks","params":{"check_level":"comprehensive"}}}
+- “起飞到10米” → {"root":{"type":"action","name":"takeoff","params":{"altitude":10.0}}}
+- “移动到(120,80,20)” → {"root":{"type":"action","name":"fly_to_waypoint","params":{"x":120.0,"y":80.0,"z":20.0,"acceptance_radius":2.0}}}
+- “飞机自检” → {"root":{"type":"action","name":"preflight_checks","params":{"check_level":"comprehensive"}}}
 
 —— 可用节点定义——
 ```json

backend_service/src/py_tree_generator.py

@@ -337,28 +337,35 @@ def _generate_pytree_schema(allowed_actions: set, allowed_conditions: set) -> di
 
 def _generate_simple_mode_schema(allowed_actions: set) -> dict:
     """
-    生成简单模式JSON Schema：{"mode":"simple","action":{...}}
+    生成简单模式JSON Schema：{"root":{"type":"action","name":"<action_name>","params":{...}}}
     仅校验动作名称在允许集合内，以及基本结构完整性；参数按对象形状放宽，由上游提示词与运行时再约束。
     """
+    # 使用复杂模式Schema中的node定义，但限制root节点必须是action类型
+    node_definition = {
+        "type": "object",
+        "properties": {
+            "type": {"type": "string", "const": "action"},
+            "name": {"type": "string", "enum": sorted(list(allowed_actions))},
+            "params": {"type": "object"}
+        },
+        "required": ["type", "name"],
+        "additionalProperties": False
+    }
+    
     schema = {
         "$schema": "http://json-schema.org/draft-07/schema#",
         "title": "SimpleMode",
+        "definitions": {
+            "node": node_definition
+        },
         "type": "object",
         "properties": {
-            "mode": {"type": "string", "const": "simple"},
-            "action": {
-                "type": "object",
-                "properties": {
-                    "name": {"type": "string", "enum": sorted(list(allowed_actions))},
-                    "params": {"type": "object"}
-                },
-                "required": ["name"],
-                "additionalProperties": True
-            }
+            "root": { "$ref": "#/definitions/node" }
         },
-        "required": ["mode", "action"],
+        "required": ["root"],
         "additionalProperties": False
     }
+    
     return schema
 
 def _validate_pytree_with_schema(pytree_instance: dict, schema: dict) -> bool:
@@ -689,16 +696,11 @@ class PyTreeGenerator:
                     # 附加元信息并生成简单可视化（单动作）
                     plan_id = str(uuid.uuid4())
                     pytree_dict['plan_id'] = plan_id
-                    # 简单模式可视化：构造一个简化节点图
+                    # 简单模式可视化：直接使用root节点
                     try:
                         vis_filename = "py_tree.png"
                         vis_path = os.path.join(self.vis_dir, vis_filename)
-                        simple_node = {
-                            "type": "action",
-                            "name": pytree_dict.get('action', {}).get('name', 'action'),
-                            "params": pytree_dict.get('action', {}).get('params', {})
-                        }
-                        _visualize_pytree(simple_node, os.path.splitext(vis_path)[0])
+                        _visualize_pytree(pytree_dict['root'], os.path.splitext(vis_path)[0])
                         pytree_dict['visualization_url'] = f"/static/{vis_filename}"
                     except Exception as e:
                         logging.warning(f"简单模式可视化失败: {e}")