流程节点完善

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---"
+}