新增拍照节点,删除安全检查

backend_service/src/prompts/classifier_prompt.txt

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

backend_service/src/prompts/simple_mode_prompt.txt

@@ -29,15 +29,13 @@
     {"name": "track_object", "description": "持续跟踪目标。", "params": {"target_class": "string, 取值同object_detect列表", "description": "string, 可选", "track_time": "float[1,600], 默认30.0", "min_confidence": "float[0.5-1.0], 默认0.7", "safe_distance": "float[2-50], 默认10.0"}},
     {"name": "deliver_payload", "description": "投放物资。", "params": {"payload_type": "string", "release_altitude": "float[2,100], 默认5.0"}},
     {"name": "preflight_checks", "description": "飞行前系统自检。", "params": {"check_level": "string: basic|comprehensive"}},
-    {"name": "emergency_return", "description": "执行紧急返航程序。", "params": {"reason": "string"}}
+    {"name": "take_picture", "description": "使用机载相机拍摄照片。", "params": {}}
   ],
   "conditions": [
-    {"name": "battery_above", "description": "电池电量高于阈值。", "params": {"threshold": "float[0.0,1.0]"}},
     {"name": "at_waypoint", "description": "在指定坐标容差范围内。", "params": {"x": "float", "y": "float", "z": "float", "tolerance": "float, 可选, 默认3.0"}},
     {"name": "object_detected", "description": "检测到特定目标。", "params": {"target_class": "string", "description": "string, 可选", "count": "int, 可选, 默认1"}},
     {"name": "target_destroyed", "description": "目标已被摧毁。", "params": {"target_class": "string", "description": "string, 可选", "confidence": "float[0.5-1.0], 默认0.8"}},
-    {"name": "time_elapsed", "description": "时间经过。", "params": {"duration": "float[1,2700]"}},
+    {"name": "time_elapsed", "description": "时间经过。", "params": {"duration": "float[1,2700]"}}
-    {"name": "gps_status", "description": "GPS状态良好。", "params": {"min_satellites": "int[6,15], 默认10"}}
   ]
 }
 ```

backend_service/src/prompts/system_prompt.txt

@@ -20,15 +20,13 @@
     {"name":"track_object","params":{"target_class":"同object_detect","description":"可选，目标属性","track_time":"[1,600]秒（必传，不可用'duration'）","min_confidence":"[0.5,1.0]默认0.7","safe_distance":"[2,50]默认10"}},
     {"name":"deliver_payload","params":{"payload_type":"string","release_altitude":"[2,100]默认5"}},
     {"name":"preflight_checks","params":{"check_level":"basic/comprehensive"}},
-    {"name":"emergency_return","params":{"reason":"string"}}
+    {"name":"take_picture","params":{}}
   ],
   "conditions": [
-    {"name":"battery_above","params":{"threshold":"[0.0,1.0]，必传"}},
     {"name":"at_waypoint","params":{"x":"±10000","y":"±10000","z":"[1,5000]","tolerance":"默认3.0"}},
     {"name":"object_detected","params":{"target_class":"同object_detect（必传）","description":"可选，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":"time_elapsed","params":{"duration":"[1,2700]秒"}}
-    {"name":"gps_status","params":{"min_satellites":"int[6,15]，必传（如8）"}}
   ],
   "control_flow": [
     {"name":"Sequence","params":{},"children":"子节点数组（按序执行，全成功则成功）"},
@@ -43,18 +41,18 @@
 每个节点必须包含以下字段，字段名/类型不可自定义：
 1. **`type`**：  
    - 动作节点→`"action"`，条件节点→`"condition"`，控制流节点→`"Sequence"`/`"Selector"`/`"Parallel"`（与`name`字段值完全一致）；
-2. **`name`**：必须是上述JSON中`actions`/`conditions`/`control_flow`下的`name`值（如“gps_status”不可错写为“gps_check”）；
+2. **`name`**：必须是上述JSON中`actions`/`conditions`/`control_flow`下的`name`值；
 3. **`params`**：严格匹配上述节点的`params`定义，无自定义参数（如优先级排序不可加“priority”字段，仅用`description`）；
 4. **`children`**：仅控制流节点必含（子节点数组），动作/条件节点无此字段。
 
 
-## 三、行为树固定结构（通用不变，确保安全验证）
+## 三、行为树固定结构（通用不变）
-根节点必须是`Parallel`，`children`含`MainTask`（Sequence）和`SafetyMonitor`（Selector），结构不随任务类型（含优先级排序）修改：
+根节点必须是`Parallel`，`children`含`MainTask`（Sequence），结构不随任务类型（含优先级排序）修改：
 ```json
 {
   "root": {
     "type": "Parallel",
-    "name": "MissionWithSafety",
+    "name": "Mission",
     "params": {"policy": "all_success"},
     "children": [
       {
@@ -72,24 +70,6 @@
           {"type":"action","name":"strike_target","params":{"target_class":"balloon","description":"红色"}},
           {"type":"action","name":"land","params":{"mode":"home"}}
         ]
-      },
-      {
-        "type": "Selector",
-        "name": "SafetyMonitor",
-        "params": {"memory": true},
-        "children": [
-          {"type":"condition","name":"battery_above","params":{"threshold":0.3}},
-          {"type":"condition","name":"gps_status","params":{"min_satellites":8}},
-          {
-            "type":"Sequence",
-            "name":"EmergencyHandler",
-            "params": {},
-            "children": [
-              {"type":"action","name":"emergency_return","params":{"reason":"safety_breach"}},
-              {"type":"action","name":"land","params":{"mode":"home"}}
-            ]
-          }
-        ]
       }
     ]
   }
@@ -106,11 +86,10 @@
 
 
 ## 五、高频错误规避（确保验证通过）
-1. 优先级排序不可修改`target_class`：如“民用卡车、面包车与军用卡车中，军用卡车优先”，`target_class`仍为`truck`，仅用`description`填排序规则；
+1. 优先级排序不可修改`target_class`：如"民用卡车、面包车与军用卡车中，军用卡车优先"，`target_class`仍为`truck`，仅用`description`填排序规则；
 2. 在没有明确指出物体之间的优先级关系情况下，`description`字段只描述物体属性本身，严禁与用户指令中不存在的物体进行排序；
 3. `track_object`必传`track_time`：不可用`duration`替代（如跟踪30秒填`"track_time":30.0`）；
-4. `gps_status`的`min_satellites`必须在6-15之间（如8，不可缺省）；
+4. 无自定义节点："锁定高优先级目标"需通过`object_detect`+`object_detected`实现，不可用"lock_high_risk_target"。
-5. 无自定义节点：“锁定高优先级目标”需通过`object_detect`+`object_detected`实现，不可用“lock_high_risk_target”。
 
 
 ## 六、输出要求

backend_service/src/py_tree_generator.py

@@ -157,32 +157,6 @@ def _find_nodes_by_name(node: Dict, target_name: str) -> List[Dict]:
     
     return nodes_found
 
-def _validate_safety_monitoring(pytree_instance: dict) -> bool:
-    """验证行为树是否包含必要的安全监控"""
-    root_node = pytree_instance.get("root", {})
-    
-    # 查找所有电池监控节点
-    battery_nodes = _find_nodes_by_name(root_node, "battery_above")
-    
-    # 检查是否包含安全监控结构
-    safety_monitors = _find_nodes_by_name(root_node, "SafetyMonitor")
-    
-    if not battery_nodes and not safety_monitors:
-        logging.warning("⚠️ 安全警告: 行为树中没有发现电池监控节点或安全监控器")
-        return False
-    
-    # 检查电池阈值设置是否合理
-    for battery_node in battery_nodes:
-        threshold = battery_node.get("params", {}).get("threshold")
-        if threshold is not None:
-            if threshold < 0.25:
-                logging.warning(f"⚠️ 安全警告: 电池阈值设置过低 ({threshold})，建议不低于0.25")
-            elif threshold > 0.5:
-                logging.warning(f"⚠️ 安全警告: 电池阈值设置过高 ({threshold})，可能影响任务执行")
-    
-    logging.info("✅ 安全监控验证通过")
-    return True
-
 def _generate_pytree_schema(allowed_actions: set, allowed_conditions: set) -> dict:
     """
     根据允许的行动和条件节点，动态生成一个JSON Schema。
@@ -273,48 +247,6 @@ def _generate_pytree_schema(allowed_actions: set, allowed_conditions: set) -> di
                         }
                     }
                 }
-            },
-            # 电池监控节点的参数验证
-            {
-                "if": {
-                    "properties": {
-                        "type": {"const": "condition"},
-                        "name": {"const": "battery_above"}
-                    }
-                },
-                "then": {
-                    "properties": {
-                        "params": {
-                            "type": "object",
-                            "properties": {
-                                "threshold": {"type": "number", "minimum": 0.0, "maximum": 1.0}
-                            },
-                            "required": ["threshold"],
-                            "additionalProperties": False
-                        }
-                    }
-                }
-            },
-            # GPS状态节点的参数验证
-            {
-                "if": {
-                    "properties": {
-                        "type": {"const": "condition"},
-                        "name": {"const": "gps_status"}
-                    }
-                },
-                "then": {
-                    "properties": {
-                        "params": {
-                            "type": "object",
-                            "properties": {
-                                "min_satellites": {"type": "integer", "minimum": 6, "maximum": 15}
-                            },
-                            "required": ["min_satellites"],
-                            "additionalProperties": False
-                        }
-                    }
-                }
             }
         ]
     }
@@ -371,11 +303,7 @@ def _validate_pytree_with_schema(pytree_instance: dict, schema: dict) -> bool:
     try:
         jsonschema.validate(instance=pytree_instance, schema=schema)
         logging.info("✅ JSON Schema验证成功")
-        
+        return True
-        # 额外验证安全监控
-        safety_valid = _validate_safety_monitoring(pytree_instance)
-        
-        return True and safety_valid
     except jsonschema.ValidationError as e:
         logging.warning("❌ Pytree验证失败")
         logging.warning(f"错误信息: {e.message}")
@@ -385,10 +313,6 @@ def _validate_pytree_with_schema(pytree_instance: dict, schema: dict) -> bool:
         # 提供更具体的错误信息
         if "object_detect" in str(e.message) or "object_detected" in str(e.message):
             logging.warning("💡 提示: 请确保目标类别是预定义列表中的有效值")
-        elif "battery_above" in str(e.message):
-            logging.warning("💡 提示: 电池阈值必须在0.0到1.0之间")
-        elif "gps_status" in str(e.message):
-            logging.warning("💡 提示: 最小卫星数量必须在6到15之间")
         
         return False
     except Exception as e:
@@ -410,10 +334,10 @@ def _visualize_pytree(node: Dict, file_path: str):
 
     # 选择合适的中文字体，避免中文乱码
     def _pick_zh_font():
-        sys = platform.system()
+        system = platform.system()
-        if sys == "Windows":
+        if system == "Windows":
             return "Microsoft YaHei"
-        elif sys == "Darwin":
+        elif system == "Darwin":
             return "PingFang SC"
         else:
             return "Noto Sans CJK SC"
@@ -443,7 +367,19 @@ def _visualize_pytree(node: Dict, file_path: str):
     except Exception as e:
         logging.error("❌ 生成可视化图形失败")
         logging.error("请确保您的系统已经正确安装了Graphviz图形库。")
+        logging.error("安装方法：")
+        logging.error("  Ubuntu/Debian: sudo apt-get install graphviz")
+        logging.error("  CentOS/RHEL: sudo yum install graphviz")
+        logging.error("  macOS: brew install graphviz")
         logging.error(f"错误详情: {e}")
+        # 清理可能残留的源文件
+        try:
+            gv_file = f"{render_path}.gv"
+            if os.path.exists(gv_file):
+                os.remove(gv_file)
+                logging.info(f"已清理残留的源文件: {gv_file}")
+        except Exception:
+            pass
 
 def _add_nodes_and_edges(node: dict, dot, parent_id: str | None = None) -> str:
     """递归辅助函数，用于添加节点和边。"""
@@ -504,11 +440,6 @@ def _add_nodes_and_edges(node: dict, dot, parent_id: str | None = None) -> str:
         style = 'filled'
         fillcolor = '#e1d5e7'  # 紫色
     
-    # 特别标记安全相关节点
-    if node.get('name') in ['battery_above', 'gps_status', 'SafetyMonitor']:
-        border_color = '#ff0000'  # 红色边框突出显示安全节点
-        style = 'filled,bold'  # 加粗
-    
     dot.node(current_id, label=node_label, shape=shape, style=style, fillcolor=fillcolor, color=border_color)
     
     # 连接父节点
@@ -827,7 +758,7 @@ class PyTreeGenerator:
                     pytree_dict['final_prompt'] = final_prompt
                     return pytree_dict
 
-                # 复杂模式回退：若模型误返回简单结构（root是单个action），则自动包装为含安全监控的行为树
+                # 复杂模式回退：若模型误返回简单结构（root是单个action），则自动包装为完整行为树
                 if mode == "complex" and isinstance(pytree_dict, dict) and 'root' in pytree_dict:
                     root_node = pytree_dict.get('root', {})
                     # 检查是否是简单结构（root是单个action节点，没有children）
@@ -839,31 +770,16 @@ class PyTreeGenerator:
                             action_name = root_node.get('name')
                             action_params = root_node.get('params') if isinstance(root_node.get('params'), dict) else {}
 
-                            safety_selector = {
-                                "type": "Selector",
-                                "name": "SafetyMonitor",
-                                "params": {"memory": True},
-                                "children": [
-                                    {"type": "condition", "name": "battery_above", "params": {"threshold": 0.3}},
-                                    {"type": "condition", "name": "gps_status", "params": {"min_satellites": 8}},
-                                    {"type": "Sequence", "name": "EmergencyHandler", "children": [
-                                        {"type": "action", "name": "emergency_return", "params": {"reason": "safety_breach"}},
-                                        {"type": "action", "name": "land", "params": {"mode": "home"}}
-                                    ]}
-                                ]
-                            }
-
                             main_children = [{"type": "action", "name": action_name, "params": action_params}]
                             if action_name != "land":
                                 main_children.append({"type": "action", "name": "land", "params": {"mode": "home"}})
 
                             root_parallel = {
                                 "type": "Parallel",
-                                "name": "MissionWithSafety",
+                                "name": "Mission",
                                 "params": {"policy": "all_success"},
                                 "children": [
-                                    {"type": "Sequence", "name": "MainTask", "children": main_children},
+                                    {"type": "Sequence", "name": "MainTask", "children": main_children}
-                                    safety_selector
                                 ]
                             }
                             pytree_dict = {"root": root_parallel}