2026-02-26 19:00:57,073 - INFO - Anonymized telemetry enabled. See                     https://docs.trychroma.com/telemetry for more information.
2026-02-26 19:00:57,211 - INFO - 成功找到节点定义JSON代码块
2026-02-26 19:00:57,211 - INFO - 成功解析出动作节点: ['approach_target', 'deliver_payload', 'fly_sequence', 'fly_to_waypoint', 'land', 'loiter', 'manual_confirmation', 'move_direction', 'object_detect', 'return_emergency', 'rotate', 'rotate_search', 'search_pattern', 'system_checks', 'take_photos', 'takeoff', 'track_object']
2026-02-26 19:00:57,211 - INFO - 成功解析出条件节点: ['at_waypoint', 'object_detected']
INFO:     Started server process [26111]
INFO:     Waiting for application startup.
2026-02-26 19:00:57,217 - INFO - WebSocket event loop configured.
INFO:     Application startup complete.
INFO:     Uvicorn running on http://0.0.0.0:8000 (Press CTRL+C to quit)
INFO:     127.0.0.1:46065 - "GET /docs HTTP/1.1" 200 OK
2026-02-26 19:01:05,074 - INFO - ========== [Stage 1] Task Understanding ==========
2026-02-26 19:01:05,881 - INFO - HTTP Request: POST http://localhost:8081/v1/chat/completions "HTTP/1.1 200 OK"
2026-02-26 19:01:05,886 - INFO - Task Understanding Results: mode=scene1, state=in_air, intent=generic_mission, risks=[]
INFO:     127.0.0.1:46071 - "POST /debug_stage HTTP/1.1" 200 OK
2026-02-26 19:01:23,412 - INFO - ========== [Stage 1] Task Understanding ==========
2026-02-26 19:01:23,780 - INFO - HTTP Request: POST http://localhost:8081/v1/chat/completions "HTTP/1.1 200 OK"
2026-02-26 19:01:23,780 - INFO - Task Understanding Results: mode=scene1, state=in_air, intent=generic_mission, risks=[]
INFO:     127.0.0.1:44329 - "POST /debug_stage HTTP/1.1" 200 OK
2026-02-26 19:01:36,748 - INFO - ========== [Stage 1] Task Understanding ==========
2026-02-26 19:01:37,168 - INFO - HTTP Request: POST http://localhost:8081/v1/chat/completions "HTTP/1.1 200 OK"
2026-02-26 19:01:37,169 - INFO - Task Understanding Results: mode=scene1, state=in_air, intent=generic_mission, risks=[]
INFO:     127.0.0.1:44483 - "POST /debug_stage HTTP/1.1" 200 OK
2026-02-26 19:15:34,050 - INFO - ========== [Stage 1] Task Understanding ==========
2026-02-26 19:15:34,569 - INFO - HTTP Request: POST http://localhost:8081/v1/chat/completions "HTTP/1.1 200 OK"
2026-02-26 19:15:34,570 - INFO - Task Understanding Results: mode=scene1, state=in_air, intent=generic_mission, risks=[]
2026-02-26 19:15:34,570 - INFO - ========== [Stage 2] Context Binding ==========
2026-02-26 19:15:34,799 - INFO - Context Binding Results: Required Actions=['Selector', 'Sequence', 'fly_to_waypoint', 'land', 'move_direction', 'object_detect', 'object_detected', 'rotate_search', 'take_photos', 'takeoff'], RAG Scopes=['location', 'pattern']
INFO:     127.0.0.1:47143 - "POST /debug_stage HTTP/1.1" 200 OK
2026-02-26 19:18:26,812 - INFO - ========== [Stage 1] Task Understanding ==========
2026-02-26 19:18:27,220 - INFO - HTTP Request: POST http://localhost:8081/v1/chat/completions "HTTP/1.1 200 OK"
2026-02-26 19:18:27,220 - INFO - Task Understanding Results: mode=scene1, state=in_air, intent=generic_mission, risks=[]
2026-02-26 19:18:27,220 - INFO - ========== [Stage 2] Context Binding ==========
2026-02-26 19:18:27,276 - INFO - Context Binding Results: Required Actions=['Selector', 'Sequence', 'fly_to_waypoint', 'land', 'move_direction', 'object_detect', 'object_detected', 'rotate_search', 'take_photos', 'takeoff'], RAG Scopes=['location', 'pattern']
2026-02-26 19:18:27,276 - INFO - ========== [Stage 3] Macro Planning (Round 1) ==========
2026-02-26 19:18:27,278 - INFO - [Round 1] System Prompt Preview (first 500 chars):
任务：根据用户的自然语言指令，规划无人机的宏观执行流程结构，并提取执行该流程所需的外部参数。

你现在是第一阶段“宏观规划与意图提取”AI。你只需要做两件事：
1. 分析意图并排出正确的骨架树（不需要填充任何 parameters/params）。
2. 从用户指令中提取出需要查询确切位置或目标属性的实体清单（如地标、方向、距离、识别目标）。

**严格约束**：仅输出符合以下 JSON 格式的数据，**禁止**包含任何外部分析、Markdown 标记外的纯文本，或者多余的字段。

输出格式约定：
```json
{
  "macro_tree": { ... 纯结构树 ... },
  "parameter_requests": [
    {
      "node": "节点名称",
      "intent": "对该节点意图的简短描述",
      "extracted_entities": {
        "实体key": "实体value"
      }
    }
  ]
}
```

## 一、核心节点定义（裁剪后）
#### 1. 可用节点定义 (必须遵守...
2026-02-26 19:18:27,278 - INFO - [Round 1] User Prompt:
飞到广场东边50米

---
参考知识：
【地点知识】
{"property": "location", "information": {"name": "广场", "coordinates": {"x": 100, "y": 260, "z": 0}}}

{"property": "location", "information": {"name": "飞行场地", "coordinates": {"x": 0, "y": 0, "z": 0}}}

{"property": "location", "information": {"name": "大楼外围四个点东南天坐标系坐标", "coordinates": {"A": {"x": -24.0, "y": 241.8, "z": 0}, "B": {"x": -108.5, "y": 241.8, "z": 0}, "C": {"x": -108.5, "y": 289.8, "z": 0}, "D": {"x": -24.0, "y": 292.8, "z": 0}}}}

【任务模式】
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。

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。

地面起飞后到面前大楼约12米高度，沿外围巡查打开窗户；如发现窗户则拍照回传。
---
2026-02-26 19:18:36,039 - INFO - HTTP Request: POST http://localhost:8081/v1/chat/completions "HTTP/1.1 200 OK"
2026-02-26 19:18:36,039 - INFO - [Round 1] Output Macro Tree:
{
  "root": {
    "type": "Sequence",
    "name": "FlyToSquareEast50",
    "children": [
      {
        "type": "action",
        "name": "fly_to_waypoint"
      }
    ]
  }
}
2026-02-26 19:18:36,039 - INFO - [Round 1] Output Parameter Requests:
[
  {
    "node": "fly_to_waypoint",
    "intent": "前往广场东边50米",
    "extracted_entities": {
      "landmark": "广场",
      "direction": "东",
      "distance": 50.0
    }
  }
]
INFO:     127.0.0.1:46185 - "POST /debug_stage HTTP/1.1" 200 OK