Add ABB120 demo suite and docs

kdl-wasm/web/app/virtual-controller.css

@@ -2,20 +2,32 @@
   box-sizing: border-box;
 }
 
+:root {
+  color-scheme: light;
+  --ink: #1f2933;
+  --muted: #5d6972;
+  --line: #c7d0d6;
+  --panel: #f8fafb;
+  --panel-strong: #ffffff;
+  --accent: #1f7a8c;
+  --accent-dark: #14566a;
+  --rail: #dde5e9;
+}
+
 body {
   margin: 0;
-  font-family: Arial, sans-serif;
-  color: #1f2933;
+  font-family: Arial, "Microsoft YaHei", sans-serif;
+  color: var(--ink);
   background: #eef2f4;
 }
 
 .workbench {
   min-height: 100vh;
   display: grid;
-  grid-template-columns: 240px minmax(320px, 1fr) 280px;
-  grid-template-rows: 48px minmax(280px, 1fr) 180px;
+  grid-template-columns: 240px minmax(360px, 1fr) 300px;
+  grid-template-rows: auto minmax(280px, 1fr) minmax(230px, 34vh);
   gap: 1px;
-  background: #c7d0d6;
+  background: var(--line);
 }
 
 .command-bar,
@@ -24,24 +36,74 @@ body {
 .pendant,
 .editor,
 .bottom-panel {
-  background: #f8fafb;
+  background: var(--panel);
 }
 
 .command-bar {
   grid-column: 1 / 4;
-  display: flex;
-  flex-wrap: wrap;
+  display: grid;
+  grid-template-columns: auto minmax(220px, 360px) repeat(7, auto) minmax(260px, 1fr);
   align-items: center;
   gap: 8px;
   padding: 8px 12px;
+  min-width: 0;
+}
+
+.station-title {
+  display: grid;
+  gap: 2px;
+  min-width: 150px;
+}
+
+.station-title span,
+.program-picker span,
+.frame-control span {
+  color: var(--muted);
+  font-size: 12px;
+}
+
+.program-picker,
+.frame-control {
+  display: grid;
+  gap: 3px;
+  min-width: 0;
+}
+
+.program-picker select,
+.frame-control input {
+  width: 100%;
+  min-width: 0;
+}
+
+button,
+select {
+  min-height: 32px;
+  border: 1px solid #9aa8b2;
+  background: var(--panel-strong);
+  color: var(--ink);
+  border-radius: 4px;
+  font: inherit;
 }
 
 button {
-  min-height: 32px;
-  border: 1px solid #9aa8b2;
-  background: #ffffff;
-  color: #1f2933;
-  border-radius: 4px;
+  padding: 0 10px;
+  white-space: nowrap;
+}
+
+button:hover,
+select:hover {
+  border-color: var(--accent);
+}
+
+button[aria-pressed="true"] {
+  background: var(--accent-dark);
+  color: #ffffff;
+  border-color: var(--accent-dark);
+}
+
+output {
+  color: var(--muted);
+  font-size: 12px;
 }
 
 .object-tree {
@@ -58,7 +120,11 @@ button {
 .object-tree ul {
   margin: 0;
   padding-left: 18px;
-  line-height: 1.8;
+  line-height: 1.75;
+}
+
+.object-tree li {
+  overflow-wrap: anywhere;
 }
 
 .viewport {
@@ -75,10 +141,20 @@ button {
   width: calc(100% - 48px);
 }
 
+.viewport circle {
+  fill: var(--accent-dark);
+}
+
+[data-path-current] {
+  fill: #b8542f;
+  stroke: #ffffff;
+  stroke-width: 3;
+}
+
 .robot-arm {
   position: absolute;
   left: 12%;
-  top: 20%;
+  top: 18%;
   width: 62%;
   height: 48%;
 }
@@ -114,7 +190,7 @@ button {
 
 .pendant dl {
   display: grid;
-  grid-template-columns: 84px 1fr;
+  grid-template-columns: 78px minmax(0, 1fr);
   gap: 8px;
   margin: 0;
 }
@@ -123,6 +199,11 @@ button {
   font-weight: 700;
 }
 
+.pendant dd {
+  margin: 0;
+  overflow-wrap: anywhere;
+}
+
 .editor {
   grid-column: 1 / 3;
   padding: 12px;
@@ -138,43 +219,126 @@ button {
 .editor pre {
   margin: 0;
   padding: 12px;
-  background: #1f2933;
+  min-height: 150px;
+  background: #202a33;
   color: #f8fafb;
   overflow: auto;
+  line-height: 1.45;
+  border-radius: 4px;
 }
 
 .bottom-panel {
+  grid-column: 1 / 4;
   padding: 12px;
   display: grid;
-  grid-template-columns: repeat(7, minmax(100px, 1fr));
+  grid-template-columns: repeat(9, minmax(100px, 1fr));
   gap: 8px;
   overflow: auto;
 }
 
-.bottom-panel div {
-  border: 1px solid #c7d0d6;
+.bottom-panel > div {
+  border: 1px solid var(--line);
   padding: 8px;
-  background: #ffffff;
+  background: var(--panel-strong);
   display: grid;
   gap: 6px;
   min-width: 0;
+  align-content: start;
 }
 
 .bottom-panel span {
   overflow-wrap: anywhere;
 }
 
-@media (max-width: 840px) {
+.bottom-panel progress {
+  width: 100%;
+  height: 8px;
+}
+
+.steps-panel,
+.trajectory-panel {
+  grid-column: 1 / -1;
+  min-height: 150px;
+}
+
+.steps-table-wrap,
+.trajectory-table-wrap {
+  overflow: auto;
+  border: 1px solid var(--line);
+  max-height: 260px;
+}
+
+table {
+  width: 100%;
+  border-collapse: collapse;
+  font-size: 12px;
+}
+
+th,
+td {
+  border-bottom: 1px solid #e1e7eb;
+  border-right: 1px solid #e1e7eb;
+  padding: 6px 7px;
+  text-align: left;
+  white-space: nowrap;
+}
+
+th {
+  position: sticky;
+  top: 0;
+  z-index: 1;
+  background: var(--rail);
+}
+
+tr[aria-current="true"] td {
+  background: #e6f2f4;
+  color: #0f4d5d;
+  font-weight: 700;
+}
+
+tr[data-step-state="active"] td {
+  background: #fff2cc;
+  color: #6f4b00;
+  font-weight: 700;
+}
+
+tr[data-step-state="complete"] td {
+  background: #f4f7f8;
+  color: var(--muted);
+}
+
+@media (max-width: 1180px) {
+  .command-bar {
+    grid-template-columns: auto minmax(200px, 1fr) repeat(7, auto);
+  }
+
+  .frame-control {
+    grid-column: 1 / -1;
+  }
+}
+
+@media (max-width: 900px) {
   .workbench {
     grid-template-columns: 1fr;
     grid-template-rows: auto;
   }
 
   .command-bar,
-  .editor {
+  .editor,
+  .bottom-panel {
     grid-column: auto;
   }
 
+  .command-bar {
+    grid-template-columns: 1fr 1fr;
+  }
+
+  .station-title,
+  .program-picker,
+  .frame-control {
+    grid-column: 1 / -1;
+  }
+
   .bottom-panel {
     grid-template-columns: 1fr 1fr;
   }
@@ -183,3 +347,33 @@ button {
     min-height: 300px;
   }
 }
+
+@media (max-width: 560px) {
+  .command-bar {
+    grid-template-columns: repeat(3, minmax(0, 1fr));
+  }
+
+  .command-bar button {
+    padding: 0 6px;
+    min-width: 0;
+    overflow: hidden;
+    text-overflow: ellipsis;
+  }
+
+  .station-title,
+  .program-picker,
+  .frame-control {
+    grid-column: 1 / -1;
+  }
+
+  .bottom-panel {
+    grid-template-columns: 1fr;
+  }
+
+  .robot-arm {
+    left: 4%;
+    width: 80%;
+    transform: scale(0.85);
+    transform-origin: left top;
+  }
+}

kdl-wasm/web/app/virtual-controller.html

@@ -7,9 +7,16 @@
   <link rel="stylesheet" href="./virtual-controller.css">
 </head>
 <body>
-  <main class="workbench" data-robot="abb_irb120_3_58">
+  <main class="workbench" data-robot="abb_irb120_3_58" data-suite="working2-abb120-spec" data-job="W2-JOB-latest">
     <header class="command-bar">
-      <strong>ABB120 Station</strong>
+      <div class="station-title">
+        <strong>ABB120 Station</strong>
+        <span data-field="job">W2-JOB-latest</span>
+      </div>
+      <label class="program-picker">
+        <span>Program</span>
+        <select data-program-select aria-label="Program"></select>
+      </label>
       <button type="button" data-command="load">Load</button>
       <button type="button" data-command="run">Run</button>
       <button type="button" data-command="pause">Pause</button>
@@ -17,21 +24,28 @@
       <button type="button" data-command="stop">Stop</button>
       <button type="button" data-command="reset">Reset</button>
       <button type="button" data-command="export">Export</button>
+      <label class="frame-control">
+        <span>Sample</span>
+        <input type="range" min="0" max="0" value="0" data-frame-slider aria-label="Execution sample">
+        <output data-field="frame">0 / 0</output>
+      </label>
     </header>
+
     <aside class="object-tree">
       <h2>Station</h2>
-      <ul>
+      <ul data-object-tree>
         <li>Robot: abb_irb120_3_58</li>
         <li>Tool: tool0</li>
         <li>Frame: world</li>
         <li>Path: pick_place</li>
-        <li>Operation: pick_op</li>
-        <li>Program: main</li>
-        <li>Reports</li>
+        <li>Program: W2_60_IOWaitPulse</li>
+        <li>Suite: working2-abb120-spec</li>
+        <li>Job: W2-JOB-latest</li>
       </ul>
     </aside>
+
     <section class="viewport" aria-label="station viewport">
-      <div class="robot-arm">
+      <div class="robot-arm" aria-hidden="true">
         <span class="joint j1"></span>
         <span class="link l1"></span>
         <span class="joint j2"></span>
@@ -41,23 +55,27 @@
         <span class="joint j4"></span>
       </div>
       <svg viewBox="0 0 480 240" role="img" aria-label="path trace">
-        <path d="M70 170 C150 80 260 80 410 150" fill="none" stroke="#1f7a8c" stroke-width="4"/>
-        <circle cx="70" cy="170" r="6"/>
-        <circle cx="250" cy="90" r="6"/>
-        <circle cx="410" cy="150" r="6"/>
+        <path data-path-trace d="M70 170 C150 80 260 80 410 150" fill="none" stroke="#1f7a8c" stroke-width="4"/>
+        <circle data-path-start cx="70" cy="170" r="6"/>
+        <circle data-path-current cx="70" cy="170" r="8"/>
+        <circle data-path-end cx="410" cy="150" r="6"/>
       </svg>
     </section>
+
     <aside class="pendant">
       <h2>Controller</h2>
       <dl>
         <dt>State</dt><dd data-field="state">ready</dd>
+        <dt>Program</dt><dd data-field="program">W2_60_IOWaitPulse</dd>
         <dt>Mode</dt><dd data-field="mode">auto</dd>
         <dt>Motors</dt><dd data-field="motors">on</dd>
         <dt>PC</dt><dd data-field="pc">main:0</dd>
+        <dt>Time</dt><dd data-field="runtime">0 / 0 s @ 50 ms</dd>
         <dt>Joints</dt><dd data-field="joints">[0, 0, 0, 0, 0, 0]</dd>
-        <dt>TCP</dt><dd data-field="tcp">[0, 0, 580, 0, 0, 0]</dd>
+        <dt>TCP</dt><dd data-field="tcp">pos [0.374, 0, 0.63] q [0, 0.707107, 0, 0.707107]</dd>
       </dl>
     </aside>
+
     <section class="editor">
       <nav>
         <button type="button" data-tab="grl" aria-pressed="true">GRL</button>
@@ -69,6 +87,7 @@
   run_path pick_place
 end</pre>
     </section>
+
     <section class="bottom-panel">
       <div><strong>Log</strong><span data-field="log">ready</span></div>
       <div><strong>Diagnostics</strong><span data-field="diagnostics">ready</span></div>
@@ -76,7 +95,54 @@ end</pre>
       <div><strong>Wait</strong><span data-field="wait">none</span></div>
       <div><strong>Motion Queue</strong><span data-field="queue">empty</span></div>
       <div><strong>Trace</strong><span data-field="trace">0 events</span></div>
-      <div><strong>Reports</strong><span data-field="reports">A120-REPORT</span></div>
+      <div><strong>Reports</strong><span data-field="reports">W2-REPORT</span></div>
+      <div><strong>Parser</strong><span data-field="parser">idle</span><progress data-parser-progress max="1" value="0" aria-label="Parser progress"></progress></div>
+      <div><strong>Storage</strong><span data-field="storage">checking browser storage</span></div>
+      <div class="steps-panel">
+        <strong>Program Steps</strong>
+        <span data-field="step-status">step 0</span>
+        <div class="steps-table-wrap">
+          <table>
+            <thead>
+              <tr>
+                <th>#</th>
+                <th>Time</th>
+                <th>Line</th>
+                <th>Step</th>
+                <th>Source</th>
+                <th>Motion/Target</th>
+                <th>Samples</th>
+              </tr>
+            </thead>
+            <tbody data-step-table></tbody>
+          </table>
+        </div>
+      </div>
+      <div class="trajectory-panel">
+        <strong>Trajectory Frames</strong>
+        <span data-field="frame-time">t=0 s</span>
+        <div class="trajectory-table-wrap">
+          <table>
+            <thead>
+              <tr>
+                <th>#</th>
+                <th>t</th>
+                <th>Motion</th>
+                <th>Target</th>
+                <th>TCP XYZ</th>
+                <th>TCP Q</th>
+                <th>J1</th>
+                <th>J2</th>
+                <th>J3</th>
+                <th>J4</th>
+                <th>J5</th>
+                <th>J6</th>
+              </tr>
+            </thead>
+            <tbody data-frame-table></tbody>
+          </table>
+        </div>
+      </div>
     </section>
   </main>
   <script src="./virtual-controller.js"></script>

kdl-wasm/web/scripts/build-demo-package.mjs

@@ -0,0 +1,548 @@
+import { createHash } from "node:crypto";
+import {
+  copyFileSync,
+  cpSync,
+  existsSync,
+  mkdirSync,
+  readdirSync,
+  readFileSync,
+  rmSync,
+  statSync,
+  writeFileSync
+} from "node:fs";
+import { basename, dirname, join, relative, resolve, sep } from "node:path";
+import { fileURLToPath } from "node:url";
+
+const root = resolve(fileURLToPath(new URL("../../..", import.meta.url)));
+const webRoot = join(root, "kdl-wasm", "web");
+const deployRoot = join(webRoot, "test-results", "deploy");
+const appRoot = join(webRoot, "app");
+const specRoot = join(webRoot, "tests", "fixtures", "abb120", "spec-programs");
+const resultRoot = join(webRoot, "test-results", "abb120-spec");
+const uiResultRoot = join(webRoot, "test-results", "virtual-controller");
+const working2Root = join(root, "working2");
+const docsRoot = join(root, "work", "doc");
+
+const jobId = getArg("--job") ?? latestJobId();
+const generatedAt = new Date();
+const releaseId = getArg("--release") ?? `${formatShanghaiId(generatedAt)}-${jobId}`;
+const packageName = `kdl-olp-demo-${releaseId}`;
+const packageDir = join(deployRoot, packageName);
+const zipPath = join(deployRoot, `${packageName}.zip`);
+
+const jobDir = join(resultRoot, jobId);
+const manifest = readJson(join(specRoot, "manifest.json"));
+const job = readJson(join(jobDir, "job.json"));
+const report = readJson(join(jobDir, "report.json"));
+const uiEvidence = readJson(join(uiResultRoot, "evidence.json"));
+
+assertReportIsDeployable(report);
+assertJobMatchesInputs(job, report, manifest);
+assertSafeDeployPath(packageDir);
+mkdirSync(deployRoot, { recursive: true });
+rmSync(packageDir, { recursive: true, force: true });
+mkdirSync(packageDir, { recursive: true });
+
+copyTree(appRoot, join(packageDir, "app"));
+copyTree(specRoot, join(packageDir, "spec-programs"));
+copyTree(jobDir, join(packageDir, "test-results", "abb120-spec", jobId));
+copyTree(uiResultRoot, join(packageDir, "test-results", "virtual-controller"));
+copyDocs(join(packageDir, "docs"));
+copyWorking2Docs(join(packageDir, "docs", "working2"));
+
+const demoManifest = buildDemoManifest();
+writeJson(join(packageDir, "demo-manifest.json"), demoManifest);
+writeFileSync(join(packageDir, "index.html"), indexHtml(demoManifest), "utf8");
+writeFileSync(join(packageDir, "README.md"), packageReadme(demoManifest), "utf8");
+
+zipDirectory(packageDir, zipPath);
+const zip = {
+  path: slash(relative(root, zipPath)),
+  bytes: statSync(zipPath).size,
+  sha256: sha256File(zipPath)
+};
+const summary = {
+  release_id: releaseId,
+  generated_at: generatedAt.toISOString(),
+  job_id: jobId,
+  package_dir: slash(relative(root, packageDir)),
+  zip,
+  program_count: demoManifest.program_count,
+  report_fail: report.summary.fail
+};
+writeJson(join(packageDir, "demo-build-summary.json"), summary);
+writeJson(join(deployRoot, `${packageName}.summary.json`), summary);
+
+console.log(JSON.stringify(summary, null, 2));
+
+function buildDemoManifest() {
+  const levelCounts = countLevels(manifest.programs);
+  const programs = manifest.programs.map((entry) => {
+    const jobProgram = job.programs.find((program) => program.program_id === entry.program_id);
+    return {
+      program_id: entry.program_id,
+      file: entry.file,
+      source: `spec-programs/${entry.file}`,
+      coverage_level: entry.coverage_level,
+      spec_sections: entry.spec_sections,
+      expected_status: entry.expected_status,
+      status: jobProgram?.status ?? "missing",
+      diagnostics: jobProgram?.diagnostics?.map((diagnostic) => diagnostic.code).filter(Boolean) ?? [],
+      artifacts: artifactLinks(entry.program_id)
+    };
+  });
+
+  return {
+    release_id: releaseId,
+    generated_at: generatedAt.toISOString(),
+    suite_id: manifest.suite_id,
+    job_id: job.job_id,
+    robot_id: manifest.robot_id,
+    spec_source: manifest.spec_source,
+    program_count: manifest.programs.length,
+    runtime_programs: levelCounts.Runtime,
+    static_programs: levelCounts.Static,
+    post_programs: levelCounts.Post,
+    entry: "app/virtual-controller.html",
+    virtual_controller_entry: "app/virtual-controller.html",
+    report_json: `test-results/abb120-spec/${job.job_id}/report.json`,
+    report_html: `test-results/abb120-spec/${job.job_id}/report.html`,
+    job_json: `test-results/abb120-spec/${job.job_id}/job.json`,
+    program_manifest: "spec-programs/manifest.json",
+    screenshots: {
+      desktop: "test-results/virtual-controller/virtual-controller-desktop.png",
+      mobile: "test-results/virtual-controller/virtual-controller-mobile.png",
+      evidence: "test-results/virtual-controller/evidence.json"
+    },
+    docs: [
+      {
+        title: "GRL user manual",
+        href: "docs/grl-user-manual.docx",
+        kind: "docx"
+      },
+      {
+        title: "OLP test document",
+        href: "docs/olp-test-document.docx",
+        kind: "docx"
+      },
+      {
+        title: "Working2 acceptance evidence",
+        href: "docs/working2/acceptance-evidence.md",
+        kind: "markdown"
+      }
+    ],
+    coverage: report.coverage,
+    summary: report.summary,
+    programs
+  };
+}
+
+function artifactLinks(programId) {
+  const base = `test-results/abb120-spec/${job.job_id}/programs/${programId}`;
+  return {
+    compile: `${base}/compile.json`,
+    controller: `${base}/controller.json`,
+    motion_queue: `${base}/motion-queue.json`,
+    trace: `${base}/trace.json`,
+    io: `${base}/io.json`,
+    trajectory: `${base}/trajectory.json`,
+    post_report: `${base}/post-report.json`,
+    roundtrip: `${base}/roundtrip.json`
+  };
+}
+
+function copyDocs(targetDir) {
+  mkdirSync(targetDir, { recursive: true });
+  const docs = [
+    ["GRL功能语法逻辑与程序创建使用手册.docx", "grl-user-manual.docx"],
+    ["通用机器人离线编程系统测试文档.docx", "olp-test-document.docx"]
+  ];
+  for (const [doc, alias] of docs) {
+    const source = join(docsRoot, doc);
+    if (!existsSync(source)) {
+      throw new Error(`Required document is missing: ${source}`);
+    }
+    copyFileSync(source, join(targetDir, doc));
+    copyFileSync(source, join(targetDir, alias));
+  }
+}
+
+function copyWorking2Docs(targetDir) {
+  mkdirSync(targetDir, { recursive: true });
+  for (const entry of readdirSync(working2Root, { withFileTypes: true })) {
+    if (entry.isFile() && entry.name.endsWith(".md")) {
+      copyFileSync(join(working2Root, entry.name), join(targetDir, entry.name));
+    }
+  }
+  const aliases = {
+    "01-项目功能内容.md": "project-scope.md",
+    "02-项目程序开发详细步骤.md": "development-steps.md",
+    "03-推进台账.md": "progress-log.md",
+    "04-任务矩阵.md": "task-matrix.md",
+    "05-验收证据.md": "acceptance-evidence.md",
+    "06-决策记录.md": "decisions.md",
+    "07-服务器发布与演示包实施方案.md": "server-deploy-plan.md"
+  };
+  for (const [sourceName, aliasName] of Object.entries(aliases)) {
+    const source = join(working2Root, sourceName);
+    if (existsSync(source)) {
+      copyFileSync(source, join(targetDir, aliasName));
+    }
+  }
+  const manifestDir = join(working2Root, "programs");
+  if (existsSync(manifestDir)) {
+    copyTree(manifestDir, join(targetDir, "programs"));
+    const manifestSource = join(manifestDir, "manifest.md");
+    if (existsSync(manifestSource)) {
+      copyFileSync(manifestSource, join(targetDir, "program-manifest.md"));
+    }
+  }
+}
+
+function indexHtml(demoManifest) {
+  const rows = demoManifest.programs.map((program) => `
+        <tr>
+          <td><a href="${escapeAttr(program.source)}">${escapeHtml(program.program_id)}</a></td>
+          <td>${escapeHtml(program.coverage_level)}</td>
+          <td>${escapeHtml(program.status)}</td>
+          <td>${escapeHtml(program.spec_sections.join(", "))}</td>
+          <td><a href="${escapeAttr(program.artifacts.compile)}">compile</a></td>
+        </tr>`).join("");
+  return `<!doctype html>
+<html lang="zh-CN">
+<head>
+  <meta charset="utf-8">
+  <meta name="viewport" content="width=device-width, initial-scale=1">
+  <title>KDL OLP Demo ${escapeHtml(demoManifest.release_id)}</title>
+  <style>
+    :root {
+      color-scheme: light;
+      --ink: #172026;
+      --muted: #5e6a71;
+      --line: #cfd7dc;
+      --panel: #f6f8f9;
+      --accent: #1f7a8c;
+      --accent-2: #7b6d3a;
+      font-family: Arial, "Microsoft YaHei", sans-serif;
+    }
+    * { box-sizing: border-box; }
+    body { margin: 0; color: var(--ink); background: #ffffff; }
+    header { padding: 28px 32px 18px; border-bottom: 1px solid var(--line); background: var(--panel); }
+    h1 { margin: 0 0 10px; font-size: 28px; line-height: 1.2; letter-spacing: 0; }
+    p { margin: 0; color: var(--muted); line-height: 1.55; }
+    main { max-width: 1180px; margin: 0 auto; padding: 24px 24px 40px; }
+    .actions { display: flex; flex-wrap: wrap; gap: 10px; margin: 18px 0 24px; }
+    .actions a { color: #fff; background: var(--accent); text-decoration: none; padding: 10px 13px; border-radius: 6px; font-weight: 700; }
+    .actions a.secondary { background: var(--accent-2); }
+    .summary { display: grid; grid-template-columns: repeat(auto-fit, minmax(150px, 1fr)); gap: 12px; margin-bottom: 24px; }
+    .summary div { border: 1px solid var(--line); border-radius: 6px; padding: 12px; background: #fff; }
+    .summary strong { display: block; font-size: 22px; }
+    section { margin-top: 28px; }
+    h2 { font-size: 18px; margin: 0 0 12px; }
+    table { width: 100%; border-collapse: collapse; font-size: 14px; }
+    th, td { border: 1px solid var(--line); padding: 9px 10px; text-align: left; vertical-align: top; }
+    th { background: var(--panel); }
+    img { max-width: 100%; height: auto; border: 1px solid var(--line); border-radius: 6px; }
+    .screens { display: grid; grid-template-columns: minmax(0, 2fr) minmax(220px, 1fr); gap: 16px; align-items: start; }
+    @media (max-width: 760px) {
+      header { padding: 22px 18px 14px; }
+      main { padding: 18px 14px 32px; }
+      h1 { font-size: 23px; }
+      .screens { grid-template-columns: 1fr; }
+      table { font-size: 13px; }
+      th, td { padding: 7px; }
+    }
+  </style>
+</head>
+<body>
+  <header>
+    <h1>KDL OLP ABB120 Working2 Demo</h1>
+    <p>Release ${escapeHtml(demoManifest.release_id)} / Job ${escapeHtml(demoManifest.job_id)} / Suite ${escapeHtml(demoManifest.suite_id)}</p>
+  </header>
+  <main>
+    <nav class="actions" aria-label="demo links">
+      <a href="${escapeAttr(demoManifest.virtual_controller_entry)}">Open virtual controller</a>
+      <a href="${escapeAttr(demoManifest.report_html)}" class="secondary">Open report</a>
+      <a href="${escapeAttr(demoManifest.program_manifest)}" class="secondary">Program manifest</a>
+      <a href="demo-manifest.json" class="secondary">Demo manifest</a>
+    </nav>
+    <div class="summary">
+      <div><span>Programs</span><strong>${demoManifest.program_count}</strong></div>
+      <div><span>Runtime</span><strong>${demoManifest.runtime_programs}</strong></div>
+      <div><span>Static</span><strong>${demoManifest.static_programs}</strong></div>
+      <div><span>Post</span><strong>${demoManifest.post_programs}</strong></div>
+      <div><span>Fail</span><strong>${demoManifest.summary.fail}</strong></div>
+    </div>
+    <section>
+      <h2>Program Evidence</h2>
+      <table>
+        <thead><tr><th>Program</th><th>Layer</th><th>Status</th><th>Spec Sections</th><th>Artifact</th></tr></thead>
+        <tbody>${rows}
+        </tbody>
+      </table>
+    </section>
+    <section>
+      <h2>Screenshots</h2>
+      <div class="screens">
+        <a href="${escapeAttr(demoManifest.screenshots.desktop)}"><img src="${escapeAttr(demoManifest.screenshots.desktop)}" alt="Virtual controller desktop screenshot"></a>
+        <a href="${escapeAttr(demoManifest.screenshots.mobile)}"><img src="${escapeAttr(demoManifest.screenshots.mobile)}" alt="Virtual controller mobile screenshot"></a>
+      </div>
+    </section>
+    <section>
+      <h2>Documents</h2>
+      <table>
+        <tbody>
+          ${demoManifest.docs.map((doc) => `<tr><td>${escapeHtml(doc.title)}</td><td><a href="${escapeAttr(doc.href)}">${escapeHtml(doc.href)}</a></td></tr>`).join("\n          ")}
+        </tbody>
+      </table>
+    </section>
+  </main>
+</body>
+</html>
+`;
+}
+
+function packageReadme(demoManifest) {
+  return [
+    `# KDL OLP demo ${demoManifest.release_id}`,
+    "",
+    `Job: ${demoManifest.job_id}`,
+    `Suite: ${demoManifest.suite_id}`,
+    `Programs: ${demoManifest.program_count}`,
+    `Report: ${demoManifest.report_html}`,
+    `Virtual controller: ${demoManifest.virtual_controller_entry}`,
+    "",
+    "Serve this directory as the HTTPS document root for the demo port."
+  ].join("\n");
+}
+
+function latestJobId() {
+  if (!existsSync(resultRoot)) {
+    throw new Error(`No ABB120 spec result directory found: ${resultRoot}`);
+  }
+  const jobs = readdirSync(resultRoot, { withFileTypes: true })
+    .filter((entry) => entry.isDirectory() && entry.name.startsWith("W2-JOB-"))
+    .map((entry) => ({
+      name: entry.name,
+      mtimeMs: statSync(join(resultRoot, entry.name)).mtimeMs
+    }))
+    .sort((left, right) => right.mtimeMs - left.mtimeMs || right.name.localeCompare(left.name));
+  if (jobs.length === 0) {
+    throw new Error(`No W2-JOB-* result directories found in ${resultRoot}`);
+  }
+  return jobs[0].name;
+}
+
+function assertReportIsDeployable(report) {
+  if (report.summary?.programs !== 19) {
+    throw new Error(`Expected report.summary.programs=19, got ${report.summary?.programs}`);
+  }
+  if (report.summary?.fail !== 0) {
+    throw new Error(`Expected report.summary.fail=0, got ${report.summary?.fail}`);
+  }
+  if (report.coverage?.missingSections?.length !== 0) {
+    throw new Error(`Expected no missing sections, got ${report.coverage.missingSections.join(",")}`);
+  }
+}
+
+function assertJobMatchesInputs(job, report, manifest) {
+  if (job.job_id !== jobId || report.job_id !== jobId) {
+    throw new Error(`Job id mismatch: requested ${jobId}, job=${job.job_id}, report=${report.job_id}`);
+  }
+  if (job.suite_id !== manifest.suite_id || report.suite_id !== manifest.suite_id) {
+    throw new Error("Suite id mismatch between manifest, job, and report");
+  }
+  if (manifest.programs.length !== 19 || job.programs.length !== 19) {
+    throw new Error(`Expected 19 programs, manifest=${manifest.programs.length}, job=${job.programs.length}`);
+  }
+}
+
+function countLevels(programs) {
+  return programs.reduce((counts, program) => {
+    counts[program.coverage_level] = (counts[program.coverage_level] ?? 0) + 1;
+    return counts;
+  }, { Runtime: 0, Static: 0, Post: 0 });
+}
+
+function copyTree(source, target) {
+  if (!existsSync(source)) {
+    throw new Error(`Required path is missing: ${source}`);
+  }
+  mkdirSync(dirname(target), { recursive: true });
+  cpSync(source, target, { recursive: true, force: true });
+}
+
+function readJson(file) {
+  return JSON.parse(readFileSync(file, "utf8"));
+}
+
+function writeJson(file, value) {
+  mkdirSync(dirname(file), { recursive: true });
+  writeFileSync(file, `${JSON.stringify(value, null, 2)}\n`, "utf8");
+}
+
+function zipDirectory(sourceDir, destinationFile) {
+  const files = walkFiles(sourceDir).sort((left, right) => left.localeCompare(right));
+  const chunks = [];
+  const central = [];
+  let offset = 0;
+
+  for (const file of files) {
+    const data = readFileSync(file);
+    const name = slash(relative(sourceDir, file));
+    const nameBuffer = Buffer.from(name, "utf8");
+    const stat = statSync(file);
+    const { time, date } = dosDateTime(stat.mtime);
+    const crc = crc32(data);
+    const local = Buffer.alloc(30);
+    local.writeUInt32LE(0x04034b50, 0);
+    local.writeUInt16LE(20, 4);
+    local.writeUInt16LE(0x0800, 6);
+    local.writeUInt16LE(0, 8);
+    local.writeUInt16LE(time, 10);
+    local.writeUInt16LE(date, 12);
+    local.writeUInt32LE(crc, 14);
+    local.writeUInt32LE(data.length, 18);
+    local.writeUInt32LE(data.length, 22);
+    local.writeUInt16LE(nameBuffer.length, 26);
+    local.writeUInt16LE(0, 28);
+    chunks.push(local, nameBuffer, data);
+
+    const header = Buffer.alloc(46);
+    header.writeUInt32LE(0x02014b50, 0);
+    header.writeUInt16LE(20, 4);
+    header.writeUInt16LE(20, 6);
+    header.writeUInt16LE(0x0800, 8);
+    header.writeUInt16LE(0, 10);
+    header.writeUInt16LE(time, 12);
+    header.writeUInt16LE(date, 14);
+    header.writeUInt32LE(crc, 16);
+    header.writeUInt32LE(data.length, 20);
+    header.writeUInt32LE(data.length, 24);
+    header.writeUInt16LE(nameBuffer.length, 28);
+    header.writeUInt16LE(0, 30);
+    header.writeUInt16LE(0, 32);
+    header.writeUInt16LE(0, 34);
+    header.writeUInt16LE(0, 36);
+    header.writeUInt32LE(0, 38);
+    header.writeUInt32LE(offset, 42);
+    central.push(header, nameBuffer);
+    offset += local.length + nameBuffer.length + data.length;
+  }
+
+  const centralOffset = offset;
+  const centralSize = central.reduce((total, chunk) => total + chunk.length, 0);
+  const end = Buffer.alloc(22);
+  end.writeUInt32LE(0x06054b50, 0);
+  end.writeUInt16LE(0, 4);
+  end.writeUInt16LE(0, 6);
+  end.writeUInt16LE(files.length, 8);
+  end.writeUInt16LE(files.length, 10);
+  end.writeUInt32LE(centralSize, 12);
+  end.writeUInt32LE(centralOffset, 16);
+  end.writeUInt16LE(0, 20);
+
+  rmSync(destinationFile, { force: true });
+  writeFileSync(destinationFile, Buffer.concat([...chunks, ...central, end]));
+}
+
+function sha256File(file) {
+  return createHash("sha256").update(readFileSync(file)).digest("hex");
+}
+
+function formatShanghaiId(date) {
+  const parts = new Intl.DateTimeFormat("en-CA", {
+    timeZone: "Asia/Shanghai",
+    year: "numeric",
+    month: "2-digit",
+    day: "2-digit",
+    hour: "2-digit",
+    minute: "2-digit",
+    second: "2-digit",
+    hour12: false
+  }).formatToParts(date);
+  const value = Object.fromEntries(parts.map((part) => [part.type, part.value]));
+  return `${value.year}${value.month}${value.day}-${value.hour}${value.minute}${value.second}`;
+}
+
+function getArg(name) {
+  const index = process.argv.indexOf(name);
+  return index >= 0 ? process.argv[index + 1] : undefined;
+}
+
+function slash(value) {
+  return value.split(sep).join("/");
+}
+
+function psSingleQuoted(value) {
+  return `'${String(value).replaceAll("'", "''")}'`;
+}
+
+function assertSafeDeployPath(path) {
+  const allowedRoot = resolve(deployRoot) + sep;
+  const resolved = resolve(path);
+  if (!resolved.startsWith(allowedRoot)) {
+    throw new Error(`Refusing to modify path outside deploy root: ${resolved}`);
+  }
+}
+
+function escapeHtml(value) {
+  return String(value)
+    .replaceAll("&", "&amp;")
+    .replaceAll("<", "&lt;")
+    .replaceAll(">", "&gt;")
+    .replaceAll('"', "&quot;");
+}
+
+function escapeAttr(value) {
+  return escapeHtml(value);
+}
+
+function walkFiles(dir) {
+  const files = [];
+  for (const entry of readdirSync(dir, { withFileTypes: true })) {
+    const fullPath = join(dir, entry.name);
+    if (entry.isDirectory()) {
+      files.push(...walkFiles(fullPath));
+    } else if (entry.isFile()) {
+      files.push(fullPath);
+    }
+  }
+  return files;
+}
+
+function dosDateTime(date) {
+  const year = Math.max(1980, date.getFullYear());
+  const month = date.getMonth() + 1;
+  const day = date.getDate();
+  const hours = date.getHours();
+  const minutes = date.getMinutes();
+  const seconds = Math.floor(date.getSeconds() / 2);
+  return {
+    time: (hours << 11) | (minutes << 5) | seconds,
+    date: ((year - 1980) << 9) | (month << 5) | day
+  };
+}
+
+var crcTable;
+
+function crc32(buffer) {
+  crcTable ??= createCrcTable();
+  let crc = 0xffffffff;
+  for (const byte of buffer) {
+    crc = crcTable[(crc ^ byte) & 0xff] ^ (crc >>> 8);
+  }
+  return (crc ^ 0xffffffff) >>> 0;
+}
+
+function createCrcTable() {
+  const table = new Uint32Array(256);
+  for (let index = 0; index < 256; index += 1) {
+    let value = index;
+    for (let bit = 0; bit < 8; bit += 1) {
+      value = (value & 1) ? (0xedb88320 ^ (value >>> 1)) : (value >>> 1);
+    }
+    table[index] = value >>> 0;
+  }
+  return table;
+}

kdl-wasm/web/scripts/deploy-demo-package.ps1

@@ -0,0 +1,184 @@
+param(
+  [string]$ZipPath,
+  [string]$Target = "ubuntu@82.156.24.101",
+  [string]$RemoteRoot = "/opt/kdl-olp-demo/8095",
+  [string]$BaseUrl = "https://82.156.24.101:8095",
+  [switch]$Sudo,
+  [switch]$NoSudo,
+  [switch]$SkipSmoke
+)
+
+Set-StrictMode -Version Latest
+$ErrorActionPreference = "Stop"
+
+$RepoRoot = Resolve-Path (Join-Path $PSScriptRoot "..\..\..")
+$DeployRoot = Join-Path $RepoRoot "kdl-wasm\web\test-results\deploy"
+
+if ([string]::IsNullOrWhiteSpace($ZipPath)) {
+  $ZipPath = Get-ChildItem -LiteralPath $DeployRoot -Filter "kdl-olp-demo-*.zip" |
+    Sort-Object LastWriteTime -Descending |
+    Select-Object -First 1 -ExpandProperty FullName
+}
+
+if ([string]::IsNullOrWhiteSpace($ZipPath) -or -not (Test-Path -LiteralPath $ZipPath)) {
+  throw "Demo zip not found. Run: npm run demo:build"
+}
+
+$ZipPath = (Resolve-Path -LiteralPath $ZipPath).Path
+$ZipName = Split-Path -Leaf $ZipPath
+if ($ZipName -notmatch '^kdl-olp-demo-(.+)\.zip$') {
+  throw "Zip name must match kdl-olp-demo-<release_id>.zip: $ZipName"
+}
+$ReleaseId = $Matches[1]
+$RemoteZip = "/tmp/$ZipName"
+$RemoteRelease = "$RemoteRoot/releases/$ReleaseId"
+
+function Invoke-Remote {
+  param([string]$Command)
+  ssh -o StrictHostKeyChecking=accept-new $Target $Command
+  if ($LASTEXITCODE -ne 0) {
+    throw "Remote command failed: $Command"
+  }
+}
+
+function Remote-Cmd {
+  param([string]$Command)
+  if ($script:UseSudo) {
+    return "sudo sh -lc " + (Quote-Sh $Command)
+  }
+  return "sh -lc " + (Quote-Sh $Command)
+}
+
+function Quote-Sh {
+  param([string]$Value)
+  return "'" + ($Value -replace "'", "'\''") + "'"
+}
+
+function Get-RemoteParent {
+  param([string]$Path)
+  $Normalized = $Path.TrimEnd("/")
+  $Index = $Normalized.LastIndexOf("/")
+  if ($Index -le 0) {
+    return "/"
+  }
+  return $Normalized.Substring(0, $Index)
+}
+
+$RemoteParent = Get-RemoteParent $RemoteRoot
+
+Write-Host "Deploying $ZipName to ${Target}:$RemoteRoot"
+
+scp -o StrictHostKeyChecking=accept-new $ZipPath "${Target}:$RemoteZip"
+if ($LASTEXITCODE -ne 0) {
+  throw "scp upload failed"
+}
+
+$script:UseSudo = $false
+if ($Sudo) {
+  $script:UseSudo = $true
+} elseif (-not $NoSudo) {
+  ssh -o StrictHostKeyChecking=accept-new $Target "test -w $(Quote-Sh $RemoteParent)"
+  if ($LASTEXITCODE -ne 0) {
+    ssh -o StrictHostKeyChecking=accept-new $Target "sudo -n true"
+    if ($LASTEXITCODE -eq 0) {
+      $script:UseSudo = $true
+    } else {
+      throw "Remote root is not writable and passwordless sudo is unavailable. Re-run with a writable -RemoteRoot or configure sudo."
+    }
+  }
+}
+
+$prepare = @(
+  "set -eu"
+  "mkdir -p $(Quote-Sh "$RemoteRoot/releases")"
+  "rm -rf $(Quote-Sh $RemoteRelease)"
+  "mkdir -p $(Quote-Sh $RemoteRelease)"
+  "unzip -q -o $(Quote-Sh $RemoteZip) -d $(Quote-Sh $RemoteRelease)"
+  "test -f $(Quote-Sh "$RemoteRelease/index.html")"
+  "test -f $(Quote-Sh "$RemoteRelease/demo-manifest.json")"
+  "test -f $(Quote-Sh "$RemoteRelease/app/virtual-controller.html")"
+  "if [ -L $(Quote-Sh "$RemoteRoot/current") ] || [ -e $(Quote-Sh "$RemoteRoot/current") ]; then rm -f $(Quote-Sh "$RemoteRoot/previous"); ln -sfn `"`$(readlink -f $(Quote-Sh "$RemoteRoot/current"))`" $(Quote-Sh "$RemoteRoot/previous"); fi"
+  "ln -sfn $(Quote-Sh "$RemoteRelease") $(Quote-Sh "$RemoteRoot/current")"
+  "rm -f $(Quote-Sh $RemoteZip)"
+) -join "; "
+
+Invoke-Remote (Remote-Cmd $prepare)
+
+$restart = "if command -v systemctl >/dev/null 2>&1 && systemctl list-unit-files kdl-site-8095.service >/dev/null 2>&1; then systemctl restart kdl-site-8095; fi"
+Invoke-Remote (Remote-Cmd $restart)
+
+$smoke = @{
+  release_id = $ReleaseId
+  zip = $ZipPath
+  target = $Target
+  remote_root = $RemoteRoot
+  remote_release = $RemoteRelease
+  base_url = $BaseUrl
+  deployed_at = (Get-Date).ToUniversalTime().ToString("o")
+  urls = @()
+}
+
+if (-not $SkipSmoke) {
+  $nodeSmoke = @"
+process.env.NODE_TLS_REJECT_UNAUTHORIZED = "0";
+const baseUrl = "$BaseUrl";
+const get = async (path) => {
+  const response = await fetch(baseUrl + path);
+  const buffer = Buffer.from(await response.arrayBuffer());
+  if (response.status !== 200) {
+    throw new Error(path + " returned " + response.status);
+  }
+  return {
+    path,
+    status: response.status,
+    bytes: buffer.length,
+    text: buffer.toString("utf8")
+  };
+};
+const manifestResponse = await get("/demo-manifest.json");
+const manifest = JSON.parse(manifestResponse.text);
+const jobId = manifest.job_id;
+const paths = [
+  "/",
+  "/demo-manifest.json",
+  "/spec-programs/manifest.json",
+  "/app/virtual-controller.html",
+  "/test-results/abb120-spec/" + jobId + "/report.json",
+  "/test-results/abb120-spec/" + jobId + "/report.html",
+  "/test-results/virtual-controller/virtual-controller-desktop.png",
+  "/test-results/virtual-controller/virtual-controller-mobile.png"
+];
+const urls = [];
+for (const path of paths) {
+  const result = path === "/demo-manifest.json" ? manifestResponse : await get(path);
+  urls.push({ url: baseUrl + path, status: result.status, bytes: result.bytes });
+}
+const reportResponse = await get("/test-results/abb120-spec/" + jobId + "/report.json");
+const report = JSON.parse(reportResponse.text);
+if (Number(manifest.program_count) !== 19) {
+  throw new Error("Expected program_count=19, got " + manifest.program_count);
+}
+if (Number(report.summary.fail) !== 0) {
+  throw new Error("Expected summary.fail=0, got " + report.summary.fail);
+}
+console.log(JSON.stringify({
+  job_id: jobId,
+  program_count: Number(manifest.program_count),
+  summary_fail: Number(report.summary.fail),
+  urls
+}));
+"@
+  $nodeOutput = $nodeSmoke | node --input-type=module
+  if ($LASTEXITCODE -ne 0) {
+    throw "Smoke check failed"
+  }
+  $nodeSmokeResult = $nodeOutput | Select-Object -Last 1 | ConvertFrom-Json
+  $smoke.job_id = $nodeSmokeResult.job_id
+  $smoke.program_count = [int]$nodeSmokeResult.program_count
+  $smoke.summary_fail = [int]$nodeSmokeResult.summary_fail
+  $smoke.urls = @($nodeSmokeResult.urls)
+}
+
+$SmokePath = Join-Path $DeployRoot "kdl-olp-demo-$ReleaseId.deploy.json"
+$smoke | ConvertTo-Json -Depth 8 | Set-Content -LiteralPath $SmokePath -Encoding UTF8
+$smoke | ConvertTo-Json -Depth 8

kdl-wasm/web/scripts/generate-abb120-test-document.mjs

@@ -0,0 +1,610 @@
+import { execFileSync } from "node:child_process";
+import {
+  copyFileSync,
+  existsSync,
+  mkdirSync,
+  readdirSync,
+  readFileSync,
+  rmSync,
+  statSync,
+  writeFileSync
+} from "node:fs";
+import { dirname, join, resolve, sep } from "node:path";
+import { fileURLToPath } from "node:url";
+
+const root = resolve(fileURLToPath(new URL("../../..", import.meta.url)));
+const webRoot = join(root, "kdl-wasm", "web");
+const resultRoot = join(webRoot, "test-results", "abb120-spec");
+const specRoot = join(webRoot, "tests", "fixtures", "abb120", "spec-programs");
+const virtualControllerEvidencePath = join(webRoot, "test-results", "virtual-controller", "evidence.json");
+const outputPath = join(root, "work", "doc", "通用机器人离线编程系统测试文档.docx");
+const stagingRoot = join(webRoot, "test-results", "docx-build");
+
+const jobId = process.argv[2] ?? latestJobId();
+const jobDir = join(resultRoot, jobId);
+const job = readJson(join(jobDir, "job.json"));
+const report = readJson(join(jobDir, "report.json"));
+const manifest = readJson(join(jobDir, "manifest.json"));
+const uiEvidence = readJson(virtualControllerEvidencePath);
+const generatedAt = formatShanghaiTime(new Date());
+
+const descriptionByProgram = {
+  W2_00_MinimalModule: "最小模块、language/module/proc main、常量 speed/zone、joint_target、MoveJ 基础执行。",
+  W2_10_DataTargetToolFrame: "数据类型、tool、frame、pose、poseq、joint_target、pose_target、工具和工件坐标切换。",
+  W2_20_ExpressionMath: "算术、比较、逻辑、括号、单位后缀、pi/e、三角函数和编译期求值。",
+  W2_30_MotionAllTypes: "MoveJ、MoveL、MoveC、set_tool、set_frame、set_speed、set_zone 和 inline 参数优先级。",
+  W2_40_PathEvents: "path defaults/source、point、event before/after/at distance、run_path。",
+  W2_50_OperationProcess: "operation kind/process/start_action/end_action、run_operation。",
+  W2_60_IOWaitPulse: "io.di/do/ai/ao/gi/go/ri/ro、wait、timeout、on_timeout、pulse 和边沿条件。",
+  W2_70_ControlFlow: "if/elseif/else、while、for、switch、break、continue 流程控制。",
+  W2_80_ProcFuncCall: "proc、in/out/inout、call、return、func 返回值和作用域。",
+  W2_90_ExceptionAlarm: "alarm、raise、try/catch/finally、trap/task P1 边界诊断。",
+  W2_99_FullSpecExample: "完整示例，覆盖 tool/frame、path、operation、IO event、run_operation 和回 home。",
+  W2_E10_ExpressionDiagnostics: "表达式负向测试：未知符号、未知函数、参数数量、数学域、除零、单位不匹配。",
+  W2_E20_SemanticDiagnostics: "语义负向测试：重复符号、out/inout 非左值、缺失调用目标、函数副作用、缺失目标。",
+  W2_E30_MotionDiagnostics: "运动负向测试：关节限位、不可达 pose、空 path 等 KDL/Path 诊断。",
+  W2_E40_ControlFlowDiagnostics: "流程控制负向测试：非法 break/continue、jump、重复 case、非常量 case、缺失 label。",
+  W2_E50_RuntimeTimeout: "运行时超时负向测试：wait timeout、on_timeout、报警 source map。",
+  W2_P10_BrandHints: "品牌提示后处理测试：post_hint、@brand.* 消费或报告。",
+  W2_P20_CrossBrandMotion: "跨品牌运动后处理：ABB/FANUC/KUKA motion、speed、zone、IO、wait 映射。",
+  W2_P30_Roundtrip: "后处理和导入回读测试：post 后 ABB import roundtrip，记录差异和警告。"
+};
+
+const commandResults = [
+  {
+    command: "npm run typecheck",
+    scope: "TypeScript 静态类型检查",
+    process: "执行 tsc -p kdl-wasm/web/tsconfig.json --noEmit，检查 Web、GRL、runtime、post 和 suite 代码类型。",
+    result: "通过，未输出 TypeScript 错误。"
+  },
+  {
+    command: "npm test",
+    scope: "全量 Vitest 自动化测试",
+    process: "执行 vitest run --config kdl-wasm/web/vitest.config.ts，覆盖 KDL、GRL、runtime、controller、post/import、workspace、report、docs 和 ABB120 integration。",
+    result: "通过，41 个 test files、155 个 tests 全部 passed。"
+  },
+  {
+    command: "npm run suite:abb120-spec",
+    scope: "ABB120 GRL 规范程序套件",
+    process: "读取 manifest.json 和 19 个 GRL 程序，逐项执行 parse、semantic compile、runtime/static/post 检查，并输出 job/report/program artifacts。",
+    result: `通过，生成 ${job.job_id}；programs=${report.summary.programs}，pass=${report.summary.pass}，expected diagnostic=${report.summary.diagnostic}，fail=${report.summary.fail}，missingSections=${report.coverage.missingSections.length}。`
+  },
+  {
+    command: "npm run verify:virtual-controller",
+    scope: "虚拟控制器 UI 和截图验证",
+    process: "使用 Chrome DevTools Protocol 打开 virtual-controller.html，分别验证 desktop/mobile 视口、点击 load/run/DI1、检查主要面板、状态、wait 和横向溢出，并截图。",
+    result: `通过，desktop=${uiEvidence.desktop.screenshotBytes} bytes，mobile=${uiEvidence.mobile.screenshotBytes} bytes；state=${uiEvidence.desktop.state}/${uiEvidence.mobile.state}，wait=${uiEvidence.desktop.wait}/${uiEvidence.mobile.wait}。`
+  }
+];
+
+const programs = job.programs.map((program) => {
+  const sourcePath = join(specRoot, program.file);
+  return {
+    ...program,
+    manifestEntry: manifest.programs.find((entry) => entry.program_id === program.program_id),
+    sourcePath,
+    source: readFileSync(sourcePath, "utf8")
+  };
+});
+
+buildDocx();
+console.log(JSON.stringify({ outputPath, jobId, programs: programs.length }, null, 2));
+
+function buildDocx() {
+  assertSafeStaging(stagingRoot);
+  rmSync(stagingRoot, { recursive: true, force: true });
+  mkdirSync(join(stagingRoot, "_rels"), { recursive: true });
+  mkdirSync(join(stagingRoot, "docProps"), { recursive: true });
+  mkdirSync(join(stagingRoot, "word", "_rels"), { recursive: true });
+  mkdirSync(join(stagingRoot, "word", "media"), { recursive: true });
+
+  const images = copyImages();
+  writeFileSync(join(stagingRoot, "[Content_Types].xml"), contentTypesXml(), "utf8");
+  writeFileSync(join(stagingRoot, "_rels", ".rels"), packageRelsXml(), "utf8");
+  writeFileSync(join(stagingRoot, "docProps", "core.xml"), corePropsXml(), "utf8");
+  writeFileSync(join(stagingRoot, "docProps", "app.xml"), appPropsXml(), "utf8");
+  writeFileSync(join(stagingRoot, "word", "styles.xml"), stylesXml(), "utf8");
+  writeFileSync(join(stagingRoot, "word", "_rels", "document.xml.rels"), documentRelsXml(images), "utf8");
+  writeFileSync(join(stagingRoot, "word", "document.xml"), documentXml(images), "utf8");
+
+  if (existsSync(outputPath)) {
+    rmSync(outputPath, { force: true });
+  }
+  zipDirectory(stagingRoot, outputPath);
+}
+
+function copyImages() {
+  const images = [
+    {
+      id: "rIdImage1",
+      fileName: "virtual-controller-desktop.png",
+      source: uiEvidence.desktop.screenshot,
+      title: "虚拟控制器桌面端截图",
+      cx: 5943600,
+      cy: 3962400
+    },
+    {
+      id: "rIdImage2",
+      fileName: "virtual-controller-mobile.png",
+      source: uiEvidence.mobile.screenshot,
+      title: "虚拟控制器移动端截图",
+      cx: 2743200,
+      cy: 5943600
+    }
+  ];
+  for (const image of images) {
+    copyFileSync(image.source, join(stagingRoot, "word", "media", image.fileName));
+  }
+  return images;
+}
+
+function documentXml(images) {
+  const body = [];
+  body.push(heading("通用机器人离线编程系统测试文档", 1));
+  body.push(p(`生成时间：${generatedAt}`));
+  body.push(p(`测试对象：通用机器人离线编程系统 / ABB IRB120 虚拟控制器 / GRL 规范程序套件`));
+  body.push(p(`工作区：${root}`));
+  body.push(p(`最新测试 job：${job.job_id}`));
+
+  body.push(heading("一、测试结论", 1));
+  body.push(table([
+    ["项目", "结果"],
+    ["测试结论", "通过。本轮未发现非预期失败；5 个 diagnostic 程序为预期负向测试。"],
+    ["规范覆盖", `覆盖章节 ${report.coverage.coveredSections.join("、")}；缺失章节：${report.coverage.missingSections.length === 0 ? "无" : report.coverage.missingSections.join("、")}`],
+    ["程序统计", `共 ${report.summary.programs} 个 GRL 规范程序；pass=${report.summary.pass}，expected diagnostic=${report.summary.diagnostic}，fail=${report.summary.fail}`],
+    ["测试层级", `Runtime=${report.coverage.runtimePrograms}，Static=${report.coverage.staticPrograms}，Post=${report.coverage.postPrograms}`],
+    ["主要证据", `${relative(jobDir)}；${relative(dirname(uiEvidence.desktop.screenshot))}`]
+  ]));
+
+  body.push(heading("二、测试范围", 1));
+  body.push(p("本次测试覆盖离线编程系统的语法解析、语义编译、KDL 运动规划接口、虚拟控制器状态机、IO/wait/pulse、路径和工艺操作、异常报警、三品牌后处理、导入回读、工作台 UI 响应和截图证据。"));
+  body.push(table([
+    ["范围", "覆盖内容"],
+    ["GRL 语言", "词法、顶层结构、类型系统、表达式、目标点、速度、zone、motion、path、operation、IO、流程控制、proc/func、异常和 P1 边界。"],
+    ["运动与 KDL", "ABB IRB120 fixture、MoveJ/MoveL/MoveC、path planning、joint limit、unreachable target、trajectory summary。"],
+    ["虚拟控制器", "loadProgram、start、stepInto、hold、resume、stepMotion、stop、resetFault、runtime trace、motion queue、IO image。"],
+    ["后处理与导入", "ABB/FANUC/KUKA 输出文件、post report、ABB import roundtrip。"],
+    ["用户界面", "virtual-controller.html 桌面端和移动端渲染、交互、主要面板可见性和截图。"]
+  ]));
+
+  body.push(heading("三、测试命令与执行过程", 1));
+  body.push(table([
+    ["命令", "测试内容", "执行过程", "执行结果"],
+    ...commandResults.map((item) => [item.command, item.scope, item.process, item.result])
+  ]));
+
+  body.push(heading("四、截图证据", 1));
+  body.push(p(`截图验证应用：${uiEvidence.app}`));
+  body.push(p(`Chrome：${uiEvidence.chrome}`));
+  body.push(heading("4.1 桌面端截图", 2));
+  body.push(p(`视口：${uiEvidence.desktop.viewport.width}x${uiEvidence.desktop.viewport.height}；state=${uiEvidence.desktop.state}；wait=${uiEvidence.desktop.wait}；trace=${uiEvidence.desktop.trace}；截图：${relative(uiEvidence.desktop.screenshot)}`));
+  body.push(imageParagraph(images[0], 1));
+  body.push(heading("4.2 移动端截图", 2));
+  body.push(p(`视口：${uiEvidence.mobile.viewport.width}x${uiEvidence.mobile.viewport.height}，deviceScaleFactor=${uiEvidence.mobile.viewport.deviceScaleFactor}；state=${uiEvidence.mobile.state}；wait=${uiEvidence.mobile.wait}；trace=${uiEvidence.mobile.trace}；截图：${relative(uiEvidence.mobile.screenshot)}`));
+  body.push(imageParagraph(images[1], 2));
+
+  body.push(heading("五、规范覆盖矩阵", 1));
+  body.push(table([
+    ["规范章节", "覆盖层级", "程序"],
+    ...manifest.coverage_matrix.map((item) => [
+      String(item.spec_section),
+      item.coverage_level,
+      item.program_ids.join("、")
+    ])
+  ]));
+
+  body.push(heading("六、全部测试程序明细与源码", 1));
+  for (const [index, program] of programs.entries()) {
+    appendProgramSection(body, program, index + 1);
+  }
+
+  body.push(heading("七、主要产物索引", 1));
+  body.push(table([
+    ["产物", "路径"],
+    ["job.json", relative(join(jobDir, "job.json"))],
+    ["report.json", relative(join(jobDir, "report.json"))],
+    ["report.html", relative(join(jobDir, "report.html"))],
+    ["manifest.json", relative(join(jobDir, "manifest.json"))],
+    ["桌面端截图", relative(uiEvidence.desktop.screenshot)],
+    ["移动端截图", relative(uiEvidence.mobile.screenshot)],
+    ["UI evidence.json", relative(virtualControllerEvidencePath)]
+  ]));
+
+  return `<?xml version="1.0" encoding="UTF-8" standalone="yes"?>
+<w:document xmlns:wpc="http://schemas.microsoft.com/office/word/2010/wordprocessingCanvas"
+  xmlns:cx="http://schemas.microsoft.com/office/drawing/2014/chartex"
+  xmlns:cx1="http://schemas.microsoft.com/office/drawing/2015/9/8/chartex"
+  xmlns:cx2="http://schemas.microsoft.com/office/drawing/2015/10/21/chartex"
+  xmlns:cx3="http://schemas.microsoft.com/office/drawing/2016/5/9/chartex"
+  xmlns:cx4="http://schemas.microsoft.com/office/drawing/2016/5/10/chartex"
+  xmlns:cx5="http://schemas.microsoft.com/office/drawing/2016/5/11/chartex"
+  xmlns:cx6="http://schemas.microsoft.com/office/drawing/2016/5/12/chartex"
+  xmlns:cx7="http://schemas.microsoft.com/office/drawing/2016/5/13/chartex"
+  xmlns:cx8="http://schemas.microsoft.com/office/drawing/2016/5/14/chartex"
+  xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006"
+  xmlns:aink="http://schemas.microsoft.com/office/drawing/2016/ink"
+  xmlns:am3d="http://schemas.microsoft.com/office/drawing/2017/model3d"
+  xmlns:o="urn:schemas-microsoft-com:office:office"
+  xmlns:oel="http://schemas.microsoft.com/office/2019/extlst"
+  xmlns:r="http://schemas.openxmlformats.org/officeDocument/2006/relationships"
+  xmlns:m="http://schemas.openxmlformats.org/officeDocument/2006/math"
+  xmlns:v="urn:schemas-microsoft-com:vml"
+  xmlns:wp14="http://schemas.microsoft.com/office/word/2010/wordprocessingDrawing"
+  xmlns:wp="http://schemas.openxmlformats.org/drawingml/2006/wordprocessingDrawing"
+  xmlns:w10="urn:schemas-microsoft-com:office:word"
+  xmlns:w="http://schemas.openxmlformats.org/wordprocessingml/2006/main"
+  xmlns:w14="http://schemas.microsoft.com/office/word/2010/wordml"
+  xmlns:w15="http://schemas.microsoft.com/office/word/2012/wordml"
+  xmlns:w16cex="http://schemas.microsoft.com/office/word/2018/wordml/cex"
+  xmlns:w16cid="http://schemas.microsoft.com/office/word/2016/wordml/cid"
+  xmlns:w16="http://schemas.microsoft.com/office/word/2018/wordml"
+  xmlns:w16du="http://schemas.microsoft.com/office/word/2023/wordml/word16du"
+  xmlns:w16sdtdh="http://schemas.microsoft.com/office/word/2020/wordml/sdtdatahash"
+  xmlns:w16se="http://schemas.microsoft.com/office/word/2015/wordml/symex"
+  xmlns:wpg="http://schemas.microsoft.com/office/word/2010/wordprocessingGroup"
+  xmlns:wpi="http://schemas.microsoft.com/office/word/2010/wordprocessingInk"
+  xmlns:wne="http://schemas.microsoft.com/office/word/2006/wordml"
+  xmlns:wps="http://schemas.microsoft.com/office/word/2010/wordprocessingShape"
+  mc:Ignorable="w14 w15 w16se w16cid w16 w16cex w16sdtdh w16du wp14">
+  <w:body>
+    ${body.join("\n")}
+    <w:sectPr>
+      <w:pgSz w:w="11906" w:h="16838"/>
+      <w:pgMar w:top="1134" w:right="850" w:bottom="1134" w:left="850" w:header="708" w:footer="708" w:gutter="0"/>
+      <w:cols w:space="708"/>
+      <w:docGrid w:linePitch="312"/>
+    </w:sectPr>
+  </w:body>
+</w:document>`;
+}
+
+function appendProgramSection(body, program, index) {
+  const expectedDiagnostics = program.manifestEntry?.expected_diagnostics ?? [];
+  const actualCodes = [...new Set(program.diagnostics.map((diagnostic) => diagnostic.code))];
+  body.push(heading(`6.${index} ${program.program_id}`, 2));
+  body.push(table([
+    ["字段", "内容"],
+    ["测试内容", descriptionByProgram[program.program_id] ?? "按 manifest 执行规范测试。"],
+    ["源码文件", relative(program.sourcePath)],
+    ["覆盖层级", program.coverage_level],
+    ["覆盖章节", program.spec_sections.join("、")],
+    ["预期状态", program.expected_status],
+    ["实际状态", program.status],
+    ["预期诊断", expectedDiagnostics.length === 0 ? "无" : expectedDiagnostics.join("、")],
+    ["实际诊断代码", actualCodes.length === 0 ? "无" : actualCodes.join("、")],
+    ["输入哈希", program.input_hash],
+    ["源码行数", String(program.source.split(/\r?\n/).length)]
+  ]));
+
+  body.push(heading("测试过程", 3));
+  for (const step of programSteps(program)) {
+    body.push(p(step));
+  }
+
+  body.push(heading("执行结果摘要", 3));
+  body.push(table(programResultRows(program)));
+
+  if (program.controller?.commands?.length) {
+    body.push(heading("虚拟控制器命令轨迹", 3));
+    body.push(table([
+      ["命令", "前状态", "后状态", "结果", "诊断"],
+      ...program.controller.commands.map((command) => [
+        command.command,
+        command.before ?? "",
+        command.after ?? "",
+        command.result ?? "",
+        command.diagnostics.length === 0 ? "无" : command.diagnostics.map((diagnostic) => diagnostic.code).join("、")
+      ])
+    ]));
+  }
+
+  body.push(heading("证据文件", 3));
+  body.push(table([
+    ["类型", "路径"],
+    ...Object.entries(program.artifacts).map(([key, value]) => [key, relative(join(resultRoot, value))])
+  ]));
+
+  body.push(heading("程序源码", 3));
+  body.push(codeBlock(program.source));
+}
+
+function programSteps(program) {
+  const steps = [
+    `1. 读取源码 ${relative(program.sourcePath)}，加载 program_id、spec_sections、coverage_level、expected_status 和 expected_diagnostics。`,
+    "2. 执行 parseGrl，完成词法、语法、模块结构和 source map 解析。",
+    "3. 执行 compileSemanticProgram，生成语义 IR、符号表、procedure/path/operation、KDL motion/path request 和诊断列表。"
+  ];
+  if (program.coverage_level === "Runtime") {
+    steps.push(`4. 加载 IR 到 VirtualController，按 ${manifest.runtime_commands.join(" -> ")} 执行控制器命令，采集 controller snapshot、motion queue、runtime trace、IO image 和 trajectory summary。`);
+    steps.push("5. 对比实际状态与 manifest 预期状态；对比实际诊断代码与 expected_diagnostics；写入 compile/controller/motion-queue/trace/io/trajectory/post/roundtrip 证据。");
+  } else if (program.coverage_level === "Static") {
+    steps.push("4. 执行 static preflight diagnostics，覆盖表达式、语义、运动、path、流程控制等负向检查；不要求进入 happy-path 运行。");
+    steps.push("5. 对比实际诊断代码与 expected_diagnostics，确认 diagnostic 状态为预期负向结果，并写入 compile 及各类空/摘要证据文件。");
+  } else {
+    steps.push("4. 执行 postProcessAllBrands，生成 ABB/FANUC/KUKA 输出文件名和 post report。");
+    steps.push("5. 执行 ABB import roundtrip 摘要检查，记录 pass/warn/fail 与导入诊断，并写入 post-report/roundtrip 证据。");
+  }
+  return steps;
+}
+
+function programResultRows(program) {
+  const rows = [
+    ["项目", "结果"],
+    ["解析", program.compile.parsed ? "parsed=true" : "parsed=false"],
+    ["模块名", program.compile.moduleName ?? ""],
+    ["sourceMapEntries", String(program.compile.sourceMapEntries)],
+    ["symbol/procedure/path/operation", `${program.compile.symbolCount}/${program.compile.procedureCount}/${program.compile.pathCount}/${program.compile.operationCount}`],
+    ["KDL motion/path requests", `${program.compile.kdlMotionRequests}/${program.compile.kdlPathRequests}`],
+    ["状态", program.status]
+  ];
+  if (program.controller) {
+    rows.push(["controller final state", program.controller.snapshot.state.state]);
+    rows.push(["runtime trace events", String(program.trace?.length ?? 0)]);
+    rows.push(["motion queue items", String(program.motionQueue?.items?.length ?? 0)]);
+    rows.push(["IO image count", String(Object.keys(program.io?.image ?? {}).length)]);
+  }
+  if (program.trajectory) {
+    rows.push(["trajectory sample/duration", `${program.trajectory.sampleCount}/${program.trajectory.duration}`]);
+  }
+  if (program.post) {
+    rows.push(["post filenames", program.post.filenames.join("、")]);
+    rows.push(["post report codes", program.post.report.length === 0 ? "无" : [...new Set(program.post.report.map((issue) => issue.code))].join("、")]);
+  }
+  if (program.roundtrip) {
+    rows.push(["roundtrip", `${program.roundtrip.status}; ${program.roundtrip.diagnostics.map((diagnostic) => diagnostic.code).join("、") || "无诊断"}`]);
+  }
+  rows.push(["诊断数量", String(program.diagnostics.length)]);
+  return rows;
+}
+
+function heading(text, level) {
+  return paragraph(text, `Heading${Math.min(level, 3)}`);
+}
+
+function p(text) {
+  return paragraph(text, "BodyText");
+}
+
+function paragraph(text, style) {
+  return `<w:p><w:pPr><w:pStyle w:val="${style}"/></w:pPr>${run(text)}</w:p>`;
+}
+
+function run(text) {
+  return `<w:r><w:t xml:space="preserve">${escapeXml(String(text))}</w:t></w:r>`;
+}
+
+function codeBlock(text) {
+  const normalized = text.replace(/\r\n/g, "\n").replace(/\r/g, "\n");
+  const lines = normalized.endsWith("\n") ? normalized.slice(0, -1).split("\n") : normalized.split("\n");
+  return lines.map((line) =>
+    `<w:p><w:pPr><w:pStyle w:val="Code"/></w:pPr><w:r><w:t xml:space="preserve">${escapeXml(line === "" ? " " : line)}</w:t></w:r></w:p>`
+  ).join("\n");
+}
+
+function table(rows) {
+  const width = Math.floor(9000 / Math.max(1, rows[0]?.length ?? 1));
+  return `<w:tbl>
+    <w:tblPr><w:tblStyle w:val="TableGrid"/><w:tblW w:w="0" w:type="auto"/><w:tblLook w:val="04A0"/></w:tblPr>
+    ${rows.map((row, rowIndex) => `<w:tr>${row.map((cell) => tableCell(cell, width, rowIndex === 0)).join("")}</w:tr>`).join("\n")}
+  </w:tbl>`;
+}
+
+function tableCell(text, width, header) {
+  return `<w:tc>
+    <w:tcPr><w:tcW w:w="${width}" w:type="dxa"/></w:tcPr>
+    <w:p><w:pPr>${header ? "<w:pStyle w:val=\"TableHeader\"/>" : ""}</w:pPr>${run(text)}</w:p>
+  </w:tc>`;
+}
+
+function imageParagraph(image, docPrId) {
+  return `<w:p><w:pPr><w:jc w:val="center"/></w:pPr><w:r><w:drawing>
+    <wp:inline distT="0" distB="0" distL="0" distR="0">
+      <wp:extent cx="${image.cx}" cy="${image.cy}"/>
+      <wp:effectExtent l="0" t="0" r="0" b="0"/>
+      <wp:docPr id="${docPrId}" name="${escapeXml(image.title)}"/>
+      <wp:cNvGraphicFramePr><a:graphicFrameLocks xmlns:a="http://schemas.openxmlformats.org/drawingml/2006/main" noChangeAspect="1"/></wp:cNvGraphicFramePr>
+      <a:graphic xmlns:a="http://schemas.openxmlformats.org/drawingml/2006/main">
+        <a:graphicData uri="http://schemas.openxmlformats.org/drawingml/2006/picture">
+          <pic:pic xmlns:pic="http://schemas.openxmlformats.org/drawingml/2006/picture">
+            <pic:nvPicPr><pic:cNvPr id="${docPrId}" name="${escapeXml(image.fileName)}"/><pic:cNvPicPr/></pic:nvPicPr>
+            <pic:blipFill><a:blip r:embed="${image.id}"/><a:stretch><a:fillRect/></a:stretch></pic:blipFill>
+            <pic:spPr><a:xfrm><a:off x="0" y="0"/><a:ext cx="${image.cx}" cy="${image.cy}"/></a:xfrm><a:prstGeom prst="rect"><a:avLst/></a:prstGeom></pic:spPr>
+          </pic:pic>
+        </a:graphicData>
+      </a:graphic>
+    </wp:inline>
+  </w:drawing></w:r></w:p>`;
+}
+
+function contentTypesXml() {
+  return `<?xml version="1.0" encoding="UTF-8" standalone="yes"?>
+<Types xmlns="http://schemas.openxmlformats.org/package/2006/content-types">
+  <Default Extension="rels" ContentType="application/vnd.openxmlformats-package.relationships+xml"/>
+  <Default Extension="xml" ContentType="application/xml"/>
+  <Default Extension="png" ContentType="image/png"/>
+  <Override PartName="/word/document.xml" ContentType="application/vnd.openxmlformats-officedocument.wordprocessingml.document.main+xml"/>
+  <Override PartName="/word/styles.xml" ContentType="application/vnd.openxmlformats-officedocument.wordprocessingml.styles+xml"/>
+  <Override PartName="/docProps/core.xml" ContentType="application/vnd.openxmlformats-package.core-properties+xml"/>
+  <Override PartName="/docProps/app.xml" ContentType="application/vnd.openxmlformats-officedocument.extended-properties+xml"/>
+</Types>`;
+}
+
+function packageRelsXml() {
+  return `<?xml version="1.0" encoding="UTF-8" standalone="yes"?>
+<Relationships xmlns="http://schemas.openxmlformats.org/package/2006/relationships">
+  <Relationship Id="rId1" Type="http://schemas.openxmlformats.org/officeDocument/2006/relationships/officeDocument" Target="word/document.xml"/>
+  <Relationship Id="rId2" Type="http://schemas.openxmlformats.org/package/2006/relationships/metadata/core-properties" Target="docProps/core.xml"/>
+  <Relationship Id="rId3" Type="http://schemas.openxmlformats.org/officeDocument/2006/relationships/extended-properties" Target="docProps/app.xml"/>
+</Relationships>`;
+}
+
+function documentRelsXml(images) {
+  return `<?xml version="1.0" encoding="UTF-8" standalone="yes"?>
+<Relationships xmlns="http://schemas.openxmlformats.org/package/2006/relationships">
+  <Relationship Id="rIdStyles" Type="http://schemas.openxmlformats.org/officeDocument/2006/relationships/styles" Target="styles.xml"/>
+  ${images.map((image) => `<Relationship Id="${image.id}" Type="http://schemas.openxmlformats.org/officeDocument/2006/relationships/image" Target="media/${image.fileName}"/>`).join("\n")}
+</Relationships>`;
+}
+
+function corePropsXml() {
+  const iso = new Date().toISOString();
+  return `<?xml version="1.0" encoding="UTF-8" standalone="yes"?>
+<cp:coreProperties xmlns:cp="http://schemas.openxmlformats.org/package/2006/metadata/core-properties"
+  xmlns:dc="http://purl.org/dc/elements/1.1/"
+  xmlns:dcterms="http://purl.org/dc/terms/"
+  xmlns:dcmitype="http://purl.org/dc/dcmitype/"
+  xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <dc:title>通用机器人离线编程系统测试文档</dc:title>
+  <dc:creator>Codex</dc:creator>
+  <cp:lastModifiedBy>Codex</cp:lastModifiedBy>
+  <dcterms:created xsi:type="dcterms:W3CDTF">${iso}</dcterms:created>
+  <dcterms:modified xsi:type="dcterms:W3CDTF">${iso}</dcterms:modified>
+</cp:coreProperties>`;
+}
+
+function appPropsXml() {
+  return `<?xml version="1.0" encoding="UTF-8" standalone="yes"?>
+<Properties xmlns="http://schemas.openxmlformats.org/officeDocument/2006/extended-properties"
+  xmlns:vt="http://schemas.openxmlformats.org/officeDocument/2006/docPropsVTypes">
+  <Application>Codex</Application>
+  <DocSecurity>0</DocSecurity>
+  <ScaleCrop>false</ScaleCrop>
+  <Company>KDL Work</Company>
+  <LinksUpToDate>false</LinksUpToDate>
+  <SharedDoc>false</SharedDoc>
+  <HyperlinksChanged>false</HyperlinksChanged>
+  <AppVersion>16.0000</AppVersion>
+</Properties>`;
+}
+
+function stylesXml() {
+  return `<?xml version="1.0" encoding="UTF-8" standalone="yes"?>
+<w:styles xmlns:w="http://schemas.openxmlformats.org/wordprocessingml/2006/main">
+  <w:style w:type="paragraph" w:default="1" w:styleId="Normal">
+    <w:name w:val="Normal"/>
+    <w:qFormat/>
+    <w:rPr><w:rFonts w:ascii="Microsoft YaHei" w:hAnsi="Microsoft YaHei" w:eastAsia="Microsoft YaHei"/><w:sz w:val="21"/></w:rPr>
+  </w:style>
+  <w:style w:type="paragraph" w:styleId="BodyText">
+    <w:name w:val="Body Text"/>
+    <w:basedOn w:val="Normal"/>
+    <w:pPr><w:spacing w:after="120" w:line="276" w:lineRule="auto"/></w:pPr>
+    <w:rPr><w:rFonts w:ascii="Microsoft YaHei" w:hAnsi="Microsoft YaHei" w:eastAsia="Microsoft YaHei"/><w:sz w:val="21"/></w:rPr>
+  </w:style>
+  <w:style w:type="paragraph" w:styleId="Heading1">
+    <w:name w:val="heading 1"/>
+    <w:basedOn w:val="Normal"/>
+    <w:next w:val="BodyText"/>
+    <w:qFormat/>
+    <w:pPr><w:keepNext/><w:spacing w:before="360" w:after="180"/></w:pPr>
+    <w:rPr><w:b/><w:rFonts w:ascii="Microsoft YaHei" w:hAnsi="Microsoft YaHei" w:eastAsia="Microsoft YaHei"/><w:sz w:val="32"/></w:rPr>
+  </w:style>
+  <w:style w:type="paragraph" w:styleId="Heading2">
+    <w:name w:val="heading 2"/>
+    <w:basedOn w:val="Normal"/>
+    <w:next w:val="BodyText"/>
+    <w:qFormat/>
+    <w:pPr><w:keepNext/><w:spacing w:before="280" w:after="140"/></w:pPr>
+    <w:rPr><w:b/><w:rFonts w:ascii="Microsoft YaHei" w:hAnsi="Microsoft YaHei" w:eastAsia="Microsoft YaHei"/><w:sz w:val="27"/></w:rPr>
+  </w:style>
+  <w:style w:type="paragraph" w:styleId="Heading3">
+    <w:name w:val="heading 3"/>
+    <w:basedOn w:val="Normal"/>
+    <w:next w:val="BodyText"/>
+    <w:qFormat/>
+    <w:pPr><w:keepNext/><w:spacing w:before="180" w:after="100"/></w:pPr>
+    <w:rPr><w:b/><w:rFonts w:ascii="Microsoft YaHei" w:hAnsi="Microsoft YaHei" w:eastAsia="Microsoft YaHei"/><w:sz w:val="23"/></w:rPr>
+  </w:style>
+  <w:style w:type="paragraph" w:styleId="Code">
+    <w:name w:val="Code"/>
+    <w:basedOn w:val="Normal"/>
+    <w:pPr><w:spacing w:before="0" w:after="0" w:line="240" w:lineRule="auto"/></w:pPr>
+    <w:rPr><w:rFonts w:ascii="Consolas" w:hAnsi="Consolas" w:eastAsia="Consolas"/><w:sz w:val="16"/></w:rPr>
+  </w:style>
+  <w:style w:type="paragraph" w:styleId="TableHeader">
+    <w:name w:val="Table Header"/>
+    <w:basedOn w:val="Normal"/>
+    <w:rPr><w:b/><w:rFonts w:ascii="Microsoft YaHei" w:hAnsi="Microsoft YaHei" w:eastAsia="Microsoft YaHei"/><w:sz w:val="20"/></w:rPr>
+  </w:style>
+  <w:style w:type="table" w:default="1" w:styleId="TableNormal">
+    <w:name w:val="Normal Table"/>
+    <w:tblPr><w:tblInd w:w="0" w:type="dxa"/><w:tblCellMar><w:top w:w="0" w:type="dxa"/><w:left w:w="108" w:type="dxa"/><w:bottom w:w="0" w:type="dxa"/><w:right w:w="108" w:type="dxa"/></w:tblCellMar></w:tblPr>
+  </w:style>
+  <w:style w:type="table" w:styleId="TableGrid">
+    <w:name w:val="Table Grid"/>
+    <w:basedOn w:val="TableNormal"/>
+    <w:tblPr><w:tblBorders><w:top w:val="single" w:sz="4" w:space="0" w:color="B7C1CC"/><w:left w:val="single" w:sz="4" w:space="0" w:color="B7C1CC"/><w:bottom w:val="single" w:sz="4" w:space="0" w:color="B7C1CC"/><w:right w:val="single" w:sz="4" w:space="0" w:color="B7C1CC"/><w:insideH w:val="single" w:sz="4" w:space="0" w:color="B7C1CC"/><w:insideV w:val="single" w:sz="4" w:space="0" w:color="B7C1CC"/></w:tblBorders></w:tblPr>
+  </w:style>
+</w:styles>`;
+}
+
+function latestJobId() {
+  const jobs = readdirSync(resultRoot, { withFileTypes: true })
+    .filter((entry) => entry.isDirectory() && existsSync(join(resultRoot, entry.name, "job.json")))
+    .map((entry) => ({
+      name: entry.name,
+      mtimeMs: statSync(join(resultRoot, entry.name, "job.json")).mtimeMs
+    }))
+    .sort((a, b) => b.mtimeMs - a.mtimeMs);
+  if (jobs.length === 0) {
+    throw new Error(`No abb120 spec job found in ${resultRoot}`);
+  }
+  return jobs[0].name;
+}
+
+function readJson(path) {
+  return JSON.parse(readFileSync(path, "utf8"));
+}
+
+function relative(path) {
+  return path.replace(`${root}${sep}`, "").replaceAll("\\", "/");
+}
+
+function escapeXml(value) {
+  return String(value)
+    .replaceAll("&", "&amp;")
+    .replaceAll("<", "&lt;")
+    .replaceAll(">", "&gt;")
+    .replaceAll("\"", "&quot;")
+    .replaceAll("'", "&apos;");
+}
+
+function psSingleQuoted(value) {
+  return `'${String(value).replaceAll("'", "''")}'`;
+}
+
+function zipDirectory(sourceDir, destinationFile) {
+  const script = [
+    "Add-Type -AssemblyName System.IO.Compression.FileSystem",
+    `$src = ${psSingleQuoted(sourceDir)}`,
+    `$dst = ${psSingleQuoted(destinationFile)}`,
+    "if (Test-Path -LiteralPath $dst) { Remove-Item -LiteralPath $dst -Force }",
+    "[System.IO.Compression.ZipFile]::CreateFromDirectory($src, $dst)"
+  ].join("\n");
+  execFileSync("powershell", ["-NoProfile", "-ExecutionPolicy", "Bypass", "-Command", script], {
+    stdio: "inherit"
+  });
+}
+
+function assertSafeStaging(path) {
+  const allowedRoot = join(webRoot, "test-results") + sep;
+  const resolved = resolve(path);
+  if (!resolved.startsWith(allowedRoot)) {
+    throw new Error(`Refusing to clear staging path outside test-results: ${resolved}`);
+  }
+}
+
+function formatShanghaiTime(date) {
+  const parts = new Intl.DateTimeFormat("zh-CN", {
+    timeZone: "Asia/Shanghai",
+    year: "numeric",
+    month: "2-digit",
+    day: "2-digit",
+    hour: "2-digit",
+    minute: "2-digit",
+    second: "2-digit",
+    hour12: false
+  }).formatToParts(date);
+  const value = Object.fromEntries(parts.map((part) => [part.type, part.value]));
+  return `${value.year}-${value.month}-${value.day} ${value.hour}:${value.minute}:${value.second} Asia/Shanghai`;
+}

kdl-wasm/web/scripts/generate-grl-user-manual.mjs

@@ -0,0 +1,598 @@
+import { execFileSync } from "node:child_process";
+import {
+  copyFileSync,
+  existsSync,
+  mkdirSync,
+  readFileSync,
+  rmSync,
+  writeFileSync
+} from "node:fs";
+import { join, resolve, sep } from "node:path";
+import { fileURLToPath } from "node:url";
+
+const root = resolve(fileURLToPath(new URL("../../..", import.meta.url)));
+const webRoot = join(root, "kdl-wasm", "web");
+const docRoot = join(root, "work", "doc");
+const stagingRoot = join(webRoot, "test-results", "grl-manual-docx-build");
+const outputPath = join(docRoot, "GRL功能语法逻辑与程序创建使用手册.docx");
+
+const flowDir = join(docRoot, "通用机器人项目功能与数据流程图-png");
+const flowImages = [
+  { source: join(flowDir, "flow-01.png"), title: "系统功能总览图", cx: 5943600, cy: 3343275 },
+  { source: join(flowDir, "flow-02.png"), title: "GRL 到 IR 编译流程图", cx: 5943600, cy: 3343275 },
+  { source: join(flowDir, "flow-03.png"), title: "运动规划与 KDL 数据流图", cx: 5943600, cy: 3343275 },
+  { source: join(flowDir, "flow-04.png"), title: "虚拟控制器执行流程图", cx: 5943600, cy: 3343275 },
+  { source: join(flowDir, "flow-05.png"), title: "后处理与导入回读流程图", cx: 5943600, cy: 3343275 }
+];
+const uiImages = [
+  {
+    source: join(webRoot, "test-results", "virtual-controller", "virtual-controller-desktop.png"),
+    title: "虚拟控制器桌面端界面",
+    cx: 5943600,
+    cy: 3962400
+  },
+  {
+    source: join(webRoot, "test-results", "virtual-controller", "virtual-controller-mobile.png"),
+    title: "虚拟控制器移动端界面",
+    cx: 2743200,
+    cy: 5943600
+  }
+];
+
+const smokeSourcePath = join(webRoot, "tests", "fixtures", "abb120", "programs", "A120_00_Smoke.grl");
+const blendSourcePath = join(webRoot, "tests", "fixtures", "abb120", "programs", "A120_20_CartesianBlend.grl");
+const ioSourcePath = join(webRoot, "tests", "fixtures", "abb120", "spec-programs", "runtime", "W2_60_IOWaitPulse.grl");
+const fullExamplePath = join(webRoot, "tests", "fixtures", "abb120", "spec-programs", "runtime", "W2_99_FullSpecExample.grl");
+
+const generatedAt = formatShanghaiTime(new Date());
+
+buildDocx();
+console.log(JSON.stringify({ outputPath }, null, 2));
+
+function buildDocx() {
+  assertSafeStaging(stagingRoot);
+  rmSync(stagingRoot, { recursive: true, force: true });
+  mkdirSync(join(stagingRoot, "_rels"), { recursive: true });
+  mkdirSync(join(stagingRoot, "docProps"), { recursive: true });
+  mkdirSync(join(stagingRoot, "word", "_rels"), { recursive: true });
+  mkdirSync(join(stagingRoot, "word", "media"), { recursive: true });
+
+  const images = copyImages([...flowImages, ...uiImages]);
+  writeFileSync(join(stagingRoot, "[Content_Types].xml"), contentTypesXml(), "utf8");
+  writeFileSync(join(stagingRoot, "_rels", ".rels"), packageRelsXml(), "utf8");
+  writeFileSync(join(stagingRoot, "docProps", "core.xml"), corePropsXml(), "utf8");
+  writeFileSync(join(stagingRoot, "docProps", "app.xml"), appPropsXml(), "utf8");
+  writeFileSync(join(stagingRoot, "word", "styles.xml"), stylesXml(), "utf8");
+  writeFileSync(join(stagingRoot, "word", "_rels", "document.xml.rels"), documentRelsXml(images), "utf8");
+  writeFileSync(join(stagingRoot, "word", "document.xml"), documentXml(images), "utf8");
+
+  if (existsSync(outputPath)) {
+    rmSync(outputPath, { force: true });
+  }
+  zipDirectory(stagingRoot, outputPath);
+}
+
+function documentXml(images) {
+  const body = [];
+
+  body.push(heading("GRL 功能、语法逻辑与程序创建使用手册", 1));
+  body.push(p(`生成时间：${generatedAt}`));
+  body.push(p("适用对象：通用机器人离线编程系统用户、工艺工程师、自动编程开发人员、虚拟调试人员。"));
+  body.push(p("手册目标：用中文说明 GRL 的功能边界、语法逻辑、程序对象关系、创建程序步骤、仿真检查和后处理输出方式，并通过图示和源码示例帮助用户快速编写可运行程序。"));
+
+  body.push(heading("一、GRL 是什么", 1));
+  body.push(p("GRL，全称 Generic Robot Language，是本离线编程系统中的通用机器人程序语言。它不是 ABB、FANUC 或 KUKA 任一品牌语言的拷贝，而是把多品牌机器人共同具备的目标点、运动、路径、工艺、IO、流程控制、异常和后处理语义抽象为统一文本。"));
+  body.push(table([
+    ["目标", "说明"],
+    ["统一描述", "用同一套 GRL 描述机器人程序、路径、工艺动作和 IO 逻辑。"],
+    ["可编译", "GRL 经 lexer/parser/semantic analyzer 编译为统一 Executable IR。"],
+    ["可仿真", "IR 可进入虚拟控制器运行，产生 trace、motion queue、IO image 和诊断。"],
+    ["可后处理", "同一 IR 可输出 ABB RAPID、FANUC LS/TP 风格文本、KUKA KRL 原型程序。"],
+    ["可维护", "文本稳定、可读、可 diff，适合版本管理和自动生成。"]
+  ]));
+
+  body.push(heading("二、系统功能总览", 1));
+  body.push(p("离线编程系统从项目数据、机器人模型和 GRL 程序出发，经过语义编译、KDL 运动规划、虚拟控制器执行、诊断报告和多品牌后处理，形成完整离线开发闭环。"));
+  body.push(imageWithCaption(images[0], 1, "图 1 系统功能总览图"));
+  body.push(table([
+    ["模块", "主要职责"],
+    ["GRL 源码", "声明工具、坐标系、目标点、速度、zone、path、operation 和 proc。"],
+    ["编译器", "把源码解析为 AST，做符号解析、单位归一化、语义检查，生成 IR 和 KDL request。"],
+    ["KDL 运动规划", "处理 FK、IK、MoveJ、MoveL、MoveC、Path planning、可达性和轨迹采样。"],
+    ["虚拟控制器", "执行 IR，维护程序计数器、调用栈、报警队列、IO 镜像、运动队列和 trace。"],
+    ["后处理器", "按 ABB/FANUC/KUKA 规则输出品牌程序，并记录无法保真映射的转换报告。"]
+  ]));
+
+  body.push(heading("三、GRL 程序基本结构", 1));
+  body.push(p("一个 GRL 文件通常由 language 声明、module 声明、数据声明、目标点、路径、工艺操作和 main 子程序组成。最小程序只需要定义模块入口和一条运动。"));
+  body.push(codeBlock(readFileSync(smokeSourcePath, "utf8")));
+  body.push(table([
+    ["结构", "作用"],
+    ["language grl 0.1", "声明语言版本，便于后续兼容升级。"],
+    ["module", "程序模块，类似 ABB MODULE、KUKA DEF 文件或 FANUC 程序容器。"],
+    ["const/persistent/var", "声明常量、持久数据或局部变量。"],
+    ["target", "声明 joint_target 或 pose_target。"],
+    ["proc main()", "默认入口程序。虚拟控制器从 main 开始执行。"],
+    ["movej/movel/movec", "基础运动指令，最终进入 KDL 规划或品牌后处理。"]
+  ]));
+
+  body.push(heading("四、对象模型和语法逻辑", 1));
+  body.push(p("GRL 的语法逻辑建议按“数据先声明、路径再组织、工艺再封装、入口只调用”的方式理解。手写小程序可以直接在 main 中写运动，自动编程和复杂工艺应优先生成 path 和 operation。"));
+  body.push(imageWithCaption(images[1], 2, "图 2 GRL 到 IR 编译流程图"));
+  body.push(table([
+    ["对象", "语法", "使用建议"],
+    ["工具", "persistent tool gripper = tool { ... }", "描述 TCP、质量、重心。运动时通过 tool 参数或 path defaults 引用。"],
+    ["坐标系", "persistent frame fixture = frame { ... }", "描述工件坐标或基坐标。目标点和路径应显式绑定 frame。"],
+    ["速度", "const speed v = linear(300 mm/s) / joint(50 %)", "按运动类型选择 joint、linear、angular。"],
+    ["过渡", "const zone z10 = z(10 mm) / fine / cnt(30)", "fine 精确到点；z/cnt/continuous 用于连续过渡。"],
+    ["目标点", "target pick = pose_target { pose: pose(...) }", "关节目标用 joint_target；笛卡尔点用 pose_target。"],
+    ["路径", "path pick_path { defaults ... point ... event ... }", "自动编程优先生成 path，点名保持稳定。"],
+    ["工艺", "operation pick_op { kind: handling path: pick_path ... }", "封装路径、工艺参数、start_action/end_action。"],
+    ["入口程序", "proc main() run_operation pick_op end", "入口程序保持短，便于调试和后处理。"]
+  ]));
+
+  body.push(heading("五、表达式、单位和常量求值", 1));
+  body.push(p("GRL 支持带单位表达式。编译器会在需要常量的位置做单位归一化，例如 mm 转 m、deg 转 rad、ms 转 s、% 转比例。这样同一程序在仿真和后处理中使用统一数值。"));
+  body.push(table([
+    ["类别", "示例", "说明"],
+    ["长度", "100 mm、0.25 m", "内部统一为 meter。"],
+    ["角度", "90 deg、1.57 rad", "内部统一为 radian。"],
+    ["时间", "200 ms、2 s", "内部统一为 second。"],
+    ["速度", "linear(300 mm/s)、joint(50 %)", "分别表示 TCP 线速度和关节速度比例。"],
+    ["数学函数", "atan2(0, 1)、max(50 mm/s, 150 mm/s)", "支持常用三角函数和数值函数。"],
+    ["单位检查", "10 mm + 2 s", "不同维度相加会产生诊断。"]
+  ]));
+
+  body.push(heading("六、运动语法", 1));
+  body.push(p("运动指令分为 MoveJ、MoveL、MoveC 三类。MoveJ 走关节空间，MoveL 走 TCP 直线，MoveC 走 TCP 圆弧。每条运动最终都需要确定 target、speed、zone、tool 和 frame。"));
+  body.push(imageWithCaption(images[2], 3, "图 3 运动规划与 KDL 数据流图"));
+  body.push(table([
+    ["指令", "语法", "语义", "品牌映射"],
+    ["movej", "movej home speed v_joint zone fine", "关节空间运动，适合回零和快速接近。", "ABB MoveJ / FANUC J / KUKA PTP"],
+    ["movel", "movel pick speed v_linear zone z10", "TCP 直线运动，适合接近、加工、搬运直线段。", "ABB MoveL / FANUC L / KUKA LIN"],
+    ["movec", "movec via mid target arc_end speed v zone z10", "TCP 圆弧运动，通过 via 点到终点。", "ABB MoveC / FANUC C / KUKA CIRC"],
+    ["run_path", "run_path cart_path", "执行已声明路径。", "可展开为品牌运动语句"],
+    ["run_operation", "run_operation pick_op", "执行工艺操作，包含 action 和 path。", "按品牌能力展开或报告"]
+  ]));
+  body.push(p("下面是当前工作区中的笛卡尔混合路径示例，包含 tool/frame、表达式速度、zone clamp、MoveL、MoveC 和 run_path。"));
+  body.push(codeBlock(readFileSync(blendSourcePath, "utf8")));
+
+  body.push(heading("七、Path 和 Operation", 1));
+  body.push(p("Path 是离线编程的核心对象，适合承载 CAD 曲线、示教点、工艺采样点和路径事件。Operation 是对 Path 的工艺封装，适合表达搬运、焊接、喷涂、打磨、上下料等任务。"));
+  body.push(table([
+    ["写法", "说明"],
+    ["defaults", "为路径点设置默认 speed、zone、tool、frame，减少重复。"],
+    ["source", "记录 CAD 曲线、采样间距、规划来源等元数据。"],
+    ["point", "定义路径点和该点运动方式。"],
+    ["event before/after/at", "定义路径事件，例如到点后开夹爪、距离某点前开焊接。"],
+    ["operation process", "记录工艺参数，例如 gripper、weld_mode、paint_recipe。"],
+    ["start_action/end_action", "操作开始或结束时执行 IO、wait、pulse 等动作。"]
+  ]));
+
+  body.push(heading("八、IO、wait 和 pulse", 1));
+  body.push(p("GRL 中的 IO 使用统一引用格式：io.di、io.do、io.ai、io.ao、io.gi、io.go、io.ri、io.ro 和 io.alias。离线系统运行时维护虚拟 IO 镜像，程序、用户和脚本都可以写入这份镜像。"));
+  body.push(table([
+    ["语法", "含义"],
+    ["io.do[1] = true", "写数字输出。"],
+    ["io.ao[1] = 0.75", "写模拟输出。"],
+    ["wait io.di[1] == true timeout 2 s", "等待输入满足条件，超时产生诊断或报警。"],
+    ["wait all(...)", "所有条件满足才继续。"],
+    ["wait any(...)", "任一条件满足即继续。"],
+    ["rising/falling/changed", "边沿或变化检测。"],
+    ["pulse io.do[2] duration 100 ms", "输出置 true，持续指定时间后自动复位。"]
+  ]));
+  body.push(codeBlock(readFileSync(ioSourcePath, "utf8")));
+
+  body.push(heading("九、流程控制、子程序和异常", 1));
+  body.push(p("GRL 支持结构化控制和子程序。简单运行逻辑写在 proc 中，纯计算逻辑写在 func 中。func 默认不应产生运动、IO、wait、pulse 等副作用。"));
+  body.push(table([
+    ["能力", "语法", "说明"],
+    ["条件", "if / elseif / else / end", "按布尔条件选择执行分支。"],
+    ["循环", "while、for to step", "执行重复逻辑，break/continue 必须处于合法块内。"],
+    ["多分支", "switch / case / default", "case 必须是常量表达式，不能重复。"],
+    ["子程序", "proc name(in int slot) ... end", "可定义 in/out/inout 参数。"],
+    ["函数", "func bool ok() return ... end", "有返回值，建议无副作用。"],
+    ["报警", "alarm ID \"message\" severity warning", "进入虚拟控制器报警队列。"],
+    ["异常", "raise、try/catch/finally", "P0 支持基础语义，复杂品牌恢复分阶段扩展。"]
+  ]));
+
+  body.push(heading("十、从零创建一个 GRL 程序", 1));
+  body.push(p("建议按以下顺序创建程序。先保证数据和坐标清楚，再组织路径和工艺，最后在 main 中调用。"));
+  body.push(table([
+    ["步骤", "操作", "检查点"],
+    ["1", "创建 .grl 文件，写 language 和 module。", "模块名使用 ASCII 标识符，文件 UTF-8。"],
+    ["2", "声明 tool 和 frame。", "TCP、质量、工件坐标单位明确。"],
+    ["3", "声明 speed 和 zone。", "速度和过渡统一命名，例如 v_fast、v_pick、z10。"],
+    ["4", "声明 target。", "home 用 joint_target，工艺点用 pose_target。"],
+    ["5", "创建 path。", "设置 defaults，点名按 p000/p001 或语义名称稳定输出。"],
+    ["6", "添加 path event 或 operation action。", "夹具、等待、脉冲、工艺开关不要散落在 main 中。"],
+    ["7", "创建 operation。", "把 path 和工艺参数封装成可复用操作。"],
+    ["8", "编写 proc main。", "只做 set_tool/set_frame、run_operation、回 home 等主流程。"],
+    ["9", "运行编译和测试。", "执行 npm test 或 suite，检查 diagnostics、trace、motion queue。"],
+    ["10", "后处理输出。", "检查 ABB/FANUC/KUKA 转换报告，不支持项不能忽略。"]
+  ]));
+
+  body.push(heading("十一、完整程序模板", 1));
+  body.push(p("下面给出一个可直接改写的模板，适合搬运、上下料、夹具动作和基础路径。"));
+  body.push(codeBlock(`language grl 0.1
+module DemoPickPlace
+  persistent tool gripper = tool {
+    tcp: pose(0 mm, 0 mm, 120 mm, 0 deg, 0 deg, 0 deg),
+    mass: 1.5 kg
+  }
+
+  persistent frame fixture = frame {
+    origin: pose(800 mm, 0 mm, 0 mm, 0 deg, 0 deg, 0 deg)
+  }
+
+  const speed v_joint = joint(50 %)
+  const speed v_pick = linear(250 mm/s)
+  const zone z10 = z(10 mm)
+  const zone zf = fine
+
+  target home = joint_target { joints: [0 deg, 0 deg, 0 deg, 0 deg, 0 deg, 0 deg] }
+  target pick = pose_target { pose: pose(500 mm, 100 mm, 200 mm, 180 deg, 0 deg, 90 deg), tool: gripper, frame: fixture }
+  target place = pose_target { pose: pose(650 mm, -100 mm, 200 mm, 180 deg, 0 deg, 90 deg), tool: gripper, frame: fixture }
+
+  path pick_path {
+    defaults { speed: v_pick, zone: z10, tool: gripper, frame: fixture }
+    point approach movel pick offset z 100 mm
+    point at_pick movel pick zone zf
+    event after at_pick io.do[1] = true
+    event after at_pick wait io.di[1] == true timeout 2 s on_timeout alarm "Clamp close timeout"
+    point leave movel pick offset z 100 mm
+  }
+
+  operation pick_op {
+    kind: handling
+    path: pick_path
+    process { gripper: "main_clamp" }
+  }
+
+  proc main()
+    set_tool gripper
+    set_frame fixture
+    movej home speed v_joint zone zf
+    run_operation pick_op
+    movej home speed v_joint zone zf
+  end
+end`));
+
+  body.push(heading("十二、编译、仿真和截图验证", 1));
+  body.push(imageWithCaption(images[3], 4, "图 4 虚拟控制器执行流程图"));
+  body.push(p("编译后，虚拟控制器会加载 IR，从 main 开始执行，采集运行 trace、motion queue、IO image、报警队列和诊断。桌面端和移动端界面可用于检查程序结构、状态、编辑器、面板和运行结果。"));
+  body.push(imageWithCaption(images[5], 6, "图 5 虚拟控制器桌面端界面"));
+  body.push(imageWithCaption(images[6], 7, "图 6 虚拟控制器移动端界面"));
+  body.push(table([
+    ["命令", "用途"],
+    ["npm run typecheck", "检查 TypeScript 类型。"],
+    ["npm test", "运行 KDL、GRL、runtime、post/import、integration 全量测试。"],
+    ["npm run suite:abb120-spec", "运行 19 个 ABB120 GRL 规范程序，生成 job/report/program 证据。"],
+    ["npm run verify:virtual-controller", "打开虚拟控制器 HTML，执行交互并生成桌面/移动截图。"]
+  ]));
+
+  body.push(heading("十三、后处理和跨品牌输出", 1));
+  body.push(imageWithCaption(images[4], 5, "图 7 后处理与导入回读流程图"));
+  body.push(table([
+    ["GRL", "ABB RAPID", "FANUC LS/TP", "KUKA KRL"],
+    ["module", "MODULE", "/PROG 或模块", "DEF/.src"],
+    ["proc", "PROC", "CALL 子程序", "DEF 子程序"],
+    ["movej", "MoveJ", "J P[...] ", "PTP"],
+    ["movel", "MoveL", "L P[...] ", "LIN"],
+    ["movec", "MoveC", "C P[...] ", "CIRC"],
+    ["io.do[1] = true", "SetDO do1, 1", "DO[1]=ON", "$OUT[1]=TRUE"],
+    ["wait io.di[1] == true", "WaitDI di1, 1", "WAIT DI[1]=ON", "WAIT FOR $IN[1]==TRUE"]
+  ]));
+  body.push(p("后处理器遇到品牌不支持或只能近似表达的语义时，应写入转换报告。用户必须检查报告，再到真实控制器中做品牌校验和现场低速试运行。"));
+
+  body.push(heading("十四、常见诊断和处理建议", 1));
+  body.push(table([
+    ["诊断", "常见原因", "处理方式"],
+    ["GRL_EXPR_UNKNOWN_SYMBOL", "表达式引用未声明常量或变量。", "检查拼写和声明顺序。"],
+    ["GRL_EXPR_UNIT_MISMATCH", "不同物理单位混合计算。", "统一长度、时间、角度或速度维度。"],
+    ["GRL_TARGET_NOT_FOUND", "运动或路径点引用不存在目标点。", "补充 target 或修正名称。"],
+    ["KDL_TARGET_UNREACHABLE", "笛卡尔点超出机器人工作空间。", "调整目标点、工具、坐标系或机器人配置。"],
+    ["KDL_JOINT_LIMIT", "目标关节超过限位。", "修改 joint_target 或使用 IK 可达姿态。"],
+    ["GRL_PATH_EMPTY", "path 没有 point。", "至少添加一个 point。"],
+    ["VC_WAIT_TIMEOUT", "wait 条件在 timeout 内未满足。", "检查 IO 输入、脚本、超时时间和 on_timeout 动作。"],
+    ["GRL_POST_UNSUPPORTED", "目标品牌后处理暂不支持该语义。", "查看转换报告，必要时改写为品牌可支持结构。"]
+  ]));
+
+  body.push(heading("十五、编写规范建议", 1));
+  body.push(table([
+    ["建议", "说明"],
+    ["名称稳定", "target、path point、operation 命名稳定，便于 diff 和回读。"],
+    ["显式单位", "自动生成程序尽量输出 mm、deg、mm/s、ms 等单位。"],
+    ["入口简短", "main 中只保留主流程调用，复杂路径放入 path/operation。"],
+    ["默认集中", "path defaults 中集中设置 speed、zone、tool、frame。"],
+    ["IO 事件贴近路径", "与路径点相关的夹具和工艺开关写成 event。"],
+    ["诊断必看", "error 必须修复；warning 必须人工确认；info 可作为转换记录。"],
+    ["先仿真后后处理", "先通过 GRL 编译和虚拟控制器，再输出品牌程序。"],
+    ["真实运行前校验", "后处理程序必须经过品牌控制器验证和现场低速试运行。"]
+  ]));
+
+  body.push(heading("十六、参考完整示例", 1));
+  body.push(p("以下是规范套件中的完整示例程序，覆盖 tool/frame、path、operation、IO event、run_operation 和回 home，可作为复杂程序的参考。"));
+  body.push(codeBlock(readFileSync(fullExamplePath, "utf8")));
+
+  return `<?xml version="1.0" encoding="UTF-8" standalone="yes"?>
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+  xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006"
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+  xmlns:w15="http://schemas.microsoft.com/office/word/2012/wordml"
+  xmlns:w16se="http://schemas.microsoft.com/office/word/2015/wordml/symex"
+  xmlns:wpg="http://schemas.microsoft.com/office/word/2010/wordprocessingGroup"
+  xmlns:wpi="http://schemas.microsoft.com/office/word/2010/wordprocessingInk"
+  xmlns:wne="http://schemas.microsoft.com/office/word/2006/wordml"
+  xmlns:wps="http://schemas.microsoft.com/office/word/2010/wordprocessingShape"
+  mc:Ignorable="w14 w15 w16se wp14">
+  <w:body>
+    ${body.join("\n")}
+    <w:sectPr>
+      <w:pgSz w:w="11906" w:h="16838"/>
+      <w:pgMar w:top="1134" w:right="850" w:bottom="1134" w:left="850" w:header="708" w:footer="708" w:gutter="0"/>
+      <w:cols w:space="708"/>
+      <w:docGrid w:linePitch="312"/>
+    </w:sectPr>
+  </w:body>
+</w:document>`;
+}
+
+function copyImages(imageInputs) {
+  return imageInputs.map((image, index) => {
+    const fileName = `image-${String(index + 1).padStart(2, "0")}.png`;
+    copyFileSync(image.source, join(stagingRoot, "word", "media", fileName));
+    return {
+      ...image,
+      id: `rIdImage${index + 1}`,
+      fileName
+    };
+  });
+}
+
+function heading(text, level) {
+  return paragraph(text, `Heading${Math.min(level, 3)}`);
+}
+
+function p(text) {
+  return paragraph(text, "BodyText");
+}
+
+function paragraph(text, style) {
+  return `<w:p><w:pPr><w:pStyle w:val="${style}"/></w:pPr>${run(text)}</w:p>`;
+}
+
+function run(text) {
+  return `<w:r><w:t xml:space="preserve">${escapeXml(String(text))}</w:t></w:r>`;
+}
+
+function table(rows) {
+  const width = Math.floor(9200 / Math.max(1, rows[0]?.length ?? 1));
+  return `<w:tbl>
+    <w:tblPr><w:tblStyle w:val="TableGrid"/><w:tblW w:w="0" w:type="auto"/><w:tblLook w:val="04A0"/></w:tblPr>
+    ${rows.map((row, rowIndex) => `<w:tr>${row.map((cell) => tableCell(cell, width, rowIndex === 0)).join("")}</w:tr>`).join("\n")}
+  </w:tbl>`;
+}
+
+function tableCell(text, width, header) {
+  return `<w:tc>
+    <w:tcPr><w:tcW w:w="${width}" w:type="dxa"/></w:tcPr>
+    <w:p><w:pPr>${header ? "<w:pStyle w:val=\"TableHeader\"/>" : ""}</w:pPr>${run(text)}</w:p>
+  </w:tc>`;
+}
+
+function codeBlock(text) {
+  const normalized = text.replace(/\r\n/g, "\n").replace(/\r/g, "\n");
+  const lines = normalized.endsWith("\n") ? normalized.slice(0, -1).split("\n") : normalized.split("\n");
+  return lines.map((line) =>
+    `<w:p><w:pPr><w:pStyle w:val="Code"/></w:pPr><w:r><w:t xml:space="preserve">${escapeXml(line === "" ? " " : line)}</w:t></w:r></w:p>`
+  ).join("\n");
+}
+
+function imageWithCaption(image, docPrId, caption) {
+  return `${imageParagraph(image, docPrId)}${paragraph(caption, "Caption")}`;
+}
+
+function imageParagraph(image, docPrId) {
+  return `<w:p><w:pPr><w:jc w:val="center"/></w:pPr><w:r><w:drawing>
+    <wp:inline distT="0" distB="0" distL="0" distR="0">
+      <wp:extent cx="${image.cx}" cy="${image.cy}"/>
+      <wp:effectExtent l="0" t="0" r="0" b="0"/>
+      <wp:docPr id="${docPrId}" name="${escapeXml(image.title)}"/>
+      <wp:cNvGraphicFramePr><a:graphicFrameLocks xmlns:a="http://schemas.openxmlformats.org/drawingml/2006/main" noChangeAspect="1"/></wp:cNvGraphicFramePr>
+      <a:graphic xmlns:a="http://schemas.openxmlformats.org/drawingml/2006/main">
+        <a:graphicData uri="http://schemas.openxmlformats.org/drawingml/2006/picture">
+          <pic:pic xmlns:pic="http://schemas.openxmlformats.org/drawingml/2006/picture">
+            <pic:nvPicPr><pic:cNvPr id="${docPrId}" name="${escapeXml(image.fileName)}"/><pic:cNvPicPr/></pic:nvPicPr>
+            <pic:blipFill><a:blip r:embed="${image.id}"/><a:stretch><a:fillRect/></a:stretch></pic:blipFill>
+            <pic:spPr><a:xfrm><a:off x="0" y="0"/><a:ext cx="${image.cx}" cy="${image.cy}"/></a:xfrm><a:prstGeom prst="rect"><a:avLst/></a:prstGeom></pic:spPr>
+          </pic:pic>
+        </a:graphicData>
+      </a:graphic>
+    </wp:inline>
+  </w:drawing></w:r></w:p>`;
+}
+
+function contentTypesXml() {
+  return `<?xml version="1.0" encoding="UTF-8" standalone="yes"?>
+<Types xmlns="http://schemas.openxmlformats.org/package/2006/content-types">
+  <Default Extension="rels" ContentType="application/vnd.openxmlformats-package.relationships+xml"/>
+  <Default Extension="xml" ContentType="application/xml"/>
+  <Default Extension="png" ContentType="image/png"/>
+  <Override PartName="/word/document.xml" ContentType="application/vnd.openxmlformats-officedocument.wordprocessingml.document.main+xml"/>
+  <Override PartName="/word/styles.xml" ContentType="application/vnd.openxmlformats-officedocument.wordprocessingml.styles+xml"/>
+  <Override PartName="/docProps/core.xml" ContentType="application/vnd.openxmlformats-package.core-properties+xml"/>
+  <Override PartName="/docProps/app.xml" ContentType="application/vnd.openxmlformats-officedocument.extended-properties+xml"/>
+</Types>`;
+}
+
+function packageRelsXml() {
+  return `<?xml version="1.0" encoding="UTF-8" standalone="yes"?>
+<Relationships xmlns="http://schemas.openxmlformats.org/package/2006/relationships">
+  <Relationship Id="rId1" Type="http://schemas.openxmlformats.org/officeDocument/2006/relationships/officeDocument" Target="word/document.xml"/>
+  <Relationship Id="rId2" Type="http://schemas.openxmlformats.org/package/2006/relationships/metadata/core-properties" Target="docProps/core.xml"/>
+  <Relationship Id="rId3" Type="http://schemas.openxmlformats.org/officeDocument/2006/relationships/extended-properties" Target="docProps/app.xml"/>
+</Relationships>`;
+}
+
+function documentRelsXml(images) {
+  return `<?xml version="1.0" encoding="UTF-8" standalone="yes"?>
+<Relationships xmlns="http://schemas.openxmlformats.org/package/2006/relationships">
+  <Relationship Id="rIdStyles" Type="http://schemas.openxmlformats.org/officeDocument/2006/relationships/styles" Target="styles.xml"/>
+  ${images.map((image) => `<Relationship Id="${image.id}" Type="http://schemas.openxmlformats.org/officeDocument/2006/relationships/image" Target="media/${image.fileName}"/>`).join("\n")}
+</Relationships>`;
+}
+
+function corePropsXml() {
+  const iso = new Date().toISOString();
+  return `<?xml version="1.0" encoding="UTF-8" standalone="yes"?>
+<cp:coreProperties xmlns:cp="http://schemas.openxmlformats.org/package/2006/metadata/core-properties"
+  xmlns:dc="http://purl.org/dc/elements/1.1/"
+  xmlns:dcterms="http://purl.org/dc/terms/"
+  xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <dc:title>GRL 功能语法逻辑与程序创建使用手册</dc:title>
+  <dc:creator>Codex</dc:creator>
+  <cp:lastModifiedBy>Codex</cp:lastModifiedBy>
+  <dcterms:created xsi:type="dcterms:W3CDTF">${iso}</dcterms:created>
+  <dcterms:modified xsi:type="dcterms:W3CDTF">${iso}</dcterms:modified>
+</cp:coreProperties>`;
+}
+
+function appPropsXml() {
+  return `<?xml version="1.0" encoding="UTF-8" standalone="yes"?>
+<Properties xmlns="http://schemas.openxmlformats.org/officeDocument/2006/extended-properties"
+  xmlns:vt="http://schemas.openxmlformats.org/officeDocument/2006/docPropsVTypes">
+  <Application>Codex</Application>
+  <DocSecurity>0</DocSecurity>
+  <ScaleCrop>false</ScaleCrop>
+  <Company>KDL Work</Company>
+  <LinksUpToDate>false</LinksUpToDate>
+  <SharedDoc>false</SharedDoc>
+  <HyperlinksChanged>false</HyperlinksChanged>
+  <AppVersion>16.0000</AppVersion>
+</Properties>`;
+}
+
+function stylesXml() {
+  return `<?xml version="1.0" encoding="UTF-8" standalone="yes"?>
+<w:styles xmlns:w="http://schemas.openxmlformats.org/wordprocessingml/2006/main">
+  <w:style w:type="paragraph" w:default="1" w:styleId="Normal">
+    <w:name w:val="Normal"/>
+    <w:qFormat/>
+    <w:rPr><w:rFonts w:ascii="Microsoft YaHei" w:hAnsi="Microsoft YaHei" w:eastAsia="Microsoft YaHei"/><w:sz w:val="21"/></w:rPr>
+  </w:style>
+  <w:style w:type="paragraph" w:styleId="BodyText">
+    <w:name w:val="Body Text"/>
+    <w:basedOn w:val="Normal"/>
+    <w:pPr><w:spacing w:after="120" w:line="276" w:lineRule="auto"/></w:pPr>
+    <w:rPr><w:rFonts w:ascii="Microsoft YaHei" w:hAnsi="Microsoft YaHei" w:eastAsia="Microsoft YaHei"/><w:sz w:val="21"/></w:rPr>
+  </w:style>
+  <w:style w:type="paragraph" w:styleId="Caption">
+    <w:name w:val="Caption"/>
+    <w:basedOn w:val="Normal"/>
+    <w:pPr><w:jc w:val="center"/><w:spacing w:after="160"/></w:pPr>
+    <w:rPr><w:i/><w:rFonts w:ascii="Microsoft YaHei" w:hAnsi="Microsoft YaHei" w:eastAsia="Microsoft YaHei"/><w:sz w:val="18"/><w:color w:val="475569"/></w:rPr>
+  </w:style>
+  <w:style w:type="paragraph" w:styleId="Heading1">
+    <w:name w:val="heading 1"/>
+    <w:basedOn w:val="Normal"/>
+    <w:next w:val="BodyText"/>
+    <w:qFormat/>
+    <w:pPr><w:keepNext/><w:spacing w:before="360" w:after="180"/></w:pPr>
+    <w:rPr><w:b/><w:rFonts w:ascii="Microsoft YaHei" w:hAnsi="Microsoft YaHei" w:eastAsia="Microsoft YaHei"/><w:sz w:val="32"/></w:rPr>
+  </w:style>
+  <w:style w:type="paragraph" w:styleId="Heading2">
+    <w:name w:val="heading 2"/>
+    <w:basedOn w:val="Normal"/>
+    <w:next w:val="BodyText"/>
+    <w:qFormat/>
+    <w:pPr><w:keepNext/><w:spacing w:before="280" w:after="140"/></w:pPr>
+    <w:rPr><w:b/><w:rFonts w:ascii="Microsoft YaHei" w:hAnsi="Microsoft YaHei" w:eastAsia="Microsoft YaHei"/><w:sz w:val="27"/></w:rPr>
+  </w:style>
+  <w:style w:type="paragraph" w:styleId="Heading3">
+    <w:name w:val="heading 3"/>
+    <w:basedOn w:val="Normal"/>
+    <w:next w:val="BodyText"/>
+    <w:qFormat/>
+    <w:pPr><w:keepNext/><w:spacing w:before="180" w:after="100"/></w:pPr>
+    <w:rPr><w:b/><w:rFonts w:ascii="Microsoft YaHei" w:hAnsi="Microsoft YaHei" w:eastAsia="Microsoft YaHei"/><w:sz w:val="23"/></w:rPr>
+  </w:style>
+  <w:style w:type="paragraph" w:styleId="Code">
+    <w:name w:val="Code"/>
+    <w:basedOn w:val="Normal"/>
+    <w:pPr><w:spacing w:before="0" w:after="0" w:line="240" w:lineRule="auto"/></w:pPr>
+    <w:rPr><w:rFonts w:ascii="Consolas" w:hAnsi="Consolas" w:eastAsia="Consolas"/><w:sz w:val="16"/></w:rPr>
+  </w:style>
+  <w:style w:type="paragraph" w:styleId="TableHeader">
+    <w:name w:val="Table Header"/>
+    <w:basedOn w:val="Normal"/>
+    <w:rPr><w:b/><w:rFonts w:ascii="Microsoft YaHei" w:hAnsi="Microsoft YaHei" w:eastAsia="Microsoft YaHei"/><w:sz w:val="20"/></w:rPr>
+  </w:style>
+  <w:style w:type="table" w:default="1" w:styleId="TableNormal">
+    <w:name w:val="Normal Table"/>
+    <w:tblPr><w:tblInd w:w="0" w:type="dxa"/><w:tblCellMar><w:top w:w="0" w:type="dxa"/><w:left w:w="108" w:type="dxa"/><w:bottom w:w="0" w:type="dxa"/><w:right w:w="108" w:type="dxa"/></w:tblCellMar></w:tblPr>
+  </w:style>
+  <w:style w:type="table" w:styleId="TableGrid">
+    <w:name w:val="Table Grid"/>
+    <w:basedOn w:val="TableNormal"/>
+    <w:tblPr><w:tblBorders><w:top w:val="single" w:sz="4" w:space="0" w:color="B7C1CC"/><w:left w:val="single" w:sz="4" w:space="0" w:color="B7C1CC"/><w:bottom w:val="single" w:sz="4" w:space="0" w:color="B7C1CC"/><w:right w:val="single" w:sz="4" w:space="0" w:color="B7C1CC"/><w:insideH w:val="single" w:sz="4" w:space="0" w:color="B7C1CC"/><w:insideV w:val="single" w:sz="4" w:space="0" w:color="B7C1CC"/></w:tblBorders></w:tblPr>
+  </w:style>
+</w:styles>`;
+}
+
+function escapeXml(value) {
+  return String(value)
+    .replaceAll("&", "&amp;")
+    .replaceAll("<", "&lt;")
+    .replaceAll(">", "&gt;")
+    .replaceAll("\"", "&quot;")
+    .replaceAll("'", "&apos;");
+}
+
+function psSingleQuoted(value) {
+  return `'${String(value).replaceAll("'", "''")}'`;
+}
+
+function zipDirectory(sourceDir, destinationFile) {
+  const script = [
+    "Add-Type -AssemblyName System.IO.Compression.FileSystem",
+    `$src = ${psSingleQuoted(sourceDir)}`,
+    `$dst = ${psSingleQuoted(destinationFile)}`,
+    "if (Test-Path -LiteralPath $dst) { Remove-Item -LiteralPath $dst -Force }",
+    "[System.IO.Compression.ZipFile]::CreateFromDirectory($src, $dst)"
+  ].join("\n");
+  execFileSync("powershell", ["-NoProfile", "-ExecutionPolicy", "Bypass", "-Command", script], {
+    stdio: "inherit"
+  });
+}
+
+function assertSafeStaging(path) {
+  const allowedRoot = join(webRoot, "test-results") + sep;
+  const resolved = resolve(path);
+  if (!resolved.startsWith(allowedRoot)) {
+    throw new Error(`Refusing to clear staging path outside test-results: ${resolved}`);
+  }
+}
+
+function formatShanghaiTime(date) {
+  const parts = new Intl.DateTimeFormat("zh-CN", {
+    timeZone: "Asia/Shanghai",
+    year: "numeric",
+    month: "2-digit",
+    day: "2-digit",
+    hour: "2-digit",
+    minute: "2-digit",
+    second: "2-digit",
+    hour12: false
+  }).formatToParts(date);
+  const value = Object.fromEntries(parts.map((part) => [part.type, part.value]));
+  return `${value.year}-${value.month}-${value.day} ${value.hour}:${value.minute}:${value.second} Asia/Shanghai`;
+}

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;");
+}

kdl-wasm/web/scripts/verify-demo-package.mjs

@@ -0,0 +1,209 @@
+import { execFileSync } from "node:child_process";
+import {
+  existsSync,
+  mkdirSync,
+  readdirSync,
+  readFileSync,
+  rmSync,
+  statSync,
+  writeFileSync
+} from "node:fs";
+import { dirname, extname, join, resolve, sep } from "node:path";
+import { fileURLToPath } from "node:url";
+
+const root = resolve(fileURLToPath(new URL("../../..", import.meta.url)));
+const webRoot = join(root, "kdl-wasm", "web");
+const deployRoot = join(webRoot, "test-results", "deploy");
+const zipPath = resolve(process.argv[2] ?? latestZipPath());
+const extractRoot = join(deployRoot, "_verify", zipBasename(zipPath));
+
+assertSafeVerifyPath(extractRoot);
+rmSync(extractRoot, { recursive: true, force: true });
+mkdirSync(extractRoot, { recursive: true });
+expandZip(zipPath, extractRoot);
+
+const manifest = readJson(join(extractRoot, "demo-manifest.json"));
+const report = readJson(join(extractRoot, manifest.report_json));
+const programManifest = readJson(join(extractRoot, manifest.program_manifest));
+const grlFiles = walkFiles(join(extractRoot, "spec-programs")).filter((file) => extname(file).toLowerCase() === ".grl");
+
+const requiredFiles = [
+  "index.html",
+  "demo-manifest.json",
+  "README.md",
+  "app/virtual-controller.html",
+  "app/virtual-controller.css",
+  "app/virtual-controller.js",
+  "spec-programs/manifest.json",
+  manifest.job_json,
+  manifest.report_json,
+  manifest.report_html,
+  manifest.screenshots.desktop,
+  manifest.screenshots.mobile,
+  manifest.screenshots.evidence,
+  "docs/GRL功能语法逻辑与程序创建使用手册.docx",
+  "docs/通用机器人离线编程系统测试文档.docx",
+  "docs/working2/README.md",
+  "docs/working2/05-验收证据.md"
+];
+
+const checks = [];
+for (const file of requiredFiles) {
+  checks.push(checkFile(file));
+}
+
+checks.push(check("program_count", manifest.program_count === 19, `program_count=${manifest.program_count}`));
+checks.push(check("manifest_programs", programManifest.programs.length === 19, `manifest programs=${programManifest.programs.length}`));
+checks.push(check("grl_files", grlFiles.length === 19, `grl files=${grlFiles.length}`));
+checks.push(check("summary_fail", report.summary.fail === 0, `summary.fail=${report.summary.fail}`));
+checks.push(check("report_programs", report.summary.programs === 19, `report programs=${report.summary.programs}`));
+checks.push(check("runtime_programs", manifest.runtime_programs === 12, `runtime=${manifest.runtime_programs}`));
+checks.push(check("static_programs", manifest.static_programs === 4, `static=${manifest.static_programs}`));
+checks.push(check("post_programs", manifest.post_programs === 3, `post=${manifest.post_programs}`));
+checks.push(check("missing_sections", Array.isArray(report.coverage.missingSections) && report.coverage.missingSections.length === 0, `missing=${report.coverage.missingSections?.join(",") ?? "n/a"}`));
+checks.push(check("relative_urls", allManifestUrlsAreRelative(manifest), "manifest URLs are relative"));
+
+for (const program of manifest.programs) {
+  checks.push(checkFile(program.source));
+  checks.push(checkFile(program.artifacts.compile));
+}
+
+for (const doc of manifest.docs ?? []) {
+  checks.push(checkFile(doc.href));
+}
+
+const runtimeFramePrograms = manifest.programs.filter((program) => program.coverage_level === "Runtime");
+let frameProgramCount = 0;
+for (const program of runtimeFramePrograms) {
+  const trajectory = readJson(join(extractRoot, program.artifacts.trajectory));
+  const frames = Array.isArray(trajectory.frames) ? trajectory.frames : [];
+  const hasFrameState = frames.some((frame) =>
+    Array.isArray(frame.joints) &&
+    frame.joints.length === 6 &&
+    Array.isArray(frame.tcp?.position) &&
+    frame.tcp.position.length === 3 &&
+    Array.isArray(frame.tcp?.quaternion) &&
+    frame.tcp.quaternion.length === 4
+  );
+  if (hasFrameState) frameProgramCount += 1;
+}
+checks.push(check(
+  "runtime_trajectory_frames",
+  frameProgramCount > 0,
+  `${frameProgramCount}/${runtimeFramePrograms.length} runtime programs include frame joints and TCP`
+));
+
+const failed = checks.filter((item) => !item.ok);
+const summary = {
+  zip: zipPath,
+  extract_root: extractRoot,
+  release_id: manifest.release_id,
+  job_id: manifest.job_id,
+  program_count: manifest.program_count,
+  grl_files: grlFiles.length,
+  summary_fail: report.summary.fail,
+  checks,
+  ok: failed.length === 0
+};
+
+writeFileSync(join(deployRoot, `${zipBasename(zipPath)}.verify.json`), `${JSON.stringify(summary, null, 2)}\n`, "utf8");
+console.log(JSON.stringify(summary, null, 2));
+
+if (failed.length > 0) {
+  throw new Error(`Demo package verification failed: ${failed.map((item) => item.name).join(", ")}`);
+}
+
+function checkFile(relativePath) {
+  const file = join(extractRoot, relativePath);
+  const exists = existsSync(file);
+  return check(`file:${relativePath}`, exists && statSync(file).isFile(), exists ? `${statSync(file).size} bytes` : "missing");
+}
+
+function check(name, ok, details) {
+  return { name, ok: Boolean(ok), details };
+}
+
+function allManifestUrlsAreRelative(value) {
+  const urls = [];
+  collectUrls(value, urls);
+  return urls.every((url) => !/^[a-z]+:\/\//i.test(url) && !/^[a-z]:[\\/]/i.test(url) && !url.startsWith("/") && !url.includes("\\"));
+}
+
+function collectUrls(value, urls) {
+  if (Array.isArray(value)) {
+    value.forEach((item) => collectUrls(item, urls));
+    return;
+  }
+  if (!value || typeof value !== "object") return;
+  for (const [key, item] of Object.entries(value)) {
+    if (typeof item === "string" && (key === "href" || key.includes("json") || key.includes("html") || key.includes("entry") || key.includes("manifest") || key.includes("source") || key.includes("screenshot") || key.includes("report") || key.includes("compile") || key.includes("controller") || key.includes("trace") || key.includes("trajectory") || key.includes("roundtrip") || key.includes("io") || key.includes("queue"))) {
+      urls.push(item);
+    } else {
+      collectUrls(item, urls);
+    }
+  }
+}
+
+function expandZip(source, destination) {
+  const script = [
+    "Add-Type -AssemblyName System.IO.Compression.FileSystem",
+    `$src = ${psSingleQuoted(source)}`,
+    `$dst = ${psSingleQuoted(destination)}`,
+    "if (Test-Path -LiteralPath $dst) { Remove-Item -LiteralPath $dst -Recurse -Force }",
+    "New-Item -ItemType Directory -Force -Path $dst | Out-Null",
+    "[System.IO.Compression.ZipFile]::ExtractToDirectory($src, $dst)"
+  ].join("\n");
+  execFileSync("powershell", ["-NoProfile", "-ExecutionPolicy", "Bypass", "-Command", script], {
+    stdio: "inherit"
+  });
+}
+
+function latestZipPath() {
+  if (!existsSync(deployRoot)) {
+    throw new Error(`No deploy output directory found: ${deployRoot}`);
+  }
+  const zips = readdirSync(deployRoot, { withFileTypes: true })
+    .filter((entry) => entry.isFile() && entry.name.startsWith("kdl-olp-demo-") && entry.name.endsWith(".zip"))
+    .map((entry) => ({
+      path: join(deployRoot, entry.name),
+      mtimeMs: statSync(join(deployRoot, entry.name)).mtimeMs
+    }))
+    .sort((left, right) => right.mtimeMs - left.mtimeMs);
+  if (zips.length === 0) {
+    throw new Error(`No kdl-olp-demo-*.zip files found in ${deployRoot}`);
+  }
+  return zips[0].path;
+}
+
+function walkFiles(dir) {
+  const files = [];
+  for (const entry of readdirSync(dir, { withFileTypes: true })) {
+    const fullPath = join(dir, entry.name);
+    if (entry.isDirectory()) {
+      files.push(...walkFiles(fullPath));
+    } else if (entry.isFile()) {
+      files.push(fullPath);
+    }
+  }
+  return files;
+}
+
+function readJson(file) {
+  return JSON.parse(readFileSync(file, "utf8"));
+}
+
+function zipBasename(file) {
+  return file.split(/[\\/]/).at(-1).replace(/\.zip$/i, "");
+}
+
+function psSingleQuoted(value) {
+  return `'${String(value).replaceAll("'", "''")}'`;
+}
+
+function assertSafeVerifyPath(path) {
+  const allowedRoot = resolve(join(deployRoot, "_verify")) + sep;
+  const resolved = resolve(path);
+  if (!resolved.startsWith(allowedRoot)) {
+    throw new Error(`Refusing to modify path outside verify root: ${resolved}`);
+  }
+}

kdl-wasm/web/scripts/verify-virtual-controller-buttons.mjs

@@ -0,0 +1,508 @@
+import { existsSync, mkdirSync, mkdtempSync, rmSync, writeFileSync } from "node:fs";
+import { tmpdir } from "node:os";
+import { basename, join, resolve } from "node:path";
+import { fileURLToPath, pathToFileURL } from "node:url";
+import { spawn } from "node:child_process";
+
+const root = resolve(fileURLToPath(new URL("../../..", import.meta.url)));
+const appHtml = resolve(root, "kdl-wasm/web/app/virtual-controller.html");
+const outputDir = resolve(root, "kdl-wasm/web/test-results/virtual-controller");
+const chromeBin = process.env.CHROME_BIN ?? defaultChromeBin();
+const targetUrl = process.argv[2] ?? pathToFileURL(appHtml).href;
+const isRemote = /^https?:\/\//i.test(targetUrl);
+
+mkdirSync(outputDir, { recursive: true });
+
+const evidence = await verifyButtonFlow(targetUrl);
+const evidencePath = join(outputDir, isRemote ? "button-evidence-public.json" : "button-evidence.json");
+writeFileSync(evidencePath, `${JSON.stringify(evidence, null, 2)}\n`);
+console.log(JSON.stringify(evidence, null, 2));
+
+async function verifyButtonFlow(url) {
+  const browser = await launchChrome("buttons");
+  try {
+    const client = await connect(browser.websocketUrl);
+    await client.send("Page.enable");
+    await client.send("Runtime.enable");
+    await client.send("Network.enable");
+    await client.send("Emulation.setDeviceMetricsOverride", {
+      width: 1440,
+      height: 960,
+      deviceScaleFactor: 1,
+      mobile: false
+    });
+    await client.send("Page.navigate", { url });
+    await waitForLoad(client);
+
+    const initial = await waitForProbe(
+      client,
+      (probe) => probe.title === "ABB120 Virtual Controller"
+        && probe.frameTotal > 0
+        && probe.samplePeriodSec === 0.05
+        && probe.stepRows > 0
+        && probe.activeStepRows === 1
+        && (!isRemote || probe.programOptions.length >= 10),
+      "initial controller render",
+      12_000
+    );
+    if (isRemote && initial.programOptions.length < 10) {
+      throw new Error(`remote manifest did not populate enough programs: ${initial.programOptions.length}`);
+    }
+
+    await clickCommand(client, "load");
+    const afterLoadClick = await sleepAndProbe(client, 120);
+    if (!["load", "loading", "parsing", "ready"].includes(afterLoadClick.state)) {
+      throw new Error(`Load did not show an active state, got ${afterLoadClick.state}`);
+    }
+    if (!afterLoadClick.log.includes(afterLoadClick.program)) {
+      throw new Error(`Load did not write the active program to the log: ${afterLoadClick.log}`);
+    }
+    const afterParse = await waitForProbe(
+      client,
+      (probe) => probe.state === "ready"
+        && probe.parser.includes("parsed")
+        && probe.parserProgress === 1
+        && probe.stepRows > 1
+        && probe.frameRows === probe.sourceFrameTotal,
+      "Load parse stream",
+      4000
+    );
+    if (afterLoadClick.state === "parsing") {
+      if (!afterLoadClick.parser.includes("parsing")) {
+        throw new Error(`Load did not expose parser progress: ${afterLoadClick.parser}`);
+      }
+      if (afterLoadClick.frameRows >= afterParse.frameRows && afterParse.frameRows > 1) {
+        throw new Error(`Trajectory did not grow during parsing: ${afterLoadClick.frameRows} -> ${afterParse.frameRows}`);
+      }
+    }
+
+    await clickCommand(client, "run");
+    const afterRun = await waitForProbe(
+      client,
+      (probe) => probe.state === "running" && probe.running,
+      "Run command",
+      1200
+    );
+    if (!afterRun.wait.includes("waiting") && !afterRun.wait.includes("satisfied")) {
+      throw new Error(`Run did not update wait state: ${afterRun.wait}`);
+    }
+    assertProgramSteps(afterRun, "Run command");
+
+    await sleep(700);
+    await clickCommand(client, "pause");
+    const afterPause = await waitForProbe(client, (probe) => probe.state === "paused", "Pause command", 1000);
+    assertProgramSteps(afterPause, "Pause command");
+
+    await clickCommand(client, "step");
+    const afterStep = await waitForProbe(client, (probe) => probe.state === "paused", "Step command", 1000);
+    const expectedStepFrame = afterPause.frameCurrent < afterPause.frameTotal
+      ? afterPause.frameCurrent + 1
+      : afterPause.frameCurrent;
+    if (afterStep.frameCurrent !== expectedStepFrame) {
+      throw new Error(`Step sample mismatch: expected ${expectedStepFrame}, got ${afterStep.frameCurrent}`);
+    }
+    assertProgramSteps(afterStep, "Step command");
+
+    await clickCommand(client, "stop");
+    const afterStop = await waitForProbe(client, (probe) => probe.state === "stopped", "Stop command", 1000);
+
+    await clickCommand(client, "reset");
+    const afterReset = await waitForProbe(
+      client,
+      (probe) => probe.state === "ready" && probe.frameCurrent === 1,
+      "Reset command",
+      1000
+    );
+
+    await clickCommand(client, "export");
+    const afterExport = await sleepAndProbe(client, 150);
+    if (!afterExport.log.includes("exported") && !afterExport.reports.includes("exported")) {
+      throw new Error(`Export did not update log/report fields: ${afterExport.log} / ${afterExport.reports}`);
+    }
+
+    const fullSpecId = afterExport.programOptions.find((id) => id.startsWith("W2_99_"));
+    let afterProgramSwitch = afterExport;
+    if (fullSpecId) {
+      await selectProgram(client, fullSpecId);
+      afterProgramSwitch = await waitForProbe(
+        client,
+        (probe) => probe.program === fullSpecId
+          && probe.state === "ready"
+          && probe.sourceFrameTotal >= 20
+          && probe.frameTotal >= 39
+          && probe.stepRows >= 8
+          && probe.activeStepRows === 1,
+        `${fullSpecId} program switch`,
+        isRemote ? 12_000 : 4_000
+      );
+      assertTcpAndJoints(afterProgramSwitch, fullSpecId);
+    }
+
+    const afterCacheWarm = await waitForProbe(
+      client,
+      (probe) => !isRemote || probe.storageState.writes >= 3,
+      "OPFS cache warmup",
+      isRemote ? 12_000 : 1500
+    );
+    const offlineCache = await verifyOfflineCache(client, afterCacheWarm);
+
+    await client.close();
+    return {
+      targetUrl: url,
+      chrome: chromeBin,
+      initial,
+      afterLoadClick,
+      afterRun,
+      afterPause,
+      afterStep,
+      afterStop,
+      afterReset,
+      afterExport,
+      afterProgramSwitch,
+      offlineCache
+    };
+  } finally {
+    browser.close();
+  }
+}
+
+async function verifyOfflineCache(client, beforeOffline) {
+  if (!isRemote) {
+    return { skipped: true, reason: "local file target does not require network-offline cache proof" };
+  }
+
+  const cacheProgram = beforeOffline.program
+    ?? beforeOffline.programOptions.find((id) => id === "W2_60_IOWaitPulse")
+    ?? beforeOffline.programOptions[0];
+  if (!cacheProgram) throw new Error("No program available for offline cache check");
+
+  await evaluate(client, `() => {
+    const app = window.__virtualController;
+    app.programCache.clear();
+    app.programLoads.clear();
+    app.assetTextCache.clear();
+    return true;
+  }`);
+  await client.send("Network.emulateNetworkConditions", {
+    offline: true,
+    latency: 0,
+    downloadThroughput: 0,
+    uploadThroughput: 0
+  });
+  await selectProgram(client, cacheProgram);
+  const offline = await waitForProbe(
+    client,
+    (probe) => probe.program === cacheProgram
+      && probe.state === "ready"
+      && probe.sourceFrameTotal >= 4
+      && probe.storageState.hits > beforeOffline.storageState.hits,
+    "offline OPFS program load",
+    5000
+  );
+  if (offline.storageState.mode !== "OPFS") {
+    throw new Error(`Expected OPFS mode during offline load, got ${offline.storageState.mode}`);
+  }
+  assertTcpAndJoints(offline, cacheProgram);
+  return {
+    program: cacheProgram,
+    mode: offline.storageState.mode,
+    hitsBefore: beforeOffline.storageState.hits,
+    hitsAfter: offline.storageState.hits,
+    frame: offline.frame,
+    storage: offline.storage
+  };
+}
+
+async function clickCommand(client, command) {
+  return evaluate(client, `() => {
+    const button = document.querySelector("[data-command='${command}']");
+    if (!button) throw new Error("Missing command ${command}");
+    button.click();
+    return true;
+  }`);
+}
+
+async function selectProgram(client, programId) {
+  return evaluate(client, `() => {
+    const select = document.querySelector("[data-program-select]");
+    if (!select) throw new Error("Missing program select");
+    select.value = ${JSON.stringify(programId)};
+    select.dispatchEvent(new Event("change", { bubbles: true }));
+    return select.value;
+  }`);
+}
+
+function assertTcpAndJoints(probe, label) {
+  if (!/\[[^\]]+\]/.test(probe.joints) || probe.joints.split(",").length < 6) {
+    throw new Error(`${label}: joints field is not a 6-axis vector: ${probe.joints}`);
+  }
+  if (!probe.tcp.includes("pos [") || !probe.tcp.includes(" q [")) {
+    throw new Error(`${label}: TCP field is incomplete: ${probe.tcp}`);
+  }
+  if (probe.frameRows !== probe.sourceFrameTotal) {
+    throw new Error(`${label}: frame table rows ${probe.frameRows} != source frame total ${probe.sourceFrameTotal}`);
+  }
+  if (probe.samplePeriodSec !== 0.05) {
+    throw new Error(`${label}: expected 50ms sample period, got ${probe.samplePeriodSec}`);
+  }
+  assertProgramSteps(probe, label);
+}
+
+function assertProgramSteps(probe, label) {
+  if (probe.stepRows < 1) {
+    throw new Error(`${label}: program step table did not render rows`);
+  }
+  if (probe.activeStepRows !== 1) {
+    throw new Error(`${label}: expected one active program step, got ${probe.activeStepRows}`);
+  }
+  if (!probe.stepStatus.includes("/") || !probe.stepStatus.includes("line")) {
+    throw new Error(`${label}: step status is incomplete: ${probe.stepStatus}`);
+  }
+  if (!probe.activeStepText.includes("@50ms") && !probe.activeStepText.includes("line")) {
+    throw new Error(`${label}: active step does not expose execution detail: ${probe.activeStepText}`);
+  }
+}
+
+async function sleepAndProbe(client, ms) {
+  await sleep(ms);
+  return evaluate(client, pageProbeSource());
+}
+
+async function waitForProbe(client, predicate, label, timeoutMs) {
+  const started = Date.now();
+  let lastProbe;
+  while (Date.now() - started < timeoutMs) {
+    lastProbe = await evaluate(client, pageProbeSource());
+    if (predicate(lastProbe)) return lastProbe;
+    await sleep(100);
+  }
+  throw new Error(`${label} timed out. Last probe: ${JSON.stringify(lastProbe)}`);
+}
+
+function pageProbeSource() {
+  return `() => {
+    const field = (name) => document.querySelector("[data-field='" + name + "']")?.textContent?.trim() ?? "";
+    const frame = field("frame");
+    const frameMatch = frame.match(/(\\d+)\\s*\\/\\s*(\\d+)/);
+    const app = window.__virtualController;
+    return {
+      title: document.title,
+      state: field("state"),
+      program: field("program"),
+      wait: field("wait"),
+      log: field("log"),
+      reports: field("reports"),
+      storage: field("storage"),
+      joints: field("joints"),
+      tcp: field("tcp"),
+      frame,
+      frameCurrent: frameMatch ? Number(frameMatch[1]) : 0,
+      frameTotal: frameMatch ? Number(frameMatch[2]) : 0,
+      frameRows: document.querySelectorAll("[data-frame-table] tr").length,
+      frameTime: field("frame-time"),
+      parser: field("parser"),
+      parserProgress: Number(document.querySelector("[data-parser-progress]")?.value ?? 0),
+      stepStatus: field("step-status"),
+      stepRows: document.querySelectorAll("[data-step-table] tr").length,
+      activeStepRows: document.querySelectorAll("[data-step-table] tr[data-step-state='active']").length,
+      activeStepText: document.querySelector("[data-step-table] tr[data-step-state='active']")?.textContent?.trim() ?? "",
+      programOptions: Array.from(document.querySelectorAll("[data-program-select] option")).map((item) => item.value),
+      running: document.querySelector(".workbench")?.dataset.running === "true",
+      playbackTime: Number(app?.playbackTime ?? 0),
+      samplePeriodSec: Number(app?.samplePeriodSec ?? 0),
+      sampleIndex: Number(app?.currentSampleIndex ?? 0),
+      sourceFrameIndex: Number(app?.currentFrameIndex ?? 0),
+      sourceFrameTotal: Array.isArray(app?.programCache?.get?.(app?.selectedProgramId)?.trajectory?.frames)
+        ? app.programCache.get(app.selectedProgramId).trajectory.frames.length
+        : document.querySelectorAll("[data-frame-table] tr").length,
+      storageState: app?.storage ? { ...app.storage } : {},
+      parseStream: app?.parseStream ? { ...app.parseStream, timer: Boolean(app.parseStream.timer) } : {},
+      errors: Array.isArray(window.__vcErrors) ? [...window.__vcErrors] : []
+    };
+  }`;
+}
+
+function launchChrome(name) {
+  const userDataDir = mkdtempSync(join(tmpdir(), `kdl-vc-${name}-`));
+  const child = spawn(chromeBin, [
+    "--headless=new",
+    "--disable-gpu",
+    "--no-sandbox",
+    "--disable-dev-shm-usage",
+    "--ignore-certificate-errors",
+    "--remote-debugging-port=0",
+    `--user-data-dir=${userDataDir}`,
+    "about:blank"
+  ], { stdio: ["ignore", "pipe", "pipe"] });
+
+  let log = "";
+  let settled = false;
+
+  const cleanup = () => {
+    child.kill("SIGTERM");
+    setTimeout(() => {
+      rmSync(userDataDir, {
+        recursive: true,
+        force: true,
+        maxRetries: 5,
+        retryDelay: 100
+      });
+    }, 250).unref();
+  };
+
+  return new Promise((resolveLaunch, reject) => {
+    const timeout = setTimeout(() => {
+      if (!settled) {
+        settled = true;
+        cleanup();
+        reject(new Error(`Chrome did not expose DevTools endpoint. ${log}`));
+      }
+    }, 15_000);
+
+    const onData = (chunk) => {
+      log += chunk.toString();
+      const match = log.match(/DevTools listening on (ws:\/\/[^\s]+)/);
+      if (!match || settled) return;
+      settled = true;
+      clearTimeout(timeout);
+      findPageWebsocket(match[1]).then((pageWebsocketUrl) => {
+        resolveLaunch({
+          websocketUrl: pageWebsocketUrl,
+          close: cleanup
+        });
+      }, (error) => {
+        cleanup();
+        reject(error);
+      });
+    };
+
+    child.stdout.on("data", onData);
+    child.stderr.on("data", onData);
+    child.on("error", (error) => {
+      if (!settled) {
+        settled = true;
+        clearTimeout(timeout);
+        cleanup();
+        reject(error);
+      }
+    });
+    child.on("exit", (code) => {
+      if (!settled) {
+        settled = true;
+        clearTimeout(timeout);
+        cleanup();
+        reject(new Error(`${basename(chromeBin)} exited early with ${code}. ${log}`));
+      }
+    });
+  });
+}
+
+async function findPageWebsocket(browserWebsocketUrl) {
+  const endpoint = new URL(browserWebsocketUrl);
+  const baseUrl = `http://${endpoint.host}`;
+  const started = Date.now();
+  let lastError;
+
+  while (Date.now() - started < 5000) {
+    try {
+      const response = await fetch(`${baseUrl}/json/list`);
+      const targets = await response.json();
+      const page = targets.find((target) => target.type === "page" && target.webSocketDebuggerUrl);
+      if (page?.webSocketDebuggerUrl) return page.webSocketDebuggerUrl;
+    } catch (error) {
+      lastError = error;
+    }
+    await sleep(100);
+  }
+
+  throw new Error(`Could not find Chrome page target. ${lastError instanceof Error ? lastError.message : ""}`);
+}
+
+function connect(websocketUrl) {
+  const socket = new WebSocket(websocketUrl);
+  let nextId = 1;
+  const pending = new Map();
+
+  socket.addEventListener("message", (event) => {
+    const message = JSON.parse(event.data.toString());
+    if (!message.id) return;
+    const request = pending.get(message.id);
+    if (!request) return;
+    pending.delete(message.id);
+    if (message.error) {
+      request.reject(new Error(`${message.error.code}: ${message.error.message}`));
+    } else {
+      request.resolve(message.result ?? {});
+    }
+  });
+
+  return new Promise((resolveClient, reject) => {
+    socket.addEventListener("open", () => {
+      resolveClient({
+        send(method, params = {}) {
+          const id = nextId++;
+          socket.send(JSON.stringify({ id, method, params }));
+          return new Promise((resolveSend, rejectSend) => {
+            pending.set(id, { resolve: resolveSend, reject: rejectSend });
+          });
+        },
+        close() {
+          socket.close();
+        }
+      });
+    }, { once: true });
+    socket.addEventListener("error", reject, { once: true });
+  });
+}
+
+function waitForLoad(client) {
+  return new Promise((resolveLoad, reject) => {
+    const started = Date.now();
+    const poll = async () => {
+      try {
+        const ready = await evaluate(client, "() => document.readyState");
+        if (ready === "complete") {
+          resolveLoad();
+          return;
+        }
+        if (Date.now() - started > 10_000) {
+          reject(new Error("Timed out waiting for document.readyState complete"));
+          return;
+        }
+        setTimeout(poll, 100);
+      } catch (error) {
+        reject(error);
+      }
+    };
+    poll();
+  });
+}
+
+async function evaluate(client, expression) {
+  const result = await client.send("Runtime.evaluate", {
+    expression: `(${expression})()`,
+    awaitPromise: true,
+    returnByValue: true
+  });
+  if (result.exceptionDetails) {
+    throw new Error(result.exceptionDetails.text ?? "Runtime.evaluate failed");
+  }
+  return result.result.value;
+}
+
+function sleep(ms) {
+  return new Promise((resolveSleep) => setTimeout(resolveSleep, ms));
+}
+
+function defaultChromeBin() {
+  if (process.platform !== "win32") return "/usr/bin/google-chrome";
+  const candidates = [
+    "C:\\Program Files\\Google\\Chrome\\Application\\chrome.exe",
+    "C:\\Program Files (x86)\\Google\\Chrome\\Application\\chrome.exe",
+    process.env.LOCALAPPDATA
+      ? join(process.env.LOCALAPPDATA, "Google", "Chrome", "Application", "chrome.exe")
+      : "",
+    "C:\\Program Files\\Microsoft\\Edge\\Application\\msedge.exe"
+  ];
+  return candidates.find((candidate) => candidate && existsSync(candidate)) ?? "chrome.exe";
+}

kdl-wasm/web/scripts/verify-virtual-controller.mjs

@@ -52,13 +52,18 @@ async function verifyViewport(viewport) {
     await client.send("Page.navigate", { url: pathToFileURL(appHtml).href });
     await waitForLoad(client);
 
-    const initial = await evaluate(client, pageProbeSource());
+    const initial = await waitForProbe(
+      client,
+      (probe) => probe.parserProgress === 1 && !probe.parser.includes("parsing"),
+      "initial parse",
+      4000
+    );
     assertProbe(initial, viewport.name, "initial");
 
     await evaluate(client, clickCommandSource("load"));
     await evaluate(client, clickCommandSource("run"));
     await evaluate(client, clickIoSource());
-    const afterRun = await evaluate(client, pageProbeSource());
+    const afterRun = await waitForProbe(client, (probe) => probe.state === "running", "run", 1200);
     assertProbe(afterRun, viewport.name, "after run");
     if (afterRun.state !== "running") {
       throw new Error(`${viewport.name}: expected state running, got ${afterRun.state}`);
@@ -91,6 +96,7 @@ async function verifyViewport(viewport) {
       screenshot: viewport.screenshotPath,
       screenshotBytes: pngBytes,
       state: afterRun.state,
+      parser: afterRun.parser,
       wait: afterRun.wait,
       trace: afterRun.trace,
       visiblePanels: afterRun.visiblePanels
@@ -257,6 +263,17 @@ function waitForLoad(client) {
   });
 }
 
+async function waitForProbe(client, predicate, label, timeoutMs) {
+  const started = Date.now();
+  let lastProbe;
+  while (Date.now() - started < timeoutMs) {
+    lastProbe = await evaluate(client, pageProbeSource());
+    if (predicate(lastProbe)) return lastProbe;
+    await new Promise((resolveRetry) => setTimeout(resolveRetry, 100));
+  }
+  throw new Error(`${label} timed out. Last probe: ${JSON.stringify(lastProbe)}`);
+}
+
 async function evaluate(client, expression) {
   const result = await client.send("Runtime.evaluate", {
     expression: `(${expression})()`,
@@ -288,7 +305,12 @@ function pageProbeSource() {
       wait: field("wait"),
       queue: field("queue"),
       trace: field("trace"),
+      parser: field("parser"),
+      parserProgress: Number(document.querySelector("[data-parser-progress]")?.value ?? 0),
       editor: field("editor"),
+      stepRows: document.querySelectorAll("[data-step-table] tr").length,
+      activeStepRows: document.querySelectorAll("[data-step-table] tr[data-step-state='active']").length,
+      stepStatus: field("step-status"),
       running: document.querySelector(".workbench")?.dataset.running === "true",
       visiblePanels,
       viewport: box(".viewport"),
@@ -325,6 +347,9 @@ function assertProbe(probe, viewportName, phase) {
   if (!probe.editor.includes("proc main") && !probe.editor.includes("MoveJ") && !probe.editor.includes("PTP")) {
     throw new Error(`${viewportName}/${phase}: editor source did not render`);
   }
+  if (probe.stepRows < 1 || probe.activeStepRows !== 1 || !probe.stepStatus.includes("line")) {
+    throw new Error(`${viewportName}/${phase}: program steps did not render correctly`);
+  }
   if (!probe.viewport || probe.viewport.width < 100 || probe.viewport.height < 100) {
     throw new Error(`${viewportName}/${phase}: viewport is too small`);
   }

kdl-wasm/web/src/grl/semantic/compileControlFlow.ts

@@ -87,6 +87,10 @@ class ControlFlowParser {
         instructions.push(this.finishJump(this.previous(), context));
         continue;
       }
+      if (this.matchKeyword("try")) {
+        instructions.push(this.finishRawBlock(this.previous(), "try"));
+        continue;
+      }
       if (this.checkKeyword("end")) {
         throw controlError("GRL_CONTROL_UNEXPECTED_END", "Unexpected end in procedure body", this.peek());
       }
@@ -311,6 +315,29 @@ class ControlFlowParser {
     };
   }
 
+  private finishRawBlock(start: GrlToken, blockKeyword: string): RawProcedureStatement {
+    const tokens: GrlToken[] = [start];
+    let nestedBlocks = 0;
+    while (!this.isAtEnd()) {
+      const token = this.advance();
+      tokens.push(token);
+      if (token.kind === "keyword" && token.raw === "end") {
+        if (nestedBlocks === 0) {
+          break;
+        }
+        nestedBlocks -= 1;
+      } else if (token.kind === "keyword" && ["if", "while", "for", "switch", "try"].includes(token.raw)) {
+        nestedBlocks += 1;
+      }
+    }
+    return {
+      kind: "RAW_STATEMENT",
+      text: `${blockKeyword} block`,
+      tokens,
+      sourceMap: tokenSourceMap(start)
+    };
+  }
+
   private parseBooleanLineExpression(start: GrlToken): ControlExpression {
     const expression = this.parseLineExpressionUntil(start, []);
     if (!isBooleanCondition(expression.tokens as GrlToken[])) {

kdl-wasm/web/src/grl/semantic/compileIo.ts

@@ -339,6 +339,9 @@ class IoStatementParser {
   }
 
   private matchKeyword(keyword: string): boolean {
+    if (this.isAtEnd()) {
+      return false;
+    }
     const token = this.peek();
     if ((token.kind === "keyword" || token.kind === "identifier") && token.raw === keyword) {
       this.advance();
@@ -348,6 +351,9 @@ class IoStatementParser {
   }
 
   private checkKeyword(keyword: string): boolean {
+    if (this.isAtEnd()) {
+      return false;
+    }
     const token = this.peek();
     return (token.kind === "keyword" || token.kind === "identifier") && token.raw === keyword;
   }

kdl-wasm/web/src/grl/semantic/index.ts

@@ -1,5 +1,6 @@
 export {
   compileGrlDataDeclaration,
+  compileGrlConstantValue,
   compileGrlTargetDeclaration,
   compileOffsetExpression,
   compileSpeedExpression,

kdl-wasm/web/test-results/abb120-spec/W2-JOB-20260628013857-19b5a2c7/manifest.json

@@ -0,0 +1,440 @@
+{
+  "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"
+      ]
+    }
+  ]
+}

kdl-wasm/web/test-results/abb120-spec/W2-JOB-20260628013857-19b5a2c7/programs/W2_00_MinimalModule/compile.json

@@ -0,0 +1,36 @@
+{
+  "parsed": true,
+  "moduleName": "W2MinimalModule",
+  "astKind": "Program",
+  "semanticChecks": [
+    "language/module/proc",
+    "const/var/persistent symbols",
+    "tool/frame/speed/zone",
+    "joint_target/pose_target",
+    "movej/movel/movec",
+    "path/point/event/run_path",
+    "operation/run_operation",
+    "io/wait/pulse",
+    "if/elseif/else/while/for/switch",
+    "call/return/break/continue",
+    "proc parameter directions",
+    "func returns and side effects",
+    "alarm/raise/try/catch",
+    "source map propagation",
+    "KDL motion request bridge",
+    "KDL path request bridge",
+    "duplicate symbol diagnostics",
+    "missing reference diagnostics",
+    "P1 unsupported diagnostics",
+    "operation action expansion",
+    "path event expansion",
+    "raw statement preservation"
+  ],
+  "sourceMapEntries": 1,
+  "kdlMotionRequests": 1,
+  "kdlPathRequests": 0,
+  "symbolCount": 4,
+  "procedureCount": 1,
+  "pathCount": 0,
+  "operationCount": 0
+}

kdl-wasm/web/test-results/abb120-spec/W2-JOB-20260628013857-19b5a2c7/programs/W2_00_MinimalModule/controller.json

@@ -0,0 +1,455 @@
+{
+  "commands": [
+    {
+      "command": "loadProgram",
+      "before": "unloaded",
+      "after": "stopped",
+      "result": "ok",
+      "diagnostics": []
+    },
+    {
+      "command": "start",
+      "before": "stopped",
+      "after": "running",
+      "result": "blocked",
+      "diagnostics": [
+        {
+          "severity": "error",
+          "code": "VC_STEP_LIMIT_EXCEEDED",
+          "message": "Execution exceeded 1 steps"
+        }
+      ]
+    },
+    {
+      "command": "stepInto",
+      "before": "paused",
+      "after": "paused",
+      "result": "completed",
+      "diagnostics": []
+    },
+    {
+      "command": "hold",
+      "before": "paused",
+      "after": "hold",
+      "result": "ok",
+      "diagnostics": []
+    },
+    {
+      "command": "resume",
+      "before": "hold",
+      "after": "stopped",
+      "result": "completed",
+      "diagnostics": []
+    },
+    {
+      "command": "stepMotion",
+      "before": "stopped",
+      "after": "stopped",
+      "result": "ok",
+      "diagnostics": []
+    },
+    {
+      "command": "stop",
+      "before": "paused",
+      "after": "stopped",
+      "result": "ok",
+      "diagnostics": []
+    },
+    {
+      "command": "resetFault",
+      "before": "stopped",
+      "after": "stopped",
+      "result": "ok",
+      "diagnostics": []
+    }
+  ],
+  "snapshot": {
+    "state": {
+      "state": "stopped",
+      "diagnostics": []
+    },
+    "runtime": {
+      "loaded": true,
+      "procedure": "main",
+      "pc": 1,
+      "callStack": [
+        {
+          "procedure": "main",
+          "pc": 1
+        }
+      ],
+      "scopeStack": [
+        {
+          "id": "global",
+          "variables": {}
+        },
+        {
+          "id": "main",
+          "variables": {}
+        }
+      ],
+      "alarmQueue": [],
+      "trace": [
+        {
+          "time": 0,
+          "kind": "load",
+          "procedure": "main",
+          "pc": 0,
+          "message": "Loaded W2MinimalModule",
+          "source": {
+            "kind": "MOVEJ",
+            "id": "main:MOVEJ:7:5",
+            "sourceMap": {
+              "line": 7,
+              "column": 5
+            },
+            "procedureId": "main"
+          },
+          "data": {
+            "moduleName": "W2MinimalModule"
+          },
+          "id": 1
+        },
+        {
+          "time": 0,
+          "kind": "motion",
+          "procedure": "main",
+          "pc": 0,
+          "instructionKind": "MOVEJ",
+          "source": {
+            "kind": "MOVEJ",
+            "id": "main:MOVEJ:7:5",
+            "sourceMap": {
+              "line": 7,
+              "column": 5
+            },
+            "procedureId": "main"
+          },
+          "data": {
+            "queued": true
+          },
+          "id": 2
+        },
+        {
+          "time": 0,
+          "kind": "instruction",
+          "procedure": "main",
+          "pc": 1,
+          "instructionKind": "MOVEJ",
+          "source": {
+            "kind": "MOVEJ",
+            "id": "main:MOVEJ:7:5",
+            "sourceMap": {
+              "line": 7,
+              "column": 5
+            },
+            "procedureId": "main"
+          },
+          "id": 3
+        },
+        {
+          "time": 0,
+          "kind": "diagnostic",
+          "procedure": "main",
+          "pc": 1,
+          "message": "Execution exceeded 1 steps",
+          "diagnostic": {
+            "severity": "error",
+            "code": "VC_STEP_LIMIT_EXCEEDED",
+            "message": "Execution exceeded 1 steps"
+          },
+          "id": 4
+        }
+      ],
+      "completed": true
+    },
+    "motion": {
+      "items": [
+        {
+          "id": "mq_1",
+          "kind": "motion",
+          "source": {
+            "kind": "instruction",
+            "instruction": {
+              "kind": "MOVEJ",
+              "target": {
+                "joints": [
+                  0,
+                  0,
+                  0,
+                  0,
+                  0,
+                  0
+                ],
+                "id": "home"
+              },
+              "speed": {
+                "kind": "joint_percent",
+                "value": 0.4
+              },
+              "zone": {
+                "kind": "fine"
+              },
+              "sourceMap": {
+                "line": 7,
+                "column": 5
+              }
+            },
+            "sourceMap": {
+              "line": 7,
+              "column": 5
+            }
+          },
+          "request": {
+            "startJoints": [
+              0,
+              0,
+              0,
+              0,
+              0,
+              0
+            ],
+            "sampleTime": 0.02,
+            "segments": [
+              {
+                "id": "motion_1",
+                "motion": "MOVEJ",
+                "target": {
+                  "joints": [
+                    0,
+                    0,
+                    0,
+                    0,
+                    0,
+                    0
+                  ],
+                  "id": "home"
+                },
+                "speed": {
+                  "kind": "joint_percent",
+                  "value": 0.4
+                },
+                "zone": {
+                  "kind": "fine"
+                },
+                "sourceMap": {
+                  "line": 7,
+                  "column": 5
+                }
+              }
+            ]
+          },
+          "status": "queued"
+        }
+      ],
+      "activeIndex": 0,
+      "virtualTime": 0.1
+    },
+    "io": {
+      "time": 0.1,
+      "image": {
+        "io.di[1]": true,
+        "io.di[2]": false,
+        "io.di[3]": true,
+        "io.di[4]": false,
+        "io.di[5]": true,
+        "io.di[6]": false,
+        "io.di[7]": true,
+        "io.di[10]": true,
+        "io.ai[2]": 0.75
+      },
+      "events": [
+        {
+          "id": 1,
+          "time": 0,
+          "writer": "script",
+          "target": {
+            "domain": "di",
+            "index": 1,
+            "raw": "io.di[1]"
+          },
+          "value": true,
+          "kind": "script"
+        },
+        {
+          "id": 2,
+          "time": 0,
+          "writer": "script",
+          "target": {
+            "domain": "di",
+            "index": 2,
+            "raw": "io.di[2]"
+          },
+          "value": false,
+          "kind": "script"
+        },
+        {
+          "id": 3,
+          "time": 0,
+          "writer": "script",
+          "target": {
+            "domain": "di",
+            "index": 3,
+            "raw": "io.di[3]"
+          },
+          "value": true,
+          "kind": "script"
+        },
+        {
+          "id": 4,
+          "time": 0,
+          "writer": "script",
+          "target": {
+            "domain": "di",
+            "index": 4,
+            "raw": "io.di[4]"
+          },
+          "value": false,
+          "kind": "script"
+        },
+        {
+          "id": 5,
+          "time": 0,
+          "writer": "script",
+          "target": {
+            "domain": "di",
+            "index": 5,
+            "raw": "io.di[5]"
+          },
+          "value": false,
+          "kind": "script"
+        },
+        {
+          "id": 6,
+          "time": 0,
+          "writer": "script",
+          "target": {
+            "domain": "di",
+            "index": 6,
+            "raw": "io.di[6]"
+          },
+          "value": true,
+          "kind": "script"
+        },
+        {
+          "id": 7,
+          "time": 0,
+          "writer": "script",
+          "target": {
+            "domain": "di",
+            "index": 7,
+            "raw": "io.di[7]"
+          },
+          "value": false,
+          "kind": "script"
+        },
+        {
+          "id": 8,
+          "time": 0,
+          "writer": "script",
+          "target": {
+            "domain": "di",
+            "index": 10,
+            "raw": "io.di[10]"
+          },
+          "value": true,
+          "kind": "script"
+        },
+        {
+          "id": 9,
+          "time": 0,
+          "writer": "script",
+          "target": {
+            "domain": "ai",
+            "index": 2,
+            "raw": "io.ai[2]"
+          },
+          "value": 0.75,
+          "kind": "script"
+        },
+        {
+          "id": 10,
+          "time": 0.1,
+          "writer": "script",
+          "target": {
+            "domain": "di",
+            "index": 5,
+            "raw": "io.di[5]"
+          },
+          "previous": false,
+          "value": true,
+          "kind": "script"
+        },
+        {
+          "id": 11,
+          "time": 0.1,
+          "writer": "script",
+          "target": {
+            "domain": "di",
+            "index": 6,
+            "raw": "io.di[6]"
+          },
+          "previous": true,
+          "value": false,
+          "kind": "script"
+        },
+        {
+          "id": 12,
+          "time": 0.1,
+          "writer": "script",
+          "target": {
+            "domain": "di",
+            "index": 7,
+            "raw": "io.di[7]"
+          },
+          "previous": false,
+          "value": true,
+          "kind": "script"
+        }
+      ],
+      "diagnostics": [],
+      "scripts": [
+        {
+          "name": "W2_00_MinimalModule-edge-script",
+          "nextIndex": 3,
+          "elapsed": 0.1,
+          "steps": [
+            {
+              "delay": 0.02,
+              "target": {
+                "domain": "di",
+                "index": 5,
+                "raw": "io.di[5]"
+              },
+              "value": true
+            },
+            {
+              "delay": 0.04,
+              "target": {
+                "domain": "di",
+                "index": 6,
+                "raw": "io.di[6]"
+              },
+              "value": false
+            },
+            {
+              "delay": 0.06,
+              "target": {
+                "domain": "di",
+                "index": 7,
+                "raw": "io.di[7]"
+              },
+              "value": true
+            }
+          ],
+          "done": true
+        }
+      ]
+    },
+    "bridge": {
+      "pathIds": [],
+      "operationIds": [],
+      "diagnostics": []
+    }
+  }
+}

kdl-wasm/web/test-results/abb120-spec/W2-JOB-20260628013857-19b5a2c7/programs/W2_00_MinimalModule/io.json

@@ -0,0 +1,201 @@
+{
+  "time": 0.1,
+  "image": {
+    "io.di[1]": true,
+    "io.di[2]": false,
+    "io.di[3]": true,
+    "io.di[4]": false,
+    "io.di[5]": true,
+    "io.di[6]": false,
+    "io.di[7]": true,
+    "io.di[10]": true,
+    "io.ai[2]": 0.75
+  },
+  "events": [
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+      "time": 0,
+      "writer": "script",
+      "target": {
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+        "index": 1,
+        "raw": "io.di[1]"
+      },
+      "value": true,
+      "kind": "script"
+    },
+    {
+      "id": 2,
+      "time": 0,
+      "writer": "script",
+      "target": {
+        "domain": "di",
+        "index": 2,
+        "raw": "io.di[2]"
+      },
+      "value": false,
+      "kind": "script"
+    },
+    {
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+      "time": 0,
+      "writer": "script",
+      "target": {
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+        "index": 3,
+        "raw": "io.di[3]"
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+      "value": true,
+      "kind": "script"
+    },
+    {
+      "id": 4,
+      "time": 0,
+      "writer": "script",
+      "target": {
+        "domain": "di",
+        "index": 4,
+        "raw": "io.di[4]"
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+      "value": false,
+      "kind": "script"
+    },
+    {
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+      "time": 0,
+      "writer": "script",
+      "target": {
+        "domain": "di",
+        "index": 5,
+        "raw": "io.di[5]"
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+      "value": false,
+      "kind": "script"
+    },
+    {
+      "id": 6,
+      "time": 0,
+      "writer": "script",
+      "target": {
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+        "index": 6,
+        "raw": "io.di[6]"
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+      "kind": "script"
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+      "writer": "script",
+      "target": {
+        "domain": "di",
+        "index": 7,
+        "raw": "io.di[7]"
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+      "value": false,
+      "kind": "script"
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+      "time": 0,
+      "writer": "script",
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+        "raw": "io.di[10]"
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+      "value": true,
+      "kind": "script"
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+    {
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+      "time": 0,
+      "writer": "script",
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+        "raw": "io.ai[2]"
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+      "value": 0.75,
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+    },
+    {
+      "id": 10,
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+        "raw": "io.di[5]"
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+      "previous": false,
+      "value": true,
+      "kind": "script"
+    },
+    {
+      "id": 11,
+      "time": 0.1,
+      "writer": "script",
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+        "raw": "io.di[6]"
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+      "previous": true,
+      "value": false,
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+    {
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+      "time": 0.1,
+      "writer": "script",
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+        "index": 7,
+        "raw": "io.di[7]"
+      },
+      "previous": false,
+      "value": true,
+      "kind": "script"
+    }
+  ],
+  "diagnostics": [],
+  "scripts": [
+    {
+      "name": "W2_00_MinimalModule-edge-script",
+      "nextIndex": 3,
+      "elapsed": 0.1,
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+          "target": {
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+            "raw": "io.di[5]"
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+          "value": true
+        },
+        {
+          "delay": 0.04,
+          "target": {
+            "domain": "di",
+            "index": 6,
+            "raw": "io.di[6]"
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+          "value": false
+        },
+        {
+          "delay": 0.06,
+          "target": {
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+            "raw": "io.di[7]"
+          },
+          "value": true
+        }
+      ],
+      "done": true
+    }
+  ]
+}

kdl-wasm/web/test-results/abb120-spec/W2-JOB-20260628013857-19b5a2c7/programs/W2_00_MinimalModule/motion-queue.json

@@ -0,0 +1,82 @@
+{
+  "items": [
+    {
+      "id": "mq_1",
+      "kind": "motion",
+      "source": {
+        "kind": "instruction",
+        "instruction": {
+          "kind": "MOVEJ",
+          "target": {
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+              0,
+              0,
+              0,
+              0,
+              0,
+              0
+            ],
+            "id": "home"
+          },
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+            "value": 0.4
+          },
+          "zone": {
+            "kind": "fine"
+          },
+          "sourceMap": {
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+            "column": 5
+          }
+        },
+        "sourceMap": {
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+          "column": 5
+        }
+      },
+      "request": {
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+          0,
+          0,
+          0,
+          0,
+          0,
+          0
+        ],
+        "sampleTime": 0.02,
+        "segments": [
+          {
+            "id": "motion_1",
+            "motion": "MOVEJ",
+            "target": {
+              "joints": [
+                0,
+                0,
+                0,
+                0,
+                0,
+                0
+              ],
+              "id": "home"
+            },
+            "speed": {
+              "kind": "joint_percent",
+              "value": 0.4
+            },
+            "zone": {
+              "kind": "fine"
+            },
+            "sourceMap": {
+              "line": 7,
+              "column": 5
+            }
+          }
+        ]
+      },
+      "status": "queued"
+    }
+  ],
+  "activeIndex": 0,
+  "virtualTime": 0.1
+}

kdl-wasm/web/test-results/abb120-spec/W2-JOB-20260628013857-19b5a2c7/programs/W2_00_MinimalModule/post-report.json

@@ -0,0 +1,8 @@
+{
+  "filenames": [
+    "W2MinimalModule.mod",
+    "W2MinimalModule.ls",
+    "W2MinimalModule.src"
+  ],
+  "report": []
+}

kdl-wasm/web/test-results/abb120-spec/W2-JOB-20260628013857-19b5a2c7/programs/W2_00_MinimalModule/roundtrip.json

@@ -0,0 +1 @@
+{}

kdl-wasm/web/test-results/abb120-spec/W2-JOB-20260628013857-19b5a2c7/programs/W2_00_MinimalModule/trace.json

@@ -0,0 +1,72 @@
+[
+  {
+    "time": 0,
+    "kind": "load",
+    "procedure": "main",
+    "pc": 0,
+    "message": "Loaded W2MinimalModule",
+    "source": {
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+      "id": "main:MOVEJ:7:5",
+      "sourceMap": {
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+        "column": 5
+      },
+      "procedureId": "main"
+    },
+    "data": {
+      "moduleName": "W2MinimalModule"
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+    "id": 1
+  },
+  {
+    "time": 0,
+    "kind": "motion",
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+    "instructionKind": "MOVEJ",
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+      "id": "main:MOVEJ:7:5",
+      "sourceMap": {
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+        "column": 5
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+      "procedureId": "main"
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+    "data": {
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+    "id": 2
+  },
+  {
+    "time": 0,
+    "kind": "instruction",
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+    "instructionKind": "MOVEJ",
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+      "id": "main:MOVEJ:7:5",
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+        "column": 5
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+      "procedureId": "main"
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+  },
+  {
+    "time": 0,
+    "kind": "diagnostic",
+    "procedure": "main",
+    "pc": 1,
+    "message": "Execution exceeded 1 steps",
+    "diagnostic": {
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+      "code": "VC_STEP_LIMIT_EXCEEDED",
+      "message": "Execution exceeded 1 steps"
+    },
+    "id": 4
+  }
+]

kdl-wasm/web/test-results/abb120-spec/W2-JOB-20260628013857-19b5a2c7/programs/W2_00_MinimalModule/trajectory.json

@@ -0,0 +1,21 @@
+{
+  "sampleCount": 4,
+  "duration": 0.24,
+  "startJoints": [
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+    0,
+    0,
+    0,
+    0,
+    0
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+  "endJoints": [
+    0,
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+    0,
+    0,
+    0,
+    0
+  ],
+  "diagnostics": []
+}

kdl-wasm/web/test-results/abb120-spec/W2-JOB-20260628013857-19b5a2c7/programs/W2_10_DataTargetToolFrame/compile.json

@@ -0,0 +1,36 @@
+{
+  "parsed": true,
+  "moduleName": "W2DataTargetToolFrame",
+  "astKind": "Program",
+  "semanticChecks": [
+    "language/module/proc",
+    "const/var/persistent symbols",
+    "tool/frame/speed/zone",
+    "joint_target/pose_target",
+    "movej/movel/movec",
+    "path/point/event/run_path",
+    "operation/run_operation",
+    "io/wait/pulse",
+    "if/elseif/else/while/for/switch",
+    "call/return/break/continue",
+    "proc parameter directions",
+    "func returns and side effects",
+    "alarm/raise/try/catch",
+    "source map propagation",
+    "KDL motion request bridge",
+    "KDL path request bridge",
+    "duplicate symbol diagnostics",
+    "missing reference diagnostics",
+    "P1 unsupported diagnostics",
+    "operation action expansion",
+    "path event expansion",
+    "raw statement preservation"
+  ],
+  "sourceMapEntries": 3,
+  "kdlMotionRequests": 3,
+  "kdlPathRequests": 0,
+  "symbolCount": 19,
+  "procedureCount": 1,
+  "pathCount": 0,
+  "operationCount": 0
+}

kdl-wasm/web/test-results/abb120-spec/W2-JOB-20260628013857-19b5a2c7/programs/W2_10_DataTargetToolFrame/controller.json

@@ -0,0 +1,872 @@
+{
+  "commands": [
+    {
+      "command": "loadProgram",
+      "before": "unloaded",
+      "after": "stopped",
+      "result": "ok",
+      "diagnostics": []
+    },
+    {
+      "command": "start",
+      "before": "stopped",
+      "after": "running",
+      "result": "blocked",
+      "diagnostics": [
+        {
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+          "code": "VC_STEP_LIMIT_EXCEEDED",
+          "message": "Execution exceeded 1 steps"
+        }
+      ]
+    },
+    {
+      "command": "stepInto",
+      "before": "paused",
+      "after": "paused",
+      "result": "executed",
+      "diagnostics": []
+    },
+    {
+      "command": "hold",
+      "before": "paused",
+      "after": "hold",
+      "result": "ok",
+      "diagnostics": []
+    },
+    {
+      "command": "resume",
+      "before": "hold",
+      "after": "stopped",
+      "result": "completed",
+      "diagnostics": []
+    },
+    {
+      "command": "stepMotion",
+      "before": "stopped",
+      "after": "stopped",
+      "result": "ok",
+      "diagnostics": []
+    },
+    {
+      "command": "stop",
+      "before": "paused",
+      "after": "stopped",
+      "result": "ok",
+      "diagnostics": []
+    },
+    {
+      "command": "resetFault",
+      "before": "stopped",
+      "after": "stopped",
+      "result": "ok",
+      "diagnostics": []
+    }
+  ],
+  "snapshot": {
+    "state": {
+      "state": "stopped",
+      "diagnostics": []
+    },
+    "runtime": {
+      "loaded": true,
+      "procedure": "main",
+      "pc": 3,
+      "callStack": [
+        {
+          "procedure": "main",
+          "pc": 3
+        }
+      ],
+      "scopeStack": [
+        {
+          "id": "global",
+          "variables": {}
+        },
+        {
+          "id": "main",
+          "variables": {}
+        }
+      ],
+      "alarmQueue": [],
+      "trace": [
+        {
+          "time": 0,
+          "kind": "load",
+          "procedure": "main",
+          "pc": 0,
+          "message": "Loaded W2DataTargetToolFrame",
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+              "column": 5
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+            "procedureId": "main"
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+          "data": {
+            "moduleName": "W2DataTargetToolFrame"
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+        {
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+          "kind": "motion",
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+              "column": 5
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+        {
+          "time": 0,
+          "kind": "diagnostic",
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+          "message": "Execution exceeded 1 steps",
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+              "column": 5
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+            "procedureId": "main"
+          },
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+            "severity": "error",
+            "code": "VC_STEP_LIMIT_EXCEEDED",
+            "message": "Execution exceeded 1 steps"
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+          "id": 4
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+        {
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kdl-wasm/web/test-results/abb120-spec/W2-JOB-20260628013857-19b5a2c7/programs/W2_10_DataTargetToolFrame/io.json

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kdl-wasm/web/test-results/abb120-spec/W2-JOB-20260628013857-19b5a2c7/programs/W2_10_DataTargetToolFrame/motion-queue.json

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kdl-wasm/web/test-results/abb120-spec/W2-JOB-20260628013857-19b5a2c7/programs/W2_10_DataTargetToolFrame/post-report.json

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kdl-wasm/web/test-results/abb120-spec/W2-JOB-20260628013857-19b5a2c7/programs/W2_10_DataTargetToolFrame/roundtrip.json

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kdl-wasm/web/test-results/abb120-spec/W2-JOB-20260628013857-19b5a2c7/programs/W2_10_DataTargetToolFrame/trace.json

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kdl-wasm/web/test-results/abb120-spec/W2-JOB-20260628013857-19b5a2c7/programs/W2_10_DataTargetToolFrame/trajectory.json

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kdl-wasm/web/test-results/abb120-spec/W2-JOB-20260628013857-19b5a2c7/programs/W2_20_ExpressionMath/compile.json

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kdl-wasm/web/test-results/abb120-spec/W2-JOB-20260628013857-19b5a2c7/programs/W2_20_ExpressionMath/controller.json

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kdl-wasm/web/test-results/abb120-spec/W2-JOB-20260628013857-19b5a2c7/programs/W2_20_ExpressionMath/io.json

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+}

kdl-wasm/web/test-results/abb120-spec/W2-JOB-20260628013857-19b5a2c7/programs/W2_20_ExpressionMath/motion-queue.json

@@ -0,0 +1,172 @@
+{
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kdl-wasm/web/test-results/abb120-spec/W2-JOB-20260628013857-19b5a2c7/programs/W2_20_ExpressionMath/post-report.json

@@ -0,0 +1,8 @@
+{
+  "filenames": [
+    "W2ExpressionMath.mod",
+    "W2ExpressionMath.ls",
+    "W2ExpressionMath.src"
+  ],
+  "report": []
+}

kdl-wasm/web/test-results/abb120-spec/W2-JOB-20260628013857-19b5a2c7/programs/W2_20_ExpressionMath/roundtrip.json

@@ -0,0 +1 @@
+{}

kdl-wasm/web/test-results/abb120-spec/W2-JOB-20260628013857-19b5a2c7/programs/W2_20_ExpressionMath/trace.json

@@ -0,0 +1,156 @@
+[
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kdl-wasm/web/test-results/abb120-spec/W2-JOB-20260628013857-19b5a2c7/programs/W2_20_ExpressionMath/trajectory.json

@@ -0,0 +1,21 @@
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+}

kdl-wasm/web/test-results/abb120-spec/W2-JOB-20260628013857-19b5a2c7/programs/W2_30_MotionAllTypes/compile.json

@@ -0,0 +1,36 @@
+{
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kdl-wasm/web/test-results/abb120-spec/W2-JOB-20260628013857-19b5a2c7/programs/W2_30_MotionAllTypes/controller.json

@@ -0,0 +1,936 @@
+{
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kdl-wasm/web/test-results/abb120-spec/W2-JOB-20260628013857-19b5a2c7/programs/W2_30_MotionAllTypes/io.json

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kdl-wasm/web/test-results/abb120-spec/W2-JOB-20260628013857-19b5a2c7/programs/W2_30_MotionAllTypes/motion-queue.json

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+          }
+        ]
+      },
+      "status": "queued"
+    },
+    {
+      "id": "mq_3",
+      "kind": "motion",
+      "source": {
+        "kind": "instruction",
+        "instruction": {
+          "kind": "MOVEC",
+          "target": {
+            "pose": {
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+                0,
+                0
+              ],
+              "quaternion": [
+                0,
+                0,
+                0,
+                1
+              ]
+            },
+            "tool": {
+              "id": "gripper"
+            },
+            "frame": {
+              "id": "fixture"
+            },
+            "id": "finish"
+          },
+          "via": {
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+                0.05,
+                0
+              ],
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+                0,
+                0,
+                1
+              ]
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+            "tool": {
+              "id": "gripper"
+            },
+            "frame": {
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+            },
+            "id": "mid"
+          },
+          "speed": {
+            "kind": "linear",
+            "velocity": 0.1
+          },
+          "zone": {
+            "kind": "fine"
+          },
+          "tool": {
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+              0,
+              0.08
+            ],
+            "quaternion": [
+              0,
+              0,
+              0,
+              1
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+          "frame": {
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+              0,
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+          }
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+        "sourceMap": {
+          "line": 19,
+          "column": 5
+        }
+      },
+      "request": {
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+          0,
+          0,
+          0,
+          0,
+          0,
+          0
+        ],
+        "sampleTime": 0.02,
+        "segments": [
+          {
+            "id": "motion_3",
+            "motion": "MOVEC",
+            "target": {
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+                  0,
+                  0
+                ],
+                "quaternion": [
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+                  1
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+                "id": "gripper"
+              },
+              "frame": {
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+              "id": "finish"
+            },
+            "via": {
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+                  0
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+                  0,
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+                  1
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+              "tool": {
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+              },
+              "frame": {
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+              },
+              "id": "mid"
+            },
+            "speed": {
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+              "velocity": 0.1
+            },
+            "zone": {
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+                0,
+                0,
+                1
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+            "frame": {
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+            }
+          }
+        ]
+      },
+      "status": "queued"
+    }
+  ],
+  "activeIndex": 0,
+  "virtualTime": 0.1
+}

kdl-wasm/web/test-results/abb120-spec/W2-JOB-20260628013857-19b5a2c7/programs/W2_30_MotionAllTypes/post-report.json

@@ -0,0 +1,8 @@
+{
+  "filenames": [
+    "W2MotionAllTypes.mod",
+    "W2MotionAllTypes.ls",
+    "W2MotionAllTypes.src"
+  ],
+  "report": []
+}

kdl-wasm/web/test-results/abb120-spec/W2-JOB-20260628013857-19b5a2c7/programs/W2_30_MotionAllTypes/roundtrip.json

@@ -0,0 +1 @@
+{}

kdl-wasm/web/test-results/abb120-spec/W2-JOB-20260628013857-19b5a2c7/programs/W2_30_MotionAllTypes/trace.json

@@ -0,0 +1,155 @@
+[
+  {
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+    "kind": "load",
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+    "pc": 0,
+    "message": "Loaded W2MotionAllTypes",
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+      "procedureId": "main"
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+  {
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+    "diagnostic": {
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+      "message": "Execution exceeded 1 steps"
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+  },
+  {
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+    "kind": "motion",
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+      "procedureId": "main"
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+]

kdl-wasm/web/test-results/abb120-spec/W2-JOB-20260628013857-19b5a2c7/programs/W2_30_MotionAllTypes/trajectory.json

@@ -0,0 +1,21 @@
+{
+  "sampleCount": 12,
+  "duration": 0.72,
+  "startJoints": [
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+    0,
+    0,
+    0,
+    0,
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+    0,
+    0,
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+  "diagnostics": []
+}

kdl-wasm/web/test-results/abb120-spec/W2-JOB-20260628013857-19b5a2c7/programs/W2_40_PathEvents/compile.json

@@ -0,0 +1,36 @@
+{
+  "parsed": true,
+  "moduleName": "W2PathEvents",
+  "astKind": "Program",
+  "semanticChecks": [
+    "language/module/proc",
+    "const/var/persistent symbols",
+    "tool/frame/speed/zone",
+    "joint_target/pose_target",
+    "movej/movel/movec",
+    "path/point/event/run_path",
+    "operation/run_operation",
+    "io/wait/pulse",
+    "if/elseif/else/while/for/switch",
+    "call/return/break/continue",
+    "proc parameter directions",
+    "func returns and side effects",
+    "alarm/raise/try/catch",
+    "source map propagation",
+    "KDL motion request bridge",
+    "KDL path request bridge",
+    "duplicate symbol diagnostics",
+    "missing reference diagnostics",
+    "P1 unsupported diagnostics",
+    "operation action expansion",
+    "path event expansion",
+    "raw statement preservation"
+  ],
+  "sourceMapEntries": 7,
+  "kdlMotionRequests": 0,
+  "kdlPathRequests": 1,
+  "symbolCount": 8,
+  "procedureCount": 1,
+  "pathCount": 1,
+  "operationCount": 0
+}

kdl-wasm/web/test-results/abb120-spec/W2-JOB-20260628013857-19b5a2c7/programs/W2_40_PathEvents/io.json

@@ -0,0 +1,201 @@
+{
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+    "io.di[2]": false,
+    "io.di[3]": true,
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+      "writer": "script",
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+        "raw": "io.di[5]"
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+      "value": true,
+      "kind": "script"
+    }
+  ],
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+  "scripts": [
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+            "raw": "io.di[7]"
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+        }
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+      "done": true
+    }
+  ]
+}

kdl-wasm/web/test-results/abb120-spec/W2-JOB-20260628013857-19b5a2c7/programs/W2_40_PathEvents/motion-queue.json

@@ -0,0 +1,731 @@
+{
+  "items": [
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+      "kind": "path",
+      "source": {
+        "kind": "path",
+        "pathId": "generated_path",
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+          "pathId": "generated_path",
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kdl-wasm/web/test-results/abb120-spec/W2-JOB-20260628013857-19b5a2c7/programs/W2_40_PathEvents/post-report.json

@@ -0,0 +1,27 @@
+{
+  "filenames": [
+    "W2PathEvents.mod",
+    "W2PathEvents.ls",
+    "W2PathEvents.src"
+  ],
+  "report": [
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+      "severity": "warning",
+      "message": "RUN_PATH is not supported by abb prototype postprocessor",
+      "brand": "abb"
+    },
+    {
+      "code": "GRL_POST_UNSUPPORTED",
+      "severity": "warning",
+      "message": "RUN_PATH is not supported by fanuc prototype postprocessor",
+      "brand": "fanuc"
+    },
+    {
+      "code": "GRL_POST_UNSUPPORTED",
+      "severity": "warning",
+      "message": "RUN_PATH is not supported by kuka prototype postprocessor",
+      "brand": "kuka"
+    }
+  ]
+}

kdl-wasm/web/test-results/abb120-spec/W2-JOB-20260628013857-19b5a2c7/programs/W2_40_PathEvents/roundtrip.json

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+{}

kdl-wasm/web/test-results/abb120-spec/W2-JOB-20260628013857-19b5a2c7/programs/W2_40_PathEvents/trace.json

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+[
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kdl-wasm/web/test-results/abb120-spec/W2-JOB-20260628013857-19b5a2c7/programs/W2_40_PathEvents/trajectory.json

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+}

kdl-wasm/web/test-results/abb120-spec/W2-JOB-20260628013857-19b5a2c7/programs/W2_50_OperationProcess/compile.json

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+{
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+  "astKind": "Program",
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+    "duplicate symbol diagnostics",
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+  "kdlPathRequests": 1,
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+  "pathCount": 1,
+  "operationCount": 1
+}

kdl-wasm/web/test-results/abb120-spec/W2-JOB-20260628013857-19b5a2c7/programs/W2_50_OperationProcess/controller.json

@@ -0,0 +1,500 @@
+{
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+      "after": "stopped",
+      "result": "ok",
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+      "after": "stopped",
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+      "after": "stopped",
+      "result": "ok",
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+    },
+    {
+      "command": "resetFault",
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+      "after": "stopped",
+      "result": "ok",
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+}

kdl-wasm/web/test-results/abb120-spec/W2-JOB-20260628013857-19b5a2c7/programs/W2_50_OperationProcess/io.json

@@ -0,0 +1,201 @@
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kdl-wasm/web/test-results/abb120-spec/W2-JOB-20260628013857-19b5a2c7/programs/W2_50_OperationProcess/motion-queue.json

@@ -0,0 +1,123 @@
+{
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+}

kdl-wasm/web/test-results/abb120-spec/W2-JOB-20260628013857-19b5a2c7/programs/W2_50_OperationProcess/post-report.json

@@ -0,0 +1,27 @@
+{
+  "filenames": [
+    "W2OperationProcess.mod",
+    "W2OperationProcess.ls",
+    "W2OperationProcess.src"
+  ],
+  "report": [
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+      "severity": "warning",
+      "message": "RUN_OPERATION is not supported by abb prototype postprocessor",
+      "brand": "abb"
+    },
+    {
+      "code": "GRL_POST_UNSUPPORTED",
+      "severity": "warning",
+      "message": "RUN_OPERATION is not supported by fanuc prototype postprocessor",
+      "brand": "fanuc"
+    },
+    {
+      "code": "GRL_POST_UNSUPPORTED",
+      "severity": "warning",
+      "message": "RUN_OPERATION is not supported by kuka prototype postprocessor",
+      "brand": "kuka"
+    }
+  ]
+}

kdl-wasm/web/test-results/abb120-spec/W2-JOB-20260628013857-19b5a2c7/programs/W2_50_OperationProcess/roundtrip.json

@@ -0,0 +1 @@
+{}

kdl-wasm/web/test-results/abb120-spec/W2-JOB-20260628013857-19b5a2c7/programs/W2_50_OperationProcess/trace.json

@@ -0,0 +1,72 @@
+[
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+    "message": "Loaded W2OperationProcess",
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+    "message": "Execution exceeded 1 steps",
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+      "message": "Execution exceeded 1 steps"
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+  }
+]

kdl-wasm/web/test-results/abb120-spec/W2-JOB-20260628013857-19b5a2c7/programs/W2_50_OperationProcess/trajectory.json

@@ -0,0 +1,21 @@
+{
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+}

kdl-wasm/web/test-results/abb120-spec/W2-JOB-20260628013857-19b5a2c7/programs/W2_60_IOWaitPulse/compile.json

@@ -0,0 +1,36 @@
+{
+  "parsed": true,
+  "moduleName": "W2IOWaitPulse",
+  "astKind": "Program",
+  "semanticChecks": [
+    "language/module/proc",
+    "const/var/persistent symbols",
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+    "joint_target/pose_target",
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+    "path/point/event/run_path",
+    "operation/run_operation",
+    "io/wait/pulse",
+    "if/elseif/else/while/for/switch",
+    "call/return/break/continue",
+    "proc parameter directions",
+    "func returns and side effects",
+    "alarm/raise/try/catch",
+    "source map propagation",
+    "KDL motion request bridge",
+    "KDL path request bridge",
+    "duplicate symbol diagnostics",
+    "missing reference diagnostics",
+    "P1 unsupported diagnostics",
+    "operation action expansion",
+    "path event expansion",
+    "raw statement preservation"
+  ],
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+  "kdlMotionRequests": 0,
+  "kdlPathRequests": 1,
+  "symbolCount": 5,
+  "procedureCount": 1,
+  "pathCount": 1,
+  "operationCount": 0
+}

kdl-wasm/web/test-results/abb120-spec/W2-JOB-20260628013857-19b5a2c7/programs/W2_60_IOWaitPulse/io.json

@@ -0,0 +1,253 @@
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+          "target": {
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+            "raw": "io.di[5]"
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+          "value": true
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+          "value": false
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+        {
+          "delay": 0.06,
+          "target": {
+            "domain": "di",
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+            "raw": "io.di[7]"
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+          "value": true
+        }
+      ],
+      "done": true
+    }
+  ]
+}

kdl-wasm/web/test-results/abb120-spec/W2-JOB-20260628013857-19b5a2c7/programs/W2_60_IOWaitPulse/motion-queue.json

@@ -0,0 +1,279 @@
+{
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+      "kind": "path",
+      "source": {
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+          0,
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+          0,
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+                0,
+                0,
+                0,
+                0
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+        ],
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+      },
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+  ],
+  "activeIndex": 0,
+  "virtualTime": 0.1
+}

kdl-wasm/web/test-results/abb120-spec/W2-JOB-20260628013857-19b5a2c7/programs/W2_60_IOWaitPulse/post-report.json

@@ -0,0 +1,27 @@
+{
+  "filenames": [
+    "W2IOWaitPulse.mod",
+    "W2IOWaitPulse.ls",
+    "W2IOWaitPulse.src"
+  ],
+  "report": [
+    {
+      "code": "GRL_POST_UNSUPPORTED",
+      "severity": "warning",
+      "message": "RUN_PATH is not supported by abb prototype postprocessor",
+      "brand": "abb"
+    },
+    {
+      "code": "GRL_POST_UNSUPPORTED",
+      "severity": "warning",
+      "message": "RUN_PATH is not supported by fanuc prototype postprocessor",
+      "brand": "fanuc"
+    },
+    {
+      "code": "GRL_POST_UNSUPPORTED",
+      "severity": "warning",
+      "message": "RUN_PATH is not supported by kuka prototype postprocessor",
+      "brand": "kuka"
+    }
+  ]
+}

kdl-wasm/web/test-results/abb120-spec/W2-JOB-20260628013857-19b5a2c7/programs/W2_60_IOWaitPulse/roundtrip.json

@@ -0,0 +1 @@
+{}

kdl-wasm/web/test-results/abb120-spec/W2-JOB-20260628013857-19b5a2c7/programs/W2_60_IOWaitPulse/trace.json

@@ -0,0 +1,493 @@
+[
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+    "message": "Loaded W2IOWaitPulse",
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+  },
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+        "column": 5
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+      "procedureId": "main"
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+  {
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+        "column": 5
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+      "procedureId": "main"
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+  {
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+    "instructionKind": "RUN_PATH",
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+      "id": "main:RUN_PATH:21:5",
+      "sourceMap": {
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+        "column": 5
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+      "procedureId": "main"
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+  {
+    "time": 0.1,
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+  }
+]

kdl-wasm/web/test-results/abb120-spec/W2-JOB-20260628013857-19b5a2c7/programs/W2_60_IOWaitPulse/trajectory.json

@@ -0,0 +1,21 @@
+{
+  "sampleCount": 4,
+  "duration": 0.24,
+  "startJoints": [
+    0,
+    0,
+    0,
+    0,
+    0,
+    0
+  ],
+  "endJoints": [
+    0,
+    0,
+    0,
+    0,
+    0,
+    0
+  ],
+  "diagnostics": []
+}

kdl-wasm/web/test-results/abb120-spec/W2-JOB-20260628013857-19b5a2c7/programs/W2_70_ControlFlow/compile.json

@@ -0,0 +1,36 @@
+{
+  "parsed": true,
+  "moduleName": "W2ControlFlow",
+  "astKind": "Program",
+  "semanticChecks": [
+    "language/module/proc",
+    "const/var/persistent symbols",
+    "tool/frame/speed/zone",
+    "joint_target/pose_target",
+    "movej/movel/movec",
+    "path/point/event/run_path",
+    "operation/run_operation",
+    "io/wait/pulse",
+    "if/elseif/else/while/for/switch",
+    "call/return/break/continue",
+    "proc parameter directions",
+    "func returns and side effects",
+    "alarm/raise/try/catch",
+    "source map propagation",
+    "KDL motion request bridge",
+    "KDL path request bridge",
+    "duplicate symbol diagnostics",
+    "missing reference diagnostics",
+    "P1 unsupported diagnostics",
+    "operation action expansion",
+    "path event expansion",
+    "raw statement preservation"
+  ],
+  "sourceMapEntries": 14,
+  "kdlMotionRequests": 0,
+  "kdlPathRequests": 0,
+  "symbolCount": 8,
+  "procedureCount": 1,
+  "pathCount": 0,
+  "operationCount": 0
+}

kdl-wasm/web/test-results/abb120-spec/W2-JOB-20260628013857-19b5a2c7/programs/W2_70_ControlFlow/controller.json

@@ -0,0 +1,610 @@
+{
+  "commands": [
+    {
+      "command": "loadProgram",
+      "before": "unloaded",
+      "after": "stopped",
+      "result": "ok",
+      "diagnostics": []
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kdl-wasm/web/test-results/abb120-spec/W2-JOB-20260628013857-19b5a2c7/programs/W2_70_ControlFlow/io.json

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kdl-wasm/web/test-results/abb120-spec/W2-JOB-20260628013857-19b5a2c7/programs/W2_70_ControlFlow/motion-queue.json

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kdl-wasm/web/test-results/abb120-spec/W2-JOB-20260628013857-19b5a2c7/programs/W2_70_ControlFlow/post-report.json

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+      "severity": "warning",
+      "message": "EXEC_FOR is not supported by fanuc prototype postprocessor",
+      "brand": "fanuc"
+    },
+    {
+      "code": "GRL_POST_UNSUPPORTED",
+      "severity": "warning",
+      "message": "RAW_STATEMENT is not supported by fanuc prototype postprocessor",
+      "brand": "fanuc"
+    },
+    {
+      "code": "GRL_POST_UNSUPPORTED",
+      "severity": "warning",
+      "message": "EXEC_SWITCH is not supported by fanuc prototype postprocessor",
+      "brand": "fanuc"
+    },
+    {
+      "code": "GRL_POST_UNSUPPORTED",
+      "severity": "warning",
+      "message": "BREAK is not supported by fanuc prototype postprocessor",
+      "brand": "fanuc"
+    },
+    {
+      "code": "GRL_POST_UNSUPPORTED",
+      "severity": "warning",
+      "message": "ALARM is not supported by fanuc prototype postprocessor",
+      "brand": "fanuc"
+    },
+    {
+      "code": "GRL_POST_UNSUPPORTED",
+      "severity": "warning",
+      "message": "EXEC_IF is not supported by kuka prototype postprocessor",
+      "brand": "kuka"
+    },
+    {
+      "code": "GRL_POST_UNSUPPORTED",
+      "severity": "warning",
+      "message": "ALARM is not supported by kuka prototype postprocessor",
+      "brand": "kuka"
+    },
+    {
+      "code": "GRL_POST_UNSUPPORTED",
+      "severity": "warning",
+      "message": "EXEC_WHILE is not supported by kuka prototype postprocessor",
+      "brand": "kuka"
+    },
+    {
+      "code": "GRL_POST_UNSUPPORTED",
+      "severity": "warning",
+      "message": "EXEC_FOR is not supported by kuka prototype postprocessor",
+      "brand": "kuka"
+    },
+    {
+      "code": "GRL_POST_UNSUPPORTED",
+      "severity": "warning",
+      "message": "RAW_STATEMENT is not supported by kuka prototype postprocessor",
+      "brand": "kuka"
+    },
+    {
+      "code": "GRL_POST_UNSUPPORTED",
+      "severity": "warning",
+      "message": "EXEC_SWITCH is not supported by kuka prototype postprocessor",
+      "brand": "kuka"
+    },
+    {
+      "code": "GRL_POST_UNSUPPORTED",
+      "severity": "warning",
+      "message": "BREAK is not supported by kuka prototype postprocessor",
+      "brand": "kuka"
+    },
+    {
+      "code": "GRL_POST_UNSUPPORTED",
+      "severity": "warning",
+      "message": "ALARM is not supported by kuka prototype postprocessor",
+      "brand": "kuka"
+    }
+  ]
+}

kdl-wasm/web/test-results/abb120-spec/W2-JOB-20260628013857-19b5a2c7/programs/W2_70_ControlFlow/roundtrip.json

@@ -0,0 +1 @@
+{}

kdl-wasm/web/test-results/abb120-spec/W2-JOB-20260628013857-19b5a2c7/programs/W2_70_ControlFlow/trace.json

@@ -0,0 +1,253 @@
+[
+  {
+    "time": 0,
+    "kind": "load",
+    "procedure": "main",
+    "pc": 0,
+    "message": "Loaded W2ControlFlow",
+    "source": {
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+        "column": 5
+      },
+      "procedureId": "main"
+    },
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+      "moduleName": "W2ControlFlow"
+    },
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+  },
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+      "code": "VC_STEP_LIMIT_EXCEEDED",
+      "message": "Execution exceeded 1 steps"
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+  },
+  {
+    "time": 0,
+    "kind": "alarm",
+    "procedure": "main",
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+    "message": "not ready",
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+        "column": 7
+      },
+      "procedureId": "main"
+    },
+    "data": {
+      "alarmId": "NOT_READY",
+      "severity": "error"
+    },
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+  },
+  {
+    "time": 0,
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+    "time": 0,
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+    "pc": 5,
+    "message": "Execution exceeded 3 steps",
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+      "id": "main:EXEC_SWITCH:25:5",
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+        "column": 5
+      },
+      "procedureId": "main"
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+      "severity": "error",
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+      "message": "Execution exceeded 3 steps"
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+  {
+    "time": 0.1,
+    "kind": "instruction",
+    "procedure": "main",
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+        "column": 9
+      },
+      "procedureId": "main"
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+      "message": "BREAK reached",
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+  },
+  {
+    "time": 0.1,
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+    "message": "mode 1",
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+        "column": 9
+      },
+      "procedureId": "main"
+    },
+    "data": {
+      "alarmId": "MODE1",
+      "severity": "error"
+    },
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+  },
+  {
+    "time": 0.1,
+    "kind": "instruction",
+    "procedure": "main",
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+    "instructionKind": "ALARM",
+    "source": {
+      "kind": "ALARM",
+      "id": "main:ALARM:27:9",
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+      },
+      "procedureId": "main"
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+  }
+]

kdl-wasm/web/test-results/abb120-spec/W2-JOB-20260628013857-19b5a2c7/programs/W2_70_ControlFlow/trajectory.json

@@ -0,0 +1,21 @@
+{
+  "sampleCount": 0,
+  "duration": 0,
+  "startJoints": [
+    0,
+    0,
+    0,
+    0,
+    0,
+    0
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+    0,
+    0,
+    0,
+    0,
+    0
+  ],
+  "diagnostics": []
+}

kdl-wasm/web/test-results/abb120-spec/W2-JOB-20260628013857-19b5a2c7/programs/W2_80_ProcFuncCall/compile.json

@@ -0,0 +1,36 @@
+{
+  "parsed": true,
+  "moduleName": "W2ProcFuncCall",
+  "astKind": "Program",
+  "semanticChecks": [
+    "language/module/proc",
+    "const/var/persistent symbols",
+    "tool/frame/speed/zone",
+    "joint_target/pose_target",
+    "movej/movel/movec",
+    "path/point/event/run_path",
+    "operation/run_operation",
+    "io/wait/pulse",
+    "if/elseif/else/while/for/switch",
+    "call/return/break/continue",
+    "proc parameter directions",
+    "func returns and side effects",
+    "alarm/raise/try/catch",
+    "source map propagation",
+    "KDL motion request bridge",
+    "KDL path request bridge",
+    "duplicate symbol diagnostics",
+    "missing reference diagnostics",
+    "P1 unsupported diagnostics",
+    "operation action expansion",
+    "path event expansion",
+    "raw statement preservation"
+  ],
+  "sourceMapEntries": 9,
+  "kdlMotionRequests": 0,
+  "kdlPathRequests": 0,
+  "symbolCount": 8,
+  "procedureCount": 3,
+  "pathCount": 0,
+  "operationCount": 0
+}

kdl-wasm/web/test-results/abb120-spec/W2-JOB-20260628013857-19b5a2c7/programs/W2_80_ProcFuncCall/controller.json

@@ -0,0 +1,523 @@
+{
+  "commands": [
+    {
+      "command": "loadProgram",
+      "before": "unloaded",
+      "after": "stopped",
+      "result": "ok",
+      "diagnostics": []
+    },
+    {
+      "command": "start",
+      "before": "stopped",
+      "after": "running",
+      "result": "blocked",
+      "diagnostics": [
+        {
+          "severity": "error",
+          "code": "VC_STEP_LIMIT_EXCEEDED",
+          "message": "Execution exceeded 1 steps"
+        }
+      ]
+    },
+    {
+      "command": "stepInto",
+      "before": "paused",
+      "after": "paused",
+      "result": "executed",
+      "diagnostics": []
+    },
+    {
+      "command": "hold",
+      "before": "paused",
+      "after": "hold",
+      "result": "ok",
+      "diagnostics": []
+    },
+    {
+      "command": "resume",
+      "before": "hold",
+      "after": "running",
+      "result": "blocked",
+      "diagnostics": [
+        {
+          "severity": "error",
+          "code": "VC_STEP_LIMIT_EXCEEDED",
+          "message": "Execution exceeded 3 steps"
+        }
+      ]
+    },
+    {
+      "command": "stepMotion",
+      "before": "running",
+      "after": "running",
+      "result": "ok",
+      "diagnostics": []
+    },
+    {
+      "command": "stop",
+      "before": "paused",
+      "after": "stopped",
+      "result": "ok",
+      "diagnostics": []
+    },
+    {
+      "command": "resetFault",
+      "before": "stopped",
+      "after": "stopped",
+      "result": "ok",
+      "diagnostics": []
+    }
+  ],
+  "snapshot": {
+    "state": {
+      "state": "stopped",
+      "diagnostics": []
+    },
+    "runtime": {
+      "loaded": true,
+      "procedure": "main",
+      "pc": 5,
+      "callStack": [
+        {
+          "procedure": "main",
+          "pc": 5
+        }
+      ],
+      "scopeStack": [
+        {
+          "id": "global",
+          "variables": {}
+        },
+        {
+          "id": "main",
+          "variables": {}
+        }
+      ],
+      "alarmQueue": [],
+      "trace": [
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+          "time": 0,
+          "kind": "load",
+          "procedure": "main",
+          "pc": 0,
+          "message": "Loaded W2ProcFuncCall",
+          "source": {
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+            "id": "main:RAW_STATEMENT:17:5",
+            "sourceMap": {
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+              "column": 5
+            },
+            "procedureId": "main"
+          },
+          "data": {
+            "moduleName": "W2ProcFuncCall"
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+          "id": 1
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+        {
+          "time": 0,
+          "kind": "instruction",
+          "procedure": "main",
+          "pc": 1,
+          "instructionKind": "RAW_STATEMENT",
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+            "id": "main:RAW_STATEMENT:17:5",
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+              "column": 5
+            },
+            "procedureId": "main"
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+          "id": 2
+        },
+        {
+          "time": 0,
+          "kind": "diagnostic",
+          "procedure": "main",
+          "pc": 1,
+          "message": "Execution exceeded 1 steps",
+          "source": {
+            "kind": "RAW_STATEMENT",
+            "id": "main:RAW_STATEMENT:18:5",
+            "sourceMap": {
+              "line": 18,
+              "column": 5
+            },
+            "procedureId": "main"
+          },
+          "diagnostic": {
+            "severity": "error",
+            "code": "VC_STEP_LIMIT_EXCEEDED",
+            "message": "Execution exceeded 1 steps"
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+        },
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+          "kind": "instruction",
+          "procedure": "main",
+          "pc": 2,
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+            "id": "main:RAW_STATEMENT:18:5",
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+              "column": 5
+            },
+            "procedureId": "main"
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+        },
+        {
+          "time": 0,
+          "kind": "instruction",
+          "procedure": "read_part",
+          "pc": 0,
+          "instructionKind": "CALL",
+          "message": "Call read_part",
+          "source": {
+            "kind": "CALL",
+            "sourceMap": {
+              "line": 19,
+              "column": 5
+            },
+            "procedureId": "read_part"
+          },
+          "id": 5
+        },
+        {
+          "time": 0,
+          "kind": "instruction",
+          "procedure": "read_part",
+          "pc": 1,
+          "instructionKind": "RAW_STATEMENT",
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+            "id": "read_part:RAW_STATEMENT:8:5",
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+              "column": 5
+            },
+            "procedureId": "read_part"
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+        },
+        {
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+          "kind": "diagnostic",
+          "procedure": "main",
+          "pc": 3,
+          "message": "Execution exceeded 3 steps",
+          "source": {
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+            "id": "main:CALL:20:5",
+            "sourceMap": {
+              "line": 20,
+              "column": 5
+            },
+            "procedureId": "main"
+          },
+          "diagnostic": {
+            "severity": "error",
+            "code": "VC_STEP_LIMIT_EXCEEDED",
+            "message": "Execution exceeded 3 steps"
+          },
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+        },
+        {
+          "time": 0.1,
+          "kind": "instruction",
+          "procedure": "increment_retry",
+          "pc": 0,
+          "instructionKind": "CALL",
+          "message": "Call increment_retry",
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+              "column": 5
+            },
+            "procedureId": "increment_retry"
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+          "kind": "instruction",
+          "procedure": "increment_retry",
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+            "id": "increment_retry:RAW_STATEMENT:11:5",
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+              "column": 5
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+            "procedureId": "increment_retry"
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+          "kind": "instruction",
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+          "instructionKind": "EXEC_IF",
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+              "column": 5
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+            "procedureId": "main"
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+          "kind": "instruction",
+          "procedure": "main",
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+          "instructionKind": "RETURN",
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+              "column": 5
+            },
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+          },
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+      ],
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+        "id": "main:RETURN:24:5",
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+          "column": 5
+        },
+        "procedureId": "main"
+      },
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+    },
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+      "virtualTime": 0.1
+    },
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+}

kdl-wasm/web/test-results/abb120-spec/W2-JOB-20260628013857-19b5a2c7/programs/W2_80_ProcFuncCall/io.json

@@ -0,0 +1,201 @@
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kdl-wasm/web/test-results/abb120-spec/W2-JOB-20260628013857-19b5a2c7/programs/W2_80_ProcFuncCall/motion-queue.json

@@ -0,0 +1,5 @@
+{
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+  "virtualTime": 0.1
+}

kdl-wasm/web/test-results/abb120-spec/W2-JOB-20260628013857-19b5a2c7/programs/W2_80_ProcFuncCall/post-report.json

@@ -0,0 +1,117 @@
+{
+  "filenames": [
+    "W2ProcFuncCall.mod",
+    "W2ProcFuncCall.ls",
+    "W2ProcFuncCall.src"
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+      "brand": "fanuc"
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+      "severity": "warning",
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+      "severity": "warning",
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+      "message": "CALL is not supported by kuka prototype postprocessor",
+      "brand": "kuka"
+    },
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+      "severity": "warning",
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+      "brand": "kuka"
+    },
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+      "severity": "warning",
+      "message": "RETURN is not supported by kuka prototype postprocessor",
+      "brand": "kuka"
+    }
+  ]
+}

kdl-wasm/web/test-results/abb120-spec/W2-JOB-20260628013857-19b5a2c7/programs/W2_80_ProcFuncCall/roundtrip.json

@@ -0,0 +1 @@
+{}

kdl-wasm/web/test-results/abb120-spec/W2-JOB-20260628013857-19b5a2c7/programs/W2_80_ProcFuncCall/trace.json

@@ -0,0 +1,202 @@
+[
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kdl-wasm/web/test-results/abb120-spec/W2-JOB-20260628013857-19b5a2c7/programs/W2_80_ProcFuncCall/trajectory.json

@@ -0,0 +1,21 @@
+{
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+  "duration": 0,
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+}

kdl-wasm/web/test-results/abb120-spec/W2-JOB-20260628013857-19b5a2c7/programs/W2_90_ExceptionAlarm/compile.json

@@ -0,0 +1,36 @@
+{
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+  "moduleName": "W2ExceptionAlarm",
+  "astKind": "Program",
+  "semanticChecks": [
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+    "tool/frame/speed/zone",
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+    "movej/movel/movec",
+    "path/point/event/run_path",
+    "operation/run_operation",
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+    "if/elseif/else/while/for/switch",
+    "call/return/break/continue",
+    "proc parameter directions",
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+    "alarm/raise/try/catch",
+    "source map propagation",
+    "KDL motion request bridge",
+    "KDL path request bridge",
+    "duplicate symbol diagnostics",
+    "missing reference diagnostics",
+    "P1 unsupported diagnostics",
+    "operation action expansion",
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+}

kdl-wasm/web/test-results/abb120-spec/W2-JOB-20260628013857-19b5a2c7/programs/W2_90_ExceptionAlarm/controller.json

@@ -0,0 +1,606 @@
+{
+  "commands": [
+    {
+      "command": "loadProgram",
+      "before": "unloaded",
+      "after": "stopped",
+      "result": "ok",
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+    {
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+    {
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+    },
+    {
+      "command": "resume",
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+      "diagnostics": [
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+      "after": "stopped",
+      "result": "ok",
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+      "after": "stopped",
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kdl-wasm/web/test-results/abb120-spec/W2-JOB-20260628013857-19b5a2c7/programs/W2_90_ExceptionAlarm/io.json

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kdl-wasm/web/test-results/abb120-spec/W2-JOB-20260628013857-19b5a2c7/programs/W2_90_ExceptionAlarm/motion-queue.json

@@ -0,0 +1,82 @@
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kdl-wasm/web/test-results/abb120-spec/W2-JOB-20260628013857-19b5a2c7/programs/W2_90_ExceptionAlarm/post-report.json

@@ -0,0 +1,81 @@
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kdl-wasm/web/test-results/abb120-spec/W2-JOB-20260628013857-19b5a2c7/programs/W2_90_ExceptionAlarm/roundtrip.json

@@ -0,0 +1 @@
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kdl-wasm/web/test-results/abb120-spec/W2-JOB-20260628013857-19b5a2c7/programs/W2_90_ExceptionAlarm/trace.json

@@ -0,0 +1,201 @@
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+    "procedure": "main",
+    "pc": 2,
+    "instructionKind": "RAW_STATEMENT",
+    "source": {
+      "kind": "RAW_STATEMENT",
+      "id": "main:RAW_STATEMENT:14:5",
+      "sourceMap": {
+        "line": 14,
+        "column": 5
+      },
+      "procedureId": "main"
+    },
+    "id": 5
+  },
+  {
+    "time": 0,
+    "kind": "motion",
+    "procedure": "main",
+    "pc": 2,
+    "instructionKind": "MOVEJ",
+    "source": {
+      "kind": "MOVEJ",
+      "id": "main:MOVEJ:15:7",
+      "sourceMap": {
+        "line": 15,
+        "column": 7
+      },
+      "procedureId": "main"
+    },
+    "data": {
+      "queued": true
+    },
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+  },
+  {
+    "time": 0,
+    "kind": "instruction",
+    "procedure": "main",
+    "pc": 3,
+    "instructionKind": "MOVEJ",
+    "source": {
+      "kind": "MOVEJ",
+      "id": "main:MOVEJ:15:7",
+      "sourceMap": {
+        "line": 15,
+        "column": 7
+      },
+      "procedureId": "main"
+    },
+    "id": 7
+  },
+  {
+    "time": 0,
+    "kind": "diagnostic",
+    "procedure": "main",
+    "pc": 4,
+    "instructionKind": "UNSUPPORTED_RUNTIME",
+    "source": {
+      "kind": "UNSUPPORTED_RUNTIME",
+      "id": "main:UNSUPPORTED_RUNTIME:22:5",
+      "sourceMap": {
+        "line": 22,
+        "column": 5
+      },
+      "procedureId": "main"
+    },
+    "diagnostic": {
+      "severity": "warning",
+      "code": "VC_UNSUPPORTED_RUNTIME",
+      "message": "enable interrupt is parsed but not executable in P0",
+      "sourceMap": {
+        "line": 22,
+        "column": 5
+      }
+    },
+    "id": 8
+  },
+  {
+    "time": 0,
+    "kind": "diagnostic",
+    "procedure": "main",
+    "pc": 5,
+    "instructionKind": "UNSUPPORTED_RUNTIME",
+    "source": {
+      "kind": "UNSUPPORTED_RUNTIME",
+      "id": "main:UNSUPPORTED_RUNTIME:23:5",
+      "sourceMap": {
+        "line": 23,
+        "column": 5
+      },
+      "procedureId": "main"
+    },
+    "diagnostic": {
+      "severity": "warning",
+      "code": "VC_UNSUPPORTED_RUNTIME",
+      "message": "disable interrupt is parsed but not executable in P0",
+      "sourceMap": {
+        "line": 23,
+        "column": 5
+      }
+    },
+    "id": 9
+  },
+  {
+    "time": 0,
+    "kind": "diagnostic",
+    "procedure": "main",
+    "pc": 5,
+    "message": "Execution exceeded 3 steps",
+    "diagnostic": {
+      "severity": "error",
+      "code": "VC_STEP_LIMIT_EXCEEDED",
+      "message": "Execution exceeded 3 steps"
+    },
+    "id": 10
+  }
+]

kdl-wasm/web/test-results/abb120-spec/W2-JOB-20260628013857-19b5a2c7/programs/W2_90_ExceptionAlarm/trajectory.json

@@ -0,0 +1,21 @@
+{
+  "sampleCount": 4,
+  "duration": 0.24,
+  "startJoints": [
+    0,
+    0,
+    0,
+    0,
+    0,
+    0
+  ],
+  "endJoints": [
+    0,
+    0,
+    0,
+    0,
+    0,
+    0
+  ],
+  "diagnostics": []
+}

kdl-wasm/web/test-results/abb120-spec/W2-JOB-20260628013857-19b5a2c7/programs/W2_E10_ExpressionDiagnostics/compile.json

@@ -0,0 +1,11 @@
+{
+  "parsed": false,
+  "semanticChecks": [],
+  "sourceMapEntries": 0,
+  "kdlMotionRequests": 0,
+  "kdlPathRequests": 0,
+  "symbolCount": 0,
+  "procedureCount": 0,
+  "pathCount": 0,
+  "operationCount": 0
+}

kdl-wasm/web/test-results/abb120-spec/W2-JOB-20260628013857-19b5a2c7/programs/W2_E10_ExpressionDiagnostics/controller.json

@@ -0,0 +1 @@
+{}

kdl-wasm/web/test-results/abb120-spec/W2-JOB-20260628013857-19b5a2c7/programs/W2_E10_ExpressionDiagnostics/io.json

@@ -0,0 +1 @@
+{}