删除自动降落

- 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

@@ -13,8 +13,13 @@
 │   │   ├── __init__.py
 │   │   ├── main.py               # 应用主入口，提供Web API
 │   │   ├── py_tree_generator.py  # RAG与LLM集成，生成py_tree
+│   │   ├── prompts/              # LLM 提示词
+│   │   │   ├── system_prompt.txt         # 复杂模式提示词（行为树与安全监控）
+│   │   │   ├── simple_mode_prompt.txt    # 简单模式提示词（单一原子动作JSON）
+│   │   │   └── 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/
@@ -22,7 +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/
@@ -67,6 +73,78 @@
 
 ---
 
+## 指令分类与分流
+
+后端在生成任务前会先对用户指令进行“简单/复杂”分类，并分流到不同提示词与模型：
+
+- 分类提示词：`backend_service/src/prompts/classifier_prompt.txt`
+- 简单模式提示词：`backend_service/src/prompts/simple_mode_prompt.txt`
+- 复杂模式提示词：`backend_service/src/prompts/system_prompt.txt`
+
+分类仅输出如下JSON之一：`{"mode":"simple"}` 或 `{"mode":"complex"}`。两种模式都会执行检索增强（RAG），将参考知识拼接到用户指令后再进行推理。
+
+当为简单模式时，LLM仅输出：
+`{"mode":"simple","action":{"name":"<action>","params":{...}}}`。
+后端不会再自动封装为复杂行为树；将直接返回简单JSON，并附加 `plan_id` 与 `visualization_url`（单动作可视化）。
+
+### 环境变量（可选）
+
+支持为“分类/简单/复杂”三类调用分别配置模型与Base URL（未设置时回退到默认本地配置）：
+
+- `CLASSIFIER_MODEL`, `CLASSIFIER_BASE_URL`
+- `SIMPLE_MODEL`, `SIMPLE_BASE_URL`
+- `COMPLEX_MODEL`, `COMPLEX_BASE_URL`
+
+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"
+export SIMPLE_MODEL="qwen2.5-1.8b-instruct"
+export COMPLEX_MODEL="qwen2.5-7b-instruct"
+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
+
+启动服务后，运行内置测试脚本：
+
+```bash
+cd tools
+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
 
 整个系统的工作流程分为两个主要阶段：
@@ -150,14 +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。
@@ -170,6 +330,7 @@ conda activate backend
 cd backend_service/
 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
@@ -235,7 +396,7 @@ python test_api.py
     "user_prompt": "无人机起飞到10米，然后前往机库，最后降落。"
   }
   ```
-- **Success Response**:
+- **Success Response（复杂模式）**:
   ```json
   {
     "root": { ... },
@@ -243,6 +404,15 @@ python test_api.py
     "visualization_url": "/static/py_tree.png"
   }
   ```
+- **Success Response（简单模式）**:
+  ```json
+  {
+    "mode": "simple",
+    "action": { "name": "takeoff", "params": { "altitude": 10.0 } },
+    "plan_id": "some-unique-id",
+    "visualization_url": "/static/py_tree.png"
+  }
+  ```
 
 ##### **B. 查看任务可视化**
 

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

@@ -0,0 +1,24 @@
+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。
+- 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"}
+
+—— 可用节点定义——
+```json
+{
+  "actions": [
+    {"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": "take_picture"}
+  ],
+  "conditions": [
+    {"name": "at_waypoint"}, {"name": "object_detected"},
+    {"name": "target_destroyed"}, {"name": "time_elapsed"}
+  ]
+}
+```

backend_service/src/prompts/simple_mode_prompt.txt

@@ -0,0 +1,63 @@
+你是一个无人机简单指令执行规划器。你的任务：当用户给出“简单指令”（单一原子动作即可完成）时，输出一个严格的JSON对象。
+
+输出要求（必须遵守）：
+- 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":{...}}}
+- 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}}}
+- “移动到(120,80,20)” → {"root":{"type":"action","name":"fly_to_waypoint","params":{"x":120.0,"y":80.0,"z":20.0,"acceptance_radius":2.0}}}
+- “飞机自检” → {"root":{"type":"action","name":"preflight_checks","params":{"check_level":"comprehensive"}}}
+
+—— 可用节点定义——
+```json
+{
+  "actions": [
+    {"name": "takeoff", "description": "无人机从当前位置垂直起飞到指定的海拔高度。", "params": {"altitude": "float, 目标海拔高度(米)，范围[1, 100]，默认为2"}},
+    {"name": "land", "description": "降落无人机。可选择当前位置或返航点降落。", "params": {"mode": "string, 可选值: 'current'（当前位置）, 'home'（返航点）"}},
+    {"name": "fly_to_waypoint", "description": "导航至一个指定坐标点。使用相对坐标系（x,y,z），单位为米。", "params": {"x": "float", "y": "float", "z": "float", "acceptance_radius": "float, 可选，默认2.0"}},
+    {"name": "move_direction", "description": "按指定方向直线移动。方向可为绝对方位或相对机体朝向。", "params": {"direction": "string: north|south|east|west|forward|backward|left|right", "distance": "float[1,10000], 可选, 不指定则持续移动", "speed": "float, 可选"}},
+    {"name": "approach_target", "description": "快速趋近目标至固定距离。", "params": {"target_class": "string, 要趋近的目标类别", "description": "string, 可选", "stop_distance": "float, 期望的最终停止距离", "speed": "float, 可选"}},
+    {"name": "rotate", "description": "旋转固定角度。", "params": {"angle": "float, 旋转角度(正数逆时针, 负数顺时针)", "angular_velocity": "rad/s, 旋转角速度"}},
+    {"name": "rotate_search", "description": "原地旋转搜索目标。", "params": {"target_class": "string, 要搜寻的目标类别", "description": "string, 可选", "step_angle": "float, 可选, 每一步旋转的角度", "total_rotation": "float, 可选, 总共旋转搜索的角度"}},
+    {"name": "manual_confirmation", "description": "前端弹窗是否继续执行后续任务。", "params": {}},
+    {"name": "orbit_around_point", "description": "以给定中心点为中心，等速圆周飞行指定圈数。", "params": {"center_x": "float", "center_y": "float", "center_z": "float", "radius": "float[5,1000]", "laps": "int[1,20]", "clockwise": "boolean, 可选, 默认true", "speed_mps": "float[0.5,15], 可选", "gimbal_lock": "boolean, 可选, 默认true"}},
+    {"name": "orbit_around_target", "description": "以目标为中心，等速圆周飞行指定圈数（需已有目标）。", "params": {"target_class": "string, 取值同object_detect列表", "description": "string, 可选", "radius": "float[5,1000]", "laps": "int[1,20]", "clockwise": "boolean, 可选, 默认true", "speed_mps": "float[0.5,15], 可选", "gimbal_lock": "boolean, 可选, 默认true"}},
+    {"name": "loiter", "description": "在当前位置上空悬停一段时间或直到条件触发。", "params": {"duration": "float, 可选[1,600]", "until_condition": "string, 可选"}},
+    {"name": "object_detect", "description": "识别特定目标对象。一般是用户提到的需要检测的目标；如果用户给出了需要探索的目标的优先级，比如蓝色球危险性大于红色球大于绿色球，需要检测最危险的球，此处应给出检测优先级，描述应当为 '蓝>红>绿'", "params": {"target_class": "string, 要识别的目标类别，必须为以下值之一: balloon,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": "string, 可选", "count": "int, 可选, 默认1"}},
+    {"name": "strike_target", "description": "对已识别目标进行打击。", "params": {"target_class": "string", "description": "string, 可选", "count": "int, 可选, 默认1"}},
+    {"name": "battle_damage_assessment", "description": "战损评估。", "params": {"target_class": "string", "assessment_time": "float[5-60], 默认15.0"}},
+    {"name": "search_pattern", "description": "按模式搜索。", "params": {"pattern_type": "string: spiral|grid", "center_x": "float", "center_y": "float", "center_z": "float", "radius": "float[5,1000]", "target_class": "string", "description": "string, 可选", "count": "int, 可选, 默认1"}},
+    {"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": "take_picture", "description": "使用机载相机拍摄照片。", "params": {}}
+  ],
+  "conditions": [
+    {"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]"}}
+  ]
+}
+```
+
+—— 参数约束——
+- takeoff.altitude: [1, 100]
+- fly_to_waypoint.z: [1, 5000]
+- fly_to_waypoint.x,y: [-10000, 10000]
+- search_pattern.radius: [5, 1000]
+- move_direction.distance: [1, 10000]
+- orbit_around_point.radius: [5, 1000]
+- orbit_around_target.radius: [5, 1000]
+- orbit_around_point/target.laps: [1, 20]
+- orbit_around_point/target.speed_mps: [0.5, 15]
+- 若参考知识提供坐标，必须使用并裁剪到约束范围内
+
+—— 口令转化规则（环绕类）——
+- “环绕X米Y圈” → 若有目标上下文则使用 `orbit_around_target`，否则根据是否给出中心坐标选择 `orbit_around_point`；`radius=X`，`laps=Y`，默认 `clockwise=true`，`gimbal_lock=true`
+- “顺时针/逆时针” → `clockwise=true/false`
+- “等速” → 若未给速度则 `speed_mps` 采用默认值（例如3.0）；若口令指明速度，裁剪到[0.5,15]
+- “以(x,y,z)为中心”/“当前位置为中心” → 选择 `orbit_around_point` 并填充 `center_x/center_y/center_z`

backend_service/src/prompts/system_prompt.txt

@@ -1,261 +1,107 @@
-你是一个无人机任务规划专家。你的唯一任务是根据用户提供的任务指令和参考知识，生成一个结构化、可执行的行为树（Pytree）JSON描述。
-你的输出必须是一个严格的、单一的JSON对象，不包含任何形式的解释、总结或自然语言描述。
+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**。
 
-#### 1. 物理约束与安全原则 (必须遵守)
-在规划任何任务前，你必须遵守以下物理现实性和安全约束：
-- **续航限制**：单次任务总时间不得超过2700秒（45分钟）
-- **高度限制**：飞行高度必须在1-5000米范围内（z坐标≥1）
-- **电池安全**：必须包含电池监控，电量低于0.3触发返航，低于0.2触发紧急降落
-- **坐标有效**：x,y坐标必须在±10000米范围内，z坐标必须在1-5000米范围内
-- **参数合理**：速度、加速度等参数必须在无人机性能范围内（但本任务中速度参数未直接使用，故主要关注坐标和高度）
-
-#### 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。
+## 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",
-      "description": "无人机从当前位置垂直起飞到指定的海拔高度。",
-      "params": {
-        "altitude": "float, 目标海拔高度(米)，范围[1, 100]，默认为2"
-      }
-    },
-    {
-      "name": "land",
-      "description": "降落无人机。可选择当前位置或返航点降落。",
-      "params": {
-        "mode": "string, 可选值: 'current'（当前位置）, 'home'（返航点）"
-      }
-    },
-    {
-      "name": "fly_to_waypoint",
-      "description": "导航至一个指定坐标点。无人机到达航点后该动作才算完成。使用相对坐标系（x,y,z），单位为米。",
-      "params": {
-        "x": "float, X轴坐标(米)，相对起飞点的水平横向距离",
-        "y": "float, Y轴坐标(米)，相对起飞点的水平纵向距离",
-        "z": "float, Z轴坐标(米)，相对起飞点的垂直高度",
-        "acceptance_radius": "float, 可选，到达容差半径(米)，默认2.0"
-      }
-    },
-    {
-      "name": "loiter",
-      "description": "在当前位置上空悬停一段时间或直到条件触发。",
-      "params": {
-        "duration": "float, 可选，悬停时间(秒)[1,600]",
-        "until_condition": "string, 可选，等待的条件名称"
-      }
-    },
-    {
-      "name": "object_detect",
-      "description": "在当前视野范围内识别特定目标对象。适用于定点检测，无人机应在目标大致位置悬停或保持稳定姿态。",
-      "params": {
-        "target_class": "string, 要识别的目标类别，必须为以下值之一: 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": "string, 可选，目标属性描述（如颜色、状态等）",
-        "count": "int, 可选，需要检测的目标个数，默认1"
-      }
-    },
-    {
-      "name": "strike_target",
-      "description": "对已识别的目标进行打击。必须先使用object_detect成功识别目标后才能使用此动作。",
-      "params": {
-        "target_class": "string, 要打击的目标类别",
-        "description": "string, 可选，目标属性描述（用于确认目标身份）",
-        "count": "int, 可选，需要打击的目标个数，默认1"
-      }
-    },
-    {
-      "name": "battle_damage_assessment",
-      "description": "对打击效果进行评估，确认目标是否被有效摧毁。",
-      "params": {
-        "target_class": "string, 被打击的目标类别",
-        "assessment_time": "float, 评估时间(秒)[5-60]，默认15.0"
-      }
-    },
-    {
-      "name": "search_pattern",
-      "description": "通过执行一个系统性的移动搜索模式，在指定区域内寻找特定目标。无人机会持续移动并分析视频流，直到找到目标或完成整个搜索模式。适用于在未知区域发现目标。",
-      "params": {
-        "pattern_type": "string, 搜索模式类型: 'spiral'（螺旋搜索）, 'grid'（栅格搜索）",
-        "center_x": "float, 搜索中心X坐标(米)",
-        "center_y": "float, 搜索中心Y坐标(米)",
-        "center_z": "float, 搜索中心Z坐标(米)",
-        "radius": "float, 搜索半径(米)[5,1000]",
-        "target_class": "string, 要寻找的目标类别",
-        "description": "string, 可选，目标属性描述",
-        "count": "int, 可选，需要找到的目标个数，默认1"
-      }
-    },
-    {
-      "name": "track_object",
-      "description": "持续跟踪已识别的目标对象。无人机将保持对目标的视觉锁定并跟随其移动。必须先使用object_detect成功识别目标后才能使用此动作。",
-      "params": {
-        "target_class": "string, 要跟踪的目标类别，必须为以下值之一: 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": "string, 可选，目标属性描述（如颜色、状态等）",
-        "track_time": "float, 跟踪持续时间(秒)[1,600]，默认30.0",
-        "min_confidence": "float, 可选，跟踪置信度阈值[0.5-1.0]，默认0.7",
-        "safe_distance": "float, 可选，保持的安全距离(米)[2-50]，默认10.0"
-      }
-    },
-    {
-      "name": "deliver_payload",
-      "description": "投放携带的物资。",
-      "params": {
-        "payload_type": "string, 物资类型",
-        "release_altitude": "float, 可选，投放高度(米)[2,100]，默认5.0"
-      }
-    },
-    {
-      "name": "preflight_checks",
-      "description": "执行飞行前系统自检。",
-      "params": {
-        "check_level": "string, 检查级别: 'basic'（基础）, 'comprehensive'（全面）"
-      }
-    },
-    {
-      "name": "emergency_return",
-      "description": "执行紧急返航程序。",
-      "params": {
-        "reason": "string, 紧急返航原因"
-      }
-    }
+    {"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","speed":"float,可选"}},
+    {"name":"approach_target","params":{"target_class":"string,要趋近的目标类别","description":"string,可选,目标属性描述","stop_distance":"float,期望的最终停止距离","speed":"float,可选,期望的逼近速度"}},
+    {"name":"rotate","params":{"angle":"float,无人机自身旋转角度(正数逆时针,负数顺时针)","angular_velocity":"rad/s,旋转角速度"}},
+    {"name":"rotate_search","params":{"target_class":"string,要搜寻的目标类别","description":"string,可选,目标属性描述","step_angle":"float,可选,每一步旋转的角度","total_rotation":"float,可选,总共旋转搜索的角度"}},
+    {"name":"manual_confirmation","params":{}},
+    {"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,garbage","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，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_photos","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"}}
   ],
   "conditions": [
-    {
-      "name": "battery_above",
-      "description": "检查电池电量是否高于指定阈值。",
-      "params": {
-        "threshold": "float, 电量阈值百分比[0.0,1.0]"
-      }
-    },
-    {
-      "name": "at_waypoint",
-      "description": "检查无人机是否在指定坐标点的容差范围内。使用相对坐标系（x,y,z），单位为米。",
-      "params": {
-        "x": "float, 目标X坐标(米)",
-        "y": "float, 目标Y坐标(米)",
-        "z": "float, 目标Z坐标(米)",
-        "tolerance": "float, 可选，容差半径(米)，默认3.0"
-      }
-    },
-    {
-      "name": "object_detected",
-      "description": "检查是否检测到特定目标对象。可用于验证 object_detect 或 search_pattern 的结果，也可作为打击的前提条件。",
-      "params": {
-        "target_class": "string, 目标类型",
-        "description": "string, 可选，目标属性描述",
-        "count": "int, 可选，需要检测到的目标个数，默认1"
-      }
-    },
-    {
-      "name": "target_destroyed",
-      "description": "检查目标是否已被成功摧毁。用于战损评估后的确认。",
-      "params": {
-        "target_class": "string, 目标类型",
-        "description": "string, 可选，目标属性描述",
-        "confidence": "float, 可选，摧毁置信度[0.5-1.0]，默认0.8"
-      }
-    },
-    {
-      "name": "time_elapsed",
-      "description": "检查自任务开始是否经过指定时间。",
-      "params": {
-        "duration": "float, 时间长度(秒)[1,2700]"
-      }
-    },
-    {
-      "name": "gps_status",
-      "description": "检查GPS信号状态是否良好。",
-      "params": {
-        "min_satellites": "int, 最小卫星数量[6,15]，默认10"
-      }
-    }
+    {"name":"at_waypoint","params":{"x":"±10000","y":"±10000","z":"[1,5000]","tolerance":"默认3.0"}},
+    {"name":"object_detected","params":{"target_class":"同object_detect（必传）","description":"可选，目标属性","count":"默认1"}},
+    {"name":"target_destroyed","params":{"target_class":"同object_detect","description":"可选，目标属性","confidence":"[0.5,1.0]默认0.8"}},
+    {"name":"time_elapsed","params":{"duration":"[1,2700]秒"}},
+    {"name":"gps_status","params":{"min_satellites":"int[6,15]，必传（如8）"}}
   ],
   "control_flow": [
-    {
-      "name": "Sequence",
-      "description": "序列节点，按顺序执行其子节点。只有当所有子节点都成功时，它才成功。",
-      "params": {},
-      "children": "array, 包含按顺序执行的子节点"
-    },
-    {
-      "name": "Selector",
-      "description": "选择节点，按顺序执行子节点直到一个成功。如果所有子节点都失败，则失败。",
-      "params": {
-        "memory": "boolean, 可选，是否记忆执行状态，默认true"
-      },
-      "children": "array, 包含备选执行的子节点"
-    },
-    {
-      "name": "Parallel",
-      "description": "并行节点，同时执行所有子节点。支持不同的成功策略。",
-      "params": {
-        "policy": "string, 成功策略: 'all_success'（全部成功）, 'one_success'（一个成功）"
-      },
-      "children": "array, 包含并行执行的子节点"
-    }
+    {"name":"Sequence","params":{},"children":"子节点数组（按序执行，全成功则成功）"},
+    {"name":"Selector","params":{"memory":"默认true"},"children":"子节点数组（执行到成功为止）"},
+    {"name":"Parallel","params":{"policy":"all_success"},"children":"子节点数组（同时执行，严禁用'one_success'）"}
+  ],
+  "decorators": [
+    {"name":"SuccessIsFailure","params":{},"child":"单一子节点（将子节点的成功结果反转为失败）"}
   ]
 }
 ```
 
-#### 3. JSON结构规范 (必须遵守)
-生成的JSON对象必须有一个名为`root`的键，其值是一个有效的行为树节点对象。每个节点都必须包含正确的字段。
-- **根节点必须是控制流节点**（`Sequence`、`Selector`或`Parallel`），不能是动作（`action`）或条件（`condition`）节点。
-- **动作节点和条件节点是叶子节点**，不能有`children`字段。
-- 控制流节点必须有`children`字段，且其值是一个子节点数组。
-- **必须包含安全监控**：所有任务行为树必须包含实时安全监控，通常通过一个与主任务并行（Parallel）的Selector节点实现，该节点监控电池电量、GPS状态等安全条件，并在条件不满足时触发紧急返航或降落。
-- 每个节点必须包含：
-  - `type`: 节点类型，必须是`'action'`、`'condition'`、`'Sequence'`、`'Selector'`或`'Parallel'`
-  - `name`: 来自可用节点列表的确切名称
-  - `params`: 对象，包含所需的参数（必须符合参数范围约束）
-  - `children`: 数组（仅控制流节点需要），包含子节点对象
 
-**安全监控要求详解**：
-1. **必须使用Parallel节点**：根节点必须是Parallel节点，其策略必须设置为`"policy": "all_success"`，确保主任务和安全监控同时执行
-2. **必须包含安全监控Selector**：Parallel节点的子节点中必须包含一个Selector节点用于安全监控，通常命名为`"SafetyMonitor"`
-3. **必须包含电池监控**：安全监控Selector必须包含`battery_above`条件节点，监控电池电量
-4. **必须包含GPS监控**：安全监控Selector应该包含`gps_status`条件节点，监控GPS信号状态
-5. **必须包含紧急处理流程**：安全监控Selector必须包含紧急处理Sequence，在安全条件不满足时执行紧急返航和降落
+## 二、节点必填字段（后端Schema强制要求，缺一验证失败）
+每个节点必须包含以下字段，字段名/类型不可自定义：
+1. **`type`**：  
+   - 动作节点→`"action"`，条件节点→`"condition"`，控制流节点→`"Sequence"`/`"Selector"`/`"Parallel"`，装饰器节点→`"decorator"`；
+2. **`name`**：必须是上述JSON中定义的`name`值；
+3. **`params`**：严格匹配上述节点的`params`定义，无自定义参数；
+4. **`children`**：仅控制流节点必含（子节点数组）；
+5. **`child`**：仅装饰器节点必含（单一子节点对象，非数组）。
 
-**正确示例**：
+
+## 三、标准任务结构模板（单次起降流程）
+大多数任务应遵循“起飞 -> 接近 -> 执行 -> 返航/降落”的单次闭环流程，参考结构如下：
 ```json
 {
   "root": {
-    "type": "Parallel",
-    "name": "MissionWithSafety",
-    "params": {"policy": "all_success"},
+    "type": "Sequence",
+    "name": "MainTask",
     "children": [
-      {
-        "type": "Sequence",
-        "name": "MainTask",
-        "children": [
-          // 主任务步骤
-          {"type": "action", "name": "land", "params": {"mode": "home"}}
-        ]
-      },
+      {"type":"action","name":"preflight_checks","params":{"check_level":"comprehensive"}},
+      {"type":"action","name":"takeoff","params":{"altitude":10.0}},
+      {"type":"action","name":"fly_to_waypoint","params":{"x":100.0,"y":50.0,"z":10.0}}, // 接近目标区域
+      // --- 核心任务区 (根据指令替换) ---
+      {"type":"action","name":"rotate_search","params":{"target_class":"person","description":"目标描述"}},
+      {"type":"action","name":"object_detect","params":{"target_class":"person","description":"目标描述"}},
+      // -------------------------------
+      // 默认不需要降落节点，除非用户明确要求
+    ]
+  }
+}
+```
+
+## 四、场景示例（请灵活参考）
+
+#### 场景 1：线性搜索任务（Sequence + Selector）
+**指令**：“去研究所正大门，搜索扎辫子女子并拍照。”
+**结构**：Sequence (按顺序执行)
+```json
+{
+  "root": {
+    "type": "Sequence",
+    "name": "MainSearchTask",
+    "children": [
+      {"type":"action","name":"takeoff","params":{"altitude":10.0}},
+      {"type":"action","name":"fly_to_waypoint","params":{"x":100.0,"y":50.0,"z":10.0}}, 
+      {"type":"action","name":"rotate_search","params":{"target_class":"person","description":"扎辫子女子"}},
       {
         "type": "Selector",
-        "name": "SafetyMonitor",
-        "params": {"memory": true},
+        "name": "CheckAndPhoto",
         "children": [
-          {
-            "type": "condition",
-            "name": "battery_above",
-            "params": {"threshold": 0.3}
-          },
-          {
-            "type": "condition",
-            "name": "gps_status",
-            "params": {"min_satellites": 8}
-          },
           {
             "type": "Sequence",
-            "name": "EmergencyHandler",
+            "name": "PhotoIfFound",
             "children": [
-              {"type": "action", "name": "emergency_return", "params": {"reason": "safety_breach"}},
-              {"type": "action", "name": "land", "params": {"mode": "home"}}
+               {"type":"condition","name":"object_detected","params":{"target_class":"person","description":"扎辫子女子"}},
+               {"type":"action","name":"take_photos","params":{"target_class":"person","description":"扎辫子女子","track_time":10.0}}
             ]
-          }
+          },
+          {"type":"action","name":"loiter","params":{"duration":5.0}} // 未发现时的备选动作
         ]
       }
     ]
@@ -263,106 +109,28 @@
 }
 ```
 
-**错误示例**（缺少安全监控）：
+#### 场景 2：带中断逻辑的巡逻（Selector 示例）
+**指令**：“飞往航点A。如果途中发现可疑人员，则悬停。”
+**结构**：
 ```json
 {
   "root": {
-    "type": "Sequence",  // 错误：根节点不是Parallel，无法同时运行安全监控
-    "name": "MainTaskOnly",
+    "type": "Sequence",
     "children": [
-      // 只有主任务，没有安全监控
-    ]
-  }
-}
-```
-
-错误示例（根节点为动作节点）：
-```json
-{
-  "root": {
-    "type": "action",
-    "name": "land",
-    "children": [ ... ],  // 错误：动作节点不能有子节点
-    "params": {"mode": "home"}
-  }
-}
-```
-
-##### 重要安全警告：Parallel节点使用禁忌
-
-**严禁**在安全监控场景中使用 `"policy": "one_success"` 的Parallel节点！
-
-错误模式（会导致任务中断）：
-```json
-{
-  "type": "Parallel",
-  "params": {"policy": "one_success"},  // 严禁这样使用！
-  "children": [
-    {"type": "Sequence", "name": "MainTask"},  // 主任务会被意外终止
-    {"type": "Selector", "name": "SafetyMonitor"}  // 监控条件成功会杀死主任务
-  ]
-}
-```
-
-#### 4. Selector节点memory参数使用规范
-- **默认使用** `"memory": true`：用于任务执行和监控检查，避免不必要的任务中断。
-- **仅在高优先级安全中断**时使用 `"memory": false`：如急停按钮，每个tick都检查。
-- **决策流程**：
-  - Selector用于选择长时任务 → `"memory": true`
-  - Selector用于持续监控安全条件 → `"memory": true`
-  - Selector用于最高优先级安全中断 → `"memory": false`（谨慎使用）
-
-#### 5. 搜索与检测节点使用区分
-- **object_detect**：用于已知位置的定点检测（无人机悬停或稳定时识别）。
-- **search_pattern**：用于未知区域的移动搜索（无人机按模式飞行覆盖区域）。
-- 严禁混淆使用：例如，在search_pattern后不应立即使用object_detect，除非需要进一步验证。
-
-#### 6. 参数约束检查 (必须遵守)
-在生成JSON时，你必须确保所有参数值符合物理约束：
-- `altitude` (takeoff): [1, 100]
-- `z` (fly_to_waypoint): [1, 5000]
-- `x`, `y` (fly_to_waypoint): [-10000, 10000]
-- `radius` (search_pattern): [5, 1000]
-- 电池阈值: [0.0, 1.0]
-- 等等其他参数范围。
-
-如果用户指令或参考知识提供坐标，必须使用这些坐标，但确保调整到约束范围内（例如，如果z<5，则设置为5.0）。
-
-#### 7. 标准任务范式
-所有任务必须包含安全监控。使用以下范式作为模板：
-```json
-{
-  "root": {
-    "type": "Parallel",
-    "name": "MissionWithSafety",
-    "params": {"policy": "all_success"},
-    "children": [
-      {
-        "type": "Sequence",
-        "name": "MainTask",
-        "children": [
-          // 主任务步骤，最后以land结束
-          {"type": "action", "name": "land", "params": {"mode": "home"}}
-        ]
-      },
+      {"type":"action","name":"takeoff","params":{"altitude":10.0}},
       {
         "type": "Selector",
-        "name": "SafetyMonitor",
-        "params": {"memory": true},
+        "name": "FlyOrDetect",
         "children": [
           {
-            "type": "condition",
-            "name": "battery_above",
-            "params": {"threshold": 0.3}
-          },
-          {
-            "type": "Sequence",
-            "name": "EmergencyHandler",
+            "type": "Sequence", 
+            "name": "InterruptionLogic",
             "children": [
-              {"type": "action", "name": "emergency_return", "params": {"reason": "low_battery"}},
-              {"type": "action", "name": "land", "params": {"mode": "home"}}
+               {"type":"action","name":"object_detect","params":{"target_class":"person"}},
+               {"type":"action","name":"loiter","params":{"duration":5.0}}
             ]
-          }
+          },
+          {"type":"action","name":"fly_to_waypoint","params":{"x":100.0,"y":50.0,"z":10.0}}
         ]
       }
     ]
@@ -370,335 +138,127 @@
 }
 ```
 
-#### 8. 打击任务范式
-所有任务必须包含安全监控。使用以下范式作为模板：
+#### 场景 3：环绕侦察类任务
+**指令**：“去面前的大楼三层/12米高，绕着外围看有没有打开的窗户，发现则进行拍照。”
+**参考知识**：{"text": "面前的大楼外围四个点坐标：A(-24.00, 241.80),B(-108.50, 241.80),C(-108.50, 289.80),D(-24.00, 292.80)。"}
+**结构**：Sequence (按顺序执行)
+```json
 {
   "root": {
-    "type": "Parallel",
-    "name": "CompleteStrikeMission",
-    "params": {
-      "policy": "all_success"
-    },
+    "type": "Sequence",
+    "name": "SurroundAndInspect",
     "children": [
+      {"type":"action","name":"takeoff","params":{"altitude":12.0}},
+      // 移动到A点，并在此过程中持续检测
       {
-        "type": "Sequence",
-        "name": "MainStrikeSequence",
+        "type": "Parallel",
+        "name": "FlyAndInspectToA",
         "children": [
-          {
-            "type": "action",
-            "name": "preflight_checks",
-            "params": {
-              "check_level": "comprehensive"
-            }
-          },
-          {
-            "type": "action",
-            "name": "takeoff",
-            "params": {
-              "altitude": 2.0
-            }
-          },
-          {
-            "type": "action",
-            "name": "fly_to_waypoint",
-            "params": {
-              "x": 200.0,
-              "y": 150.0,
-              "z": 2.0,
-              "acceptance_radius": 2.0
-            }
-          },
-          {
-            "type": "Selector",
-            "name": "TargetAcquisitionSelector",
-            "params": {
-              "memory": true
-            },
-            "children": [
-              {
-                "type": "Sequence",
-                "name": "DirectDetectionSequence",
-                "children": [
-                  {
-                    "type": "action",
-                    "name": "loiter",
-                    "params": {
-                      "duration": 10.0
-                    }
-                  },
-                  {
-                    "type": "action",
-                    "name": "object_detect",
-                    "params": {
-                      "target_class": "truck",
-                      "description": "军事卡车",
-                      "count": 1
-                    }
-                  },
-                  {
-                    "type": "condition",
-                    "name": "object_detected",
-                    "params": {
-                      "target_class": "truck",
-                      "description": "军事卡车",
-                      "count": 1
-                    }
+           {"type":"action","name":"fly_to_waypoint","params":{"x":-24.0,"y":241.8,"z":12.0}},
+           {
+             "type": "Selector", 
+             "name": "OpportunisticPhoto",
+             "children": [
+                {
+                  "type": "decorator",
+                  "name": "SuccessIsFailure",
+                  "child": {
+                    "type": "Sequence",
+                    "name": "DetectAndCapture",
+                    "children": [
+                      {"type":"action","name":"object_detect","params":{"target_class":"window","description":"open window"}},
+                      {"type":"condition","name":"object_detected","params":{"target_class":"window","description":"open window"}},
+                      {"type":"action","name":"take_photos","params":{"target_class":"window","description":"open window","track_time":5.0}}
+                    ]
                   }
-                ]
-              },
-              {
-                "type": "action",
-                "name": "search_pattern",
-                "params": {
-                  "pattern_type": "grid",
-                  "center_x": 200.0,
-                  "center_y": 150.0,
-                  "center_z": 2.0,
-                  "radius": 80.0,
-                  "target_class": "truck",
-                  "description": "军事卡车",
-                  "count": 1
-                }
-              }
-            ]
-          },
-          {
-            "type": "action",
-            "name": "strike_target",
-            "params": {
-              "target_class": "truck",
-              "description": "军事卡车",
-              "count": 1
-            }
-          },
-          {
-            "type": "action",
-            "name": "battle_damage_assessment",
-            "params": {
-              "target_class": "truck",
-              "assessment_time": 20.0
-            }
-          },
-          {
-            "type": "Selector",
-            "name": "DamageConfirmationSelector",
-            "params": {
-              "memory": true
-            },
-            "children": [
-              {
-                "type": "condition",
-                "name": "target_destroyed",
-                "params": {
-                  "target_class": "truck",
-                  "description": "军事卡车",
-                  "confidence": 0.8
-                }
-              },
-              {
-                "type": "Sequence",
-                "name": "ReStrikeSequence",
-                "children": [
-                  {
-                    "type": "action",
-                    "name": "strike_target",
-                    "params": {
-                      "target_class": "truck",
-                      "description": "军事卡车",
-                      "count": 1
-                    }
-                  },
-                  {
-                    "type": "action",
-                    "name": "battle_damage_assessment",
-                    "params": {
-                      "target_class": "truck",
-                      "assessment_time": 15.0
-                    }
-                  }
-                ]
-              }
-            ]
-          },
-          {
-            "type": "action",
-            "name": "land",
-            "params": {
-              "mode": "home"
-            }
-          }
+                },
+                {"type":"action","name":"loiter","params":{"duration":0.1}} // 占位动作
+             ]
+           }
         ]
       },
+      // 移动到B点...
       {
-        "type": "Selector",
-        "name": "SafetyMonitorSelector",
-        "params": {
-          "memory": true
-        },
+        "type": "Parallel",
+        "name": "FlyAndInspectToB",
         "children": [
-          {
-            "type": "condition",
-            "name": "battery_above",
-            "params": {
-              "threshold": 0.35
-            }
-          },
-          {
-            "type": "condition",
-            "name": "gps_status",
-            "params": {
-              "min_satellites": 8
-            }
-          },
-          {
-            "type": "Sequence",
-            "name": "EmergencyProcedureSequence",
-            "children": [
-              {
-                "type": "action",
-                "name": "emergency_return",
-                "params": {
-                  "reason": "safety_breach"
-                }
-              },
-              {
-                "type": "action",
-                "name": "land",
-                "params": {
-                  "mode": "home"
-                }
-              }
-            ]
-          }
-        ]
-      }
-    ]
-  }
-}
-
-#### 9. 跟踪任务范式
-所有任务必须包含安全监控。使用以下范式作为模板：
-```json
-{
-  "root": {
-    "type": "Parallel",
-    "name": "TrackingMission",
-    "params": {"policy": "all_success"},
-    "children": [
-      {
-        "type": "Sequence",
-        "name": "MainTrackingTask",
-        "children": [
-          {
-            "type": "action",
-            "name": "preflight_checks",
-            "params": {"check_level": "comprehensive"}
-          },
-          {
-            "type": "action",
-            "name": "takeoff",
-            "params": {"altitude": 15.0}
-          },
-          {
-            "type": "action",
-            "name": "fly_to_waypoint",
-            "params": {
-              "x": 100.0,
-              "y": 80.0,
-              "z": 15.0,
-              "acceptance_radius": 3.0
-            }
-          },
-          {
-            "type": "Selector",
-            "name": "TargetAcquisitionSelector",
-            "params": {"memory": true},
-            "children": [
-              {
-                "type": "Sequence",
-                "name": "DirectDetectionSequence",
-                "children": [
-                  {
-                    "type": "action",
-                    "name": "loiter",
-                    "params": {"duration": 10.0}
-                  },
-                  {
-                    "type": "action",
-                    "name": "object_detect",
-                    "params": {
-                      "target_class": "car",
-                      "description": "红色轿车",
-                      "count": 1
-                    }
+           {"type":"action","name":"fly_to_waypoint","params":{"x":-108.5,"y":241.8,"z":12.0}},
+           {
+             "type": "Selector",
+             "name": "OpportunisticPhoto",
+             "children": [
+                {
+                  "type": "decorator",
+                  "name": "SuccessIsFailure",
+                  "child": {
+                    "type": "Sequence",
+                    "name": "DetectAndCapture",
+                    "children": [
+                      {"type":"action","name":"object_detect","params":{"target_class":"window","description":"open window"}},
+                      {"type":"condition","name":"object_detected","params":{"target_class":"window","description":"open window"}},
+                      {"type":"action","name":"take_photos","params":{"target_class":"window","description":"open window","track_time":5.0}}
+                    ]
                   }
-                ]
-              },
-              {
-                "type": "action",
-                "name": "search_pattern",
-                "params": {
-                  "pattern_type": "spiral",
-                  "center_x": 100.0,
-                  "center_y": 80.0,
-                  "center_z": 15.0,
-                  "radius": 50.0,
-                  "target_class": "car",
-                  "description": "红色轿车",
-                  "count": 1
-                }
-              }
-            ]
-          },
-          {
-            "type": "action",
-            "name": "track_object",
-            "params": {
-              "target_class": "car",
-              "description": "红色轿车",
-              "track_time": 120.0,
-              "min_confidence": 0.7,
-              "safe_distance": 15.0
-            }
-          },
-          {
-            "type": "action",
-            "name": "land",
-            "params": {"mode": "home"}
-          }
+                },
+                {"type":"action","name":"loiter","params":{"duration":0.1}}
+             ]
+           }
         ]
       },
+      // 移动到C点...
       {
-        "type": "Selector",
-        "name": "SafetyMonitor",
-        "params": {"memory": true},
+        "type": "Parallel",
+        "name": "FlyAndInspectToC",
         "children": [
-          {
-            "type": "condition",
-            "name": "battery_above",
-            "params": {"threshold": 0.35}
-          },
-          {
-            "type": "condition",
-            "name": "gps_status",
-            "params": {"min_satellites": 8}
-          },
-          {
-            "type": "Sequence",
-            "name": "EmergencyHandler",
-            "children": [
-              {
-                "type": "action",
-                "name": "emergency_return",
-                "params": {"reason": "safety_breach"}
-              },
-              {
-                "type": "action",
-                "name": "land",
-                "params": {"mode": "home"}
-              }
-            ]
-          }
+           {"type":"action","name":"fly_to_waypoint","params":{"x":-108.5,"y":289.8,"z":12.0}},
+           {
+             "type": "Selector",
+             "name": "OpportunisticPhoto",
+             "children": [
+                {
+                  "type": "decorator",
+                  "name": "SuccessIsFailure",
+                  "child": {
+                    "type": "Sequence",
+                    "name": "DetectAndCapture",
+                    "children": [
+                      {"type":"action","name":"object_detect","params":{"target_class":"window","description":"open window"}},
+                      {"type":"condition","name":"object_detected","params":{"target_class":"window","description":"open window"}},
+                      {"type":"action","name":"take_photos","params":{"target_class":"window","description":"open window","track_time":5.0}}
+                    ]
+                  }
+                },
+                {"type":"action","name":"loiter","params":{"duration":0.1}}
+             ]
+           }
+        ]
+      },
+      // 移动到D点...
+      {
+        "type": "Parallel",
+        "name": "FlyAndInspectToD",
+        "children": [
+           {"type":"action","name":"fly_to_waypoint","params":{"x":-24.0,"y":292.8,"z":12.0}},
+           {
+             "type": "Selector",
+             "name": "OpportunisticPhoto",
+             "children": [
+                {
+                  "type": "decorator",
+                  "name": "SuccessIsFailure",
+                  "child": {
+                    "type": "Sequence",
+                    "name": "DetectAndCapture",
+                    "children": [
+                      {"type":"action","name":"object_detect","params":{"target_class":"window","description":"open window"}},
+                      {"type":"condition","name":"object_detected","params":{"target_class":"window","description":"open window"}},
+                      {"type":"action","name":"take_photos","params":{"target_class":"window","description":"open window","track_time":5.0}}
+                    ]
+                  }
+                },
+                {"type":"action","name":"loiter","params":{"duration":0.1}}
+             ]
+           }
         ]
       }
     ]
@@ -706,10 +266,21 @@
 }
 ```
 
-#### 10. 如何使用参考知识
-当用户提供"参考知识"（如坐标信息）时，你必须使用这些信息填充参数。例如：
-- 如果参考知识说"目标坐标: (x: 120.5, y: 80.2, z: 60.0)"，则在使用`fly_to_waypoint`时设置这些值。
-- 确保坐标符合约束（如z≥1）。
+## 五、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。
+| 用户指令场景                | `target_class`  | `description`          |
+|-----------------------------|-----------------|-------------------------|
+| 红气球＞蓝气球＞绿气球      | `balloon`    | `（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）` |
 
-#### 11. 输出要求
-你的输出必须是严格的、单一的JSON对象，符合上述所有规则。不包含任何自然语言描述。
+## 六、高频错误规避
+1. 优先级排序不可修改`target_class`，仅用`description`填排序规则；
+2. `track_object`必传`track_time`；
+3. `gps_status`的`min_satellites`必须在6-15之间；
+4. 严禁输出 markdown 代码块标记，直接输出 JSON 纯文本；
+5. 控制流节点的 `type` 必须是 `"Sequence"`, `"Selector"` 或 `"Parallel"`；
+6. rotate与rotate_search动作节点意思是无人机以自身为原点旋转，而非围绕外部点旋转
+7. 当用户指令中要求执行动作前增加人工确认时，比如“我确认后拍照”，则必须在拍照动作前增加manual_confirmation节点
+
+## 七、输出要求
+仅输出1个严格符合上述所有规则的JSON对象。

backend_service/src/py_tree_generator.py

@@ -52,7 +52,7 @@ def _parse_allowed_nodes_from_prompt(prompt_text: str) -> tuple[Set[str], Set[st
     """
     try:
         # 使用更精确的正则表达式匹配节点定义部分
-        node_section_pattern = r"#### 2\. 可用节点定义.*?```json\s*({.*?})\s*```"
+        node_section_pattern = r"#### 1\. 可用节点定义.*?```json\s*({.*?})\s*```"
         match = re.search(node_section_pattern, prompt_text, re.DOTALL | re.IGNORECASE)
         
         if not match:
@@ -144,51 +144,12 @@ def _fallback_parse_nodes(prompt_text: str) -> tuple[Set[str], Set[str]]:
     logging.error("在所有JSON代码块中都没有找到有效的节点定义结构。")
     return set(), set()
 
-def _find_nodes_by_name(node: Dict, target_name: str) -> List[Dict]:
-    """递归查找所有指定名称的节点"""
-    nodes_found = []
-    
-    if node.get("name") == target_name:
-        nodes_found.append(node)
-    
-    # 递归搜索子节点
-    for child in node.get("children", []):
-        nodes_found.extend(_find_nodes_by_name(child, target_name))
-    
-    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。
     """
     # 所有可能的节点类型
-    node_types = ["action", "condition", "Sequence", "Selector", "Parallel"]
+    node_types = ["action", "condition", "Sequence", "Selector", "Parallel", "decorator"]
     
     # 目标检测相关的类别枚举
     target_classes = [
@@ -201,38 +162,44 @@ 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","trash","window","garbage"
     ]
     
     # 递归节点定义
     node_definition = {
         "type": "object",
         "properties": {
-            "type": {"type": "string", "enum": node_types},
+            # 修改：手动构造不区分大小写的正则，避免使用不支持的 (?i) 标志
+            # 匹配: action, condition, sequence, selector, parallel, decorator (忽略大小写)
+            "type": {
+                "type": "string", 
+                "pattern": "^([Aa][Cc][Tt][Ii][Oo][Nn]|[Cc][Oo][Nn][Dd][Ii][Tt][Ii][Oo][Nn]|[Ss][Ee][Qq][Uu][Ee][Nn][Cc][Ee]|[Ss][Ee][Ll][Ee][Cc][Tt][Oo][Rr]|[Pp][Aa][Rr][Aa][Ll][Ll][Ee][Ll]|[Dd][Ee][Cc][Oo][Rr][Aa][Tt][Oo][Rr])$"
+            },
             "name": {"type": "string"},
             "params": {"type": "object"},
             "children": {
                 "type": "array",
                 "items": {"$ref": "#/definitions/node"}
-            }
+            },
+            "child": {"$ref": "#/definitions/node"}
         },
         "required": ["type", "name"],
         "allOf": [
-            # 动作节点验证
+            # 动作节点验证 (忽略大小写)
             {
-                "if": {"properties": {"type": {"const": "action"}}},
+                "if": {"properties": {"type": {"pattern": "^[Aa][Cc][Tt][Ii][Oo][Nn]$"}}},
                 "then": {"properties": {"name": {"enum": sorted(list(allowed_actions))}}}
             },
-            # 条件节点验证
+            # 条件节点验证 (忽略大小写)
             {
-                "if": {"properties": {"type": {"const": "condition"}}},
+                "if": {"properties": {"type": {"pattern": "^[Cc][Oo][Nn][Dd][Ii][Tt][Ii][Oo][Nn]$"}}},
                 "then": {"properties": {"name": {"enum": sorted(list(allowed_conditions))}}}
             },
-            # 目标检测动作节点的参数验证
+            # 目标检测动作节点的参数验证 (忽略大小写)
             {
                 "if": {
                     "properties": {
-                        "type": {"const": "action"},
+                        "type": {"pattern": "^[Aa][Cc][Tt][Ii][Oo][Nn]$"},
                         "name": {"const": "object_detect"}
                     }
                 },
@@ -251,11 +218,11 @@ def _generate_pytree_schema(allowed_actions: set, allowed_conditions: set) -> di
                     }
                 }
             },
-            # 目标检测条件节点的参数验证
+            # 目标检测条件节点的参数验证 (忽略大小写)
             {
                 "if": {
                     "properties": {
-                        "type": {"const": "condition"},
+                        "type": {"pattern": "^[Cc][Oo][Nn][Dd][Ii][Tt][Ii][Oo][Nn]$"},
                         "name": {"const": "object_detected"}
                     }
                 },
@@ -274,11 +241,11 @@ def _generate_pytree_schema(allowed_actions: set, allowed_conditions: set) -> di
                     }
                 }
             },
-            # 电池监控节点的参数验证
+            # 电池监控节点的参数验证 (忽略大小写)
             {
                 "if": {
                     "properties": {
-                        "type": {"const": "condition"},
+                        "type": {"pattern": "^[Cc][Oo][Nn][Dd][Ii][Tt][Ii][Oo][Nn]$"},
                         "name": {"const": "battery_above"}
                     }
                 },
@@ -295,11 +262,11 @@ def _generate_pytree_schema(allowed_actions: set, allowed_conditions: set) -> di
                     }
                 }
             },
-            # GPS状态节点的参数验证
+            # GPS状态节点的参数验证 (忽略大小写)
             {
                 "if": {
                     "properties": {
-                        "type": {"const": "condition"},
+                        "type": {"pattern": "^[Cc][Oo][Nn][Dd][Ii][Tt][Ii][Oo][Nn]$"},
                         "name": {"const": "gps_status"}
                     }
                 },
@@ -335,6 +302,35 @@ def _generate_pytree_schema(allowed_actions: set, allowed_conditions: set) -> di
     
     return schema
 
+def _generate_simple_mode_schema(allowed_actions: set) -> dict:
+    """
+    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。
+    """
+    schema = {
+        "$schema": "http://json-schema.org/draft-07/schema#",
+        "title": "SimpleMode",
+        "type": "object",
+        "properties": {
+            "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"],  # 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:
     """
     使用JSON Schema验证给定的Pytree实例。
@@ -343,10 +339,7 @@ def _validate_pytree_with_schema(pytree_instance: dict, schema: dict) -> bool:
         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}")
@@ -474,6 +467,10 @@ def _add_nodes_and_edges(node: dict, dot, parent_id: str | None = None) -> str:
         shape = 'ellipse'
         style = 'filled'
         fillcolor = '#e1d5e7'  # 紫色
+    elif node_type == 'decorator':
+        shape = 'doubleoctagon'
+        style = 'filled'
+        fillcolor = '#f8cecc'  # 浅红
     
     # 特别标记安全相关节点
     if node.get('name') in ['battery_above', 'gps_status', 'SafetyMonitor']:
@@ -486,28 +483,33 @@ def _add_nodes_and_edges(node: dict, dot, parent_id: str | None = None) -> str:
     if parent_id:
         dot.edge(parent_id, current_id)
     
-    # 递归处理子节点
+    # 递归处理子节点 (Sequence, Selector, Parallel 等)
     children = node.get("children", [])
-    if not children:
-        return current_id
     
-    # 记录所有子节点的ID
-    child_ids = []
-    
-    # 正确的递归连接：每个子节点都连接到当前节点
-    for child in children:
-        child_id = _add_nodes_and_edges(child, dot, current_id)
-        child_ids.append(child_id)
-    
-    # 子节点同级排列（横向排布，更直观地表现同层）
-    if len(child_ids) > 1:
-        with dot.subgraph(name=f"rank_{current_id}") as s:
-            s.attr(rank='same')
-            for cid in child_ids:
-                s.node(cid)
-    
-    # 行为树中，所有类型的节点都只是父连子，不需要子节点间的额外连接
-    # Sequence、Selector、Parallel 的执行逻辑由行为树引擎处理，不需要在可视化中体现
+    # 兼容 decorator 类型的 child 字段 (处理为单元素列表以便统一逻辑)
+    if node_type == 'decorator' and 'child' in node:
+        children = [node['child']]
+        
+    if children:
+        # 记录所有子节点的ID
+        child_ids = []
+        
+        # 正确的递归连接：每个子节点都连接到当前节点
+        for child in children:
+            child_id = _add_nodes_and_edges(child, dot, current_id)
+            child_ids.append(child_id)
+        
+        # 子节点同级排列（横向排布，更直观地表现同层）
+        if len(child_ids) > 1:
+            with dot.subgraph(name=f"rank_{current_id}") as s:
+                s.attr(rank='same')
+                for cid in child_ids:
+                    s.node(cid)
+
+    # 递归处理单子节点 (Decorator) - 已合并到 children 处理逻辑中，此处删除旧逻辑
+    # child = node.get("child")
+    # if child:
+    #     _add_nodes_and_edges(child, dot, current_id)
     
     return current_id
 
@@ -522,16 +524,44 @@ 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)
-        self.system_prompt = self._load_prompt("system_prompt.txt")
+        # 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")
+        self.classifier_prompt = self._load_prompt("classifier_prompt.txt")
+        # 兼容旧变量名
+        self.system_prompt = self.complex_prompt
         
         self.orin_ip = os.getenv("ORIN_IP", "localhost")
-        self.llm_client = openai.OpenAI(
-            api_key=os.getenv("OPENAI_API_KEY", "sk-no-key-required"),
-            base_url=f"http://{self.orin_ip}:8081/v1"
-        )
+        # 三类模型的可配置项：基于不同模型与Base URL分流
+        self.classifier_model = os.getenv("CLASSIFIER_MODEL", os.getenv("OPENAI_MODEL", "local-model"))
+        self.simple_model = os.getenv("SIMPLE_MODEL", os.getenv("OPENAI_MODEL", "local-model"))
+        self.complex_model = os.getenv("COMPLEX_MODEL", os.getenv("OPENAI_MODEL", "local-model"))
+        self.classifier_base_url = os.getenv("CLASSIFIER_BASE_URL", f"http://{self.orin_ip}:8081/v1")
+        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)
+        self.simple_llm_client = openai.OpenAI(api_key=self.api_key, base_url=self.simple_base_url)
+        self.complex_llm_client = openai.OpenAI(api_key=self.api_key, base_url=self.complex_base_url)
         
         # --- ChromaDB Client Setup ---
-        vector_store_path = os.path.abspath(os.path.join(self.base_dir, '..', '..', 'tools', 'vector_store'))
+        vector_store_path = os.path.abspath(os.path.join(self.base_dir, '..', '..', 'tools', 'rag','vector_store'))
         self.chroma_client = chromadb.PersistentClient(path=vector_store_path)
         
         # Explicitly use the remote embedding function for queries
@@ -542,8 +572,10 @@ class PyTreeGenerator:
             embedding_function=embedding_func
         )
         
-        allowed_actions, allowed_conditions = _parse_allowed_nodes_from_prompt(self.system_prompt)
+        # 使用复杂模式提示词作为节点来源，确保Schema稳定
+        allowed_actions, allowed_conditions = _parse_allowed_nodes_from_prompt(self.complex_prompt)
         self.schema = _generate_pytree_schema(allowed_actions, allowed_conditions)
+        self.simple_schema = _generate_simple_mode_schema(allowed_actions)
 
     def _load_prompt(self, file_name: str) -> str:
         try:
@@ -563,6 +595,8 @@ 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}")
@@ -574,34 +608,199 @@ class PyTreeGenerator:
         """
         logging.info(f"接收到用户请求: {user_prompt}")
         
-        retrieved_context = self._retrieve_context(user_prompt)
-        
+        # 第一步：分类（简单/复杂）
+        mode = "complex"
+        try:
+            classifier_resp = self.classifier_client.chat.completions.create(
+                model=self.classifier_model,
+                messages=[
+                    {"role": "system", "content": self.classifier_prompt or "你是一个分类器，只输出JSON。"},
+                    {"role": "user", "content": user_prompt}
+                ],
+                temperature=0.0,
+                response_format={"type": "json_object"},  # 强制JSON输出，禁用思考功能
+                max_tokens=self.classifier_max_tokens,
+                # 禁用 Qwen3 模型的思考功能（通过 extra_body 传递）
+                # 注意：如果 API 服务器不支持此参数，会忽略
+                extra_body={"chat_template_kwargs": {"enable_thinking": False}}
+            )
+            class_str = classifier_resp.choices[0].message.content
+            class_obj = json.loads(class_str)
+            if isinstance(class_obj, dict) and class_obj.get("mode") in ("simple", "complex"):
+                mode = class_obj.get("mode")
+            logging.info(f"分类结果: {mode}")
+        except Exception as e:
+            logging.warning(f"分类失败，默认按复杂指令处理: {e}")
+
+        # 第二步：根据模式准备提示词与上下文（简单与复杂都执行检索增强）
+        # 基于模式选择提示词；复杂模式追加一条强制规则，避免模型误输出简单结构
+        use_prompt = self.simple_prompt if mode == "simple" else (
+            (self.complex_prompt or "") +
+            "\n\n【强制规则】仅生成包含root的复杂行为树JSON，不得输出简单模式（不得包含mode字段或仅有action节点）。"
+        )
         final_user_prompt = user_prompt
+        retrieved_context = self._retrieve_context(user_prompt)
         if retrieved_context:
             augmentation = (
                 "\n\n---\n"
                 "参考知识：\n"
-                "以下是从知识库中检索到的、与当前任务最相关的信息，请优先参考这些信息来生成行为树：\n"
+                "以下是从知识库中检索到的、与当前任务最相关的信息，请优先参考这些信息来生成结果：\n"
                 f"{retrieved_context}"
                 "\n---"
             )
             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:
-                response = self.llm_client.chat.completions.create(
-                    model="local-model",
-                    messages=[
-                        {"role": "system", "content": self.system_prompt},
+                # 简单/复杂分流到不同模型与提示词
+                client = self.simple_llm_client if mode == "simple" else self.complex_llm_client
+                model_name = self.simple_model if mode == "simple" else self.complex_model
+                # 始终强制JSON响应并禁用思考功能
+                response_kwargs = {
+                    "model": model_name,
+                    "messages": [
+                        {"role": "system", "content": use_prompt},
                         {"role": "user", "content": final_user_prompt}
                     ],
-                    temperature=0.1,
-                    response_format={"type": "json_object"}
-                )
-                pytree_str = response.choices[0].message.content
-                pytree_dict = json.loads(pytree_str)
+                    "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（若有）
+                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）。\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}")
+                        continue
+                    # 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：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)
+                        # 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
+
+                # 验证生成的复杂行为树
                 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())
@@ -612,10 +811,34 @@ 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
+                    preview = json.dumps(pytree_dict, ensure_ascii=False, indent=2)
+                    logging.warning(f"❌ 未通过验证的Pytree（第 {attempt + 1}/3 次尝试）：\n{preview}")
                     logging.warning("生成的Pytree验证失败，正在重试...")
-            except (OpenAIError, json.JSONDecodeError) as e:
+            except OpenAIError as e:
                 logging.error(f"生成Pytree时发生错误: {e}")
         
         raise RuntimeError("在3次尝试后，仍未能生成一个有效的Pytree。")

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/a/DronePlanning/backend_service/venv)
+        export VIRTUAL_ENV
+        ;;
+    *)
+        # use the path as-is
+        export VIRTUAL_ENV=/home/a/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/a/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/a/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/a/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/a/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/distro

@@ -0,0 +1,7 @@
+#!/home/a/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/a/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/a/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/a/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/a/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/a/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/a/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/a/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/jsonschema

@@ -0,0 +1,7 @@
+#!/home/a/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/a/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/normalizer

@@ -0,0 +1,7 @@
+#!/home/a/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/a/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/a/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/a/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 +1,7 @@
+#!/home/a/DronePlanning/backend_service/venv/bin/python3
+import sys
+from pip._internal.cli.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/pip3

@@ -0,0 +1,7 @@
+#!/home/a/DronePlanning/backend_service/venv/bin/python3
+import sys
+from pip._internal.cli.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/pip3.13

@@ -0,0 +1,7 @@
+#!/home/a/DronePlanning/backend_service/venv/bin/python3
+import sys
+from pip._internal.cli.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/pybase64

@@ -0,0 +1,7 @@
+#!/home/a/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/a/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/pyproject-build

@@ -0,0 +1,7 @@
+#!/home/a/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/a/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/a/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/a/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/a/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/a/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/a/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/a/miniconda3/bin/python3

backend_service/venv/bin/python3.13

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

backend_service/venv/bin/tiny-agents

@@ -0,0 +1,7 @@
+#!/home/a/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/a/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/a/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/a/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/a/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/a/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/a/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/_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/annotated_doc-0.0.4.dist-info/INSTALLER

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

backend_service/venv/lib/python3.13/site-packages/annotated_doc-0.0.4.dist-info/METADATA

@@ -0,0 +1,145 @@
+Metadata-Version: 2.4
+Name: annotated-doc
+Version: 0.0.4
+Summary: Document parameters, class attributes, return types, and variables inline, with Annotated.
+Author-Email: =?utf-8?q?Sebasti=C3=A1n_Ram=C3=ADrez?= <tiangolo@gmail.com>
+License-Expression: MIT
+License-File: LICENSE
+Classifier: Intended Audience :: Information Technology
+Classifier: Intended Audience :: System Administrators
+Classifier: Operating System :: OS Independent
+Classifier: Programming Language :: Python :: 3
+Classifier: Programming Language :: Python
+Classifier: Topic :: Internet
+Classifier: Topic :: Software Development :: Libraries :: Application Frameworks
+Classifier: Topic :: Software Development :: Libraries :: Python Modules
+Classifier: Topic :: Software Development :: Libraries
+Classifier: Topic :: Software Development
+Classifier: Typing :: Typed
+Classifier: Development Status :: 4 - Beta
+Classifier: Intended Audience :: Developers
+Classifier: Programming Language :: Python :: 3 :: Only
+Classifier: Programming Language :: Python :: 3.8
+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: Programming Language :: Python :: 3.14
+Project-URL: Homepage, https://github.com/fastapi/annotated-doc
+Project-URL: Documentation, https://github.com/fastapi/annotated-doc
+Project-URL: Repository, https://github.com/fastapi/annotated-doc
+Project-URL: Issues, https://github.com/fastapi/annotated-doc/issues
+Project-URL: Changelog, https://github.com/fastapi/annotated-doc/release-notes.md
+Requires-Python: >=3.8
+Description-Content-Type: text/markdown
+
+# Annotated Doc
+
+Document parameters, class attributes, return types, and variables inline, with `Annotated`.
+
+<a href="https://github.com/fastapi/annotated-doc/actions?query=workflow%3ATest+event%3Apush+branch%3Amain" target="_blank">
+    <img src="https://github.com/fastapi/annotated-doc/actions/workflows/test.yml/badge.svg?event=push&branch=main" alt="Test">
+</a>
+<a href="https://coverage-badge.samuelcolvin.workers.dev/redirect/fastapi/annotated-doc" target="_blank">
+    <img src="https://coverage-badge.samuelcolvin.workers.dev/fastapi/annotated-doc.svg" alt="Coverage">
+</a>
+<a href="https://pypi.org/project/annotated-doc" target="_blank">
+    <img src="https://img.shields.io/pypi/v/annotated-doc?color=%2334D058&label=pypi%20package" alt="Package version">
+</a>
+<a href="https://pypi.org/project/annotated-doc" target="_blank">
+    <img src="https://img.shields.io/pypi/pyversions/annotated-doc.svg?color=%2334D058" alt="Supported Python versions">
+</a>
+
+## Installation
+
+```bash
+pip install annotated-doc
+```
+
+Or with `uv`:
+
+```Python
+uv add annotated-doc
+```
+
+## Usage
+
+Import `Doc` and pass a single literal string with the documentation for the specific parameter, class attribute, return type, or variable.
+
+For example, to document a parameter `name` in a function `hi` you could do:
+
+```Python
+from typing import Annotated
+
+from annotated_doc import Doc
+
+def hi(name: Annotated[str, Doc("Who to say hi to")]) -> None:
+    print(f"Hi, {name}!")
+```
+
+You can also use it to document class attributes:
+
+```Python
+from typing import Annotated
+
+from annotated_doc import Doc
+
+class User:
+    name: Annotated[str, Doc("The user's name")]
+    age: Annotated[int, Doc("The user's age")]
+```
+
+The same way, you could document return types and variables, or anything that could have a type annotation with `Annotated`.
+
+## Who Uses This
+
+`annotated-doc` was made for:
+
+* [FastAPI](https://fastapi.tiangolo.com/)
+* [Typer](https://typer.tiangolo.com/)
+* [SQLModel](https://sqlmodel.tiangolo.com/)
+* [Asyncer](https://asyncer.tiangolo.com/)
+
+`annotated-doc` is supported by [griffe-typingdoc](https://github.com/mkdocstrings/griffe-typingdoc), which powers reference documentation like the one in the [FastAPI Reference](https://fastapi.tiangolo.com/reference/).
+
+## Reasons not to use `annotated-doc`
+
+You are already comfortable with one of the existing docstring formats, like:
+
+* Sphinx
+* numpydoc
+* Google
+* Keras
+
+Your team is already comfortable using them.
+
+You prefer having the documentation about parameters all together in a docstring, separated from the code defining them.
+
+You care about a specific set of users, using one specific editor, and that editor already has support for the specific docstring format you use.
+
+## Reasons to use `annotated-doc`
+
+* No micro-syntax to learn for newcomers, it’s **just Python** syntax.
+* **Editing** would be already fully supported by default by any editor (current or future) supporting Python syntax, including syntax errors, syntax highlighting, etc.
+* **Rendering** would be relatively straightforward to implement by static tools (tools that don't need runtime execution), as the information can be extracted from the AST they normally already create.
+* **Deduplication of information**: the name of a parameter would be defined in a single place, not duplicated inside of a docstring.
+* **Elimination** of the possibility of having **inconsistencies** when removing a parameter or class variable and **forgetting to remove** its documentation.
+* **Minimization** of the probability of adding a new parameter or class variable and **forgetting to add its documentation**.
+* **Elimination** of the possibility of having **inconsistencies** between the **name** of a parameter in the **signature** and the name in the docstring when it is renamed.
+* **Access** to the documentation string for each symbol at **runtime**, including existing (older) Python versions.
+* A more formalized way to document other symbols, like type aliases, that could use Annotated.
+* **Support** for apps using FastAPI, Typer and others.
+* **AI Accessibility**: AI tools will have an easier way understanding each parameter as the distance from documentation to parameter is much closer.
+
+## History
+
+I ([@tiangolo](https://github.com/tiangolo)) originally wanted for this to be part of the Python standard library (in [PEP 727](https://peps.python.org/pep-0727/)), but the proposal was withdrawn as there was a fair amount of negative feedback and opposition.
+
+The conclusion was that this was better done as an external effort, in a third-party library.
+
+So, here it is, with a simpler approach, as a third-party library, in a way that can be used by others, starting with FastAPI and friends.
+
+## License
+
+This project is licensed under the terms of the MIT license.

backend_service/venv/lib/python3.13/site-packages/annotated_doc-0.0.4.dist-info/RECORD

@@ -0,0 +1,11 @@
+annotated_doc-0.0.4.dist-info/INSTALLER,sha256=zuuue4knoyJ-UwPPXg8fezS7VCrXJQrAP7zeNuwvFQg,4
+annotated_doc-0.0.4.dist-info/METADATA,sha256=Irm5KJua33dY2qKKAjJ-OhKaVBVIfwFGej_dSe3Z1TU,6566
+annotated_doc-0.0.4.dist-info/RECORD,,
+annotated_doc-0.0.4.dist-info/WHEEL,sha256=9P2ygRxDrTJz3gsagc0Z96ukrxjr-LFBGOgv3AuKlCA,90
+annotated_doc-0.0.4.dist-info/entry_points.txt,sha256=6OYgBcLyFCUgeqLgnvMyOJxPCWzgy7se4rLPKtNonMs,34
+annotated_doc-0.0.4.dist-info/licenses/LICENSE,sha256=__Fwd5pqy_ZavbQFwIfxzuF4ZpHkqWpANFF-SlBKDN8,1086
+annotated_doc/__init__.py,sha256=VuyxxUe80kfEyWnOrCx_Bk8hybo3aKo6RYBlkBBYW8k,52
+annotated_doc/__pycache__/__init__.cpython-313.pyc,,
+annotated_doc/__pycache__/main.cpython-313.pyc,,
+annotated_doc/main.py,sha256=5Zfvxv80SwwLqpRW73AZyZyiM4bWma9QWRbp_cgD20s,1075
+annotated_doc/py.typed,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0

backend_service/venv/lib/python3.13/site-packages/annotated_doc-0.0.4.dist-info/WHEEL

@@ -0,0 +1,4 @@
+Wheel-Version: 1.0
+Generator: pdm-backend (2.4.5)
+Root-Is-Purelib: true
+Tag: py3-none-any

backend_service/venv/lib/python3.13/site-packages/annotated_doc-0.0.4.dist-info/entry_points.txt

@@ -0,0 +1,4 @@
+[console_scripts]
+
+[gui_scripts]
+

backend_service/venv/lib/python3.13/site-packages/annotated_doc-0.0.4.dist-info/licenses/LICENSE

@@ -0,0 +1,21 @@
+The MIT License (MIT)
+
+Copyright (c) 2025 Sebastián Ramírez
+
+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/annotated_doc/__init__.py

@@ -0,0 +1,3 @@
+from .main import Doc as Doc
+
+__version__ = "0.0.4"

backend_service/venv/lib/python3.13/site-packages/annotated_doc/main.py

@@ -0,0 +1,36 @@
+class Doc:
+    """Define the documentation of a type annotation using `Annotated`, to be
+        used in class attributes, function and method parameters, return values,
+        and variables.
+
+    The value should be a positional-only string literal to allow static tools
+    like editors and documentation generators to use it.
+
+    This complements docstrings.
+
+    The string value passed is available in the attribute `documentation`.
+
+    Example:
+
+    ```Python
+    from typing import Annotated
+    from annotated_doc import Doc
+
+    def hi(name: Annotated[str, Doc("Who to say hi to")]) -> None:
+        print(f"Hi, {name}!")
+    ```
+    """
+
+    def __init__(self, documentation: str, /) -> None:
+        self.documentation = documentation
+
+    def __repr__(self) -> str:
+        return f"Doc({self.documentation!r})"
+
+    def __hash__(self) -> int:
+        return hash(self.documentation)
+
+    def __eq__(self, other: object) -> bool:
+        if not isinstance(other, Doc):
+            return NotImplemented
+        return self.documentation == other.documentation

backend_service/venv/lib/python3.13/site-packages/annotated_types-0.7.0.dist-info/INSTALLER

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

backend_service/venv/lib/python3.13/site-packages/annotated_types-0.7.0.dist-info/METADATA

@@ -0,0 +1,295 @@
+Metadata-Version: 2.3
+Name: annotated-types
+Version: 0.7.0
+Summary: Reusable constraint types to use with typing.Annotated
+Project-URL: Homepage, https://github.com/annotated-types/annotated-types
+Project-URL: Source, https://github.com/annotated-types/annotated-types
+Project-URL: Changelog, https://github.com/annotated-types/annotated-types/releases
+Author-email: Adrian Garcia Badaracco <1755071+adriangb@users.noreply.github.com>, Samuel Colvin <s@muelcolvin.com>, Zac Hatfield-Dodds <zac@zhd.dev>
+License-File: LICENSE
+Classifier: Development Status :: 4 - Beta
+Classifier: Environment :: Console
+Classifier: Environment :: MacOS X
+Classifier: Intended Audience :: Developers
+Classifier: Intended Audience :: Information Technology
+Classifier: License :: OSI Approved :: MIT License
+Classifier: Operating System :: POSIX :: Linux
+Classifier: Operating System :: Unix
+Classifier: Programming Language :: Python :: 3 :: Only
+Classifier: Programming Language :: Python :: 3.8
+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: Topic :: Software Development :: Libraries :: Python Modules
+Classifier: Typing :: Typed
+Requires-Python: >=3.8
+Requires-Dist: typing-extensions>=4.0.0; python_version < '3.9'
+Description-Content-Type: text/markdown
+
+# annotated-types
+
+[![CI](https://github.com/annotated-types/annotated-types/workflows/CI/badge.svg?event=push)](https://github.com/annotated-types/annotated-types/actions?query=event%3Apush+branch%3Amain+workflow%3ACI)
+[![pypi](https://img.shields.io/pypi/v/annotated-types.svg)](https://pypi.python.org/pypi/annotated-types)
+[![versions](https://img.shields.io/pypi/pyversions/annotated-types.svg)](https://github.com/annotated-types/annotated-types)
+[![license](https://img.shields.io/github/license/annotated-types/annotated-types.svg)](https://github.com/annotated-types/annotated-types/blob/main/LICENSE)
+
+[PEP-593](https://peps.python.org/pep-0593/) added `typing.Annotated` as a way of
+adding context-specific metadata to existing types, and specifies that
+`Annotated[T, x]` _should_ be treated as `T` by any tool or library without special
+logic for `x`.
+
+This package provides metadata objects which can be used to represent common
+constraints such as upper and lower bounds on scalar values and collection sizes,
+a `Predicate` marker for runtime checks, and
+descriptions of how we intend these metadata to be interpreted. In some cases,
+we also note alternative representations which do not require this package.
+
+## Install
+
+```bash
+pip install annotated-types
+```
+
+## Examples
+
+```python
+from typing import Annotated
+from annotated_types import Gt, Len, Predicate
+
+class MyClass:
+    age: Annotated[int, Gt(18)]                         # Valid: 19, 20, ...
+                                                        # Invalid: 17, 18, "19", 19.0, ...
+    factors: list[Annotated[int, Predicate(is_prime)]]  # Valid: 2, 3, 5, 7, 11, ...
+                                                        # Invalid: 4, 8, -2, 5.0, "prime", ...
+
+    my_list: Annotated[list[int], Len(0, 10)]           # Valid: [], [10, 20, 30, 40, 50]
+                                                        # Invalid: (1, 2), ["abc"], [0] * 20
+```
+
+## Documentation
+
+_While `annotated-types` avoids runtime checks for performance, users should not
+construct invalid combinations such as `MultipleOf("non-numeric")` or `Annotated[int, Len(3)]`.
+Downstream implementors may choose to raise an error, emit a warning, silently ignore
+a metadata item, etc., if the metadata objects described below are used with an
+incompatible type - or for any other reason!_
+
+### Gt, Ge, Lt, Le
+
+Express inclusive and/or exclusive bounds on orderable values - which may be numbers,
+dates, times, strings, sets, etc. Note that the boundary value need not be of the
+same type that was annotated, so long as they can be compared: `Annotated[int, Gt(1.5)]`
+is fine, for example, and implies that the value is an integer x such that `x > 1.5`.
+
+We suggest that implementors may also interpret `functools.partial(operator.le, 1.5)`
+as being equivalent to `Gt(1.5)`, for users who wish to avoid a runtime dependency on
+the `annotated-types` package.
+
+To be explicit, these types have the following meanings:
+
+* `Gt(x)` - value must be "Greater Than" `x` - equivalent to exclusive minimum
+* `Ge(x)` - value must be "Greater than or Equal" to `x` - equivalent to inclusive minimum
+* `Lt(x)` - value must be "Less Than" `x` - equivalent to exclusive maximum
+* `Le(x)` - value must be "Less than or Equal" to `x` - equivalent to inclusive maximum
+
+### Interval
+
+`Interval(gt, ge, lt, le)` allows you to specify an upper and lower bound with a single
+metadata object. `None` attributes should be ignored, and non-`None` attributes
+treated as per the single bounds above.
+
+### MultipleOf
+
+`MultipleOf(multiple_of=x)` might be interpreted in two ways:
+
+1. Python semantics, implying `value % multiple_of == 0`, or
+2. [JSONschema semantics](https://json-schema.org/draft/2020-12/json-schema-validation.html#rfc.section.6.2.1),
+   where `int(value / multiple_of) == value / multiple_of`.
+
+We encourage users to be aware of these two common interpretations and their
+distinct behaviours, especially since very large or non-integer numbers make
+it easy to cause silent data corruption due to floating-point imprecision.
+
+We encourage libraries to carefully document which interpretation they implement.
+
+### MinLen, MaxLen, Len
+
+`Len()` implies that `min_length <= len(value) <= max_length` - lower and upper bounds are inclusive.
+
+As well as `Len()` which can optionally include upper and lower bounds, we also
+provide `MinLen(x)` and `MaxLen(y)` which are equivalent to `Len(min_length=x)`
+and `Len(max_length=y)` respectively.
+
+`Len`, `MinLen`, and `MaxLen` may be used with any type which supports `len(value)`.
+
+Examples of usage:
+
+* `Annotated[list, MaxLen(10)]` (or `Annotated[list, Len(max_length=10))`) - list must have a length of 10 or less
+* `Annotated[str, MaxLen(10)]` - string must have a length of 10 or less
+* `Annotated[list, MinLen(3))` (or `Annotated[list, Len(min_length=3))`) - list must have a length of 3 or more
+* `Annotated[list, Len(4, 6)]` - list must have a length of 4, 5, or 6
+* `Annotated[list, Len(8, 8)]` - list must have a length of exactly 8
+
+#### Changed in v0.4.0
+
+* `min_inclusive` has been renamed to `min_length`, no change in meaning
+* `max_exclusive` has been renamed to `max_length`, upper bound is now **inclusive** instead of **exclusive**
+* The recommendation that slices are interpreted as `Len` has been removed due to ambiguity and different semantic
+  meaning of the upper bound in slices vs. `Len`
+
+See [issue #23](https://github.com/annotated-types/annotated-types/issues/23) for discussion.
+
+### Timezone
+
+`Timezone` can be used with a `datetime` or a `time` to express which timezones
+are allowed. `Annotated[datetime, Timezone(None)]` must be a naive datetime.
+`Timezone[...]` ([literal ellipsis](https://docs.python.org/3/library/constants.html#Ellipsis))
+expresses that any timezone-aware datetime is allowed. You may also pass a specific
+timezone string or [`tzinfo`](https://docs.python.org/3/library/datetime.html#tzinfo-objects)
+object such as `Timezone(timezone.utc)` or `Timezone("Africa/Abidjan")` to express that you only
+allow a specific timezone, though we note that this is often a symptom of fragile design.
+
+#### Changed in v0.x.x
+
+* `Timezone` accepts [`tzinfo`](https://docs.python.org/3/library/datetime.html#tzinfo-objects) objects instead of
+  `timezone`, extending compatibility to [`zoneinfo`](https://docs.python.org/3/library/zoneinfo.html) and third party libraries.
+
+### Unit
+
+`Unit(unit: str)` expresses that the annotated numeric value is the magnitude of
+a quantity with the specified unit. For example, `Annotated[float, Unit("m/s")]`
+would be a float representing a velocity in meters per second.
+
+Please note that `annotated_types` itself makes no attempt to parse or validate
+the unit string in any way. That is left entirely to downstream libraries,
+such as [`pint`](https://pint.readthedocs.io) or
+[`astropy.units`](https://docs.astropy.org/en/stable/units/).
+
+An example of how a library might use this metadata:
+
+```python
+from annotated_types import Unit
+from typing import Annotated, TypeVar, Callable, Any, get_origin, get_args
+
+# given a type annotated with a unit:
+Meters = Annotated[float, Unit("m")]
+
+
+# you can cast the annotation to a specific unit type with any
+# callable that accepts a string and returns the desired type
+T = TypeVar("T")
+def cast_unit(tp: Any, unit_cls: Callable[[str], T]) -> T | None:
+    if get_origin(tp) is Annotated:
+        for arg in get_args(tp):
+            if isinstance(arg, Unit):
+                return unit_cls(arg.unit)
+    return None
+
+
+# using `pint`
+import pint
+pint_unit = cast_unit(Meters, pint.Unit)
+
+
+# using `astropy.units`
+import astropy.units as u
+astropy_unit = cast_unit(Meters, u.Unit)
+```
+
+### Predicate
+
+`Predicate(func: Callable)` expresses that `func(value)` is truthy for valid values.
+Users should prefer the statically inspectable metadata above, but if you need
+the full power and flexibility of arbitrary runtime predicates... here it is.
+
+For some common constraints, we provide generic types:
+
+* `IsLower       = Annotated[T, Predicate(str.islower)]`
+* `IsUpper       = Annotated[T, Predicate(str.isupper)]`
+* `IsDigit       = Annotated[T, Predicate(str.isdigit)]`
+* `IsFinite      = Annotated[T, Predicate(math.isfinite)]`
+* `IsNotFinite   = Annotated[T, Predicate(Not(math.isfinite))]`
+* `IsNan         = Annotated[T, Predicate(math.isnan)]`
+* `IsNotNan      = Annotated[T, Predicate(Not(math.isnan))]`
+* `IsInfinite    = Annotated[T, Predicate(math.isinf)]`
+* `IsNotInfinite = Annotated[T, Predicate(Not(math.isinf))]`
+
+so that you can write e.g. `x: IsFinite[float] = 2.0` instead of the longer
+(but exactly equivalent) `x: Annotated[float, Predicate(math.isfinite)] = 2.0`.
+
+Some libraries might have special logic to handle known or understandable predicates,
+for example by checking for `str.isdigit` and using its presence to both call custom
+logic to enforce digit-only strings, and customise some generated external schema.
+Users are therefore encouraged to avoid indirection like `lambda s: s.lower()`, in
+favor of introspectable methods such as `str.lower` or `re.compile("pattern").search`.
+
+To enable basic negation of commonly used predicates like `math.isnan` without introducing introspection that makes it impossible for implementers to introspect the predicate we provide a `Not` wrapper that simply negates the predicate in an introspectable manner. Several of the predicates listed above are created in this manner.
+
+We do not specify what behaviour should be expected for predicates that raise
+an exception.  For example `Annotated[int, Predicate(str.isdigit)]` might silently
+skip invalid constraints, or statically raise an error; or it might try calling it
+and then propagate or discard the resulting
+`TypeError: descriptor 'isdigit' for 'str' objects doesn't apply to a 'int' object`
+exception.  We encourage libraries to document the behaviour they choose.
+
+### Doc
+
+`doc()` can be used to add documentation information in `Annotated`, for function and method parameters, variables, class attributes, return types, and any place where `Annotated` can be used.
+
+It expects a value that can be statically analyzed, as the main use case is for static analysis, editors, documentation generators, and similar tools.
+
+It returns a `DocInfo` class with a single attribute `documentation` containing the value passed to `doc()`.
+
+This is the early adopter's alternative form of the [`typing-doc` proposal](https://github.com/tiangolo/fastapi/blob/typing-doc/typing_doc.md).
+
+### Integrating downstream types with `GroupedMetadata`
+
+Implementers may choose to provide a convenience wrapper that groups multiple pieces of metadata.
+This can help reduce verbosity and cognitive overhead for users.
+For example, an implementer like Pydantic might provide a `Field` or `Meta` type that accepts keyword arguments and transforms these into low-level metadata:
+
+```python
+from dataclasses import dataclass
+from typing import Iterator
+from annotated_types import GroupedMetadata, Ge
+
+@dataclass
+class Field(GroupedMetadata):
+    ge: int | None = None
+    description: str | None = None
+
+    def __iter__(self) -> Iterator[object]:
+        # Iterating over a GroupedMetadata object should yield annotated-types
+        # constraint metadata objects which describe it as fully as possible,
+        # and may include other unknown objects too.
+        if self.ge is not None:
+            yield Ge(self.ge)
+        if self.description is not None:
+            yield Description(self.description)
+```
+
+Libraries consuming annotated-types constraints should check for `GroupedMetadata` and unpack it by iterating over the object and treating the results as if they had been "unpacked" in the `Annotated` type.  The same logic should be applied to the [PEP 646 `Unpack` type](https://peps.python.org/pep-0646/), so that `Annotated[T, Field(...)]`, `Annotated[T, Unpack[Field(...)]]` and `Annotated[T, *Field(...)]` are all treated consistently.
+
+Libraries consuming annotated-types should also ignore any metadata they do not recongize that came from unpacking a `GroupedMetadata`, just like they ignore unrecognized metadata in `Annotated` itself.
+
+Our own `annotated_types.Interval` class is a `GroupedMetadata` which unpacks itself into `Gt`, `Lt`, etc., so this is not an abstract concern.  Similarly, `annotated_types.Len` is a `GroupedMetadata` which unpacks itself into `MinLen` (optionally) and `MaxLen`.
+
+### Consuming metadata
+
+We intend to not be prescriptive as to _how_ the metadata and constraints are used, but as an example of how one might parse constraints from types annotations see our [implementation in `test_main.py`](https://github.com/annotated-types/annotated-types/blob/f59cf6d1b5255a0fe359b93896759a180bec30ae/tests/test_main.py#L94-L103).
+
+It is up to the implementer to determine how this metadata is used.
+You could use the metadata for runtime type checking, for generating schemas or to generate example data, amongst other use cases.
+
+## Design & History
+
+This package was designed at the PyCon 2022 sprints by the maintainers of Pydantic
+and Hypothesis, with the goal of making it as easy as possible for end-users to
+provide more informative annotations for use by runtime libraries.
+
+It is deliberately minimal, and following PEP-593 allows considerable downstream
+discretion in what (if anything!) they choose to support. Nonetheless, we expect
+that staying simple and covering _only_ the most common use-cases will give users
+and maintainers the best experience we can. If you'd like more constraints for your
+types - follow our lead, by defining them and documenting them downstream!

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+annotated_types-0.7.0.dist-info/licenses/LICENSE,sha256=_hBJiEsaDZNCkB6I4H8ykl0ksxIdmXK2poBfuYJLCV0,1083
+annotated_types/__init__.py,sha256=RynLsRKUEGI0KimXydlD1fZEfEzWwDo0Uon3zOKhG1Q,13819
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backend_service/venv/lib/python3.13/site-packages/annotated_types-0.7.0.dist-info/WHEEL

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+Wheel-Version: 1.0
+Generator: hatchling 1.24.2
+Root-Is-Purelib: true
+Tag: py3-none-any

backend_service/venv/lib/python3.13/site-packages/annotated_types-0.7.0.dist-info/licenses/LICENSE

@@ -0,0 +1,21 @@
+The MIT License (MIT)
+
+Copyright (c) 2022 the 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.

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

@@ -0,0 +1,432 @@
+import math
+import sys
+import types
+from dataclasses import dataclass
+from datetime import tzinfo
+from typing import TYPE_CHECKING, Any, Callable, Iterator, Optional, SupportsFloat, SupportsIndex, TypeVar, Union
+
+if sys.version_info < (3, 8):
+    from typing_extensions import Protocol, runtime_checkable
+else:
+    from typing import Protocol, runtime_checkable
+
+if sys.version_info < (3, 9):
+    from typing_extensions import Annotated, Literal
+else:
+    from typing import Annotated, Literal
+
+if sys.version_info < (3, 10):
+    EllipsisType = type(Ellipsis)
+    KW_ONLY = {}
+    SLOTS = {}
+else:
+    from types import EllipsisType
+
+    KW_ONLY = {"kw_only": True}
+    SLOTS = {"slots": True}
+
+
+__all__ = (
+    'BaseMetadata',
+    'GroupedMetadata',
+    'Gt',
+    'Ge',
+    'Lt',
+    'Le',
+    'Interval',
+    'MultipleOf',
+    'MinLen',
+    'MaxLen',
+    'Len',
+    'Timezone',
+    'Predicate',
+    'LowerCase',
+    'UpperCase',
+    'IsDigits',
+    'IsFinite',
+    'IsNotFinite',
+    'IsNan',
+    'IsNotNan',
+    'IsInfinite',
+    'IsNotInfinite',
+    'doc',
+    'DocInfo',
+    '__version__',
+)
+
+__version__ = '0.7.0'
+
+
+T = TypeVar('T')
+
+
+# arguments that start with __ are considered
+# positional only
+# see https://peps.python.org/pep-0484/#positional-only-arguments
+
+
+class SupportsGt(Protocol):
+    def __gt__(self: T, __other: T) -> bool:
+        ...
+
+
+class SupportsGe(Protocol):
+    def __ge__(self: T, __other: T) -> bool:
+        ...
+
+
+class SupportsLt(Protocol):
+    def __lt__(self: T, __other: T) -> bool:
+        ...
+
+
+class SupportsLe(Protocol):
+    def __le__(self: T, __other: T) -> bool:
+        ...
+
+
+class SupportsMod(Protocol):
+    def __mod__(self: T, __other: T) -> T:
+        ...
+
+
+class SupportsDiv(Protocol):
+    def __div__(self: T, __other: T) -> T:
+        ...
+
+
+class BaseMetadata:
+    """Base class for all metadata.
+
+    This exists mainly so that implementers
+    can do `isinstance(..., BaseMetadata)` while traversing field annotations.
+    """
+
+    __slots__ = ()
+
+
+@dataclass(frozen=True, **SLOTS)
+class Gt(BaseMetadata):
+    """Gt(gt=x) implies that the value must be greater than x.
+
+    It can be used with any type that supports the ``>`` operator,
+    including numbers, dates and times, strings, sets, and so on.
+    """
+
+    gt: SupportsGt
+
+
+@dataclass(frozen=True, **SLOTS)
+class Ge(BaseMetadata):
+    """Ge(ge=x) implies that the value must be greater than or equal to x.
+
+    It can be used with any type that supports the ``>=`` operator,
+    including numbers, dates and times, strings, sets, and so on.
+    """
+
+    ge: SupportsGe
+
+
+@dataclass(frozen=True, **SLOTS)
+class Lt(BaseMetadata):
+    """Lt(lt=x) implies that the value must be less than x.
+
+    It can be used with any type that supports the ``<`` operator,
+    including numbers, dates and times, strings, sets, and so on.
+    """
+
+    lt: SupportsLt
+
+
+@dataclass(frozen=True, **SLOTS)
+class Le(BaseMetadata):
+    """Le(le=x) implies that the value must be less than or equal to x.
+
+    It can be used with any type that supports the ``<=`` operator,
+    including numbers, dates and times, strings, sets, and so on.
+    """
+
+    le: SupportsLe
+
+
+@runtime_checkable
+class GroupedMetadata(Protocol):
+    """A grouping of multiple objects, like typing.Unpack.
+
+    `GroupedMetadata` on its own is not metadata and has no meaning.
+    All of the constraints and metadata should be fully expressable
+    in terms of the `BaseMetadata`'s returned by `GroupedMetadata.__iter__()`.
+
+    Concrete implementations should override `GroupedMetadata.__iter__()`
+    to add their own metadata.
+    For example:
+
+    >>> @dataclass
+    >>> class Field(GroupedMetadata):
+    >>>     gt: float | None = None
+    >>>     description: str | None = None
+    ...
+    >>>     def __iter__(self) -> Iterable[object]:
+    >>>         if self.gt is not None:
+    >>>             yield Gt(self.gt)
+    >>>         if self.description is not None:
+    >>>             yield Description(self.gt)
+
+    Also see the implementation of `Interval` below for an example.
+
+    Parsers should recognize this and unpack it so that it can be used
+    both with and without unpacking:
+
+    - `Annotated[int, Field(...)]` (parser must unpack Field)
+    - `Annotated[int, *Field(...)]` (PEP-646)
+    """  # noqa: trailing-whitespace
+
+    @property
+    def __is_annotated_types_grouped_metadata__(self) -> Literal[True]:
+        return True
+
+    def __iter__(self) -> Iterator[object]:
+        ...
+
+    if not TYPE_CHECKING:
+        __slots__ = ()  # allow subclasses to use slots
+
+        def __init_subclass__(cls, *args: Any, **kwargs: Any) -> None:
+            # Basic ABC like functionality without the complexity of an ABC
+            super().__init_subclass__(*args, **kwargs)
+            if cls.__iter__ is GroupedMetadata.__iter__:
+                raise TypeError("Can't subclass GroupedMetadata without implementing __iter__")
+
+        def __iter__(self) -> Iterator[object]:  # noqa: F811
+            raise NotImplementedError  # more helpful than "None has no attribute..." type errors
+
+
+@dataclass(frozen=True, **KW_ONLY, **SLOTS)
+class Interval(GroupedMetadata):
+    """Interval can express inclusive or exclusive bounds with a single object.
+
+    It accepts keyword arguments ``gt``, ``ge``, ``lt``, and/or ``le``, which
+    are interpreted the same way as the single-bound constraints.
+    """
+
+    gt: Union[SupportsGt, None] = None
+    ge: Union[SupportsGe, None] = None
+    lt: Union[SupportsLt, None] = None
+    le: Union[SupportsLe, None] = None
+
+    def __iter__(self) -> Iterator[BaseMetadata]:
+        """Unpack an Interval into zero or more single-bounds."""
+        if self.gt is not None:
+            yield Gt(self.gt)
+        if self.ge is not None:
+            yield Ge(self.ge)
+        if self.lt is not None:
+            yield Lt(self.lt)
+        if self.le is not None:
+            yield Le(self.le)
+
+
+@dataclass(frozen=True, **SLOTS)
+class MultipleOf(BaseMetadata):
+    """MultipleOf(multiple_of=x) might be interpreted in two ways:
+
+    1. Python semantics, implying ``value % multiple_of == 0``, or
+    2. JSONschema semantics, where ``int(value / multiple_of) == value / multiple_of``
+
+    We encourage users to be aware of these two common interpretations,
+    and libraries to carefully document which they implement.
+    """
+
+    multiple_of: Union[SupportsDiv, SupportsMod]
+
+
+@dataclass(frozen=True, **SLOTS)
+class MinLen(BaseMetadata):
+    """
+    MinLen() implies minimum inclusive length,
+    e.g. ``len(value) >= min_length``.
+    """
+
+    min_length: Annotated[int, Ge(0)]
+
+
+@dataclass(frozen=True, **SLOTS)
+class MaxLen(BaseMetadata):
+    """
+    MaxLen() implies maximum inclusive length,
+    e.g. ``len(value) <= max_length``.
+    """
+
+    max_length: Annotated[int, Ge(0)]
+
+
+@dataclass(frozen=True, **SLOTS)
+class Len(GroupedMetadata):
+    """
+    Len() implies that ``min_length <= len(value) <= max_length``.
+
+    Upper bound may be omitted or ``None`` to indicate no upper length bound.
+    """
+
+    min_length: Annotated[int, Ge(0)] = 0
+    max_length: Optional[Annotated[int, Ge(0)]] = None
+
+    def __iter__(self) -> Iterator[BaseMetadata]:
+        """Unpack a Len into zone or more single-bounds."""
+        if self.min_length > 0:
+            yield MinLen(self.min_length)
+        if self.max_length is not None:
+            yield MaxLen(self.max_length)
+
+
+@dataclass(frozen=True, **SLOTS)
+class Timezone(BaseMetadata):
+    """Timezone(tz=...) requires a datetime to be aware (or ``tz=None``, naive).
+
+    ``Annotated[datetime, Timezone(None)]`` must be a naive datetime.
+    ``Timezone[...]`` (the ellipsis literal) expresses that the datetime must be
+    tz-aware but any timezone is allowed.
+
+    You may also pass a specific timezone string or tzinfo object such as
+    ``Timezone(timezone.utc)`` or ``Timezone("Africa/Abidjan")`` to express that
+    you only allow a specific timezone, though we note that this is often
+    a symptom of poor design.
+    """
+
+    tz: Union[str, tzinfo, EllipsisType, None]
+
+
+@dataclass(frozen=True, **SLOTS)
+class Unit(BaseMetadata):
+    """Indicates that the value is a physical quantity with the specified unit.
+
+    It is intended for usage with numeric types, where the value represents the
+    magnitude of the quantity. For example, ``distance: Annotated[float, Unit('m')]``
+    or ``speed: Annotated[float, Unit('m/s')]``.
+
+    Interpretation of the unit string is left to the discretion of the consumer.
+    It is suggested to follow conventions established by python libraries that work
+    with physical quantities, such as
+
+    - ``pint`` : <https://pint.readthedocs.io/en/stable/>
+    - ``astropy.units``: <https://docs.astropy.org/en/stable/units/>
+
+    For indicating a quantity with a certain dimensionality but without a specific unit
+    it is recommended to use square brackets, e.g. `Annotated[float, Unit('[time]')]`.
+    Note, however, ``annotated_types`` itself makes no use of the unit string.
+    """
+
+    unit: str
+
+
+@dataclass(frozen=True, **SLOTS)
+class Predicate(BaseMetadata):
+    """``Predicate(func: Callable)`` implies `func(value)` is truthy for valid values.
+
+    Users should prefer statically inspectable metadata, but if you need the full
+    power and flexibility of arbitrary runtime predicates... here it is.
+
+    We provide a few predefined predicates for common string constraints:
+    ``IsLower = Predicate(str.islower)``, ``IsUpper = Predicate(str.isupper)``, and
+    ``IsDigits = Predicate(str.isdigit)``. Users are encouraged to use methods which
+    can be given special handling, and avoid indirection like ``lambda s: s.lower()``.
+
+    Some libraries might have special logic to handle certain predicates, e.g. by
+    checking for `str.isdigit` and using its presence to both call custom logic to
+    enforce digit-only strings, and customise some generated external schema.
+
+    We do not specify what behaviour should be expected for predicates that raise
+    an exception.  For example `Annotated[int, Predicate(str.isdigit)]` might silently
+    skip invalid constraints, or statically raise an error; or it might try calling it
+    and then propagate or discard the resulting exception.
+    """
+
+    func: Callable[[Any], bool]
+
+    def __repr__(self) -> str:
+        if getattr(self.func, "__name__", "<lambda>") == "<lambda>":
+            return f"{self.__class__.__name__}({self.func!r})"
+        if isinstance(self.func, (types.MethodType, types.BuiltinMethodType)) and (
+            namespace := getattr(self.func.__self__, "__name__", None)
+        ):
+            return f"{self.__class__.__name__}({namespace}.{self.func.__name__})"
+        if isinstance(self.func, type(str.isascii)):  # method descriptor
+            return f"{self.__class__.__name__}({self.func.__qualname__})"
+        return f"{self.__class__.__name__}({self.func.__name__})"
+
+
+@dataclass
+class Not:
+    func: Callable[[Any], bool]
+
+    def __call__(self, __v: Any) -> bool:
+        return not self.func(__v)
+
+
+_StrType = TypeVar("_StrType", bound=str)
+
+LowerCase = Annotated[_StrType, Predicate(str.islower)]
+"""
+Return True if the string is a lowercase string, False otherwise.
+
+A string is lowercase if all cased characters in the string are lowercase and there is at least one cased character in the string.
+"""  # noqa: E501
+UpperCase = Annotated[_StrType, Predicate(str.isupper)]
+"""
+Return True if the string is an uppercase string, False otherwise.
+
+A string is uppercase if all cased characters in the string are uppercase and there is at least one cased character in the string.
+"""  # noqa: E501
+IsDigit = Annotated[_StrType, Predicate(str.isdigit)]
+IsDigits = IsDigit  # type: ignore  # plural for backwards compatibility, see #63
+"""
+Return True if the string is a digit string, False otherwise.
+
+A string is a digit string if all characters in the string are digits and there is at least one character in the string.
+"""  # noqa: E501
+IsAscii = Annotated[_StrType, Predicate(str.isascii)]
+"""
+Return True if all characters in the string are ASCII, False otherwise.
+
+ASCII characters have code points in the range U+0000-U+007F. Empty string is ASCII too.
+"""
+
+_NumericType = TypeVar('_NumericType', bound=Union[SupportsFloat, SupportsIndex])
+IsFinite = Annotated[_NumericType, Predicate(math.isfinite)]
+"""Return True if x is neither an infinity nor a NaN, and False otherwise."""
+IsNotFinite = Annotated[_NumericType, Predicate(Not(math.isfinite))]
+"""Return True if x is one of infinity or NaN, and False otherwise"""
+IsNan = Annotated[_NumericType, Predicate(math.isnan)]
+"""Return True if x is a NaN (not a number), and False otherwise."""
+IsNotNan = Annotated[_NumericType, Predicate(Not(math.isnan))]
+"""Return True if x is anything but NaN (not a number), and False otherwise."""
+IsInfinite = Annotated[_NumericType, Predicate(math.isinf)]
+"""Return True if x is a positive or negative infinity, and False otherwise."""
+IsNotInfinite = Annotated[_NumericType, Predicate(Not(math.isinf))]
+"""Return True if x is neither a positive or negative infinity, and False otherwise."""
+
+try:
+    from typing_extensions import DocInfo, doc  # type: ignore [attr-defined]
+except ImportError:
+
+    @dataclass(frozen=True, **SLOTS)
+    class DocInfo:  # type: ignore [no-redef]
+        """ "
+        The return value of doc(), mainly to be used by tools that want to extract the
+        Annotated documentation at runtime.
+        """
+
+        documentation: str
+        """The documentation string passed to doc()."""
+
+    def doc(
+        documentation: str,
+    ) -> DocInfo:
+        """
+        Add documentation to a type annotation inside of Annotated.
+
+        For example:
+
+        >>> def hi(name: Annotated[int, doc("The name of the user")]) -> None: ...
+        """
+        return DocInfo(documentation)

backend_service/venv/lib/python3.13/site-packages/annotated_types/test_cases.py

@@ -0,0 +1,151 @@
+import math
+import sys
+from datetime import date, datetime, timedelta, timezone
+from decimal import Decimal
+from typing import Any, Dict, Iterable, Iterator, List, NamedTuple, Set, Tuple
+
+if sys.version_info < (3, 9):
+    from typing_extensions import Annotated
+else:
+    from typing import Annotated
+
+import annotated_types as at
+
+
+class Case(NamedTuple):
+    """
+    A test case for `annotated_types`.
+    """
+
+    annotation: Any
+    valid_cases: Iterable[Any]
+    invalid_cases: Iterable[Any]
+
+
+def cases() -> Iterable[Case]:
+    # Gt, Ge, Lt, Le
+    yield Case(Annotated[int, at.Gt(4)], (5, 6, 1000), (4, 0, -1))
+    yield Case(Annotated[float, at.Gt(0.5)], (0.6, 0.7, 0.8, 0.9), (0.5, 0.0, -0.1))
+    yield Case(
+        Annotated[datetime, at.Gt(datetime(2000, 1, 1))],
+        [datetime(2000, 1, 2), datetime(2000, 1, 3)],
+        [datetime(2000, 1, 1), datetime(1999, 12, 31)],
+    )
+    yield Case(
+        Annotated[datetime, at.Gt(date(2000, 1, 1))],
+        [date(2000, 1, 2), date(2000, 1, 3)],
+        [date(2000, 1, 1), date(1999, 12, 31)],
+    )
+    yield Case(
+        Annotated[datetime, at.Gt(Decimal('1.123'))],
+        [Decimal('1.1231'), Decimal('123')],
+        [Decimal('1.123'), Decimal('0')],
+    )
+
+    yield Case(Annotated[int, at.Ge(4)], (4, 5, 6, 1000, 4), (0, -1))
+    yield Case(Annotated[float, at.Ge(0.5)], (0.5, 0.6, 0.7, 0.8, 0.9), (0.4, 0.0, -0.1))
+    yield Case(
+        Annotated[datetime, at.Ge(datetime(2000, 1, 1))],
+        [datetime(2000, 1, 2), datetime(2000, 1, 3)],
+        [datetime(1998, 1, 1), datetime(1999, 12, 31)],
+    )
+
+    yield Case(Annotated[int, at.Lt(4)], (0, -1), (4, 5, 6, 1000, 4))
+    yield Case(Annotated[float, at.Lt(0.5)], (0.4, 0.0, -0.1), (0.5, 0.6, 0.7, 0.8, 0.9))
+    yield Case(
+        Annotated[datetime, at.Lt(datetime(2000, 1, 1))],
+        [datetime(1999, 12, 31), datetime(1999, 12, 31)],
+        [datetime(2000, 1, 2), datetime(2000, 1, 3)],
+    )
+
+    yield Case(Annotated[int, at.Le(4)], (4, 0, -1), (5, 6, 1000))
+    yield Case(Annotated[float, at.Le(0.5)], (0.5, 0.0, -0.1), (0.6, 0.7, 0.8, 0.9))
+    yield Case(
+        Annotated[datetime, at.Le(datetime(2000, 1, 1))],
+        [datetime(2000, 1, 1), datetime(1999, 12, 31)],
+        [datetime(2000, 1, 2), datetime(2000, 1, 3)],
+    )
+
+    # Interval
+    yield Case(Annotated[int, at.Interval(gt=4)], (5, 6, 1000), (4, 0, -1))
+    yield Case(Annotated[int, at.Interval(gt=4, lt=10)], (5, 6), (4, 10, 1000, 0, -1))
+    yield Case(Annotated[float, at.Interval(ge=0.5, le=1)], (0.5, 0.9, 1), (0.49, 1.1))
+    yield Case(
+        Annotated[datetime, at.Interval(gt=datetime(2000, 1, 1), le=datetime(2000, 1, 3))],
+        [datetime(2000, 1, 2), datetime(2000, 1, 3)],
+        [datetime(2000, 1, 1), datetime(2000, 1, 4)],
+    )
+
+    yield Case(Annotated[int, at.MultipleOf(multiple_of=3)], (0, 3, 9), (1, 2, 4))
+    yield Case(Annotated[float, at.MultipleOf(multiple_of=0.5)], (0, 0.5, 1, 1.5), (0.4, 1.1))
+
+    # lengths
+
+    yield Case(Annotated[str, at.MinLen(3)], ('123', '1234', 'x' * 10), ('', '1', '12'))
+    yield Case(Annotated[str, at.Len(3)], ('123', '1234', 'x' * 10), ('', '1', '12'))
+    yield Case(Annotated[List[int], at.MinLen(3)], ([1, 2, 3], [1, 2, 3, 4], [1] * 10), ([], [1], [1, 2]))
+    yield Case(Annotated[List[int], at.Len(3)], ([1, 2, 3], [1, 2, 3, 4], [1] * 10), ([], [1], [1, 2]))
+
+    yield Case(Annotated[str, at.MaxLen(4)], ('', '1234'), ('12345', 'x' * 10))
+    yield Case(Annotated[str, at.Len(0, 4)], ('', '1234'), ('12345', 'x' * 10))
+    yield Case(Annotated[List[str], at.MaxLen(4)], ([], ['a', 'bcdef'], ['a', 'b', 'c']), (['a'] * 5, ['b'] * 10))
+    yield Case(Annotated[List[str], at.Len(0, 4)], ([], ['a', 'bcdef'], ['a', 'b', 'c']), (['a'] * 5, ['b'] * 10))
+
+    yield Case(Annotated[str, at.Len(3, 5)], ('123', '12345'), ('', '1', '12', '123456', 'x' * 10))
+    yield Case(Annotated[str, at.Len(3, 3)], ('123',), ('12', '1234'))
+
+    yield Case(Annotated[Dict[int, int], at.Len(2, 3)], [{1: 1, 2: 2}], [{}, {1: 1}, {1: 1, 2: 2, 3: 3, 4: 4}])
+    yield Case(Annotated[Set[int], at.Len(2, 3)], ({1, 2}, {1, 2, 3}), (set(), {1}, {1, 2, 3, 4}))
+    yield Case(Annotated[Tuple[int, ...], at.Len(2, 3)], ((1, 2), (1, 2, 3)), ((), (1,), (1, 2, 3, 4)))
+
+    # Timezone
+
+    yield Case(
+        Annotated[datetime, at.Timezone(None)], [datetime(2000, 1, 1)], [datetime(2000, 1, 1, tzinfo=timezone.utc)]
+    )
+    yield Case(
+        Annotated[datetime, at.Timezone(...)], [datetime(2000, 1, 1, tzinfo=timezone.utc)], [datetime(2000, 1, 1)]
+    )
+    yield Case(
+        Annotated[datetime, at.Timezone(timezone.utc)],
+        [datetime(2000, 1, 1, tzinfo=timezone.utc)],
+        [datetime(2000, 1, 1), datetime(2000, 1, 1, tzinfo=timezone(timedelta(hours=6)))],
+    )
+    yield Case(
+        Annotated[datetime, at.Timezone('Europe/London')],
+        [datetime(2000, 1, 1, tzinfo=timezone(timedelta(0), name='Europe/London'))],
+        [datetime(2000, 1, 1), datetime(2000, 1, 1, tzinfo=timezone(timedelta(hours=6)))],
+    )
+
+    # Quantity
+
+    yield Case(Annotated[float, at.Unit(unit='m')], (5, 4.2), ('5m', '4.2m'))
+
+    # predicate types
+
+    yield Case(at.LowerCase[str], ['abc', 'foobar'], ['', 'A', 'Boom'])
+    yield Case(at.UpperCase[str], ['ABC', 'DEFO'], ['', 'a', 'abc', 'AbC'])
+    yield Case(at.IsDigit[str], ['123'], ['', 'ab', 'a1b2'])
+    yield Case(at.IsAscii[str], ['123', 'foo bar'], ['£100', '😊', 'whatever 👀'])
+
+    yield Case(Annotated[int, at.Predicate(lambda x: x % 2 == 0)], [0, 2, 4], [1, 3, 5])
+
+    yield Case(at.IsFinite[float], [1.23], [math.nan, math.inf, -math.inf])
+    yield Case(at.IsNotFinite[float], [math.nan, math.inf], [1.23])
+    yield Case(at.IsNan[float], [math.nan], [1.23, math.inf])
+    yield Case(at.IsNotNan[float], [1.23, math.inf], [math.nan])
+    yield Case(at.IsInfinite[float], [math.inf], [math.nan, 1.23])
+    yield Case(at.IsNotInfinite[float], [math.nan, 1.23], [math.inf])
+
+    # check stacked predicates
+    yield Case(at.IsInfinite[Annotated[float, at.Predicate(lambda x: x > 0)]], [math.inf], [-math.inf, 1.23, math.nan])
+
+    # doc
+    yield Case(Annotated[int, at.doc("A number")], [1, 2], [])
+
+    # custom GroupedMetadata
+    class MyCustomGroupedMetadata(at.GroupedMetadata):
+        def __iter__(self) -> Iterator[at.Predicate]:
+            yield at.Predicate(lambda x: float(x).is_integer())
+
+    yield Case(Annotated[float, MyCustomGroupedMetadata()], [0, 2.0], [0.01, 1.5])

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

@@ -0,0 +1,111 @@
+from __future__ import annotations
+
+from ._core._contextmanagers import AsyncContextManagerMixin as AsyncContextManagerMixin
+from ._core._contextmanagers import ContextManagerMixin as ContextManagerMixin
+from ._core._eventloop import current_time as current_time
+from ._core._eventloop import get_all_backends as get_all_backends
+from ._core._eventloop import get_available_backends as get_available_backends
+from ._core._eventloop import get_cancelled_exc_class as get_cancelled_exc_class
+from ._core._eventloop import run as run
+from ._core._eventloop import sleep as sleep
+from ._core._eventloop import sleep_forever as sleep_forever
+from ._core._eventloop import sleep_until as sleep_until
+from ._core._exceptions import BrokenResourceError as BrokenResourceError
+from ._core._exceptions import BrokenWorkerInterpreter as BrokenWorkerInterpreter
+from ._core._exceptions import BrokenWorkerProcess as BrokenWorkerProcess
+from ._core._exceptions import BusyResourceError as BusyResourceError
+from ._core._exceptions import ClosedResourceError as ClosedResourceError
+from ._core._exceptions import ConnectionFailed as ConnectionFailed
+from ._core._exceptions import DelimiterNotFound as DelimiterNotFound
+from ._core._exceptions import EndOfStream as EndOfStream
+from ._core._exceptions import IncompleteRead as IncompleteRead
+from ._core._exceptions import NoEventLoopError as NoEventLoopError
+from ._core._exceptions import RunFinishedError as RunFinishedError
+from ._core._exceptions import TypedAttributeLookupError as TypedAttributeLookupError
+from ._core._exceptions import WouldBlock as WouldBlock
+from ._core._fileio import AsyncFile as AsyncFile
+from ._core._fileio import Path as Path
+from ._core._fileio import open_file as open_file
+from ._core._fileio import wrap_file as wrap_file
+from ._core._resources import aclose_forcefully as aclose_forcefully
+from ._core._signals import open_signal_receiver as open_signal_receiver
+from ._core._sockets import TCPConnectable as TCPConnectable
+from ._core._sockets import UNIXConnectable as UNIXConnectable
+from ._core._sockets import as_connectable as as_connectable
+from ._core._sockets import connect_tcp as connect_tcp
+from ._core._sockets import connect_unix as connect_unix
+from ._core._sockets import create_connected_udp_socket as create_connected_udp_socket
+from ._core._sockets import (
+    create_connected_unix_datagram_socket as create_connected_unix_datagram_socket,
+)
+from ._core._sockets import create_tcp_listener as create_tcp_listener
+from ._core._sockets import create_udp_socket as create_udp_socket
+from ._core._sockets import create_unix_datagram_socket as create_unix_datagram_socket
+from ._core._sockets import create_unix_listener as create_unix_listener
+from ._core._sockets import getaddrinfo as getaddrinfo
+from ._core._sockets import getnameinfo as getnameinfo
+from ._core._sockets import notify_closing as notify_closing
+from ._core._sockets import wait_readable as wait_readable
+from ._core._sockets import wait_socket_readable as wait_socket_readable
+from ._core._sockets import wait_socket_writable as wait_socket_writable
+from ._core._sockets import wait_writable as wait_writable
+from ._core._streams import create_memory_object_stream as create_memory_object_stream
+from ._core._subprocesses import open_process as open_process
+from ._core._subprocesses import run_process as run_process
+from ._core._synchronization import CapacityLimiter as CapacityLimiter
+from ._core._synchronization import (
+    CapacityLimiterStatistics as CapacityLimiterStatistics,
+)
+from ._core._synchronization import Condition as Condition
+from ._core._synchronization import ConditionStatistics as ConditionStatistics
+from ._core._synchronization import Event as Event
+from ._core._synchronization import EventStatistics as EventStatistics
+from ._core._synchronization import Lock as Lock
+from ._core._synchronization import LockStatistics as LockStatistics
+from ._core._synchronization import ResourceGuard as ResourceGuard
+from ._core._synchronization import Semaphore as Semaphore
+from ._core._synchronization import SemaphoreStatistics as SemaphoreStatistics
+from ._core._tasks import TASK_STATUS_IGNORED as TASK_STATUS_IGNORED
+from ._core._tasks import CancelScope as CancelScope
+from ._core._tasks import create_task_group as create_task_group
+from ._core._tasks import current_effective_deadline as current_effective_deadline
+from ._core._tasks import fail_after as fail_after
+from ._core._tasks import move_on_after as move_on_after
+from ._core._tempfile import NamedTemporaryFile as NamedTemporaryFile
+from ._core._tempfile import SpooledTemporaryFile as SpooledTemporaryFile
+from ._core._tempfile import TemporaryDirectory as TemporaryDirectory
+from ._core._tempfile import TemporaryFile as TemporaryFile
+from ._core._tempfile import gettempdir as gettempdir
+from ._core._tempfile import gettempdirb as gettempdirb
+from ._core._tempfile import mkdtemp as mkdtemp
+from ._core._tempfile import mkstemp as mkstemp
+from ._core._testing import TaskInfo as TaskInfo
+from ._core._testing import get_current_task as get_current_task
+from ._core._testing import get_running_tasks as get_running_tasks
+from ._core._testing import wait_all_tasks_blocked as wait_all_tasks_blocked
+from ._core._typedattr import TypedAttributeProvider as TypedAttributeProvider
+from ._core._typedattr import TypedAttributeSet as TypedAttributeSet
+from ._core._typedattr import typed_attribute as typed_attribute
+
+# Re-export imports so they look like they live directly in this package
+for __value in list(locals().values()):
+    if getattr(__value, "__module__", "").startswith("anyio."):
+        __value.__module__ = __name__
+
+
+del __value
+
+
+def __getattr__(attr: str) -> type[BrokenWorkerInterpreter]:
+    """Support deprecated aliases."""
+    if attr == "BrokenWorkerIntepreter":
+        import warnings
+
+        warnings.warn(
+            "The 'BrokenWorkerIntepreter' alias is deprecated, use 'BrokenWorkerInterpreter' instead.",
+            DeprecationWarning,
+            stacklevel=2,
+        )
+        return BrokenWorkerInterpreter
+
+    raise AttributeError(f"module {__name__!r} has no attribute {attr!r}")