ref：将识图改为实时，修复平行动作无法正常启用的问题

fix：平行动作无法正确执行

src/chat/planner_actions/planner.py

@@ -357,7 +357,7 @@ class ActionPlanner:
 
         # --- 调用 LLM (普通文本生成) ---
         llm_content = None
-        action_planner_infos = []  # 存储多个ActionPlannerInfo对象
+        action_planner_infos: List[ActionPlannerInfo] = []  # 存储多个ActionPlannerInfo对象
 
         try:
             llm_content, (reasoning_content, _, _) = await self.planner_small_llm.generate_response_async(prompt=prompt)
@@ -581,7 +581,7 @@ class ActionPlanner:
             sub_plan_results = await asyncio.gather(*sub_plan_tasks)
 
             # 收集所有结果
-            all_sub_planner_results = []
+            all_sub_planner_results: List[ActionPlannerInfo] = []
             for sub_result in sub_plan_results:
                 all_sub_planner_results.extend(sub_result)
 
@@ -679,9 +679,12 @@ class ActionPlanner:
             reasoning = f"Planner 内部处理错误: {outer_e}"
 
         is_parallel = True
-        if mode == ChatMode.NORMAL and action in current_available_actions:
-            if is_parallel:
-                is_parallel = current_available_actions[action].parallel_action
+        for action_planner_info in all_sub_planner_results:
+            if action_planner_info.action_type == "no_action":
+                continue
+            if not current_available_actions[action_planner_info.action_type].parallel_action:
+                is_parallel = False
+                break
 
         action_data["loop_start_time"] = loop_start_time
 
@@ -720,8 +723,11 @@ class ActionPlanner:
                     )
                 ]
 
+            action_str = ""
+            for action in actions:
+                action_str += f"{action.action_type} "
             logger.info(
-                f"{self.log_prefix}并行模式：返回主规划器{len(main_actions)}个action + 副规划器{len(all_sub_planner_results)}个action，过滤后总计{len(actions)}个action"
+                f"{self.log_prefix}大脑小脑决定执行{len(actions)}个动作: {action_str}"
             )
         else:
             # 如果为假，只返回副规划器的结果
@@ -739,7 +745,7 @@ class ActionPlanner:
                     )
                 ]
 
-            logger.info(f"{self.log_prefix}非并行模式：返回副规划器的{len(actions)}个action（已过滤no_action）")
+            logger.info(f"{self.log_prefix}跳过大脑，执行小脑的{len(actions)}个动作")
 
         return actions, target_message