682 lines
86 KiB
Plaintext
682 lines
86 KiB
Plaintext
[2026-01-02 14:09:56] ================================================================================
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[2026-01-02 14:09:56] --- API Test: Scene 1: Search at Gate (Expected.csv Row 2) ---
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[2026-01-02 14:09:56] URL: http://127.0.0.1:8000/generate_plan
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[2026-01-02 14:09:56] Sending Prompt: "地面待命,去研究所正大门，搜索扎辫子女子并拍照。"
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[2026-01-02 14:10:05] ✅ Received Response:
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[2026-01-02 14:10:05]
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📝 组织后的Prompt:
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[2026-01-02 14:10:05] === System Prompt ===
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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**。
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## 一、核心节点定义（格式不可修改，确保后端解析）
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#### 1. 可用节点定义 (必须遵守)
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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：
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```json
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{
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"actions": [
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{"name":"takeoff","params":{"altitude":"float[1,100]，默认2"}},
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{"name":"land","params":{"mode":"'current'/'home'"}},
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{"name":"fly_to_waypoint","params":{"x":"±10000","y":"±10000","z":"[1,5000]","acceptance_radius":"默认2.0"}},
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{"name":"move_direction","params":{"direction":"north/south/east/west/forward/backward/left/right","distance":"[1,10000]，缺省持续移动"}},
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{"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"}},
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{"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"}},
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{"name":"loiter","params":{"duration":"[1,600]秒/until_condition:可选"}},
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{"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"}},
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{"name":"strike_target","params":{"target_class":"同object_detect","description":"可选，目标属性","count":"默认1"}},
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{"name":"battle_damage_assessment","params":{"target_class":"同object_detect","assessment_time":"[5,60]，默认15"}},
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{"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"}},
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{"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"}},
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{"name":"deliver_payload","params":{"payload_type":"string","release_altitude":"[2,100]默认5"}},
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{"name":"preflight_checks","params":{"check_level":"basic/comprehensive"}},
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{"name":"emergency_return","params":{"reason":"string"}},
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{"name":"rotate_search","params":{"center_x":"±10000","center_y":"±10000","center_z":"[1,5000]","radius":"[5,100]","speed_mps":"[0.5,10]","duration":"[10,600]秒"}},
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{"name":"wait_for_confirmation","params":{"message":"string","timeout":"[10,600]秒"}}
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],
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"conditions": [
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{"name":"battery_above","params":{"threshold":"[0.0,1.0]，必传"}},
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{"name":"at_waypoint","params":{"x":"±10000","y":"±10000","z":"[1,5000]","tolerance":"默认3.0"}},
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{"name":"object_detected","params":{"target_class":"同object_detect（必传）","description":"可选，目标属性","count":"默认1"}},
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{"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"}},
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{"name":"time_elapsed","params":{"duration":"[1,2700]秒"}},
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{"name":"gps_status","params":{"min_satellites":"int[6,15]，必传（如8）"}}
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],
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"control_flow": [
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{"name":"Sequence","params":{},"children":"子节点数组（按序执行，全成功则成功）"},
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{"name":"Selector","params":{"memory":"默认true"},"children":"子节点数组（执行到成功为止）"},
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{"name":"Parallel","params":{"policy":"all_success"},"children":"子节点数组（同时执行，严禁用'one_success'）"}
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],
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"decorators": [
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{"name":"SuccessIsFailure","params":{},"child":"单个子节点（成功转失败，失败仍失败）"}
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]
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}
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```
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## 二、节点必填字段（后端Schema强制要求，缺一验证失败）
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每个节点必须包含以下字段，字段名/类型不可自定义：
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1. **`type`**：
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- 动作节点→`"action"`，条件节点→`"condition"`，装饰器节点→`"decorator"`，控制流节点→`"Sequence"`/`"Selector"`/`"Parallel"`（与`name`字段值完全一致）；
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2. **`name`**：必须是上述JSON中`actions`/`conditions`/`control_flow`/`decorators`下的`name`值；
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3. **`params`**：严格匹配上述节点的`params`定义，无自定义参数；
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4. **`children`**：仅控制流节点必含（子节点数组）；
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5. **`child`**：仅装饰器节点必含（单个子节点对象）。
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## 三、行为树固定结构（通用不变）
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根节点通常是 `Sequence` 或 `Selector`，直接包含任务逻辑。不再强制包含 `SafetyMonitor` 或 `Parallel` 根节点。
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示例结构（简单顺序任务）：
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```json
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{
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"root": {
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"type": "Sequence",
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"name": "MainTask",
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"params": {},
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"children": [
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{"type":"action","name":"takeoff","params":{"altitude":10.0}},
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{"type":"action","name":"fly_to_waypoint","params":{"x":200.0,"y":150.0,"z":10.0}},
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{"type":"action","name":"land","params":{"mode":"home"}}
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]
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}
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}
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```
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## 四、优先级排序任务通用示例
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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。
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| 用户指令场景 | `target_class` | `description` | 核心节点示例（search_pattern） |
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|-----------------------------|-----------------|-------------------------|------------------------------------------------------------------------------------------------|
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| 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）"}}` |
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| 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）"}}` |
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## 五、高频错误规避（确保验证通过）
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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；
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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；
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3. `track_object`必传`track_time`：不可用`duration`替代（如跟踪30秒填`"track_time":30.0`）；
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4. `gps_status`的`min_satellites`必须在6-15之间（如8，不可缺省）；
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5. 无自定义节点：“锁定高优先级目标”需通过`object_detect`+`object_detected`实现，不可用“lock_high_risk_target”。
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## 六、新场景模式指南 (New Scenarios)
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### 1. 预期场景 (Expected Scenarios)
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当用户指令包含“旋转搜索”、“人工确认”等特定词汇时，请使用以下对应关系：
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- **"旋转搜索"** -> 使用 `rotate_search` 动作。
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- **"人工确认"** -> 使用 `wait_for_confirmation` 动作（通常放在 `object_detect` 或 `object_detected` 之后）。
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**示例：** "到研究所广场，寻找黄色衣服男子，我确认后再对其拍照。"
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```json
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{
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"type": "Sequence",
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"name": "SearchAndConfirm",
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"children": [
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{"type":"action", "name":"fly_to_waypoint", "params":{"x":20, "y":150, "z":10}},
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{"type":"action", "name":"rotate_search", "params":{"center_x":20, "y":150, "z":10, "radius":30, "duration":60}},
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{"type":"action", "name":"wait_for_confirmation", "params":{"message":"Found yellow shirt male, confirm to photo?", "timeout":60}},
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{"type":"action", "name":"strike_target", "params":{"target_class":"person", "description":"yellow shirt"}}
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]
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}
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```
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### 2. 环绕侦察 (Circular Reconnaissance with Interrupts)
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当用户要求“环绕侦察”或“巡逻中发现目标即拍照”时，必须使用 `Selector` + `SuccessIsFailure` (Decorator) + `fly_to_waypoint` 的组合模式。
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**逻辑解释：** 这是一个“顺路侦察”模式。无人机在飞往下一个航点的过程中（Selector），先尝试检测目标（ReactiveWork）。如果检测到目标并拍照成功，`SuccessIsFailure` 会欺骗 Selector 说“失败了”，从而迫使 Selector 继续执行 `fly_to_waypoint`，确保无人机不会因为拍了照就停在半路，而是继续飞向终点。
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**结构模板：**
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```json
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{
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"name": "GoToWaypointX",
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"type": "Selector",
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"children": [
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{"type": "condition", "name": "at_waypoint", "params": {"target_position": [x, y, z]}},
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{
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"name": "ReactiveWork",
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"type": "Selector",
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"children": [
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{
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"name": "SuccessIsFailure",
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"type": "decorator",
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"child": {
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"name": "DetectHoverPhoto",
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"type": "Sequence",
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"children": [
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{"name": "object_detect", "type": "action", "params": {"target_class": "person"}},
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{"name": "loiter", "type": "action", "params": {"time": 2.0}}
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]
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}
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},
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{"name": "fly_to_waypoint", "type": "action", "params": {"x": x, "y": y, "z": z}}
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]
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}
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]
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}
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```
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## 七、输出要求
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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。
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【强制规则】仅生成包含root的复杂行为树JSON，不得输出简单模式（不得包含mode字段或仅有action节点）。
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=== User Prompt ===
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地面待命,去研究所正大门，搜索扎辫子女子并拍照。
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[2026-01-02 14:10:05]
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完整响应内容:
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[2026-01-02 14:10:05] {
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"root": {
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"type": "Sequence",
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"name": "MainTask",
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"children": [
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{
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"type": "action",
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"name": "preflight_checks",
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"params": {
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"check_level": "basic"
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}
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},
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{
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"type": "action",
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"name": "fly_to_waypoint",
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"params": {
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"x": 200,
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"y": 150,
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"z": 10
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}
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},
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{
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"type": "action",
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"name": "rotate_search",
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"params": {
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"center_x": 200,
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"center_y": 150,
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"center_z": 10,
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"radius": 30,
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"duration": 60
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}
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},
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{
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"type": "action",
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"name": "wait_for_confirmation",
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"params": {
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"message": "Found woman with braid, confirm to photo?",
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"timeout": 60
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}
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},
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{
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"type": "action",
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"name": "object_detect",
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"params": {
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"target_class": "person",
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"description": "（扎辫子女子）"
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}
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},
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{
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"type": "action",
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"name": "strike_target",
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"params": {
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"target_class": "person",
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"description": "扎辫子女子"
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}
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}
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]
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},
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"plan_id": "06a44e45-153e-4f15-9c73-bcebd24e08cd",
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"visualization_url": "/static/py_tree.png",
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"final_prompt": "=== System Prompt ===\n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**。\n\n## 一、核心节点定义（格式不可修改，确保后端解析）\n#### 1. 可用节点定义 (必须遵守)\n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：\n```json\n{\n \"actions\": [\n {\"name\":\"takeoff\",\"params\":{\"altitude\":\"float[1,100]，默认2\"}},\n {\"name\":\"land\",\"params\":{\"mode\":\"'current'/'home'\"}},\n {\"name\":\"fly_to_waypoint\",\"params\":{\"x\":\"±10000\",\"y\":\"±10000\",\"z\":\"[1,5000]\",\"acceptance_radius\":\"默认2.0\"}},\n {\"name\":\"move_direction\",\"params\":{\"direction\":\"north/south/east/west/forward/backward/left/right\",\"distance\":\"[1,10000]，缺省持续移动\"}},\n {\"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\"}},\n {\"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\"}},\n {\"name\":\"loiter\",\"params\":{\"duration\":\"[1,600]秒/until_condition:可选\"}},\n {\"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\"}},\n {\"name\":\"strike_target\",\"params\":{\"target_class\":\"同object_detect\",\"description\":\"可选，目标属性\",\"count\":\"默认1\"}},\n {\"name\":\"battle_damage_assessment\",\"params\":{\"target_class\":\"同object_detect\",\"assessment_time\":\"[5,60]，默认15\"}},\n {\"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\"}},\n {\"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\"}},\n {\"name\":\"deliver_payload\",\"params\":{\"payload_type\":\"string\",\"release_altitude\":\"[2,100]默认5\"}},\n {\"name\":\"preflight_checks\",\"params\":{\"check_level\":\"basic/comprehensive\"}},\n {\"name\":\"emergency_return\",\"params\":{\"reason\":\"string\"}},\n {\"name\":\"rotate_search\",\"params\":{\"center_x\":\"±10000\",\"center_y\":\"±10000\",\"center_z\":\"[1,5000]\",\"radius\":\"[5,100]\",\"speed_mps\":\"[0.5,10]\",\"duration\":\"[10,600]秒\"}},\n {\"name\":\"wait_for_confirmation\",\"params\":{\"message\":\"string\",\"timeout\":\"[10,600]秒\"}}\n ],\n \"conditions\": [\n {\"name\":\"battery_above\",\"params\":{\"threshold\":\"[0.0,1.0]，必传\"}},\n {\"name\":\"at_waypoint\",\"params\":{\"x\":\"±10000\",\"y\":\"±10000\",\"z\":\"[1,5000]\",\"tolerance\":\"默认3.0\"}},\n {\"name\":\"object_detected\",\"params\":{\"target_class\":\"同object_detect（必传）\",\"description\":\"可选，目标属性\",\"count\":\"默认1\"}},\n {\"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\"}},\n {\"name\":\"time_elapsed\",\"params\":{\"duration\":\"[1,2700]秒\"}},\n {\"name\":\"gps_status\",\"params\":{\"min_satellites\":\"int[6,15]，必传（如8）\"}}\n ],\n \"control_flow\": [\n {\"name\":\"Sequence\",\"params\":{},\"children\":\"子节点数组（按序执行，全成功则成功）\"},\n {\"name\":\"Selector\",\"params\":{\"memory\":\"默认true\"},\"children\":\"子节点数组（执行到成功为止）\"},\n {\"name\":\"Parallel\",\"params\":{\"policy\":\"all_success\"},\"children\":\"子节点数组（同时执行，严禁用'one_success'）\"}\n ],\n \"decorators\": [\n {\"name\":\"SuccessIsFailure\",\"params\":{},\"child\":\"单个子节点（成功转失败，失败仍失败）\"}\n ]\n}\n```\n\n\n## 二、节点必填字段（后端Schema强制要求，缺一验证失败）\n每个节点必须包含以下字段，字段名/类型不可自定义：\n1. **`type`**： \n - 动作节点→`\"action\"`，条件节点→`\"condition\"`，装饰器节点→`\"decorator\"`，控制流节点→`\"Sequence\"`/`\"Selector\"`/`\"Parallel\"`（与`name`字段值完全一致）；\n2. **`name`**：必须是上述JSON中`actions`/`conditions`/`control_flow`/`decorators`下的`name`值；\n3. **`params`**：严格匹配上述节点的`params`定义，无自定义参数；\n4. **`children`**：仅控制流节点必含（子节点数组）；\n5. **`child`**：仅装饰器节点必含（单个子节点对象）。\n\n\n## 三、行为树固定结构（通用不变）\n根节点通常是 `Sequence` 或 `Selector`，直接包含任务逻辑。不再强制包含 `SafetyMonitor` 或 `Parallel` 根节点。\n\n示例结构（简单顺序任务）：\n```json\n{\n \"root\": {\n \"type\": \"Sequence\",\n \"name\": \"MainTask\",\n \"params\": {},\n \"children\": [\n {\"type\":\"action\",\"name\":\"takeoff\",\"params\":{\"altitude\":10.0}},\n {\"type\":\"action\",\"name\":\"fly_to_waypoint\",\"params\":{\"x\":200.0,\"y\":150.0,\"z\":10.0}},\n {\"type\":\"action\",\"name\":\"land\",\"params\":{\"mode\":\"home\"}}\n ]\n }\n}\n```\n\n\n## 四、优先级排序任务通用示例\n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。\n| 用户指令场景 | `target_class` | `description` | 核心节点示例（search_pattern） |\n|-----------------------------|-----------------|-------------------------|------------------------------------------------------------------------------------------------|\n| 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）\"}}` |\n| 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）\"}}` |\n\n\n## 五、高频错误规避（确保验证通过）\n1. 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；\n2. 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；\n3. `track_object`必传`track_time`：不可用`duration`替代（如跟踪30秒填`\"track_time\":30.0`）；\n4. `gps_status`的`min_satellites`必须在6-15之间（如8，不可缺省）；\n5. 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”。\n\n\n## 六、新场景模式指南 (New Scenarios)\n\n### 1. 预期场景 (Expected Scenarios)\n当用户指令包含“旋转搜索”、“人工确认”等特定词汇时，请使用以下对应关系：\n- **\"旋转搜索\"** -> 使用 `rotate_search` 动作。\n- **\"人工确认\"** -> 使用 `wait_for_confirmation` 动作（通常放在 `object_detect` 或 `object_detected` 之后）。\n\n**示例：** \"到研究所广场，寻找黄色衣服男子，我确认后再对其拍照。\"\n```json\n{\n \"type\": \"Sequence\",\n \"name\": \"SearchAndConfirm\",\n \"children\": [\n {\"type\":\"action\", \"name\":\"fly_to_waypoint\", \"params\":{\"x\":20, \"y\":150, \"z\":10}},\n {\"type\":\"action\", \"name\":\"rotate_search\", \"params\":{\"center_x\":20, \"y\":150, \"z\":10, \"radius\":30, \"duration\":60}},\n {\"type\":\"action\", \"name\":\"wait_for_confirmation\", \"params\":{\"message\":\"Found yellow shirt male, confirm to photo?\", \"timeout\":60}},\n {\"type\":\"action\", \"name\":\"strike_target\", \"params\":{\"target_class\":\"person\", \"description\":\"yellow shirt\"}}\n ]\n}\n```\n\n### 2. 环绕侦察 (Circular Reconnaissance with Interrupts)\n当用户要求“环绕侦察”或“巡逻中发现目标即拍照”时，必须使用 `Selector` + `SuccessIsFailure` (Decorator) + `fly_to_waypoint` 的组合模式。\n**逻辑解释：** 这是一个“顺路侦察”模式。无人机在飞往下一个航点的过程中（Selector），先尝试检测目标（ReactiveWork）。如果检测到目标并拍照成功，`SuccessIsFailure` 会欺骗 Selector 说“失败了”，从而迫使 Selector 继续执行 `fly_to_waypoint`，确保无人机不会因为拍了照就停在半路，而是继续飞向终点。\n\n**结构模板：**\n```json\n{\n \"name\": \"GoToWaypointX\",\n \"type\": \"Selector\",\n \"children\": [\n {\"type\": \"condition\", \"name\": \"at_waypoint\", \"params\": {\"target_position\": [x, y, z]}},\n {\n \"name\": \"ReactiveWork\",\n \"type\": \"Selector\",\n \"children\": [\n {\n \"name\": \"SuccessIsFailure\",\n \"type\": \"decorator\",\n \"child\": {\n \"name\": \"DetectHoverPhoto\",\n \"type\": \"Sequence\",\n \"children\": [\n {\"name\": \"object_detect\", \"type\": \"action\", \"params\": {\"target_class\": \"person\"}},\n {\"name\": \"loiter\", \"type\": \"action\", \"params\": {\"time\": 2.0}}\n ]\n }\n },\n {\"name\": \"fly_to_waypoint\", \"type\": \"action\", \"params\": {\"x\": x, \"y\": y, \"z\": z}}\n ]\n }\n ]\n}\n```\n\n\n## 七、输出要求\n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。\n\n\n【强制规则】仅生成包含root的复杂行为树JSON，不得输出简单模式（不得包含mode字段或仅有action节点）。\n\n=== User Prompt ===\n地面待命,去研究所正大门，搜索扎辫子女子并拍照。"
|
||
}
|
||
[2026-01-02 14:10:05]
|
||
--- Validation Checks ---
|
||
[2026-01-02 14:10:05] PASS: Response is a valid JSON object.
|
||
[2026-01-02 14:10:05] PASS: Response contains a valid 'root' key.
|
||
[2026-01-02 14:10:05] PASS: Response contains a valid 'visualization_url': /static/py_tree.png
|
||
[2026-01-02 14:10:05] ✅ Test completed successfully
|
||
[2026-01-02 14:10:05] ================================================================================
|
||
[2026-01-02 14:10:05]
|
||
[2026-01-02 14:10:05] ================================================================================
|
||
[2026-01-02 14:10:05] --- API Test: Scene 2: Search with Confirmation (Expected.csv Row 5) ---
|
||
[2026-01-02 14:10:05] URL: http://127.0.0.1:8000/generate_plan
|
||
[2026-01-02 14:10:05] Sending Prompt: "空中待命/任务中,到研究所广场，寻找黄色衣服男子，我确认后再对其拍照。"
|
||
[2026-01-02 14:10:11] ✅ Received Response:
|
||
[2026-01-02 14:10:11]
|
||
📝 组织后的Prompt:
|
||
[2026-01-02 14:10:11] === System Prompt ===
|
||
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**。
|
||
|
||
## 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：
|
||
```json
|
||
{
|
||
"actions": [
|
||
{"name":"takeoff","params":{"altitude":"float[1,100]，默认2"}},
|
||
{"name":"land","params":{"mode":"'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":"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":"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":"deliver_payload","params":{"payload_type":"string","release_altitude":"[2,100]默认5"}},
|
||
{"name":"preflight_checks","params":{"check_level":"basic/comprehensive"}},
|
||
{"name":"emergency_return","params":{"reason":"string"}},
|
||
{"name":"rotate_search","params":{"center_x":"±10000","center_y":"±10000","center_z":"[1,5000]","radius":"[5,100]","speed_mps":"[0.5,10]","duration":"[10,600]秒"}},
|
||
{"name":"wait_for_confirmation","params":{"message":"string","timeout":"[10,600]秒"}}
|
||
],
|
||
"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":"gps_status","params":{"min_satellites":"int[6,15]，必传（如8）"}}
|
||
],
|
||
"control_flow": [
|
||
{"name":"Sequence","params":{},"children":"子节点数组（按序执行，全成功则成功）"},
|
||
{"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'）"}
|
||
],
|
||
"decorators": [
|
||
{"name":"SuccessIsFailure","params":{},"child":"单个子节点（成功转失败，失败仍失败）"}
|
||
]
|
||
}
|
||
```
|
||
|
||
|
||
## 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"`，装饰器节点→`"decorator"`，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`/`decorators`下的`name`值；
|
||
3. **`params`**：严格匹配上述节点的`params`定义，无自定义参数；
|
||
4. **`children`**：仅控制流节点必含（子节点数组）；
|
||
5. **`child`**：仅装饰器节点必含（单个子节点对象）。
|
||
|
||
|
||
## 三、行为树固定结构（通用不变）
|
||
根节点通常是 `Sequence` 或 `Selector`，直接包含任务逻辑。不再强制包含 `SafetyMonitor` 或 `Parallel` 根节点。
|
||
|
||
示例结构（简单顺序任务）：
|
||
```json
|
||
{
|
||
"root": {
|
||
"type": "Sequence",
|
||
"name": "MainTask",
|
||
"params": {},
|
||
"children": [
|
||
{"type":"action","name":"takeoff","params":{"altitude":10.0}},
|
||
{"type":"action","name":"fly_to_waypoint","params":{"x":200.0,"y":150.0,"z":10.0}},
|
||
{"type":"action","name":"land","params":{"mode":"home"}}
|
||
]
|
||
}
|
||
}
|
||
```
|
||
|
||
|
||
## 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）"}}` |
|
||
|
||
|
||
## 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. `gps_status`的`min_satellites`必须在6-15之间（如8，不可缺省）；
|
||
5. 无自定义节点：“锁定高优先级目标”需通过`object_detect`+`object_detected`实现，不可用“lock_high_risk_target”。
|
||
|
||
|
||
## 六、新场景模式指南 (New Scenarios)
|
||
|
||
### 1. 预期场景 (Expected Scenarios)
|
||
当用户指令包含“旋转搜索”、“人工确认”等特定词汇时，请使用以下对应关系：
|
||
- **"旋转搜索"** -> 使用 `rotate_search` 动作。
|
||
- **"人工确认"** -> 使用 `wait_for_confirmation` 动作（通常放在 `object_detect` 或 `object_detected` 之后）。
|
||
|
||
**示例：** "到研究所广场，寻找黄色衣服男子，我确认后再对其拍照。"
|
||
```json
|
||
{
|
||
"type": "Sequence",
|
||
"name": "SearchAndConfirm",
|
||
"children": [
|
||
{"type":"action", "name":"fly_to_waypoint", "params":{"x":20, "y":150, "z":10}},
|
||
{"type":"action", "name":"rotate_search", "params":{"center_x":20, "y":150, "z":10, "radius":30, "duration":60}},
|
||
{"type":"action", "name":"wait_for_confirmation", "params":{"message":"Found yellow shirt male, confirm to photo?", "timeout":60}},
|
||
{"type":"action", "name":"strike_target", "params":{"target_class":"person", "description":"yellow shirt"}}
|
||
]
|
||
}
|
||
```
|
||
|
||
### 2. 环绕侦察 (Circular Reconnaissance with Interrupts)
|
||
当用户要求“环绕侦察”或“巡逻中发现目标即拍照”时，必须使用 `Selector` + `SuccessIsFailure` (Decorator) + `fly_to_waypoint` 的组合模式。
|
||
**逻辑解释：** 这是一个“顺路侦察”模式。无人机在飞往下一个航点的过程中（Selector），先尝试检测目标（ReactiveWork）。如果检测到目标并拍照成功，`SuccessIsFailure` 会欺骗 Selector 说“失败了”，从而迫使 Selector 继续执行 `fly_to_waypoint`，确保无人机不会因为拍了照就停在半路，而是继续飞向终点。
|
||
|
||
**结构模板：**
|
||
```json
|
||
{
|
||
"name": "GoToWaypointX",
|
||
"type": "Selector",
|
||
"children": [
|
||
{"type": "condition", "name": "at_waypoint", "params": {"target_position": [x, y, z]}},
|
||
{
|
||
"name": "ReactiveWork",
|
||
"type": "Selector",
|
||
"children": [
|
||
{
|
||
"name": "SuccessIsFailure",
|
||
"type": "decorator",
|
||
"child": {
|
||
"name": "DetectHoverPhoto",
|
||
"type": "Sequence",
|
||
"children": [
|
||
{"name": "object_detect", "type": "action", "params": {"target_class": "person"}},
|
||
{"name": "loiter", "type": "action", "params": {"time": 2.0}}
|
||
]
|
||
}
|
||
},
|
||
{"name": "fly_to_waypoint", "type": "action", "params": {"x": x, "y": y, "z": z}}
|
||
]
|
||
}
|
||
]
|
||
}
|
||
```
|
||
|
||
|
||
## 七、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。
|
||
|
||
|
||
【强制规则】仅生成包含root的复杂行为树JSON，不得输出简单模式（不得包含mode字段或仅有action节点）。
|
||
|
||
=== User Prompt ===
|
||
空中待命/任务中,到研究所广场，寻找黄色衣服男子，我确认后再对其拍照。
|
||
[2026-01-02 14:10:11]
|
||
完整响应内容:
|
||
[2026-01-02 14:10:11] {
|
||
"root": {
|
||
"type": "Sequence",
|
||
"name": "SearchAndConfirm",
|
||
"children": [
|
||
{
|
||
"type": "action",
|
||
"name": "fly_to_waypoint",
|
||
"params": {
|
||
"x": 20,
|
||
"y": 150,
|
||
"z": 10
|
||
}
|
||
},
|
||
{
|
||
"type": "action",
|
||
"name": "rotate_search",
|
||
"params": {
|
||
"center_x": 20,
|
||
"y": 150,
|
||
"z": 10,
|
||
"radius": 30,
|
||
"duration": 60
|
||
}
|
||
},
|
||
{
|
||
"type": "action",
|
||
"name": "wait_for_confirmation",
|
||
"params": {
|
||
"message": "Found yellow shirt male, confirm to photo?",
|
||
"timeout": 60
|
||
}
|
||
},
|
||
{
|
||
"type": "action",
|
||
"name": "strike_target",
|
||
"params": {
|
||
"target_class": "person",
|
||
"description": "yellow shirt"
|
||
}
|
||
}
|
||
]
|
||
},
|
||
"plan_id": "6631de0c-b13d-4367-96c1-0109896291aa",
|
||
"visualization_url": "/static/py_tree.png",
|
||
"final_prompt": "=== System Prompt ===\n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**。\n\n## 一、核心节点定义（格式不可修改，确保后端解析）\n#### 1. 可用节点定义 (必须遵守)\n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：\n```json\n{\n \"actions\": [\n {\"name\":\"takeoff\",\"params\":{\"altitude\":\"float[1,100]，默认2\"}},\n {\"name\":\"land\",\"params\":{\"mode\":\"'current'/'home'\"}},\n {\"name\":\"fly_to_waypoint\",\"params\":{\"x\":\"±10000\",\"y\":\"±10000\",\"z\":\"[1,5000]\",\"acceptance_radius\":\"默认2.0\"}},\n {\"name\":\"move_direction\",\"params\":{\"direction\":\"north/south/east/west/forward/backward/left/right\",\"distance\":\"[1,10000]，缺省持续移动\"}},\n {\"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\"}},\n {\"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\"}},\n {\"name\":\"loiter\",\"params\":{\"duration\":\"[1,600]秒/until_condition:可选\"}},\n {\"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\"}},\n {\"name\":\"strike_target\",\"params\":{\"target_class\":\"同object_detect\",\"description\":\"可选，目标属性\",\"count\":\"默认1\"}},\n {\"name\":\"battle_damage_assessment\",\"params\":{\"target_class\":\"同object_detect\",\"assessment_time\":\"[5,60]，默认15\"}},\n {\"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\"}},\n {\"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\"}},\n {\"name\":\"deliver_payload\",\"params\":{\"payload_type\":\"string\",\"release_altitude\":\"[2,100]默认5\"}},\n {\"name\":\"preflight_checks\",\"params\":{\"check_level\":\"basic/comprehensive\"}},\n {\"name\":\"emergency_return\",\"params\":{\"reason\":\"string\"}},\n {\"name\":\"rotate_search\",\"params\":{\"center_x\":\"±10000\",\"center_y\":\"±10000\",\"center_z\":\"[1,5000]\",\"radius\":\"[5,100]\",\"speed_mps\":\"[0.5,10]\",\"duration\":\"[10,600]秒\"}},\n {\"name\":\"wait_for_confirmation\",\"params\":{\"message\":\"string\",\"timeout\":\"[10,600]秒\"}}\n ],\n \"conditions\": [\n {\"name\":\"battery_above\",\"params\":{\"threshold\":\"[0.0,1.0]，必传\"}},\n {\"name\":\"at_waypoint\",\"params\":{\"x\":\"±10000\",\"y\":\"±10000\",\"z\":\"[1,5000]\",\"tolerance\":\"默认3.0\"}},\n {\"name\":\"object_detected\",\"params\":{\"target_class\":\"同object_detect（必传）\",\"description\":\"可选，目标属性\",\"count\":\"默认1\"}},\n {\"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\"}},\n {\"name\":\"time_elapsed\",\"params\":{\"duration\":\"[1,2700]秒\"}},\n {\"name\":\"gps_status\",\"params\":{\"min_satellites\":\"int[6,15]，必传（如8）\"}}\n ],\n \"control_flow\": [\n {\"name\":\"Sequence\",\"params\":{},\"children\":\"子节点数组（按序执行，全成功则成功）\"},\n {\"name\":\"Selector\",\"params\":{\"memory\":\"默认true\"},\"children\":\"子节点数组（执行到成功为止）\"},\n {\"name\":\"Parallel\",\"params\":{\"policy\":\"all_success\"},\"children\":\"子节点数组（同时执行，严禁用'one_success'）\"}\n ],\n \"decorators\": [\n {\"name\":\"SuccessIsFailure\",\"params\":{},\"child\":\"单个子节点（成功转失败，失败仍失败）\"}\n ]\n}\n```\n\n\n## 二、节点必填字段（后端Schema强制要求，缺一验证失败）\n每个节点必须包含以下字段，字段名/类型不可自定义：\n1. **`type`**： \n - 动作节点→`\"action\"`，条件节点→`\"condition\"`，装饰器节点→`\"decorator\"`，控制流节点→`\"Sequence\"`/`\"Selector\"`/`\"Parallel\"`（与`name`字段值完全一致）；\n2. **`name`**：必须是上述JSON中`actions`/`conditions`/`control_flow`/`decorators`下的`name`值；\n3. **`params`**：严格匹配上述节点的`params`定义，无自定义参数；\n4. **`children`**：仅控制流节点必含（子节点数组）；\n5. **`child`**：仅装饰器节点必含（单个子节点对象）。\n\n\n## 三、行为树固定结构（通用不变）\n根节点通常是 `Sequence` 或 `Selector`，直接包含任务逻辑。不再强制包含 `SafetyMonitor` 或 `Parallel` 根节点。\n\n示例结构（简单顺序任务）：\n```json\n{\n \"root\": {\n \"type\": \"Sequence\",\n \"name\": \"MainTask\",\n \"params\": {},\n \"children\": [\n {\"type\":\"action\",\"name\":\"takeoff\",\"params\":{\"altitude\":10.0}},\n {\"type\":\"action\",\"name\":\"fly_to_waypoint\",\"params\":{\"x\":200.0,\"y\":150.0,\"z\":10.0}},\n {\"type\":\"action\",\"name\":\"land\",\"params\":{\"mode\":\"home\"}}\n ]\n }\n}\n```\n\n\n## 四、优先级排序任务通用示例\n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。\n| 用户指令场景 | `target_class` | `description` | 核心节点示例（search_pattern） |\n|-----------------------------|-----------------|-------------------------|------------------------------------------------------------------------------------------------|\n| 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）\"}}` |\n| 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）\"}}` |\n\n\n## 五、高频错误规避（确保验证通过）\n1. 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；\n2. 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；\n3. `track_object`必传`track_time`：不可用`duration`替代（如跟踪30秒填`\"track_time\":30.0`）；\n4. `gps_status`的`min_satellites`必须在6-15之间（如8，不可缺省）；\n5. 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”。\n\n\n## 六、新场景模式指南 (New Scenarios)\n\n### 1. 预期场景 (Expected Scenarios)\n当用户指令包含“旋转搜索”、“人工确认”等特定词汇时，请使用以下对应关系：\n- **\"旋转搜索\"** -> 使用 `rotate_search` 动作。\n- **\"人工确认\"** -> 使用 `wait_for_confirmation` 动作（通常放在 `object_detect` 或 `object_detected` 之后）。\n\n**示例：** \"到研究所广场，寻找黄色衣服男子，我确认后再对其拍照。\"\n```json\n{\n \"type\": \"Sequence\",\n \"name\": \"SearchAndConfirm\",\n \"children\": [\n {\"type\":\"action\", \"name\":\"fly_to_waypoint\", \"params\":{\"x\":20, \"y\":150, \"z\":10}},\n {\"type\":\"action\", \"name\":\"rotate_search\", \"params\":{\"center_x\":20, \"y\":150, \"z\":10, \"radius\":30, \"duration\":60}},\n {\"type\":\"action\", \"name\":\"wait_for_confirmation\", \"params\":{\"message\":\"Found yellow shirt male, confirm to photo?\", \"timeout\":60}},\n {\"type\":\"action\", \"name\":\"strike_target\", \"params\":{\"target_class\":\"person\", \"description\":\"yellow shirt\"}}\n ]\n}\n```\n\n### 2. 环绕侦察 (Circular Reconnaissance with Interrupts)\n当用户要求“环绕侦察”或“巡逻中发现目标即拍照”时，必须使用 `Selector` + `SuccessIsFailure` (Decorator) + `fly_to_waypoint` 的组合模式。\n**逻辑解释：** 这是一个“顺路侦察”模式。无人机在飞往下一个航点的过程中（Selector），先尝试检测目标（ReactiveWork）。如果检测到目标并拍照成功，`SuccessIsFailure` 会欺骗 Selector 说“失败了”，从而迫使 Selector 继续执行 `fly_to_waypoint`，确保无人机不会因为拍了照就停在半路，而是继续飞向终点。\n\n**结构模板：**\n```json\n{\n \"name\": \"GoToWaypointX\",\n \"type\": \"Selector\",\n \"children\": [\n {\"type\": \"condition\", \"name\": \"at_waypoint\", \"params\": {\"target_position\": [x, y, z]}},\n {\n \"name\": \"ReactiveWork\",\n \"type\": \"Selector\",\n \"children\": [\n {\n \"name\": \"SuccessIsFailure\",\n \"type\": \"decorator\",\n \"child\": {\n \"name\": \"DetectHoverPhoto\",\n \"type\": \"Sequence\",\n \"children\": [\n {\"name\": \"object_detect\", \"type\": \"action\", \"params\": {\"target_class\": \"person\"}},\n {\"name\": \"loiter\", \"type\": \"action\", \"params\": {\"time\": 2.0}}\n ]\n }\n },\n {\"name\": \"fly_to_waypoint\", \"type\": \"action\", \"params\": {\"x\": x, \"y\": y, \"z\": z}}\n ]\n }\n ]\n}\n```\n\n\n## 七、输出要求\n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。\n\n\n【强制规则】仅生成包含root的复杂行为树JSON，不得输出简单模式（不得包含mode字段或仅有action节点）。\n\n=== User Prompt ===\n空中待命/任务中,到研究所广场，寻找黄色衣服男子，我确认后再对其拍照。"
|
||
}
|
||
[2026-01-02 14:10:11]
|
||
--- Validation Checks ---
|
||
[2026-01-02 14:10:11] PASS: Response is a valid JSON object.
|
||
[2026-01-02 14:10:11] PASS: Response contains a valid 'root' key.
|
||
[2026-01-02 14:10:11] PASS: Response contains a valid 'visualization_url': /static/py_tree.png
|
||
[2026-01-02 14:10:11] ✅ Test completed successfully
|
||
[2026-01-02 14:10:11] ================================================================================
|
||
[2026-01-02 14:10:11]
|
||
[2026-01-02 14:10:11] ================================================================================
|
||
[2026-01-02 14:10:11] --- API Test: Scene 3: Circular Reconnaissance (Selector Logic) ---
|
||
[2026-01-02 14:10:11] URL: http://127.0.0.1:8000/generate_plan
|
||
[2026-01-02 14:10:11] Sending Prompt: "执行环绕侦察任务，沿着研究所外围巡逻，如果发现人就悬停拍照。"
|
||
[2026-01-02 14:10:27] ✅ Received Response:
|
||
[2026-01-02 14:10:27]
|
||
📝 组织后的Prompt:
|
||
[2026-01-02 14:10:27] === System Prompt ===
|
||
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**。
|
||
|
||
## 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：
|
||
```json
|
||
{
|
||
"actions": [
|
||
{"name":"takeoff","params":{"altitude":"float[1,100]，默认2"}},
|
||
{"name":"land","params":{"mode":"'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":"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":"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":"deliver_payload","params":{"payload_type":"string","release_altitude":"[2,100]默认5"}},
|
||
{"name":"preflight_checks","params":{"check_level":"basic/comprehensive"}},
|
||
{"name":"emergency_return","params":{"reason":"string"}},
|
||
{"name":"rotate_search","params":{"center_x":"±10000","center_y":"±10000","center_z":"[1,5000]","radius":"[5,100]","speed_mps":"[0.5,10]","duration":"[10,600]秒"}},
|
||
{"name":"wait_for_confirmation","params":{"message":"string","timeout":"[10,600]秒"}}
|
||
],
|
||
"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":"gps_status","params":{"min_satellites":"int[6,15]，必传（如8）"}}
|
||
],
|
||
"control_flow": [
|
||
{"name":"Sequence","params":{},"children":"子节点数组（按序执行，全成功则成功）"},
|
||
{"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'）"}
|
||
],
|
||
"decorators": [
|
||
{"name":"SuccessIsFailure","params":{},"child":"单个子节点（成功转失败，失败仍失败）"}
|
||
]
|
||
}
|
||
```
|
||
|
||
|
||
## 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"`，装饰器节点→`"decorator"`，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`/`decorators`下的`name`值；
|
||
3. **`params`**：严格匹配上述节点的`params`定义，无自定义参数；
|
||
4. **`children`**：仅控制流节点必含（子节点数组）；
|
||
5. **`child`**：仅装饰器节点必含（单个子节点对象）。
|
||
|
||
|
||
## 三、行为树固定结构（通用不变）
|
||
根节点通常是 `Sequence` 或 `Selector`，直接包含任务逻辑。不再强制包含 `SafetyMonitor` 或 `Parallel` 根节点。
|
||
|
||
示例结构（简单顺序任务）：
|
||
```json
|
||
{
|
||
"root": {
|
||
"type": "Sequence",
|
||
"name": "MainTask",
|
||
"params": {},
|
||
"children": [
|
||
{"type":"action","name":"takeoff","params":{"altitude":10.0}},
|
||
{"type":"action","name":"fly_to_waypoint","params":{"x":200.0,"y":150.0,"z":10.0}},
|
||
{"type":"action","name":"land","params":{"mode":"home"}}
|
||
]
|
||
}
|
||
}
|
||
```
|
||
|
||
|
||
## 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）"}}` |
|
||
|
||
|
||
## 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. `gps_status`的`min_satellites`必须在6-15之间（如8，不可缺省）；
|
||
5. 无自定义节点：“锁定高优先级目标”需通过`object_detect`+`object_detected`实现，不可用“lock_high_risk_target”。
|
||
|
||
|
||
## 六、新场景模式指南 (New Scenarios)
|
||
|
||
### 1. 预期场景 (Expected Scenarios)
|
||
当用户指令包含“旋转搜索”、“人工确认”等特定词汇时，请使用以下对应关系：
|
||
- **"旋转搜索"** -> 使用 `rotate_search` 动作。
|
||
- **"人工确认"** -> 使用 `wait_for_confirmation` 动作（通常放在 `object_detect` 或 `object_detected` 之后）。
|
||
|
||
**示例：** "到研究所广场，寻找黄色衣服男子，我确认后再对其拍照。"
|
||
```json
|
||
{
|
||
"type": "Sequence",
|
||
"name": "SearchAndConfirm",
|
||
"children": [
|
||
{"type":"action", "name":"fly_to_waypoint", "params":{"x":20, "y":150, "z":10}},
|
||
{"type":"action", "name":"rotate_search", "params":{"center_x":20, "y":150, "z":10, "radius":30, "duration":60}},
|
||
{"type":"action", "name":"wait_for_confirmation", "params":{"message":"Found yellow shirt male, confirm to photo?", "timeout":60}},
|
||
{"type":"action", "name":"strike_target", "params":{"target_class":"person", "description":"yellow shirt"}}
|
||
]
|
||
}
|
||
```
|
||
|
||
### 2. 环绕侦察 (Circular Reconnaissance with Interrupts)
|
||
当用户要求“环绕侦察”或“巡逻中发现目标即拍照”时，必须使用 `Selector` + `SuccessIsFailure` (Decorator) + `fly_to_waypoint` 的组合模式。
|
||
**逻辑解释：** 这是一个“顺路侦察”模式。无人机在飞往下一个航点的过程中（Selector），先尝试检测目标（ReactiveWork）。如果检测到目标并拍照成功，`SuccessIsFailure` 会欺骗 Selector 说“失败了”，从而迫使 Selector 继续执行 `fly_to_waypoint`，确保无人机不会因为拍了照就停在半路，而是继续飞向终点。
|
||
|
||
**结构模板：**
|
||
```json
|
||
{
|
||
"name": "GoToWaypointX",
|
||
"type": "Selector",
|
||
"children": [
|
||
{"type": "condition", "name": "at_waypoint", "params": {"target_position": [x, y, z]}},
|
||
{
|
||
"name": "ReactiveWork",
|
||
"type": "Selector",
|
||
"children": [
|
||
{
|
||
"name": "SuccessIsFailure",
|
||
"type": "decorator",
|
||
"child": {
|
||
"name": "DetectHoverPhoto",
|
||
"type": "Sequence",
|
||
"children": [
|
||
{"name": "object_detect", "type": "action", "params": {"target_class": "person"}},
|
||
{"name": "loiter", "type": "action", "params": {"time": 2.0}}
|
||
]
|
||
}
|
||
},
|
||
{"name": "fly_to_waypoint", "type": "action", "params": {"x": x, "y": y, "z": z}}
|
||
]
|
||
}
|
||
]
|
||
}
|
||
```
|
||
|
||
|
||
## 七、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。
|
||
|
||
|
||
【强制规则】仅生成包含root的复杂行为树JSON，不得输出简单模式（不得包含mode字段或仅有action节点）。
|
||
|
||
=== User Prompt ===
|
||
执行环绕侦察任务，沿着研究所外围巡逻，如果发现人就悬停拍照。
|
||
[2026-01-02 14:10:27]
|
||
完整响应内容:
|
||
[2026-01-02 14:10:27] {
|
||
"root": {
|
||
"type": "Selector",
|
||
"name": "CircumferentialReconnaissance",
|
||
"children": [
|
||
{
|
||
"type": "decorator",
|
||
"name": "SuccessIsFailure",
|
||
"child": {
|
||
"type": "Sequence",
|
||
"name": "DetectAndPhoto",
|
||
"children": [
|
||
{
|
||
"type": "action",
|
||
"name": "object_detect",
|
||
"params": {
|
||
"target_class": "person",
|
||
"description": "（优先级：人）"
|
||
}
|
||
},
|
||
{
|
||
"type": "action",
|
||
"name": "loiter",
|
||
"params": {
|
||
"time": 2.0
|
||
}
|
||
}
|
||
]
|
||
}
|
||
},
|
||
{
|
||
"type": "action",
|
||
"name": "orbit_around_point",
|
||
"params": {
|
||
"center_x": 200,
|
||
"center_y": 150,
|
||
"center_z": 10,
|
||
"radius": 50,
|
||
"laps": 2,
|
||
"clockwise": true,
|
||
"speed_mps": 5.0,
|
||
"gimbal_lock": true
|
||
}
|
||
}
|
||
]
|
||
},
|
||
"plan_id": "46a55010-9707-4972-8563-08d332917dbc",
|
||
"visualization_url": "/static/py_tree.png",
|
||
"final_prompt": "=== System Prompt ===\n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**。\n\n## 一、核心节点定义（格式不可修改，确保后端解析）\n#### 1. 可用节点定义 (必须遵守)\n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：\n```json\n{\n \"actions\": [\n {\"name\":\"takeoff\",\"params\":{\"altitude\":\"float[1,100]，默认2\"}},\n {\"name\":\"land\",\"params\":{\"mode\":\"'current'/'home'\"}},\n {\"name\":\"fly_to_waypoint\",\"params\":{\"x\":\"±10000\",\"y\":\"±10000\",\"z\":\"[1,5000]\",\"acceptance_radius\":\"默认2.0\"}},\n {\"name\":\"move_direction\",\"params\":{\"direction\":\"north/south/east/west/forward/backward/left/right\",\"distance\":\"[1,10000]，缺省持续移动\"}},\n {\"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\"}},\n {\"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\"}},\n {\"name\":\"loiter\",\"params\":{\"duration\":\"[1,600]秒/until_condition:可选\"}},\n {\"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\"}},\n {\"name\":\"strike_target\",\"params\":{\"target_class\":\"同object_detect\",\"description\":\"可选，目标属性\",\"count\":\"默认1\"}},\n {\"name\":\"battle_damage_assessment\",\"params\":{\"target_class\":\"同object_detect\",\"assessment_time\":\"[5,60]，默认15\"}},\n {\"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\"}},\n {\"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\"}},\n {\"name\":\"deliver_payload\",\"params\":{\"payload_type\":\"string\",\"release_altitude\":\"[2,100]默认5\"}},\n {\"name\":\"preflight_checks\",\"params\":{\"check_level\":\"basic/comprehensive\"}},\n {\"name\":\"emergency_return\",\"params\":{\"reason\":\"string\"}},\n {\"name\":\"rotate_search\",\"params\":{\"center_x\":\"±10000\",\"center_y\":\"±10000\",\"center_z\":\"[1,5000]\",\"radius\":\"[5,100]\",\"speed_mps\":\"[0.5,10]\",\"duration\":\"[10,600]秒\"}},\n {\"name\":\"wait_for_confirmation\",\"params\":{\"message\":\"string\",\"timeout\":\"[10,600]秒\"}}\n ],\n \"conditions\": [\n {\"name\":\"battery_above\",\"params\":{\"threshold\":\"[0.0,1.0]，必传\"}},\n {\"name\":\"at_waypoint\",\"params\":{\"x\":\"±10000\",\"y\":\"±10000\",\"z\":\"[1,5000]\",\"tolerance\":\"默认3.0\"}},\n {\"name\":\"object_detected\",\"params\":{\"target_class\":\"同object_detect（必传）\",\"description\":\"可选，目标属性\",\"count\":\"默认1\"}},\n {\"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\"}},\n {\"name\":\"time_elapsed\",\"params\":{\"duration\":\"[1,2700]秒\"}},\n {\"name\":\"gps_status\",\"params\":{\"min_satellites\":\"int[6,15]，必传（如8）\"}}\n ],\n \"control_flow\": [\n {\"name\":\"Sequence\",\"params\":{},\"children\":\"子节点数组（按序执行，全成功则成功）\"},\n {\"name\":\"Selector\",\"params\":{\"memory\":\"默认true\"},\"children\":\"子节点数组（执行到成功为止）\"},\n {\"name\":\"Parallel\",\"params\":{\"policy\":\"all_success\"},\"children\":\"子节点数组（同时执行，严禁用'one_success'）\"}\n ],\n \"decorators\": [\n {\"name\":\"SuccessIsFailure\",\"params\":{},\"child\":\"单个子节点（成功转失败，失败仍失败）\"}\n ]\n}\n```\n\n\n## 二、节点必填字段（后端Schema强制要求，缺一验证失败）\n每个节点必须包含以下字段，字段名/类型不可自定义：\n1. **`type`**： \n - 动作节点→`\"action\"`，条件节点→`\"condition\"`，装饰器节点→`\"decorator\"`，控制流节点→`\"Sequence\"`/`\"Selector\"`/`\"Parallel\"`（与`name`字段值完全一致）；\n2. **`name`**：必须是上述JSON中`actions`/`conditions`/`control_flow`/`decorators`下的`name`值；\n3. **`params`**：严格匹配上述节点的`params`定义，无自定义参数；\n4. **`children`**：仅控制流节点必含（子节点数组）；\n5. **`child`**：仅装饰器节点必含（单个子节点对象）。\n\n\n## 三、行为树固定结构（通用不变）\n根节点通常是 `Sequence` 或 `Selector`，直接包含任务逻辑。不再强制包含 `SafetyMonitor` 或 `Parallel` 根节点。\n\n示例结构（简单顺序任务）：\n```json\n{\n \"root\": {\n \"type\": \"Sequence\",\n \"name\": \"MainTask\",\n \"params\": {},\n \"children\": [\n {\"type\":\"action\",\"name\":\"takeoff\",\"params\":{\"altitude\":10.0}},\n {\"type\":\"action\",\"name\":\"fly_to_waypoint\",\"params\":{\"x\":200.0,\"y\":150.0,\"z\":10.0}},\n {\"type\":\"action\",\"name\":\"land\",\"params\":{\"mode\":\"home\"}}\n ]\n }\n}\n```\n\n\n## 四、优先级排序任务通用示例\n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。\n| 用户指令场景 | `target_class` | `description` | 核心节点示例（search_pattern） |\n|-----------------------------|-----------------|-------------------------|------------------------------------------------------------------------------------------------|\n| 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）\"}}` |\n| 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）\"}}` |\n\n\n## 五、高频错误规避（确保验证通过）\n1. 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；\n2. 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；\n3. `track_object`必传`track_time`：不可用`duration`替代（如跟踪30秒填`\"track_time\":30.0`）；\n4. `gps_status`的`min_satellites`必须在6-15之间（如8，不可缺省）；\n5. 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”。\n\n\n## 六、新场景模式指南 (New Scenarios)\n\n### 1. 预期场景 (Expected Scenarios)\n当用户指令包含“旋转搜索”、“人工确认”等特定词汇时，请使用以下对应关系：\n- **\"旋转搜索\"** -> 使用 `rotate_search` 动作。\n- **\"人工确认\"** -> 使用 `wait_for_confirmation` 动作（通常放在 `object_detect` 或 `object_detected` 之后）。\n\n**示例：** \"到研究所广场，寻找黄色衣服男子，我确认后再对其拍照。\"\n```json\n{\n \"type\": \"Sequence\",\n \"name\": \"SearchAndConfirm\",\n \"children\": [\n {\"type\":\"action\", \"name\":\"fly_to_waypoint\", \"params\":{\"x\":20, \"y\":150, \"z\":10}},\n {\"type\":\"action\", \"name\":\"rotate_search\", \"params\":{\"center_x\":20, \"y\":150, \"z\":10, \"radius\":30, \"duration\":60}},\n {\"type\":\"action\", \"name\":\"wait_for_confirmation\", \"params\":{\"message\":\"Found yellow shirt male, confirm to photo?\", \"timeout\":60}},\n {\"type\":\"action\", \"name\":\"strike_target\", \"params\":{\"target_class\":\"person\", \"description\":\"yellow shirt\"}}\n ]\n}\n```\n\n### 2. 环绕侦察 (Circular Reconnaissance with Interrupts)\n当用户要求“环绕侦察”或“巡逻中发现目标即拍照”时，必须使用 `Selector` + `SuccessIsFailure` (Decorator) + `fly_to_waypoint` 的组合模式。\n**逻辑解释：** 这是一个“顺路侦察”模式。无人机在飞往下一个航点的过程中（Selector），先尝试检测目标（ReactiveWork）。如果检测到目标并拍照成功，`SuccessIsFailure` 会欺骗 Selector 说“失败了”，从而迫使 Selector 继续执行 `fly_to_waypoint`，确保无人机不会因为拍了照就停在半路，而是继续飞向终点。\n\n**结构模板：**\n```json\n{\n \"name\": \"GoToWaypointX\",\n \"type\": \"Selector\",\n \"children\": [\n {\"type\": \"condition\", \"name\": \"at_waypoint\", \"params\": {\"target_position\": [x, y, z]}},\n {\n \"name\": \"ReactiveWork\",\n \"type\": \"Selector\",\n \"children\": [\n {\n \"name\": \"SuccessIsFailure\",\n \"type\": \"decorator\",\n \"child\": {\n \"name\": \"DetectHoverPhoto\",\n \"type\": \"Sequence\",\n \"children\": [\n {\"name\": \"object_detect\", \"type\": \"action\", \"params\": {\"target_class\": \"person\"}},\n {\"name\": \"loiter\", \"type\": \"action\", \"params\": {\"time\": 2.0}}\n ]\n }\n },\n {\"name\": \"fly_to_waypoint\", \"type\": \"action\", \"params\": {\"x\": x, \"y\": y, \"z\": z}}\n ]\n }\n ]\n}\n```\n\n\n## 七、输出要求\n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。\n\n\n【强制规则】仅生成包含root的复杂行为树JSON，不得输出简单模式（不得包含mode字段或仅有action节点）。\n\n=== User Prompt ===\n执行环绕侦察任务，沿着研究所外围巡逻，如果发现人就悬停拍照。"
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}
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[2026-01-02 14:10:27]
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--- Validation Checks ---
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[2026-01-02 14:10:27] PASS: Response is a valid JSON object.
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[2026-01-02 14:10:27] PASS: Response contains a valid 'root' key.
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[2026-01-02 14:10:27] PASS: Response contains a valid 'visualization_url': /static/py_tree.png
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[2026-01-02 14:10:27] ✅ Test completed successfully
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[2026-01-02 14:10:27] ================================================================================
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[2026-01-02 14:10:27]
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