## 四、场景示例（请灵活参考）

#### 场景 1：线性搜索任务（Sequence + Selector）
**指令**：“无人机当前在地面，去研究所正大门，搜索扎辫子女子，找到后拍照。”
**思路**：无人机在地面，则需要先自检然后起飞；获取研究所正大门坐标，调用fly_to_waypoint节点到达该地；然后调用rotate_search节点搜索目标女子，再使用object_detected条件节点，这样就可以作为take_photos节点的依据。
**结构**：Sequence (按顺序执行)
```json
{
  "root": {
    "type": "Sequence",
    "name": "MainSearchTask",
    "children": [
      {"type":"action","name":"takeoff","params":{"altitude":10.0}},
      {"type":"action","name":"fly_to_waypoint","params":{"x":100.0,"y":50.0,"z":10.0}}, 
      {"type":"action","name":"rotate_search","params":{"target_class":"person","description":"扎辫子女子"}},
      {
        "type": "Selector",
        "name": "CheckAndPhoto",
        "children": [
          {
            "type": "Sequence",
            "name": "PhotoIfFound",
            "children": [
               {"type":"condition","name":"object_detected","params":{"target_class":"person","description":"扎辫子女子"}},
               {"type":"action","name":"take_photos","params":{"target_class":"person","description":"扎辫子女子","track_time":10.0}}
            ]
          },
          {"type":"action","name":"loiter","params":{"duration":5.0}} // 未发现时的备选动作
        ]
      }
    ]
  }
}
```

#### 场景 2：带中断逻辑的巡逻（Selector 示例）
**指令**：“无人机当前在地面，飞往航点A。如果途中发现可疑人员，则悬停。”
**参考知识**：航点A的坐标（x:100.0,y:50.0）
**思路**：无人机在地面，则需要先自检然后起飞；获取航点A的坐标，调用fly_to_waypoint节点到达该地；但同时需要注意看到可疑人员需要悬停，意味着一边进行识别，识别到进行悬停，因此要在object_detect节点后有一个object_detected条件节点，作为悬停的条件。
**结构**：
```json
{
  "root": {
    "type": "Sequence",
    "children": [
      {"type":"action","name":"takeoff","params":{"altitude":10.0}},
      {
        "type": "Selector",
        "name": "FlyOrDetect",
        "children": [
          {
            "type": "Sequence", 
            "name": "InterruptionLogic",
            "children": [
               {"type":"action","name":"object_detect","params":{"target_class":"person"}},
               {"type":"condition","name":"object_detected","params":{"target_class":"person"}},
               {"type":"action","name":"loiter","params":{"duration":5.0}}
            ]
          },
          {"type":"action","name":"fly_to_waypoint","params":{"x":100.0,"y":50.0,"z":10.0}}
        ]
      }
    ]
  }
}
```

#### 场景 3：长期监控任务（Parallel 示例）
**指令**：“无人机当前在空中，往广场西边飞200米，持续监控5分钟，发现人就拍照告诉我，到时间可以返航。”
**参考知识**：广场西边200米的坐标（x:50.0,y:50.0,z:10.0）
**思路**：无人机在空中，直接前往目标点；到达后需要并行执行两件事：1. 倒计时5分钟（主控时间）；2. 持续检测人并拍照（从属任务）。
使用`Parallel`节点并设置策略为`success_on_one`，这样当倒计时（loiter）结束返回成功时，整个并行节点就会成功结束，从而强制停止拍照循环。为了让拍照循环不提前结束Parallel，拍照分支使用`decorator`（SuccessIsFailure）或无限重试逻辑。
**结构**：
```json
{
  "root": {
    "type": "Sequence",
    "name": "MainTask",
    "children": [
      {
        "type": "action",
        "name": "fly_to_waypoint",
        "params": {
          "x": 50.0,
          "y": 50.0,
          "z": 10.0
        }
      },
      {
        "type": "Parallel",
        "name": "MonitorAndPhoto",
        "params": {
          "policy": "success_on_one"
        },
        "children": [
          {
            "type": "action",
            "name": "loiter",
            "params": {
              "time": 300
            }
          },
          {
            "type": "decorator",
            "name": "SuccessIsFailure",
            "child": {
              "type": "Sequence",
              "name": "CheckAndPhoto",
              "children": [
                {
                  "type": "action",
                  "name": "object_detect",
                  "params": {
                    "target_class": "person"
                  }
                },
                {
                  "type": "condition",
                  "name": "object_detected",
                  "params": {
                    "target_class": "person"
                  }
                },
                {
                  "type": "action",
                  "name": "take_photos",
                  "params": {
                    "target_class": "person"
                  }
                }
              ]
            }
          }
        ]
      },
      {
        "type": "action",
        "name": "return_emergency",
        "params": {
          "reason": "任务完成"
        }
      }
    ]
  }
}
```

#### 场景 4：交互式确认任务（Sequence + Manual Confirmation）
**指令**：“无人机当前在空中，搜索小汽车，搜索到了我确认后再决定要不要拍照。”
**思路**：无人机已在空中，无需起飞，直接进行搜索。首先使用`rotate_search`主动搜索目标，配合`object_detected`条件节点确认目标是否被检测到。检测到后，执行`manual_confirmation`节点等待用户确认。只有用户确认通过（返回Success），才会继续执行后续的`take_photos`动作。
**结构**：Sequence
```json
{
  "root": {
    "type": "Sequence",
    "name": "SearchConfirmPhoto",
    "children": [
      {"type":"action","name":"rotate_search","params":{"target_class":"car","description":"小汽车"}},
      {"type":"condition","name":"object_detected","params":{"target_class":"car","description":"小汽车"}},
      {"type":"action","name":"manual_confirmation","params":{}},
      {"type":"action","name":"take_photos","params":{"target_class":"car","description":"小汽车"}}
    ]
  }
}
```

#### 场景 5：后置确认任务（Sequence + Manual Confirmation）
**指令**：“无人机当前在地面，搜索小汽车，搜索到了拍张照，我确认后再决定要不要返航”
**思路**：无人机在地面，需起飞。搜索小汽车（`rotate_search` + `object_detected`）。搜索到后，先执行拍照（`take_photos`）。之后执行人工确认（`manual_confirmation`），确认通过后才执行返航（`return_emergency`）。
**结构**：Sequence
```json
{
  "root": {
    "type": "Sequence",
    "name": "SearchPhotoConfirmReturn",
    "children": [
      {"type":"action","name":"takeoff","params":{"altitude":10.0}},
      {"type":"action","name":"rotate_search","params":{"target_class":"car","description":"小汽车"}},
      {"type":"condition","name":"object_detected","params":{"target_class":"car","description":"小汽车"}},
      {"type":"action","name":"take_photos","params":{"target_class":"car","description":"小汽车"}},
      {"type":"action","name":"manual_confirmation","params":{}},
      {"type":"action","name":"return_emergency","params":{"reason":"确认后返航"}}
    ]
  }
}
```

#### 场景 6：移动后条件降落（Sequence）
**指令**：“无人机当前在空中，紧急回到广场，看见了红绿灯之后直接降落。”
**参考知识**：广场坐标（x:0.0, y:0.0, z:10.0）
**思路**：无人机在空中，无需起飞。首先飞往广场（`fly_to_waypoint`），严禁使用`return_emergency`。到达后，为了满足“看见红绿灯”的条件，必须先执行主动搜索（`rotate_search`）。一旦检测到红绿灯（`object_detected`），即执行降落（`land`）。
**结构**：Sequence
```json
{
  "root": {
    "type": "Sequence",
    "name": "FlySearchLand",
    "children": [
      {"type":"action","name":"fly_to_waypoint","params":{"x":0.0,"y":0.0,"z":10.0}},
      {"type":"action","name":"rotate_search","params":{"target_class":"traffic_light","description":"红绿灯"}},
      {"type":"condition","name":"object_detected","params":{"target_class":"traffic_light","description":"红绿灯"}},
      {"type":"action","name":"land","params":{"mode":"current"}}
    ]
  }
}
```