流程节点完善

backend_service/src/main.py

@@ -6,7 +6,7 @@ import logging
 # import threading  # ROS2相关，已注释
 # import rclpy  # ROS2相关，已注释
 
-from .models import GeneratePlanRequest, ExecuteMissionRequest
+from .models import GeneratePlanRequest, ExecuteMissionRequest, DebugStageRequest
 from .websocket_manager import websocket_manager
 from .py_tree_generator import py_tree_generator
 # from .ros2_client import MissionActionClient  # ROS2相关，已注释
@@ -41,11 +41,29 @@ async def generate_plan_endpoint(request: GeneratePlanRequest):
     Receives a user prompt and returns a generated `py_tree.json` with a visualization URL.
     """
     try:
-        pytree_dict = await py_tree_generator.generate(request.user_prompt)
+        pytree_dict = await py_tree_generator.generate(request.user_prompt, drone_state=request.drone_state)
         return pytree_dict
     except RuntimeError as e:
         return {"error": str(e)}
 
+@app.post("/debug_stage", response_model=dict)
+async def debug_stage_endpoint(request: DebugStageRequest):
+    """
+    Stage 分阶段调试：运行到指定 stage 并返回该 stage 的输出。
+    target_stage: 1=TaskUnderstanding, 2=ContextBinding, 3=BTDraft, 4=MiddlewareResolution, 5=MicroFilling, 6=ValidateAndPostprocess
+    """
+    try:
+        result = py_tree_generator.run_debug_stage(
+            user_prompt=request.user_prompt,
+            drone_state=request.drone_state,
+            target_stage=request.target_stage,
+        )
+        return result
+    except Exception as e:
+        logging.exception("debug_stage 执行异常")
+        return {"error": str(e)}
+
+
 @app.post("/execute_mission", response_model=dict)
 async def execute_mission_endpoint(request: ExecuteMissionRequest):
     """