新增拍照节点,删除安全检查

- 添加 backend_service/venv 虚拟环境
- 包含所有Python依赖包
- 注意：虚拟环境约393MB，包含12655个文件

README.md

@@ -19,6 +19,7 @@
 │   │   │   └── 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/
@@ -26,7 +27,8 @@
 │   ├── 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
+│   ├── 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
 │
 ├── /             # ROS2接口定义 (保持不变)
 └── docs/
@@ -61,18 +63,6 @@
     ```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**
 
@@ -107,6 +97,10 @@
 
 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"
@@ -116,6 +110,10 @@ 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
@@ -129,6 +127,22 @@ 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
@@ -214,14 +228,96 @@ python ingest.py
 
 完成前两个阶段后，即可启动并测试后端服务。
 
-#### 1. 启动后端服务
+#### 1. 启动所有服务（推荐方式：一键启动脚本）
 
-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。
+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：
 
 ```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。
@@ -232,9 +328,9 @@ 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

@@ -0,0 +1,85 @@
+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，所以可能设置为z=2。或者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的附近，或者使用其中一个作为中心。
+
+另外，用户提到要搜索并锁定危险性最高的气球，所以需要使用search_pattern或者object_detect。但因为是未知区域，可能更适合使用search_pattern，或者先飞到某个区域再进行检测。
+
+根据任务范式，可能需要先飞到某个坐标点，然后进行搜索。例如，使用fly_to_waypoint飞到某个中心点，然后执行search_pattern。或者直接使用search_pattern覆盖多个区域。
+
+不过参考知识中的三个地点可能作为搜索区域的中心，可能需要将搜索区域设置为这些点的附近。但用户没有明确说明，可能需要选择一个中心点，比如“学生宿舍”的坐标，或者综合考虑。
+
+另外，用户提到要锁定危险性最高的气球，所以需要检测到红色气球。因此，在search_pattern中，target_class应为balloon，并且description为“红色气球危险性高于蓝色气球高于绿色气球”，或者在object_detect中设置description参数为“红>蓝>绿”。
+
+但根据搜索模式，search_pattern的参数需要target_class和description。所以可能需要设置target_class为balloon，description为“红>蓝>绿”。
+
+接下来，流程应该是：
+
+1. 起飞到一定高度。
+2. 飞往搜索区域的中心点（比如学生宿舍的坐标，调整z到2）。
+3. 执行search_pattern，搜索红色气球。
+4. 一旦检测到目标，进行跟踪。
+5. 跟踪30秒后打击。
+
+同时，安全监控必须包含电池和GPS检查，以及紧急处理。
+
+现在需要构建行为树结构。根节点是Parallel，包含主任务和安全监控。主任务是Sequence，包含起飞、飞往搜索点、搜索、跟踪、打击、降落。
+
+在搜索部分，可能需要使用search_pattern，或者先飞到某个点再进行object_detect。但根据用户指令，可能更适合使用search_pattern，因为需要在未知区域搜索。
+
+所以，主任务步骤：
+
+- preflight_checks
+- takeoff
+- fly_to_waypoint到某个中心点（比如学生宿舍的坐标，调整z为2）
+- search_pattern，参数为balloon，description为“红>蓝>绿”，pattern_type可能是spiral或grid，假设用spiral，中心点为学生宿舍的坐标，半径适当，比如50米。
+- 然后，当检测到目标后，进行track_object，跟踪30秒。
+- 然后strike_target，打击。
+- 最后降落。
+
+但需要确保在search_pattern之后，检测到目标，然后进入跟踪。或者可能需要使用Selector来选择直接检测或搜索。
+
+但根据用户指令，可能需要先飞到某个点，再执行search_pattern。或者直接使用search_pattern覆盖多个区域。
+
+参考知识中的三个地点可能作为搜索区域的中心，但用户没有明确说明，可能需要选择其中一个作为搜索中心。比如学生宿舍的坐标(x:5, y:3, z:2)，调整z为2。
+
+所以，fly_to_waypoint的参数是x=5, y=3, z=2, acceptance_radius=2.0。
+
+然后执行search_pattern，参数为balloon，description为“红>蓝>绿”，pattern_type为spiral，中心点为学生宿舍的坐标，半径比如50米。
+
+之后，当检测到目标后，进行track_object，参数为balloon，description为“红>蓝>绿”，track_time=30.0，min_confidence=0.7，safe_distance=15.0。
+
+然后strike_target，参数为balloon，description为“红>蓝>绿”，count=1。
+
+最后降落。
+
+同时，安全监控需要包含电池和GPS检查，以及紧急处理。
+
+现在需要构建JSON结构，确保所有参数符合约束，并且流程正确。
+
+可能的搜索中心是学生宿舍的坐标，调整z为2。然后search_pattern的参数为balloon，description为“红>蓝>绿”，pattern_type为spiral，radius为50米，center_x=5, center_y=3, center_z=2。
+
+然后，当检测到目标后，进行track_object，跟踪30秒，然后打击。
+
+在行为树中，主任务Sequence的步骤包括：
+
+- preflight_checks
+- takeoff (altitude=2.0)
+- fly_to_waypoint到学生宿舍的坐标，调整z为2
+- search_pattern，参数为balloon，description为“红>蓝>绿”，pattern_type为spiral，radius=50，center_x=5, center_y=3, center_z=2
+- 然后，当检测到目标后，进行track_object
+- strike_target
+- land
+
+同时，安全监控的Selector包含电池和GPS条件，以及紧急处理。
+
+现在需要检查所有参数是否符合约束，例如z=2，符合≥1。
+
+其他参数如radius=50，符合[5,1000]。
+
+所以，生成的JSON结构应该符合这些要求，并且流程正确。

backend_service/requirements.txt

@@ -15,8 +15,8 @@ chromadb>=0.4.0
 # Visualization
 graphviz>=0.20.0
 
-# ROS 2 Python Client
-rclpy>=0.0.1
+# ROS 2 Python Client - 已注释，项目已与ROS2解耦
+# 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
-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 - 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

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
-import rclpy
+# import threading  # ROS2相关，已注释
+# import rclpy  # ROS2相关，已注释
 
 from .models import GeneratePlanRequest, ExecuteMissionRequest
 from .websocket_manager import websocket_manager
 from .py_tree_generator import py_tree_generator
-from .ros2_client import MissionActionClient
+# from .ros2_client import MissionActionClient  # ROS2相关，已注释
 
 # --- Application Setup ---
 app = FastAPI(
@@ -23,14 +23,15 @@ 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 ---
-rclpy.init()
-ros2_client = MissionActionClient()
+# ROS2相关代码已注释，项目已与ROS2解耦
+# 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 ---
 
@@ -49,9 +50,12 @@ 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_client.send_goal(request.py_tree)
-    return {"status": "execution_started"}
+    # 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."}
 
 @app.websocket("/ws/status")
 async def websocket_endpoint(websocket: WebSocket):
@@ -73,21 +77,23 @@ 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.
-    Also, start the ROS2 node in a background thread.
+    ROS2相关功能已注释，项目已与ROS2解耦。
     """
     # 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_client.destroy_node()
-    rclpy.shutdown()
-    logging.info("ROS2 node shut down successfully.")
+    # ROS2相关代码已注释
+    # ros2_client.destroy_node()
+    # rclpy.shutdown()
+    # logging.info("ROS2 node shut down successfully.")

backend_service/src/prompts/classifier_prompt.txt

@@ -1,8 +1,8 @@
 你是一个严格的任务分类器。只输出一个JSON对象，不要输出解释或多余文本。
 根据用户指令与下述可用节点定义，判断其为“简单”或“复杂”。
 
-- 简单：单一原子动作即可完成（例如“起飞”“飞机自检”“移动到某地(已给定坐标)”“对着某点环绕XY圈（如‘对着学生宿舍环绕三十两圈’）”等），且无需行为树与安全并行监控。
-- 复杂：需要多步流程、搜索/检测/跟踪/评估、战损确认、或需要模板化任务结构与安全并行监控。
+- 简单：单一原子动作即可完成（例如"起飞""飞机自检""移动到某地(已给定坐标)""对着某点环绕XY圈（如'对着学生宿舍环绕三十两圈'）"等），且无需行为树。
+- 复杂：需要多步流程、搜索/检测/跟踪/评估、战损确认、或需要模板化任务结构。
 
 输出格式（严格遵守）：
 {"mode":"simple"} 或 {"mode":"complex"}
@@ -14,11 +14,11 @@
     {"name": "takeoff"}, {"name": "land"}, {"name": "fly_to_waypoint"}, {"name": "move_direction"}, {"name": "orbit_around_point"}, {"name": "orbit_around_target"}, {"name": "loiter"},
     {"name": "object_detect"}, {"name": "strike_target"}, {"name": "battle_damage_assessment"},
     {"name": "search_pattern"}, {"name": "track_object"}, {"name": "deliver_payload"},
-    {"name": "preflight_checks"}, {"name": "emergency_return"}
+    {"name": "preflight_checks"}, {"name": "take_picture"}
   ],
   "conditions": [
-    {"name": "battery_above"}, {"name": "at_waypoint"}, {"name": "object_detected"},
-    {"name": "target_destroyed"}, {"name": "time_elapsed"}, {"name": "gps_status"}
+    {"name": "at_waypoint"}, {"name": "object_detected"},
+    {"name": "target_destroyed"}, {"name": "time_elapsed"}
   ]
 }
 ```

backend_service/src/prompts/simple_mode_prompt.txt

@@ -4,8 +4,7 @@
 - 只输出一个JSON对象，不要任何解释或多余文本。
 - JSON结构：
 {"root":{"type":"action","name":"<action_name>","params":{...}}}
-- <action_name> 与参数定义、取值范围，必须与“复杂模式”提示词（system_prompt.txt）中的定义完全一致。
-- 简单模式下root节点必须是action类型节点，不能是控制流节点。
+- root节点必须是action类型节点，不能是控制流节点。
 
 示例：
 - “起飞到10米” → {"root":{"type":"action","name":"takeoff","params":{"altitude":10.0}}}
@@ -30,15 +29,13 @@
     {"name": "track_object", "description": "持续跟踪目标。", "params": {"target_class": "string, 取值同object_detect列表", "description": "string, 可选", "track_time": "float[1,600], 默认30.0", "min_confidence": "float[0.5-1.0], 默认0.7", "safe_distance": "float[2-50], 默认10.0"}},
     {"name": "deliver_payload", "description": "投放物资。", "params": {"payload_type": "string", "release_altitude": "float[2,100], 默认5.0"}},
     {"name": "preflight_checks", "description": "飞行前系统自检。", "params": {"check_level": "string: basic|comprehensive"}},
-    {"name": "emergency_return", "description": "执行紧急返航程序。", "params": {"reason": "string"}}
+    {"name": "take_picture", "description": "使用机载相机拍摄照片。", "params": {}}
   ],
   "conditions": [
-    {"name": "battery_above", "description": "电池电量高于阈值。", "params": {"threshold": "float[0.0,1.0]"}},
     {"name": "at_waypoint", "description": "在指定坐标容差范围内。", "params": {"x": "float", "y": "float", "z": "float", "tolerance": "float, 可选, 默认3.0"}},
     {"name": "object_detected", "description": "检测到特定目标。", "params": {"target_class": "string", "description": "string, 可选", "count": "int, 可选, 默认1"}},
     {"name": "target_destroyed", "description": "目标已被摧毁。", "params": {"target_class": "string", "description": "string, 可选", "confidence": "float[0.5-1.0], 默认0.8"}},
-    {"name": "time_elapsed", "description": "时间经过。", "params": {"duration": "float[1,2700]"}},
-    {"name": "gps_status", "description": "GPS状态良好。", "params": {"min_satellites": "int[6,15], 默认10"}}
+    {"name": "time_elapsed", "description": "时间经过。", "params": {"duration": "float[1,2700]"}}
   ]
 }
 ```

backend_service/src/prompts/system_prompt.txt

@@ -1,65 +1,58 @@
-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。
+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**。
 
-
-## 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）。
+## 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：
 ```json
 {
   "actions": [
-    {"name":"takeoff","params":{"altitude":"float, 范围[1,100]，默认2"}},
-    {"name":"land","params":{"mode":"string, 'current'/'home'"}},
+    {"name":"takeoff","params":{"altitude":"float[1,100]，默认2"}},
+    {"name":"land","params":{"mode":"'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","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":"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，目标属性（如'穿黑色衣服'）","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，","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","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":"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":"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"}}
+    {"name":"take_picture","params":{}}
   ],
   "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","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, 范围[6,15]，必传（如8）"}}
+    {"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":"time_elapsed","params":{"duration":"[1,2700]秒"}}
   ],
   "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/one_success"},"children":"子节点数组（同时执行）"}
+    {"name":"Parallel","params":{"policy":"all_success"},"children":"子节点数组（同时执行，严禁用'one_success'）"}
   ]
 }
 ```
 
 
 ## 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）  
+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；
+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。
 
 
-## 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：
+## 三、行为树固定结构（通用不变）
+根节点必须是`Parallel`，`children`含`MainTask`（Sequence），结构不随任务类型（含优先级排序）修改：
 ```json
 {
   "root": {
     "type": "Parallel",
-    "name": "MissionWithSafety",
+    "name": "Mission",
     "params": {"policy": "all_success"},
     "children": [
       {
@@ -67,36 +60,16 @@
         "name": "MainTask",
         "params": {},
         "children": [
-          // 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）：
+          // 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）：
           {"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":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":"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":"land","params":{"mode":"home"}}
         ]
-      },
-      {
-        "type": "Selector",
-        "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}},
-          {
-            "type":"Sequence",
-            "name":"EmergencyHandler",
-            "params": {},
-            "children": [
-              {"type":"action","name":"emergency_return","params":{"reason":"safety_breach"}},
-              {"type":"action","name":"land","params":{"mode":"home"}}
-            ]
-          }
-        ]
       }
     ]
   }
@@ -104,15 +77,20 @@
 ```
 
 
-## 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`。
+## 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）"}}` |
 
 
-## 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**。
+## 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. 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。

backend_service/src/py_tree_generator.py

@@ -157,32 +157,6 @@ def _find_nodes_by_name(node: Dict, target_name: str) -> List[Dict]:
     
     return nodes_found
 
-def _validate_safety_monitoring(pytree_instance: dict) -> bool:
-    """验证行为树是否包含必要的安全监控"""
-    root_node = pytree_instance.get("root", {})
-    
-    # 查找所有电池监控节点
-    battery_nodes = _find_nodes_by_name(root_node, "battery_above")
-    
-    # 检查是否包含安全监控结构
-    safety_monitors = _find_nodes_by_name(root_node, "SafetyMonitor")
-    
-    if not battery_nodes and not safety_monitors:
-        logging.warning("⚠️ 安全警告: 行为树中没有发现电池监控节点或安全监控器")
-        return False
-    
-    # 检查电池阈值设置是否合理
-    for battery_node in battery_nodes:
-        threshold = battery_node.get("params", {}).get("threshold")
-        if threshold is not None:
-            if threshold < 0.25:
-                logging.warning(f"⚠️ 安全警告: 电池阈值设置过低 ({threshold})，建议不低于0.25")
-            elif threshold > 0.5:
-                logging.warning(f"⚠️ 安全警告: 电池阈值设置过高 ({threshold})，可能影响任务执行")
-    
-    logging.info("✅ 安全监控验证通过")
-    return True
-
 def _generate_pytree_schema(allowed_actions: set, allowed_conditions: set) -> dict:
     """
     根据允许的行动和条件节点，动态生成一个JSON Schema。
@@ -201,7 +175,7 @@ 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"
+        "clock", "vase", "scissors", "teddy_bear", "hair_drier", "toothbrush","balloon"
     ]
     
     # 递归节点定义
@@ -273,48 +247,6 @@ def _generate_pytree_schema(allowed_actions: set, allowed_conditions: set) -> di
                         }
                     }
                 }
-            },
-            # 电池监控节点的参数验证
-            {
-                "if": {
-                    "properties": {
-                        "type": {"const": "condition"},
-                        "name": {"const": "battery_above"}
-                    }
-                },
-                "then": {
-                    "properties": {
-                        "params": {
-                            "type": "object",
-                            "properties": {
-                                "threshold": {"type": "number", "minimum": 0.0, "maximum": 1.0}
-                            },
-                            "required": ["threshold"],
-                            "additionalProperties": False
-                        }
-                    }
-                }
-            },
-            # GPS状态节点的参数验证
-            {
-                "if": {
-                    "properties": {
-                        "type": {"const": "condition"},
-                        "name": {"const": "gps_status"}
-                    }
-                },
-                "then": {
-                    "properties": {
-                        "params": {
-                            "type": "object",
-                            "properties": {
-                                "min_satellites": {"type": "integer", "minimum": 6, "maximum": 15}
-                            },
-                            "required": ["min_satellites"],
-                            "additionalProperties": False
-                        }
-                    }
-                }
             }
         ]
     }
@@ -337,35 +269,31 @@ 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：{"root":{"type":"action","name":"<action_name>","params":{...}}}
+    生成简单模式JSON Schema：{"root":{"type":"action","name":"...","params":{...}}}
+    简单模式与复杂模式使用相同的格式（root字段），但要求root必须是action类型且没有children。
+    严格按照提示词要求：root节点必须是action类型节点，不能是控制流节点（即不能有children）。
     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 = {
         "$schema": "http://json-schema.org/draft-07/schema#",
         "title": "SimpleMode",
-        "definitions": {
-            "node": node_definition
-        },
         "type": "object",
         "properties": {
-            "root": { "$ref": "#/definitions/node" }
+            "root": {
+                "type": "object",
+                "properties": {
+                    "type": {"type": "string", "const": "action"},  # 必须是action类型，不能是控制流节点（Sequence/Selector/Parallel）
+                    "name": {"type": "string", "enum": sorted(list(allowed_actions))},  # 动作名称必须在允许列表中
+                    "params": {"type": "object"}  # params是对象，具体参数由提示词和运行时约束
+                },
+                "required": ["type", "name"],  # type和name是必需的，params可选
+                "additionalProperties": True  # 允许root节点有其他属性（如额外的元数据）
+                # 注意：children字段的检查在验证后手动进行，因为JSON Schema的not/allOf在检查不存在字段时可能有问题
+            }
         },
-        "required": ["root"],
-        "additionalProperties": False
+        "required": ["root"],  # 顶层必须有root字段
+        "additionalProperties": False  # 顶层只能有root字段，不能有其他字段（如mode等）
     }
-    
     return schema
 
 def _validate_pytree_with_schema(pytree_instance: dict, schema: dict) -> bool:
@@ -375,11 +303,7 @@ def _validate_pytree_with_schema(pytree_instance: dict, schema: dict) -> bool:
     try:
         jsonschema.validate(instance=pytree_instance, schema=schema)
         logging.info("✅ JSON Schema验证成功")
-        
-        # 额外验证安全监控
-        safety_valid = _validate_safety_monitoring(pytree_instance)
-        
-        return True and safety_valid
+        return True
     except jsonschema.ValidationError as e:
         logging.warning("❌ Pytree验证失败")
         logging.warning(f"错误信息: {e.message}")
@@ -389,10 +313,6 @@ def _validate_pytree_with_schema(pytree_instance: dict, schema: dict) -> bool:
         # 提供更具体的错误信息
         if "object_detect" in str(e.message) or "object_detected" in str(e.message):
             logging.warning("💡 提示: 请确保目标类别是预定义列表中的有效值")
-        elif "battery_above" in str(e.message):
-            logging.warning("💡 提示: 电池阈值必须在0.0到1.0之间")
-        elif "gps_status" in str(e.message):
-            logging.warning("💡 提示: 最小卫星数量必须在6到15之间")
         
         return False
     except Exception as e:
@@ -414,10 +334,10 @@ def _visualize_pytree(node: Dict, file_path: str):
 
     # 选择合适的中文字体，避免中文乱码
     def _pick_zh_font():
-        sys = platform.system()
-        if sys == "Windows":
+        system = platform.system()
+        if system == "Windows":
             return "Microsoft YaHei"
-        elif sys == "Darwin":
+        elif system == "Darwin":
             return "PingFang SC"
         else:
             return "Noto Sans CJK SC"
@@ -447,7 +367,19 @@ def _visualize_pytree(node: Dict, file_path: str):
     except Exception as e:
         logging.error("❌ 生成可视化图形失败")
         logging.error("请确保您的系统已经正确安装了Graphviz图形库。")
+        logging.error("安装方法：")
+        logging.error("  Ubuntu/Debian: sudo apt-get install graphviz")
+        logging.error("  CentOS/RHEL: sudo yum install graphviz")
+        logging.error("  macOS: brew install graphviz")
         logging.error(f"错误详情: {e}")
+        # 清理可能残留的源文件
+        try:
+            gv_file = f"{render_path}.gv"
+            if os.path.exists(gv_file):
+                os.remove(gv_file)
+                logging.info(f"已清理残留的源文件: {gv_file}")
+        except Exception:
+            pass
 
 def _add_nodes_and_edges(node: dict, dot, parent_id: str | None = None) -> str:
     """递归辅助函数，用于添加节点和边。"""
@@ -508,11 +440,6 @@ def _add_nodes_and_edges(node: dict, dot, parent_id: str | None = None) -> str:
         style = 'filled'
         fillcolor = '#e1d5e7'  # 紫色
     
-    # 特别标记安全相关节点
-    if node.get('name') in ['battery_above', 'gps_status', 'SafetyMonitor']:
-        border_color = '#ff0000'  # 红色边框突出显示安全节点
-        style = 'filled,bold'  # 加粗
-    
     dot.node(current_id, label=node_label, shape=shape, style=style, fillcolor=fillcolor, color=border_color)
     
     # 连接父节点
@@ -555,6 +482,16 @@ 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")
@@ -571,6 +508,10 @@ 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)
@@ -612,6 +553,8 @@ 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}")
@@ -633,7 +576,11 @@ class PyTreeGenerator:
                     {"role": "user", "content": user_prompt}
                 ],
                 temperature=0.0,
-                response_format={"type": "json_object"}
+                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}}
             )
             class_str = classifier_resp.choices[0].message.content
             class_obj = json.loads(class_str)
@@ -662,33 +609,115 @@ 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
-                response = client.chat.completions.create(
-                    model=model_name,
-                    messages=[
+                # 始终强制JSON响应并禁用思考功能
+                response_kwargs = {
+                    "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"}
-                )
-                pytree_str = response.choices[0].message.content
+                    "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
                 # 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）。原始响应如下：\n{pytree_str}")
+                    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
                     continue
 
                 # 简单/复杂分别验证与返回
                 if mode == "simple":
                     try:
                         jsonschema.validate(instance=pytree_dict, schema=self.simple_schema)
+                        # 手动检查：简单模式的root节点不能有children（或children必须是空数组）
+                        root_node = pytree_dict.get('root', {})
+                        if 'children' in root_node:
+                            children = root_node.get('children', [])
+                            if isinstance(children, list) and len(children) > 0:
+                                logging.warning(f"❌ 简单模式验证失败: root节点不能有children，但发现 {len(children)} 个子节点")
+                                continue
                         logging.info("✅ 简单模式JSON Schema验证成功")
                     except jsonschema.ValidationError as e:
                         logging.warning(f"❌ 简单模式验证失败: {e.message}")
@@ -696,56 +725,67 @@ 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：直接使用root节点
+                    # 简单模式可视化：使用root节点（已经是action类型）
                     try:
                         vis_filename = "py_tree.png"
                         vis_path = os.path.join(self.vis_dir, vis_filename)
-                        _visualize_pytree(pytree_dict['root'], os.path.splitext(vis_path)[0])
+                        # 简单模式的root节点就是action节点，直接使用
+                        root_node = pytree_dict.get('root', {})
+                        _visualize_pytree(root_node, 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
-                if mode == "complex" and isinstance(pytree_dict, dict) and 'root' not in pytree_dict:
-                    try:
-                        jsonschema.validate(instance=pytree_dict, schema=self.simple_schema)
-                        logging.warning("⚠️ 复杂模式生成了简单结构，触发自动包装为完整行为树的回退逻辑。")
-                        simple_action_obj = pytree_dict.get('action') or {}
-                        action_name = simple_action_obj.get('name')
-                        action_params = simple_action_obj.get('params') if isinstance(simple_action_obj.get('params'), dict) else {}
+                # 复杂模式回退：若模型误返回简单结构（root是单个action），则自动包装为完整行为树
+                if mode == "complex" and isinstance(pytree_dict, dict) and 'root' in pytree_dict:
+                    root_node = pytree_dict.get('root', {})
+                    # 检查是否是简单结构（root是单个action节点，没有children）
+                    if (root_node.get('type') == 'action' and 
+                        ('children' not in root_node or not root_node.get('children'))):
+                        try:
+                            jsonschema.validate(instance=pytree_dict, schema=self.simple_schema)
+                            logging.warning("⚠️ 复杂模式生成了简单结构（单个action），触发自动包装为完整行为树的回退逻辑。")
+                            action_name = root_node.get('name')
+                            action_params = root_node.get('params') if isinstance(root_node.get('params'), dict) else {}
 
-                        safety_selector = {
-                            "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"}}
-                                ]}
-                            ]
-                        }
+                            main_children = [{"type": "action", "name": action_name, "params": action_params}]
+                            if action_name != "land":
+                                main_children.append({"type": "action", "name": "land", "params": {"mode": "home"}})
 
-                        main_children = [{"type": "action", "name": action_name, "params": action_params}]
-                        if action_name != "land":
-                            main_children.append({"type": "action", "name": "land", "params": {"mode": "home"}})
-
-                        root_parallel = {
-                            "type": "Parallel",
-                            "name": "MissionWithSafety",
-                            "params": {"policy": "all_success"},
-                            "children": [
-                                {"type": "Sequence", "name": "MainTask", "children": main_children},
-                                safety_selector
-                            ]
-                        }
-                        pytree_dict = {"root": root_parallel}
-                    except jsonschema.ValidationError:
-                        # 不符合简单结构，按正常复杂验证继续
-                        pass
+                            root_parallel = {
+                                "type": "Parallel",
+                                "name": "Mission",
+                                "params": {"policy": "all_success"},
+                                "children": [
+                                    {"type": "Sequence", "name": "MainTask", "children": main_children}
+                                ]
+                            }
+                            pytree_dict = {"root": root_parallel}
+                        except jsonschema.ValidationError:
+                            # 不符合简单结构，按正常复杂验证继续
+                            pass
                 if _validate_pytree_with_schema(pytree_dict, self.schema):
                     logging.info("✅ 成功生成并验证了Pytree")
                     plan_id = str(uuid.uuid4())
@@ -756,6 +796,27 @@ 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

@@ -1,67 +0,0 @@
-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

@@ -22,7 +22,8 @@ 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 (e.g., a ROS2 callback).
+        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)
         """
         if not self.loop:
             logging.error("Event loop not set in ConnectionManager. Cannot broadcast.")

backend_service/venv/bin/Activate.ps1

@@ -0,0 +1,248 @@
+<#
+.Synopsis
+Activate a Python virtual environment for the current PowerShell session.
+
+.Description
+Pushes the python executable for a virtual environment to the front of the
+$Env:PATH environment variable and sets the prompt to signify that you are
+in a Python virtual environment. Makes use of the command line switches as
+well as the `pyvenv.cfg` file values present in the virtual environment.
+
+.Parameter VenvDir
+Path to the directory that contains the virtual environment to activate. The
+default value for this is the parent of the directory that the Activate.ps1
+script is located within.
+
+.Parameter Prompt
+The prompt prefix to display when this virtual environment is activated. By
+default, this prompt is the name of the virtual environment folder (VenvDir)
+surrounded by parentheses and followed by a single space (ie. '(.venv) ').
+
+.Example
+Activate.ps1
+Activates the Python virtual environment that contains the Activate.ps1 script.
+
+.Example
+Activate.ps1 -Verbose
+Activates the Python virtual environment that contains the Activate.ps1 script,
+and shows extra information about the activation as it executes.
+
+.Example
+Activate.ps1 -VenvDir C:\Users\MyUser\Common\.venv
+Activates the Python virtual environment located in the specified location.
+
+.Example
+Activate.ps1 -Prompt "MyPython"
+Activates the Python virtual environment that contains the Activate.ps1 script,
+and prefixes the current prompt with the specified string (surrounded in
+parentheses) while the virtual environment is active.
+
+.Notes
+On Windows, it may be required to enable this Activate.ps1 script by setting the
+execution policy for the user. You can do this by issuing the following PowerShell
+command:
+
+PS C:\> Set-ExecutionPolicy -ExecutionPolicy RemoteSigned -Scope CurrentUser
+
+For more information on Execution Policies: 
+https://go.microsoft.com/fwlink/?LinkID=135170
+
+#>
+Param(
+    [Parameter(Mandatory = $false)]
+    [String]
+    $VenvDir,
+    [Parameter(Mandatory = $false)]
+    [String]
+    $Prompt
+)
+
+<# Function declarations --------------------------------------------------- #>
+
+<#
+.Synopsis
+Remove all shell session elements added by the Activate script, including the
+addition of the virtual environment's Python executable from the beginning of
+the PATH variable.
+
+.Parameter NonDestructive
+If present, do not remove this function from the global namespace for the
+session.
+
+#>
+function global:deactivate ([switch]$NonDestructive) {
+    # Revert to original values
+
+    # The prior prompt:
+    if (Test-Path -Path Function:_OLD_VIRTUAL_PROMPT) {
+        Copy-Item -Path Function:_OLD_VIRTUAL_PROMPT -Destination Function:prompt
+        Remove-Item -Path Function:_OLD_VIRTUAL_PROMPT
+    }
+
+    # The prior PYTHONHOME:
+    if (Test-Path -Path Env:_OLD_VIRTUAL_PYTHONHOME) {
+        Copy-Item -Path Env:_OLD_VIRTUAL_PYTHONHOME -Destination Env:PYTHONHOME
+        Remove-Item -Path Env:_OLD_VIRTUAL_PYTHONHOME
+    }
+
+    # The prior PATH:
+    if (Test-Path -Path Env:_OLD_VIRTUAL_PATH) {
+        Copy-Item -Path Env:_OLD_VIRTUAL_PATH -Destination Env:PATH
+        Remove-Item -Path Env:_OLD_VIRTUAL_PATH
+    }
+
+    # Just remove the VIRTUAL_ENV altogether:
+    if (Test-Path -Path Env:VIRTUAL_ENV) {
+        Remove-Item -Path env:VIRTUAL_ENV
+    }
+
+    # Just remove VIRTUAL_ENV_PROMPT altogether.
+    if (Test-Path -Path Env:VIRTUAL_ENV_PROMPT) {
+        Remove-Item -Path env:VIRTUAL_ENV_PROMPT
+    }
+
+    # Just remove the _PYTHON_VENV_PROMPT_PREFIX altogether:
+    if (Get-Variable -Name "_PYTHON_VENV_PROMPT_PREFIX" -ErrorAction SilentlyContinue) {
+        Remove-Variable -Name _PYTHON_VENV_PROMPT_PREFIX -Scope Global -Force
+    }
+
+    # Leave deactivate function in the global namespace if requested:
+    if (-not $NonDestructive) {
+        Remove-Item -Path function:deactivate
+    }
+}
+
+<#
+.Description
+Get-PyVenvConfig parses the values from the pyvenv.cfg file located in the
+given folder, and returns them in a map.
+
+For each line in the pyvenv.cfg file, if that line can be parsed into exactly
+two strings separated by `=` (with any amount of whitespace surrounding the =)
+then it is considered a `key = value` line. The left hand string is the key,
+the right hand is the value.
+
+If the value starts with a `'` or a `"` then the first and last character is
+stripped from the value before being captured.
+
+.Parameter ConfigDir
+Path to the directory that contains the `pyvenv.cfg` file.
+#>
+function Get-PyVenvConfig(
+    [String]
+    $ConfigDir
+) {
+    Write-Verbose "Given ConfigDir=$ConfigDir, obtain values in pyvenv.cfg"
+
+    # Ensure the file exists, and issue a warning if it doesn't (but still allow the function to continue).
+    $pyvenvConfigPath = Join-Path -Resolve -Path $ConfigDir -ChildPath 'pyvenv.cfg' -ErrorAction Continue
+
+    # An empty map will be returned if no config file is found.
+    $pyvenvConfig = @{ }
+
+    if ($pyvenvConfigPath) {
+
+        Write-Verbose "File exists, parse `key = value` lines"
+        $pyvenvConfigContent = Get-Content -Path $pyvenvConfigPath
+
+        $pyvenvConfigContent | ForEach-Object {
+            $keyval = $PSItem -split "\s*=\s*", 2
+            if ($keyval[0] -and $keyval[1]) {
+                $val = $keyval[1]
+
+                # Remove extraneous quotations around a string value.
+                if ("'""".Contains($val.Substring(0, 1))) {
+                    $val = $val.Substring(1, $val.Length - 2)
+                }
+
+                $pyvenvConfig[$keyval[0]] = $val
+                Write-Verbose "Adding Key: '$($keyval[0])'='$val'"
+            }
+        }
+    }
+    return $pyvenvConfig
+}
+
+
+<# Begin Activate script --------------------------------------------------- #>
+
+# Determine the containing directory of this script
+$VenvExecPath = Split-Path -Parent $MyInvocation.MyCommand.Definition
+$VenvExecDir = Get-Item -Path $VenvExecPath
+
+Write-Verbose "Activation script is located in path: '$VenvExecPath'"
+Write-Verbose "VenvExecDir Fullname: '$($VenvExecDir.FullName)"
+Write-Verbose "VenvExecDir Name: '$($VenvExecDir.Name)"
+
+# Set values required in priority: CmdLine, ConfigFile, Default
+# First, get the location of the virtual environment, it might not be
+# VenvExecDir if specified on the command line.
+if ($VenvDir) {
+    Write-Verbose "VenvDir given as parameter, using '$VenvDir' to determine values"
+}
+else {
+    Write-Verbose "VenvDir not given as a parameter, using parent directory name as VenvDir."
+    $VenvDir = $VenvExecDir.Parent.FullName.TrimEnd("\\/")
+    Write-Verbose "VenvDir=$VenvDir"
+}
+
+# Next, read the `pyvenv.cfg` file to determine any required value such
+# as `prompt`.
+$pyvenvCfg = Get-PyVenvConfig -ConfigDir $VenvDir
+
+# Next, set the prompt from the command line, or the config file, or
+# just use the name of the virtual environment folder.
+if ($Prompt) {
+    Write-Verbose "Prompt specified as argument, using '$Prompt'"
+}
+else {
+    Write-Verbose "Prompt not specified as argument to script, checking pyvenv.cfg value"
+    if ($pyvenvCfg -and $pyvenvCfg['prompt']) {
+        Write-Verbose "  Setting based on value in pyvenv.cfg='$($pyvenvCfg['prompt'])'"
+        $Prompt = $pyvenvCfg['prompt'];
+    }
+    else {
+        Write-Verbose "  Setting prompt based on parent's directory's name. (Is the directory name passed to venv module when creating the virtual environment)"
+        Write-Verbose "  Got leaf-name of $VenvDir='$(Split-Path -Path $venvDir -Leaf)'"
+        $Prompt = Split-Path -Path $venvDir -Leaf
+    }
+}
+
+Write-Verbose "Prompt = '$Prompt'"
+Write-Verbose "VenvDir='$VenvDir'"
+
+# Deactivate any currently active virtual environment, but leave the
+# deactivate function in place.
+deactivate -nondestructive
+
+# Now set the environment variable VIRTUAL_ENV, used by many tools to determine
+# that there is an activated venv.
+$env:VIRTUAL_ENV = $VenvDir
+
+$env:VIRTUAL_ENV_PROMPT = $Prompt
+
+if (-not $Env:VIRTUAL_ENV_DISABLE_PROMPT) {
+
+    Write-Verbose "Setting prompt to '$Prompt'"
+
+    # Set the prompt to include the env name
+    # Make sure _OLD_VIRTUAL_PROMPT is global
+    function global:_OLD_VIRTUAL_PROMPT { "" }
+    Copy-Item -Path function:prompt -Destination function:_OLD_VIRTUAL_PROMPT
+    New-Variable -Name _PYTHON_VENV_PROMPT_PREFIX -Description "Python virtual environment prompt prefix" -Scope Global -Option ReadOnly -Visibility Public -Value $Prompt
+
+    function global:prompt {
+        Write-Host -NoNewline -ForegroundColor Green "($_PYTHON_VENV_PROMPT_PREFIX) "
+        _OLD_VIRTUAL_PROMPT
+    }
+}
+
+# Clear PYTHONHOME
+if (Test-Path -Path Env:PYTHONHOME) {
+    Copy-Item -Path Env:PYTHONHOME -Destination Env:_OLD_VIRTUAL_PYTHONHOME
+    Remove-Item -Path Env:PYTHONHOME
+}
+
+# Add the venv to the PATH
+Copy-Item -Path Env:PATH -Destination Env:_OLD_VIRTUAL_PATH
+$Env:PATH = "$VenvExecDir$([System.IO.Path]::PathSeparator)$Env:PATH"

backend_service/venv/bin/activate

@@ -0,0 +1,76 @@
+# This file must be used with "source bin/activate" *from bash*
+# You cannot run it directly
+
+deactivate () {
+    # reset old environment variables
+    if [ -n "${_OLD_VIRTUAL_PATH:-}" ] ; then
+        PATH="${_OLD_VIRTUAL_PATH:-}"
+        export PATH
+        unset _OLD_VIRTUAL_PATH
+    fi
+    if [ -n "${_OLD_VIRTUAL_PYTHONHOME:-}" ] ; then
+        PYTHONHOME="${_OLD_VIRTUAL_PYTHONHOME:-}"
+        export PYTHONHOME
+        unset _OLD_VIRTUAL_PYTHONHOME
+    fi
+
+    # Call hash to forget past locations. Without forgetting
+    # past locations the $PATH changes we made may not be respected.
+    # See "man bash" for more details. hash is usually a builtin of your shell
+    hash -r 2> /dev/null
+
+    if [ -n "${_OLD_VIRTUAL_PS1:-}" ] ; then
+        PS1="${_OLD_VIRTUAL_PS1:-}"
+        export PS1
+        unset _OLD_VIRTUAL_PS1
+    fi
+
+    unset VIRTUAL_ENV
+    unset VIRTUAL_ENV_PROMPT
+    if [ ! "${1:-}" = "nondestructive" ] ; then
+    # Self destruct!
+        unset -f deactivate
+    fi
+}
+
+# unset irrelevant variables
+deactivate nondestructive
+
+# on Windows, a path can contain colons and backslashes and has to be converted:
+case "$(uname)" in
+    CYGWIN*|MSYS*|MINGW*)
+        # transform D:\path\to\venv to /d/path/to/venv on MSYS and MINGW
+        # and to /cygdrive/d/path/to/venv on Cygwin
+        VIRTUAL_ENV=$(cygpath /home/huangfukk/DronePlanning/backend_service/venv)
+        export VIRTUAL_ENV
+        ;;
+    *)
+        # use the path as-is
+        export VIRTUAL_ENV=/home/huangfukk/DronePlanning/backend_service/venv
+        ;;
+esac
+
+_OLD_VIRTUAL_PATH="$PATH"
+PATH="$VIRTUAL_ENV/"bin":$PATH"
+export PATH
+
+VIRTUAL_ENV_PROMPT=venv
+export VIRTUAL_ENV_PROMPT
+
+# unset PYTHONHOME if set
+# this will fail if PYTHONHOME is set to the empty string (which is bad anyway)
+# could use `if (set -u; : $PYTHONHOME) ;` in bash
+if [ -n "${PYTHONHOME:-}" ] ; then
+    _OLD_VIRTUAL_PYTHONHOME="${PYTHONHOME:-}"
+    unset PYTHONHOME
+fi
+
+if [ -z "${VIRTUAL_ENV_DISABLE_PROMPT:-}" ] ; then
+    _OLD_VIRTUAL_PS1="${PS1:-}"
+    PS1="("venv") ${PS1:-}"
+    export PS1
+fi
+
+# Call hash to forget past commands. Without forgetting
+# past commands the $PATH changes we made may not be respected
+hash -r 2> /dev/null

backend_service/venv/bin/activate.csh

@@ -0,0 +1,27 @@
+# This file must be used with "source bin/activate.csh" *from csh*.
+# You cannot run it directly.
+
+# Created by Davide Di Blasi <davidedb@gmail.com>.
+# Ported to Python 3.3 venv by Andrew Svetlov <andrew.svetlov@gmail.com>
+
+alias deactivate 'test $?_OLD_VIRTUAL_PATH != 0 && setenv PATH "$_OLD_VIRTUAL_PATH" && unset _OLD_VIRTUAL_PATH; rehash; test $?_OLD_VIRTUAL_PROMPT != 0 && set prompt="$_OLD_VIRTUAL_PROMPT" && unset _OLD_VIRTUAL_PROMPT; unsetenv VIRTUAL_ENV; unsetenv VIRTUAL_ENV_PROMPT; test "\!:*" != "nondestructive" && unalias deactivate'
+
+# Unset irrelevant variables.
+deactivate nondestructive
+
+setenv VIRTUAL_ENV /home/huangfukk/DronePlanning/backend_service/venv
+
+set _OLD_VIRTUAL_PATH="$PATH"
+setenv PATH "$VIRTUAL_ENV/"bin":$PATH"
+setenv VIRTUAL_ENV_PROMPT venv
+
+
+set _OLD_VIRTUAL_PROMPT="$prompt"
+
+if (! "$?VIRTUAL_ENV_DISABLE_PROMPT") then
+    set prompt = "("venv") $prompt:q"
+endif
+
+alias pydoc python -m pydoc
+
+rehash

backend_service/venv/bin/activate.fish

@@ -0,0 +1,69 @@
+# This file must be used with "source <venv>/bin/activate.fish" *from fish*
+# (https://fishshell.com/). You cannot run it directly.
+
+function deactivate  -d "Exit virtual environment and return to normal shell environment"
+    # reset old environment variables
+    if test -n "$_OLD_VIRTUAL_PATH"
+        set -gx PATH $_OLD_VIRTUAL_PATH
+        set -e _OLD_VIRTUAL_PATH
+    end
+    if test -n "$_OLD_VIRTUAL_PYTHONHOME"
+        set -gx PYTHONHOME $_OLD_VIRTUAL_PYTHONHOME
+        set -e _OLD_VIRTUAL_PYTHONHOME
+    end
+
+    if test -n "$_OLD_FISH_PROMPT_OVERRIDE"
+        set -e _OLD_FISH_PROMPT_OVERRIDE
+        # prevents error when using nested fish instances (Issue #93858)
+        if functions -q _old_fish_prompt
+            functions -e fish_prompt
+            functions -c _old_fish_prompt fish_prompt
+            functions -e _old_fish_prompt
+        end
+    end
+
+    set -e VIRTUAL_ENV
+    set -e VIRTUAL_ENV_PROMPT
+    if test "$argv[1]" != "nondestructive"
+        # Self-destruct!
+        functions -e deactivate
+    end
+end
+
+# Unset irrelevant variables.
+deactivate nondestructive
+
+set -gx VIRTUAL_ENV /home/huangfukk/DronePlanning/backend_service/venv
+
+set -gx _OLD_VIRTUAL_PATH $PATH
+set -gx PATH "$VIRTUAL_ENV/"bin $PATH
+set -gx VIRTUAL_ENV_PROMPT venv
+
+# Unset PYTHONHOME if set.
+if set -q PYTHONHOME
+    set -gx _OLD_VIRTUAL_PYTHONHOME $PYTHONHOME
+    set -e PYTHONHOME
+end
+
+if test -z "$VIRTUAL_ENV_DISABLE_PROMPT"
+    # fish uses a function instead of an env var to generate the prompt.
+
+    # Save the current fish_prompt function as the function _old_fish_prompt.
+    functions -c fish_prompt _old_fish_prompt
+
+    # With the original prompt function renamed, we can override with our own.
+    function fish_prompt
+        # Save the return status of the last command.
+        set -l old_status $status
+
+        # Output the venv prompt; color taken from the blue of the Python logo.
+        printf "%s(%s)%s " (set_color 4B8BBE) venv (set_color normal)
+
+        # Restore the return status of the previous command.
+        echo "exit $old_status" | .
+        # Output the original/"old" prompt.
+        _old_fish_prompt
+    end
+
+    set -gx _OLD_FISH_PROMPT_OVERRIDE "$VIRTUAL_ENV"
+end

backend_service/venv/bin/chroma

@@ -0,0 +1,7 @@
+#!/home/huangfukk/DronePlanning/backend_service/venv/bin/python3
+import sys
+from chromadb.cli.cli import app
+if __name__ == '__main__':
+    if sys.argv[0].endswith('.exe'):
+        sys.argv[0] = sys.argv[0][:-4]
+    sys.exit(app())

backend_service/venv/bin/coloredlogs

@@ -0,0 +1,7 @@
+#!/home/huangfukk/DronePlanning/backend_service/venv/bin/python3
+import sys
+from coloredlogs.cli import main
+if __name__ == '__main__':
+    if sys.argv[0].endswith('.exe'):
+        sys.argv[0] = sys.argv[0][:-4]
+    sys.exit(main())

backend_service/venv/bin/dashscope

@@ -0,0 +1,7 @@
+#!/home/huangfukk/DronePlanning/backend_service/venv/bin/python3
+import sys
+from dashscope.cli import main
+if __name__ == '__main__':
+    if sys.argv[0].endswith('.exe'):
+        sys.argv[0] = sys.argv[0][:-4]
+    sys.exit(main())

backend_service/venv/bin/distro

@@ -0,0 +1,7 @@
+#!/home/huangfukk/DronePlanning/backend_service/venv/bin/python3
+import sys
+from distro.distro import main
+if __name__ == '__main__':
+    if sys.argv[0].endswith('.exe'):
+        sys.argv[0] = sys.argv[0][:-4]
+    sys.exit(main())

backend_service/venv/bin/dotenv

@@ -0,0 +1,7 @@
+#!/home/huangfukk/DronePlanning/backend_service/venv/bin/python3
+import sys
+from dotenv.__main__ import cli
+if __name__ == '__main__':
+    if sys.argv[0].endswith('.exe'):
+        sys.argv[0] = sys.argv[0][:-4]
+    sys.exit(cli())

backend_service/venv/bin/f2py

@@ -0,0 +1,7 @@
+#!/home/huangfukk/DronePlanning/backend_service/venv/bin/python3
+import sys
+from numpy.f2py.f2py2e import main
+if __name__ == '__main__':
+    if sys.argv[0].endswith('.exe'):
+        sys.argv[0] = sys.argv[0][:-4]
+    sys.exit(main())

backend_service/venv/bin/fastapi

@@ -0,0 +1,7 @@
+#!/home/huangfukk/DronePlanning/backend_service/venv/bin/python3
+import sys
+from fastapi.cli import main
+if __name__ == '__main__':
+    if sys.argv[0].endswith('.exe'):
+        sys.argv[0] = sys.argv[0][:-4]
+    sys.exit(main())

backend_service/venv/bin/hf

@@ -0,0 +1,7 @@
+#!/home/huangfukk/DronePlanning/backend_service/venv/bin/python3
+import sys
+from huggingface_hub.cli.hf import main
+if __name__ == '__main__':
+    if sys.argv[0].endswith('.exe'):
+        sys.argv[0] = sys.argv[0][:-4]
+    sys.exit(main())

backend_service/venv/bin/httpx

@@ -0,0 +1,7 @@
+#!/home/huangfukk/DronePlanning/backend_service/venv/bin/python3
+import sys
+from httpx import main
+if __name__ == '__main__':
+    if sys.argv[0].endswith('.exe'):
+        sys.argv[0] = sys.argv[0][:-4]
+    sys.exit(main())

backend_service/venv/bin/humanfriendly

@@ -0,0 +1,7 @@
+#!/home/huangfukk/DronePlanning/backend_service/venv/bin/python3
+import sys
+from humanfriendly.cli import main
+if __name__ == '__main__':
+    if sys.argv[0].endswith('.exe'):
+        sys.argv[0] = sys.argv[0][:-4]
+    sys.exit(main())

backend_service/venv/bin/isympy

@@ -0,0 +1,7 @@
+#!/home/huangfukk/DronePlanning/backend_service/venv/bin/python3
+import sys
+from isympy import main
+if __name__ == '__main__':
+    if sys.argv[0].endswith('.exe'):
+        sys.argv[0] = sys.argv[0][:-4]
+    sys.exit(main())

backend_service/venv/bin/json_repair

@@ -0,0 +1,7 @@
+#!/home/huangfukk/DronePlanning/backend_service/venv/bin/python3
+import sys
+from json_repair.__main__ import cli
+if __name__ == '__main__':
+    if sys.argv[0].endswith('.exe'):
+        sys.argv[0] = sys.argv[0][:-4]
+    sys.exit(cli())

backend_service/venv/bin/jsonschema

@@ -0,0 +1,7 @@
+#!/home/huangfukk/DronePlanning/backend_service/venv/bin/python3
+import sys
+from jsonschema.cli import main
+if __name__ == '__main__':
+    if sys.argv[0].endswith('.exe'):
+        sys.argv[0] = sys.argv[0][:-4]
+    sys.exit(main())

backend_service/venv/bin/markdown-it

@@ -0,0 +1,7 @@
+#!/home/huangfukk/DronePlanning/backend_service/venv/bin/python3
+import sys
+from markdown_it.cli.parse import main
+if __name__ == '__main__':
+    if sys.argv[0].endswith('.exe'):
+        sys.argv[0] = sys.argv[0][:-4]
+    sys.exit(main())

backend_service/venv/bin/mcp

@@ -0,0 +1,7 @@
+#!/home/huangfukk/DronePlanning/backend_service/venv/bin/python3
+import sys
+from mcp.cli import app
+if __name__ == '__main__':
+    if sys.argv[0].endswith('.exe'):
+        sys.argv[0] = sys.argv[0][:-4]
+    sys.exit(app())

backend_service/venv/bin/normalizer

@@ -0,0 +1,7 @@
+#!/home/huangfukk/DronePlanning/backend_service/venv/bin/python3
+import sys
+from charset_normalizer.cli import cli_detect
+if __name__ == '__main__':
+    if sys.argv[0].endswith('.exe'):
+        sys.argv[0] = sys.argv[0][:-4]
+    sys.exit(cli_detect())

backend_service/venv/bin/numpy-config

@@ -0,0 +1,7 @@
+#!/home/huangfukk/DronePlanning/backend_service/venv/bin/python3
+import sys
+from numpy._configtool import main
+if __name__ == '__main__':
+    if sys.argv[0].endswith('.exe'):
+        sys.argv[0] = sys.argv[0][:-4]
+    sys.exit(main())

backend_service/venv/bin/onnxruntime_test

@@ -0,0 +1,7 @@
+#!/home/huangfukk/DronePlanning/backend_service/venv/bin/python3
+import sys
+from onnxruntime.tools.onnxruntime_test import main
+if __name__ == '__main__':
+    if sys.argv[0].endswith('.exe'):
+        sys.argv[0] = sys.argv[0][:-4]
+    sys.exit(main())

backend_service/venv/bin/openai

@@ -0,0 +1,7 @@
+#!/home/huangfukk/DronePlanning/backend_service/venv/bin/python3
+import sys
+from openai.cli import main
+if __name__ == '__main__':
+    if sys.argv[0].endswith('.exe'):
+        sys.argv[0] = sys.argv[0][:-4]
+    sys.exit(main())

backend_service/venv/bin/pip

@@ -0,0 +1,8 @@
+#!/home/huangfukk/DronePlanning/backend_service/venv/bin/python3
+# -*- coding: utf-8 -*-
+import re
+import sys
+from pip._internal.cli.main import main
+if __name__ == '__main__':
+    sys.argv[0] = re.sub(r'(-script\.pyw|\.exe)?$', '', sys.argv[0])
+    sys.exit(main())

backend_service/venv/bin/pip3

@@ -0,0 +1,8 @@
+#!/home/huangfukk/DronePlanning/backend_service/venv/bin/python3
+# -*- coding: utf-8 -*-
+import re
+import sys
+from pip._internal.cli.main import main
+if __name__ == '__main__':
+    sys.argv[0] = re.sub(r'(-script\.pyw|\.exe)?$', '', sys.argv[0])
+    sys.exit(main())

backend_service/venv/bin/pip3.13

@@ -0,0 +1,8 @@
+#!/home/huangfukk/DronePlanning/backend_service/venv/bin/python3
+# -*- coding: utf-8 -*-
+import re
+import sys
+from pip._internal.cli.main import main
+if __name__ == '__main__':
+    sys.argv[0] = re.sub(r'(-script\.pyw|\.exe)?$', '', sys.argv[0])
+    sys.exit(main())

backend_service/venv/bin/pybase64

@@ -0,0 +1,7 @@
+#!/home/huangfukk/DronePlanning/backend_service/venv/bin/python3
+import sys
+from pybase64.__main__ import main
+if __name__ == '__main__':
+    if sys.argv[0].endswith('.exe'):
+        sys.argv[0] = sys.argv[0][:-4]
+    sys.exit(main())

backend_service/venv/bin/pygmentize

@@ -0,0 +1,7 @@
+#!/home/huangfukk/DronePlanning/backend_service/venv/bin/python3
+import sys
+from pygments.cmdline import main
+if __name__ == '__main__':
+    if sys.argv[0].endswith('.exe'):
+        sys.argv[0] = sys.argv[0][:-4]
+    sys.exit(main())

backend_service/venv/bin/pyjson5

@@ -0,0 +1,7 @@
+#!/home/huangfukk/DronePlanning/backend_service/venv/bin/python3
+import sys
+from json5.tool import main
+if __name__ == '__main__':
+    if sys.argv[0].endswith('.exe'):
+        sys.argv[0] = sys.argv[0][:-4]
+    sys.exit(main())

backend_service/venv/bin/pyproject-build

@@ -0,0 +1,7 @@
+#!/home/huangfukk/DronePlanning/backend_service/venv/bin/python3
+import sys
+from build.__main__ import entrypoint
+if __name__ == '__main__':
+    if sys.argv[0].endswith('.exe'):
+        sys.argv[0] = sys.argv[0][:-4]
+    sys.exit(entrypoint())

backend_service/venv/bin/pyrsa-decrypt

@@ -0,0 +1,7 @@
+#!/home/huangfukk/DronePlanning/backend_service/venv/bin/python3
+import sys
+from rsa.cli import decrypt
+if __name__ == '__main__':
+    if sys.argv[0].endswith('.exe'):
+        sys.argv[0] = sys.argv[0][:-4]
+    sys.exit(decrypt())

backend_service/venv/bin/pyrsa-encrypt

@@ -0,0 +1,7 @@
+#!/home/huangfukk/DronePlanning/backend_service/venv/bin/python3
+import sys
+from rsa.cli import encrypt
+if __name__ == '__main__':
+    if sys.argv[0].endswith('.exe'):
+        sys.argv[0] = sys.argv[0][:-4]
+    sys.exit(encrypt())

backend_service/venv/bin/pyrsa-keygen

@@ -0,0 +1,7 @@
+#!/home/huangfukk/DronePlanning/backend_service/venv/bin/python3
+import sys
+from rsa.cli import keygen
+if __name__ == '__main__':
+    if sys.argv[0].endswith('.exe'):
+        sys.argv[0] = sys.argv[0][:-4]
+    sys.exit(keygen())

backend_service/venv/bin/pyrsa-priv2pub

@@ -0,0 +1,7 @@
+#!/home/huangfukk/DronePlanning/backend_service/venv/bin/python3
+import sys
+from rsa.util import private_to_public
+if __name__ == '__main__':
+    if sys.argv[0].endswith('.exe'):
+        sys.argv[0] = sys.argv[0][:-4]
+    sys.exit(private_to_public())

backend_service/venv/bin/pyrsa-sign

@@ -0,0 +1,7 @@
+#!/home/huangfukk/DronePlanning/backend_service/venv/bin/python3
+import sys
+from rsa.cli import sign
+if __name__ == '__main__':
+    if sys.argv[0].endswith('.exe'):
+        sys.argv[0] = sys.argv[0][:-4]
+    sys.exit(sign())

backend_service/venv/bin/pyrsa-verify

@@ -0,0 +1,7 @@
+#!/home/huangfukk/DronePlanning/backend_service/venv/bin/python3
+import sys
+from rsa.cli import verify
+if __name__ == '__main__':
+    if sys.argv[0].endswith('.exe'):
+        sys.argv[0] = sys.argv[0][:-4]
+    sys.exit(verify())

backend_service/venv/bin/python

@@ -0,0 +1 @@
+python3

backend_service/venv/bin/python3

@@ -0,0 +1 @@
+/home/huangfukk/miniconda3/bin/python3

backend_service/venv/bin/python3.13

@@ -0,0 +1 @@
+python3

backend_service/venv/bin/shortuuid

@@ -0,0 +1,7 @@
+#!/home/huangfukk/DronePlanning/backend_service/venv/bin/python3
+import sys
+from shortuuid.cli import cli
+if __name__ == '__main__':
+    if sys.argv[0].endswith('.exe'):
+        sys.argv[0] = sys.argv[0][:-4]
+    sys.exit(cli())

backend_service/venv/bin/tiny-agents

@@ -0,0 +1,7 @@
+#!/home/huangfukk/DronePlanning/backend_service/venv/bin/python3
+import sys
+from huggingface_hub.inference._mcp.cli import app
+if __name__ == '__main__':
+    if sys.argv[0].endswith('.exe'):
+        sys.argv[0] = sys.argv[0][:-4]
+    sys.exit(app())

backend_service/venv/bin/tqdm

@@ -0,0 +1,7 @@
+#!/home/huangfukk/DronePlanning/backend_service/venv/bin/python3
+import sys
+from tqdm.cli import main
+if __name__ == '__main__':
+    if sys.argv[0].endswith('.exe'):
+        sys.argv[0] = sys.argv[0][:-4]
+    sys.exit(main())

backend_service/venv/bin/typer

@@ -0,0 +1,7 @@
+#!/home/huangfukk/DronePlanning/backend_service/venv/bin/python3
+import sys
+from typer.cli import main
+if __name__ == '__main__':
+    if sys.argv[0].endswith('.exe'):
+        sys.argv[0] = sys.argv[0][:-4]
+    sys.exit(main())

backend_service/venv/bin/uvicorn

@@ -0,0 +1,7 @@
+#!/home/huangfukk/DronePlanning/backend_service/venv/bin/python3
+import sys
+from uvicorn.main import main
+if __name__ == '__main__':
+    if sys.argv[0].endswith('.exe'):
+        sys.argv[0] = sys.argv[0][:-4]
+    sys.exit(main())

backend_service/venv/bin/watchfiles

@@ -0,0 +1,7 @@
+#!/home/huangfukk/DronePlanning/backend_service/venv/bin/python3
+import sys
+from watchfiles.cli import cli
+if __name__ == '__main__':
+    if sys.argv[0].endswith('.exe'):
+        sys.argv[0] = sys.argv[0][:-4]
+    sys.exit(cli())

backend_service/venv/bin/websockets

@@ -0,0 +1,7 @@
+#!/home/huangfukk/DronePlanning/backend_service/venv/bin/python3
+import sys
+from websockets.cli import main
+if __name__ == '__main__':
+    if sys.argv[0].endswith('.exe'):
+        sys.argv[0] = sys.argv[0][:-4]
+    sys.exit(main())

backend_service/venv/bin/wsdump

@@ -0,0 +1,7 @@
+#!/home/huangfukk/DronePlanning/backend_service/venv/bin/python3
+import sys
+from websocket._wsdump import main
+if __name__ == '__main__':
+    if sys.argv[0].endswith('.exe'):
+        sys.argv[0] = sys.argv[0][:-4]
+    sys.exit(main())

backend_service/venv/lib/python3.13/site-packages/COPYING

@@ -0,0 +1,29 @@
+Copyright (c) 2011, Stavros Korokithakis
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are
+met:
+
+Redistributions of source code must retain the above copyright notice,
+this list of conditions and the following disclaimer.
+
+Redistributions in binary form must reproduce the above copyright
+notice, this list of conditions and the following disclaimer in the
+documentation and/or other materials provided with the distribution.
+
+Neither the name of Stochastic Technologies nor the names of its
+contributors may be used to endorse or promote products derived from
+this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

backend_service/venv/lib/python3.13/site-packages/PyJWT-2.10.1.dist-info/AUTHORS.rst

@@ -0,0 +1,7 @@
+Authors
+=======
+
+``pyjwt`` is currently written and maintained by `Jose Padilla <https://github.com/jpadilla>`_.
+Originally written and maintained by `Jeff Lindsay <https://github.com/progrium>`_.
+
+A full list of contributors can be found on GitHub’s `overview <https://github.com/jpadilla/pyjwt/graphs/contributors>`_.

backend_service/venv/lib/python3.13/site-packages/PyJWT-2.10.1.dist-info/INSTALLER

@@ -0,0 +1 @@
+pip

backend_service/venv/lib/python3.13/site-packages/PyJWT-2.10.1.dist-info/LICENSE

@@ -0,0 +1,21 @@
+The MIT License (MIT)
+
+Copyright (c) 2015-2022 José Padilla
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

backend_service/venv/lib/python3.13/site-packages/PyJWT-2.10.1.dist-info/METADATA

@@ -0,0 +1,106 @@
+Metadata-Version: 2.1
+Name: PyJWT
+Version: 2.10.1
+Summary: JSON Web Token implementation in Python
+Author-email: Jose Padilla <hello@jpadilla.com>
+License: MIT
+Project-URL: Homepage, https://github.com/jpadilla/pyjwt
+Keywords: json,jwt,security,signing,token,web
+Classifier: Development Status :: 5 - Production/Stable
+Classifier: Intended Audience :: Developers
+Classifier: License :: OSI Approved :: MIT License
+Classifier: Natural Language :: English
+Classifier: Programming Language :: Python
+Classifier: Programming Language :: Python :: 3
+Classifier: Programming Language :: Python :: 3 :: Only
+Classifier: Programming Language :: Python :: 3.9
+Classifier: Programming Language :: Python :: 3.10
+Classifier: Programming Language :: Python :: 3.11
+Classifier: Programming Language :: Python :: 3.12
+Classifier: Programming Language :: Python :: 3.13
+Classifier: Topic :: Utilities
+Requires-Python: >=3.9
+Description-Content-Type: text/x-rst
+License-File: LICENSE
+License-File: AUTHORS.rst
+Provides-Extra: crypto
+Requires-Dist: cryptography>=3.4.0; extra == "crypto"
+Provides-Extra: dev
+Requires-Dist: coverage[toml]==5.0.4; extra == "dev"
+Requires-Dist: cryptography>=3.4.0; extra == "dev"
+Requires-Dist: pre-commit; extra == "dev"
+Requires-Dist: pytest<7.0.0,>=6.0.0; extra == "dev"
+Requires-Dist: sphinx; extra == "dev"
+Requires-Dist: sphinx-rtd-theme; extra == "dev"
+Requires-Dist: zope.interface; extra == "dev"
+Provides-Extra: docs
+Requires-Dist: sphinx; extra == "docs"
+Requires-Dist: sphinx-rtd-theme; extra == "docs"
+Requires-Dist: zope.interface; extra == "docs"
+Provides-Extra: tests
+Requires-Dist: coverage[toml]==5.0.4; extra == "tests"
+Requires-Dist: pytest<7.0.0,>=6.0.0; extra == "tests"
+
+PyJWT
+=====
+
+.. image:: https://github.com/jpadilla/pyjwt/workflows/CI/badge.svg
+   :target: https://github.com/jpadilla/pyjwt/actions?query=workflow%3ACI
+
+.. image:: https://img.shields.io/pypi/v/pyjwt.svg
+   :target: https://pypi.python.org/pypi/pyjwt
+
+.. image:: https://codecov.io/gh/jpadilla/pyjwt/branch/master/graph/badge.svg
+   :target: https://codecov.io/gh/jpadilla/pyjwt
+
+.. image:: https://readthedocs.org/projects/pyjwt/badge/?version=stable
+   :target: https://pyjwt.readthedocs.io/en/stable/
+
+A Python implementation of `RFC 7519 <https://tools.ietf.org/html/rfc7519>`_. Original implementation was written by `@progrium <https://github.com/progrium>`_.
+
+Sponsor
+-------
+
+.. |auth0-logo| image:: https://github.com/user-attachments/assets/ee98379e-ee76-4bcb-943a-e25c4ea6d174
+   :width: 160px
+
++--------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |auth0-logo| | If you want to quickly add secure token-based authentication to Python projects, feel free to check Auth0's Python SDK and free plan at `auth0.com/signup <https://auth0.com/signup?utm_source=external_sites&utm_medium=pyjwt&utm_campaign=devn_signup>`_. |
++--------------+-----------------------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+
+Installing
+----------
+
+Install with **pip**:
+
+.. code-block:: console
+
+    $ pip install PyJWT
+
+
+Usage
+-----
+
+.. code-block:: pycon
+
+    >>> import jwt
+    >>> encoded = jwt.encode({"some": "payload"}, "secret", algorithm="HS256")
+    >>> print(encoded)
+    eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJzb21lIjoicGF5bG9hZCJ9.4twFt5NiznN84AWoo1d7KO1T_yoc0Z6XOpOVswacPZg
+    >>> jwt.decode(encoded, "secret", algorithms=["HS256"])
+    {'some': 'payload'}
+
+Documentation
+-------------
+
+View the full docs online at https://pyjwt.readthedocs.io/en/stable/
+
+
+Tests
+-----
+
+You can run tests from the project root after cloning with:
+
+.. code-block:: console
+
+    $ tox

backend_service/venv/lib/python3.13/site-packages/PyJWT-2.10.1.dist-info/RECORD

@@ -0,0 +1,32 @@
+PyJWT-2.10.1.dist-info/AUTHORS.rst,sha256=klzkNGECnu2_VY7At89_xLBF3vUSDruXk3xwgUBxzwc,322
+PyJWT-2.10.1.dist-info/INSTALLER,sha256=zuuue4knoyJ-UwPPXg8fezS7VCrXJQrAP7zeNuwvFQg,4
+PyJWT-2.10.1.dist-info/LICENSE,sha256=eXp6ICMdTEM-nxkR2xcx0GtYKLmPSZgZoDT3wPVvXOU,1085
+PyJWT-2.10.1.dist-info/METADATA,sha256=EkewF6D6KU8SGaaQzVYfxUUU1P_gs_dp1pYTkoYvAx8,3990
+PyJWT-2.10.1.dist-info/RECORD,,
+PyJWT-2.10.1.dist-info/WHEEL,sha256=PZUExdf71Ui_so67QXpySuHtCi3-J3wvF4ORK6k_S8U,91
+PyJWT-2.10.1.dist-info/top_level.txt,sha256=RP5DHNyJbMq2ka0FmfTgoSaQzh7e3r5XuCWCO8a00k8,4
+jwt/__init__.py,sha256=VB2vFKuboTjcDGeZ8r-UqK_dz3NsQSQEqySSICby8Xg,1711
+jwt/__pycache__/__init__.cpython-313.pyc,,
+jwt/__pycache__/algorithms.cpython-313.pyc,,
+jwt/__pycache__/api_jwk.cpython-313.pyc,,
+jwt/__pycache__/api_jws.cpython-313.pyc,,
+jwt/__pycache__/api_jwt.cpython-313.pyc,,
+jwt/__pycache__/exceptions.cpython-313.pyc,,
+jwt/__pycache__/help.cpython-313.pyc,,
+jwt/__pycache__/jwk_set_cache.cpython-313.pyc,,
+jwt/__pycache__/jwks_client.cpython-313.pyc,,
+jwt/__pycache__/types.cpython-313.pyc,,
+jwt/__pycache__/utils.cpython-313.pyc,,
+jwt/__pycache__/warnings.cpython-313.pyc,,
+jwt/algorithms.py,sha256=cKr-XEioe0mBtqJMCaHEswqVOA1Z8Purt5Sb3Bi-5BE,30409
+jwt/api_jwk.py,sha256=6F1r7rmm8V5qEnBKA_xMjS9R7VoANe1_BL1oD2FrAjE,4451
+jwt/api_jws.py,sha256=aM8vzqQf6mRrAw7bRy-Moj_pjWsKSVQyYK896AfMjJU,11762
+jwt/api_jwt.py,sha256=OGT4hok1l5A6FH_KdcrU5g6u6EQ8B7em0r9kGM9SYgA,14512
+jwt/exceptions.py,sha256=bUIOJ-v9tjopTLS-FYOTc3kFx5WP5IZt7ksN_HE1G9Q,1211
+jwt/help.py,sha256=vFdNzjQoAch04XCMYpCkyB2blaqHAGAqQrtf9nSPkdk,1808
+jwt/jwk_set_cache.py,sha256=hBKmN-giU7-G37L_XKgc_OZu2ah4wdbj1ZNG_GkoSE8,959
+jwt/jwks_client.py,sha256=p9b-IbQqo2tEge9Zit3oSPBFNePqwho96VLbnUrHUWs,4259
+jwt/py.typed,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
+jwt/types.py,sha256=VnhGv_VFu5a7_mrPoSCB7HaNLrJdhM8Sq1sSfEg0gLU,99
+jwt/utils.py,sha256=hxOjvDBheBYhz-RIPiEz7Q88dSUSTMzEdKE_Ww2VdJw,3640
+jwt/warnings.py,sha256=50XWOnyNsIaqzUJTk6XHNiIDykiL763GYA92MjTKmok,59

backend_service/venv/lib/python3.13/site-packages/PyJWT-2.10.1.dist-info/WHEEL

@@ -0,0 +1,5 @@
+Wheel-Version: 1.0
+Generator: setuptools (75.6.0)
+Root-Is-Purelib: true
+Tag: py3-none-any
+

backend_service/venv/lib/python3.13/site-packages/PyJWT-2.10.1.dist-info/top_level.txt

@@ -0,0 +1 @@
+jwt

backend_service/venv/lib/python3.13/site-packages/_yaml/__init__.py

@@ -0,0 +1,33 @@
+# This is a stub package designed to roughly emulate the _yaml
+# extension module, which previously existed as a standalone module
+# and has been moved into the `yaml` package namespace.
+# It does not perfectly mimic its old counterpart, but should get
+# close enough for anyone who's relying on it even when they shouldn't.
+import yaml
+
+# in some circumstances, the yaml module we imoprted may be from a different version, so we need
+# to tread carefully when poking at it here (it may not have the attributes we expect)
+if not getattr(yaml, '__with_libyaml__', False):
+    from sys import version_info
+
+    exc = ModuleNotFoundError if version_info >= (3, 6) else ImportError
+    raise exc("No module named '_yaml'")
+else:
+    from yaml._yaml import *
+    import warnings
+    warnings.warn(
+        'The _yaml extension module is now located at yaml._yaml'
+        ' and its location is subject to change.  To use the'
+        ' LibYAML-based parser and emitter, import from `yaml`:'
+        ' `from yaml import CLoader as Loader, CDumper as Dumper`.',
+        DeprecationWarning
+    )
+    del warnings
+    # Don't `del yaml` here because yaml is actually an existing
+    # namespace member of _yaml.
+
+__name__ = '_yaml'
+# If the module is top-level (i.e. not a part of any specific package)
+# then the attribute should be set to ''.
+# https://docs.python.org/3.8/library/types.html
+__package__ = ''

backend_service/venv/lib/python3.13/site-packages/agentscope-1.0.7.dist-info/INSTALLER

@@ -0,0 +1 @@
+pip

backend_service/venv/lib/python3.13/site-packages/agentscope-1.0.7.dist-info/METADATA

@@ -0,0 +1,547 @@
+Metadata-Version: 2.4
+Name: agentscope
+Version: 1.0.7
+Summary: AgentScope: A Flexible yet Robust Multi-Agent Platform.
+Author-email: SysML team of Alibaba Tongyi Lab <gaodawei.gdw@alibaba-inc.com>
+License-Expression: Apache-2.0
+Project-URL: Homepage, https://github.com/agentscope-ai/agentscope
+Project-URL: Documentation, https://doc.agentscope.io/
+Project-URL: Repository, https://github.com/agentscope-ai/agentscope
+Keywords: deep-learning,multi agents,agents
+Classifier: Development Status :: 4 - Beta
+Classifier: Programming Language :: Python :: 3
+Classifier: Programming Language :: Python :: 3.10
+Classifier: Operating System :: OS Independent
+Classifier: Intended Audience :: Developers
+Classifier: Intended Audience :: Science/Research
+Classifier: Topic :: Scientific/Engineering :: Artificial Intelligence
+Requires-Python: >=3.10
+Description-Content-Type: text/markdown
+License-File: LICENSE
+Requires-Dist: aioitertools
+Requires-Dist: anthropic
+Requires-Dist: dashscope
+Requires-Dist: docstring_parser
+Requires-Dist: json5
+Requires-Dist: json_repair
+Requires-Dist: mcp>=1.13
+Requires-Dist: numpy
+Requires-Dist: openai
+Requires-Dist: python-datauri
+Requires-Dist: opentelemetry-api
+Requires-Dist: opentelemetry-sdk
+Requires-Dist: opentelemetry-exporter-otlp
+Requires-Dist: python-socketio
+Requires-Dist: shortuuid
+Requires-Dist: tiktoken
+Requires-Dist: sounddevice
+Provides-Extra: full
+Requires-Dist: ollama>=0.5.4; extra == "full"
+Requires-Dist: google-genai; extra == "full"
+Requires-Dist: Pillow; extra == "full"
+Requires-Dist: transformers; extra == "full"
+Requires-Dist: jinja2; extra == "full"
+Requires-Dist: ray; extra == "full"
+Requires-Dist: mem0ai; extra == "full"
+Requires-Dist: packaging; extra == "full"
+Requires-Dist: pypdf; extra == "full"
+Requires-Dist: python-docx; extra == "full"
+Requires-Dist: nltk; extra == "full"
+Requires-Dist: qdrant-client; extra == "full"
+Provides-Extra: dev
+Requires-Dist: agentscope[full]; extra == "dev"
+Requires-Dist: pre-commit; extra == "dev"
+Requires-Dist: pytest; extra == "dev"
+Requires-Dist: sphinx-gallery; extra == "dev"
+Requires-Dist: furo; extra == "dev"
+Requires-Dist: myst_parser; extra == "dev"
+Requires-Dist: matplotlib; extra == "dev"
+Requires-Dist: pymilvus[milvus_lite]; extra == "dev"
+Requires-Dist: reme-ai>=0.1.10.7; python_full_version >= "3.12" and extra == "dev"
+Dynamic: license-file
+
+[**中文主页**](https://github.com/agentscope-ai/agentscope/blob/main/README_zh.md) | [**Tutorial**](https://doc.agentscope.io/) | [**Roadmap**](https://github.com/agentscope-ai/agentscope/blob/main/docs/roadmap.md) | [**FAQ**](https://doc.agentscope.io/tutorial/faq.html)
+
+<p align="center">
+  <img
+    src="https://img.alicdn.com/imgextra/i1/O1CN01nTg6w21NqT5qFKH1u_!!6000000001621-55-tps-550-550.svg"
+    alt="AgentScope Logo"
+    width="200"
+  />
+</p>
+
+<h2 align="center">AgentScope: Agent-Oriented Programming for Building LLM Applications</h2>
+
+<p align="center">
+    <a href="https://arxiv.org/abs/2402.14034">
+        <img
+            src="https://img.shields.io/badge/cs.MA-2402.14034-B31C1C?logo=arxiv&logoColor=B31C1C"
+            alt="arxiv"
+        />
+    </a>
+    <a href="https://pypi.org/project/agentscope/">
+        <img
+            src="https://img.shields.io/badge/python-3.10+-blue?logo=python"
+            alt="pypi"
+        />
+    </a>
+    <a href="https://pypi.org/project/agentscope/">
+        <img
+            src="https://img.shields.io/badge/dynamic/json?url=https%3A%2F%2Fpypi.org%2Fpypi%2Fagentscope%2Fjson&query=%24.info.version&prefix=v&logo=pypi&label=version"
+            alt="pypi"
+        />
+    </a>
+    <a href="https://doc.agentscope.io/">
+        <img
+            src="https://img.shields.io/badge/Docs-English%7C%E4%B8%AD%E6%96%87-blue?logo=markdown"
+            alt="docs"
+        />
+    </a>
+    <a href="https://agentscope.io/">
+        <img
+            src="https://img.shields.io/badge/GUI-AgentScope_Studio-blue?logo=look&logoColor=green&color=dark-green"
+            alt="workstation"
+        />
+    </a>
+    <a href="./LICENSE">
+        <img
+            src="https://img.shields.io/badge/license-Apache--2.0-black"
+            alt="license"
+        />
+    </a>
+</p>
+
+<p align="center">
+<img src="https://trendshift.io/api/badge/repositories/10079" alt="modelscope%2Fagentscope | Trendshift" style="width: 250px; height: 55px;" width="250" height="55"/>
+</p>
+
+## ✨ Why AgentScope?
+
+Easy for beginners, powerful for experts.
+
+<p align="center">
+<img src="./assets/images/agentscope_v1_0822.png" alt="AgentScope Framework" width="80%"/>
+</p>
+
+- **Transparent to Developers**: Transparent is our **FIRST principle**. Prompt engineering, API invocation, agent building, workflow orchestration, all are visible and controllable for developers. No deep encapsulation or implicit magic.
+- **[Realtime Steering](https://doc.agentscope.io/tutorial/task_agent.html#realtime-steering)**: Native support for realtime interruption and customized handling.
+- **More Agentic**: Support [agentic tools management](https://doc.agentscope.io/tutorial/task_tool.html), [agentic long-term memory control](https://doc.agentscope.io/tutorial/task_long_term_memory.html) and agentic RAG, etc.
+- **Model Agnostic**: Programming once, run with all models.
+- **LEGO-style Agent Building**: All components are **modular** and **independent**.
+- **Multi-Agent Oriented**: Designed for **multi-agent**, **explicit** message passing and workflow orchestration, NO deep encapsulation.
+- **Highly Customizable**: Tools, prompt, agent, workflow, third-party libs & visualization, customization is encouraged everywhere.
+
+Quick overview of important features in **AgentScope 1.0**:
+
+| Module     | Feature                                                                            | Tutorial                                                                |
+|------------|------------------------------------------------------------------------------------|-------------------------------------------------------------------------|
+| model      | Support async invocation                                                           | [Model](https://doc.agentscope.io/tutorial/task_model.html)             |
+|            | Support reasoning model                                                            |                                                                         |
+|            | Support streaming/non-streaming returns                                            |                                                                         |
+| tool       | Support async/sync tool functions                                                  | [Tool](https://doc.agentscope.io/tutorial/task_tool.html)               |
+|            | Support streaming/non-streaming returns                                            |                                                                         |
+|            | Support user interruption                                                          |                                                                         |
+|            | Support post-processing                                                            |                                                                         |
+|            | Support group-wise tools management                                                |                                                                         |
+|            | Support agentic tools management by meta tool                                      |                                                                         |
+| MCP        | Support streamable HTTP/SSE/StdIO transport                                        | [MCP](https://doc.agentscope.io/tutorial/task_mcp.html)                 |
+|            | Support both **stateful** and **stateless** mode MCP Client                        |                                                                         |
+|            | Support client- & function-level fine-grained control                              |                                                                         |
+| agent      | Support async execution                                                            |                                                                         |
+|            | Support parallel tool calls                                                        |                                                                         |
+|            | Support realtime steering interruption and customized handling                     |                                                                         |
+|            | Support automatic state management                                                 |                                                                         |
+|            | Support agent-controlled long-term memory                                          |                                                                         |
+|            | Support agent hooks                                                                |                                                                         |
+| tracing    | Support OpenTelemetry-based tracing in LLM, tools, agent and formatter             | [Tracing](https://doc.agentscope.io/tutorial/task_tracing.html)         |
+|            | Support connecting to third-party tracing platforms (e.g. Arize-Phoenix, Langfuse) |                                                                         |
+| memory     | Support long-term memory                                                           | [Memory](https://doc.agentscope.io/tutorial/task_long_term_memory.html) |
+| session    | Provide session/application-level automatic state management                       | [Session](https://doc.agentscope.io/tutorial/task_state.html)           |
+| evaluation | Provide distributed and parallel evaluation                                        | [Evaluation](https://doc.agentscope.io/tutorial/task_eval.html)         |
+| formatter  | Support multi-agent prompt formatting with tools API                               | [Prompt Formatter](https://doc.agentscope.io/tutorial/task_prompt.html) |
+|            | Support truncation-based formatter strategy                                        |                                                                         |
+| plan       | Support ReAct-based long-term planning                                             | [Plan](https://doc.agentscope.io/tutorial/task_plan.html)               |
+|            | Support manual plan specification                                                  |                                                                         |
+| RAG        | Support agentic RAG                                                                | [RAG](https://doc.agentscope.io/tutorial/task_rag.html)                 |
+|            | Support multimodal RAG                                                             |                                                                         |
+| ...        |                                                                                    |                                                                         |
+
+## 📢 News
+- **[2025-11]** [Contributing Guide](./CONTRIBUTING.md) is online now! Welcome to contribute to AgentScope.
+- **[2025-09]** **RAG** module in AgentScope 1.0 is online now! Check our [tutorial](https://doc.agentscope.io/tutorial/task_rag.html) and [example](https://github.com/agentscope-ai/agentscope/tree/main/examples/functionality/rag) for more details.
+- **[2025-09]** **Voice agent** is online! `ReActAgent` supports Qwen-Omni and GPT-Audio natively now, check our [new example](https://github.com/agentscope-ai/agentscope/tree/main/examples/agent/voice_agent) and [roadmap](https://github.com/agentscope-ai/agentscope/issues/773).
+- **[2025-09]** A new powerful 📋**Plan** module is online now! Check out the [tutorial](https://doc.agentscope.io/tutorial/task_plan.html) for more details.
+- **[2025-09]** **AgentScope Runtime** is open-sourced now! Enabling effective agent deployment with sandboxed tool execution for production-ready AI applications. Check out the [GitHub repo](https://github.com/agentscope-ai/agentscope-runtime).
+- **[2025-09]** **AgentScope Studio** is open-sourced now! Check out the [GitHub repo](https://github.com/agentscope-ai/agentscope-studio).
+- **[2025-08]** The new tutorial of v1 is online now! Check out the [tutorial](https://doc.agentscope.io) for more details.
+- **[2025-08]** 🎉🎉 AgentScope v1 is released now! This version fully embraces the asynchronous execution, providing many new features and improvements. Check out [changelog](https://github.com/agentscope-ai/agentscope/blob/main/docs/changelog.md) for detailed changes.
+
+## 💬 Contact
+
+Welcome to join our community on
+
+| [Discord](https://discord.gg/eYMpfnkG8h)                                                                                         | DingTalk                                                                                                                          |
+|----------------------------------------------------------------------------------------------------------------------------------|-----------------------------------------------------------------------------------------------------------------------------------|
+| <img src="https://gw.alicdn.com/imgextra/i1/O1CN01hhD1mu1Dd3BWVUvxN_!!6000000000238-2-tps-400-400.png" width="100" height="100"> | <img src="https://img.alicdn.com/imgextra/i1/O1CN01LxzZha1thpIN2cc2E_!!6000000005934-2-tps-497-477.png" width="100" height="100"> |
+
+<!-- START doctoc generated TOC please keep comment here to allow auto update -->
+<!-- DON'T EDIT THIS SECTION, INSTEAD RE-RUN doctoc TO UPDATE -->
+## 📑 Table of Contents
+
+- [🚀 Quickstart](#-quickstart)
+  - [💻 Installation](#-installation)
+    - [🛠️ From source](#-from-source)
+    - [🔄 Using uv (recommended for faster installs)](#-using-uv-recommended-for-faster-installs)
+    - [📦 From PyPi](#-from-pypi)
+- [📝 Example](#-example)
+  - [👋 Hello AgentScope!](#-hello-agentscope)
+  - [🎯 Realtime Steering](#-realtime-steering)
+  - [🛠️ Fine-Grained MCP Control](#-fine-grained-mcp-control)
+  - [🧑‍🤝‍🧑 Multi-Agent Conversation](#-multi-agent-conversation)
+  - [💻 AgentScope Studio](#-agentscope-studio)
+- [📖 Documentation](#-documentation)
+- [🤝 Contributing](#-contributing)
+- [⚖️ License](#-license)
+- [📚 Publications](#-publications)
+- [✨ Contributors](#-contributors)
+
+<!-- END doctoc generated TOC please keep comment here to allow auto update -->
+
+## 🚀 Quickstart
+
+### 💻 Installation
+
+> AgentScope requires **Python 3.10** or higher.
+
+#### 🛠️ From source
+
+```bash
+# Pull the source code from GitHub
+git clone -b main https://github.com/agentscope-ai/agentscope.git
+
+# Install the package in editable mode
+cd agentscope
+pip install -e .
+```
+
+#### 🔄 Using uv (recommended for faster installs)
+
+[uv](https://github.com/astral-sh/uv) is a fast Python package installer and resolver, written in Rust.
+
+```bash
+# Clone the repository
+git clone -b main https://github.com/agentscope-ai/agentscope.git
+cd agentscope
+
+# Install with uv
+uv pip install -e .
+```
+
+#### 📦 From PyPi
+
+```bash
+pip install agentscope
+```
+
+Or with uv:
+
+```bash
+uv pip install agentscope
+```
+
+## 📝 Example
+
+### 👋 Hello AgentScope!
+
+Start with a conversation between user and a ReAct agent 🤖 named "Friday"!
+
+```python
+from agentscope.agent import ReActAgent, UserAgent
+from agentscope.model import DashScopeChatModel
+from agentscope.formatter import DashScopeChatFormatter
+from agentscope.memory import InMemoryMemory
+from agentscope.tool import Toolkit, execute_python_code, execute_shell_command
+import os, asyncio
+
+
+async def main():
+    toolkit = Toolkit()
+    toolkit.register_tool_function(execute_python_code)
+    toolkit.register_tool_function(execute_shell_command)
+
+    agent = ReActAgent(
+        name="Friday",
+        sys_prompt="You're a helpful assistant named Friday.",
+        model=DashScopeChatModel(
+            model_name="qwen-max",
+            api_key=os.environ["DASHSCOPE_API_KEY"],
+            stream=True,
+        ),
+        memory=InMemoryMemory(),
+        formatter=DashScopeChatFormatter(),
+        toolkit=toolkit,
+    )
+
+    user = UserAgent(name="user")
+
+    msg = None
+    while True:
+        msg = await agent(msg)
+        msg = await user(msg)
+        if msg.get_text_content() == "exit":
+            break
+
+asyncio.run(main())
+```
+
+### 🎯 Realtime Steering
+
+Natively support **realtime interruption** in ``ReActAgent`` with robust memory preservation, and convert interruption into an **observable event** for agent to seamlessly resume conversations.
+
+<p align="center">
+  <img src="./assets/images/realtime_steering_zh.gif" alt="Realtime Steering" width="49%"/>
+  <img src="./assets/images/realtime_steering_en.gif" alt="Realtime Steering" width="49%"/>
+</p>
+
+### 🛠️ Fine-Grained MCP Control
+
+Developers can obtain the MCP tool as a **local callable function**, and use it anywhere (e.g. call directly, pass to agent, wrap into a more complex tool, etc.)
+
+```python
+from agentscope.mcp import HttpStatelessClient
+from agentscope.tool import Toolkit
+import os
+
+async def fine_grained_mcp_control():
+    # Initialize the MCP client
+    client = HttpStatelessClient(
+        name="gaode_mcp",
+        transport="streamable_http",
+        url=f"https://mcp.amap.com/mcp?key={os.environ['GAODE_API_KEY']}",
+    )
+
+    # Obtain the MCP tool as a **local callable function**, and use it anywhere
+    func = await client.get_callable_function(func_name="maps_geo")
+
+    # Option 1: Call directly
+    await func(address="Tiananmen Square", city="Beijing")
+
+    # Option 2: Pass to agent as a tool
+    toolkit = Toolkit()
+    toolkit.register_tool_function(func)
+    # ...
+
+    # Option 3: Wrap into a more complex tool
+    # ...
+```
+
+### 🧑‍🤝‍🧑 Multi-Agent Conversation
+
+AgentScope provides ``MsgHub`` and pipelines to streamline multi-agent conversations, offering efficient message routing and seamless information sharing
+
+```python
+from agentscope.pipeline import MsgHub, sequential_pipeline
+from agentscope.message import Msg
+import asyncio
+
+async def multi_agent_conversation():
+    # Create agents
+    agent1 = ...
+    agent2 = ...
+    agent3 = ...
+    agent4 = ...
+
+    # Create a message hub to manage multi-agent conversation
+    async with MsgHub(
+        participants=[agent1, agent2, agent3],
+        announcement=Msg("Host", "Introduce yourselves.", "assistant")
+    ) as hub:
+        # Speak in a sequential manner
+        await sequential_pipeline([agent1, agent2, agent3])
+        # Dynamic manage the participants
+        hub.add(agent4)
+        hub.delete(agent3)
+        await hub.broadcast(Msg("Host", "Goodbye!", "assistant"))
+
+asyncio.run(multi_agent_conversation())
+```
+
+### 💻 AgentScope Studio
+
+Use the following command to install and start AgentScope Studio, to trace and visualize your agent application.
+
+```bash
+npm install -g @agentscope/studio
+
+as_studio
+```
+
+<p align="center">
+    <img
+        src="./assets/images/home.gif"
+        width="49%"
+        alt="home"
+    />
+    <img
+        src="./assets/images/projects.gif"
+        width="49%"
+        alt="projects"
+    />
+    <img
+        src="./assets/images/runtime.gif"
+        width="49%"
+        alt="runtime"
+    />
+    <img
+        src="./assets/images/friday.gif"
+        width="49%"
+        alt="friday"
+    />
+</p>
+
+
+## 📖 Documentation
+
+- Tutorial
+  - [Installation](https://doc.agentscope.io/tutorial/quickstart_installation.html)
+  - [Key Concepts](https://doc.agentscope.io/tutorial/quickstart_key_concept.html)
+  - [Create Message](https://doc.agentscope.io/tutorial/quickstart_message.html)
+  - [ReAct Agent](https://doc.agentscope.io/tutorial/quickstart_agent.html)
+- Workflow
+  - [Conversation](https://doc.agentscope.io/tutorial/workflow_conversation.html)
+  - [Multi-Agent Debate](https://doc.agentscope.io/tutorial/workflow_multiagent_debate.html)
+  - [Concurrent Agents](https://doc.agentscope.io/tutorial/workflow_concurrent_agents.html)
+  - [Routing](https://doc.agentscope.io/tutorial/workflow_routing.html)
+  - [Handoffs](https://doc.agentscope.io/tutorial/workflow_handoffs.html)
+- FAQ
+  - [FAQ](https://doc.agentscope.io/tutorial/faq.html)
+- Task Guides
+  - [Model](https://doc.agentscope.io/tutorial/task_model.html)
+  - [Prompt Formatter](https://doc.agentscope.io/tutorial/task_prompt.html)
+  - [Tool](https://doc.agentscope.io/tutorial/task_tool.html)
+  - [Memory](https://doc.agentscope.io/tutorial/task_memory.html)
+  - [Long-Term Memory](https://doc.agentscope.io/tutorial/task_long_term_memory.html)
+  - [Agent](https://doc.agentscope.io/tutorial/task_agent.html)
+  - [Pipeline](https://doc.agentscope.io/tutorial/task_pipeline.html)
+  - [Plan](https://doc.agentscope.io/tutorial/task_plan.html)
+  - [State/Session Management](https://doc.agentscope.io/tutorial/task_state.html)
+  - [Agent Hooks](https://doc.agentscope.io/tutorial/task_hook.html)
+  - [MCP](https://doc.agentscope.io/tutorial/task_mcp.html)
+  - [AgentScope Studio](https://doc.agentscope.io/tutorial/task_studio.html)
+  - [Tracing](https://doc.agentscope.io/tutorial/task_tracing.html)
+  - [Evaluation](https://doc.agentscope.io/tutorial/task_eval.html)
+  - [Embedding](https://doc.agentscope.io/tutorial/task_embedding.html)
+  - [Token](https://doc.agentscope.io/tutorial/task_token.html)
+- API
+  - [API Docs](https://doc.agentscope.io/api/agentscope.html)
+- [Examples](https://github.com/agentscope-ai/agentscope/tree/main/examples)
+  - Functionality
+    - [MCP](https://github.com/agentscope-ai/agentscope/tree/main/examples/functionality/mcp)
+    - [Plan](https://github.com/agentscope-ai/agentscope/tree/main/examples/functionality/plan)
+    - [Structured Output](https://github.com/agentscope-ai/agentscope/tree/main/examples/functionality/structured_output)
+    - [RAG](https://github.com/agentscope-ai/agentscope/tree/main/examples/functionality/rag)
+    - [Long-Term Memory](https://github.com/agentscope-ai/agentscope/tree/main/examples/functionality/long_term_memory)
+    - [Session with SQLite](https://github.com/agentscope-ai/agentscope/tree/main/examples/functionality/session_with_sqlite)
+    - [Stream Printing Messages](https://github.com/agentscope-ai/agentscope/tree/main/examples/functionality/stream_printing_messages)
+  - Agent
+    - [ReAct Agent](https://github.com/agentscope-ai/agentscope/tree/main/examples/agent/react_agent)
+    - [Voice Agent](https://github.com/agentscope-ai/agentscope/tree/main/examples/agent/voice_agent)
+    - [Deep Research Agent](https://github.com/agentscope-ai/agentscope/tree/main/examples/agent/deep_research_agent)
+    - [Browser-use Agent](https://github.com/agentscope-ai/agentscope/tree/main/examples/agent/browser_agent)
+    - [Meta Planner Agent](https://github.com/agentscope-ai/agentscope/tree/main/examples/agent/meta_planner_agent)
+  - Game
+    - [Nine-player Werewolves](https://github.com/agentscope-ai/agentscope/tree/main/examples/game/werewolves)
+  - Workflow
+    - [Multi-agent Debate](https://github.com/agentscope-ai/agentscope/tree/main/examples/workflows/multiagent_debate)
+    - [Multi-agent Conversation](https://github.com/agentscope-ai/agentscope/tree/main/examples/workflows/multiagent_conversation)
+    - [Multi-agent Concurrent](https://github.com/agentscope-ai/agentscope/tree/main/examples/workflows/multiagent_concurrent)
+  - Evaluation
+    - [ACEBench](https://github.com/agentscope-ai/agentscope/tree/main/examples/evaluation/ace_bench)
+  - Training
+    - [Reinforcement learning (RL) with Trinity-RFT](https://github.com/agentscope-ai/agentscope/tree/main/examples/training/react_agent)
+
+
+## 🤝 Contributing
+
+We welcome contributions from the community! Please refer to our [CONTRIBUTING.md](./CONTRIBUTING.md) for guidelines
+on how to contribute.
+
+## ⚖️ License
+
+AgentScope is released under Apache License 2.0.
+
+## 📚 Publications
+
+If you find our work helpful for your research or application, please cite our papers.
+
+- [AgentScope 1.0: A Developer-Centric Framework for Building Agentic Applications](https://arxiv.org/abs/2508.16279)
+
+- [AgentScope: A Flexible yet Robust Multi-Agent Platform](https://arxiv.org/abs/2402.14034)
+
+```
+@article{agentscope_v1,
+    author  = {
+        Dawei Gao,
+        Zitao Li,
+        Yuexiang Xie,
+        Weirui Kuang,
+        Liuyi Yao,
+        Bingchen Qian,
+        Zhijian Ma,
+        Yue Cui,
+        Haohao Luo,
+        Shen Li,
+        Lu Yi,
+        Yi Yu,
+        Shiqi He,
+        Zhiling Luo,
+        Wenmeng Zhou,
+        Zhicheng Zhang,
+        Xuguang He,
+        Ziqian Chen,
+        Weikai Liao,
+        Farruh Isakulovich Kushnazarov,
+        Yaliang Li,
+        Bolin Ding,
+        Jingren Zhou}
+    title   = {AgentScope 1.0: A Developer-Centric Framework for Building Agentic Applications},
+    journal = {CoRR},
+    volume  = {abs/2508.16279},
+    year    = {2025},
+}
+
+@article{agentscope,
+    author  = {
+        Dawei Gao,
+        Zitao Li,
+        Xuchen Pan,
+        Weirui Kuang,
+        Zhijian Ma,
+        Bingchen Qian,
+        Fei Wei,
+        Wenhao Zhang,
+        Yuexiang Xie,
+        Daoyuan Chen,
+        Liuyi Yao,
+        Hongyi Peng,
+        Zeyu Zhang,
+        Lin Zhu,
+        Chen Cheng,
+        Hongzhu Shi,
+        Yaliang Li,
+        Bolin Ding,
+        Jingren Zhou}
+    title   = {AgentScope: A Flexible yet Robust Multi-Agent Platform},
+    journal = {CoRR},
+    volume  = {abs/2402.14034},
+    year    = {2024},
+}
+```
+
+## ✨ Contributors
+
+All thanks to our contributors:
+
+<a href="https://github.com/agentscope-ai/agentscope/graphs/contributors">
+  <img src="https://contrib.rocks/image?repo=agentscope-ai/agentscope&max=999&columns=12&anon=1" />
+</a>

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+
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+
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+
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+
+   Copyright 2024 Alibaba
+
+   Licensed under the Apache License, Version 2.0 (the "License");
+   you may not use this file except in compliance with the License.
+   You may obtain a copy of the License at
+
+       http://www.apache.org/licenses/LICENSE-2.0
+
+   Unless required by applicable law or agreed to in writing, software
+   distributed under the License is distributed on an "AS IS" BASIS,
+   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+   See the License for the specific language governing permissions and
+   limitations under the License.
+
+
+
+--------------------------------------------------------------------------------
+
+
+Some codes of tests/run.py is modified from
+https://github.com/alibaba/FederatedScope/blob/master/tests/run.py, which is
+also licensed under the terms of the Apache 2.0.
+
+
+--------------------------------------------------------------------------------
+
+Code in src/agentscope/web/static/js/socket.io.js is adapted from
+https://cdnjs.cloudflare.com/ajax/libs/socket.io/3.1.3/socket.io.js (MIT License)
+
+Copyright (c) 2014-2021 Guillermo Rauch
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+
+--------------------------------------------------------------------------------
+
+Code in src/agentscope/web/static/js/jquery-3.3.1.min.js is adapted from
+https://code.jquery.com/jquery-3.3.1.min.js (MIT License)
+
+Copyright (c) JS Foundation and other contributors
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+
+--------------------------------------------------------------------------------
+
+Code in src/agentscope/web/static/js/bootstrap.bundle.min.js is adapted from
+https://cdn.jsdelivr.net/npm/bootstrap@4.3.1/dist/js/bootstrap.bundle.min.js
+ (MIT License)
+
+Copyright (c) 2011-2019 The Bootstrap Authors (https://github
+.com/twbs/bootstrap/graphs/contributors)
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+
+--------------------------------------------------------------------------------
+
+Code in src/agentscope/web/static/js/bootstrap-table.min.js is adapted from
+https://unpkg.com/bootstrap-table@1.18.0/dist/bootstrap-table.min.js (MIT
+License)
+
+Copyright (c) wenzhixin <wenzhixin2010@gmail.com> (http://wenzhixin.net.cn/)
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+
+--------------------------------------------------------------------------------
+
+Code in src/agentscope/web/static/css/bootstrap.min.css is adapted from
+https://cdn.jsdelivr.net/npm/bootstrap@4.3.1/dist/css/bootstrap.min.css (MIT
+License)
+
+Copyright 2011-2019 The Bootstrap Authors
+Copyright 2011-2019 Twitter, Inc.
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+
+
+--------------------------------------------------------------------------------
+
+Fonts in src/agentscope/web/static/fonts/KRYPTON.ttf is adapted from
+https://github.com/githubnext/monaspace (SIL Open Font License 1.1). These
+fonts are distributed with their original license. See https://github
+.com/githubnext/monaspace/blob/main/LICENSE for the full text of the license.
+The following font families are included:
+
+- Monaspace (with subfamilies: Krypton)
+
+Copyright (c) 2023, GitHub https://github.com/githubnext/monaspace
+with Reserved Font Name "Monaspace", including subfamilies: "Argon", "Neon",
+"Xenon", "Radon", and "Krypton"
+
+DISCLAIMER
+THE FONT SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO ANY WARRANTIES OF
+MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT
+OF COPYRIGHT, PATENT, TRADEMARK, OR OTHER RIGHT. IN NO EVENT SHALL THE
+COPYRIGHT HOLDER BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
+INCLUDING ANY GENERAL, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL
+DAMAGES, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+FROM, OUT OF THE USE OR INABILITY TO USE THE FONT SOFTWARE OR FROM
+OTHER DEALINGS IN THE FONT SOFTWARE.
+
+--------------------------------------------------------------------------------
+
+Fonts in src/agentscope/web/static/fonts/OSWALD.ttf is adapted from
+https://fonts.google.com/specimen/Oswald (SIL Open Font License 1.1). These
+fonts are distributed with their original license. See https://github
+.com/googlefonts/OswaldFont/blob/main/OFL.txt for the full text of the license.
+
+Copyright 2016 The Oswald Project Authors (https://github
+.com/googlefonts/OswaldFont)
+
+DISCLAIMER
+THE FONT SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO ANY WARRANTIES OF
+MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT
+OF COPYRIGHT, PATENT, TRADEMARK, OR OTHER RIGHT. IN NO EVENT SHALL THE
+COPYRIGHT HOLDER BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
+INCLUDING ANY GENERAL, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL
+DAMAGES, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+FROM, OUT OF THE USE OR INABILITY TO USE THE FONT SOFTWARE OR FROM
+OTHER DEALINGS IN THE FONT SOFTWARE.
+
+--------------------------------------------------------------------------------

backend_service/venv/lib/python3.13/site-packages/agentscope-1.0.7.dist-info/top_level.txt

@@ -0,0 +1 @@
+agentscope

backend_service/venv/lib/python3.13/site-packages/agentscope/__init__.py

@@ -0,0 +1,133 @@
+# -*- coding: utf-8 -*-
+"""The agentscope serialization module"""
+import os
+
+import requests
+
+from . import exception
+from . import module
+from . import message
+from . import model
+from . import tool
+from . import formatter
+from . import memory
+from . import agent
+from . import session
+from . import embedding
+from . import token
+from . import evaluate
+from . import pipeline
+from . import tracing
+from . import rag
+
+from ._logging import (
+    logger,
+    setup_logger,
+)
+from .hooks import _equip_as_studio_hooks
+from ._version import __version__
+
+
+def init(
+    project: str | None = None,
+    name: str | None = None,
+    logging_path: str | None = None,
+    logging_level: str = "INFO",
+    studio_url: str | None = None,
+    tracing_url: str | None = None,
+) -> None:
+    """Initialize the agentscope library.
+
+    Args:
+        project (`str | None`, optional):
+            The project name.
+        name (`str | None`, optional):
+            The name of the run.
+        logging_path (`str | None`, optional):
+            The path to saving the log file. If not provided, logs will not be
+            saved.
+        logging_level (`str | None`, optional):
+            The logging level. Defaults to "INFO".
+        studio_url (`str | None`, optional):
+            The URL of the AgentScope Studio to connect to.
+        tracing_url (`str | None`, optional):
+            The URL of the tracing endpoint, which can connect to third-party
+            OpenTelemetry tracing platforms like Arize-Phoenix and Langfuse.
+            If not provided and `studio_url` is provided, it will send traces
+            to the AgentScope Studio's tracing endpoint.
+    """
+
+    from . import _config
+
+    if project:
+        _config.project = project
+
+    if name:
+        _config.name = name
+
+    setup_logger(logging_level, logging_path)
+
+    if studio_url:
+        # Register the run
+        data = {
+            "id": _config.run_id,
+            "project": _config.project,
+            "name": _config.name,
+            "timestamp": _config.created_at,
+            "pid": os.getpid(),
+            "status": "running",
+            # Deprecated fields
+            "run_dir": "",
+        }
+        response = requests.post(
+            url=f"{studio_url}/trpc/registerRun",
+            json=data,
+        )
+        response.raise_for_status()
+
+        from .agent import UserAgent, StudioUserInput
+
+        UserAgent.override_class_input_method(
+            StudioUserInput(
+                studio_url=studio_url,
+                run_id=_config.run_id,
+                max_retries=3,
+            ),
+        )
+
+        _equip_as_studio_hooks(studio_url)
+
+    if tracing_url:
+        endpoint = tracing_url
+    else:
+        endpoint = studio_url.strip("/") + "/v1/traces" if studio_url else None
+
+    if endpoint:
+        from .tracing import setup_tracing
+
+        setup_tracing(endpoint=endpoint)
+
+
+__all__ = [
+    # modules
+    "exception",
+    "module",
+    "message",
+    "model",
+    "tool",
+    "formatter",
+    "memory",
+    "agent",
+    "session",
+    "logger",
+    "embedding",
+    "token",
+    "evaluate",
+    "pipeline",
+    "tracing",
+    "rag",
+    # functions
+    "init",
+    "setup_logger",
+    "__version__",
+]

backend_service/venv/lib/python3.13/site-packages/agentscope/_config.py

@@ -0,0 +1,23 @@
+# -*- coding: utf-8 -*-
+"""The runtime configuration in agentscope.
+
+.. note:: You should import this module as ``import ._config``, then use the
+ variables defined in this module, instead of ``from ._config import xxx``.
+ Because when the variables are changed, the changes will not be reflected in
+ the imported module.
+"""
+from datetime import datetime
+
+import shortuuid
+
+
+def _generate_random_suffix(length: int) -> str:
+    """Generate a random suffix."""
+    return shortuuid.uuid()[:length]
+
+
+project = "UnnamedProject_At" + datetime.now().strftime("%Y%m%d")
+name = datetime.now().strftime("%H%M%S_") + _generate_random_suffix(4)
+run_id: str = shortuuid.uuid()
+created_at: str = datetime.now().strftime("%Y-%m-%d %H:%M:%S.%f")[:-3]
+trace_enabled: bool = False

backend_service/venv/lib/python3.13/site-packages/agentscope/_logging.py

@@ -0,0 +1,47 @@
+# -*- coding: utf-8 -*-
+"""The logger for agentscope."""
+
+import logging
+
+
+_DEFAULT_FORMAT = (
+    "%(asctime)s | %(levelname)-7s | "
+    "%(module)s:%(funcName)s:%(lineno)s - %(message)s"
+)
+
+logger = logging.getLogger("as")
+
+
+def setup_logger(
+    level: str,
+    filepath: str | None = None,
+) -> None:
+    """Set up the agentscope logger.
+
+    Args:
+        level (`str`):
+            The logging level, chosen from "INFO", "DEBUG", "WARNING",
+            "ERROR", "CRITICAL".
+        filepath (`str | None`, optional):
+            The filepath to save the logging output.
+    """
+    if level not in ["INFO", "DEBUG", "WARNING", "ERROR", "CRITICAL"]:
+        raise ValueError(
+            f"Invalid logging level: {level}. Must be one of "
+            f"'INFO', 'DEBUG', 'WARNING', 'ERROR', 'CRITICAL'.",
+        )
+    logger.handlers.clear()
+    logger.setLevel(level)
+    handler = logging.StreamHandler()
+    handler.setFormatter(logging.Formatter(_DEFAULT_FORMAT))
+    logger.addHandler(handler)
+
+    if filepath:
+        handler = logging.FileHandler(filepath)
+        handler.setFormatter(logging.Formatter(_DEFAULT_FORMAT))
+        logger.addHandler(handler)
+
+    logger.propagate = False
+
+
+setup_logger("INFO")

backend_service/venv/lib/python3.13/site-packages/agentscope/_utils/_common.py

@@ -0,0 +1,285 @@
+# -*- coding: utf-8 -*-
+"""The common utilities for agentscope library."""
+import asyncio
+import base64
+import functools
+import inspect
+import json
+import os
+import tempfile
+import types
+import typing
+import uuid
+from datetime import datetime
+from typing import Union, Any, Callable, Type, Dict
+
+import requests
+from json_repair import repair_json
+from pydantic import BaseModel
+
+from .._logging import logger
+
+if typing.TYPE_CHECKING:
+    from mcp.types import Tool
+else:
+    Tool = "mcp.types.Tool"
+
+
+def _json_loads_with_repair(
+    json_str: str,
+) -> Union[dict, list, str, float, int, bool, None]:
+    """The given json_str maybe incomplete, e.g. '{"key', so we need to
+    repair and load it into a Python object.
+    """
+    repaired = json_str
+    try:
+        repaired = repair_json(json_str)
+    except Exception:
+        pass
+
+    try:
+        return json.loads(repaired)
+    except json.JSONDecodeError as e:
+        raise ValueError(
+            f"Failed to decode JSON string `{json_str}` after repairing it "
+            f"into `{repaired}`. Error: {e}",
+        ) from e
+
+
+def _is_accessible_local_file(url: str) -> bool:
+    """Check if the given URL is a local URL."""
+    return os.path.isfile(url)
+
+
+def _get_timestamp(add_random_suffix: bool = False) -> str:
+    """Get the current timestamp in the format YYYY-MM-DD HH:MM:SS.sss."""
+    timestamp = datetime.now().strftime("%Y-%m-%d %H:%M:%S.%f")[:-3]
+
+    if add_random_suffix:
+        # Add a random suffix to the timestamp
+        timestamp += f"_{os.urandom(3).hex()}"
+
+    return timestamp
+
+
+async def _is_async_func(func: Callable) -> bool:
+    """Check if the given function is an async function, including
+    coroutine functions, async generators, and coroutine objects.
+    """
+
+    return (
+        inspect.iscoroutinefunction(func)
+        or inspect.isasyncgenfunction(func)
+        or isinstance(func, types.CoroutineType)
+        or isinstance(func, types.GeneratorType)
+        and asyncio.iscoroutine(func)
+        or isinstance(func, functools.partial)
+        and await _is_async_func(func.func)
+    )
+
+
+async def _execute_async_or_sync_func(
+    func: Callable,
+    *args: Any,
+    **kwargs: Any,
+) -> Any:
+    """Execute an async or sync function based on its type.
+
+    Args:
+        func (`Callable`):
+            The function to be executed, which can be either async or sync.
+        *args (`Any`):
+            Positional arguments to be passed to the function.
+        **kwargs (`Any`):
+            Keyword arguments to be passed to the function.
+
+    Returns:
+        `Any`:
+            The result of the function execution.
+    """
+
+    if await _is_async_func(func):
+        return await func(*args, **kwargs)
+
+    return func(*args, **kwargs)
+
+
+def _get_bytes_from_web_url(
+    url: str,
+    max_retries: int = 3,
+) -> str:
+    """Get the bytes from a given URL.
+
+    Args:
+        url (`str`):
+            The URL to fetch the bytes from.
+        max_retries (`int`, defaults to `3`):
+            The maximum number of retries.
+    """
+    for _ in range(max_retries):
+        try:
+            response = requests.get(url)
+            response.raise_for_status()
+            return response.content.decode("utf-8")
+
+        except UnicodeDecodeError:
+            return base64.b64encode(response.content).decode("ascii")
+
+        except Exception as e:
+            logger.info(
+                "Failed to fetch bytes from URL %s. Error %s. Retrying...",
+                url,
+                str(e),
+            )
+
+    raise RuntimeError(
+        f"Failed to fetch bytes from URL `{url}` after {max_retries} retries.",
+    )
+
+
+def _save_base64_data(
+    media_type: str,
+    base64_data: str,
+) -> str:
+    """Save the base64 data to a temp file and return the file path. The
+    extension is guessed from the MIME type.
+
+    Args:
+        media_type (`str`):
+            The MIME type of the data, e.g. "image/png", "audio/mpeg".
+        base64_data (`str):
+            The base64 data to be saved.
+    """
+    extension = "." + media_type.split("/")[-1]
+
+    with tempfile.NamedTemporaryFile(
+        suffix=f".{extension}",
+        delete=False,
+    ) as temp_file:
+        decoded_data = base64.b64decode(base64_data)
+        temp_file.write(decoded_data)
+        temp_file.close()
+        return temp_file.name
+
+
+def _extract_json_schema_from_mcp_tool(tool: Tool) -> dict[str, Any]:
+    """Extract JSON schema from MCP tool."""
+
+    return {
+        "type": "function",
+        "function": {
+            "name": tool.name,
+            "description": tool.description,
+            "parameters": {
+                "type": "object",
+                "properties": tool.inputSchema.get(
+                    "properties",
+                    {},
+                ),
+                "required": tool.inputSchema.get(
+                    "required",
+                    [],
+                ),
+            },
+        },
+    }
+
+
+def _remove_title_field(schema: dict) -> None:
+    """Remove the title field from the JSON schema to avoid
+    misleading the LLM."""
+    # The top level title field
+    if "title" in schema:
+        schema.pop("title")
+
+    # properties
+    if "properties" in schema:
+        for prop in schema["properties"].values():
+            if isinstance(prop, dict):
+                _remove_title_field(prop)
+
+    # items
+    if "items" in schema and isinstance(schema["items"], dict):
+        _remove_title_field(schema["items"])
+
+    # additionalProperties
+    if "additionalProperties" in schema and isinstance(
+        schema["additionalProperties"],
+        dict,
+    ):
+        _remove_title_field(
+            schema["additionalProperties"],
+        )
+
+
+def _create_tool_from_base_model(
+    structured_model: Type[BaseModel],
+    tool_name: str = "generate_structured_output",
+) -> Dict[str, Any]:
+    """Create a function tool definition from a Pydantic BaseModel.
+    This function converts a Pydantic BaseModel class into a tool definition
+    that can be used with function calling API. The resulting tool
+    definition includes the model's JSON schema as parameters, enabling
+    structured output generation by forcing the model to call this function
+    with properly formatted data.
+
+    Args:
+        structured_model (`Type[BaseModel]`):
+            A Pydantic BaseModel class that defines the expected structure
+            for the tool's output.
+        tool_name (`str`, default `"generate_structured_output"`):
+            The tool name that used to force the LLM to generate structured
+            output by calling this function.
+
+    Returns:
+        `Dict[str, Any]`: A tool definition dictionary compatible with
+            function calling API, containing type ("function") and
+            function dictionary with name, description, and parameters
+            (JSON schema).
+
+    .. code-block:: python
+        :caption: Example usage
+
+        from pydantic import BaseModel
+
+        class PersonInfo(BaseModel):
+            name: str
+            age: int
+            email: str
+
+        tool = _create_tool_from_base_model(PersonInfo, "extract_person")
+        print(tool["function"]["name"])  # extract_person
+        print(tool["type"])              # function
+
+    .. note:: The function automatically removes the 'title' field from
+        the JSON schema to ensure compatibility with function calling
+        format. This is handled by the internal ``_remove_title_field()``
+        function.
+    """
+    schema = structured_model.model_json_schema()
+
+    _remove_title_field(schema)
+    tool_definition = {
+        "type": "function",
+        "function": {
+            "name": tool_name,
+            "description": "Generate the required structured output with "
+            "this function",
+            "parameters": schema,
+        },
+    }
+    return tool_definition
+
+
+def _map_text_to_uuid(text: str) -> str:
+    """Map the given text to a deterministic UUID string.
+
+    Args:
+        text (`str`):
+            The input text to be mapped to a UUID.
+
+    Returns:
+        `str`:
+            A deterministic UUID string derived from the input text.
+    """
+    return str(uuid.uuid3(uuid.NAMESPACE_DNS, text))