修改简单模式验证
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@@ -4,8 +4,7 @@
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- 只输出一个JSON对象，不要任何解释或多余文本。
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- JSON结构：
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{"root":{"type":"action","name":"<action_name>","params":{...}}}
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- <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。
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- 简单模式下root节点必须是action类型节点，不能是控制流节点。
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- root节点必须是action类型节点，不能是控制流节点。
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示例：
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- “起飞到10米” → {"root":{"type":"action","name":"takeoff","params":{"altitude":10.0}}}
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@@ -337,7 +337,9 @@ def _generate_pytree_schema(allowed_actions: set, allowed_conditions: set) -> di
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def _generate_simple_mode_schema(allowed_actions: set) -> dict:
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"""
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生成简单模式JSON Schema：{"mode":"simple","action":{...}}
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生成简单模式JSON Schema：{"root":{"type":"action","name":"...","params":{...}}}
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简单模式与复杂模式使用相同的格式（root字段），但要求root必须是action类型且没有children。
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严格按照提示词要求：root节点必须是action类型节点，不能是控制流节点（即不能有children）。
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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。
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"""
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schema = {
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@@ -345,19 +347,20 @@ def _generate_simple_mode_schema(allowed_actions: set) -> dict:
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"title": "SimpleMode",
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"type": "object",
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"properties": {
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"mode": {"type": "string", "const": "simple"},
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"action": {
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"root": {
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"type": "object",
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"properties": {
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"name": {"type": "string", "enum": sorted(list(allowed_actions))},
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"params": {"type": "object"}
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"type": {"type": "string", "const": "action"}, # 必须是action类型，不能是控制流节点（Sequence/Selector/Parallel）
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"name": {"type": "string", "enum": sorted(list(allowed_actions))}, # 动作名称必须在允许列表中
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"params": {"type": "object"} # params是对象，具体参数由提示词和运行时约束
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},
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"required": ["name"],
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"additionalProperties": True
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"required": ["type", "name"], # type和name是必需的，params可选
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"additionalProperties": True # 允许root节点有其他属性（如额外的元数据）
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# 注意：children字段的检查在验证后手动进行，因为JSON Schema的not/allOf在检查不存在字段时可能有问题
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}
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},
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"required": ["mode", "action"],
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"additionalProperties": False
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"required": ["root"], # 顶层必须有root字段
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"additionalProperties": False # 顶层只能有root字段，不能有其他字段（如mode等）
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}
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return schema
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@@ -777,6 +780,13 @@ class PyTreeGenerator:
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if mode == "simple":
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try:
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jsonschema.validate(instance=pytree_dict, schema=self.simple_schema)
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# 手动检查：简单模式的root节点不能有children（或children必须是空数组）
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root_node = pytree_dict.get('root', {})
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if 'children' in root_node:
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children = root_node.get('children', [])
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if isinstance(children, list) and len(children) > 0:
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logging.warning(f"❌ 简单模式验证失败: root节点不能有children，但发现 {len(children)} 个子节点")
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continue
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logging.info("✅ 简单模式JSON Schema验证成功")
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except jsonschema.ValidationError as e:
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logging.warning(f"❌ 简单模式验证失败: {e.message}")
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@@ -784,16 +794,13 @@ class PyTreeGenerator:
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# 附加元信息并生成简单可视化（单动作）
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plan_id = str(uuid.uuid4())
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pytree_dict['plan_id'] = plan_id
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# 简单模式可视化：构造一个简化节点图
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# 简单模式可视化：使用root节点（已经是action类型）
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try:
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vis_filename = "py_tree.png"
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vis_path = os.path.join(self.vis_dir, vis_filename)
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simple_node = {
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"type": "action",
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"name": pytree_dict.get('action', {}).get('name', 'action'),
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"params": pytree_dict.get('action', {}).get('params', {})
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}
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_visualize_pytree(simple_node, os.path.splitext(vis_path)[0])
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# 简单模式的root节点就是action节点，直接使用
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root_node = pytree_dict.get('root', {})
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_visualize_pytree(root_node, os.path.splitext(vis_path)[0])
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pytree_dict['visualization_url'] = f"/static/{vis_filename}"
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except Exception as e:
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logging.warning(f"简单模式可视化失败: {e}")
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@@ -820,46 +827,49 @@ class PyTreeGenerator:
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pytree_dict['final_prompt'] = final_prompt
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return pytree_dict
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# 复杂模式回退：若模型误返回简单结构，则自动包装为含安全监控的行为树
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if mode == "complex" and isinstance(pytree_dict, dict) and 'root' not in pytree_dict:
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try:
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jsonschema.validate(instance=pytree_dict, schema=self.simple_schema)
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logging.warning("⚠️ 复杂模式生成了简单结构，触发自动包装为完整行为树的回退逻辑。")
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simple_action_obj = pytree_dict.get('action') or {}
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action_name = simple_action_obj.get('name')
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action_params = simple_action_obj.get('params') if isinstance(simple_action_obj.get('params'), dict) else {}
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# 复杂模式回退：若模型误返回简单结构（root是单个action），则自动包装为含安全监控的行为树
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if mode == "complex" and isinstance(pytree_dict, dict) and 'root' in pytree_dict:
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root_node = pytree_dict.get('root', {})
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# 检查是否是简单结构（root是单个action节点，没有children）
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if (root_node.get('type') == 'action' and
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('children' not in root_node or not root_node.get('children'))):
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try:
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jsonschema.validate(instance=pytree_dict, schema=self.simple_schema)
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logging.warning("⚠️ 复杂模式生成了简单结构（单个action），触发自动包装为完整行为树的回退逻辑。")
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action_name = root_node.get('name')
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action_params = root_node.get('params') if isinstance(root_node.get('params'), dict) else {}
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safety_selector = {
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"type": "Selector",
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"name": "SafetyMonitor",
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"params": {"memory": True},
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"children": [
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{"type": "condition", "name": "battery_above", "params": {"threshold": 0.3}},
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{"type": "condition", "name": "gps_status", "params": {"min_satellites": 8}},
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{"type": "Sequence", "name": "EmergencyHandler", "children": [
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{"type": "action", "name": "emergency_return", "params": {"reason": "safety_breach"}},
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{"type": "action", "name": "land", "params": {"mode": "home"}}
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]}
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]
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}
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safety_selector = {
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"type": "Selector",
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"name": "SafetyMonitor",
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"params": {"memory": True},
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"children": [
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{"type": "condition", "name": "battery_above", "params": {"threshold": 0.3}},
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{"type": "condition", "name": "gps_status", "params": {"min_satellites": 8}},
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{"type": "Sequence", "name": "EmergencyHandler", "children": [
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{"type": "action", "name": "emergency_return", "params": {"reason": "safety_breach"}},
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{"type": "action", "name": "land", "params": {"mode": "home"}}
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]}
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]
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}
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main_children = [{"type": "action", "name": action_name, "params": action_params}]
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if action_name != "land":
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main_children.append({"type": "action", "name": "land", "params": {"mode": "home"}})
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main_children = [{"type": "action", "name": action_name, "params": action_params}]
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if action_name != "land":
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main_children.append({"type": "action", "name": "land", "params": {"mode": "home"}})
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root_parallel = {
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"type": "Parallel",
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"name": "MissionWithSafety",
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"params": {"policy": "all_success"},
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"children": [
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{"type": "Sequence", "name": "MainTask", "children": main_children},
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safety_selector
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]
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}
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pytree_dict = {"root": root_parallel}
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except jsonschema.ValidationError:
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# 不符合简单结构，按正常复杂验证继续
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pass
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root_parallel = {
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"type": "Parallel",
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"name": "MissionWithSafety",
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"params": {"policy": "all_success"},
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"children": [
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{"type": "Sequence", "name": "MainTask", "children": main_children},
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safety_selector
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]
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}
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pytree_dict = {"root": root_parallel}
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except jsonschema.ValidationError:
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# 不符合简单结构，按正常复杂验证继续
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pass
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if _validate_pytree_with_schema(pytree_dict, self.schema):
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logging.info("✅ 成功生成并验证了Pytree")
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plan_id = str(uuid.uuid4())
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