流程节点完善

backend_service/history/20260224_123302_plan.json

@@ -0,0 +1,16 @@
+{
+  "timestamp": "2026-02-24T12:33:02.890173",
+  "request": "无人机当前在地面，起飞",
+  "response": {
+    "root": {
+      "type": "action",
+      "name": "takeoff",
+      "params": {
+        "altitude": 10.0
+      }
+    },
+    "plan_id": "aad1912a-c27d-4abd-bf62-3179fd61d6aa",
+    "visualization_url": "/static/py_tree.png",
+    "final_prompt": "=== System Prompt (Macro) ===\n你是一个无人机简单指令执行规划器。\n假设输入一定是“单一原子动作即可完成”的简单指令。你的任务是输出一个严格的JSON对象。\n\n输出要求（必须遵守）：\n- 只输出一个JSON对象，不要任何解释或多余文本。\n- JSON结构固定为：\n{\"root\":{\"type\":\"action\",\"name\":\"<action_name>\",\"params\":{...}}}\n- root 节点必须是 action，禁止输出 Sequence/Selector/Parallel 等控制流节点。\n- params 只能包含该动作定义内的字段，禁止自定义字段。\n- 数值请使用数字类型（例如 10.0）。\n\n可用动作（simple 模式只允许从下列动作中选择其一）：\n1) takeoff: {\"altitude\": float[1,100]}（仅当地面起飞）\n2) land: {\"mode\": \"current\"|\"home\"}\n3) fly_to_waypoint: {\"x\": number, \"y\": number, \"z\": number, \"acceptance_radius\": number(可选)}\n4) move_direction: {\"direction\": \"north\"|\"south\"|\"east\"|\"west\"|\"forward\"|\"backward\"|\"left\"|\"right\"|\"up\"|\"down\", \"distance\": number}\n5) rotate: {\"angle\": number, \"angular_velocity\": number(可选)}\n6) loiter: {\"duration\": number}\n7) system_checks: {\"check_level\":\"basic\"|\"comprehensive\"}（仅当指令明确在地面且用户要求自检）\n\n示例：\n- “起飞到10米” → {\"root\":{\"type\":\"action\",\"name\":\"takeoff\",\"params\":{\"altitude\":10.0}}}\n- “往北飞50米” → {\"root\":{\"type\":\"action\",\"name\":\"move_direction\",\"params\":{\"direction\":\"north\",\"distance\":50.0}}}\n- “飞到(120,80,20)” → {\"root\":{\"type\":\"action\",\"name\":\"fly_to_waypoint\",\"params\":{\"x\":120.0,\"y\":80.0,\"z\":20.0,\"acceptance_radius\":2.0}}}\n\n\n=== User Prompt ===\n无人机当前在地面，起飞\n\n---\n参考知识：\n【地点知识】\n{\"property\": \"location\", \"information\": {\"name\": \"飞行场地\", \"coordinates\": {\"x\": 0, \"y\": 0, \"z\": 0}}}\n\n{\"property\": \"rules\", \"information\": {\"name\": \"紧急返航\", \"description\": \"当指令中要求紧急返航到某地时，必须使用fly_to_waypoint节点，严禁使用return_emergency节点。\"}}\n\n{\"property\": \"location\", \"information\": {\"name\": \"大楼外围四个点东南天坐标系坐标\", \"coordinates\": {\"A\": {\"x\": -24.0, \"y\": 241.8, \"z\": 0}, \"B\": {\"x\": -108.5, \"y\": 241.8, \"z\": 0}, \"C\": {\"x\": -108.5, \"y\": 289.8, \"z\": 0}, \"D\": {\"x\": -24.0, \"y\": 292.8, \"z\": 0}}}}\n---"
+  }
+}