更新vllm后端的使用方法

README.md

@@ -19,7 +19,6 @@
 │   │   │   └── classifier_prompt.txt     # 指令简单/复杂分类提示词
 │   │   ├── ...
 │   ├── generated_visualizations/ # 存放最新生成的py_tree可视化图像
-│   ├── generated_reasoning_content/ # 存放最新推理链Markdown（<plan_id>.md）
 │   └── requirements.txt          # 后端服务的Python依赖
 │
 ├── tools/
@@ -27,8 +26,7 @@
 │   ├── knowledge_base/           # 【处理后】存放build_knowledge_base.py生成的.ndjson文件
 │   ├── vector_store/             # 【数据库】存放最终的ChromaDB向量数据库
 │   ├── build_knowledge_base.py   # 【步骤1】用于将原始数据转换为自然语言知识
-│   ├── ingest.py                 # 【步骤2】用于将自然语言知识摄入向量数据库
-│   └── test_llama_server.py      # 直接调用本地8081端口llama-server，支持 --system / --system-file
+│   └── ingest.py                 # 【步骤2】用于将自然语言知识摄入向量数据库
 │
 ├── /             # ROS2接口定义 (保持不变)
 └── docs/
@@ -63,6 +61,18 @@
     ```bash
     ./llama-server -m ~/models/gguf/Qwen/Qwen3-8B-GGUF/Qwen3-8B-Q4_K_M.gguf --port 8081 --gpu-layers 36 --host 0.0.0.0 -c 8192
     ```
+    至此llama.cpp推理框架就完成了，无需进一步即可启动后端
+
+    如果使用vllm后端，则执行以下命令
+    ```bash
+   vllm serve Qwen3-4B-AWQ       --host=0.0.0.0       --port=8081       --dtype=auto       --max-num-seqs=1       --max-model-len=16384           --served-model-name "qwen3-4b-awq"   --trust-remote-code    --gpu-memory-utilization=0.75       --uvicorn-log-level=debug 
+    ```
+    由于调用vllm时，在发送HTTP请求时需要指定模型名称，所以在启动后端服务前需要添加环境变量，执行以下命令
+    ```bash
+    export CLASSIFIER_MODEL="qwen3-4b-awq"
+    export SIMPLE_MODEL="qwen3-4b-awq"
+    export COMPLEX_MODEL="qwen3-4b-awq"
+    ```
 
 2. **Embedding模型部署**
 
@@ -97,10 +107,6 @@
 
 通用API Key：`OPENAI_API_KEY`
 
-推理链捕获相关：
-- `ENABLE_REASONING_CAPTURE`：是否允许模型返回含有 <think> 的原文以便捕获推理链；默认 true。
-- `REASONING_PREVIEW_LINES`：在后端日志中打印推理链预览的行数；默认 20。
-
 示例：
 ```bash
 export CLASSIFIER_MODEL="qwen2.5-1.8b-instruct"
@@ -110,10 +116,6 @@ export CLASSIFIER_BASE_URL="http://$ORIN_IP:8081/v1"
 export SIMPLE_BASE_URL="http://$ORIN_IP:8081/v1"
 export COMPLEX_BASE_URL="http://$ORIN_IP:8081/v1"
 export OPENAI_API_KEY="sk-no-key-required"
-
-# 推理链捕获（可选）
-export ENABLE_REASONING_CAPTURE=true        # 默认已为true；如需关闭，设置为 false
-export REASONING_PREVIEW_LINES=30          # 调整日志预览行数
 ```
 
 ### 测试简单模式
@@ -127,22 +129,6 @@ python test_api.py
 
 示例输入：“简单模式，起飞” 或 “起飞到10米”。返回结果为简单JSON（无 `root`）：包含 `mode`、`action`、`plan_id`、`visualization_url`。
 
-### 直接调用 llama-server（绕过后端）
-
-当仅需测试本地 8081 端口的推理服务（OpenAI 兼容接口）时，可使用内置脚本：
-
-```bash
-python tools/test_llama_server.py \
-  --system-file backend_service/src/prompts/system_prompt.txt \
-  --user "起飞到10米然后降落" \
-  --base-url "http://127.0.0.1:8081/v1" \
-  --verbose
-```
-
-说明：
-- 支持 `--system` 或 `--system-file` 自定义提示词文件；`--system-file` 优先。
-- 默认解析 OpenAI 风格返回，若包含 `<think>` 推理内容会显示在输出中（具体取决于模型和服务配置）。
-
 ---
 
 ## 工作流程
@@ -228,96 +214,14 @@ python ingest.py
 
 完成前两个阶段后，即可启动并测试后端服务。
 
-#### 1. 启动所有服务（推荐方式：一键启动脚本）
+#### 1. 启动后端服务
 
-我们提供了一个一键启动脚本 `start_all.sh`，可以自动启动所有必需的服务：
+启动服务的关键在于**按顺序激活环境**：先激活ROS 2工作空间，再激活Conda环境。
 
 ```bash
 # 1. 切换到项目根目录
 cd /path/to/your/drone
 
-# 2. 使用一键启动脚本（推荐）
-./start_all.sh start
-
-# 或者直接运行（start是默认命令）
-./start_all.sh
-```
-
-**脚本功能：**
-- 自动启动推理模型服务（llama-server，端口8081）
-- 自动启动Embedding模型服务（llama-server，端口8090）
-- 自动启动FastAPI后端服务（端口8000）
-- 自动检查端口占用、模型文件、环境配置等
-- 自动等待服务就绪
-- 统一管理日志文件（保存在 `logs/` 目录）
-
-**环境变量配置（可选）：**
-
-在运行脚本前，可以通过环境变量自定义配置：
-
-```bash
-# 设置llama-server路径（如果不在默认位置）
-export LLAMA_SERVER_DIR="/path/to/llama.cpp/build/bin"
-
-# 设置模型路径（如果不在默认位置）
-export INFERENCE_MODEL="~/models/gguf/Qwen/Qwen3-8B-GGUF/Qwen3-8B-Q4_K_M.gguf"
-export EMBEDDING_MODEL="~/models/gguf/Qwen/Qwen3-embedding-4B/Qwen3-Embedding-4B-Q4_K_M.gguf"
-
-# 设置Conda环境名称（如果使用不同的环境名）
-export CONDA_ENV="backend"
-
-# 然后运行脚本
-./start_all.sh
-```
-
-**脚本命令：**
-
-```bash
-./start_all.sh start    # 启动所有服务（默认）
-./start_all.sh stop     # 停止所有服务
-./start_all.sh restart  # 重启所有服务
-./start_all.sh status   # 查看服务状态
-```
-
-**日志查看：**
-
-所有服务的日志都保存在 `logs/` 目录下：
-```bash
-# 查看所有日志
-tail -f logs/*.log
-
-# 查看特定服务日志
-tail -f logs/inference_model.log  # 推理模型
-tail -f logs/embedding_model.log  # Embedding模型
-tail -f logs/fastapi.log          # FastAPI服务
-```
-
-#### 2. 手动启动服务（备选方式）
-
-如果您需要手动控制每个服务的启动，可以按照以下步骤操作：
-
-**启动推理模型服务：**
-
-```bash
-cd /llama.cpp/build/bin
-./llama-server -m ~/models/gguf/Qwen/Qwen3-8B-GGUF/Qwen3-8B-Q4_K_M.gguf --port 8081 --gpu-layers 36 --host 0.0.0.0 -c 8192
-```
-
-**启动Embedding模型服务：**
-
-在另一个终端中：
-```bash
-cd /llama.cpp/build/bin
-./llama-server -m ~/models/gguf/Qwen/Qwen3-embedding-4B/Qwen3-Embedding-4B-Q4_K_M.gguf --gpu-layers 36 --port 8090 --embeddings --pooling last --host 0.0.0.0
-```
-
-**启动FastAPI后端服务：**
-
-在第三个终端中：
-```bash
-# 1. 切换到项目根目录
-cd /path/to/your/drone
-
 # 2. 激活ROS 2编译环境
 #    作用：将我们编译好的`drone_interfaces`包的路径告知系统，否则Python会报`ModuleNotFoundError`。
 #    注意：此命令必须在每次打开新终端时执行一次。
@@ -328,9 +232,9 @@ conda activate backend
 
 # 4. 启动FastAPI服务
 cd backend_service/
+# 如果使用vllm后端此时还应当指定使用的模型名称
 uvicorn src.main:app --host 0.0.0.0 --port 8000
 ```
-
 当您看到日志中出现 `Uvicorn running on http://0.0.0.0:8000` 时，表示服务已成功启动。
 
 #### 2. 运行API接口测试

backend_service/generated_reasoning_content/reasoning_content.md

@@ -1,43 +0,0 @@
-好的，我现在需要处理用户的任务指令，生成一个符合要求的行为树JSON。首先，我得仔细阅读用户的指令和参考知识，确保理解所有要求。
-
-用户的目标是搜索并锁定危险性最高的气球（红色>蓝色>绿色），然后跟踪30秒后进行打击。参考知识中提到了三个地点，但用户可能希望搜索的区域是这些地点附近，或者需要根据这些坐标来规划路径。
-
-首先，我需要确定无人机的起降点。参考知识中的地点坐标可能作为搜索区域的中心。比如，用户提到的“学生宿舍”坐标是(5,3,2)，但可能需要选择一个合适的中心点进行搜索。不过用户没有明确指定搜索区域，可能需要使用search_pattern来覆盖这些区域，或者直接在某个中心点周围搜索。
-
-接下来，任务流程应该是：起飞→飞往搜索区域→搜索目标→检测到目标后跟踪→打击。同时必须包含安全监控。
-
-根据用户提供的参考知识，可能需要将搜索区域设置为某个中心点。比如，用户提到的“跷跷板”在(x:15, y:-8.5, z:1.2)，但z坐标需要调整到至少1米，这里已经是1.2，没问题。或者可能选择其他地点作为搜索中心。但用户没有明确说明，可能需要假设搜索区域是这些地点附近，或者使用一个综合的中心点。
-
-不过用户可能希望无人机先飞往某个特定的搜索区。比如，参考知识中的“学生宿舍”可能是一个可能的区域，但需要确认。或者用户可能希望无人机在某个中心点周围进行搜索。例如，使用search_pattern的中心点可能选在某个已知地点，比如“跷跷板”附近，或者综合多个点。
-
-但用户没有明确指定搜索区域，所以可能需要使用search_pattern的中心点为某个已知地点，比如“跷跷板”的坐标，或者选择一个合理的中心点。例如，假设搜索区域是“跷跷板”所在的位置，那么中心坐标为(15, -8.5, 1.2)。或者可能需要将搜索区域设置为多个地点的组合，但用户没有说明，所以可能需要选择一个中心点。
-
-接下来，考虑使用search_pattern来搜索，因为目标位置未知。参数中需要指定pattern_type，比如spiral或grid。假设选择spiral模式，覆盖更大的区域。中心点可能选在某个已知地点，比如“跷跷板”的坐标，或者综合多个点。但用户没有明确，所以可能需要选择一个合理的中心点，比如“跷跷板”的坐标。
-
-然后，检测到目标后，需要跟踪30秒，再打击。所以流程是：起飞→飞往搜索区→搜索→检测→跟踪→打击→降落。
-
-安全监控必须包含在Parallel节点中，监控电池和GPS，并在紧急情况下返航。
-
-现在，构建行为树的结构：
-
-根节点是Parallel，包含主任务和安全监控。主任务是Sequence，包含起飞、飞往搜索区、搜索、检测、跟踪、打击、降落。安全监控是Selector，包含电池和GPS条件，以及紧急处理Sequence。
-
-在搜索部分，使用search_pattern，参数包括pattern_type为spiral，中心点选在某个已知地点，比如“跷跷板”的坐标(15, -8.5, 1.2)，半径可能设为50米，覆盖较大区域。目标类别是balloon，描述为“红色气球危险性高于蓝色气球高于绿色气球”，但参数中description需要描述目标属性，比如“红>蓝>绿”。
-
-检测到目标后，使用track_object，参数target_class为balloon，description为“红>蓝>绿”，track_time为30秒。然后strike_target，最后评估战损。
-
-需要确保所有参数符合约束，比如z坐标在1-5000米之间，半径在5-1000米之间，速度等参数在合理范围。
-
-现在，将各个步骤的参数填入JSON中。例如，起飞到2米，飞往搜索区的中心点可能选在“跷跷板”的坐标(15, -8.5, 1.2)，但z需要调整到至少1米，这里已经是1.2。所以fly_to_waypoint的参数x=15，y=-8.5，z=1.2，接受半径2米。
-
-搜索使用search_pattern，pattern_type为spiral，中心点为(15, -8.5, 1.2)，半径设为50米，覆盖区域。目标类别是balloon，description为“红>蓝>绿”。
-
-检测到目标后，使用track_object，参数target_class为balloon，description为“红>蓝>绿”，track_time为30秒，min_confidence设为0.7，safe_distance设为15米。
-
-然后strike_target，参数target_class为balloon，description为“红>蓝>绿”，count为1。
-
-最后，降落。
-
-安全监控部分，电池阈值设为0.35，GPS的min_satellites设为8，紧急处理Sequence包括emergency_return和land。
-
-现在，将所有步骤的参数填入JSON中，确保符合所有规则。

backend_service/requirements.txt

@@ -15,8 +15,8 @@ chromadb>=0.4.0
 # Visualization
 graphviz>=0.20.0
 
-# ROS 2 Python Client - 已注释，项目已与ROS2解耦
-# rclpy>=0.0.1
+# ROS 2 Python Client
+rclpy>=0.0.1
 
 # Document Processing
 unstructured[all]>=0.11.0
@@ -30,10 +30,10 @@ rich>=13.7.0
 # Type Hints Support
 typing-extensions>=4.8.0
 
-# ROS 2 Build Dependencies - 已注释，项目已与ROS2解耦
-# empy==3.3.4
-# catkin-pkg>=0.4.0
-# lark>=1.1.0
-# colcon-common-extensions>=0.3.0
-# vcstool>=0.2.0
-# rosdep>=0.22.0
+# ROS 2 Build Dependencies
+empy==3.3.4
+catkin-pkg>=0.4.0
+lark>=1.1.0
+colcon-common-extensions>=0.3.0
+vcstool>=0.2.0
+rosdep>=0.22.0

backend_service/src/main.py

@@ -3,13 +3,13 @@ import os
 from fastapi import FastAPI, WebSocket, WebSocketDisconnect
 from fastapi.staticfiles import StaticFiles
 import logging
-# import threading  # ROS2相关，已注释
-# import rclpy  # ROS2相关，已注释
+import threading
+import rclpy
 
 from .models import GeneratePlanRequest, ExecuteMissionRequest
 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
+from .ros2_client import MissionActionClient
 
 # --- Application Setup ---
 app = FastAPI(
@@ -23,15 +23,14 @@ static_dir = os.path.abspath(os.path.join(os.path.dirname(__file__), '..', 'gene
 app.mount("/static", StaticFiles(directory=static_dir), name="static")
 
 # --- ROS2 Node and Client Initialization ---
-# ROS2相关代码已注释，项目已与ROS2解耦
-# rclpy.init()
-# ros2_client = MissionActionClient()
+rclpy.init()
+ros2_client = MissionActionClient()
 
-# def run_ros2_node():
-#     """Spins the ROS2 node in a dedicated thread."""
-#     logging.info("Starting to spin ROS2 node...")
-#     rclpy.spin(ros2_client)
-#     logging.info("ROS2 node has stopped spinning.")
+def run_ros2_node():
+    """Spins the ROS2 node in a dedicated thread."""
+    logging.info("Starting to spin ROS2 node...")
+    rclpy.spin(ros2_client)
+    logging.info("ROS2 node has stopped spinning.")
 
 # --- API Endpoints ---
 
@@ -50,12 +49,9 @@ async def generate_plan_endpoint(request: GeneratePlanRequest):
 async def execute_mission_endpoint(request: ExecuteMissionRequest):
     """
     Receives a `py_tree.json` and sends it to the drone for execution.
-    ROS2相关功能已注释，项目已与ROS2解耦。
     """
-    # ROS2相关代码已注释
-    # ros2_client.send_goal(request.py_tree)
-    logging.warning("execute_mission endpoint called but ROS2 is disabled. Mission execution is not available.")
-    return {"status": "execution_disabled", "message": "ROS2 integration is disabled. Mission execution is not available."}
+    ros2_client.send_goal(request.py_tree)
+    return {"status": "execution_started"}
 
 @app.websocket("/ws/status")
 async def websocket_endpoint(websocket: WebSocket):
@@ -77,23 +73,21 @@ async def websocket_endpoint(websocket: WebSocket):
 async def startup_event():
     """
     On startup, get the current asyncio event loop and pass it to the websocket manager.
-    ROS2相关功能已注释，项目已与ROS2解耦。
+    Also, start the ROS2 node in a background thread.
     """
     # Configure WebSocket Manager
     loop = asyncio.get_running_loop()
     websocket_manager.set_loop(loop)
     logging.info("WebSocket event loop configured.")
 
-    # ROS2相关代码已注释
     # Start ROS2 node in a background thread
-    # ros2_thread = threading.Thread(target=run_ros2_node, daemon=True)
-    # ros2_thread.start()
-    # logging.info("ROS2 node thread started.")
+    ros2_thread = threading.Thread(target=run_ros2_node, daemon=True)
+    ros2_thread.start()
+    logging.info("ROS2 node thread started.")
 
 @app.on_event("shutdown")
 async def shutdown_event():
     logging.info("Backend service shutting down.")
-    # ROS2相关代码已注释
-    # ros2_client.destroy_node()
-    # rclpy.shutdown()
-    # logging.info("ROS2 node shut down successfully.")
+    ros2_client.destroy_node()
+    rclpy.shutdown()
+    logging.info("ROS2 node shut down successfully.")

backend_service/src/prompts/system_prompt.txt

@@ -1,23 +1,26 @@
-任务：根据用户任意任务指令，生成结构化可执行的无人机行为树（Pytree）JSON。**仅输出单一JSON对象，无任何自然语言、注释或额外内容**。
+任务：根据用户任意任务指令，生成结构化可执行的无人机行为树（Pytree）JSON。**仅输出单一JSON对象，无任何自然语言、注释或额外内容**，需严格适配后端节点解析与Schema验证逻辑。
 
-## 一、核心节点定义（格式不可修改，确保后端解析）
-#### 1. 可用节点定义 (必须遵守)
-你必须严格从以下JSON定义的列表中选择节点构建行为树，不允许使用未定义节点：
+
+## 一、核心规则：确保后端能解析允许的节点（必严格遵守）
+后端会从提示词中解析允许的节点列表，以下节点定义部分**格式不可修改**，否则会导致解析失败（进而触发节点非法错误）。
+
+#### 2. 可用节点定义 (必须遵守)
+你必须严格从以下JSON定义的列表中选择节点来构建行为树。不允许使用任何未定义的节点（如"lock_target"等）。
 ```json
 {
   "actions": [
-    {"name":"takeoff","params":{"altitude":"float[1,100]，默认2"}},
-    {"name":"land","params":{"mode":"'current'/'home'"}},
+    {"name":"takeoff","params":{"altitude":"float, 范围[1,100]，默认2"}},
+    {"name":"land","params":{"mode":"string, 'current'/'home'"}},
     {"name":"fly_to_waypoint","params":{"x":"±10000","y":"±10000","z":"[1,5000]","acceptance_radius":"默认2.0"}},
     {"name":"move_direction","params":{"direction":"north/south/east/west/forward/backward/left/right","distance":"[1,10000]，缺省持续移动"}},
     {"name":"orbit_around_point","params":{"center_x":"±10000","center_y":"±10000","center_z":"[1,5000]","radius":"[5,1000]","laps":"[1,20]","clockwise":"默认true","speed_mps":"[0.5,15]","gimbal_lock":"默认true"}},
-    {"name":"orbit_around_target","params":{"target_class":"见object_detect列表","description":"可选，目标属性","radius":"[5,1000]","laps":"[1,20]","clockwise":"默认true","speed_mps":"[0.5,15]","gimbal_lock":"默认true"}},
+    {"name":"orbit_around_target","params":{"target_class":"见object_detect列表","description":"可选","radius":"[5,1000]","laps":"[1,20]","clockwise":"默认true","speed_mps":"[0.5,15]","gimbal_lock":"默认true"}},
     {"name":"loiter","params":{"duration":"[1,600]秒/until_condition:可选"}},
-    {"name":"object_detect","params":{"target_class":"person,bicycle,car,motorcycle,airplane,bus,train,truck,boat,traffic_light,fire_hydrant,stop_sign,parking_meter,bench,bird,cat,dog,horse,sheep,cow,elephant,bear,zebra,giraffe,backpack,umbrella,handbag,tie,suitcase,frisbee,skis,snowboard,sports_ball,kite,baseball_bat,baseball_glove,skateboard,surfboard,tennis_racket,bottle,wine_glass,cup,fork,knife,spoon,bowl,banana,apple,sandwich,orange,broccoli,carrot,hot_dog,pizza,donut,cake,chair,couch,potted_plant,bed,dining_table,toilet,tv,laptop,mouse,remote,keyboard,cell_phone,microwave,oven,toaster,sink,refrigerator,book,clock,vase,scissors,teddy_bear,hair_drier,toothbrush","description":"可选，","count":"默认1"}},
+    {"name":"object_detect","params":{"target_class":"person,bicycle,car,motorcycle,airplane,bus,train,truck,boat,traffic_light,fire_hydrant,stop_sign,parking_meter,bench,bird,cat,dog,horse,sheep,cow,elephant,bear,zebra,giraffe,backpack,umbrella,handbag,tie,suitcase,frisbee,skis,snowboard,sports_ball,kite,baseball_bat,baseball_glove,skateboard,surfboard,tennis_racket,bottle,wine_glass,cup,fork,knife,spoon,bowl,banana,apple,sandwich,orange,broccoli,carrot,hot_dog,pizza,donut,cake,chair,couch,potted_plant,bed,dining_table,toilet,tv,laptop,mouse,remote,keyboard,cell_phone,microwave,oven,toaster,sink,refrigerator,book,clock,vase,scissors,teddy_bear,hair_drier,toothbrush","description":"可选，目标属性（如'穿黑色衣服'）","count":"默认1"}},
     {"name":"strike_target","params":{"target_class":"同object_detect","description":"可选，目标属性","count":"默认1"}},
     {"name":"battle_damage_assessment","params":{"target_class":"同object_detect","assessment_time":"[5,60]，默认15"}},
-    {"name":"search_pattern","params":{"pattern_type":"spiral/grid","center_x":"±10000","center_y":"±10000","center_z":"[1,5000]","radius":"[5,1000]","target_class":"同object_detect","description":"可选，目标属性","count":"默认1"}},
-    {"name":"track_object","params":{"target_class":"同object_detect","description":"可选，目标属性","track_time":"[1,600]秒（必传，不可用'duration'）","min_confidence":"[0.5,1.0]默认0.7","safe_distance":"[2,50]默认10"}},
+    {"name":"search_pattern","params":{"pattern_type":"spiral/grid","center_x":"±10000","center_y":"±10000","center_z":"[1,5000]","radius":"[5,1000]","target_class":"同object_detect","description":"可选","count":"默认1"}},
+    {"name":"track_object","params":{"target_class":"同object_detect","description":"可选","track_time":"[1,600]秒（必传，不可用'duration'）","min_confidence":"[0.5,1.0]默认0.7","safe_distance":"[2,50]默认10"}},
     {"name":"deliver_payload","params":{"payload_type":"string","release_altitude":"[2,100]默认5"}},
     {"name":"preflight_checks","params":{"check_level":"basic/comprehensive"}},
     {"name":"emergency_return","params":{"reason":"string"}}
@@ -25,31 +28,33 @@
   "conditions": [
     {"name":"battery_above","params":{"threshold":"[0.0,1.0]，必传"}},
     {"name":"at_waypoint","params":{"x":"±10000","y":"±10000","z":"[1,5000]","tolerance":"默认3.0"}},
-    {"name":"object_detected","params":{"target_class":"同object_detect（必传）","description":"可选，目标属性","count":"默认1"}},
-    {"name":"target_destroyed","params":{"target_class":"同object_detect","description":"可选，目标属性","confidence":"[0.5,1.0]默认0.8"}},
+    {"name":"object_detected","params":{"target_class":"同object_detect（必传）","description":"可选","count":"默认1"}},
+    {"name":"target_destroyed","params":{"target_class":"同object_detect","description":"可选","confidence":"[0.5,1.0]默认0.8"}},
     {"name":"time_elapsed","params":{"duration":"[1,2700]秒"}},
-    {"name":"gps_status","params":{"min_satellites":"int[6,15]，必传（如8）"}}
+    {"name":"gps_status","params":{"min_satellites":"int, 范围[6,15]，必传（如8）"}}
   ],
   "control_flow": [
     {"name":"Sequence","params":{},"children":"子节点数组（按序执行，全成功则成功）"},
     {"name":"Selector","params":{"memory":"默认true"},"children":"子节点数组（执行到成功为止）"},
-    {"name":"Parallel","params":{"policy":"all_success"},"children":"子节点数组（同时执行，严禁用'one_success'）"}
+    {"name":"Parallel","params":{"policy":"all_success/one_success"},"children":"子节点数组（同时执行）"}
   ]
 }
 ```
 
 
 ## 二、节点必填字段（后端Schema强制要求，缺一验证失败）
-每个节点必须包含以下字段，字段名/类型不可自定义：
-1. **`type`**：  
-   - 动作节点→`"action"`，条件节点→`"condition"`，控制流节点→`"Sequence"`/`"Selector"`/`"Parallel"`（与`name`字段值完全一致）；
-2. **`name`**：必须是上述JSON中`actions`/`conditions`/`control_flow`下的`name`值（如“gps_status”不可错写为“gps_check”）；
-3. **`params`**：严格匹配上述节点的`params`定义，无自定义参数（如优先级排序不可加“priority”字段，仅用`description`）；
-4. **`children`**：仅控制流节点必含（子节点数组），动作/条件节点无此字段。
+每个节点必须包含以下字段，字段名不可自定义：
+1. **`type`**：节点类型（严格匹配）  
+   - 动作节点：`"action"`  
+   - 条件节点：`"condition"`  
+   - 控制流节点：`"Sequence"`/`"Selector"`/`"Parallel"`（与`name`字段值完全一致）  
+2. **`name`**：节点名称（必须是上述JSON中`actions`/`conditions`/`control_flow`下的`name`值，如"gps_status"而非其他）  
+3. **`params`**：参数对象（严格匹配上述JSON中对应节点的`params`定义，不可加自定义参数，如`object_detected`不可加"color"，需用"description"）  
+4. **`children`**：子节点数组（仅控制流节点必含，动作/条件节点无此字段）  
 
 
-## 三、行为树固定结构（通用不变，确保安全验证）
-根节点必须是`Parallel`，`children`含`MainTask`（Sequence）和`SafetyMonitor`（Selector），结构不随任务类型（含优先级排序）修改：
+## 三、根节点与安全监控固定结构（后端安全验证必含）
+根节点必须是`Parallel`，且`children`包含`MainTask`（Sequence）和`SafetyMonitor`（Selector），结构不可修改：
 ```json
 {
   "root": {
@@ -62,14 +67,15 @@
         "name": "MainTask",
         "params": {},
         "children": [
-          // 通用主任务步骤（含优先级排序任务示例，需按用户指令替换）：
+          // 主任务步骤：按用户指令分解（如preflight_checks→takeoff→fly_to_waypoint→...→land）
+          // 示例步骤（需替换为用户任务）：
           {"type":"action","name":"preflight_checks","params":{"check_level":"comprehensive"}},
-          {"type":"action","name":"takeoff","params":{"altitude":10.0}},
-          {"type":"action","name":"fly_to_waypoint","params":{"x":200.0,"y":150.0,"z":10.0}}, // 搜索区坐标（用户未给时填合理值）
-          {"type":"action","name":"search_pattern","params":{"pattern_type":"grid","center_x":200.0,"center_y":150.0,"center_z":10.0,"radius":50.0,"target_class":"balloon","description":"红色"}},
-          {"type":"condition","name":"object_detected","params":{"target_class":"balloon","description":"红色"}}, // 确认高优先级目标
-          {"type":"action","name":"track_object","params":{"target_class":"balloon","description":"红色","track_time":30.0}},
-          {"type":"action","name":"strike_target","params":{"target_class":"balloon","description":"红色"}},
+          {"type":"action","name":"takeoff","params":{"altitude":2.0}},
+          {"type":"action","name":"fly_to_waypoint","params":{"x":100.0,"y":80.0,"z":10.0}},
+          {"type":"action","name":"object_detect","params":{"target_class":"person","description":"穿黑色衣服"}},
+          {"type":"condition","name":"object_detected","params":{"target_class":"person","description":"穿黑色衣服"}},
+          {"type":"action","name":"track_object","params":{"target_class":"person","description":"穿黑色衣服","track_time":30.0}},
+          {"type":"action","name":"strike_target","params":{"target_class":"person","description":"穿黑色衣服"}},
           {"type":"action","name":"land","params":{"mode":"home"}}
         ]
       },
@@ -78,6 +84,7 @@
         "name": "SafetyMonitor",
         "params": {"memory": true},
         "children": [
+          // 必含：电池监控（battery_above）、GPS监控（gps_status）、紧急处理（EmergencyHandler）
           {"type":"condition","name":"battery_above","params":{"threshold":0.3}},
           {"type":"condition","name":"gps_status","params":{"min_satellites":8}},
           {
@@ -97,21 +104,15 @@
 ```
 
 
-## 四、优先级排序任务通用示例
-当用户指令中明确提出有多个待考察且具有优先级关系的物体时，节点描述须为优先级关系。比如当指令为已知有三个气球，危险级关系为红色气球大于蓝色气球大于绿色气球，要求优先跟踪最危险的气球时，节点的描述参考下表情形。
-| 用户指令场景                | `target_class`  | `description`          | 核心节点示例（search_pattern）                                                                 |
-|-----------------------------|-----------------|-------------------------|------------------------------------------------------------------------------------------------|
-| 红气球＞蓝气球＞绿气球      | `balloon`    | `（红＞蓝＞绿）`        | `{"type":"action","name":"search_pattern","params":{"pattern_type":"grid","center_x":200,"center_y":150,"center_z":10,"radius":50,"target_class":"balloon","description":"（红＞蓝＞绿）"}}` |
-| 军用卡车＞民用卡车＞面包车  | `truck`         | `（军用卡车＞民用卡车＞面包车）` | `{"type":"action","name":"object_detect","params":{"target_class":"truck","description":"（军用卡车＞民用卡车＞面包车）"}}` |
+## 四、高频错误规避（后端验证常失败点）
+1. **禁止自定义节点**：如"lock_target"是未定义节点，必须删除，用"object_detect"+"object_detected"替代锁定逻辑。  
+2. **参数名严格匹配**：  
+   - `track_object`用`track_time`（不可用`duration`）；  
+   - `object_detected`描述目标属性用`description`（不可用`color`/`target`等）；  
+   - `gps_status`必传`min_satellites`（范围6-15，如8）。  
+3. **条件节点`object_detected`必含`target_class`**：值必须是上述JSON中`object_detect`的`target_class`列表中的值（如"person"）。  
+4. **控制流节点`name`与`type`一致**：如`type:"Sequence"`则`name:"Sequence"`，不可自定义`name`。
 
 
-## 五、高频错误规避（确保验证通过）
-1. 优先级排序不可修改`target_class`：如“民用卡车、面包车与军用卡车中，军用卡车优先”，`target_class`仍为`truck`，仅用`description`填排序规则；
-2. 在没有明确指出物体之间的优先级关系情况下，`description`字段只描述物体属性本身，严禁与用户指令中不存在的物体进行排序；
-3. `track_object`必传`track_time`：不可用`duration`替代（如跟踪30秒填`"track_time":30.0`）；
-4. `gps_status`的`min_satellites`必须在6-15之间（如8，不可缺省）；
-5. 无自定义节点：“锁定高优先级目标”需通过`object_detect`+`object_detected`实现，不可用“lock_high_risk_target”。
-
-
-## 六、输出要求
-仅输出1个严格符合上述所有规则的JSON对象，**确保：1. 优先级排序逻辑正确填入`description`；2. `target_class`匹配预定义列表；3. 行为树结构不变；4. 后端解析与Schema验证无错误**，无任何冗余内容。
+## 五、输出要求
+仅输出1个严格符合上述所有规则的JSON对象，**确保后端能解析到所有节点（尤其是conditions中的gps_status），且无任何冗余内容**。

backend_service/src/py_tree_generator.py

@@ -201,7 +201,7 @@ def _generate_pytree_schema(allowed_actions: set, allowed_conditions: set) -> di
         "sandwich", "orange", "broccoli", "carrot", "hot_dog", "pizza", "donut", "cake", "chair",
         "couch", "potted_plant", "bed", "dining_table", "toilet", "tv", "laptop", "mouse", "remote",
         "keyboard", "cell_phone", "microwave", "oven", "toaster", "sink", "refrigerator", "book",
-        "clock", "vase", "scissors", "teddy_bear", "hair_drier", "toothbrush","balloon"
+        "clock", "vase", "scissors", "teddy_bear", "hair_drier", "toothbrush"
     ]
     
     # 递归节点定义
@@ -337,28 +337,35 @@ def _generate_pytree_schema(allowed_actions: set, allowed_conditions: set) -> di
 
 def _generate_simple_mode_schema(allowed_actions: set) -> dict:
     """
-    生成简单模式JSON Schema：{"mode":"simple","action":{...}}
+    生成简单模式JSON Schema：{"root":{"type":"action","name":"<action_name>","params":{...}}}
     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。
     """
+    # 使用复杂模式Schema中的node定义，但限制root节点必须是action类型
+    node_definition = {
+        "type": "object",
+        "properties": {
+            "type": {"type": "string", "const": "action"},
+            "name": {"type": "string", "enum": sorted(list(allowed_actions))},
+            "params": {"type": "object"}
+        },
+        "required": ["type", "name"],
+        "additionalProperties": False
+    }
+    
     schema = {
         "$schema": "http://json-schema.org/draft-07/schema#",
         "title": "SimpleMode",
+        "definitions": {
+            "node": node_definition
+        },
         "type": "object",
         "properties": {
-            "mode": {"type": "string", "const": "simple"},
-            "action": {
-                "type": "object",
-                "properties": {
-                    "name": {"type": "string", "enum": sorted(list(allowed_actions))},
-                    "params": {"type": "object"}
-                },
-                "required": ["name"],
-                "additionalProperties": True
-            }
+            "root": { "$ref": "#/definitions/node" }
         },
-        "required": ["mode", "action"],
+        "required": ["root"],
         "additionalProperties": False
     }
+    
     return schema
 
 def _validate_pytree_with_schema(pytree_instance: dict, schema: dict) -> bool:
@@ -548,16 +555,6 @@ class PyTreeGenerator:
         # Updated output directory for visualizations
         self.vis_dir = os.path.abspath(os.path.join(self.base_dir, '..', 'generated_visualizations'))
         os.makedirs(self.vis_dir, exist_ok=True)
-        # Reasoning content output directory (Markdown files)
-        self.reasoning_dir = os.path.abspath(os.path.join(self.base_dir, '..', 'generated_reasoning_content'))
-        os.makedirs(self.reasoning_dir, exist_ok=True)
-        # 控制是否允许模型返回含 <think> 的原文（不强制JSON），以便提取推理链
-        self.enable_reasoning_capture = os.getenv("ENABLE_REASONING_CAPTURE", "true").lower() in ("1", "true", "yes")
-        # 终端预览的最大行数
-        try:
-            self.reasoning_preview_lines = int(os.getenv("REASONING_PREVIEW_LINES", "20"))
-        except Exception:
-            self.reasoning_preview_lines = 20
         # 加载提示词：复杂模式复用现有 system_prompt.txt；简单模式与分类器独立提示词
         self.complex_prompt = self._load_prompt("system_prompt.txt")
         self.simple_prompt = self._load_prompt("simple_mode_prompt.txt")
@@ -574,10 +571,6 @@ class PyTreeGenerator:
         self.simple_base_url = os.getenv("SIMPLE_BASE_URL", f"http://{self.orin_ip}:8081/v1")
         self.complex_base_url = os.getenv("COMPLEX_BASE_URL", f"http://{self.orin_ip}:8081/v1")
         self.api_key = os.getenv("OPENAI_API_KEY", "sk-no-key-required")
-        # 直接在代码中指定最大输出token数（不通过环境变量）
-        self.classifier_max_tokens = 512
-        self.simple_max_tokens = 8192
-        self.complex_max_tokens = 8192
         
         # 为不同用途分别创建客户端
         self.classifier_client = openai.OpenAI(api_key=self.api_key, base_url=self.classifier_base_url)
@@ -619,8 +612,6 @@ class PyTreeGenerator:
                 return None
             context_str = "\n\n".join(retrieved_docs)
             logging.info("--- 成功检索到上下文信息 ---")
-            # 打印检索到的上下文内容
-            logging.info(f"📚 检索到的上下文内容:\n{context_str}")
             return context_str
         except Exception as e:
             logging.error(f"从向量数据库检索时发生错误: {e}")
@@ -642,11 +633,7 @@ class PyTreeGenerator:
                     {"role": "user", "content": user_prompt}
                 ],
                 temperature=0.0,
-                response_format={"type": "json_object"},  # 强制JSON输出，禁用思考功能
-                max_tokens=self.classifier_max_tokens,
-                # 禁用 Qwen3 模型的思考功能（通过 extra_body 传递）
-                # 注意：如果 API 服务器不支持此参数，会忽略
-                extra_body={"chat_template_kwargs": {"enable_thinking": False}}
+                response_format={"type": "json_object"}
             )
             class_str = classifier_resp.choices[0].message.content
             class_obj = json.loads(class_str)
@@ -675,102 +662,27 @@ class PyTreeGenerator:
             final_user_prompt += augmentation
         else:
             logging.warning("未检索到上下文或检索失败，将使用原始用户提示词。")
-        
-        # 构建完整的 final_prompt（准确反映实际发送给大模型的内容结构）
-        # 注意：RAG检索结果被添加到 user prompt 中，而不是 system prompt
-        # System Prompt: use_prompt（不包含RAG结果）
-        # User Prompt: final_user_prompt（包含原始user_prompt + RAG检索结果）
-        final_prompt = f"=== System Prompt ===\n{use_prompt}\n\n=== User Prompt ===\n{final_user_prompt}"
         for attempt in range(3):
             logging.info(f"--- 第 {attempt + 1}/3 次尝试生成Pytree ---")
             try:
                 # 简单/复杂分流到不同模型与提示词
                 client = self.simple_llm_client if mode == "simple" else self.complex_llm_client
                 model_name = self.simple_model if mode == "simple" else self.complex_model
-                # 始终强制JSON响应并禁用思考功能
-                response_kwargs = {
-                    "model": model_name,
-                    "messages": [
+                response = client.chat.completions.create(
+                    model=model_name,
+                    messages=[
                         {"role": "system", "content": use_prompt},
                         {"role": "user", "content": final_user_prompt}
                     ],
-                    "temperature": 0.1 if mode == "complex" else 0.0,
-                    "response_format": {"type": "json_object"},  # 始终强制JSON输出，禁用思考功能
-                    # 禁用 Qwen3 模型的思考功能（通过 extra_body 传递）
-                    # 注意：如果 API 服务器不支持此参数，会忽略
-                    "extra_body": {"chat_template_kwargs": {"enable_thinking": False}}
-                }
-                # 基于模式设定最大输出token数（直接在代码中配置）
-                response_kwargs["max_tokens"] = self.simple_max_tokens if mode == "simple" else self.complex_max_tokens
-                response = client.chat.completions.create(**response_kwargs)
-                # 兼容可能存在的 reasoning_content 字段
-                try:
-                    msg = response.choices[0].message
-                    msg_content = getattr(msg, "content", None)
-                    msg_reasoning = getattr(msg, "reasoning_content", None)
-                except Exception:
-                    msg = response.choices[0]["message"] if isinstance(response.choices[0], dict) else None
-                    msg_content = (msg or {}).get("content") if isinstance(msg, dict) else None
-                    msg_reasoning = (msg or {}).get("reasoning_content") if isinstance(msg, dict) else None
-
-                combined_text = ""
-                if isinstance(msg_reasoning, str) and msg_reasoning.strip():
-                    # 将 reasoning_content 包装为 <think>，便于统一解析
-                    combined_text += f"<think>\n{msg_reasoning}\n</think>\n"
-                if isinstance(msg_content, str) and msg_content.strip():
-                    combined_text += msg_content
-                pytree_str = combined_text if combined_text else (msg_content or "")
-                raw_full_text_for_logging = pytree_str  # 保存完整原文（含 <think>）以便失败时完整打印
-
-                # 提取 <think> 推理链内容（若存在）
-                reasoning_text = None
-                try:
-                    think_match = re.search(r"<think>([\s\S]*?)</think>", pytree_str)
-                    if think_match:
-                        reasoning_text = think_match.group(1).strip()
-                        # 去除推理文本后再尝试解析JSON
-                        pytree_str = re.sub(r"<think>[\s\S]*?</think>", "", pytree_str).strip()
-                except Exception:
-                    reasoning_text = None
+                    temperature=0.1 if mode == "complex" else 0.0,
+                    response_format={"type": "json_object"}
+                )
+                pytree_str = response.choices[0].message.content
                 # 单独捕获JSON解析错误并打印原始响应
                 try:
                     pytree_dict = json.loads(pytree_str)
                 except json.JSONDecodeError as e:
-                    logging.error(f"❌ JSON解析失败（第 {attempt + 1}/3 次）。\n—— 完整原始文本(含<think>) ——\n{raw_full_text_for_logging}")
-                    # 尝试打印响应对象的完整结构
-                    try:
-                        raw_response_dump = None
-                        if hasattr(response, 'model_dump_json'):
-                            raw_response_dump = response.model_dump_json(indent=2, exclude_none=False)
-                        elif hasattr(response, 'dict'):
-                            raw_response_dump = json.dumps(response.dict(), ensure_ascii=False, indent=2, default=str)
-                        else:
-                            # 兜底：尝试将choices与关键字段展开
-                            safe_obj = {
-                                "id": getattr(response, 'id', None),
-                                "model": getattr(response, 'model', None),
-                                "object": getattr(response, 'object', None),
-                                "usage": getattr(response, 'usage', None),
-                                "choices": [
-                                    {
-                                        "index": getattr(c, 'index', None),
-                                        "finish_reason": getattr(c, 'finish_reason', None),
-                                        "message": {
-                                            "role": getattr(getattr(c, 'message', None), 'role', None),
-                                            "content": getattr(getattr(c, 'message', None), 'content', None),
-                                            "reasoning_content": getattr(getattr(c, 'message', None), 'reasoning_content', None)
-                                        } if getattr(c, 'message', None) is not None else None
-                                    }
-                                    for c in getattr(response, 'choices', [])
-                                ] if hasattr(response, 'choices') else None
-                            }
-                            raw_response_dump = json.dumps(safe_obj, ensure_ascii=False, indent=2, default=str)
-                        logging.error(f"—— 完整响应对象 ——\n{raw_response_dump}")
-                    except Exception as dump_e:
-                        try:
-                            logging.error(f"响应对象转储失败，repr如下：\n{repr(response)}")
-                        except Exception:
-                            pass
+                    logging.error(f"❌ JSON解析失败（第 {attempt + 1}/3 次）。原始响应如下：\n{pytree_str}")
                     continue
 
                 # 简单/复杂分别验证与返回
@@ -784,40 +696,14 @@ class PyTreeGenerator:
                     # 附加元信息并生成简单可视化（单动作）
                     plan_id = str(uuid.uuid4())
                     pytree_dict['plan_id'] = plan_id
-                    # 简单模式可视化：构造一个简化节点图
+                    # 简单模式可视化：直接使用root节点
                     try:
                         vis_filename = "py_tree.png"
                         vis_path = os.path.join(self.vis_dir, vis_filename)
-                        simple_node = {
-                            "type": "action",
-                            "name": pytree_dict.get('action', {}).get('name', 'action'),
-                            "params": pytree_dict.get('action', {}).get('params', {})
-                        }
-                        _visualize_pytree(simple_node, os.path.splitext(vis_path)[0])
+                        _visualize_pytree(pytree_dict['root'], os.path.splitext(vis_path)[0])
                         pytree_dict['visualization_url'] = f"/static/{vis_filename}"
                     except Exception as e:
                         logging.warning(f"简单模式可视化失败: {e}")
-
-                    # 保存推理链（若有）
-                    try:
-                        if reasoning_text:
-                            reasoning_path = os.path.join(self.reasoning_dir, "reasoning_content.md")
-                            with open(reasoning_path, 'w', encoding='utf-8') as rf:
-                                rf.write(reasoning_text)
-                            logging.info(f"📝 推理链已保存: {reasoning_path}")
-                            # 终端预览（最多N行）
-                            try:
-                                lines = reasoning_text.splitlines()
-                                preview = "\n".join(lines[: self.reasoning_preview_lines])
-                                logging.info("🧠 推理链预览(前%d行)：\n%s", self.reasoning_preview_lines, preview)
-                            except Exception:
-                                pass
-                        else:
-                            logging.info("未在模型输出中发现 <think> 推理链片段。若需捕获，请设置 ENABLE_REASONING_CAPTURE=true 以放宽JSON强制格式。")
-                    except Exception as e:
-                        logging.warning(f"保存推理链Markdown失败: {e}")
-                    # 添加 final_prompt 到返回结果
-                    pytree_dict['final_prompt'] = final_prompt
                     return pytree_dict
 
                 # 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
@@ -870,27 +756,6 @@ class PyTreeGenerator:
                     vis_path = os.path.join(self.vis_dir, vis_filename)
                     _visualize_pytree(pytree_dict['root'], os.path.splitext(vis_path)[0])
                     pytree_dict['visualization_url'] = f"/static/{vis_filename}"
-
-                    # 保存推理链（若有）
-                    try:
-                        if reasoning_text:
-                            reasoning_path = os.path.join(self.reasoning_dir, "reasoning_content.md")
-                            with open(reasoning_path, 'w', encoding='utf-8') as rf:
-                                rf.write(reasoning_text)
-                            logging.info(f"📝 推理链已保存: {reasoning_path}")
-                            # 终端预览（最多N行）
-                            try:
-                                lines = reasoning_text.splitlines()
-                                preview = "\n".join(lines[: self.reasoning_preview_lines])
-                                logging.info("🧠 推理链预览(前%d行)：\n%s", self.reasoning_preview_lines, preview)
-                            except Exception:
-                                pass
-                        else:
-                            logging.info("未在模型输出中发现 <think> 推理链片段。若需捕获，请设置 ENABLE_REASONING_CAPTURE=true 以放宽JSON强制格式。")
-                    except Exception as e:
-                        logging.warning(f"保存推理链Markdown失败: {e}")
-                    # 添加 final_prompt 到返回结果
-                    pytree_dict['final_prompt'] = final_prompt
                     return pytree_dict
                 else:
                     # 打印未通过验证的Pytree以便排查

backend_service/src/ros2_client.py

@@ -0,0 +1,67 @@
+import rclpy
+from rclpy.action import ActionClient
+from rclpy.node import Node
+import json
+from typing import Dict, Any
+import logging
+
+from drone_interfaces.action import ExecuteMission
+from .websocket_manager import websocket_manager
+
+class MissionActionClient(Node):
+    """
+    Interfaces with the drone's `ExecuteMission` ROS2 Action Server.
+    """
+    def __init__(self):
+        super().__init__('mission_action_client')
+        self._action_client = ActionClient(self, ExecuteMission, 'execute_mission')
+        self.get_logger().info("MissionActionClient initialized.")
+
+    def send_goal(self, py_tree: Dict[str, Any]):
+        """
+        Sends the mission (py_tree) to the action server.
+        """
+        if not self._action_client.server_is_ready():
+            self.get_logger().error("Action server not available, goal not sent.")
+            # Optionally, you could broadcast a status update to the frontend here
+            return
+
+        self.get_logger().info("Received request to send goal to drone.")
+        goal_msg = ExecuteMission.Goal()
+        goal_msg.py_tree_json = json.dumps(py_tree)
+
+        self.get_logger().info(f"Sending goal to action server...")
+        send_goal_future = self._action_client.send_goal_async(
+            goal_msg,
+            feedback_callback=self.feedback_callback
+        )
+
+        send_goal_future.add_done_callback(self.goal_response_callback)
+
+    def goal_response_callback(self, future):
+        goal_handle = future.result()
+        if not goal_handle.accepted:
+            self.get_logger().info('Goal rejected :(')
+            return
+
+        self.get_logger().info('Goal accepted :)')
+
+        self._get_result_future = goal_handle.get_result_async()
+        self._get_result_future.add_done_callback(self.get_result_callback)
+
+    def get_result_callback(self, future):
+        result = future.result().result
+        self.get_logger().info(f'Result: {{success: {result.success}, message: {result.message}}}')
+        # Optionally, you can broadcast the final result via WebSocket here
+
+    def feedback_callback(self, feedback_msg):
+        """
+        This callback is triggered by the action server.
+        It forwards the status to the QGC plugin via the WebSocket manager in a thread-safe manner.
+        """
+        feedback = feedback_msg.feedback
+        feedback_payload = json.dumps({"node_id": feedback.node_id, "status": feedback.status})
+        self.get_logger().info(f"Received feedback: {feedback_payload}")
+        websocket_manager.broadcast(feedback_payload)
+
+# Note: The rclpy.init() and spinning of the node will be handled in main.py

backend_service/src/websocket_manager.py

@@ -22,8 +22,7 @@ class ConnectionManager:
     def broadcast(self, message: str):
         """
         Thread-safely broadcasts a message to all active WebSocket connections.
-        This method is designed to be called from a different thread.
-        (Note: ROS2 callback support has been removed as the project is decoupled from ROS2)
+        This method is designed to be called from a different thread (e.g., a ROS2 callback).
         """
         if not self.loop:
             logging.error("Event loop not set in ConnectionManager. Cannot broadcast.")

start_all.sh

@@ -1,406 +0,0 @@
-#!/bin/bash
-
-# ==============================================================================
-# 无人机自然语言控制项目 - 一键启动脚本
-# ==============================================================================
-# 功能：启动所有必需的服务（llama-server推理模型、embedding模型、FastAPI后端）
-# 用法：./start_all.sh [选项]
-# ==============================================================================
-
-set -e  # 遇到错误立即退出
-
-# 颜色定义
-RED='\033[0;31m'
-GREEN='\033[0;32m'
-YELLOW='\033[1;33m'
-BLUE='\033[0;34m'
-NC='\033[0m' # No Color
-
-# 默认配置（可通过环境变量覆盖）
-PROJECT_ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
-LLAMA_SERVER_DIR="${LLAMA_SERVER_DIR:-~/llama.cpp/build/bin}"
-INFERENCE_MODEL="${INFERENCE_MODEL:-~/models/gguf/Qwen/Qwen3-4B/Qwen3-4B-Q5_K_M.gguf}"
-EMBEDDING_MODEL="${EMBEDDING_MODEL:-~/models/gguf/Qwen/Qwen3-Embedding-4B/Qwen3-Embedding-4B-Q4_K_M.gguf}"
-VENV_PATH="${VENV_PATH:-${PROJECT_ROOT}/backend_service/venv}"
-LOG_DIR="${PROJECT_ROOT}/logs"
-PID_FILE="${LOG_DIR}/services.pid"
-
-# 端口配置
-INFERENCE_PORT=8081
-EMBEDDING_PORT=8090
-API_PORT=8000
-
-# 创建日志目录
-mkdir -p "${LOG_DIR}"
-
-# ==============================================================================
-# 辅助函数
-# ==============================================================================
-
-print_info() {
-    echo -e "${BLUE}[INFO]${NC} $1"
-}
-
-print_success() {
-    echo -e "${GREEN}[SUCCESS]${NC} $1"
-}
-
-print_warning() {
-    echo -e "${YELLOW}[WARNING]${NC} $1"
-}
-
-print_error() {
-    echo -e "${RED}[ERROR]${NC} $1"
-}
-
-# 检查命令是否存在
-check_command() {
-    if ! command -v "$1" &> /dev/null; then
-        print_error "$1 命令未找到，请先安装"
-        return 1
-    fi
-    return 0
-}
-
-# 检查端口是否被占用
-check_port() {
-    local port=$1
-    if lsof -Pi :${port} -sTCP:LISTEN -t >/dev/null 2>&1 ; then
-        return 0  # 端口被占用
-    else
-        return 1  # 端口空闲
-    fi
-}
-
-# 等待服务就绪
-wait_for_service() {
-    local url=$1
-    local service_name=$2
-    local max_attempts=30
-    local attempt=0
-    
-    print_info "等待 ${service_name} 启动..."
-    while [ $attempt -lt $max_attempts ]; do
-        if curl -s "${url}" > /dev/null 2>&1; then
-            print_success "${service_name} 已就绪"
-            return 0
-        fi
-        attempt=$((attempt + 1))
-        sleep 1
-    done
-    
-    print_error "${service_name} 启动超时"
-    return 1
-}
-
-# 停止所有服务
-stop_services() {
-    print_info "正在停止所有服务..."
-    
-    if [ -f "${PID_FILE}" ]; then
-        while read pid; do
-            if ps -p $pid > /dev/null 2>&1; then
-                print_info "停止进程 PID: $pid"
-                kill $pid 2>/dev/null || true
-            fi
-        done < "${PID_FILE}"
-        rm -f "${PID_FILE}"
-    fi
-    
-    # 尝试通过端口停止服务
-    for port in ${INFERENCE_PORT} ${EMBEDDING_PORT} ${API_PORT}; do
-        if check_port ${port}; then
-            local pid=$(lsof -ti:${port})
-            if [ ! -z "$pid" ]; then
-                print_info "停止占用端口 ${port} 的进程 (PID: $pid)"
-                kill $pid 2>/dev/null || true
-            fi
-        fi
-    done
-    
-    print_success "所有服务已停止"
-}
-
-# 清理函数（脚本退出时调用）
-cleanup() {
-    if [ "$?" -ne 0 ]; then
-        print_error "启动过程中发生错误，正在清理..."
-    fi
-    # 注意：这里不自动停止服务，让用户手动控制
-}
-
-trap cleanup EXIT
-
-# ==============================================================================
-# 主函数
-# ==============================================================================
-
-start_services() {
-    print_info "=========================================="
-    print_info "  无人机自然语言控制项目 - 服务启动"
-    print_info "=========================================="
-    echo ""
-    
-    # 检查必要的命令
-    print_info "检查必要的命令..."
-    check_command "python3" || exit 1
-    check_command "curl" || exit 1
-    check_command "lsof" || print_warning "lsof 未安装，将无法检查端口占用"
-    echo ""
-    
-    # 检查端口占用
-    print_info "检查端口占用..."
-    if check_port ${INFERENCE_PORT}; then
-        print_warning "端口 ${INFERENCE_PORT} 已被占用，推理模型可能已在运行"
-    fi
-    if check_port ${EMBEDDING_PORT}; then
-        print_warning "端口 ${EMBEDDING_PORT} 已被占用，Embedding模型可能已在运行"
-    fi
-    if check_port ${API_PORT}; then
-        print_error "端口 ${API_PORT} 已被占用，请先停止占用该端口的服务"
-        exit 1
-    fi
-    echo ""
-    
-    # 检查llama-server（展开路径中的 ~）
-    local llama_server_dir_expanded=$(eval echo "${LLAMA_SERVER_DIR}")
-    local llama_server="${llama_server_dir_expanded}/llama-server"
-    if [ ! -f "${llama_server}" ]; then
-        print_error "llama-server 未找到: ${llama_server}"
-        print_info "请设置 LLAMA_SERVER_DIR 环境变量指向正确的路径"
-        print_info "当前路径: ${LLAMA_SERVER_DIR}"
-        print_info "展开后路径: ${llama_server_dir_expanded}"
-        exit 1
-    fi
-    print_success "找到 llama-server: ${llama_server}"
-    echo ""
-    
-    # 检查模型文件
-    local inference_model_expanded=$(eval echo "${INFERENCE_MODEL}")
-    local embedding_model_expanded=$(eval echo "${EMBEDDING_MODEL}")
-    
-    if [ ! -f "${inference_model_expanded}" ]; then
-        print_error "推理模型文件未找到: ${inference_model_expanded}"
-        print_info "请设置 INFERENCE_MODEL 环境变量指向正确的模型路径"
-        exit 1
-    fi
-    print_success "找到推理模型: ${inference_model_expanded}"
-    
-    if [ ! -f "${embedding_model_expanded}" ]; then
-        print_error "Embedding模型文件未找到: ${embedding_model_expanded}"
-        print_info "请设置 EMBEDDING_MODEL 环境变量指向正确的模型路径"
-        exit 1
-    fi
-    print_success "找到Embedding模型: ${embedding_model_expanded}"
-    echo ""
-    
-    # 检查ROS2环境
-    local ros2_setup="${PROJECT_ROOT}/install/setup.bash"
-    if [ ! -f "${ros2_setup}" ]; then
-        print_warning "ROS2 setup文件未找到: ${ros2_setup}"
-        print_warning "如果项目已与ROS2解耦，可以忽略此警告"
-    else
-        print_success "找到ROS2 setup文件: ${ros2_setup}"
-    fi
-    echo ""
-    
-    # 检查venv虚拟环境
-    local venv_path_expanded=$(eval echo "${VENV_PATH}")
-    print_info "检查venv虚拟环境: ${venv_path_expanded}"
-    if [ ! -d "${venv_path_expanded}" ]; then
-        print_error "venv虚拟环境目录不存在: ${venv_path_expanded}"
-        print_info "请先创建venv环境: python3 -m venv ${venv_path_expanded}"
-        print_info "然后安装依赖: ${venv_path_expanded}/bin/pip install -r backend_service/requirements.txt"
-        exit 1
-    fi
-    if [ ! -f "${venv_path_expanded}/bin/activate" ]; then
-        print_error "venv激活脚本不存在: ${venv_path_expanded}/bin/activate"
-        print_error "这看起来不是一个有效的venv环境"
-        exit 1
-    fi
-    print_success "venv虚拟环境存在: ${venv_path_expanded}"
-    echo ""
-    
-    # 初始化PID文件
-    > "${PID_FILE}"
-    
-    # ==========================================================================
-    # 启动推理模型服务
-    # ==========================================================================
-    print_info "启动推理模型服务 (端口 ${INFERENCE_PORT})..."
-    cd "${llama_server_dir_expanded}"
-    nohup ./llama-server \
-        -m "${inference_model_expanded}" \
-        --port ${INFERENCE_PORT} \
-        --gpu-layers 36 \
-        --host 0.0.0.0 \
-        -c 8192 \
-        > "${LOG_DIR}/inference_model.log" 2>&1 &
-    local inference_pid=$!
-    echo $inference_pid >> "${PID_FILE}"
-    print_success "推理模型服务已启动 (PID: $inference_pid)"
-    print_info "日志文件: ${LOG_DIR}/inference_model.log"
-    echo ""
-    
-    # ==========================================================================
-    # 启动Embedding模型服务
-    # ==========================================================================
-    print_info "启动Embedding模型服务 (端口 ${EMBEDDING_PORT})..."
-    nohup ./llama-server \
-        -m "${embedding_model_expanded}" \
-        --gpu-layers 36 \
-        --port ${EMBEDDING_PORT} \
-        --embeddings \
-        --pooling last \
-        --host 0.0.0.0 \
-        > "${LOG_DIR}/embedding_model.log" 2>&1 &
-    local embedding_pid=$!
-    echo $embedding_pid >> "${PID_FILE}"
-    print_success "Embedding模型服务已启动 (PID: $embedding_pid)"
-    print_info "日志文件: ${LOG_DIR}/embedding_model.log"
-    echo ""
-    
-    # ==========================================================================
-    # 等待模型服务就绪
-    # ==========================================================================
-    print_info "等待模型服务就绪..."
-    sleep 3  # 给服务一些启动时间
-    
-    # 等待推理模型服务
-    if ! wait_for_service "http://localhost:${INFERENCE_PORT}/health" "推理模型服务"; then
-        # 如果health端点不存在，尝试检查根路径
-        if ! wait_for_service "http://localhost:${INFERENCE_PORT}/v1/models" "推理模型服务"; then
-            print_warning "推理模型服务可能未完全就绪，但将继续启动"
-        fi
-    fi
-    
-    # 等待Embedding模型服务
-    if ! wait_for_service "http://localhost:${EMBEDDING_PORT}/health" "Embedding模型服务"; then
-        if ! wait_for_service "http://localhost:${EMBEDDING_PORT}/v1/models" "Embedding模型服务"; then
-            print_warning "Embedding模型服务可能未完全就绪，但将继续启动"
-        fi
-    fi
-    echo ""
-    
-    # ==========================================================================
-    # 启动FastAPI后端服务
-    # ==========================================================================
-    print_info "启动FastAPI后端服务 (端口 ${API_PORT})..."
-    cd "${PROJECT_ROOT}"
-    
-    # 激活venv虚拟环境并启动FastAPI服务
-    # 使用bash -c来在新的shell中激活venv环境
-    bash -c "
-        # 激活ROS2环境（如果存在）
-        if [ -f '${ros2_setup}' ]; then
-            source '${ros2_setup}'
-        fi
-        # 激活venv虚拟环境
-        source '${venv_path_expanded}/bin/activate' && \
-        cd '${PROJECT_ROOT}/backend_service' && \
-        uvicorn src.main:app --host 0.0.0.0 --port ${API_PORT}
-    " > "${LOG_DIR}/fastapi.log" 2>&1 &
-    local api_pid=$!
-    echo $api_pid >> "${PID_FILE}"
-    print_success "FastAPI服务已启动 (PID: $api_pid)"
-    print_info "日志文件: ${LOG_DIR}/fastapi.log"
-    echo ""
-    
-    # 等待FastAPI服务就绪
-    sleep 3
-    if wait_for_service "http://localhost:${API_PORT}/docs" "FastAPI服务"; then
-        print_success "所有服务已成功启动！"
-    else
-        print_warning "FastAPI服务可能未完全就绪，请检查日志: ${LOG_DIR}/fastapi.log"
-    fi
-    echo ""
-    
-    # 显示服务访问信息
-    print_info "=========================================="
-    print_info "  服务启动完成！"
-    print_info "=========================================="
-    print_info "推理模型API: http://localhost:${INFERENCE_PORT}/v1"
-    print_info "Embedding模型API: http://localhost:${EMBEDDING_PORT}/v1"
-    print_info "FastAPI后端: http://localhost:${API_PORT}"
-    print_info "API文档: http://localhost:${API_PORT}/docs"
-    print_info ""
-    print_info "日志文件位置:"
-    print_info "  - 推理模型: ${LOG_DIR}/inference_model.log"
-    print_info "  - Embedding模型: ${LOG_DIR}/embedding_model.log"
-    print_info "  - FastAPI服务: ${LOG_DIR}/fastapi.log"
-    print_info ""
-    print_info "按 Ctrl+C 停止所有服务"
-    print_info "=========================================="
-    echo ""
-    
-    # 设置信号处理，确保Ctrl+C时能清理
-    trap 'print_info "\n正在停止服务..."; stop_services; exit 0' INT TERM
-    
-    # 等待所有后台进程（保持脚本运行）
-    print_info "所有服务正在运行中，查看日志请使用:"
-    print_info "  tail -f ${LOG_DIR}/*.log"
-    echo ""
-    
-    # 等待所有后台进程
-    wait
-}
-
-# ==============================================================================
-# 脚本入口
-# ==============================================================================
-
-case "${1:-start}" in
-    start)
-        start_services
-        ;;
-    stop)
-        stop_services
-        ;;
-    restart)
-        stop_services
-        sleep 2
-        start_services
-        ;;
-    status)
-        print_info "检查服务状态..."
-        if [ -f "${PID_FILE}" ]; then
-            print_info "已记录的服务进程:"
-            while read pid; do
-                if ps -p $pid > /dev/null 2>&1; then
-                    print_success "PID $pid: 运行中"
-                else
-                    print_warning "PID $pid: 已停止"
-                fi
-            done < "${PID_FILE}"
-        else
-            print_info "未找到PID文件，服务可能未启动"
-        fi
-        echo ""
-        print_info "端口占用情况:"
-        for port in ${INFERENCE_PORT} ${EMBEDDING_PORT} ${API_PORT}; do
-            if check_port ${port}; then
-                local pid=$(lsof -ti:${port})
-                print_success "端口 ${port}: 被占用 (PID: $pid)"
-            else
-                print_warning "端口 ${port}: 空闲"
-            fi
-        done
-        ;;
-    *)
-        echo "用法: $0 {start|stop|restart|status}"
-        echo ""
-        echo "命令说明:"
-        echo "  start   - 启动所有服务（默认）"
-        echo "  stop    - 停止所有服务"
-        echo "  restart - 重启所有服务"
-        echo "  status  - 查看服务状态"
-        echo ""
-        echo "环境变量配置:"
-        echo "  LLAMA_SERVER_DIR  - llama-server所在目录 (默认: ~/llama.cpp/build/bin)"
-        echo "  INFERENCE_MODEL   - 推理模型路径 (默认: ~/models/gguf/Qwen/Qwen3-4B/Qwen3-4B-Q5_K_M.gguf)"
-        echo "  EMBEDDING_MODEL   - Embedding模型路径 (默认: ~/models/gguf/Qwen/Qwen3-Embedding-4B/Qwen3-Embedding-4B-Q4_K_M.gguf)"
-        echo "  VENV_PATH         - venv虚拟环境路径 (默认: \${PROJECT_ROOT}/backend_service/venv)"
-        exit 1
-        ;;
-esac
-

tools/knowledge_base/export_knowledge.ndjson

@@ -1,3 +1,5 @@
 {"text": "在地图上有一个名为 '跷跷板' 的地点或区域，它的leisure是'playground'，其中心位置坐标大约在 (x:15, y:-8.5, z:1.2)。"}
 {"text": "在地图上有一个名为 'A地' 的地点或区域，它的building是'commercial'，其中心位置坐标大约在 (x:10, y:-10, z:2)。"}
 {"text": "在地图上有一个名为 '学生宿舍' 的地点或区域，它的building是'dormitory'，其中心位置坐标大约在 (x:5, y:3, z:2)。"}
+{"text": "在地图上有一个名为 '作业区域' 的地点或区域，它的building是'commercial'，其中心位置坐标大约在 (x:13.0, y:0.0, z:1.5)。"}
+{"text": "在地图上有一个名为 '搜索区' 的地点或区域，它的building是'restaurant'，其中心位置坐标大约在 (x:8.0, y:0.0, z:1.5)。"}

tools/response.json

@@ -0,0 +1,149 @@
+{
+    "plan_id": "9f743b03-8ba7-4a06-9260-337463887fc2",
+    "root": {
+        "children": [
+            {
+                "children": [
+                    {
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        },
+                        "type": "action"
+                    },
+                    {
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2
+                        },
+                        "type": "action"
+                    },
+                    {
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "acceptance_radius": 2,
+                            "x": 5,
+                            "y": 3,
+                            "z": 2
+                        },
+                        "type": "action"
+                    },
+                    {
+                        "children": [
+                            {
+                                "children": [
+                                    {
+                                        "name": "loiter",
+                                        "params": {
+                                            "duration": 10
+                                        },
+                                        "type": "action"
+                                    },
+                                    {
+                                        "name": "object_detect",
+                                        "params": {
+                                            "count": 1,
+                                            "description": "学生",
+                                            "target_class": "person"
+                                        },
+                                        "type": "action"
+                                    }
+                                ],
+                                "name": "DirectDetectionSequence",
+                                "type": "Sequence"
+                            },
+                            {
+                                "name": "search_pattern",
+                                "params": {
+                                    "center_x": 5,
+                                    "center_y": 3,
+                                    "center_z": 2,
+                                    "count": 1,
+                                    "description": "学生",
+                                    "pattern_type": "spiral",
+                                    "radius": 50,
+                                    "target_class": "person"
+                                },
+                                "type": "action"
+                            }
+                        ],
+                        "name": "TargetAcquisitionSelector",
+                        "params": {
+                            "memory": true
+                        },
+                        "type": "Selector"
+                    },
+                    {
+                        "name": "track_object",
+                        "params": {
+                            "description": "学生",
+                            "min_confidence": 0.7,
+                            "safe_distance": 10,
+                            "target_class": "person",
+                            "track_time": 20
+                        },
+                        "type": "action"
+                    },
+                    {
+                        "name": "land",
+                        "params": {
+                            "mode": "home"
+                        },
+                        "type": "action"
+                    }
+                ],
+                "name": "MainTrackingTask",
+                "type": "Sequence"
+            },
+            {
+                "children": [
+                    {
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.35
+                        },
+                        "type": "condition"
+                    },
+                    {
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        },
+                        "type": "condition"
+                    },
+                    {
+                        "children": [
+                            {
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                },
+                                "type": "action"
+                            },
+                            {
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                },
+                                "type": "action"
+                            }
+                        ],
+                        "name": "EmergencyHandler",
+                        "type": "Sequence"
+                    }
+                ],
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "type": "Selector"
+            }
+        ],
+        "name": "TrackingMission",
+        "params": {
+            "policy": "all_success"
+        },
+        "type": "Parallel"
+    },
+    "visualization_url": "/static/py_tree.png"
+}

tools/test_api.py

@@ -3,8 +3,6 @@
 
 import requests
 import json
-import os
-from datetime import datetime
 
 # --- Configuration ---
 # The base URL of your running FastAPI service
@@ -14,51 +12,19 @@ BASE_URL = "http://127.0.0.1:8000"
 ENDPOINT = "/generate_plan"
 
 # The user prompt we will send for the test
-TEST_PROMPT = "已知目标检测红色气球危险性高于蓝色气球高于绿色气球，飞往搜索区搜索并锁定危险性最高的气球，对其跟踪30秒后进行打击操作"
-
-# Log file path (will be created in the same directory as this script)
-LOG_FILE = os.path.join(os.path.dirname(__file__), "api_test.log")
-
-def write_log(message, print_to_console=True):
-    """
-    Write a message to the log file in append mode.
-    Supports multi-line messages - only the first line gets timestamp.
-    
-    Args:
-        message: The message to write (can be multi-line)
-        print_to_console: Whether to also print to console (default: True)
-    """
-    timestamp = datetime.now().strftime("%Y-%m-%d %H:%M:%S")
-    
-    # Split message into lines and add timestamp to first line only
-    lines = message.split('\n')
-    log_entries = [f"[{timestamp}] {lines[0]}\n"]
-    for line in lines[1:]:
-        log_entries.append(f"{' ' * (len(timestamp) + 3)}{line}\n")  # Indent continuation lines
-    
-    try:
-        with open(LOG_FILE, "a", encoding="utf-8") as f:
-            f.writelines(log_entries)
-    except Exception as e:
-        print(f"⚠️  Warning: Failed to write to log file: {e}")
-    
-    if print_to_console:
-        print(message)
+TEST_PROMPT = "无人机起飞后移动到学生宿舍投放救援物资"
 
 def test_generate_plan():
     """
     Sends a request to the /generate_plan endpoint and validates the response.
-    All results are logged to the log file for continuous tracking.
     """
     url = BASE_URL + ENDPOINT
     payload = {"user_prompt": TEST_PROMPT}
     headers = {"Content-Type": "application/json"}
 
-    # Write separator and test start info to log
-    write_log("=" * 80, print_to_console=False)
-    write_log("--- API Test: Generate Plan ---")
-    write_log(f"URL: {url}")
-    write_log(f"Sending Prompt: \"{TEST_PROMPT}\"")
+    print("--- API Test: Generate Plan ---")
+    print(f"✅ URL: {url}")
+    print(f"✅ Sending Prompt: \"{TEST_PROMPT}\"")
 
     try:
         # Send the POST request
@@ -70,85 +36,40 @@ def test_generate_plan():
         # Parse the JSON response
         data = response.json()
 
-        # Extract and log organized prompt if available in response
-        organized_prompt = None
-        if isinstance(data, dict):
-            # Check for various possible field names for organized prompt
-            organized_prompt = data.get("organized_prompt") or \
-                             data.get("processed_prompt") or \
-                             data.get("final_prompt") or \
-                             data.get("enhanced_prompt") or \
-                             data.get("user_prompt_enhanced")
-        
-        write_log("✅ Received Response:")
-        
-        # Log organized prompt if found
-        if organized_prompt:
-            write_log("\n📝 组织后的Prompt:")
-            write_log(organized_prompt)
-        else:
-            # If not in response, log the original prompt for reference
-            write_log("\n📝 原始Prompt:")
-            write_log(f"   {TEST_PROMPT}")
-            write_log("   (注: 组织后的prompt未在API响应中返回，如需查看请检查后端日志)")
-        
-        response_json = json.dumps(data, indent=2, ensure_ascii=False)
-        write_log("\n完整响应内容:")
-        write_log(response_json)
+        print("✅ Received Response:")
+        print(json.dumps(data, indent=2, ensure_ascii=False))
 
         # --- Validation ---
-        write_log("\n--- Validation Checks ---")
-        
-        validation_results = []
+        print("\n--- Validation Checks ---")
         
         # 1. Check if the response is a dictionary
         if isinstance(data, dict):
-            validation_results.append("PASS: Response is a valid JSON object.")
+            print("PASS: Response is a valid JSON object.")
         else:
-            validation_results.append("FAIL: Response is not a valid JSON object.")
-            # Write all validation results to log before returning
-            for result in validation_results:
-                write_log(result)
-            write_log("=" * 80, print_to_console=False)
-            write_log("", print_to_console=False)  # Empty line for readability
+            print("FAIL: Response is not a valid JSON object.")
             return
 
         # 2. Check for the existence of the 'root' key
         if "root" in data and isinstance(data['root'], dict):
-            validation_results.append("PASS: Response contains a valid 'root' key.")
+            print("PASS: Response contains a valid 'root' key.")
         else:
-            validation_results.append("FAIL: Response does not contain a valid 'root' key.")
+            print("FAIL: Response does not contain a valid 'root' key.")
 
         # 3. Check for the existence and format of the 'visualization_url' key
         if "visualization_url" in data and data["visualization_url"].endswith(".png"):
-            validation_results.append(f"PASS: Response contains a valid 'visualization_url': {data['visualization_url']}")
+            print(f"PASS: Response contains a valid 'visualization_url': {data['visualization_url']}")
         else:
-            validation_results.append("FAIL: Response does not contain a valid 'visualization_url'.")
-
-        # Write all validation results to log
-        for result in validation_results:
-            write_log(result)
-
-        # Write test completion marker
-        write_log("✅ Test completed successfully")
-        write_log("=" * 80, print_to_console=False)
-        write_log("", print_to_console=False)  # Empty line for readability
+            print("FAIL: Response does not contain a valid 'visualization_url'.")
 
     except requests.exceptions.RequestException as e:
-        error_msg = f"❌ TEST FAILED: Could not connect to the server.\n   Please make sure the backend service is running.\n   Error details: {e}"
-        write_log(error_msg)
-        write_log("=" * 80, print_to_console=False)
-        write_log("", print_to_console=False)  # Empty line for readability
+        print(f"\n❌ TEST FAILED: Could not connect to the server.")
+        print("   Please make sure the backend service is running.")
+        print(f"   Error details: {e}")
     except json.JSONDecodeError:
-        error_msg = f"❌ TEST FAILED: The server response was not valid JSON.\n   Response text: {response.text}"
-        write_log(error_msg)
-        write_log("=" * 80, print_to_console=False)
-        write_log("", print_to_console=False)  # Empty line for readability
+        print(f"\n❌ TEST FAILED: The server response was not valid JSON.")
+        print(f"   Response text: {response.text}")
     except Exception as e:
-        error_msg = f"❌ TEST FAILED: An unexpected error occurred: {e}"
-        write_log(error_msg)
-        write_log("=" * 80, print_to_console=False)
-        write_log("", print_to_console=False)  # Empty line for readability
+        print(f"\n❌ TEST FAILED: An unexpected error occurred: {e}")
 
 if __name__ == "__main__":
     test_generate_plan()

tools/test_llama_server.py

@@ -1,174 +0,0 @@
-#!/usr/bin/env python3
-# -*- coding: utf-8 -*-
-
-import os
-import sys
-import json
-import argparse
-from typing import Any, Dict
-
-import requests
-
-
-def build_args() -> argparse.Namespace:
-    parser = argparse.ArgumentParser(
-        description="调用本地 llama-server (OpenAI兼容) 进行推理，支持自定义系统/用户提示词"
-    )
-    parser.add_argument(
-        "--base-url",
-        default=os.getenv("SIMPLE_BASE_URL", "http://127.0.0.1:8081/v1"),
-        help="llama-server 的基础URL（默认: http://127.0.0.1:8081/v1，或环境变量 SIMPLE_BASE_URL）",
-    )
-    parser.add_argument(
-        "--model",
-        default=os.getenv("SIMPLE_MODEL", "local-model"),
-        help="模型名称（默认: local-model，或环境变量 SIMPLE_MODEL）",
-    )
-    parser.add_argument(
-        "--system",
-        default="You are a helpful assistant.",
-        help="系统提示词（system role）",
-    )
-    parser.add_argument(
-        "--system-file",
-        default=None,
-        help="系统提示词文件路径（txt）；若提供，则覆盖 --system 的字符串",
-    )
-    parser.add_argument(
-        "--user",
-        default=None,
-        help="用户提示词（user role）；若不传则从交互式输入读取",
-    )
-    parser.add_argument(
-        "--temperature",
-        type=float,
-        default=0.2,
-        help="采样温度（默认: 0.2）",
-    )
-    parser.add_argument(
-        "--max-tokens",
-        type=int,
-        default=4096,
-        help="最大生成Token数（默认: 4096）",
-    )
-    parser.add_argument(
-        "--timeout",
-        type=float,
-        default=120.0,
-        help="HTTP超时时间秒（默认: 120）",
-    )
-    parser.add_argument(
-        "--verbose",
-        action="store_true",
-        help="打印完整返回JSON",
-    )
-    return parser.parse_args()
-
-
-def call_llama_server(
-    base_url: str,
-    model: str,
-    system_prompt: str,
-    user_prompt: str,
-    temperature: float,
-    max_tokens: int,
-    timeout: float,
-) -> Dict[str, Any]:
-    endpoint = base_url.rstrip("/") + "/chat/completions"
-    headers: Dict[str, str] = {"Content-Type": "application/json"}
-
-    # 兼容需要API Key的代理/服务（llama-server通常不强制）
-    api_key = os.getenv("OPENAI_API_KEY")
-    if api_key:
-        headers["Authorization"] = f"Bearer {api_key}"
-
-    payload: Dict[str, Any] = {
-        "model": model,
-        "messages": [
-            {"role": "system", "content": system_prompt},
-            {"role": "user", "content": user_prompt},
-        ],
-        "temperature": temperature,
-        "max_tokens": max_tokens,
-    }
-
-    resp = requests.post(endpoint, headers=headers, data=json.dumps(payload), timeout=timeout)
-    resp.raise_for_status()
-    return resp.json()
-
-
-def main() -> None:
-    args = build_args()
-
-    user_prompt = args.user
-    if not user_prompt:
-        try:
-            user_prompt = input("请输入用户提示词: ")
-        except KeyboardInterrupt:
-            print("\n已取消。")
-            sys.exit(1)
-
-    # 解析系统提示词：优先使用 --system-file
-    system_prompt = args.system
-    if args.system_file:
-        try:
-            with open(args.system_file, "r", encoding="utf-8") as f:
-                system_prompt = f.read()
-        except Exception as e:
-            print("\n❌ 读取系统提示词文件失败：")
-            print(str(e))
-            sys.exit(1)
-
-    try:
-        print("--- llama-server 推理 ---")
-        print(f"Base URL: {args.base_url}")
-        print(f"Model: {args.model}")
-        if args.system_file:
-            print(f"System(from file): {args.system_file}")
-        else:
-            print(f"System: {system_prompt}")
-        print(f"User: {user_prompt}")
-
-        data = call_llama_server(
-            base_url=args.base_url,
-            model=args.model,
-            system_prompt=system_prompt,
-            user_prompt=user_prompt,
-            temperature=args.temperature,
-            max_tokens=args.max_tokens,
-            timeout=args.timeout,
-        )
-
-        if args.verbose:
-            print("\n完整返回JSON:")
-            print(json.dumps(data, ensure_ascii=False, indent=2))
-
-        # 尝试按OpenAI兼容格式提取assistant内容
-        content = None
-        try:
-            content = data["choices"][0]["message"]["content"]
-        except Exception:
-            pass
-
-        if content is not None:
-            print("\n模型输出:")
-            print(content)
-        else:
-            # 兜底打印
-            print("\n无法按OpenAI兼容字段解析内容，原始返回如下：")
-            print(json.dumps(data, ensure_ascii=False))
-
-    except requests.exceptions.RequestException as e:
-        print("\n❌ 请求失败：请确认 llama-server 已在 8081 端口启动并可访问。")
-        print(f"详情: {e}")
-        sys.exit(2)
-    except Exception as e:
-        print("\n❌ 发生未预期的错误：")
-        print(str(e))
-        sys.exit(3)
-
-
-if __name__ == "__main__":
-    main()
-
-

tools/test_validate/test_results.csv

@@ -1,12 +1 @@
 instruction_index,instruction,run_number,success,attempts,response_time,plan_id,error,timestamp
-1,起飞后移动到学生宿舍上方降落,1,False,1,2.048215866088867,,,2025-12-02 20:44:56
-2,起飞后移动到学生宿舍上方查找蓝色的车,1,True,1,14.806509971618652,8a6f282e-c306-4249-962c-d47d48c31bad,,2025-12-02 20:45:12
-3,起飞后移动到学生宿舍上方寻找蓝色的车,1,True,1,15.240672826766968,f298e2f4-9295-4ffd-8fff-0d0eb9a0ee6c,,2025-12-02 20:45:28
-4,起飞后移动到学生宿舍上方检测蓝色的车,1,True,1,13.8105788230896,31733491-2030-43b1-a5e4-eb1300b8d23f,,2025-12-02 20:45:43
-5,飞到学生宿舍上方查找蓝色的车,1,True,1,12.74257755279541,4c855ef4-c251-48cd-b464-4816bc62fbb5,,2025-12-02 20:45:57
-6,飞到学生宿舍上方查找蓝色车辆并进行打击,1,True,1,16.117226600646973,63d0e7c3-dcbb-40f0-b76b-6f0191c6512f,,2025-12-02 20:46:14
-7,起飞后移动到学生宿舍上方搜索蓝色车辆，并进行打击,1,True,1,16.25989079475403,1b4a537e-c1be-4abf-897e-c21b677b83b7,,2025-12-02 20:46:31
-8,起飞到学生宿舍上方搜索被困人员，并为被困人员投递救援物资,1,True,1,16.014280796051025,f88ea46f-5e0b-48fb-b1da-326d287af3d6,,2025-12-02 20:46:48
-9,飞到学生宿舍上方搜索方圆10米范围内的蓝色车辆,1,True,1,15.530286073684692,f56c811a-8304-4c68-8260-01643928bf3e,,2025-12-02 20:47:05
-10,飞到学生宿舍上方搜索半径为10米区域范围内的蓝色车辆,1,True,1,16.660754919052124,07a13346-3026-4dce-a976-4e0faa132248,,2025-12-02 20:47:23
-11,起飞到学生宿舍搜索有没有被困人员，然后抛洒救援物资,1,True,1,14.128317832946777,16426d41-4f02-4e27-a05e-f4eb84d6c935,,2025-12-02 20:47:38

tools/test_validate/test_run_20251011_175309/instruction_1/run_10_b99d8d9a-84e6-474c-a512-61f8e74945e8.json

@@ -0,0 +1,93 @@
+{
+    "root": {
+        "type": "Parallel",
+        "name": "MissionWithSafety",
+        "params": {
+            "policy": "all_success"
+        },
+        "children": [
+            {
+                "type": "Sequence",
+                "name": "MainTask",
+                "children": [
+                    {
+                        "type": "action",
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "x": 5.0,
+                            "y": 3.0,
+                            "z": 2.0,
+                            "acceptance_radius": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "land",
+                        "params": {
+                            "mode": "current"
+                        }
+                    }
+                ]
+            },
+            {
+                "type": "Selector",
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "children": [
+                    {
+                        "type": "condition",
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.3
+                        }
+                    },
+                    {
+                        "type": "condition",
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        }
+                    },
+                    {
+                        "type": "Sequence",
+                        "name": "EmergencyHandler",
+                        "children": [
+                            {
+                                "type": "action",
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                }
+                            },
+                            {
+                                "type": "action",
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                }
+                            }
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    "plan_id": "b99d8d9a-84e6-474c-a512-61f8e74945e8",
+    "visualization_url": "/static/py_tree.png"
+}

tools/test_validate/test_run_20251011_175309/instruction_1/run_1_c74dd92d-450c-4a95-80eb-84441812b7e5.json

@@ -0,0 +1,93 @@
+{
+    "root": {
+        "type": "Parallel",
+        "name": "MissionWithSafety",
+        "params": {
+            "policy": "all_success"
+        },
+        "children": [
+            {
+                "type": "Sequence",
+                "name": "MainTask",
+                "children": [
+                    {
+                        "type": "action",
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "x": 5.0,
+                            "y": 3.0,
+                            "z": 2.0,
+                            "acceptance_radius": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "land",
+                        "params": {
+                            "mode": "current"
+                        }
+                    }
+                ]
+            },
+            {
+                "type": "Selector",
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "children": [
+                    {
+                        "type": "condition",
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.3
+                        }
+                    },
+                    {
+                        "type": "condition",
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        }
+                    },
+                    {
+                        "type": "Sequence",
+                        "name": "EmergencyHandler",
+                        "children": [
+                            {
+                                "type": "action",
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                }
+                            },
+                            {
+                                "type": "action",
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                }
+                            }
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    "plan_id": "c74dd92d-450c-4a95-80eb-84441812b7e5",
+    "visualization_url": "/static/py_tree.png"
+}

tools/test_validate/test_run_20251011_175309/instruction_1/run_2_c9a68f7d-e8c0-4446-8fcf-e5a9325827b6.json

@@ -0,0 +1,93 @@
+{
+    "root": {
+        "type": "Parallel",
+        "name": "MissionWithSafety",
+        "params": {
+            "policy": "all_success"
+        },
+        "children": [
+            {
+                "type": "Sequence",
+                "name": "MainTask",
+                "children": [
+                    {
+                        "type": "action",
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "x": 5.0,
+                            "y": 3.0,
+                            "z": 2.0,
+                            "acceptance_radius": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "land",
+                        "params": {
+                            "mode": "current"
+                        }
+                    }
+                ]
+            },
+            {
+                "type": "Selector",
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "children": [
+                    {
+                        "type": "condition",
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.3
+                        }
+                    },
+                    {
+                        "type": "condition",
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        }
+                    },
+                    {
+                        "type": "Sequence",
+                        "name": "EmergencyHandler",
+                        "children": [
+                            {
+                                "type": "action",
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                }
+                            },
+                            {
+                                "type": "action",
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                }
+                            }
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    "plan_id": "c9a68f7d-e8c0-4446-8fcf-e5a9325827b6",
+    "visualization_url": "/static/py_tree.png"
+}

tools/test_validate/test_run_20251011_175309/instruction_1/run_3_9e34b939-8410-4aec-a9bb-2261e6a21c48.json

@@ -0,0 +1,93 @@
+{
+    "root": {
+        "type": "Parallel",
+        "name": "MissionWithSafety",
+        "params": {
+            "policy": "all_success"
+        },
+        "children": [
+            {
+                "type": "Sequence",
+                "name": "MainTask",
+                "children": [
+                    {
+                        "type": "action",
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "x": 5.0,
+                            "y": 3.0,
+                            "z": 2.0,
+                            "acceptance_radius": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "land",
+                        "params": {
+                            "mode": "current"
+                        }
+                    }
+                ]
+            },
+            {
+                "type": "Selector",
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "children": [
+                    {
+                        "type": "condition",
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.3
+                        }
+                    },
+                    {
+                        "type": "condition",
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        }
+                    },
+                    {
+                        "type": "Sequence",
+                        "name": "EmergencyHandler",
+                        "children": [
+                            {
+                                "type": "action",
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                }
+                            },
+                            {
+                                "type": "action",
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                }
+                            }
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    "plan_id": "9e34b939-8410-4aec-a9bb-2261e6a21c48",
+    "visualization_url": "/static/py_tree.png"
+}

tools/test_validate/test_run_20251011_175309/instruction_1/run_4_09c44e51-9323-4072-9cb4-61c623d49f76.json

@@ -0,0 +1,93 @@
+{
+    "root": {
+        "type": "Parallel",
+        "name": "MissionWithSafety",
+        "params": {
+            "policy": "all_success"
+        },
+        "children": [
+            {
+                "type": "Sequence",
+                "name": "MainTask",
+                "children": [
+                    {
+                        "type": "action",
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "x": 5.0,
+                            "y": 3.0,
+                            "z": 2.0,
+                            "acceptance_radius": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "land",
+                        "params": {
+                            "mode": "current"
+                        }
+                    }
+                ]
+            },
+            {
+                "type": "Selector",
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "children": [
+                    {
+                        "type": "condition",
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.3
+                        }
+                    },
+                    {
+                        "type": "condition",
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        }
+                    },
+                    {
+                        "type": "Sequence",
+                        "name": "EmergencyHandler",
+                        "children": [
+                            {
+                                "type": "action",
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                }
+                            },
+                            {
+                                "type": "action",
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                }
+                            }
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    "plan_id": "09c44e51-9323-4072-9cb4-61c623d49f76",
+    "visualization_url": "/static/py_tree.png"
+}

tools/test_validate/test_run_20251011_175309/instruction_1/run_5_5110f6fe-778d-4191-b321-f1a8c6de9877.json

@@ -0,0 +1,93 @@
+{
+    "root": {
+        "type": "Parallel",
+        "name": "MissionWithSafety",
+        "params": {
+            "policy": "all_success"
+        },
+        "children": [
+            {
+                "type": "Sequence",
+                "name": "MainTask",
+                "children": [
+                    {
+                        "type": "action",
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "x": 5.0,
+                            "y": 3.0,
+                            "z": 2.0,
+                            "acceptance_radius": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "land",
+                        "params": {
+                            "mode": "current"
+                        }
+                    }
+                ]
+            },
+            {
+                "type": "Selector",
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "children": [
+                    {
+                        "type": "condition",
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.3
+                        }
+                    },
+                    {
+                        "type": "condition",
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        }
+                    },
+                    {
+                        "type": "Sequence",
+                        "name": "EmergencyHandler",
+                        "children": [
+                            {
+                                "type": "action",
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                }
+                            },
+                            {
+                                "type": "action",
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                }
+                            }
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    "plan_id": "5110f6fe-778d-4191-b321-f1a8c6de9877",
+    "visualization_url": "/static/py_tree.png"
+}

tools/test_validate/test_run_20251011_175309/instruction_1/run_6_51bb856d-4804-48fc-9a72-564c4c2f13ba.json

@@ -0,0 +1,93 @@
+{
+    "root": {
+        "type": "Parallel",
+        "name": "MissionWithSafety",
+        "params": {
+            "policy": "all_success"
+        },
+        "children": [
+            {
+                "type": "Sequence",
+                "name": "MainTask",
+                "children": [
+                    {
+                        "type": "action",
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "x": 5.0,
+                            "y": 3.0,
+                            "z": 2.0,
+                            "acceptance_radius": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "land",
+                        "params": {
+                            "mode": "current"
+                        }
+                    }
+                ]
+            },
+            {
+                "type": "Selector",
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "children": [
+                    {
+                        "type": "condition",
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.3
+                        }
+                    },
+                    {
+                        "type": "condition",
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        }
+                    },
+                    {
+                        "type": "Sequence",
+                        "name": "EmergencyHandler",
+                        "children": [
+                            {
+                                "type": "action",
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                }
+                            },
+                            {
+                                "type": "action",
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                }
+                            }
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    "plan_id": "51bb856d-4804-48fc-9a72-564c4c2f13ba",
+    "visualization_url": "/static/py_tree.png"
+}

tools/test_validate/test_run_20251011_175309/instruction_1/run_7_61fe6be0-5252-45f1-9b89-bf23387a9ada.json

@@ -0,0 +1,93 @@
+{
+    "root": {
+        "type": "Parallel",
+        "name": "MissionWithSafety",
+        "params": {
+            "policy": "all_success"
+        },
+        "children": [
+            {
+                "type": "Sequence",
+                "name": "MainTask",
+                "children": [
+                    {
+                        "type": "action",
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "x": 5.0,
+                            "y": 3.0,
+                            "z": 2.0,
+                            "acceptance_radius": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "land",
+                        "params": {
+                            "mode": "current"
+                        }
+                    }
+                ]
+            },
+            {
+                "type": "Selector",
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "children": [
+                    {
+                        "type": "condition",
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.3
+                        }
+                    },
+                    {
+                        "type": "condition",
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        }
+                    },
+                    {
+                        "type": "Sequence",
+                        "name": "EmergencyHandler",
+                        "children": [
+                            {
+                                "type": "action",
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                }
+                            },
+                            {
+                                "type": "action",
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                }
+                            }
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    "plan_id": "61fe6be0-5252-45f1-9b89-bf23387a9ada",
+    "visualization_url": "/static/py_tree.png"
+}

tools/test_validate/test_run_20251011_175309/instruction_1/run_8_2fdeb41f-99da-4055-adab-ea795def40d6.json

@@ -0,0 +1,93 @@
+{
+    "root": {
+        "type": "Parallel",
+        "name": "MissionWithSafety",
+        "params": {
+            "policy": "all_success"
+        },
+        "children": [
+            {
+                "type": "Sequence",
+                "name": "MainTask",
+                "children": [
+                    {
+                        "type": "action",
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "x": 5.0,
+                            "y": 3.0,
+                            "z": 2.0,
+                            "acceptance_radius": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "land",
+                        "params": {
+                            "mode": "current"
+                        }
+                    }
+                ]
+            },
+            {
+                "type": "Selector",
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "children": [
+                    {
+                        "type": "condition",
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.3
+                        }
+                    },
+                    {
+                        "type": "condition",
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        }
+                    },
+                    {
+                        "type": "Sequence",
+                        "name": "EmergencyHandler",
+                        "children": [
+                            {
+                                "type": "action",
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                }
+                            },
+                            {
+                                "type": "action",
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                }
+                            }
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    "plan_id": "2fdeb41f-99da-4055-adab-ea795def40d6",
+    "visualization_url": "/static/py_tree.png"
+}

tools/test_validate/test_run_20251011_175309/instruction_1/run_9_6259d34d-4ac3-4a45-a683-e36cd219fe8e.json

@@ -0,0 +1,93 @@
+{
+    "root": {
+        "type": "Parallel",
+        "name": "MissionWithSafety",
+        "params": {
+            "policy": "all_success"
+        },
+        "children": [
+            {
+                "type": "Sequence",
+                "name": "MainTask",
+                "children": [
+                    {
+                        "type": "action",
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "x": 5.0,
+                            "y": 3.0,
+                            "z": 2.0,
+                            "acceptance_radius": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "land",
+                        "params": {
+                            "mode": "current"
+                        }
+                    }
+                ]
+            },
+            {
+                "type": "Selector",
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "children": [
+                    {
+                        "type": "condition",
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.3
+                        }
+                    },
+                    {
+                        "type": "condition",
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        }
+                    },
+                    {
+                        "type": "Sequence",
+                        "name": "EmergencyHandler",
+                        "children": [
+                            {
+                                "type": "action",
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                }
+                            },
+                            {
+                                "type": "action",
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                }
+                            }
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    "plan_id": "6259d34d-4ac3-4a45-a683-e36cd219fe8e",
+    "visualization_url": "/static/py_tree.png"
+}

tools/test_validate/test_run_20251011_175309/instruction_2/run_10_96546010-2887-463b-96aa-e9a4237944f2.json

@@ -0,0 +1,138 @@
+{
+    "root": {
+        "type": "Parallel",
+        "name": "MissionWithSafety",
+        "params": {
+            "policy": "all_success"
+        },
+        "children": [
+            {
+                "type": "Sequence",
+                "name": "MainTask",
+                "children": [
+                    {
+                        "type": "action",
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "x": 5.0,
+                            "y": 3.0,
+                            "z": 2.0,
+                            "acceptance_radius": 2.0
+                        }
+                    },
+                    {
+                        "type": "Selector",
+                        "name": "TargetAcquisitionSelector",
+                        "params": {
+                            "memory": true
+                        },
+                        "children": [
+                            {
+                                "type": "Sequence",
+                                "name": "DirectDetectionSequence",
+                                "children": [
+                                    {
+                                        "type": "action",
+                                        "name": "loiter",
+                                        "params": {
+                                            "duration": 10.0
+                                        }
+                                    },
+                                    {
+                                        "type": "action",
+                                        "name": "object_detect",
+                                        "params": {
+                                            "target_class": "car",
+                                            "description": "蓝色的车",
+                                            "count": 1
+                                        }
+                                    }
+                                ]
+                            },
+                            {
+                                "type": "action",
+                                "name": "search_pattern",
+                                "params": {
+                                    "pattern_type": "grid",
+                                    "center_x": 5.0,
+                                    "center_y": 3.0,
+                                    "center_z": 2.0,
+                                    "radius": 80.0,
+                                    "target_class": "car",
+                                    "description": "蓝色的车",
+                                    "count": 1
+                                }
+                            }
+                        ]
+                    },
+                    {
+                        "type": "action",
+                        "name": "land",
+                        "params": {
+                            "mode": "home"
+                        }
+                    }
+                ]
+            },
+            {
+                "type": "Selector",
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "children": [
+                    {
+                        "type": "condition",
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.35
+                        }
+                    },
+                    {
+                        "type": "condition",
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        }
+                    },
+                    {
+                        "type": "Sequence",
+                        "name": "EmergencyHandler",
+                        "children": [
+                            {
+                                "type": "action",
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                }
+                            },
+                            {
+                                "type": "action",
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                }
+                            }
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    "plan_id": "96546010-2887-463b-96aa-e9a4237944f2",
+    "visualization_url": "/static/py_tree.png"
+}

tools/test_validate/test_run_20251011_175309/instruction_2/run_1_92d92c59-b3cd-47d0-9371-967d6086dc11.json

@@ -0,0 +1,138 @@
+{
+    "root": {
+        "type": "Parallel",
+        "name": "MissionWithSafety",
+        "params": {
+            "policy": "all_success"
+        },
+        "children": [
+            {
+                "type": "Sequence",
+                "name": "MainTask",
+                "children": [
+                    {
+                        "type": "action",
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "x": 5.0,
+                            "y": 3.0,
+                            "z": 2.0,
+                            "acceptance_radius": 2.0
+                        }
+                    },
+                    {
+                        "type": "Selector",
+                        "name": "TargetAcquisitionSelector",
+                        "params": {
+                            "memory": true
+                        },
+                        "children": [
+                            {
+                                "type": "Sequence",
+                                "name": "DirectDetectionSequence",
+                                "children": [
+                                    {
+                                        "type": "action",
+                                        "name": "loiter",
+                                        "params": {
+                                            "duration": 10.0
+                                        }
+                                    },
+                                    {
+                                        "type": "action",
+                                        "name": "object_detect",
+                                        "params": {
+                                            "target_class": "car",
+                                            "description": "蓝色的车",
+                                            "count": 1
+                                        }
+                                    }
+                                ]
+                            },
+                            {
+                                "type": "action",
+                                "name": "search_pattern",
+                                "params": {
+                                    "pattern_type": "grid",
+                                    "center_x": 5.0,
+                                    "center_y": 3.0,
+                                    "center_z": 2.0,
+                                    "radius": 80.0,
+                                    "target_class": "car",
+                                    "description": "蓝色的车",
+                                    "count": 1
+                                }
+                            }
+                        ]
+                    },
+                    {
+                        "type": "action",
+                        "name": "land",
+                        "params": {
+                            "mode": "home"
+                        }
+                    }
+                ]
+            },
+            {
+                "type": "Selector",
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "children": [
+                    {
+                        "type": "condition",
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.35
+                        }
+                    },
+                    {
+                        "type": "condition",
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        }
+                    },
+                    {
+                        "type": "Sequence",
+                        "name": "EmergencyHandler",
+                        "children": [
+                            {
+                                "type": "action",
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                }
+                            },
+                            {
+                                "type": "action",
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                }
+                            }
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    "plan_id": "92d92c59-b3cd-47d0-9371-967d6086dc11",
+    "visualization_url": "/static/py_tree.png"
+}

tools/test_validate/test_run_20251011_175309/instruction_2/run_2_a2f5a53d-c90d-4cd8-9a28-22399aab3b05.json

@@ -0,0 +1,138 @@
+{
+    "root": {
+        "type": "Parallel",
+        "name": "MissionWithSafety",
+        "params": {
+            "policy": "all_success"
+        },
+        "children": [
+            {
+                "type": "Sequence",
+                "name": "MainTask",
+                "children": [
+                    {
+                        "type": "action",
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "x": 5.0,
+                            "y": 3.0,
+                            "z": 2.0,
+                            "acceptance_radius": 2.0
+                        }
+                    },
+                    {
+                        "type": "Selector",
+                        "name": "TargetAcquisitionSelector",
+                        "params": {
+                            "memory": true
+                        },
+                        "children": [
+                            {
+                                "type": "Sequence",
+                                "name": "DirectDetectionSequence",
+                                "children": [
+                                    {
+                                        "type": "action",
+                                        "name": "loiter",
+                                        "params": {
+                                            "duration": 10.0
+                                        }
+                                    },
+                                    {
+                                        "type": "action",
+                                        "name": "object_detect",
+                                        "params": {
+                                            "target_class": "car",
+                                            "description": "蓝色的车",
+                                            "count": 1
+                                        }
+                                    }
+                                ]
+                            },
+                            {
+                                "type": "action",
+                                "name": "search_pattern",
+                                "params": {
+                                    "pattern_type": "grid",
+                                    "center_x": 5.0,
+                                    "center_y": 3.0,
+                                    "center_z": 2.0,
+                                    "radius": 80.0,
+                                    "target_class": "car",
+                                    "description": "蓝色的车",
+                                    "count": 1
+                                }
+                            }
+                        ]
+                    },
+                    {
+                        "type": "action",
+                        "name": "land",
+                        "params": {
+                            "mode": "home"
+                        }
+                    }
+                ]
+            },
+            {
+                "type": "Selector",
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "children": [
+                    {
+                        "type": "condition",
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.35
+                        }
+                    },
+                    {
+                        "type": "condition",
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        }
+                    },
+                    {
+                        "type": "Sequence",
+                        "name": "EmergencyHandler",
+                        "children": [
+                            {
+                                "type": "action",
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                }
+                            },
+                            {
+                                "type": "action",
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                }
+                            }
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    "plan_id": "a2f5a53d-c90d-4cd8-9a28-22399aab3b05",
+    "visualization_url": "/static/py_tree.png"
+}

tools/test_validate/test_run_20251011_175309/instruction_2/run_3_12f71128-f676-443f-89bc-8f0b5e16e9cd.json

@@ -0,0 +1,138 @@
+{
+    "root": {
+        "type": "Parallel",
+        "name": "MissionWithSafety",
+        "params": {
+            "policy": "all_success"
+        },
+        "children": [
+            {
+                "type": "Sequence",
+                "name": "MainTask",
+                "children": [
+                    {
+                        "type": "action",
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "x": 5.0,
+                            "y": 3.0,
+                            "z": 2.0,
+                            "acceptance_radius": 2.0
+                        }
+                    },
+                    {
+                        "type": "Selector",
+                        "name": "TargetAcquisitionSelector",
+                        "params": {
+                            "memory": true
+                        },
+                        "children": [
+                            {
+                                "type": "Sequence",
+                                "name": "DirectDetectionSequence",
+                                "children": [
+                                    {
+                                        "type": "action",
+                                        "name": "loiter",
+                                        "params": {
+                                            "duration": 10.0
+                                        }
+                                    },
+                                    {
+                                        "type": "action",
+                                        "name": "object_detect",
+                                        "params": {
+                                            "target_class": "car",
+                                            "description": "蓝色的车",
+                                            "count": 1
+                                        }
+                                    }
+                                ]
+                            },
+                            {
+                                "type": "action",
+                                "name": "search_pattern",
+                                "params": {
+                                    "pattern_type": "grid",
+                                    "center_x": 5.0,
+                                    "center_y": 3.0,
+                                    "center_z": 2.0,
+                                    "radius": 80.0,
+                                    "target_class": "car",
+                                    "description": "蓝色的车",
+                                    "count": 1
+                                }
+                            }
+                        ]
+                    },
+                    {
+                        "type": "action",
+                        "name": "land",
+                        "params": {
+                            "mode": "home"
+                        }
+                    }
+                ]
+            },
+            {
+                "type": "Selector",
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "children": [
+                    {
+                        "type": "condition",
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.35
+                        }
+                    },
+                    {
+                        "type": "condition",
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        }
+                    },
+                    {
+                        "type": "Sequence",
+                        "name": "EmergencyHandler",
+                        "children": [
+                            {
+                                "type": "action",
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                }
+                            },
+                            {
+                                "type": "action",
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                }
+                            }
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    "plan_id": "12f71128-f676-443f-89bc-8f0b5e16e9cd",
+    "visualization_url": "/static/py_tree.png"
+}

tools/test_validate/test_run_20251011_175309/instruction_2/run_4_4c0c5cb7-5438-444f-9278-741fd65d370a.json

@@ -0,0 +1,138 @@
+{
+    "root": {
+        "type": "Parallel",
+        "name": "MissionWithSafety",
+        "params": {
+            "policy": "all_success"
+        },
+        "children": [
+            {
+                "type": "Sequence",
+                "name": "MainTask",
+                "children": [
+                    {
+                        "type": "action",
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "x": 5.0,
+                            "y": 3.0,
+                            "z": 2.0,
+                            "acceptance_radius": 2.0
+                        }
+                    },
+                    {
+                        "type": "Selector",
+                        "name": "TargetAcquisitionSelector",
+                        "params": {
+                            "memory": true
+                        },
+                        "children": [
+                            {
+                                "type": "Sequence",
+                                "name": "DirectDetectionSequence",
+                                "children": [
+                                    {
+                                        "type": "action",
+                                        "name": "loiter",
+                                        "params": {
+                                            "duration": 10.0
+                                        }
+                                    },
+                                    {
+                                        "type": "action",
+                                        "name": "object_detect",
+                                        "params": {
+                                            "target_class": "car",
+                                            "description": "蓝色的车",
+                                            "count": 1
+                                        }
+                                    }
+                                ]
+                            },
+                            {
+                                "type": "action",
+                                "name": "search_pattern",
+                                "params": {
+                                    "pattern_type": "grid",
+                                    "center_x": 5.0,
+                                    "center_y": 3.0,
+                                    "center_z": 2.0,
+                                    "radius": 80.0,
+                                    "target_class": "car",
+                                    "description": "蓝色的车",
+                                    "count": 1
+                                }
+                            }
+                        ]
+                    },
+                    {
+                        "type": "action",
+                        "name": "land",
+                        "params": {
+                            "mode": "home"
+                        }
+                    }
+                ]
+            },
+            {
+                "type": "Selector",
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "children": [
+                    {
+                        "type": "condition",
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.35
+                        }
+                    },
+                    {
+                        "type": "condition",
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        }
+                    },
+                    {
+                        "type": "Sequence",
+                        "name": "EmergencyHandler",
+                        "children": [
+                            {
+                                "type": "action",
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                }
+                            },
+                            {
+                                "type": "action",
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                }
+                            }
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    "plan_id": "4c0c5cb7-5438-444f-9278-741fd65d370a",
+    "visualization_url": "/static/py_tree.png"
+}

tools/test_validate/test_run_20251011_175309/instruction_2/run_5_65d91ac8-2526-4447-b5f6-113c8033f956.json

@@ -0,0 +1,138 @@
+{
+    "root": {
+        "type": "Parallel",
+        "name": "MissionWithSafety",
+        "params": {
+            "policy": "all_success"
+        },
+        "children": [
+            {
+                "type": "Sequence",
+                "name": "MainTask",
+                "children": [
+                    {
+                        "type": "action",
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "x": 5.0,
+                            "y": 3.0,
+                            "z": 2.0,
+                            "acceptance_radius": 2.0
+                        }
+                    },
+                    {
+                        "type": "Selector",
+                        "name": "TargetAcquisitionSelector",
+                        "params": {
+                            "memory": true
+                        },
+                        "children": [
+                            {
+                                "type": "Sequence",
+                                "name": "DirectDetectionSequence",
+                                "children": [
+                                    {
+                                        "type": "action",
+                                        "name": "loiter",
+                                        "params": {
+                                            "duration": 10.0
+                                        }
+                                    },
+                                    {
+                                        "type": "action",
+                                        "name": "object_detect",
+                                        "params": {
+                                            "target_class": "car",
+                                            "description": "蓝色的车",
+                                            "count": 1
+                                        }
+                                    }
+                                ]
+                            },
+                            {
+                                "type": "action",
+                                "name": "search_pattern",
+                                "params": {
+                                    "pattern_type": "grid",
+                                    "center_x": 5.0,
+                                    "center_y": 3.0,
+                                    "center_z": 2.0,
+                                    "radius": 80.0,
+                                    "target_class": "car",
+                                    "description": "蓝色的车",
+                                    "count": 1
+                                }
+                            }
+                        ]
+                    },
+                    {
+                        "type": "action",
+                        "name": "land",
+                        "params": {
+                            "mode": "home"
+                        }
+                    }
+                ]
+            },
+            {
+                "type": "Selector",
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "children": [
+                    {
+                        "type": "condition",
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.35
+                        }
+                    },
+                    {
+                        "type": "condition",
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        }
+                    },
+                    {
+                        "type": "Sequence",
+                        "name": "EmergencyHandler",
+                        "children": [
+                            {
+                                "type": "action",
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                }
+                            },
+                            {
+                                "type": "action",
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                }
+                            }
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    "plan_id": "65d91ac8-2526-4447-b5f6-113c8033f956",
+    "visualization_url": "/static/py_tree.png"
+}

tools/test_validate/test_run_20251011_175309/instruction_2/run_6_46a40452-9535-49aa-8eb9-e8ef77cfb0a1.json

@@ -0,0 +1,138 @@
+{
+    "root": {
+        "type": "Parallel",
+        "name": "MissionWithSafety",
+        "params": {
+            "policy": "all_success"
+        },
+        "children": [
+            {
+                "type": "Sequence",
+                "name": "MainTask",
+                "children": [
+                    {
+                        "type": "action",
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "x": 5.0,
+                            "y": 3.0,
+                            "z": 2.0,
+                            "acceptance_radius": 2.0
+                        }
+                    },
+                    {
+                        "type": "Selector",
+                        "name": "TargetAcquisitionSelector",
+                        "params": {
+                            "memory": true
+                        },
+                        "children": [
+                            {
+                                "type": "Sequence",
+                                "name": "DirectDetectionSequence",
+                                "children": [
+                                    {
+                                        "type": "action",
+                                        "name": "loiter",
+                                        "params": {
+                                            "duration": 10.0
+                                        }
+                                    },
+                                    {
+                                        "type": "action",
+                                        "name": "object_detect",
+                                        "params": {
+                                            "target_class": "car",
+                                            "description": "蓝色的车",
+                                            "count": 1
+                                        }
+                                    }
+                                ]
+                            },
+                            {
+                                "type": "action",
+                                "name": "search_pattern",
+                                "params": {
+                                    "pattern_type": "grid",
+                                    "center_x": 5.0,
+                                    "center_y": 3.0,
+                                    "center_z": 2.0,
+                                    "radius": 80.0,
+                                    "target_class": "car",
+                                    "description": "蓝色的车",
+                                    "count": 1
+                                }
+                            }
+                        ]
+                    },
+                    {
+                        "type": "action",
+                        "name": "land",
+                        "params": {
+                            "mode": "home"
+                        }
+                    }
+                ]
+            },
+            {
+                "type": "Selector",
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "children": [
+                    {
+                        "type": "condition",
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.35
+                        }
+                    },
+                    {
+                        "type": "condition",
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        }
+                    },
+                    {
+                        "type": "Sequence",
+                        "name": "EmergencyHandler",
+                        "children": [
+                            {
+                                "type": "action",
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                }
+                            },
+                            {
+                                "type": "action",
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                }
+                            }
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    "plan_id": "46a40452-9535-49aa-8eb9-e8ef77cfb0a1",
+    "visualization_url": "/static/py_tree.png"
+}

tools/test_validate/test_run_20251011_175309/instruction_2/run_7_aa95931b-6e05-4cd9-aadc-33405bef45a9.json

@@ -0,0 +1,138 @@
+{
+    "root": {
+        "type": "Parallel",
+        "name": "MissionWithSafety",
+        "params": {
+            "policy": "all_success"
+        },
+        "children": [
+            {
+                "type": "Sequence",
+                "name": "MainTask",
+                "children": [
+                    {
+                        "type": "action",
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "x": 5.0,
+                            "y": 3.0,
+                            "z": 2.0,
+                            "acceptance_radius": 2.0
+                        }
+                    },
+                    {
+                        "type": "Selector",
+                        "name": "TargetAcquisitionSelector",
+                        "params": {
+                            "memory": true
+                        },
+                        "children": [
+                            {
+                                "type": "Sequence",
+                                "name": "DirectDetectionSequence",
+                                "children": [
+                                    {
+                                        "type": "action",
+                                        "name": "loiter",
+                                        "params": {
+                                            "duration": 10.0
+                                        }
+                                    },
+                                    {
+                                        "type": "action",
+                                        "name": "object_detect",
+                                        "params": {
+                                            "target_class": "car",
+                                            "description": "蓝色的车",
+                                            "count": 1
+                                        }
+                                    }
+                                ]
+                            },
+                            {
+                                "type": "action",
+                                "name": "search_pattern",
+                                "params": {
+                                    "pattern_type": "grid",
+                                    "center_x": 5.0,
+                                    "center_y": 3.0,
+                                    "center_z": 2.0,
+                                    "radius": 80.0,
+                                    "target_class": "car",
+                                    "description": "蓝色的车",
+                                    "count": 1
+                                }
+                            }
+                        ]
+                    },
+                    {
+                        "type": "action",
+                        "name": "land",
+                        "params": {
+                            "mode": "home"
+                        }
+                    }
+                ]
+            },
+            {
+                "type": "Selector",
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "children": [
+                    {
+                        "type": "condition",
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.35
+                        }
+                    },
+                    {
+                        "type": "condition",
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        }
+                    },
+                    {
+                        "type": "Sequence",
+                        "name": "EmergencyHandler",
+                        "children": [
+                            {
+                                "type": "action",
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                }
+                            },
+                            {
+                                "type": "action",
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                }
+                            }
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    "plan_id": "aa95931b-6e05-4cd9-aadc-33405bef45a9",
+    "visualization_url": "/static/py_tree.png"
+}

tools/test_validate/test_run_20251011_175309/instruction_2/run_8_2bd7d8df-bfcd-487b-a313-645373b450d5.json

@@ -0,0 +1,138 @@
+{
+    "root": {
+        "type": "Parallel",
+        "name": "MissionWithSafety",
+        "params": {
+            "policy": "all_success"
+        },
+        "children": [
+            {
+                "type": "Sequence",
+                "name": "MainTask",
+                "children": [
+                    {
+                        "type": "action",
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "x": 5.0,
+                            "y": 3.0,
+                            "z": 2.0,
+                            "acceptance_radius": 2.0
+                        }
+                    },
+                    {
+                        "type": "Selector",
+                        "name": "TargetAcquisitionSelector",
+                        "params": {
+                            "memory": true
+                        },
+                        "children": [
+                            {
+                                "type": "Sequence",
+                                "name": "DirectDetectionSequence",
+                                "children": [
+                                    {
+                                        "type": "action",
+                                        "name": "loiter",
+                                        "params": {
+                                            "duration": 10.0
+                                        }
+                                    },
+                                    {
+                                        "type": "action",
+                                        "name": "object_detect",
+                                        "params": {
+                                            "target_class": "car",
+                                            "description": "蓝色的车",
+                                            "count": 1
+                                        }
+                                    }
+                                ]
+                            },
+                            {
+                                "type": "action",
+                                "name": "search_pattern",
+                                "params": {
+                                    "pattern_type": "grid",
+                                    "center_x": 5.0,
+                                    "center_y": 3.0,
+                                    "center_z": 2.0,
+                                    "radius": 80.0,
+                                    "target_class": "car",
+                                    "description": "蓝色的车",
+                                    "count": 1
+                                }
+                            }
+                        ]
+                    },
+                    {
+                        "type": "action",
+                        "name": "land",
+                        "params": {
+                            "mode": "home"
+                        }
+                    }
+                ]
+            },
+            {
+                "type": "Selector",
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "children": [
+                    {
+                        "type": "condition",
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.35
+                        }
+                    },
+                    {
+                        "type": "condition",
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        }
+                    },
+                    {
+                        "type": "Sequence",
+                        "name": "EmergencyHandler",
+                        "children": [
+                            {
+                                "type": "action",
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                }
+                            },
+                            {
+                                "type": "action",
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                }
+                            }
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    "plan_id": "2bd7d8df-bfcd-487b-a313-645373b450d5",
+    "visualization_url": "/static/py_tree.png"
+}

tools/test_validate/test_run_20251011_175309/instruction_2/run_9_9eeccc4a-ab3b-469f-8aa5-ce9c5c921190.json

@@ -0,0 +1,138 @@
+{
+    "root": {
+        "type": "Parallel",
+        "name": "MissionWithSafety",
+        "params": {
+            "policy": "all_success"
+        },
+        "children": [
+            {
+                "type": "Sequence",
+                "name": "MainTask",
+                "children": [
+                    {
+                        "type": "action",
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "x": 5.0,
+                            "y": 3.0,
+                            "z": 2.0,
+                            "acceptance_radius": 2.0
+                        }
+                    },
+                    {
+                        "type": "Selector",
+                        "name": "TargetAcquisitionSelector",
+                        "params": {
+                            "memory": true
+                        },
+                        "children": [
+                            {
+                                "type": "Sequence",
+                                "name": "DirectDetectionSequence",
+                                "children": [
+                                    {
+                                        "type": "action",
+                                        "name": "loiter",
+                                        "params": {
+                                            "duration": 10.0
+                                        }
+                                    },
+                                    {
+                                        "type": "action",
+                                        "name": "object_detect",
+                                        "params": {
+                                            "target_class": "car",
+                                            "description": "蓝色的车",
+                                            "count": 1
+                                        }
+                                    }
+                                ]
+                            },
+                            {
+                                "type": "action",
+                                "name": "search_pattern",
+                                "params": {
+                                    "pattern_type": "grid",
+                                    "center_x": 5.0,
+                                    "center_y": 3.0,
+                                    "center_z": 2.0,
+                                    "radius": 80.0,
+                                    "target_class": "car",
+                                    "description": "蓝色的车",
+                                    "count": 1
+                                }
+                            }
+                        ]
+                    },
+                    {
+                        "type": "action",
+                        "name": "land",
+                        "params": {
+                            "mode": "home"
+                        }
+                    }
+                ]
+            },
+            {
+                "type": "Selector",
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "children": [
+                    {
+                        "type": "condition",
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.35
+                        }
+                    },
+                    {
+                        "type": "condition",
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        }
+                    },
+                    {
+                        "type": "Sequence",
+                        "name": "EmergencyHandler",
+                        "children": [
+                            {
+                                "type": "action",
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                }
+                            },
+                            {
+                                "type": "action",
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                }
+                            }
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    "plan_id": "9eeccc4a-ab3b-469f-8aa5-ce9c5c921190",
+    "visualization_url": "/static/py_tree.png"
+}

tools/test_validate/test_run_20251011_175309/instruction_3/run_10_3b541f31-120d-4283-86c1-6a98cd6bf4a6.json

@@ -0,0 +1,138 @@
+{
+    "root": {
+        "type": "Parallel",
+        "name": "MissionWithSafety",
+        "params": {
+            "policy": "all_success"
+        },
+        "children": [
+            {
+                "type": "Sequence",
+                "name": "MainTask",
+                "children": [
+                    {
+                        "type": "action",
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "x": 5.0,
+                            "y": 3.0,
+                            "z": 2.0,
+                            "acceptance_radius": 2.0
+                        }
+                    },
+                    {
+                        "type": "Selector",
+                        "name": "TargetAcquisitionSelector",
+                        "params": {
+                            "memory": true
+                        },
+                        "children": [
+                            {
+                                "type": "Sequence",
+                                "name": "DirectDetectionSequence",
+                                "children": [
+                                    {
+                                        "type": "action",
+                                        "name": "loiter",
+                                        "params": {
+                                            "duration": 10.0
+                                        }
+                                    },
+                                    {
+                                        "type": "action",
+                                        "name": "object_detect",
+                                        "params": {
+                                            "target_class": "car",
+                                            "description": "蓝色的车",
+                                            "count": 1
+                                        }
+                                    }
+                                ]
+                            },
+                            {
+                                "type": "action",
+                                "name": "search_pattern",
+                                "params": {
+                                    "pattern_type": "grid",
+                                    "center_x": 5.0,
+                                    "center_y": 3.0,
+                                    "center_z": 2.0,
+                                    "radius": 80.0,
+                                    "target_class": "car",
+                                    "description": "蓝色的车",
+                                    "count": 1
+                                }
+                            }
+                        ]
+                    },
+                    {
+                        "type": "action",
+                        "name": "land",
+                        "params": {
+                            "mode": "home"
+                        }
+                    }
+                ]
+            },
+            {
+                "type": "Selector",
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "children": [
+                    {
+                        "type": "condition",
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.35
+                        }
+                    },
+                    {
+                        "type": "condition",
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        }
+                    },
+                    {
+                        "type": "Sequence",
+                        "name": "EmergencyHandler",
+                        "children": [
+                            {
+                                "type": "action",
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                }
+                            },
+                            {
+                                "type": "action",
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                }
+                            }
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    "plan_id": "3b541f31-120d-4283-86c1-6a98cd6bf4a6",
+    "visualization_url": "/static/py_tree.png"
+}

tools/test_validate/test_run_20251011_175309/instruction_3/run_1_5b81b00f-fd8d-4e7b-97e5-5ad5f25b8199.json

@@ -0,0 +1,138 @@
+{
+    "root": {
+        "type": "Parallel",
+        "name": "MissionWithSafety",
+        "params": {
+            "policy": "all_success"
+        },
+        "children": [
+            {
+                "type": "Sequence",
+                "name": "MainTask",
+                "children": [
+                    {
+                        "type": "action",
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "x": 5.0,
+                            "y": 3.0,
+                            "z": 2.0,
+                            "acceptance_radius": 2.0
+                        }
+                    },
+                    {
+                        "type": "Selector",
+                        "name": "TargetAcquisitionSelector",
+                        "params": {
+                            "memory": true
+                        },
+                        "children": [
+                            {
+                                "type": "Sequence",
+                                "name": "DirectDetectionSequence",
+                                "children": [
+                                    {
+                                        "type": "action",
+                                        "name": "loiter",
+                                        "params": {
+                                            "duration": 10.0
+                                        }
+                                    },
+                                    {
+                                        "type": "action",
+                                        "name": "object_detect",
+                                        "params": {
+                                            "target_class": "car",
+                                            "description": "蓝色的车",
+                                            "count": 1
+                                        }
+                                    }
+                                ]
+                            },
+                            {
+                                "type": "action",
+                                "name": "search_pattern",
+                                "params": {
+                                    "pattern_type": "grid",
+                                    "center_x": 5.0,
+                                    "center_y": 3.0,
+                                    "center_z": 2.0,
+                                    "radius": 80.0,
+                                    "target_class": "car",
+                                    "description": "蓝色的车",
+                                    "count": 1
+                                }
+                            }
+                        ]
+                    },
+                    {
+                        "type": "action",
+                        "name": "land",
+                        "params": {
+                            "mode": "home"
+                        }
+                    }
+                ]
+            },
+            {
+                "type": "Selector",
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "children": [
+                    {
+                        "type": "condition",
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.35
+                        }
+                    },
+                    {
+                        "type": "condition",
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        }
+                    },
+                    {
+                        "type": "Sequence",
+                        "name": "EmergencyHandler",
+                        "children": [
+                            {
+                                "type": "action",
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                }
+                            },
+                            {
+                                "type": "action",
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                }
+                            }
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    "plan_id": "5b81b00f-fd8d-4e7b-97e5-5ad5f25b8199",
+    "visualization_url": "/static/py_tree.png"
+}

tools/test_validate/test_run_20251011_175309/instruction_3/run_2_26cdb6ce-bb70-4a58-92c6-19470551a931.json

@@ -0,0 +1,138 @@
+{
+    "root": {
+        "type": "Parallel",
+        "name": "MissionWithSafety",
+        "params": {
+            "policy": "all_success"
+        },
+        "children": [
+            {
+                "type": "Sequence",
+                "name": "MainTask",
+                "children": [
+                    {
+                        "type": "action",
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "x": 5.0,
+                            "y": 3.0,
+                            "z": 2.0,
+                            "acceptance_radius": 2.0
+                        }
+                    },
+                    {
+                        "type": "Selector",
+                        "name": "TargetAcquisitionSelector",
+                        "params": {
+                            "memory": true
+                        },
+                        "children": [
+                            {
+                                "type": "Sequence",
+                                "name": "DirectDetectionSequence",
+                                "children": [
+                                    {
+                                        "type": "action",
+                                        "name": "loiter",
+                                        "params": {
+                                            "duration": 10.0
+                                        }
+                                    },
+                                    {
+                                        "type": "action",
+                                        "name": "object_detect",
+                                        "params": {
+                                            "target_class": "car",
+                                            "description": "蓝色的车",
+                                            "count": 1
+                                        }
+                                    }
+                                ]
+                            },
+                            {
+                                "type": "action",
+                                "name": "search_pattern",
+                                "params": {
+                                    "pattern_type": "grid",
+                                    "center_x": 5.0,
+                                    "center_y": 3.0,
+                                    "center_z": 2.0,
+                                    "radius": 80.0,
+                                    "target_class": "car",
+                                    "description": "蓝色的车",
+                                    "count": 1
+                                }
+                            }
+                        ]
+                    },
+                    {
+                        "type": "action",
+                        "name": "land",
+                        "params": {
+                            "mode": "home"
+                        }
+                    }
+                ]
+            },
+            {
+                "type": "Selector",
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "children": [
+                    {
+                        "type": "condition",
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.35
+                        }
+                    },
+                    {
+                        "type": "condition",
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        }
+                    },
+                    {
+                        "type": "Sequence",
+                        "name": "EmergencyHandler",
+                        "children": [
+                            {
+                                "type": "action",
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                }
+                            },
+                            {
+                                "type": "action",
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                }
+                            }
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    "plan_id": "26cdb6ce-bb70-4a58-92c6-19470551a931",
+    "visualization_url": "/static/py_tree.png"
+}

tools/test_validate/test_run_20251011_175309/instruction_3/run_3_6703241e-5367-42e9-bbcf-8518f7a7982f.json

@@ -0,0 +1,138 @@
+{
+    "root": {
+        "type": "Parallel",
+        "name": "MissionWithSafety",
+        "params": {
+            "policy": "all_success"
+        },
+        "children": [
+            {
+                "type": "Sequence",
+                "name": "MainTask",
+                "children": [
+                    {
+                        "type": "action",
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "x": 5.0,
+                            "y": 3.0,
+                            "z": 2.0,
+                            "acceptance_radius": 2.0
+                        }
+                    },
+                    {
+                        "type": "Selector",
+                        "name": "TargetAcquisitionSelector",
+                        "params": {
+                            "memory": true
+                        },
+                        "children": [
+                            {
+                                "type": "Sequence",
+                                "name": "DirectDetectionSequence",
+                                "children": [
+                                    {
+                                        "type": "action",
+                                        "name": "loiter",
+                                        "params": {
+                                            "duration": 10.0
+                                        }
+                                    },
+                                    {
+                                        "type": "action",
+                                        "name": "object_detect",
+                                        "params": {
+                                            "target_class": "car",
+                                            "description": "蓝色的车",
+                                            "count": 1
+                                        }
+                                    }
+                                ]
+                            },
+                            {
+                                "type": "action",
+                                "name": "search_pattern",
+                                "params": {
+                                    "pattern_type": "grid",
+                                    "center_x": 5.0,
+                                    "center_y": 3.0,
+                                    "center_z": 2.0,
+                                    "radius": 80.0,
+                                    "target_class": "car",
+                                    "description": "蓝色的车",
+                                    "count": 1
+                                }
+                            }
+                        ]
+                    },
+                    {
+                        "type": "action",
+                        "name": "land",
+                        "params": {
+                            "mode": "home"
+                        }
+                    }
+                ]
+            },
+            {
+                "type": "Selector",
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "children": [
+                    {
+                        "type": "condition",
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.35
+                        }
+                    },
+                    {
+                        "type": "condition",
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        }
+                    },
+                    {
+                        "type": "Sequence",
+                        "name": "EmergencyHandler",
+                        "children": [
+                            {
+                                "type": "action",
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                }
+                            },
+                            {
+                                "type": "action",
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                }
+                            }
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    "plan_id": "6703241e-5367-42e9-bbcf-8518f7a7982f",
+    "visualization_url": "/static/py_tree.png"
+}

tools/test_validate/test_run_20251011_175309/instruction_3/run_4_71c89dc5-5e3b-46d5-9c0b-59535d5c12b2.json

@@ -0,0 +1,138 @@
+{
+    "root": {
+        "type": "Parallel",
+        "name": "MissionWithSafety",
+        "params": {
+            "policy": "all_success"
+        },
+        "children": [
+            {
+                "type": "Sequence",
+                "name": "MainTask",
+                "children": [
+                    {
+                        "type": "action",
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "x": 5.0,
+                            "y": 3.0,
+                            "z": 2.0,
+                            "acceptance_radius": 2.0
+                        }
+                    },
+                    {
+                        "type": "Selector",
+                        "name": "TargetAcquisitionSelector",
+                        "params": {
+                            "memory": true
+                        },
+                        "children": [
+                            {
+                                "type": "Sequence",
+                                "name": "DirectDetectionSequence",
+                                "children": [
+                                    {
+                                        "type": "action",
+                                        "name": "loiter",
+                                        "params": {
+                                            "duration": 10.0
+                                        }
+                                    },
+                                    {
+                                        "type": "action",
+                                        "name": "object_detect",
+                                        "params": {
+                                            "target_class": "car",
+                                            "description": "蓝色的车",
+                                            "count": 1
+                                        }
+                                    }
+                                ]
+                            },
+                            {
+                                "type": "action",
+                                "name": "search_pattern",
+                                "params": {
+                                    "pattern_type": "grid",
+                                    "center_x": 5.0,
+                                    "center_y": 3.0,
+                                    "center_z": 2.0,
+                                    "radius": 80.0,
+                                    "target_class": "car",
+                                    "description": "蓝色的车",
+                                    "count": 1
+                                }
+                            }
+                        ]
+                    },
+                    {
+                        "type": "action",
+                        "name": "land",
+                        "params": {
+                            "mode": "home"
+                        }
+                    }
+                ]
+            },
+            {
+                "type": "Selector",
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "children": [
+                    {
+                        "type": "condition",
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.35
+                        }
+                    },
+                    {
+                        "type": "condition",
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        }
+                    },
+                    {
+                        "type": "Sequence",
+                        "name": "EmergencyHandler",
+                        "children": [
+                            {
+                                "type": "action",
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                }
+                            },
+                            {
+                                "type": "action",
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                }
+                            }
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    "plan_id": "71c89dc5-5e3b-46d5-9c0b-59535d5c12b2",
+    "visualization_url": "/static/py_tree.png"
+}

tools/test_validate/test_run_20251011_175309/instruction_3/run_5_1142491e-1a37-4a09-a64d-ed5773cea09e.json

@@ -0,0 +1,138 @@
+{
+    "root": {
+        "type": "Parallel",
+        "name": "MissionWithSafety",
+        "params": {
+            "policy": "all_success"
+        },
+        "children": [
+            {
+                "type": "Sequence",
+                "name": "MainTask",
+                "children": [
+                    {
+                        "type": "action",
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "x": 5.0,
+                            "y": 3.0,
+                            "z": 2.0,
+                            "acceptance_radius": 2.0
+                        }
+                    },
+                    {
+                        "type": "Selector",
+                        "name": "TargetAcquisitionSelector",
+                        "params": {
+                            "memory": true
+                        },
+                        "children": [
+                            {
+                                "type": "Sequence",
+                                "name": "DirectDetectionSequence",
+                                "children": [
+                                    {
+                                        "type": "action",
+                                        "name": "loiter",
+                                        "params": {
+                                            "duration": 10.0
+                                        }
+                                    },
+                                    {
+                                        "type": "action",
+                                        "name": "object_detect",
+                                        "params": {
+                                            "target_class": "car",
+                                            "description": "蓝色的车",
+                                            "count": 1
+                                        }
+                                    }
+                                ]
+                            },
+                            {
+                                "type": "action",
+                                "name": "search_pattern",
+                                "params": {
+                                    "pattern_type": "grid",
+                                    "center_x": 5.0,
+                                    "center_y": 3.0,
+                                    "center_z": 2.0,
+                                    "radius": 80.0,
+                                    "target_class": "car",
+                                    "description": "蓝色的车",
+                                    "count": 1
+                                }
+                            }
+                        ]
+                    },
+                    {
+                        "type": "action",
+                        "name": "land",
+                        "params": {
+                            "mode": "home"
+                        }
+                    }
+                ]
+            },
+            {
+                "type": "Selector",
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "children": [
+                    {
+                        "type": "condition",
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.35
+                        }
+                    },
+                    {
+                        "type": "condition",
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        }
+                    },
+                    {
+                        "type": "Sequence",
+                        "name": "EmergencyHandler",
+                        "children": [
+                            {
+                                "type": "action",
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                }
+                            },
+                            {
+                                "type": "action",
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                }
+                            }
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    "plan_id": "1142491e-1a37-4a09-a64d-ed5773cea09e",
+    "visualization_url": "/static/py_tree.png"
+}

tools/test_validate/test_run_20251011_175309/instruction_3/run_6_35ff42a3-2871-4b6e-820d-69a2b05411f6.json

@@ -0,0 +1,138 @@
+{
+    "root": {
+        "type": "Parallel",
+        "name": "MissionWithSafety",
+        "params": {
+            "policy": "all_success"
+        },
+        "children": [
+            {
+                "type": "Sequence",
+                "name": "MainTask",
+                "children": [
+                    {
+                        "type": "action",
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "x": 5.0,
+                            "y": 3.0,
+                            "z": 2.0,
+                            "acceptance_radius": 2.0
+                        }
+                    },
+                    {
+                        "type": "Selector",
+                        "name": "TargetAcquisitionSelector",
+                        "params": {
+                            "memory": true
+                        },
+                        "children": [
+                            {
+                                "type": "Sequence",
+                                "name": "DirectDetectionSequence",
+                                "children": [
+                                    {
+                                        "type": "action",
+                                        "name": "loiter",
+                                        "params": {
+                                            "duration": 10.0
+                                        }
+                                    },
+                                    {
+                                        "type": "action",
+                                        "name": "object_detect",
+                                        "params": {
+                                            "target_class": "car",
+                                            "description": "蓝色的车",
+                                            "count": 1
+                                        }
+                                    }
+                                ]
+                            },
+                            {
+                                "type": "action",
+                                "name": "search_pattern",
+                                "params": {
+                                    "pattern_type": "grid",
+                                    "center_x": 5.0,
+                                    "center_y": 3.0,
+                                    "center_z": 2.0,
+                                    "radius": 80.0,
+                                    "target_class": "car",
+                                    "description": "蓝色的车",
+                                    "count": 1
+                                }
+                            }
+                        ]
+                    },
+                    {
+                        "type": "action",
+                        "name": "land",
+                        "params": {
+                            "mode": "home"
+                        }
+                    }
+                ]
+            },
+            {
+                "type": "Selector",
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "children": [
+                    {
+                        "type": "condition",
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.35
+                        }
+                    },
+                    {
+                        "type": "condition",
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        }
+                    },
+                    {
+                        "type": "Sequence",
+                        "name": "EmergencyHandler",
+                        "children": [
+                            {
+                                "type": "action",
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                }
+                            },
+                            {
+                                "type": "action",
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                }
+                            }
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    "plan_id": "35ff42a3-2871-4b6e-820d-69a2b05411f6",
+    "visualization_url": "/static/py_tree.png"
+}

tools/test_validate/test_run_20251011_175309/instruction_3/run_7_a836fb2c-74b1-4451-94a7-83ea9dc04fc5.json

@@ -0,0 +1,138 @@
+{
+    "root": {
+        "type": "Parallel",
+        "name": "MissionWithSafety",
+        "params": {
+            "policy": "all_success"
+        },
+        "children": [
+            {
+                "type": "Sequence",
+                "name": "MainTask",
+                "children": [
+                    {
+                        "type": "action",
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "x": 5.0,
+                            "y": 3.0,
+                            "z": 2.0,
+                            "acceptance_radius": 2.0
+                        }
+                    },
+                    {
+                        "type": "Selector",
+                        "name": "TargetAcquisitionSelector",
+                        "params": {
+                            "memory": true
+                        },
+                        "children": [
+                            {
+                                "type": "Sequence",
+                                "name": "DirectDetectionSequence",
+                                "children": [
+                                    {
+                                        "type": "action",
+                                        "name": "loiter",
+                                        "params": {
+                                            "duration": 10.0
+                                        }
+                                    },
+                                    {
+                                        "type": "action",
+                                        "name": "object_detect",
+                                        "params": {
+                                            "target_class": "car",
+                                            "description": "蓝色的车",
+                                            "count": 1
+                                        }
+                                    }
+                                ]
+                            },
+                            {
+                                "type": "action",
+                                "name": "search_pattern",
+                                "params": {
+                                    "pattern_type": "grid",
+                                    "center_x": 5.0,
+                                    "center_y": 3.0,
+                                    "center_z": 2.0,
+                                    "radius": 80.0,
+                                    "target_class": "car",
+                                    "description": "蓝色的车",
+                                    "count": 1
+                                }
+                            }
+                        ]
+                    },
+                    {
+                        "type": "action",
+                        "name": "land",
+                        "params": {
+                            "mode": "home"
+                        }
+                    }
+                ]
+            },
+            {
+                "type": "Selector",
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "children": [
+                    {
+                        "type": "condition",
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.35
+                        }
+                    },
+                    {
+                        "type": "condition",
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        }
+                    },
+                    {
+                        "type": "Sequence",
+                        "name": "EmergencyHandler",
+                        "children": [
+                            {
+                                "type": "action",
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                }
+                            },
+                            {
+                                "type": "action",
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                }
+                            }
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    "plan_id": "a836fb2c-74b1-4451-94a7-83ea9dc04fc5",
+    "visualization_url": "/static/py_tree.png"
+}

tools/test_validate/test_run_20251011_175309/instruction_3/run_8_d716a58c-8cb1-4792-98a1-c2a44d86ba72.json

@@ -0,0 +1,138 @@
+{
+    "root": {
+        "type": "Parallel",
+        "name": "MissionWithSafety",
+        "params": {
+            "policy": "all_success"
+        },
+        "children": [
+            {
+                "type": "Sequence",
+                "name": "MainTask",
+                "children": [
+                    {
+                        "type": "action",
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "x": 5.0,
+                            "y": 3.0,
+                            "z": 2.0,
+                            "acceptance_radius": 2.0
+                        }
+                    },
+                    {
+                        "type": "Selector",
+                        "name": "TargetAcquisitionSelector",
+                        "params": {
+                            "memory": true
+                        },
+                        "children": [
+                            {
+                                "type": "Sequence",
+                                "name": "DirectDetectionSequence",
+                                "children": [
+                                    {
+                                        "type": "action",
+                                        "name": "loiter",
+                                        "params": {
+                                            "duration": 10.0
+                                        }
+                                    },
+                                    {
+                                        "type": "action",
+                                        "name": "object_detect",
+                                        "params": {
+                                            "target_class": "car",
+                                            "description": "蓝色的车",
+                                            "count": 1
+                                        }
+                                    }
+                                ]
+                            },
+                            {
+                                "type": "action",
+                                "name": "search_pattern",
+                                "params": {
+                                    "pattern_type": "grid",
+                                    "center_x": 5.0,
+                                    "center_y": 3.0,
+                                    "center_z": 2.0,
+                                    "radius": 80.0,
+                                    "target_class": "car",
+                                    "description": "蓝色的车",
+                                    "count": 1
+                                }
+                            }
+                        ]
+                    },
+                    {
+                        "type": "action",
+                        "name": "land",
+                        "params": {
+                            "mode": "home"
+                        }
+                    }
+                ]
+            },
+            {
+                "type": "Selector",
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "children": [
+                    {
+                        "type": "condition",
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.35
+                        }
+                    },
+                    {
+                        "type": "condition",
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        }
+                    },
+                    {
+                        "type": "Sequence",
+                        "name": "EmergencyHandler",
+                        "children": [
+                            {
+                                "type": "action",
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                }
+                            },
+                            {
+                                "type": "action",
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                }
+                            }
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    "plan_id": "d716a58c-8cb1-4792-98a1-c2a44d86ba72",
+    "visualization_url": "/static/py_tree.png"
+}

tools/test_validate/test_run_20251011_175309/instruction_3/run_9_cbb57237-e84d-4de8-bba1-a1f7a7dd8538.json

@@ -0,0 +1,138 @@
+{
+    "root": {
+        "type": "Parallel",
+        "name": "MissionWithSafety",
+        "params": {
+            "policy": "all_success"
+        },
+        "children": [
+            {
+                "type": "Sequence",
+                "name": "MainTask",
+                "children": [
+                    {
+                        "type": "action",
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "x": 5.0,
+                            "y": 3.0,
+                            "z": 2.0,
+                            "acceptance_radius": 2.0
+                        }
+                    },
+                    {
+                        "type": "Selector",
+                        "name": "TargetAcquisitionSelector",
+                        "params": {
+                            "memory": true
+                        },
+                        "children": [
+                            {
+                                "type": "Sequence",
+                                "name": "DirectDetectionSequence",
+                                "children": [
+                                    {
+                                        "type": "action",
+                                        "name": "loiter",
+                                        "params": {
+                                            "duration": 10.0
+                                        }
+                                    },
+                                    {
+                                        "type": "action",
+                                        "name": "object_detect",
+                                        "params": {
+                                            "target_class": "car",
+                                            "description": "蓝色的车",
+                                            "count": 1
+                                        }
+                                    }
+                                ]
+                            },
+                            {
+                                "type": "action",
+                                "name": "search_pattern",
+                                "params": {
+                                    "pattern_type": "grid",
+                                    "center_x": 5.0,
+                                    "center_y": 3.0,
+                                    "center_z": 2.0,
+                                    "radius": 80.0,
+                                    "target_class": "car",
+                                    "description": "蓝色的车",
+                                    "count": 1
+                                }
+                            }
+                        ]
+                    },
+                    {
+                        "type": "action",
+                        "name": "land",
+                        "params": {
+                            "mode": "home"
+                        }
+                    }
+                ]
+            },
+            {
+                "type": "Selector",
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "children": [
+                    {
+                        "type": "condition",
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.35
+                        }
+                    },
+                    {
+                        "type": "condition",
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        }
+                    },
+                    {
+                        "type": "Sequence",
+                        "name": "EmergencyHandler",
+                        "children": [
+                            {
+                                "type": "action",
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                }
+                            },
+                            {
+                                "type": "action",
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                }
+                            }
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    "plan_id": "cbb57237-e84d-4de8-bba1-a1f7a7dd8538",
+    "visualization_url": "/static/py_tree.png"
+}

tools/test_validate/test_run_20251011_175309/instruction_4/run_10_619957a5-92b3-4f1f-b556-7d744aee247f.json

@@ -0,0 +1,138 @@
+{
+    "root": {
+        "type": "Parallel",
+        "name": "MissionWithSafety",
+        "params": {
+            "policy": "all_success"
+        },
+        "children": [
+            {
+                "type": "Sequence",
+                "name": "MainTask",
+                "children": [
+                    {
+                        "type": "action",
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "x": 5.0,
+                            "y": 3.0,
+                            "z": 2.0,
+                            "acceptance_radius": 2.0
+                        }
+                    },
+                    {
+                        "type": "Selector",
+                        "name": "TargetAcquisitionSelector",
+                        "params": {
+                            "memory": true
+                        },
+                        "children": [
+                            {
+                                "type": "Sequence",
+                                "name": "DirectDetectionSequence",
+                                "children": [
+                                    {
+                                        "type": "action",
+                                        "name": "loiter",
+                                        "params": {
+                                            "duration": 10.0
+                                        }
+                                    },
+                                    {
+                                        "type": "action",
+                                        "name": "object_detect",
+                                        "params": {
+                                            "target_class": "car",
+                                            "description": "蓝色的车",
+                                            "count": 1
+                                        }
+                                    }
+                                ]
+                            },
+                            {
+                                "type": "action",
+                                "name": "search_pattern",
+                                "params": {
+                                    "pattern_type": "grid",
+                                    "center_x": 5.0,
+                                    "center_y": 3.0,
+                                    "center_z": 2.0,
+                                    "radius": 80.0,
+                                    "target_class": "car",
+                                    "description": "蓝色的车",
+                                    "count": 1
+                                }
+                            }
+                        ]
+                    },
+                    {
+                        "type": "action",
+                        "name": "land",
+                        "params": {
+                            "mode": "home"
+                        }
+                    }
+                ]
+            },
+            {
+                "type": "Selector",
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "children": [
+                    {
+                        "type": "condition",
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.35
+                        }
+                    },
+                    {
+                        "type": "condition",
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        }
+                    },
+                    {
+                        "type": "Sequence",
+                        "name": "EmergencyHandler",
+                        "children": [
+                            {
+                                "type": "action",
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                }
+                            },
+                            {
+                                "type": "action",
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                }
+                            }
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    "plan_id": "619957a5-92b3-4f1f-b556-7d744aee247f",
+    "visualization_url": "/static/py_tree.png"
+}

tools/test_validate/test_run_20251011_175309/instruction_4/run_1_7d1394a0-595f-4745-8c05-7c27bbe6a893.json

@@ -0,0 +1,138 @@
+{
+    "root": {
+        "type": "Parallel",
+        "name": "MissionWithSafety",
+        "params": {
+            "policy": "all_success"
+        },
+        "children": [
+            {
+                "type": "Sequence",
+                "name": "MainTask",
+                "children": [
+                    {
+                        "type": "action",
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "x": 5.0,
+                            "y": 3.0,
+                            "z": 2.0,
+                            "acceptance_radius": 2.0
+                        }
+                    },
+                    {
+                        "type": "Selector",
+                        "name": "TargetAcquisitionSelector",
+                        "params": {
+                            "memory": true
+                        },
+                        "children": [
+                            {
+                                "type": "Sequence",
+                                "name": "DirectDetectionSequence",
+                                "children": [
+                                    {
+                                        "type": "action",
+                                        "name": "loiter",
+                                        "params": {
+                                            "duration": 10.0
+                                        }
+                                    },
+                                    {
+                                        "type": "action",
+                                        "name": "object_detect",
+                                        "params": {
+                                            "target_class": "car",
+                                            "description": "蓝色的车",
+                                            "count": 1
+                                        }
+                                    }
+                                ]
+                            },
+                            {
+                                "type": "action",
+                                "name": "search_pattern",
+                                "params": {
+                                    "pattern_type": "grid",
+                                    "center_x": 5.0,
+                                    "center_y": 3.0,
+                                    "center_z": 2.0,
+                                    "radius": 80.0,
+                                    "target_class": "car",
+                                    "description": "蓝色的车",
+                                    "count": 1
+                                }
+                            }
+                        ]
+                    },
+                    {
+                        "type": "action",
+                        "name": "land",
+                        "params": {
+                            "mode": "home"
+                        }
+                    }
+                ]
+            },
+            {
+                "type": "Selector",
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "children": [
+                    {
+                        "type": "condition",
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.35
+                        }
+                    },
+                    {
+                        "type": "condition",
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        }
+                    },
+                    {
+                        "type": "Sequence",
+                        "name": "EmergencyHandler",
+                        "children": [
+                            {
+                                "type": "action",
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                }
+                            },
+                            {
+                                "type": "action",
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                }
+                            }
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    "plan_id": "7d1394a0-595f-4745-8c05-7c27bbe6a893",
+    "visualization_url": "/static/py_tree.png"
+}

tools/test_validate/test_run_20251011_175309/instruction_4/run_2_172d07ff-4746-48e0-a47c-ce721dbfd9da.json

@@ -0,0 +1,138 @@
+{
+    "root": {
+        "type": "Parallel",
+        "name": "MissionWithSafety",
+        "params": {
+            "policy": "all_success"
+        },
+        "children": [
+            {
+                "type": "Sequence",
+                "name": "MainTask",
+                "children": [
+                    {
+                        "type": "action",
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "x": 5.0,
+                            "y": 3.0,
+                            "z": 2.0,
+                            "acceptance_radius": 2.0
+                        }
+                    },
+                    {
+                        "type": "Selector",
+                        "name": "TargetAcquisitionSelector",
+                        "params": {
+                            "memory": true
+                        },
+                        "children": [
+                            {
+                                "type": "Sequence",
+                                "name": "DirectDetectionSequence",
+                                "children": [
+                                    {
+                                        "type": "action",
+                                        "name": "loiter",
+                                        "params": {
+                                            "duration": 10.0
+                                        }
+                                    },
+                                    {
+                                        "type": "action",
+                                        "name": "object_detect",
+                                        "params": {
+                                            "target_class": "car",
+                                            "description": "蓝色的车",
+                                            "count": 1
+                                        }
+                                    }
+                                ]
+                            },
+                            {
+                                "type": "action",
+                                "name": "search_pattern",
+                                "params": {
+                                    "pattern_type": "grid",
+                                    "center_x": 5.0,
+                                    "center_y": 3.0,
+                                    "center_z": 2.0,
+                                    "radius": 80.0,
+                                    "target_class": "car",
+                                    "description": "蓝色的车",
+                                    "count": 1
+                                }
+                            }
+                        ]
+                    },
+                    {
+                        "type": "action",
+                        "name": "land",
+                        "params": {
+                            "mode": "home"
+                        }
+                    }
+                ]
+            },
+            {
+                "type": "Selector",
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "children": [
+                    {
+                        "type": "condition",
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.35
+                        }
+                    },
+                    {
+                        "type": "condition",
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        }
+                    },
+                    {
+                        "type": "Sequence",
+                        "name": "EmergencyHandler",
+                        "children": [
+                            {
+                                "type": "action",
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                }
+                            },
+                            {
+                                "type": "action",
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                }
+                            }
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    "plan_id": "172d07ff-4746-48e0-a47c-ce721dbfd9da",
+    "visualization_url": "/static/py_tree.png"
+}

tools/test_validate/test_run_20251011_175309/instruction_4/run_3_15364c4e-badb-4cf0-ad55-9507b3f42ca6.json

@@ -0,0 +1,138 @@
+{
+    "root": {
+        "type": "Parallel",
+        "name": "MissionWithSafety",
+        "params": {
+            "policy": "all_success"
+        },
+        "children": [
+            {
+                "type": "Sequence",
+                "name": "MainTask",
+                "children": [
+                    {
+                        "type": "action",
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "x": 5.0,
+                            "y": 3.0,
+                            "z": 2.0,
+                            "acceptance_radius": 2.0
+                        }
+                    },
+                    {
+                        "type": "Selector",
+                        "name": "TargetAcquisitionSelector",
+                        "params": {
+                            "memory": true
+                        },
+                        "children": [
+                            {
+                                "type": "Sequence",
+                                "name": "DirectDetectionSequence",
+                                "children": [
+                                    {
+                                        "type": "action",
+                                        "name": "loiter",
+                                        "params": {
+                                            "duration": 10.0
+                                        }
+                                    },
+                                    {
+                                        "type": "action",
+                                        "name": "object_detect",
+                                        "params": {
+                                            "target_class": "car",
+                                            "description": "蓝色的车",
+                                            "count": 1
+                                        }
+                                    }
+                                ]
+                            },
+                            {
+                                "type": "action",
+                                "name": "search_pattern",
+                                "params": {
+                                    "pattern_type": "grid",
+                                    "center_x": 5.0,
+                                    "center_y": 3.0,
+                                    "center_z": 2.0,
+                                    "radius": 80.0,
+                                    "target_class": "car",
+                                    "description": "蓝色的车",
+                                    "count": 1
+                                }
+                            }
+                        ]
+                    },
+                    {
+                        "type": "action",
+                        "name": "land",
+                        "params": {
+                            "mode": "home"
+                        }
+                    }
+                ]
+            },
+            {
+                "type": "Selector",
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "children": [
+                    {
+                        "type": "condition",
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.35
+                        }
+                    },
+                    {
+                        "type": "condition",
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        }
+                    },
+                    {
+                        "type": "Sequence",
+                        "name": "EmergencyHandler",
+                        "children": [
+                            {
+                                "type": "action",
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                }
+                            },
+                            {
+                                "type": "action",
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                }
+                            }
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    "plan_id": "15364c4e-badb-4cf0-ad55-9507b3f42ca6",
+    "visualization_url": "/static/py_tree.png"
+}

tools/test_validate/test_run_20251011_175309/instruction_4/run_4_ba86bac9-b1c9-4ea8-a255-f0589b776622.json

@@ -0,0 +1,138 @@
+{
+    "root": {
+        "type": "Parallel",
+        "name": "MissionWithSafety",
+        "params": {
+            "policy": "all_success"
+        },
+        "children": [
+            {
+                "type": "Sequence",
+                "name": "MainTask",
+                "children": [
+                    {
+                        "type": "action",
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "x": 5.0,
+                            "y": 3.0,
+                            "z": 2.0,
+                            "acceptance_radius": 2.0
+                        }
+                    },
+                    {
+                        "type": "Selector",
+                        "name": "TargetAcquisitionSelector",
+                        "params": {
+                            "memory": true
+                        },
+                        "children": [
+                            {
+                                "type": "Sequence",
+                                "name": "DirectDetectionSequence",
+                                "children": [
+                                    {
+                                        "type": "action",
+                                        "name": "loiter",
+                                        "params": {
+                                            "duration": 10.0
+                                        }
+                                    },
+                                    {
+                                        "type": "action",
+                                        "name": "object_detect",
+                                        "params": {
+                                            "target_class": "car",
+                                            "description": "蓝色的车",
+                                            "count": 1
+                                        }
+                                    }
+                                ]
+                            },
+                            {
+                                "type": "action",
+                                "name": "search_pattern",
+                                "params": {
+                                    "pattern_type": "grid",
+                                    "center_x": 5.0,
+                                    "center_y": 3.0,
+                                    "center_z": 2.0,
+                                    "radius": 80.0,
+                                    "target_class": "car",
+                                    "description": "蓝色的车",
+                                    "count": 1
+                                }
+                            }
+                        ]
+                    },
+                    {
+                        "type": "action",
+                        "name": "land",
+                        "params": {
+                            "mode": "home"
+                        }
+                    }
+                ]
+            },
+            {
+                "type": "Selector",
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "children": [
+                    {
+                        "type": "condition",
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.35
+                        }
+                    },
+                    {
+                        "type": "condition",
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        }
+                    },
+                    {
+                        "type": "Sequence",
+                        "name": "EmergencyHandler",
+                        "children": [
+                            {
+                                "type": "action",
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                }
+                            },
+                            {
+                                "type": "action",
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                }
+                            }
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    "plan_id": "ba86bac9-b1c9-4ea8-a255-f0589b776622",
+    "visualization_url": "/static/py_tree.png"
+}

tools/test_validate/test_run_20251011_175309/instruction_4/run_5_3518e34d-d5ab-4750-98e3-4aa5272b4617.json

@@ -0,0 +1,138 @@
+{
+    "root": {
+        "type": "Parallel",
+        "name": "MissionWithSafety",
+        "params": {
+            "policy": "all_success"
+        },
+        "children": [
+            {
+                "type": "Sequence",
+                "name": "MainTask",
+                "children": [
+                    {
+                        "type": "action",
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "x": 5.0,
+                            "y": 3.0,
+                            "z": 2.0,
+                            "acceptance_radius": 2.0
+                        }
+                    },
+                    {
+                        "type": "Selector",
+                        "name": "TargetAcquisitionSelector",
+                        "params": {
+                            "memory": true
+                        },
+                        "children": [
+                            {
+                                "type": "Sequence",
+                                "name": "DirectDetectionSequence",
+                                "children": [
+                                    {
+                                        "type": "action",
+                                        "name": "loiter",
+                                        "params": {
+                                            "duration": 10.0
+                                        }
+                                    },
+                                    {
+                                        "type": "action",
+                                        "name": "object_detect",
+                                        "params": {
+                                            "target_class": "car",
+                                            "description": "蓝色的车",
+                                            "count": 1
+                                        }
+                                    }
+                                ]
+                            },
+                            {
+                                "type": "action",
+                                "name": "search_pattern",
+                                "params": {
+                                    "pattern_type": "grid",
+                                    "center_x": 5.0,
+                                    "center_y": 3.0,
+                                    "center_z": 2.0,
+                                    "radius": 80.0,
+                                    "target_class": "car",
+                                    "description": "蓝色的车",
+                                    "count": 1
+                                }
+                            }
+                        ]
+                    },
+                    {
+                        "type": "action",
+                        "name": "land",
+                        "params": {
+                            "mode": "home"
+                        }
+                    }
+                ]
+            },
+            {
+                "type": "Selector",
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "children": [
+                    {
+                        "type": "condition",
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.35
+                        }
+                    },
+                    {
+                        "type": "condition",
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        }
+                    },
+                    {
+                        "type": "Sequence",
+                        "name": "EmergencyHandler",
+                        "children": [
+                            {
+                                "type": "action",
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                }
+                            },
+                            {
+                                "type": "action",
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                }
+                            }
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    "plan_id": "3518e34d-d5ab-4750-98e3-4aa5272b4617",
+    "visualization_url": "/static/py_tree.png"
+}

tools/test_validate/test_run_20251011_175309/instruction_4/run_6_410d15c8-a536-4ecc-a0e1-e0f8b0299285.json

@@ -0,0 +1,138 @@
+{
+    "root": {
+        "type": "Parallel",
+        "name": "MissionWithSafety",
+        "params": {
+            "policy": "all_success"
+        },
+        "children": [
+            {
+                "type": "Sequence",
+                "name": "MainTask",
+                "children": [
+                    {
+                        "type": "action",
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "x": 5.0,
+                            "y": 3.0,
+                            "z": 2.0,
+                            "acceptance_radius": 2.0
+                        }
+                    },
+                    {
+                        "type": "Selector",
+                        "name": "TargetAcquisitionSelector",
+                        "params": {
+                            "memory": true
+                        },
+                        "children": [
+                            {
+                                "type": "Sequence",
+                                "name": "DirectDetectionSequence",
+                                "children": [
+                                    {
+                                        "type": "action",
+                                        "name": "loiter",
+                                        "params": {
+                                            "duration": 10.0
+                                        }
+                                    },
+                                    {
+                                        "type": "action",
+                                        "name": "object_detect",
+                                        "params": {
+                                            "target_class": "car",
+                                            "description": "蓝色的车",
+                                            "count": 1
+                                        }
+                                    }
+                                ]
+                            },
+                            {
+                                "type": "action",
+                                "name": "search_pattern",
+                                "params": {
+                                    "pattern_type": "grid",
+                                    "center_x": 5.0,
+                                    "center_y": 3.0,
+                                    "center_z": 2.0,
+                                    "radius": 80.0,
+                                    "target_class": "car",
+                                    "description": "蓝色的车",
+                                    "count": 1
+                                }
+                            }
+                        ]
+                    },
+                    {
+                        "type": "action",
+                        "name": "land",
+                        "params": {
+                            "mode": "home"
+                        }
+                    }
+                ]
+            },
+            {
+                "type": "Selector",
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "children": [
+                    {
+                        "type": "condition",
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.35
+                        }
+                    },
+                    {
+                        "type": "condition",
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        }
+                    },
+                    {
+                        "type": "Sequence",
+                        "name": "EmergencyHandler",
+                        "children": [
+                            {
+                                "type": "action",
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                }
+                            },
+                            {
+                                "type": "action",
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                }
+                            }
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    "plan_id": "410d15c8-a536-4ecc-a0e1-e0f8b0299285",
+    "visualization_url": "/static/py_tree.png"
+}

tools/test_validate/test_run_20251011_175309/instruction_4/run_7_c3f8c7f7-85d7-4be3-8c41-10731cae7d35.json

@@ -0,0 +1,138 @@
+{
+    "root": {
+        "type": "Parallel",
+        "name": "MissionWithSafety",
+        "params": {
+            "policy": "all_success"
+        },
+        "children": [
+            {
+                "type": "Sequence",
+                "name": "MainTask",
+                "children": [
+                    {
+                        "type": "action",
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "x": 5.0,
+                            "y": 3.0,
+                            "z": 2.0,
+                            "acceptance_radius": 2.0
+                        }
+                    },
+                    {
+                        "type": "Selector",
+                        "name": "TargetAcquisitionSelector",
+                        "params": {
+                            "memory": true
+                        },
+                        "children": [
+                            {
+                                "type": "Sequence",
+                                "name": "DirectDetectionSequence",
+                                "children": [
+                                    {
+                                        "type": "action",
+                                        "name": "loiter",
+                                        "params": {
+                                            "duration": 10.0
+                                        }
+                                    },
+                                    {
+                                        "type": "action",
+                                        "name": "object_detect",
+                                        "params": {
+                                            "target_class": "car",
+                                            "description": "蓝色的车",
+                                            "count": 1
+                                        }
+                                    }
+                                ]
+                            },
+                            {
+                                "type": "action",
+                                "name": "search_pattern",
+                                "params": {
+                                    "pattern_type": "grid",
+                                    "center_x": 5.0,
+                                    "center_y": 3.0,
+                                    "center_z": 2.0,
+                                    "radius": 80.0,
+                                    "target_class": "car",
+                                    "description": "蓝色的车",
+                                    "count": 1
+                                }
+                            }
+                        ]
+                    },
+                    {
+                        "type": "action",
+                        "name": "land",
+                        "params": {
+                            "mode": "home"
+                        }
+                    }
+                ]
+            },
+            {
+                "type": "Selector",
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "children": [
+                    {
+                        "type": "condition",
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.35
+                        }
+                    },
+                    {
+                        "type": "condition",
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        }
+                    },
+                    {
+                        "type": "Sequence",
+                        "name": "EmergencyHandler",
+                        "children": [
+                            {
+                                "type": "action",
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                }
+                            },
+                            {
+                                "type": "action",
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                }
+                            }
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    "plan_id": "c3f8c7f7-85d7-4be3-8c41-10731cae7d35",
+    "visualization_url": "/static/py_tree.png"
+}

tools/test_validate/test_run_20251011_175309/instruction_4/run_8_c4c5e35b-f1d1-4b0a-8b3a-c664322a6ffc.json

@@ -0,0 +1,138 @@
+{
+    "root": {
+        "type": "Parallel",
+        "name": "MissionWithSafety",
+        "params": {
+            "policy": "all_success"
+        },
+        "children": [
+            {
+                "type": "Sequence",
+                "name": "MainTask",
+                "children": [
+                    {
+                        "type": "action",
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "x": 5.0,
+                            "y": 3.0,
+                            "z": 2.0,
+                            "acceptance_radius": 2.0
+                        }
+                    },
+                    {
+                        "type": "Selector",
+                        "name": "TargetAcquisitionSelector",
+                        "params": {
+                            "memory": true
+                        },
+                        "children": [
+                            {
+                                "type": "Sequence",
+                                "name": "DirectDetectionSequence",
+                                "children": [
+                                    {
+                                        "type": "action",
+                                        "name": "loiter",
+                                        "params": {
+                                            "duration": 10.0
+                                        }
+                                    },
+                                    {
+                                        "type": "action",
+                                        "name": "object_detect",
+                                        "params": {
+                                            "target_class": "car",
+                                            "description": "蓝色的车",
+                                            "count": 1
+                                        }
+                                    }
+                                ]
+                            },
+                            {
+                                "type": "action",
+                                "name": "search_pattern",
+                                "params": {
+                                    "pattern_type": "grid",
+                                    "center_x": 5.0,
+                                    "center_y": 3.0,
+                                    "center_z": 2.0,
+                                    "radius": 80.0,
+                                    "target_class": "car",
+                                    "description": "蓝色的车",
+                                    "count": 1
+                                }
+                            }
+                        ]
+                    },
+                    {
+                        "type": "action",
+                        "name": "land",
+                        "params": {
+                            "mode": "home"
+                        }
+                    }
+                ]
+            },
+            {
+                "type": "Selector",
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "children": [
+                    {
+                        "type": "condition",
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.35
+                        }
+                    },
+                    {
+                        "type": "condition",
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        }
+                    },
+                    {
+                        "type": "Sequence",
+                        "name": "EmergencyHandler",
+                        "children": [
+                            {
+                                "type": "action",
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                }
+                            },
+                            {
+                                "type": "action",
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                }
+                            }
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    "plan_id": "c4c5e35b-f1d1-4b0a-8b3a-c664322a6ffc",
+    "visualization_url": "/static/py_tree.png"
+}

tools/test_validate/test_run_20251011_175309/instruction_4/run_9_a486685e-679c-4a63-8582-192ea188e03a.json

@@ -0,0 +1,138 @@
+{
+    "root": {
+        "type": "Parallel",
+        "name": "MissionWithSafety",
+        "params": {
+            "policy": "all_success"
+        },
+        "children": [
+            {
+                "type": "Sequence",
+                "name": "MainTask",
+                "children": [
+                    {
+                        "type": "action",
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "x": 5.0,
+                            "y": 3.0,
+                            "z": 2.0,
+                            "acceptance_radius": 2.0
+                        }
+                    },
+                    {
+                        "type": "Selector",
+                        "name": "TargetAcquisitionSelector",
+                        "params": {
+                            "memory": true
+                        },
+                        "children": [
+                            {
+                                "type": "Sequence",
+                                "name": "DirectDetectionSequence",
+                                "children": [
+                                    {
+                                        "type": "action",
+                                        "name": "loiter",
+                                        "params": {
+                                            "duration": 10.0
+                                        }
+                                    },
+                                    {
+                                        "type": "action",
+                                        "name": "object_detect",
+                                        "params": {
+                                            "target_class": "car",
+                                            "description": "蓝色的车",
+                                            "count": 1
+                                        }
+                                    }
+                                ]
+                            },
+                            {
+                                "type": "action",
+                                "name": "search_pattern",
+                                "params": {
+                                    "pattern_type": "grid",
+                                    "center_x": 5.0,
+                                    "center_y": 3.0,
+                                    "center_z": 2.0,
+                                    "radius": 80.0,
+                                    "target_class": "car",
+                                    "description": "蓝色的车",
+                                    "count": 1
+                                }
+                            }
+                        ]
+                    },
+                    {
+                        "type": "action",
+                        "name": "land",
+                        "params": {
+                            "mode": "home"
+                        }
+                    }
+                ]
+            },
+            {
+                "type": "Selector",
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "children": [
+                    {
+                        "type": "condition",
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.35
+                        }
+                    },
+                    {
+                        "type": "condition",
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        }
+                    },
+                    {
+                        "type": "Sequence",
+                        "name": "EmergencyHandler",
+                        "children": [
+                            {
+                                "type": "action",
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                }
+                            },
+                            {
+                                "type": "action",
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                }
+                            }
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    "plan_id": "a486685e-679c-4a63-8582-192ea188e03a",
+    "visualization_url": "/static/py_tree.png"
+}

tools/test_validate/test_run_20251011_175309/instruction_5/run_10_776b10d3-2c2f-45d5-89df-8984ee0d4f1c.json

@@ -0,0 +1,138 @@
+{
+    "root": {
+        "type": "Parallel",
+        "name": "MissionWithSafety",
+        "params": {
+            "policy": "all_success"
+        },
+        "children": [
+            {
+                "type": "Sequence",
+                "name": "MainTask",
+                "children": [
+                    {
+                        "type": "action",
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "x": 5.0,
+                            "y": 3.0,
+                            "z": 2.0,
+                            "acceptance_radius": 2.0
+                        }
+                    },
+                    {
+                        "type": "Selector",
+                        "name": "TargetAcquisitionSelector",
+                        "params": {
+                            "memory": true
+                        },
+                        "children": [
+                            {
+                                "type": "Sequence",
+                                "name": "DirectDetectionSequence",
+                                "children": [
+                                    {
+                                        "type": "action",
+                                        "name": "loiter",
+                                        "params": {
+                                            "duration": 10.0
+                                        }
+                                    },
+                                    {
+                                        "type": "action",
+                                        "name": "object_detect",
+                                        "params": {
+                                            "target_class": "car",
+                                            "description": "蓝色的车",
+                                            "count": 1
+                                        }
+                                    }
+                                ]
+                            },
+                            {
+                                "type": "action",
+                                "name": "search_pattern",
+                                "params": {
+                                    "pattern_type": "grid",
+                                    "center_x": 5.0,
+                                    "center_y": 3.0,
+                                    "center_z": 2.0,
+                                    "radius": 80.0,
+                                    "target_class": "car",
+                                    "description": "蓝色的车",
+                                    "count": 1
+                                }
+                            }
+                        ]
+                    },
+                    {
+                        "type": "action",
+                        "name": "land",
+                        "params": {
+                            "mode": "home"
+                        }
+                    }
+                ]
+            },
+            {
+                "type": "Selector",
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "children": [
+                    {
+                        "type": "condition",
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.35
+                        }
+                    },
+                    {
+                        "type": "condition",
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        }
+                    },
+                    {
+                        "type": "Sequence",
+                        "name": "EmergencyHandler",
+                        "children": [
+                            {
+                                "type": "action",
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                }
+                            },
+                            {
+                                "type": "action",
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                }
+                            }
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    "plan_id": "776b10d3-2c2f-45d5-89df-8984ee0d4f1c",
+    "visualization_url": "/static/py_tree.png"
+}