更新vllm后端的使用方法

README.md

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

backend_service/generated_reasoning_content/reasoning_content.md

@@ -1,85 +0,0 @@
-好的，我现在需要处理用户的任务指令，生成一个符合要求的行为树JSON。首先，我得仔细阅读用户的指令和参考知识，确保理解所有要求。
-
-用户的目标是搜索并锁定危险性最高的气球（红色>蓝色>绿色），然后跟踪30秒后进行打击。参考知识中提到了三个地点，但用户可能希望搜索的区域是这些地点附近，或者需要根据这些坐标来规划路径。
-
-首先，我需要确定无人机的起降点。参考知识中的地点坐标可能作为搜索区域的中心。比如，用户提到的“学生宿舍”坐标是(5,3,2)，但可能需要选择一个合适的中心点进行搜索。不过用户没有明确指定搜索区域，可能需要使用search_pattern来覆盖这些区域，或者直接在某个中心点周围搜索。
-
-接下来，任务流程应该是：起飞→飞往搜索区域→搜索目标→检测到目标后跟踪→打击。同时必须包含安全监控。
-
-根据用户提供的参考知识，可能需要将搜索区域设置为某个中心点。比如，用户提到的“跷跷板”在(x:15, y:-8.5, z:1.2)，但z坐标需要调整到至少1米，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 - 已注释，项目已与ROS2解耦
-# rclpy>=0.0.1
+# ROS 2 Python Client
+rclpy>=0.0.1
 
 # Document Processing
 unstructured[all]>=0.11.0
@@ -30,10 +30,10 @@ rich>=13.7.0
 # Type Hints Support
 typing-extensions>=4.8.0
 
-# ROS 2 Build Dependencies - 已注释，项目已与ROS2解耦
-# empy==3.3.4
-# catkin-pkg>=0.4.0
-# lark>=1.1.0
-# colcon-common-extensions>=0.3.0
-# vcstool>=0.2.0
-# rosdep>=0.22.0
+# ROS 2 Build Dependencies
+empy==3.3.4
+catkin-pkg>=0.4.0
+lark>=1.1.0
+colcon-common-extensions>=0.3.0
+vcstool>=0.2.0
+rosdep>=0.22.0

backend_service/src/main.py

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

backend_service/src/prompts/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。
-- 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。
+- 简单：单一原子动作即可完成（例如“起飞”“飞机自检”“移动到某地(已给定坐标)”“对着某点环绕XY圈（如‘对着学生宿舍环绕三十两圈’）”等），且无需行为树与安全并行监控。
+- 复杂：需要多步流程、搜索/检测/跟踪/评估、战损确认、或需要模板化任务结构与安全并行监控。
 
 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": "take_picture"}
+    {"name": "preflight_checks"}, {"name": "emergency_return"}
   ],
   "conditions": [
-    {"name": "at_waypoint"}, {"name": "object_detected"},
-    {"name": "target_destroyed"}, {"name": "time_elapsed"}
+    {"name": "battery_above"}, {"name": "at_waypoint"}, {"name": "object_detected"},
+    {"name": "target_destroyed"}, {"name": "time_elapsed"}, {"name": "gps_status"}
   ]
 }
 ```

backend_service/src/prompts/simple_mode_prompt.txt

@@ -4,7 +4,8 @@
 - 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。
+- <action_name> 与参数定义、取值范围，必须与“复杂模式”提示词（system_prompt.txt）中的定义完全一致。
+- 简单模式下root节点必须是action类型节点，不能是控制流节点。
 
 示例：
 - “起飞到10米” → {"root":{"type":"action","name":"takeoff","params":{"altitude":10.0}}}
@@ -29,13 +30,15 @@
     {"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": {}}
+    {"name": "emergency_return", "description": "执行紧急返航程序。", "params": {"reason": "string"}}
   ],
   "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

@@ -1,58 +1,65 @@
-任务：根据用户任意任务指令，生成结构化可执行的无人机行为树（Pytree）JSON。**仅输出单一JSON对象，无任何自然语言、注释或额外内容**。
+任务：根据用户任意任务指令，生成结构化可执行的无人机行为树（Pytree）JSON。**仅输出单一JSON对象，无任何自然语言、注释或额外内容**，需严格适配后端节点解析与Schema验证逻辑。
 
-## 一、核心节点定义（格式不可修改，确保后端解析）
-#### 1. 可用节点定义 (必须遵守)
-你必须严格从以下JSON定义的列表中选择节点构建行为树，不允许使用未定义节点：
+
+## 一、核心规则：确保后端能解析允许的节点（必严格遵守）
+后端会从提示词中解析允许的节点列表，以下节点定义部分**格式不可修改**，否则会导致解析失败（进而触发节点非法错误）。
+
+#### 2. 可用节点定义 (必须遵守)
+你必须严格从以下JSON定义的列表中选择节点来构建行为树。不允许使用任何未定义的节点（如"lock_target"等）。
 ```json
 {
   "actions": [
-    {"name":"takeoff","params":{"altitude":"float[1,100]，默认2"}},
-    {"name":"land","params":{"mode":"'current'/'home'"}},
+    {"name":"takeoff","params":{"altitude":"float, 范围[1,100]，默认2"}},
+    {"name":"land","params":{"mode":"string, 'current'/'home'"}},
     {"name":"fly_to_waypoint","params":{"x":"±10000","y":"±10000","z":"[1,5000]","acceptance_radius":"默认2.0"}},
     {"name":"move_direction","params":{"direction":"north/south/east/west/forward/backward/left/right","distance":"[1,10000]，缺省持续移动"}},
     {"name":"orbit_around_point","params":{"center_x":"±10000","center_y":"±10000","center_z":"[1,5000]","radius":"[5,1000]","laps":"[1,20]","clockwise":"默认true","speed_mps":"[0.5,15]","gimbal_lock":"默认true"}},
-    {"name":"orbit_around_target","params":{"target_class":"见object_detect列表","description":"可选，目标属性","radius":"[5,1000]","laps":"[1,20]","clockwise":"默认true","speed_mps":"[0.5,15]","gimbal_lock":"默认true"}},
+    {"name":"orbit_around_target","params":{"target_class":"见object_detect列表","description":"可选","radius":"[5,1000]","laps":"[1,20]","clockwise":"默认true","speed_mps":"[0.5,15]","gimbal_lock":"默认true"}},
     {"name":"loiter","params":{"duration":"[1,600]秒/until_condition:可选"}},
-    {"name":"object_detect","params":{"target_class":"person,bicycle,car,motorcycle,airplane,bus,train,truck,boat,traffic_light,fire_hydrant,stop_sign,parking_meter,bench,bird,cat,dog,horse,sheep,cow,elephant,bear,zebra,giraffe,backpack,umbrella,handbag,tie,suitcase,frisbee,skis,snowboard,sports_ball,kite,baseball_bat,baseball_glove,skateboard,surfboard,tennis_racket,bottle,wine_glass,cup,fork,knife,spoon,bowl,banana,apple,sandwich,orange,broccoli,carrot,hot_dog,pizza,donut,cake,chair,couch,potted_plant,bed,dining_table,toilet,tv,laptop,mouse,remote,keyboard,cell_phone,microwave,oven,toaster,sink,refrigerator,book,clock,vase,scissors,teddy_bear,hair_drier,toothbrush","description":"可选，","count":"默认1"}},
+    {"name":"object_detect","params":{"target_class":"person,bicycle,car,motorcycle,airplane,bus,train,truck,boat,traffic_light,fire_hydrant,stop_sign,parking_meter,bench,bird,cat,dog,horse,sheep,cow,elephant,bear,zebra,giraffe,backpack,umbrella,handbag,tie,suitcase,frisbee,skis,snowboard,sports_ball,kite,baseball_bat,baseball_glove,skateboard,surfboard,tennis_racket,bottle,wine_glass,cup,fork,knife,spoon,bowl,banana,apple,sandwich,orange,broccoli,carrot,hot_dog,pizza,donut,cake,chair,couch,potted_plant,bed,dining_table,toilet,tv,laptop,mouse,remote,keyboard,cell_phone,microwave,oven,toaster,sink,refrigerator,book,clock,vase,scissors,teddy_bear,hair_drier,toothbrush","description":"可选，目标属性（如'穿黑色衣服'）","count":"默认1"}},
     {"name":"strike_target","params":{"target_class":"同object_detect","description":"可选，目标属性","count":"默认1"}},
     {"name":"battle_damage_assessment","params":{"target_class":"同object_detect","assessment_time":"[5,60]，默认15"}},
-    {"name":"search_pattern","params":{"pattern_type":"spiral/grid","center_x":"±10000","center_y":"±10000","center_z":"[1,5000]","radius":"[5,1000]","target_class":"同object_detect","description":"可选，目标属性","count":"默认1"}},
-    {"name":"track_object","params":{"target_class":"同object_detect","description":"可选，目标属性","track_time":"[1,600]秒（必传，不可用'duration'）","min_confidence":"[0.5,1.0]默认0.7","safe_distance":"[2,50]默认10"}},
+    {"name":"search_pattern","params":{"pattern_type":"spiral/grid","center_x":"±10000","center_y":"±10000","center_z":"[1,5000]","radius":"[5,1000]","target_class":"同object_detect","description":"可选","count":"默认1"}},
+    {"name":"track_object","params":{"target_class":"同object_detect","description":"可选","track_time":"[1,600]秒（必传，不可用'duration'）","min_confidence":"[0.5,1.0]默认0.7","safe_distance":"[2,50]默认10"}},
     {"name":"deliver_payload","params":{"payload_type":"string","release_altitude":"[2,100]默认5"}},
     {"name":"preflight_checks","params":{"check_level":"basic/comprehensive"}},
-    {"name":"take_picture","params":{}}
+    {"name":"emergency_return","params":{"reason":"string"}}
   ],
   "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":"object_detected","params":{"target_class":"同object_detect（必传）","description":"可选","count":"默认1"}},
+    {"name":"target_destroyed","params":{"target_class":"同object_detect","description":"可选","confidence":"[0.5,1.0]默认0.8"}},
+    {"name":"time_elapsed","params":{"duration":"[1,2700]秒"}},
+    {"name":"gps_status","params":{"min_satellites":"int, 范围[6,15]，必传（如8）"}}
   ],
   "control_flow": [
     {"name":"Sequence","params":{},"children":"子节点数组（按序执行，全成功则成功）"},
     {"name":"Selector","params":{"memory":"默认true"},"children":"子节点数组（执行到成功为止）"},
-    {"name":"Parallel","params":{"policy":"all_success"},"children":"子节点数组（同时执行，严禁用'one_success'）"}
+    {"name":"Parallel","params":{"policy":"all_success/one_success"},"children":"子节点数组（同时执行）"}
   ]
 }
 ```
 
 
 ## 二、节点必填字段（后端Schema强制要求，缺一验证失败）
-每个节点必须包含以下字段，字段名/类型不可自定义：
-1. **`type`**：  
-   - 动作节点→`"action"`，条件节点→`"condition"`，控制流节点→`"Sequence"`/`"Selector"`/`"Parallel"`（与`name`字段值完全一致）；
-2. **`name`**：必须是上述JSON中`actions`/`conditions`/`control_flow`下的`name`值；
-3. **`params`**：严格匹配上述节点的`params`定义，无自定义参数（如优先级排序不可加“priority”字段，仅用`description`）；
-4. **`children`**：仅控制流节点必含（子节点数组），动作/条件节点无此字段。
+每个节点必须包含以下字段，字段名不可自定义：
+1. **`type`**：节点类型（严格匹配）  
+   - 动作节点：`"action"`  
+   - 条件节点：`"condition"`  
+   - 控制流节点：`"Sequence"`/`"Selector"`/`"Parallel"`（与`name`字段值完全一致）  
+2. **`name`**：节点名称（必须是上述JSON中`actions`/`conditions`/`control_flow`下的`name`值，如"gps_status"而非其他）  
+3. **`params`**：参数对象（严格匹配上述JSON中对应节点的`params`定义，不可加自定义参数，如`object_detected`不可加"color"，需用"description"）  
+4. **`children`**：子节点数组（仅控制流节点必含，动作/条件节点无此字段）  
 
 
-## 三、行为树固定结构（通用不变）
-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：
+## 三、根节点与安全监控固定结构（后端安全验证必含）
+根节点必须是`Parallel`，且`children`包含`MainTask`（Sequence）和`SafetyMonitor`（Selector），结构不可修改：
 ```json
 {
   "root": {
     "type": "Parallel",
-    "name": "Mission",
+    "name": "MissionWithSafety",
     "params": {"policy": "all_success"},
     "children": [
       {
@@ -60,16 +67,36 @@
         "name": "MainTask",
         "params": {},
         "children": [
-          // 通用主任务步骤（含优先级排序任务示例，需按用户指令替换）：
+          // 主任务步骤：按用户指令分解（如preflight_checks→takeoff→fly_to_waypoint→...→land）
+          // 示例步骤（需替换为用户任务）：
           {"type":"action","name":"preflight_checks","params":{"check_level":"comprehensive"}},
-          {"type":"action","name":"takeoff","params":{"altitude":10.0}},
-          {"type":"action","name":"fly_to_waypoint","params":{"x":200.0,"y":150.0,"z":10.0}}, // 搜索区坐标（用户未给时填合理值）
-          {"type":"action","name":"search_pattern","params":{"pattern_type":"grid","center_x":200.0,"center_y":150.0,"center_z":10.0,"radius":50.0,"target_class":"balloon","description":"红色"}},
-          {"type":"condition","name":"object_detected","params":{"target_class":"balloon","description":"红色"}}, // 确认高优先级目标
-          {"type":"action","name":"track_object","params":{"target_class":"balloon","description":"红色","track_time":30.0}},
-          {"type":"action","name":"strike_target","params":{"target_class":"balloon","description":"红色"}},
+          {"type":"action","name":"takeoff","params":{"altitude":2.0}},
+          {"type":"action","name":"fly_to_waypoint","params":{"x":100.0,"y":80.0,"z":10.0}},
+          {"type":"action","name":"object_detect","params":{"target_class":"person","description":"穿黑色衣服"}},
+          {"type":"condition","name":"object_detected","params":{"target_class":"person","description":"穿黑色衣服"}},
+          {"type":"action","name":"track_object","params":{"target_class":"person","description":"穿黑色衣服","track_time":30.0}},
+          {"type":"action","name":"strike_target","params":{"target_class":"person","description":"穿黑色衣服"}},
           {"type":"action","name":"land","params":{"mode":"home"}}
         ]
+      },
+      {
+        "type": "Selector",
+        "name": "SafetyMonitor",
+        "params": {"memory": true},
+        "children": [
+          // 必含：电池监控（battery_above）、GPS监控（gps_status）、紧急处理（EmergencyHandler）
+          {"type":"condition","name":"battery_above","params":{"threshold":0.3}},
+          {"type":"condition","name":"gps_status","params":{"min_satellites":8}},
+          {
+            "type":"Sequence",
+            "name":"EmergencyHandler",
+            "params": {},
+            "children": [
+              {"type":"action","name":"emergency_return","params":{"reason":"safety_breach"}},
+              {"type":"action","name":"land","params":{"mode":"home"}}
+            ]
+          }
+        ]
       }
     ]
   }
@@ -77,20 +104,15 @@
 ```
 
 
-## 四、优先级排序任务通用示例
-当用户指令中明确提出有多个待考察且具有优先级关系的物体时，节点描述须为优先级关系。比如当指令为已知有三个气球，危险级关系为红色气球大于蓝色气球大于绿色气球，要求优先跟踪最危险的气球时，节点的描述参考下表情形。
-| 用户指令场景                | `target_class`  | `description`          | 核心节点示例（search_pattern）                                                                 |
-|-----------------------------|-----------------|-------------------------|------------------------------------------------------------------------------------------------|
-| 红气球＞蓝气球＞绿气球      | `balloon`    | `（红＞蓝＞绿）`        | `{"type":"action","name":"search_pattern","params":{"pattern_type":"grid","center_x":200,"center_y":150,"center_z":10,"radius":50,"target_class":"balloon","description":"（红＞蓝＞绿）"}}` |
-| 军用卡车＞民用卡车＞面包车  | `truck`         | `（军用卡车＞民用卡车＞面包车）` | `{"type":"action","name":"object_detect","params":{"target_class":"truck","description":"（军用卡车＞民用卡车＞面包车）"}}` |
+## 四、高频错误规避（后端验证常失败点）
+1. **禁止自定义节点**：如"lock_target"是未定义节点，必须删除，用"object_detect"+"object_detected"替代锁定逻辑。  
+2. **参数名严格匹配**：  
+   - `track_object`用`track_time`（不可用`duration`）；  
+   - `object_detected`描述目标属性用`description`（不可用`color`/`target`等）；  
+   - `gps_status`必传`min_satellites`（范围6-15，如8）。  
+3. **条件节点`object_detected`必含`target_class`**：值必须是上述JSON中`object_detect`的`target_class`列表中的值（如"person"）。  
+4. **控制流节点`name`与`type`一致**：如`type:"Sequence"`则`name:"Sequence"`，不可自定义`name`。
 
 
-## 五、高频错误规避（确保验证通过）
-1. 优先级排序不可修改`target_class`：如"民用卡车、面包车与军用卡车中，军用卡车优先"，`target_class`仍为`truck`，仅用`description`填排序规则；
-2. 在没有明确指出物体之间的优先级关系情况下，`description`字段只描述物体属性本身，严禁与用户指令中不存在的物体进行排序；
-3. `track_object`必传`track_time`：不可用`duration`替代（如跟踪30秒填`"track_time":30.0`）；
-4. 无自定义节点："锁定高优先级目标"需通过`object_detect`+`object_detected`实现，不可用"lock_high_risk_target"。
-
-
-## 六、输出要求
-仅输出1个严格符合上述所有规则的JSON对象，**确保：1. 优先级排序逻辑正确填入`description`；2. `target_class`匹配预定义列表；3. 行为树结构不变；4. 后端解析与Schema验证无错误**，无任何冗余内容。
+## 五、输出要求
+仅输出1个严格符合上述所有规则的JSON对象，**确保后端能解析到所有节点（尤其是conditions中的gps_status），且无任何冗余内容**。

backend_service/src/py_tree_generator.py

@@ -157,6 +157,32 @@ 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。
@@ -175,7 +201,7 @@ def _generate_pytree_schema(allowed_actions: set, allowed_conditions: set) -> di
         "sandwich", "orange", "broccoli", "carrot", "hot_dog", "pizza", "donut", "cake", "chair",
         "couch", "potted_plant", "bed", "dining_table", "toilet", "tv", "laptop", "mouse", "remote",
         "keyboard", "cell_phone", "microwave", "oven", "toaster", "sink", "refrigerator", "book",
-        "clock", "vase", "scissors", "teddy_bear", "hair_drier", "toothbrush","balloon"
+        "clock", "vase", "scissors", "teddy_bear", "hair_drier", "toothbrush"
     ]
     
     # 递归节点定义
@@ -247,6 +273,48 @@ 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
+                        }
+                    }
+                }
             }
         ]
     }
@@ -269,31 +337,35 @@ def _generate_pytree_schema(allowed_actions: set, allowed_conditions: set) -> di
 
 def _generate_simple_mode_schema(allowed_actions: set) -> dict:
     """
-    生成简单模式JSON Schema：{"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）。
+    生成简单模式JSON Schema：{"root":{"type":"action","name":"<action_name>","params":{...}}}
     仅校验动作名称在允许集合内，以及基本结构完整性；参数按对象形状放宽，由上游提示词与运行时再约束。
     """
+    # 使用复杂模式Schema中的node定义，但限制root节点必须是action类型
+    node_definition = {
+        "type": "object",
+        "properties": {
+            "type": {"type": "string", "const": "action"},
+            "name": {"type": "string", "enum": sorted(list(allowed_actions))},
+            "params": {"type": "object"}
+        },
+        "required": ["type", "name"],
+        "additionalProperties": False
+    }
+    
     schema = {
         "$schema": "http://json-schema.org/draft-07/schema#",
         "title": "SimpleMode",
+        "definitions": {
+            "node": node_definition
+        },
         "type": "object",
         "properties": {
-            "root": {
-                "type": "object",
-                "properties": {
-                    "type": {"type": "string", "const": "action"},  # 必须是action类型，不能是控制流节点（Sequence/Selector/Parallel）
-                    "name": {"type": "string", "enum": sorted(list(allowed_actions))},  # 动作名称必须在允许列表中
-                    "params": {"type": "object"}  # params是对象，具体参数由提示词和运行时约束
-                },
-                "required": ["type", "name"],  # type和name是必需的，params可选
-                "additionalProperties": True  # 允许root节点有其他属性（如额外的元数据）
-                # 注意：children字段的检查在验证后手动进行，因为JSON Schema的not/allOf在检查不存在字段时可能有问题
-            }
+            "root": { "$ref": "#/definitions/node" }
         },
-        "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）
+        "required": ["root"],
+        "additionalProperties": False
     }
+    
     return schema
 
 def _validate_pytree_with_schema(pytree_instance: dict, schema: dict) -> bool:
@@ -303,7 +375,11 @@ 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}")
@@ -313,6 +389,10 @@ 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:
@@ -334,10 +414,10 @@ 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():
-        system = platform.system()
-        if system == "Windows":
+        sys = platform.system()
+        if sys == "Windows":
             return "Microsoft YaHei"
-        elif system == "Darwin":
+        elif sys == "Darwin":
             return "PingFang SC"
         else:
             return "Noto Sans CJK SC"
@@ -367,19 +447,7 @@ 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。"""
@@ -440,6 +508,11 @@ 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
@@ -482,16 +555,6 @@ class PyTreeGenerator:
         # Updated output directory for visualizations
         self.vis_dir = os.path.abspath(os.path.join(self.base_dir, '..', 'generated_visualizations'))
         os.makedirs(self.vis_dir, exist_ok=True)
-        # Reasoning content output directory (Markdown files)
-        self.reasoning_dir = os.path.abspath(os.path.join(self.base_dir, '..', 'generated_reasoning_content'))
-        os.makedirs(self.reasoning_dir, exist_ok=True)
-        # 控制是否允许模型返回含 <think> 的原文（不强制JSON），以便提取推理链
-        self.enable_reasoning_capture = os.getenv("ENABLE_REASONING_CAPTURE", "true").lower() in ("1", "true", "yes")
-        # 终端预览的最大行数
-        try:
-            self.reasoning_preview_lines = int(os.getenv("REASONING_PREVIEW_LINES", "20"))
-        except Exception:
-            self.reasoning_preview_lines = 20
         # 加载提示词：复杂模式复用现有 system_prompt.txt；简单模式与分类器独立提示词
         self.complex_prompt = self._load_prompt("system_prompt.txt")
         self.simple_prompt = self._load_prompt("simple_mode_prompt.txt")
@@ -508,10 +571,6 @@ class PyTreeGenerator:
         self.simple_base_url = os.getenv("SIMPLE_BASE_URL", f"http://{self.orin_ip}:8081/v1")
         self.complex_base_url = os.getenv("COMPLEX_BASE_URL", f"http://{self.orin_ip}:8081/v1")
         self.api_key = os.getenv("OPENAI_API_KEY", "sk-no-key-required")
-        # 直接在代码中指定最大输出token数（不通过环境变量）
-        self.classifier_max_tokens = 512
-        self.simple_max_tokens = 8192
-        self.complex_max_tokens = 8192
         
         # 为不同用途分别创建客户端
         self.classifier_client = openai.OpenAI(api_key=self.api_key, base_url=self.classifier_base_url)
@@ -553,8 +612,6 @@ class PyTreeGenerator:
                 return None
             context_str = "\n\n".join(retrieved_docs)
             logging.info("--- 成功检索到上下文信息 ---")
-            # 打印检索到的上下文内容
-            logging.info(f"📚 检索到的上下文内容:\n{context_str}")
             return context_str
         except Exception as e:
             logging.error(f"从向量数据库检索时发生错误: {e}")
@@ -576,11 +633,7 @@ class PyTreeGenerator:
                     {"role": "user", "content": user_prompt}
                 ],
                 temperature=0.0,
-                response_format={"type": "json_object"},  # 强制JSON输出，禁用思考功能
-                max_tokens=self.classifier_max_tokens,
-                # 禁用 Qwen3 模型的思考功能（通过 extra_body 传递）
-                # 注意：如果 API 服务器不支持此参数，会忽略
-                extra_body={"chat_template_kwargs": {"enable_thinking": False}}
+                response_format={"type": "json_object"}
             )
             class_str = classifier_resp.choices[0].message.content
             class_obj = json.loads(class_str)
@@ -609,115 +662,33 @@ class PyTreeGenerator:
             final_user_prompt += augmentation
         else:
             logging.warning("未检索到上下文或检索失败，将使用原始用户提示词。")
-        
-        # 构建完整的 final_prompt（准确反映实际发送给大模型的内容结构）
-        # 注意：RAG检索结果被添加到 user prompt 中，而不是 system prompt
-        # System Prompt: use_prompt（不包含RAG结果）
-        # User Prompt: final_user_prompt（包含原始user_prompt + RAG检索结果）
-        final_prompt = f"=== System Prompt ===\n{use_prompt}\n\n=== User Prompt ===\n{final_user_prompt}"
         for attempt in range(3):
             logging.info(f"--- 第 {attempt + 1}/3 次尝试生成Pytree ---")
             try:
                 # 简单/复杂分流到不同模型与提示词
                 client = self.simple_llm_client if mode == "simple" else self.complex_llm_client
                 model_name = self.simple_model if mode == "simple" else self.complex_model
-                # 始终强制JSON响应并禁用思考功能
-                response_kwargs = {
-                    "model": model_name,
-                    "messages": [
+                response = client.chat.completions.create(
+                    model=model_name,
+                    messages=[
                         {"role": "system", "content": use_prompt},
                         {"role": "user", "content": final_user_prompt}
                     ],
-                    "temperature": 0.1 if mode == "complex" else 0.0,
-                    "response_format": {"type": "json_object"},  # 始终强制JSON输出，禁用思考功能
-                    # 禁用 Qwen3 模型的思考功能（通过 extra_body 传递）
-                    # 注意：如果 API 服务器不支持此参数，会忽略
-                    "extra_body": {"chat_template_kwargs": {"enable_thinking": False}}
-                }
-                # 基于模式设定最大输出token数（直接在代码中配置）
-                response_kwargs["max_tokens"] = self.simple_max_tokens if mode == "simple" else self.complex_max_tokens
-                response = client.chat.completions.create(**response_kwargs)
-                # 兼容可能存在的 reasoning_content 字段
-                try:
-                    msg = response.choices[0].message
-                    msg_content = getattr(msg, "content", None)
-                    msg_reasoning = getattr(msg, "reasoning_content", None)
-                except Exception:
-                    msg = response.choices[0]["message"] if isinstance(response.choices[0], dict) else None
-                    msg_content = (msg or {}).get("content") if isinstance(msg, dict) else None
-                    msg_reasoning = (msg or {}).get("reasoning_content") if isinstance(msg, dict) else None
-
-                combined_text = ""
-                if isinstance(msg_reasoning, str) and msg_reasoning.strip():
-                    # 将 reasoning_content 包装为 <think>，便于统一解析
-                    combined_text += f"<think>\n{msg_reasoning}\n</think>\n"
-                if isinstance(msg_content, str) and msg_content.strip():
-                    combined_text += msg_content
-                pytree_str = combined_text if combined_text else (msg_content or "")
-                raw_full_text_for_logging = pytree_str  # 保存完整原文（含 <think>）以便失败时完整打印
-
-                # 提取 <think> 推理链内容（若存在）
-                reasoning_text = None
-                try:
-                    think_match = re.search(r"<think>([\s\S]*?)</think>", pytree_str)
-                    if think_match:
-                        reasoning_text = think_match.group(1).strip()
-                        # 去除推理文本后再尝试解析JSON
-                        pytree_str = re.sub(r"<think>[\s\S]*?</think>", "", pytree_str).strip()
-                except Exception:
-                    reasoning_text = None
+                    temperature=0.1 if mode == "complex" else 0.0,
+                    response_format={"type": "json_object"}
+                )
+                pytree_str = response.choices[0].message.content
                 # 单独捕获JSON解析错误并打印原始响应
                 try:
                     pytree_dict = json.loads(pytree_str)
                 except json.JSONDecodeError as e:
-                    logging.error(f"❌ JSON解析失败（第 {attempt + 1}/3 次）。\n—— 完整原始文本(含<think>) ——\n{raw_full_text_for_logging}")
-                    # 尝试打印响应对象的完整结构
-                    try:
-                        raw_response_dump = None
-                        if hasattr(response, 'model_dump_json'):
-                            raw_response_dump = response.model_dump_json(indent=2, exclude_none=False)
-                        elif hasattr(response, 'dict'):
-                            raw_response_dump = json.dumps(response.dict(), ensure_ascii=False, indent=2, default=str)
-                        else:
-                            # 兜底：尝试将choices与关键字段展开
-                            safe_obj = {
-                                "id": getattr(response, 'id', None),
-                                "model": getattr(response, 'model', None),
-                                "object": getattr(response, 'object', None),
-                                "usage": getattr(response, 'usage', None),
-                                "choices": [
-                                    {
-                                        "index": getattr(c, 'index', None),
-                                        "finish_reason": getattr(c, 'finish_reason', None),
-                                        "message": {
-                                            "role": getattr(getattr(c, 'message', None), 'role', None),
-                                            "content": getattr(getattr(c, 'message', None), 'content', None),
-                                            "reasoning_content": getattr(getattr(c, 'message', None), 'reasoning_content', None)
-                                        } if getattr(c, 'message', None) is not None else None
-                                    }
-                                    for c in getattr(response, 'choices', [])
-                                ] if hasattr(response, 'choices') else None
-                            }
-                            raw_response_dump = json.dumps(safe_obj, ensure_ascii=False, indent=2, default=str)
-                        logging.error(f"—— 完整响应对象 ——\n{raw_response_dump}")
-                    except Exception as dump_e:
-                        try:
-                            logging.error(f"响应对象转储失败，repr如下：\n{repr(response)}")
-                        except Exception:
-                            pass
+                    logging.error(f"❌ JSON解析失败（第 {attempt + 1}/3 次）。原始响应如下：\n{pytree_str}")
                     continue
 
                 # 简单/复杂分别验证与返回
                 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}")
@@ -725,67 +696,56 @@ class PyTreeGenerator:
                     # 附加元信息并生成简单可视化（单动作）
                     plan_id = str(uuid.uuid4())
                     pytree_dict['plan_id'] = plan_id
-                    # 简单模式可视化：使用root节点（已经是action类型）
+                    # 简单模式可视化：直接使用root节点
                     try:
                         vis_filename = "py_tree.png"
                         vis_path = os.path.join(self.vis_dir, vis_filename)
-                        # 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])
+                        _visualize_pytree(pytree_dict['root'], os.path.splitext(vis_path)[0])
                         pytree_dict['visualization_url'] = f"/static/{vis_filename}"
                     except Exception as e:
                         logging.warning(f"简单模式可视化失败: {e}")
-
-                    # 保存推理链（若有）
-                    try:
-                        if reasoning_text:
-                            reasoning_path = os.path.join(self.reasoning_dir, "reasoning_content.md")
-                            with open(reasoning_path, 'w', encoding='utf-8') as rf:
-                                rf.write(reasoning_text)
-                            logging.info(f"📝 推理链已保存: {reasoning_path}")
-                            # 终端预览（最多N行）
-                            try:
-                                lines = reasoning_text.splitlines()
-                                preview = "\n".join(lines[: self.reasoning_preview_lines])
-                                logging.info("🧠 推理链预览(前%d行)：\n%s", self.reasoning_preview_lines, preview)
-                            except Exception:
-                                pass
-                        else:
-                            logging.info("未在模型输出中发现 <think> 推理链片段。若需捕获，请设置 ENABLE_REASONING_CAPTURE=true 以放宽JSON强制格式。")
-                    except Exception as e:
-                        logging.warning(f"保存推理链Markdown失败: {e}")
-                    # 添加 final_prompt 到返回结果
-                    pytree_dict['final_prompt'] = final_prompt
                     return pytree_dict
 
-                # 复杂模式回退：若模型误返回简单结构（root是单个action），则自动包装为完整行为树
-                if mode == "complex" and isinstance(pytree_dict, dict) and 'root' in pytree_dict:
-                    root_node = pytree_dict.get('root', {})
-                    # 检查是否是简单结构（root是单个action节点，没有children）
-                    if (root_node.get('type') == 'action' and 
-                        ('children' not in root_node or not root_node.get('children'))):
-                        try:
-                            jsonschema.validate(instance=pytree_dict, schema=self.simple_schema)
-                            logging.warning("⚠️ 复杂模式生成了简单结构（单个action），触发自动包装为完整行为树的回退逻辑。")
-                            action_name = root_node.get('name')
-                            action_params = root_node.get('params') if isinstance(root_node.get('params'), dict) else {}
+                # 复杂模式回退：若模型误返回简单结构，则自动包装为含安全监控的行为树
+                if mode == "complex" and isinstance(pytree_dict, dict) and 'root' not in pytree_dict:
+                    try:
+                        jsonschema.validate(instance=pytree_dict, schema=self.simple_schema)
+                        logging.warning("⚠️ 复杂模式生成了简单结构，触发自动包装为完整行为树的回退逻辑。")
+                        simple_action_obj = pytree_dict.get('action') or {}
+                        action_name = simple_action_obj.get('name')
+                        action_params = simple_action_obj.get('params') if isinstance(simple_action_obj.get('params'), dict) else {}
 
-                            main_children = [{"type": "action", "name": action_name, "params": action_params}]
-                            if action_name != "land":
-                                main_children.append({"type": "action", "name": "land", "params": {"mode": "home"}})
+                        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"}}
+                                ]}
+                            ]
+                        }
 
-                            root_parallel = {
-                                "type": "Parallel",
-                                "name": "Mission",
-                                "params": {"policy": "all_success"},
-                                "children": [
-                                    {"type": "Sequence", "name": "MainTask", "children": main_children}
-                                ]
-                            }
-                            pytree_dict = {"root": root_parallel}
-                        except jsonschema.ValidationError:
-                            # 不符合简单结构，按正常复杂验证继续
-                            pass
+                        main_children = [{"type": "action", "name": action_name, "params": action_params}]
+                        if action_name != "land":
+                            main_children.append({"type": "action", "name": "land", "params": {"mode": "home"}})
+
+                        root_parallel = {
+                            "type": "Parallel",
+                            "name": "MissionWithSafety",
+                            "params": {"policy": "all_success"},
+                            "children": [
+                                {"type": "Sequence", "name": "MainTask", "children": main_children},
+                                safety_selector
+                            ]
+                        }
+                        pytree_dict = {"root": root_parallel}
+                    except jsonschema.ValidationError:
+                        # 不符合简单结构，按正常复杂验证继续
+                        pass
                 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())
@@ -796,27 +756,6 @@ class PyTreeGenerator:
                     vis_path = os.path.join(self.vis_dir, vis_filename)
                     _visualize_pytree(pytree_dict['root'], os.path.splitext(vis_path)[0])
                     pytree_dict['visualization_url'] = f"/static/{vis_filename}"
-
-                    # 保存推理链（若有）
-                    try:
-                        if reasoning_text:
-                            reasoning_path = os.path.join(self.reasoning_dir, "reasoning_content.md")
-                            with open(reasoning_path, 'w', encoding='utf-8') as rf:
-                                rf.write(reasoning_text)
-                            logging.info(f"📝 推理链已保存: {reasoning_path}")
-                            # 终端预览（最多N行）
-                            try:
-                                lines = reasoning_text.splitlines()
-                                preview = "\n".join(lines[: self.reasoning_preview_lines])
-                                logging.info("🧠 推理链预览(前%d行)：\n%s", self.reasoning_preview_lines, preview)
-                            except Exception:
-                                pass
-                        else:
-                            logging.info("未在模型输出中发现 <think> 推理链片段。若需捕获，请设置 ENABLE_REASONING_CAPTURE=true 以放宽JSON强制格式。")
-                    except Exception as e:
-                        logging.warning(f"保存推理链Markdown失败: {e}")
-                    # 添加 final_prompt 到返回结果
-                    pytree_dict['final_prompt'] = final_prompt
                     return pytree_dict
                 else:
                     # 打印未通过验证的Pytree以便排查

backend_service/src/ros2_client.py

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

backend_service/src/websocket_manager.py

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

backend_service/venv/bin/Activate.ps1

@@ -1,248 +0,0 @@
-<#
-.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

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

backend_service/venv/bin/activate.csh

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

backend_service/venv/bin/activate.fish

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

backend_service/venv/bin/chroma

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

backend_service/venv/bin/coloredlogs

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

backend_service/venv/bin/dashscope

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

backend_service/venv/bin/distro

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

backend_service/venv/bin/dotenv

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

backend_service/venv/bin/f2py

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

backend_service/venv/bin/fastapi

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

backend_service/venv/bin/hf

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

backend_service/venv/bin/httpx

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

backend_service/venv/bin/humanfriendly

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

backend_service/venv/bin/isympy

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

backend_service/venv/bin/json_repair

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

backend_service/venv/bin/jsonschema

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

backend_service/venv/bin/markdown-it

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

backend_service/venv/bin/mcp

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

backend_service/venv/bin/normalizer

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

backend_service/venv/bin/numpy-config

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

backend_service/venv/bin/onnxruntime_test

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

backend_service/venv/bin/openai

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

backend_service/venv/bin/pip

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

backend_service/venv/bin/pip3

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

backend_service/venv/bin/pip3.13

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

backend_service/venv/bin/pybase64

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

backend_service/venv/bin/pygmentize

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

backend_service/venv/bin/pyjson5

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

backend_service/venv/bin/pyproject-build

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

backend_service/venv/bin/pyrsa-decrypt

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

backend_service/venv/bin/pyrsa-encrypt

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

backend_service/venv/bin/pyrsa-keygen

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

backend_service/venv/bin/pyrsa-priv2pub

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

backend_service/venv/bin/pyrsa-sign

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

backend_service/venv/bin/pyrsa-verify

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

backend_service/venv/bin/python

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

backend_service/venv/bin/python3

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

backend_service/venv/bin/python3.13

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

backend_service/venv/bin/shortuuid

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

backend_service/venv/bin/tiny-agents

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

backend_service/venv/bin/tqdm

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

backend_service/venv/bin/typer

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

backend_service/venv/bin/uvicorn

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

backend_service/venv/bin/watchfiles

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

backend_service/venv/bin/websockets

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

backend_service/venv/bin/wsdump

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

@@ -1,9 +0,0 @@
-# -*- coding: utf-8 -*-
-"""The mixin for agentscope."""
-
-
-class DictMixin(dict):
-    """The dictionary mixin that allows attribute-style access."""
-
-    __setattr__ = dict.__setitem__
-    __getattr__ = dict.__getitem__

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

@@ -1,4 +0,0 @@
-# -*- coding: utf-8 -*-
-"""The version of agentscope."""
-
-__version__ = "1.0.7"