Add ABB120 demo suite and docs

2026-06-28 20:58:18 +08:00
parent 84a5b54195
commit 65187499d6
820 changed files with 215410 additions and 211 deletions
--- a/kdl-wasm/web/scripts/run-abb120-spec-suite.ts
+++ b/kdl-wasm/web/scripts/run-abb120-spec-suite.ts
@@ -0,0 +1,101 @@
+import { mkdirSync, readFileSync, writeFileSync } from "node:fs";
+import { dirname, join, resolve } from "node:path";
+import { fileURLToPath } from "node:url";
+import { runAbb120SpecSuite } from "../src/suites/abb120SpecSuite.js";
+
+const webRoot = resolve(dirname(fileURLToPath(import.meta.url)), "..");
+const specRoot = join(webRoot, "tests", "fixtures", "abb120", "spec-programs");
+const manifest = JSON.parse(readFileSync(join(specRoot, "manifest.json"), "utf8"));
+const programs = manifest.programs.map((entry: { program_id: string; file: string }) => ({
+  program_id: entry.program_id,
+  file: entry.file,
+  text: readFileSync(join(specRoot, entry.file), "utf8")
+}));
+const job = runAbb120SpecSuite(manifest, programs, {
+  gitRevision: process.env.GIT_REVISION ?? "working-tree"
+});
+const outputRoot = resolve(webRoot, "test-results", "abb120-spec", job.job_id);
+
+mkdirSync(outputRoot, { recursive: true });
+writeFileSync(join(outputRoot, "manifest.json"), `${JSON.stringify(manifest, null, 2)}\n`);
+writeFileSync(join(outputRoot, "job.json"), `${JSON.stringify(job, null, 2)}\n`);
+writeFileSync(join(outputRoot, "report.json"), `${JSON.stringify(reportJson(job), null, 2)}\n`);
+writeFileSync(join(outputRoot, "report.html"), reportHtml(job));
+
+for (const program of job.programs) {
+  const programDir = join(outputRoot, "programs", program.program_id);
+  mkdirSync(programDir, { recursive: true });
+  writeFileSync(join(programDir, "compile.json"), `${JSON.stringify(program.compile, null, 2)}\n`);
+  writeFileSync(join(programDir, "controller.json"), `${JSON.stringify(program.controller ?? {}, null, 2)}\n`);
+  writeFileSync(join(programDir, "motion-queue.json"), `${JSON.stringify(program.motionQueue ?? {}, null, 2)}\n`);
+  writeFileSync(join(programDir, "trace.json"), `${JSON.stringify(program.trace ?? [], null, 2)}\n`);
+  writeFileSync(join(programDir, "io.json"), `${JSON.stringify(program.io ?? {}, null, 2)}\n`);
+  writeFileSync(join(programDir, "trajectory.json"), `${JSON.stringify(program.trajectory ?? {}, null, 2)}\n`);
+  writeFileSync(join(programDir, "post-report.json"), `${JSON.stringify(program.post ?? {}, null, 2)}\n`);
+  writeFileSync(join(programDir, "roundtrip.json"), `${JSON.stringify(program.roundtrip ?? {}, null, 2)}\n`);
+}
+
+console.log(JSON.stringify({
+  job_id: job.job_id,
+  outputRoot,
+  programs: job.programs.length,
+  missingSections: job.coverage.missingSections
+}, null, 2));
+
+function reportJson(job: ReturnType<typeof runAbb120SpecSuite>) {
+  return {
+    job_id: job.job_id,
+    suite_id: job.suite_id,
+    robot_id: job.robot_id,
+    coverage: job.coverage,
+    summary: {
+      programs: job.programs.length,
+      pass: job.programs.filter((program) => program.status === "pass").length,
+      diagnostic: job.programs.filter((program) => program.status === "diagnostic").length,
+      fail: job.programs.filter((program) => program.status === "fail").length
+    },
+    diagnostics: job.programs.flatMap((program) =>
+      program.diagnostics.map((diagnostic) => ({
+        program_id: program.program_id,
+        ...diagnostic
+      }))
+    )
+  };
+}
+
+function reportHtml(job: ReturnType<typeof runAbb120SpecSuite>): string {
+  const rows = job.programs.map((program) =>
+    `<tr><td>${escapeHtml(program.program_id)}</td><td>${escapeHtml(program.coverage_level)}</td><td>${escapeHtml(program.status)}</td><td>${program.diagnostics.length}</td></tr>`
+  ).join("\n");
+  return `<!doctype html>
+<html lang="en">
+<head>
+  <meta charset="utf-8">
+  <title>${escapeHtml(job.job_id)}</title>
+  <style>
+    body { font-family: Arial, sans-serif; margin: 24px; color: #1f2933; }
+    table { border-collapse: collapse; width: 100%; }
+    th, td { border: 1px solid #ccd5dd; padding: 8px; text-align: left; }
+    th { background: #eef2f4; }
+  </style>
+</head>
+<body>
+  <h1>${escapeHtml(job.job_id)}</h1>
+  <p>Suite ${escapeHtml(job.suite_id)} / Robot ${escapeHtml(job.robot_id)}</p>
+  <p>Covered sections: ${job.coverage.coveredSections.join(", ")}</p>
+  <table>
+    <thead><tr><th>Program</th><th>Layer</th><th>Status</th><th>Diagnostics</th></tr></thead>
+    <tbody>${rows}</tbody>
+  </table>
+</body>
+</html>
+`;
+}
+
+function escapeHtml(value: unknown): string {
+  return String(value)
+    .replaceAll("&", "&amp;")
+    .replaceAll("<", "&lt;")
+    .replaceAll(">", "&gt;")
+    .replaceAll("\"", "&quot;");
+}