## 四、场景示例

#### 场景 1：地面到12米绕外围查看打开的窗户（Sequence）
**指令**：“无人机当前在地面，去面前大楼的12米高处，绕着外围看有没有打开的窗户，发现则进行拍照。”
**结构**：
```json
{
  "root": {
    "type": "Sequence",
    "name": "FlyPerimeterAndPhotoWindows",
    "children": [
      {"type":"action","name":"system_checks","params":{"check_level":"comprehensive"}},
      {"type":"action","name":"takeoff","params":{"altitude":10.0}},
      {
        "type": "Parallel",
        "name": "PatrolAndDetectWindows",
        "params": {"policy": "success_on_one"},
        "children": [
          {
            "type": "action",
            "name": "fly_sequence",
            "params": {
              "waypoints": [
                {"x": -24.0, "y": 241.8, "depth": 12.0},
                {"x": -108.5, "y": 241.8, "depth": 12.0},
                {"x": -108.5, "y": 289.8, "depth": 12.0},
                {"x": -24.0, "y": 292.8, "depth": 12.0},
                {"x": -24.0, "y": 241.8, "depth": 12.0}
              ],
              "coordinate_frame": "local_enu"
            }
          },
          {
            "type": "decorator",
            "name": "SuccessIsFailure",
            "child": {
              "type": "Sequence",
              "name": "DetectOpenWindowsWhileFlying",
              "children": [
                {"type":"action","name":"object_detect","params":{"target_class":"window","description":"打开的窗户"}},
                {"type":"condition","name":"object_detected","params":{"target_class":"window","description":"打开的窗户"}},
                {"type":"action","name":"take_photos","params":{"target_class":"window","description":"打开的窗户","track_time":10.0}}
              ]
            }
          }
        ]
      }
    ]
  }
}
```

#### 场景 2：地面到12米沿外围查找打开的窗户（Sequence）
**指令**：“无人机当前在地面，去面前大楼的12米高处，沿着外围查找所有打开的窗户并拍照。”
**结构**：
```json
{
  "root": {
    "type": "Sequence",
    "name": "FlyPerimeterAndPhotoOpenWindows",
    "children": [
      {"type":"action","name":"system_checks","params":{"check_level":"comprehensive"}},
      {"type":"action","name":"takeoff","params":{"altitude":10.0}},
      {
        "type": "Parallel",
        "name": "PatrolAndDetectOpenWindows",
        "params": {"policy": "success_on_one"},
        "children": [
          {
            "type": "action",
            "name": "fly_sequence",
            "params": {
              "waypoints": [
                {"x": -24.0, "y": 241.8, "depth": 12.0},
                {"x": -108.5, "y": 241.8, "depth": 12.0},
                {"x": -108.5, "y": 289.8, "depth": 12.0},
                {"x": -24.0, "y": 292.8, "depth": 12.0},
                {"x": -24.0, "y": 241.8, "depth": 12.0}
              ],
              "coordinate_frame": "local_enu"
            }
          },
          {
            "type": "decorator",
            "name": "SuccessIsFailure",
            "child": {
              "type": "Sequence",
              "name": "DetectAllOpenWindowsWhileFlying",
              "children": [
                {"type":"action","name":"object_detect","params":{"target_class":"window","description":"打开的窗户"}},
                {"type":"condition","name":"object_detected","params":{"target_class":"window","description":"打开的窗户"}},
                {"type":"action","name":"take_photos","params":{"target_class":"window","description":"打开的窗户","track_time":10.0}}
              ]
            }
          }
        ]
      }
    ]
  }
}
```

#### 场景 3：空中上升后绕外围侦察打开窗户（Sequence）
**指令**：“无人机当前在空中，再往上飞3米，接着绕这栋楼外围侦察有没有打开的窗户，看到了就拍照传回来。”
**结构**：
```json
{
  "root": {
    "type": "Sequence",
    "name": "RiseAndDetectOpenWindows",
    "children": [
      {"type":"action","name":"move_direction","params":{"direction":"up","distance":3.0}},
      {
        "type": "Parallel",
        "name": "PatrolAndDetectOpenWindows",
        "params": {"policy": "success_on_one"},
        "children": [
          {
            "type": "action",
            "name": "fly_sequence",
            "params": {
              "waypoints": [
                {"x": -24.0, "y": 241.8},
                {"x": -108.5, "y": 241.8},
                {"x": -108.5, "y": 289.8},
                {"x": -24.0, "y": 292.8},
                {"x": -24.0, "y": 241.8}
              ],
              "coordinate_frame": "local_enu"
            }
          },
          {
            "type": "decorator",
            "name": "SuccessIsFailure",
            "child": {
              "type": "Sequence",
              "name": "DetectOpenWindowsWhileFlying",
              "children": [
                {"type":"action","name":"object_detect","params":{"target_class":"window","description":"打开的窗户"}},
                {"type":"condition","name":"object_detected","params":{"target_class":"window","description":"打开的窗户"}},
                {"type":"action","name":"take_photos","params":{"target_class":"window","description":"打开的窗户","track_time":10.0}}
              ]
            }
          }
        ]
      }
    ]
  }
}
```

#### 场景 4：地面到12米绕外围巡视杂物堆积（Sequence）
**指令**：“无人机当前在地面，去面前大楼的12米高处，绕着外围巡视杂物堆积现象，发现则进行拍照。”
**结构**：
```json
{
  "root": {
    "type": "Sequence",
    "name": "FlyPerimeterAndPhotoGarbageObserve",
    "children": [
      {"type":"action","name":"system_checks","params":{"check_level":"comprehensive"}},
      {"type":"action","name":"takeoff","params":{"altitude":10.0}},
      {
        "type": "Parallel",
        "name": "PatrolAndDetectGarbageObserve",
        "params": {"policy": "success_on_one"},
        "children": [
          {
            "type": "action",
            "name": "fly_sequence",
            "params": {
              "waypoints": [
                {"x": -24.0, "y": 241.8, "depth": 12.0},
                {"x": -108.5, "y": 241.8, "depth": 12.0},
                {"x": -108.5, "y": 289.8, "depth": 12.0},
                {"x": -24.0, "y": 292.8, "depth": 12.0},
                {"x": -24.0, "y": 241.8, "depth": 12.0}
              ],
              "coordinate_frame": "local_enu"
            }
          },
          {
            "type": "decorator",
            "name": "SuccessIsFailure",
            "child": {
              "type": "Sequence",
              "name": "DetectGarbageWhileFlying",
              "children": [
                {"type":"action","name":"object_detect","params":{"target_class":"garbage","description":"杂物堆积"}},
                {"type":"condition","name":"object_detected","params":{"target_class":"garbage","description":"杂物堆积"}},
                {"type":"action","name":"take_photos","params":{"target_class":"garbage","description":"杂物堆积","track_time":10.0}}
              ]
            }
          }
        ]
      }
    ]
  }
}
```

#### 场景 5：地面到12米沿外围查找杂物堆积（Sequence）
**指令**：“无人机当前在地面，去面前大楼的12米高处，沿着外围查找所有的杂物堆积并拍照。”
**结构**：
```json
{
  "root": {
    "type": "Sequence",
    "name": "FlyPerimeterAndPhotoGarbage",
    "children": [
      {"type":"action","name":"system_checks","params":{"check_level":"comprehensive"}},
      {"type":"action","name":"takeoff","params":{"altitude":10.0}},
      {
        "type": "Parallel",
        "name": "PatrolAndDetectGarbage",
        "params": {"policy": "success_on_one"},
        "children": [
          {
            "type": "action",
            "name": "fly_sequence",
            "params": {
              "waypoints": [
                {"x": -24.0, "y": 241.8, "depth": 12.0},
                {"x": -108.5, "y": 241.8, "depth": 12.0},
                {"x": -108.5, "y": 289.8, "depth": 12.0},
                {"x": -24.0, "y": 292.8, "depth": 12.0},
                {"x": -24.0, "y": 241.8, "depth": 12.0}
              ],
              "coordinate_frame": "local_enu"
            }
          },
          {
            "type": "decorator",
            "name": "SuccessIsFailure",
            "child": {
              "type": "Sequence",
              "name": "DetectGarbageWhileFlying",
              "children": [
                {"type":"action","name":"object_detect","params":{"target_class":"garbage","description":"杂物堆积"}},
                {"type":"condition","name":"object_detected","params":{"target_class":"garbage","description":"杂物堆积"}},
                {"type":"action","name":"take_photos","params":{"target_class":"garbage","description":"杂物堆积","track_time":10.0}}
              ]
            }
          }
        ]
      }
    ]
  }
}
```

#### 场景 6：空中下降后绕外围侦察杂物堆积（Sequence）
**指令**：“无人机当前在空中，往下飞3米，接着绕这栋楼外围侦察有没有杂物堆积，看到了就拍照传回来。”
**结构**：
```json
{
  "root": {
    "type": "Sequence",
    "name": "DescendAndDetectGarbage",
    "children": [
      {"type":"action","name":"move_direction","params":{"direction":"down","distance":3.0}},
      {
        "type": "Parallel",
        "name": "PatrolAndDetectGarbage",
        "params": {"policy": "success_on_one"},
        "children": [
          {
            "type": "action",
            "name": "fly_sequence",
            "params": {
              "waypoints": [
                {"x": -24.0, "y": 241.8},
                {"x": -108.5, "y": 241.8},
                {"x": -108.5, "y": 289.8},
                {"x": -24.0, "y": 292.8},
                {"x": -24.0, "y": 241.8}
              ],
              "coordinate_frame": "local_enu"
            }
          },
          {
            "type": "decorator",
            "name": "SuccessIsFailure",
            "child": {
              "type": "Sequence",
              "name": "DetectGarbageWhileFlying",
              "children": [
                {"type":"action","name":"object_detect","params":{"target_class":"garbage","description":"杂物堆积"}},
                {"type":"condition","name":"object_detected","params":{"target_class":"garbage","description":"杂物堆积"}},
                {"type":"action","name":"take_photos","params":{"target_class":"garbage","description":"杂物堆积","track_time":10.0}}
              ]
            }
          }
        ]
      }
    ]
  }
}
```

#### 场景 7：地面到12米绕外围查看是否有人（Sequence）
**指令**：“无人机当前在地面，去面前大楼的12米高处，绕着外围看有没有人，发现则进行拍照。”
**结构**：
```json
{
  "root": {
    "type": "Sequence",
    "name": "FlyPerimeterAndPhotoPerson",
    "children": [
      {"type":"action","name":"system_checks","params":{"check_level":"comprehensive"}},
      {"type":"action","name":"takeoff","params":{"altitude":10.0}},
      {
        "type": "Parallel",
        "name": "PatrolAndDetectPerson",
        "params": {"policy": "success_on_one"},
        "children": [
          {
            "type": "action",
            "name": "fly_sequence",
            "params": {
              "waypoints": [
                {"x": -24.0, "y": 241.8, "depth": 12.0},
                {"x": -108.5, "y": 241.8, "depth": 12.0},
                {"x": -108.5, "y": 289.8, "depth": 12.0},
                {"x": -24.0, "y": 292.8, "depth": 12.0},
                {"x": -24.0, "y": 241.8, "depth": 12.0}
              ],
              "coordinate_frame": "local_enu"
            }
          },
          {
            "type": "decorator",
            "name": "SuccessIsFailure",
            "child": {
              "type": "Sequence",
              "name": "DetectPersonWhileFlying",
              "children": [
                {"type":"action","name":"object_detect","params":{"target_class":"person","description":"人员"}},
                {"type":"condition","name":"object_detected","params":{"target_class":"person","description":"人员"}},
                {"type":"action","name":"take_photos","params":{"target_class":"person","description":"人员","track_time":10.0}}
              ]
            }
          }
        ]
      }
    ]
  }
}
```

#### 场景 8：地面到12米沿外围逆时针查找人员（Sequence）
**指令**：“无人机当前在地面，去面前大楼的12米高处，沿着外围逆时针查找所有的人并拍照。”
**结构**：
```json
{
  "root": {
    "type": "Sequence",
    "name": "FlyPerimeterCounterClockwiseAndPhotoPerson",
    "children": [
      {"type":"action","name":"system_checks","params":{"check_level":"comprehensive"}},
      {"type":"action","name":"takeoff","params":{"altitude":10.0}},
      {
        "type": "Parallel",
        "name": "PatrolCCWAndDetectPerson",
        "params": {"policy": "success_on_one"},
        "children": [
          {
            "type": "action",
            "name": "fly_sequence",
            "params": {
              "waypoints": [
                {"x": -24.0, "y": 241.8, "depth": 12.0},
                {"x": -24.0, "y": 292.8, "depth": 12.0},
                {"x": -108.5, "y": 289.8, "depth": 12.0},
                {"x": -108.5, "y": 241.8, "depth": 12.0},
                {"x": -24.0, "y": 241.8, "depth": 12.0}
              ],
              "coordinate_frame": "local_enu"
            }
          },
          {
            "type": "decorator",
            "name": "SuccessIsFailure",
            "child": {
              "type": "Sequence",
              "name": "DetectPersonWhileFlying",
              "children": [
                {"type":"action","name":"object_detect","params":{"target_class":"person","description":"人员"}},
                {"type":"condition","name":"object_detected","params":{"target_class":"person","description":"人员"}},
                {"type":"action","name":"take_photos","params":{"target_class":"person","description":"人员","track_time":10.0}}
              ]
            }
          }
        ]
      }
    ]
  }
}
```

#### 场景 9：空中上升后沿建筑外围侦察人员（Sequence）
**指令**：“无人机当前在空中，再往上飞3米，接着绕这栋楼外围侦察有没有人，看到了就拍照传回来。”
**结构**：
```json
{
  "root": {
    "type": "Sequence",
    "name": "RiseAndPatrolPerimeter",
    "children": [
      {"type":"action","name":"move_direction","params":{"direction":"up","distance":3.0}},
      {
        "type": "Parallel",
        "name": "PatrolAndDetect",
        "params": {"policy": "success_on_one"},
        "children": [
          {
            "type": "action",
            "name": "fly_sequence",
            "params": {
              "waypoints": [
                {"x": -24.0, "y": 241.8},
                {"x": -108.5, "y": 241.8},
                {"x": -108.5, "y": 289.8},
                {"x": -24.0, "y": 292.8},
                {"x": -24.0, "y": 241.8}
              ],
              "coordinate_frame": "local_enu"
            }
          },
          {
            "type": "decorator",
            "name": "SuccessIsFailure",
            "child": {
              "type": "Sequence",
              "name": "DetectAndPhotoWhileFlying",
              "children": [
                {"type":"action","name":"object_detect","params":{"target_class":"person","description":"建筑外围人员"}},
                {"type":"condition","name":"object_detected","params":{"target_class":"person","description":"建筑外围人员"}},
                {"type":"action","name":"take_photos","params":{"target_class":"person","description":"建筑外围人员","track_time":10.0}}
              ]
            }
          }
        ]
      }
    ]
  }
}
```