流程节点完善

tools/test_validate/modules/api_client.py

@@ -7,7 +7,62 @@ class APIClient:
         self.base_url = base_url
         self.endpoint = "/generate_plan"
 
-    def send_request(self, prompt, timeout=60):
+    def send_debug_stage(
+        self, prompt: str, drone_state: str = "on_ground", target_stage: int = 1, timeout=120
+    ):
+        """
+        Stage 分阶段调试请求。
+        target_stage: 1-6
+        Returns: 同 send_request 结构，data 为 debug 端返回的 {target_stage, stage_name, output}
+        """
+        url = f"{self.base_url}/debug_stage"
+        payload = {
+            "user_prompt": prompt,
+            "drone_state": drone_state,
+            "target_stage": target_stage,
+        }
+        headers = {"Content-Type": "application/json"}
+        start_time = time.time()
+        try:
+            response = requests.post(url, json=payload, headers=headers, timeout=timeout)
+            latency = time.time() - start_time
+            response.raise_for_status()
+            try:
+                data = response.json()
+                if "error" in data and len(data) == 1:
+                    return {
+                        "success": False,
+                        "data": data,
+                        "latency": latency,
+                        "error": data["error"],
+                        "http_status": response.status_code,
+                    }
+                return {
+                    "success": True,
+                    "data": data,
+                    "latency": latency,
+                    "error": None,
+                    "http_status": response.status_code,
+                }
+            except json.JSONDecodeError:
+                return {
+                    "success": False,
+                    "data": None,
+                    "latency": latency,
+                    "error": f"Invalid JSON: {response.text[:200]}",
+                    "http_status": response.status_code,
+                }
+        except requests.exceptions.RequestException as e:
+            latency = time.time() - start_time
+            return {
+                "success": False,
+                "data": None,
+                "latency": latency,
+                "error": str(e),
+                "http_status": getattr(e.response, "status_code", None) if hasattr(e, "response") and e.response is not None else None,
+            }
+
+    def send_request(self, prompt, drone_state="on_ground", timeout=60):
         """
         Sends a request to the API and returns a structured result.
         Returns:
@@ -20,7 +75,7 @@ class APIClient:
             }
         """
         url = f"{self.base_url}{self.endpoint}"
-        payload = {"user_prompt": prompt}
+        payload = {"user_prompt": prompt, "drone_state": drone_state}
         headers = {"Content-Type": "application/json"}
         
         start_time = time.time()

tools/test_validate/modules/stage_debugger.py

@@ -0,0 +1,259 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+"""
+Stage 分阶段调试模块：支持单条指令调试与批量指令调试。
+"""
+
+import os
+import json
+import csv
+import time
+import shutil
+from datetime import datetime
+from .api_client import APIClient
+from .visualizer import generate_visualization, sanitize_filename
+
+# Stage 名称映射
+STAGE_NAMES = {
+    1: "Stage1 任务理解 (TaskUnderstanding)",
+    2: "Stage2 上下文绑定 (ContextBinding)",
+    3: "Stage3 宏观规划 (BTDraft)",
+    4: "Stage4 中间层解析 (MiddlewareResolution)",
+    5: "Stage5 微观填参 (MicroFilling)",
+    6: "Stage6 校验与后处理 (ValidateAndPostprocess)",
+}
+
+
+def _select_stage():
+    """交互式选择调试 stage"""
+    print("\n可选 Stage:")
+    for k, v in STAGE_NAMES.items():
+        print(f"  {k}. {v}")
+    while True:
+        try:
+            choice = int(input("请选择 Stage [1-6]: ").strip())
+            if 1 <= choice <= 6:
+                return choice
+        except ValueError:
+            pass
+        print("❌ 请输入 1-6 之间的数字")
+
+
+def _infer_drone_state_from_prompt(prompt: str) -> str:
+    """从指令中简单推断 drone_state（批量模式下若未单独指定则用此）"""
+    if "在空中" in prompt or "已起飞" in prompt:
+        return "in_air"
+    return "on_ground"
+
+
+def run_stage_debug_single():
+    """单条指令 Stage 调试"""
+    client = APIClient()
+    print("\n🚀 进入 Stage 分阶段调试 - 单条模式 (输入 'exit' 或 'q' 退出)")
+
+    while True:
+        try:
+            prompt = input("\n请输入测试指令: ").strip()
+            if prompt.lower() in ("exit", "q"):
+                break
+            if not prompt:
+                continue
+
+            target_stage = _select_stage()
+            drone_state = input("无人机状态 [on_ground/in_air，回车默认根据指令推断]: ").strip()
+            if not drone_state:
+                drone_state = _infer_drone_state_from_prompt(prompt)
+
+            print(f"\n⏳ 运行至 {STAGE_NAMES[target_stage]}...")
+            result = client.send_debug_stage(
+                prompt=prompt,
+                drone_state=drone_state,
+                target_stage=target_stage,
+            )
+
+            if result["success"]:
+                print(f"✅ 请求成功 (耗时: {result['latency']:.2f}s)")
+                data = result["data"]
+                output = data.get("output", data)
+                print("\n" + "=" * 60)
+                print(json.dumps(output, ensure_ascii=False, indent=2))
+                print("=" * 60)
+
+                # 保存到 validation/temporary
+                base_dir = os.path.dirname(os.path.dirname(__file__))
+                safe_name = sanitize_filename(prompt)[:80]
+                out_dir = os.path.join(
+                    base_dir, "validation", "temporary", f"stage{target_stage}_{safe_name}"
+                )
+                os.makedirs(out_dir, exist_ok=True)
+                out_path = os.path.join(out_dir, "response.json")
+                with open(out_path, "w", encoding="utf-8") as f:
+                    json.dump(result["data"], f, indent=2, ensure_ascii=False)
+                print(f"\n📂 结果已保存: {out_path}")
+
+                # Stage 6 输出含 root 时生成可视化
+                if target_stage == 6 and isinstance(output, dict) and "root" in output:
+                    png_path = os.path.join(out_dir, "plan.png")
+                    if generate_visualization(output["root"], png_path):
+                        print(f"🖼️  可视化: {png_path}")
+            else:
+                print(f"❌ 请求失败: {result['error']}")
+
+        except KeyboardInterrupt:
+            print("\n已取消")
+            break
+
+    print("\n已返回 Stage 调试菜单")
+
+
+def run_stage_debug_batch():
+    """批量指令 Stage 调试（参考 batch_runner）"""
+    base_dir = os.path.dirname(os.path.dirname(__file__))
+    instr_dir = os.path.join(base_dir, "instructions")
+    files = [f for f in os.listdir(instr_dir) if f.endswith(".txt")]
+
+    if not files:
+        print("❌ 未在 instructions 目录下找到 .txt 文件")
+        return
+
+    print("\n请选择测试指令文件:")
+    for i, f in enumerate(files):
+        print(f"  {i+1}. {f}")
+    try:
+        idx = int(input("请输入序号: ").strip()) - 1
+        if idx < 0 or idx >= len(files):
+            print("❌ 无效序号")
+            return
+        selected_file = os.path.join(instr_dir, files[idx])
+    except ValueError:
+        print("❌ 输入无效")
+        return
+
+    target_stage = _select_stage()
+    drone_state_override = input(
+        "无人机状态 [回车=每条根据指令推断, on_ground/in_air=全局固定]: "
+    ).strip()
+    if drone_state_override and drone_state_override not in ("on_ground", "in_air"):
+        drone_state_override = ""
+
+    try:
+        iterations = int(input("每条指令测试次数 (默认1): ").strip() or "1")
+    except ValueError:
+        iterations = 1
+
+    # 输出目录
+    timestamp = datetime.now().strftime("%Y%m%d%H%M%S")
+    output_dir = os.path.join(
+        base_dir, "validation", f"stage{target_stage}_debug_{timestamp}"
+    )
+    os.makedirs(output_dir, exist_ok=True)
+    shutil.copy(selected_file, os.path.join(output_dir, "instructions_backup.txt"))
+
+    with open(selected_file, "r", encoding="utf-8") as f:
+        instructions = [
+            line.strip()
+            for line in f
+            if line.strip() and not line.startswith("#")
+        ]
+
+    print(
+        f"\n🚀 开始批量 Stage{target_stage} 调试 (共 {len(instructions)} 条, 每条 {iterations} 次)"
+    )
+    print(f"📂 输出: {output_dir}\n")
+
+    client = APIClient()
+    detailed_results = []
+    summary_stats = {}
+
+    for i, prompt in enumerate(instructions, 1):
+        drone_state = (
+            drone_state_override
+            if drone_state_override
+            else _infer_drone_state_from_prompt(prompt)
+        )
+        print(f"[{i}/{len(instructions)}] {prompt[:40]}... (state={drone_state})")
+
+        safe_name = sanitize_filename(prompt)
+        instr_out_dir = os.path.join(output_dir, safe_name)
+        os.makedirs(instr_out_dir, exist_ok=True)
+
+        success_count = 0
+        total_latency = 0
+
+        for k in range(1, iterations + 1):
+            print(f"  - 第 {k} 次...", end="", flush=True)
+            result = client.send_debug_stage(
+                prompt=prompt,
+                drone_state=drone_state,
+                target_stage=target_stage,
+            )
+
+            detailed_results.append(
+                {
+                    "instruction": prompt,
+                    "run_id": k,
+                    "success": result["success"],
+                    "latency": result["latency"],
+                    "error": result.get("error") or "",
+                }
+            )
+
+            if result["success"]:
+                print(f" ✅ ({result['latency']:.2f}s)")
+                success_count += 1
+                total_latency += result["latency"]
+
+                out_path = os.path.join(instr_out_dir, f"{k}.json")
+                with open(out_path, "w", encoding="utf-8") as f:
+                    json.dump(result["data"], f, indent=2, ensure_ascii=False)
+
+                # Stage6 且含 root 时生成可视化
+                data = result["data"]
+                output = data.get("output", data) if isinstance(data, dict) else {}
+                if (
+                    target_stage == 6
+                    and isinstance(output, dict)
+                    and "root" in output
+                ):
+                    generate_visualization(
+                        output["root"],
+                        os.path.join(instr_out_dir, f"{k}.png"),
+                    )
+            else:
+                print(f" ❌ {result.get('error', 'Unknown')}")
+
+            time.sleep(0.5)
+
+        avg_lat = total_latency / success_count if success_count > 0 else 0
+        summary_stats[prompt] = {
+            "total_runs": iterations,
+            "success_runs": success_count,
+            "success_rate": f"{(success_count / iterations) * 100:.1f}%",
+            "avg_latency": f"{avg_lat:.2f}s",
+        }
+
+    # 报告
+    with open(os.path.join(output_dir, "test_details.csv"), "w", newline="", encoding="utf-8") as f:
+        writer = csv.DictWriter(
+            f, fieldnames=["instruction", "run_id", "success", "latency", "error"]
+        )
+        writer.writeheader()
+        writer.writerows(detailed_results)
+
+    with open(os.path.join(output_dir, "test_summary.csv"), "w", newline="", encoding="utf-8") as f:
+        writer = csv.writer(f)
+        writer.writerow(
+            ["Instruction", "Total Runs", "Success Runs", "Success Rate", "Avg Latency"]
+        )
+        for prompt, stats in summary_stats.items():
+            writer.writerow(
+                [
+                    prompt,
+                    stats["total_runs"],
+                    stats["success_runs"],
+                    stats["success_rate"],
+                    stats["avg_latency"],
+                ]
+            )
+
+    print(f"\n✅ Stage{target_stage} 批量调试完成! 报告: {output_dir}")

tools/test_validate/run_tests.py

@@ -12,6 +12,7 @@ sys.path.append(os.path.dirname(os.path.abspath(__file__)))
 from modules.interactive_test import run_interactive_test
 from modules.batch_runner import run_batch_test
 from modules.json_visualizer import run_json_visualization
+from modules.stage_debugger import run_stage_debug_single, run_stage_debug_batch
 
 def clear_screen():
     os.system('cls' if os.name == 'nt' else 'clear')
@@ -51,6 +52,34 @@ def run_legacy_module(module_name, args=None):
     
     input("\n按回车键返回菜单...")
 
+def _run_stage_debug_menu():
+    """Stage 分阶段调试子菜单"""
+    while True:
+        print_header()
+        print("Stage 分阶段调试")
+        print("-" * 60)
+        print("1. 单条指令调试 - 输入指令，选择 Stage，查看该 Stage 输出")
+        print("2. 批量指令调试 - 从文件读取指令，批量运行到选定 Stage")
+        print("0. 返回主菜单")
+        print("-" * 60)
+        sub = input("请选择 [0-2]: ").strip()
+        if sub == "1":
+            try:
+                run_stage_debug_single()
+            except Exception as e:
+                print(f"❌ 运行出错: {e}")
+            input("\n按回车键返回...")
+        elif sub == "2":
+            try:
+                run_stage_debug_batch()
+            except Exception as e:
+                print(f"❌ 运行出错: {e}")
+            input("\n按回车键返回...")
+        elif sub == "0":
+            break
+        else:
+            print("❌ 无效选项")
+
 def menu_drone_upload():
     print("\n[3] 上传任务到无人机")
     print("说明: 将生成的任务文件上传到无人机 (Ground Station Client)。")
@@ -84,10 +113,12 @@ def main():
         print("3. 上传任务到无人机 (Drone Uploader)")
         print("4. LLM 服务连通性测试 (LLM Tester)")
         print("5. JSON 文件可视化 (Visualize JSON File)")
+        print("6. Stage 分阶段调试 (Stage Debug)")
+        print("   - 单条/批量运行到指定 Stage，查看中间输出")
         print("0. 退出")
         print("-" * 60)
         
-        choice = input("请输入选项 [0-5]: ").strip()
+        choice = input("请输入选项 [0-6]: ").strip()
         
         if choice == '1':
             try:
@@ -111,7 +142,10 @@ def main():
 
         elif choice == '5':
             run_json_visualization()
-            
+
+        elif choice == '6':
+            _run_stage_debug_menu()
+
         elif choice == '0':
             print("\n👋 再见！")
             break

tools/test_validate/validation/20260221090219/instructions_backup.txt

@@ -0,0 +1,10 @@
+无人机当前在地面，到飞行场地查找穿红色衣服的男子，找到后近距离拍照。
+无人机当前在空中，回到飞行场地，对戴帽子的人进行拍照。
+无人机当前在空中，去飞行场地西边50米，对过往穿红色衣服的人拍张照，然后返航。
+无人机当前在地面，到飞行场地查找长头发的人，看见了拍个照片。
+无人机当前在空中，搜索穿红色衣服的人，搜索到了拍张照，我确认后再决定要不要返航。
+无人机当前在空中，往飞行场地西边飞50米，持续监控5分钟，发现人就拍照告诉我，到时间可以返航。
+无人机当前在地面，到飞行场地，发现未带帽子的飞近后拍照。
+无人机当前在空中，紧急回到飞行场地，看见了树之后直接降落。
+无人机当前在地面，快速去往东边30米，有身穿白色衣服，头戴帽子的男子在挟持他人，对其进行拍照。
+无人机当前在空中，离白色衣服戴帽子的人太远了照片看不清，贴近到3米距离拍，拍完可以直接返航。

tools/test_validate/validation/20260224120937/instructions_backup.txt

@@ -0,0 +1,10 @@
+无人机当前在地面，到飞行场地查找穿红色衣服的男子，找到后近距离拍照。
+无人机当前在空中，回到飞行场地，对戴帽子的人进行拍照。
+无人机当前在空中，去飞行场地西边50米，对过往穿红色衣服的人拍张照，然后返航。
+无人机当前在地面，到飞行场地查找长头发的人，看见了拍个照片。
+无人机当前在空中，搜索穿红色衣服的人，搜索到了拍张照，我确认后再决定要不要返航。
+无人机当前在空中，往飞行场地西边飞50米，持续监控5分钟，发现人就拍照告诉我，到时间可以返航。
+无人机当前在地面，到飞行场地，发现未带帽子的飞近后拍照。
+无人机当前在空中，紧急回到飞行场地，看见了树之后直接降落。
+无人机当前在地面，快速去往东边30米，有身穿白色衣服，头戴帽子的男子在挟持他人，对其进行拍照。
+无人机当前在空中，离白色衣服戴帽子的人太远了照片看不清，贴近到3米距离拍，拍完可以直接返航。

tools/test_validate/validation/20260224121211/instructions_backup.txt

@@ -0,0 +1,9 @@
+无人机当前在地面，去面前大楼的12米高处，绕着外围看有没有打开的窗户，发现则进行拍照。
+无人机当前在地面，去面前大楼的12米高处，沿着外围查找所有打开的窗户并拍照。
+无人机当前在空中，再往上飞3米，接着绕这栋楼外围侦察有没有打开的窗户，看到了就拍照传回来。
+无人机当前在地面，去面前大楼的12米高处，绕着外围巡视杂物堆积现象，发现则进行拍照。
+无人机当前在地面，去面前大楼的12米高处，沿着外围查找所有的杂物堆积并拍照。
+无人机当前在空中，往下飞3米，接着绕这栋楼外围侦察有没有杂物堆积，看到了就拍照传回来。
+无人机当前在地面，去面前大楼的12米高处，绕着外围看有没有人，发现则进行拍照。
+无人机当前在地面，去面前大楼的12米高处，沿着外围查找所有的人并拍照。
+无人机当前在空中，再往上飞3米，接着绕这栋楼外围侦察有没有人，看到了就拍照传回来。

tools/test_validate/validation/20260224121211/test_details.csv

@@ -0,0 +1,10 @@
+instruction,run_id,success,latency,error
+无人机当前在地面，去面前大楼的12米高处，绕着外围看有没有打开的窗户，发现则进行拍照。,1,True,16.063878774642944,
+无人机当前在地面，去面前大楼的12米高处，沿着外围查找所有打开的窗户并拍照。,1,False,16.235912084579468,500 Server Error: Internal Server Error for url: http://127.0.0.1:8000/generate_plan
+无人机当前在空中，再往上飞3米，接着绕这栋楼外围侦察有没有打开的窗户，看到了就拍照传回来。,1,True,11.32945990562439,
+无人机当前在地面，去面前大楼的12米高处，绕着外围巡视杂物堆积现象，发现则进行拍照。,1,False,18.68914246559143,500 Server Error: Internal Server Error for url: http://127.0.0.1:8000/generate_plan
+无人机当前在地面，去面前大楼的12米高处，沿着外围查找所有的杂物堆积并拍照。,1,True,14.857678651809692,
+无人机当前在空中，往下飞3米，接着绕这栋楼外围侦察有没有杂物堆积，看到了就拍照传回来。,1,True,11.974151134490967,
+无人机当前在地面，去面前大楼的12米高处，绕着外围看有没有人，发现则进行拍照。,1,True,15.218279838562012,
+无人机当前在地面，去面前大楼的12米高处，沿着外围查找所有的人并拍照。,1,True,15.252280473709106,
+无人机当前在空中，再往上飞3米，接着绕这栋楼外围侦察有没有人，看到了就拍照传回来。,1,True,12.335286378860474,

tools/test_validate/validation/20260224121211/test_summary.csv

@@ -0,0 +1,10 @@
+Instruction,Total Runs,Success Runs,Success Rate,Avg Latency
+无人机当前在地面，去面前大楼的12米高处，绕着外围看有没有打开的窗户，发现则进行拍照。,1,1,100.0%,16.06s
+无人机当前在地面，去面前大楼的12米高处，沿着外围查找所有打开的窗户并拍照。,1,0,0.0%,0.00s
+无人机当前在空中，再往上飞3米，接着绕这栋楼外围侦察有没有打开的窗户，看到了就拍照传回来。,1,1,100.0%,11.33s
+无人机当前在地面，去面前大楼的12米高处，绕着外围巡视杂物堆积现象，发现则进行拍照。,1,0,0.0%,0.00s
+无人机当前在地面，去面前大楼的12米高处，沿着外围查找所有的杂物堆积并拍照。,1,1,100.0%,14.86s
+无人机当前在空中，往下飞3米，接着绕这栋楼外围侦察有没有杂物堆积，看到了就拍照传回来。,1,1,100.0%,11.97s
+无人机当前在地面，去面前大楼的12米高处，绕着外围看有没有人，发现则进行拍照。,1,1,100.0%,15.22s
+无人机当前在地面，去面前大楼的12米高处，沿着外围查找所有的人并拍照。,1,1,100.0%,15.25s
+无人机当前在空中，再往上飞3米，接着绕这栋楼外围侦察有没有人，看到了就拍照传回来。,1,1,100.0%,12.34s

tools/test_validate/validation/20260224125506/instructions_backup.txt

@@ -0,0 +1,11 @@
+无人机当前在地面，到广场查找穿红色衣服的人，找到后近距离拍照。
+无人机当前在空中，回到广场，对戴帽子的人进行拍照。
+无人机当前在空中，去广场南边40米，对过往的公交车拍张照，然后返航。
+无人机当前在地面，到广场查找绿色公交车，看见了拍个照片。
+无人机当前在空中，搜索小汽车，搜索到了我确认后再决定要不要拍照。
+无人机当前在空中，搜索小汽车，搜索到了拍张照，我确认后再决定要不要返航。
+无人机当前在空中，往广场南边飞40米，持续监控5分钟，发现人就拍照告诉我，到时间可以返航。
+无人机当前在地面，到广场边上的施工区域内，发现有没带安全帽的飞近后拍照。
+无人机当前在空中，紧急回到广场，看见了红绿灯之后直接降落。
+无人机当前在地面，快速去往东边60米，有身穿白色衣服，头戴帽子的男子在挟持他人，对其进行拍照。
+无人机当前在空中，离白色衣服戴帽子的人太远了照片看不清，贴近到3米距离拍，拍完可以直接返航。

tools/test_validate/validation/temporary/stage1_无人机当前在地面，起飞/response.json

@@ -0,0 +1,15 @@
+{
+  "target_stage": 1,
+  "stage_name": "TaskUnderstanding",
+  "output": {
+    "scene_mode": "simple",
+    "drone_state": "on_ground",
+    "intent_type": "single_action",
+    "requires_relative_target": false,
+    "entities": {
+      "raw_prompt": "无人机当前在地面，起飞"
+    },
+    "risk_flags": [],
+    "constraints": {}
+  }
+}

tools/test_validate/validation/temporary/stage1_无人机当前在空中，飞到广场/response.json

@@ -0,0 +1,15 @@
+{
+  "target_stage": 1,
+  "stage_name": "TaskUnderstanding",
+  "output": {
+    "scene_mode": "scene1",
+    "drone_state": "in_air",
+    "intent_type": "generic_mission",
+    "requires_relative_target": false,
+    "entities": {
+      "raw_prompt": "无人机当前在空中，飞到广场"
+    },
+    "risk_flags": [],
+    "constraints": {}
+  }
+}

tools/test_validate/validation/temporary/stage1_无人机当前在空中，飞到广场北边50米/response.json

@@ -0,0 +1,15 @@
+{
+  "target_stage": 1,
+  "stage_name": "TaskUnderstanding",
+  "output": {
+    "scene_mode": "scene1",
+    "drone_state": "in_air",
+    "intent_type": "generic_mission",
+    "requires_relative_target": false,
+    "entities": {
+      "raw_prompt": "无人机当前在空中，飞到广场北边50米"
+    },
+    "risk_flags": [],
+    "constraints": {}
+  }
+}

tools/test_validate/validation/temporary/stage1_无人机当前在空中，飞到面前的大楼/response.json

@@ -0,0 +1,17 @@
+{
+  "target_stage": 1,
+  "stage_name": "TaskUnderstanding",
+  "output": {
+    "scene_mode": "scene1",
+    "drone_state": "in_air",
+    "intent_type": "generic_mission",
+    "requires_relative_target": true,
+    "entities": {
+      "raw_prompt": "无人机当前在空中，飞到面前的大楼"
+    },
+    "risk_flags": [
+      "relative_reference_detected"
+    ],
+    "constraints": {}
+  }
+}

tools/test_validate/validation/temporary/stage1_无空中，飞到广场/response.json

@@ -0,0 +1,15 @@
+{
+  "target_stage": 1,
+  "stage_name": "TaskUnderstanding",
+  "output": {
+    "scene_mode": "scene4",
+    "drone_state": "on_ground",
+    "intent_type": "generic_mission",
+    "requires_relative_target": false,
+    "entities": {
+      "raw_prompt": "无空中，飞到广场"
+    },
+    "risk_flags": [],
+    "constraints": {}
+  }
+}

tools/test_validate/validation/temporary/stage1_起飞/response.json

@@ -0,0 +1,15 @@
+{
+  "target_stage": 1,
+  "stage_name": "TaskUnderstanding",
+  "output": {
+    "scene_mode": "simple",
+    "drone_state": "on_ground",
+    "intent_type": "single_action",
+    "requires_relative_target": false,
+    "entities": {
+      "raw_prompt": "起飞"
+    },
+    "risk_flags": [],
+    "constraints": {}
+  }
+}

tools/test_validate/validation/temporary/stage1_飞到南广场/response.json

@@ -0,0 +1,15 @@
+{
+  "target_stage": 1,
+  "stage_name": "TaskUnderstanding",
+  "output": {
+    "scene_mode": "simple",
+    "drone_state": "in_air",
+    "intent_type": "single_action",
+    "requires_relative_target": false,
+    "entities": {
+      "raw_prompt": "飞到南广场"
+    },
+    "risk_flags": [],
+    "constraints": {}
+  }
+}

tools/test_validate/validation/temporary/stage1_飞到大楼/response.json

@@ -0,0 +1,15 @@
+{
+  "target_stage": 1,
+  "stage_name": "TaskUnderstanding",
+  "output": {
+    "scene_mode": "scene1",
+    "drone_state": "in_air",
+    "intent_type": "generic_mission",
+    "requires_relative_target": false,
+    "entities": {
+      "raw_prompt": "飞到大楼"
+    },
+    "risk_flags": [],
+    "constraints": {}
+  }
+}

tools/test_validate/validation/temporary/stage1_飞到学校/response.json

@@ -0,0 +1,15 @@
+{
+  "target_stage": 1,
+  "stage_name": "TaskUnderstanding",
+  "output": {
+    "scene_mode": "simple",
+    "drone_state": "in_air",
+    "intent_type": "single_action",
+    "requires_relative_target": false,
+    "entities": {
+      "raw_prompt": "飞到学校"
+    },
+    "risk_flags": [],
+    "constraints": {}
+  }
+}

tools/test_validate/validation/temporary/stage1_飞到学校北边50米/response.json

@@ -0,0 +1,15 @@
+{
+  "target_stage": 1,
+  "stage_name": "TaskUnderstanding",
+  "output": {
+    "scene_mode": "scene1",
+    "drone_state": "in_air",
+    "intent_type": "generic_mission",
+    "requires_relative_target": false,
+    "entities": {
+      "raw_prompt": "飞到学校北边50米"
+    },
+    "risk_flags": [],
+    "constraints": {}
+  }
+}

tools/test_validate/validation/temporary/stage1_飞到宿舍/response.json

@@ -0,0 +1,15 @@
+{
+  "target_stage": 1,
+  "stage_name": "TaskUnderstanding",
+  "output": {
+    "scene_mode": "simple",
+    "drone_state": "in_air",
+    "intent_type": "single_action",
+    "requires_relative_target": false,
+    "entities": {
+      "raw_prompt": "飞到宿舍"
+    },
+    "risk_flags": [],
+    "constraints": {}
+  }
+}

tools/test_validate/validation/temporary/stage1_飞到宿舍北边50米/response.json

@@ -0,0 +1,15 @@
+{
+  "target_stage": 1,
+  "stage_name": "TaskUnderstanding",
+  "output": {
+    "scene_mode": "scene1",
+    "drone_state": "in_air",
+    "intent_type": "generic_mission",
+    "requires_relative_target": false,
+    "entities": {
+      "raw_prompt": "飞到宿舍北边50米"
+    },
+    "risk_flags": [],
+    "constraints": {}
+  }
+}

tools/test_validate/validation/temporary/stage1_飞到宿舍南边50米/response.json

@@ -0,0 +1,15 @@
+{
+  "target_stage": 1,
+  "stage_name": "TaskUnderstanding",
+  "output": {
+    "scene_mode": "scene1",
+    "drone_state": "in_air",
+    "intent_type": "generic_mission",
+    "requires_relative_target": false,
+    "entities": {
+      "raw_prompt": "飞到宿舍南边50米"
+    },
+    "risk_flags": [],
+    "constraints": {}
+  }
+}

tools/test_validate/validation/temporary/stage1_飞到宿舍南边60米/response.json

@@ -0,0 +1,15 @@
+{
+  "target_stage": 1,
+  "stage_name": "TaskUnderstanding",
+  "output": {
+    "scene_mode": "scene1",
+    "drone_state": "in_air",
+    "intent_type": "generic_mission",
+    "requires_relative_target": false,
+    "entities": {
+      "raw_prompt": "飞到宿舍南边60米"
+    },
+    "risk_flags": [],
+    "constraints": {}
+  }
+}

tools/test_validate/validation/temporary/stage1_飞到广场/response.json

@@ -0,0 +1,15 @@
+{
+  "target_stage": 1,
+  "stage_name": "TaskUnderstanding",
+  "output": {
+    "scene_mode": "simple",
+    "drone_state": "in_air",
+    "intent_type": "single_action",
+    "requires_relative_target": false,
+    "entities": {
+      "raw_prompt": "飞到广场"
+    },
+    "risk_flags": [],
+    "constraints": {}
+  }
+}

tools/test_validate/validation/temporary/stage1_飞到广场北边50米/response.json

@@ -0,0 +1,15 @@
+{
+  "target_stage": 1,
+  "stage_name": "TaskUnderstanding",
+  "output": {
+    "scene_mode": "scene1",
+    "drone_state": "in_air",
+    "intent_type": "generic_mission",
+    "requires_relative_target": false,
+    "entities": {
+      "raw_prompt": "飞到广场北边50米"
+    },
+    "risk_flags": [],
+    "constraints": {}
+  }
+}

tools/test_validate/validation/temporary/stage1_飞到广场南边/response.json

@@ -0,0 +1,15 @@
+{
+  "target_stage": 1,
+  "stage_name": "TaskUnderstanding",
+  "output": {
+    "scene_mode": "scene1",
+    "drone_state": "in_air",
+    "intent_type": "generic_mission",
+    "requires_relative_target": false,
+    "entities": {
+      "raw_prompt": "飞到广场南边"
+    },
+    "risk_flags": [],
+    "constraints": {}
+  }
+}

tools/test_validate/validation/temporary/stage1_飞到广场南边40米/response.json

@@ -0,0 +1,15 @@
+{
+  "target_stage": 1,
+  "stage_name": "TaskUnderstanding",
+  "output": {
+    "scene_mode": "scene1",
+    "drone_state": "in_air",
+    "intent_type": "generic_mission",
+    "requires_relative_target": false,
+    "entities": {
+      "raw_prompt": "飞到广场南边40米"
+    },
+    "risk_flags": [],
+    "constraints": {}
+  }
+}

tools/test_validate/validation/temporary/stage1_飞到广场南边50米/response.json

@@ -0,0 +1,15 @@
+{
+  "target_stage": 1,
+  "stage_name": "TaskUnderstanding",
+  "output": {
+    "scene_mode": "scene1",
+    "drone_state": "in_air",
+    "intent_type": "generic_mission",
+    "requires_relative_target": false,
+    "entities": {
+      "raw_prompt": "飞到广场南边50米"
+    },
+    "risk_flags": [],
+    "constraints": {}
+  }
+}

tools/test_validate/validation/temporary/stage1_飞到广场西边/response.json

@@ -0,0 +1,15 @@
+{
+  "target_stage": 1,
+  "stage_name": "TaskUnderstanding",
+  "output": {
+    "scene_mode": "scene1",
+    "drone_state": "in_air",
+    "intent_type": "generic_mission",
+    "requires_relative_target": false,
+    "entities": {
+      "raw_prompt": "飞到广场西边"
+    },
+    "risk_flags": [],
+    "constraints": {}
+  }
+}

tools/test_validate/validation/temporary/stage1_飞到建筑物A/response.json

@@ -0,0 +1,15 @@
+{
+  "target_stage": 1,
+  "stage_name": "TaskUnderstanding",
+  "output": {
+    "scene_mode": "simple",
+    "drone_state": "in_air",
+    "intent_type": "single_action",
+    "requires_relative_target": false,
+    "entities": {
+      "raw_prompt": "飞到建筑物A"
+    },
+    "risk_flags": [],
+    "constraints": {}
+  }
+}

tools/test_validate/validation/temporary/stage1_飞到建筑物A南边50米/response.json

@@ -0,0 +1,15 @@
+{
+  "target_stage": 1,
+  "stage_name": "TaskUnderstanding",
+  "output": {
+    "scene_mode": "scene1",
+    "drone_state": "in_air",
+    "intent_type": "generic_mission",
+    "requires_relative_target": false,
+    "entities": {
+      "raw_prompt": "飞到建筑物A南边50米"
+    },
+    "risk_flags": [],
+    "constraints": {}
+  }
+}

tools/test_validate/validation/temporary/stage1_飞到研究所东侧30米/response.json

@@ -0,0 +1,15 @@
+{
+  "target_stage": 1,
+  "stage_name": "TaskUnderstanding",
+  "output": {
+    "scene_mode": "simple",
+    "drone_state": "in_air",
+    "intent_type": "single_action",
+    "requires_relative_target": false,
+    "entities": {
+      "raw_prompt": "飞到研究所东侧30米"
+    },
+    "risk_flags": [],
+    "constraints": {}
+  }
+}

tools/test_validate/validation/temporary/stage1_飞到研究所东边50米/response.json

@@ -0,0 +1,15 @@
+{
+  "target_stage": 1,
+  "stage_name": "TaskUnderstanding",
+  "output": {
+    "scene_mode": "scene1",
+    "drone_state": "in_air",
+    "intent_type": "generic_mission",
+    "requires_relative_target": false,
+    "entities": {
+      "raw_prompt": "飞到研究所东边50米"
+    },
+    "risk_flags": [],
+    "constraints": {}
+  }
+}

tools/test_validate/validation/temporary/stage1_飞到研究所东边60米/response.json

@@ -0,0 +1,15 @@
+{
+  "target_stage": 1,
+  "stage_name": "TaskUnderstanding",
+  "output": {
+    "scene_mode": "scene1",
+    "drone_state": "in_air",
+    "intent_type": "generic_mission",
+    "requires_relative_target": false,
+    "entities": {
+      "raw_prompt": "飞到研究所东边60米"
+    },
+    "risk_flags": [],
+    "constraints": {}
+  }
+}

tools/test_validate/validation/temporary/stage1_飞到研究所东边60米的施工场所/response.json

@@ -0,0 +1,15 @@
+{
+  "target_stage": 1,
+  "stage_name": "TaskUnderstanding",
+  "output": {
+    "scene_mode": "scene1",
+    "drone_state": "in_air",
+    "intent_type": "generic_mission",
+    "requires_relative_target": false,
+    "entities": {
+      "raw_prompt": "飞到研究所东边60米的施工场所"
+    },
+    "risk_flags": [],
+    "constraints": {}
+  }
+}

tools/test_validate/validation/temporary/stage1_飞到研究所南边50米/response.json

@@ -0,0 +1,15 @@
+{
+  "target_stage": 1,
+  "stage_name": "TaskUnderstanding",
+  "output": {
+    "scene_mode": "scene1",
+    "drone_state": "in_air",
+    "intent_type": "generic_mission",
+    "requires_relative_target": false,
+    "entities": {
+      "raw_prompt": "飞到研究所南边50米"
+    },
+    "risk_flags": [],
+    "constraints": {}
+  }
+}

tools/test_validate/validation/temporary/stage1_飞到研究院/response.json

@@ -0,0 +1,15 @@
+{
+  "target_stage": 1,
+  "stage_name": "TaskUnderstanding",
+  "output": {
+    "scene_mode": "simple",
+    "drone_state": "in_air",
+    "intent_type": "single_action",
+    "requires_relative_target": false,
+    "entities": {
+      "raw_prompt": "飞到研究院"
+    },
+    "risk_flags": [],
+    "constraints": {}
+  }
+}

tools/test_validate/validation/temporary/stage2_飞到广场东边50米/response.json

@@ -0,0 +1,43 @@
+{
+  "target_stage": 2,
+  "stage_name": "ContextBinding",
+  "output": {
+    "location_context": "{\"property\": \"location\", \"information\": {\"name\": \"广场\", \"coordinates\": {\"x\": 100, \"y\": 260, \"z\": 0}}}\n\n{\"property\": \"location\", \"information\": {\"name\": \"飞行场地\", \"coordinates\": {\"x\": 0, \"y\": 0, \"z\": 0}}}\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}}}}",
+    "pattern_context": "无人机当前在空中，往广场西边飞200米，持续监控5分钟，发现人就拍照告诉我，到时间可以返航。\n\n无人机当前在地面，去研究所正大门，搜索扎辫子女子，找到后拍照。\n\n地面起飞后到面前大楼约12米高度，沿外围巡查打开窗户；如发现窗户则拍照回传。",
+    "rules_context": "",
+    "citations": {
+      "location": [
+        "{\"property\": \"location\", \"information\": {\"name\": \"广场\", \"coordinates\": {\"x\": 100, \"y\": 260, \"z\": 0}}}",
+        "{\"property\": \"location\", \"information\": {\"name\": \"飞行场地\", \"coordinates\": {\"x\": 0, \"y\": 0, \"z\": 0}}}",
+        "{\"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}}}}"
+      ],
+      "pattern": [
+        "无人机当前在空中，往广场西边飞200米，持续监控5分钟，发现人就拍照告诉我，到时间可以返航。",
+        "无人机当前在地面，去研究所正大门，搜索扎辫子女子，找到后拍照。",
+        "地面起飞后到面前大楼约12米高度，沿外围巡查打开窗户；如发现窗户则拍照回传。"
+      ],
+      "rules": []
+    },
+    "resolved_refs": {},
+    "precomputed_waypoints": [
+      {
+        "x": 150.0,
+        "y": 260.0,
+        "z": 0.0
+      }
+    ],
+    "relative_refs": [],
+    "required_actions": [
+      "Selector",
+      "Sequence",
+      "fly_to_waypoint",
+      "land",
+      "move_direction",
+      "object_detect",
+      "object_detected",
+      "rotate_search",
+      "take_photos",
+      "takeoff"
+    ]
+  }
+}

tools/test_validate/validation/temporary/无人机当前在地面，起飞/process.log

@@ -0,0 +1,4 @@
+Prompt: 无人机当前在地面，起飞
+Status: 200
+Latency: 1.738889217376709
+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---"}

tools/test_validate/validation/temporary/无人机当前在地面，起飞/response.json

@@ -0,0 +1,12 @@
+{
+  "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---"
+}