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Add ABB120 demo suite and docs

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wangdequan
2026-06-28 20:58:18 +08:00
parent 84a5b54195
commit 65187499d6
820 changed files with 215410 additions and 211 deletions
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440
kdl-wasm/web/test-results/abb120-spec/W2-JOB-20260628013857-19b5a2c7/manifest.json Normal file
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{
"suite_id": "working2-abb120-spec",
"robot_id": "abb_irb120_3_58",
"spec_source": "work/doc/通用机器人编程语法规范.md",
"program_root": "kdl-wasm/web/tests/fixtures/abb120/spec-programs",
"runtime_commands": [
"loadProgram",
"start",
"stepInto",
"hold",
"resume",
"stepMotion",
"stop",
"resetFault"
],
"programs": [
{
"program_id": "W2_00_MinimalModule",
"file": "runtime/W2_00_MinimalModule.grl",
"coverage_level": "Runtime",
"spec_sections": [
4,
5,
6,
9,
10,
23
],
"expected_status": "pass",
"expected_diagnostics": []
},
{
"program_id": "W2_10_DataTargetToolFrame",
"file": "runtime/W2_10_DataTargetToolFrame.grl",
"coverage_level": "Runtime",
"spec_sections": [
6,
8,
9
],
"expected_status": "pass",
"expected_diagnostics": []
},
{
"program_id": "W2_20_ExpressionMath",
"file": "runtime/W2_20_ExpressionMath.grl",
"coverage_level": "Runtime",
"spec_sections": [
7,
9,
13
],
"expected_status": "pass",
"expected_diagnostics": []
},
{
"program_id": "W2_30_MotionAllTypes",
"file": "runtime/W2_30_MotionAllTypes.grl",
"coverage_level": "Runtime",
"spec_sections": [
8,
9,
10
],
"expected_status": "pass",
"expected_diagnostics": []
},
{
"program_id": "W2_40_PathEvents",
"file": "runtime/W2_40_PathEvents.grl",
"coverage_level": "Runtime",
"spec_sections": [
11,
13,
19
],
"expected_status": "pass",
"expected_diagnostics": []
},
{
"program_id": "W2_50_OperationProcess",
"file": "runtime/W2_50_OperationProcess.grl",
"coverage_level": "Runtime",
"spec_sections": [
12,
13
],
"expected_status": "pass",
"expected_diagnostics": []
},
{
"program_id": "W2_60_IOWaitPulse",
"file": "runtime/W2_60_IOWaitPulse.grl",
"coverage_level": "Runtime",
"spec_sections": [
13
],
"expected_status": "pass",
"expected_diagnostics": []
},
{
"program_id": "W2_70_ControlFlow",
"file": "runtime/W2_70_ControlFlow.grl",
"coverage_level": "Runtime",
"spec_sections": [
14
],
"expected_status": "pass",
"expected_diagnostics": []
},
{
"program_id": "W2_80_ProcFuncCall",
"file": "runtime/W2_80_ProcFuncCall.grl",
"coverage_level": "Runtime",
"spec_sections": [
15
],
"expected_status": "pass",
"expected_diagnostics": []
},
{
"program_id": "W2_90_ExceptionAlarm",
"file": "runtime/W2_90_ExceptionAlarm.grl",
"coverage_level": "Runtime",
"spec_sections": [
16,
17
],
"expected_status": "pass",
"expected_diagnostics": [
"GRL_P1_UNIMPLEMENTED"
]
},
{
"program_id": "W2_E10_ExpressionDiagnostics",
"file": "static/W2_E10_ExpressionDiagnostics.grl",
"coverage_level": "Static",
"spec_sections": [
7,
22
],
"expected_status": "diagnostic",
"expected_diagnostics": [
"GRL_EXPR_UNKNOWN_SYMBOL",
"GRL_EXPR_UNKNOWN_FUNCTION",
"GRL_EXPR_ARITY",
"GRL_EXPR_DOMAIN",
"GRL_EXPR_DIV_ZERO",
"GRL_EXPR_UNIT_MISMATCH"
]
},
{
"program_id": "W2_E20_SemanticDiagnostics",
"file": "static/W2_E20_SemanticDiagnostics.grl",
"coverage_level": "Static",
"spec_sections": [
6,
15,
22
],
"expected_status": "diagnostic",
"expected_diagnostics": [
"GRL_SYMBOL_DUPLICATE",
"GRL_ARGUMENT_NOT_LVALUE",
"GRL_CALL_TARGET_NOT_FOUND",
"GRL_FUNC_SIDE_EFFECT",
"GRL_TARGET_NOT_FOUND"
]
},
{
"program_id": "W2_E30_MotionDiagnostics",
"file": "error/W2_E30_MotionDiagnostics.grl",
"coverage_level": "Static",
"spec_sections": [
8,
9,
10,
11,
22
],
"expected_status": "diagnostic",
"expected_diagnostics": [
"KDL_JOINT_LIMIT",
"KDL_TARGET_UNREACHABLE",
"GRL_PATH_EMPTY"
]
},
{
"program_id": "W2_E40_ControlFlowDiagnostics",
"file": "static/W2_E40_ControlFlowDiagnostics.grl",
"coverage_level": "Static",
"spec_sections": [
14,
22
],
"expected_status": "diagnostic",
"expected_diagnostics": [
"GRL_BREAK_OUTSIDE_FLOW",
"GRL_CONTINUE_OUTSIDE_LOOP",
"GRL_JUMP_INTO_BLOCK",
"GRL_SWITCH_CASE_DUPLICATE",
"GRL_SWITCH_CASE_NOT_CONSTANT",
"GRL_LABEL_NOT_FOUND"
]
},
{
"program_id": "W2_E50_RuntimeTimeout",
"file": "error/W2_E50_RuntimeTimeout.grl",
"coverage_level": "Runtime",
"spec_sections": [
13,
16
],
"expected_status": "diagnostic",
"expected_diagnostics": [
"VC_WAIT_TIMEOUT"
]
},
{
"program_id": "W2_P10_BrandHints",
"file": "post/W2_P10_BrandHints.grl",
"coverage_level": "Post",
"spec_sections": [
18,
20
],
"expected_status": "pass",
"expected_diagnostics": [
"GRL_POST_HINT_IGNORED"
]
},
{
"program_id": "W2_P20_CrossBrandMotion",
"file": "post/W2_P20_CrossBrandMotion.grl",
"coverage_level": "Post",
"spec_sections": [
20
],
"expected_status": "pass",
"expected_diagnostics": []
},
{
"program_id": "W2_P30_Roundtrip",
"file": "post/W2_P30_Roundtrip.grl",
"coverage_level": "Post",
"spec_sections": [
19,
20,
21
],
"expected_status": "pass",
"expected_diagnostics": []
}
],
"coverage_matrix": [
{
"spec_section": 4,
"coverage_level": "Runtime/Static",
"program_ids": [
"W2_00_MinimalModule"
]
},
{
"spec_section": 5,
"coverage_level": "Runtime",
"program_ids": [
"W2_00_MinimalModule"
]
},
{
"spec_section": 6,
"coverage_level": "Runtime/Static",
"program_ids": [
"W2_10_DataTargetToolFrame",
"W2_E20_SemanticDiagnostics"
]
},
{
"spec_section": 7,
"coverage_level": "Runtime/Static/Post",
"program_ids": [
"W2_20_ExpressionMath",
"W2_E10_ExpressionDiagnostics",
"W2_P20_CrossBrandMotion"
]
},
{
"spec_section": 8,
"coverage_level": "Runtime/Static",
"program_ids": [
"W2_10_DataTargetToolFrame",
"W2_E30_MotionDiagnostics"
]
},
{
"spec_section": 9,
"coverage_level": "Runtime/Post",
"program_ids": [
"W2_20_ExpressionMath",
"W2_30_MotionAllTypes",
"W2_P20_CrossBrandMotion"
]
},
{
"spec_section": 10,
"coverage_level": "Runtime/Static/Post",
"program_ids": [
"W2_30_MotionAllTypes",
"W2_E30_MotionDiagnostics",
"W2_P20_CrossBrandMotion"
]
},
{
"spec_section": 11,
"coverage_level": "Runtime/Static",
"program_ids": [
"W2_40_PathEvents",
"W2_E30_MotionDiagnostics"
]
},
{
"spec_section": 12,
"coverage_level": "Runtime/Post",
"program_ids": [
"W2_50_OperationProcess",
"W2_P30_Roundtrip"
]
},
{
"spec_section": 13,
"coverage_level": "Runtime",
"program_ids": [
"W2_60_IOWaitPulse",
"W2_E50_RuntimeTimeout"
]
},
{
"spec_section": 14,
"coverage_level": "Runtime/Static",
"program_ids": [
"W2_70_ControlFlow",
"W2_E40_ControlFlowDiagnostics"
]
},
{
"spec_section": 15,
"coverage_level": "Runtime/Static",
"program_ids": [
"W2_80_ProcFuncCall",
"W2_E20_SemanticDiagnostics"
]
},
{
"spec_section": 16,
"coverage_level": "Runtime/Static",
"program_ids": [
"W2_90_ExceptionAlarm",
"W2_E50_RuntimeTimeout"
]
},
{
"spec_section": 17,
"coverage_level": "Static",
"program_ids": [
"W2_90_ExceptionAlarm"
]
},
{
"spec_section": 18,
"coverage_level": "Post",
"program_ids": [
"W2_P10_BrandHints"
]
},
{
"spec_section": 19,
"coverage_level": "Post",
"program_ids": [
"W2_P30_Roundtrip"
]
},
{
"spec_section": 20,
"coverage_level": "Post",
"program_ids": [
"W2_P20_CrossBrandMotion"
]
},
{
"spec_section": 21,
"coverage_level": "Runtime/Static",
"program_ids": [
"W2_00_MinimalModule",
"W2_E10_ExpressionDiagnostics"
]
},
{
"spec_section": 22,
"coverage_level": "Static",
"program_ids": [
"W2_E10_ExpressionDiagnostics",
"W2_E20_SemanticDiagnostics",
"W2_E30_MotionDiagnostics",
"W2_E40_ControlFlowDiagnostics",
"W2_E50_RuntimeTimeout"
]
},
{
"spec_section": 23,
"coverage_level": "Static",
"program_ids": [
"W2_00_MinimalModule"
]
},
{
"spec_section": 24,
"coverage_level": "Runtime",
"program_ids": [
"W2_P30_Roundtrip"
]
},
{
"spec_section": 25,
"coverage_level": "Runtime/Static/Post",
"program_ids": [
"W2_00_MinimalModule",
"W2_10_DataTargetToolFrame",
"W2_20_ExpressionMath",
"W2_30_MotionAllTypes",
"W2_40_PathEvents",
"W2_50_OperationProcess",
"W2_60_IOWaitPulse",
"W2_70_ControlFlow",
"W2_80_ProcFuncCall",
"W2_90_ExceptionAlarm",
"W2_P20_CrossBrandMotion"
]
}
]
}