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ExitStatus{name="ExitStatus";constructor(status){this.message=`Program terminated with exit(${status})`;this.status=status}}var HEAP16;var HEAP32;var HEAP64;var HEAP8;var HEAPF32;var HEAPF64;var HEAPU16;var HEAPU32;var HEAPU64;var HEAPU8;var callRuntimeCallbacks=callbacks=>{while(callbacks.length>0){callbacks.shift()(Module)}};var onPostRuns=[];var addOnPostRun=cb=>onPostRuns.push(cb);var onPreRuns=[];var addOnPreRun=cb=>onPreRuns.push(cb);var noExitRuntime=true;var stackRestore=val=>__emscripten_stack_restore(val);var stackSave=()=>_emscripten_stack_get_current();var exceptionCaught=[];var uncaughtExceptionCount=0;var ___cxa_begin_catch=ptr=>{var info=new ExceptionInfo(ptr);if(!info.get_caught()){info.set_caught(true);uncaughtExceptionCount--}info.set_rethrown(false);exceptionCaught.push(info);return ___cxa_get_exception_ptr(ptr)};var exceptionLast=null;var ___cxa_end_catch=()=>{_setThrew(0,0);var info=exceptionCaught.pop();___cxa_decrement_exception_refcount(info.excPtr);exceptionLast=null};class ExceptionInfo{constructor(excPtr){this.excPtr=excPtr;this.ptr=excPtr-24}set_type(type){HEAPU32[this.ptr+4>>2]=type}get_type(){return HEAPU32[this.ptr+4>>2]}set_destructor(destructor){HEAPU32[this.ptr+8>>2]=destructor}get_destructor(){return HEAPU32[this.ptr+8>>2]}set_caught(caught){caught=caught?1:0;HEAP8[this.ptr+12]=caught}get_caught(){return HEAP8[this.ptr+12]!=0}set_rethrown(rethrown){rethrown=rethrown?1:0;HEAP8[this.ptr+13]=rethrown}get_rethrown(){return HEAP8[this.ptr+13]!=0}init(type,destructor){this.set_adjusted_ptr(0);this.set_type(type);this.set_destructor(destructor)}set_adjusted_ptr(adjustedPtr){HEAPU32[this.ptr+16>>2]=adjustedPtr}get_adjusted_ptr(){return HEAPU32[this.ptr+16>>2]}}var setTempRet0=val=>__emscripten_tempret_set(val);var findMatchingCatch=args=>{var thrown=exceptionLast?.excPtr;if(!thrown){setTempRet0(0);return 0}var info=new ExceptionInfo(thrown);info.set_adjusted_ptr(thrown);var thrownType=info.get_type();if(!thrownType){setTempRet0(0);return thrown}for(var caughtType of args){if(caughtType===0||caughtType===thrownType){break}var adjusted_ptr_addr=info.ptr+16;if(___cxa_can_catch(caughtType,thrownType,adjusted_ptr_addr)){setTempRet0(caughtType);return thrown}}setTempRet0(thrownType);return thrown};var ___cxa_find_matching_catch_2=()=>findMatchingCatch([]);var ___cxa_find_matching_catch_3=arg0=>findMatchingCatch([arg0]);var ___cxa_rethrow=()=>{if(!exceptionCaught.length){abort("no exception to throw")}var info=exceptionCaught.at(-1);var ptr=info.excPtr;info.set_rethrown(true);info.set_caught(false);uncaughtExceptionCount++;___cxa_increment_exception_refcount(ptr);exceptionLast=new CppException(ptr);throw exceptionLast};var ___cxa_throw=(ptr,type,destructor)=>{var info=new ExceptionInfo(ptr);info.init(type,destructor);___cxa_increment_exception_refcount(ptr);exceptionLast=new CppException(ptr);uncaughtExceptionCount++;throw exceptionLast};var ___cxa_uncaught_exceptions=()=>uncaughtExceptionCount;var ___resumeException=ptr=>{if(!exceptionLast){exceptionLast=new CppException(ptr)}throw exceptionLast};var __abort_js=()=>abort("");var stringToUTF8Array=(str,heap,outIdx,maxBytesToWrite)=>{if(!(maxBytesToWrite>0))return 0;var startIdx=outIdx;var endIdx=outIdx+maxBytesToWrite-1;for(var i=0;i=endIdx)break;heap[outIdx++]=u}else if(u<=2047){if(outIdx+1>=endIdx)break;heap[outIdx++]=192|u>>6;heap[outIdx++]=128|u&63}else if(u<=65535){if(outIdx+2>=endIdx)break;heap[outIdx++]=224|u>>12;heap[outIdx++]=128|u>>6&63;heap[outIdx++]=128|u&63}else{if(outIdx+3>=endIdx)break;heap[outIdx++]=240|u>>18;heap[outIdx++]=128|u>>12&63;heap[outIdx++]=128|u>>6&63;heap[outIdx++]=128|u&63;i++}}heap[outIdx]=0;return outIdx-startIdx};var stringToUTF8=(str,outPtr,maxBytesToWrite)=>stringToUTF8Array(str,HEAPU8,outPtr,maxBytesToWrite);var __tzset_js=(timezone,daylight,std_name,dst_name)=>{var currentYear=(new Date).getFullYear();var winter=new Date(currentYear,0,1);var summer=new Date(currentYear,6,1);var winterOffset=winter.getTimezoneOffset();var summerOffset=summer.getTimezoneOffset();var stdTimezoneOffset=Math.max(winterOffset,summerOffset);HEAPU32[timezone>>2]=stdTimezoneOffset*60;HEAP32[daylight>>2]=Number(winterOffset!=summerOffset);var extractZone=timezoneOffset=>{var sign=timezoneOffset>=0?"-":"+";var absOffset=Math.abs(timezoneOffset);var hours=String(Math.floor(absOffset/60)).padStart(2,"0");var minutes=String(absOffset%60).padStart(2,"0");return`UTC${sign}${hours}${minutes}`};var winterName=extractZone(winterOffset);var summerName=extractZone(summerOffset);if(summerOffset2147483648;var alignMemory=(size,alignment)=>Math.ceil(size/alignment)*alignment;var growMemory=size=>{var oldHeapSize=wasmMemory.buffer.byteLength;var pages=(size-oldHeapSize+65535)/65536|0;try{wasmMemory.grow(pages);updateMemoryViews();return 1}catch(e){}};var _emscripten_resize_heap=requestedSize=>{var oldSize=HEAPU8.length;requestedSize>>>=0;var maxHeapSize=getHeapMax();if(requestedSize>maxHeapSize){return false}for(var cutDown=1;cutDown<=4;cutDown*=2){var overGrownHeapSize=oldSize*(1+.2/cutDown);overGrownHeapSize=Math.min(overGrownHeapSize,requestedSize+100663296);var newSize=Math.min(maxHeapSize,alignMemory(Math.max(requestedSize,overGrownHeapSize),65536));var replacement=growMemory(newSize);if(replacement){return true}}return false};var ENV={};var getExecutableName=()=>thisProgram;var getEnvStrings=()=>{if(!getEnvStrings.strings){var lang=(globalThis.navigator?.language??"C").replace("-","_")+".UTF-8";var env={USER:"web_user",LOGNAME:"web_user",PATH:"/",PWD:"/",HOME:"/home/web_user",LANG:lang,_:getExecutableName()};for(var x in ENV){if(ENV[x]===undefined)delete env[x];else env[x]=ENV[x]}var strings=[];for(var x in env){strings.push(`${x}=${env[x]}`)}getEnvStrings.strings=strings}return getEnvStrings.strings};var _environ_get=(__environ,environ_buf)=>{var bufSize=0;var envp=0;for(var string of getEnvStrings()){var ptr=environ_buf+bufSize;HEAPU32[__environ+envp>>2]=ptr;bufSize+=stringToUTF8(string,ptr,Infinity)+1;envp+=4}return 0};var lengthBytesUTF8=str=>{var len=0;for(var i=0;i=55296&&c<=57343){len+=4;++i}else{len+=3}}return len};var _environ_sizes_get=(penviron_count,penviron_buf_size)=>{var strings=getEnvStrings();HEAPU32[penviron_count>>2]=strings.length;var bufSize=0;for(var string of strings){bufSize+=lengthBytesUTF8(string)+1}HEAPU32[penviron_buf_size>>2]=bufSize;return 0};var PATH={isAbs:path=>path.charAt(0)==="/",splitPath:filename=>{var splitPathRe=/^(\/?|)([\s\S]*?)((?:\.{1,2}|[^\/]+?|)(\.[^.\/]*|))(?:[\/]*)$/;return splitPathRe.exec(filename).slice(1)},normalizeArray:(parts,allowAboveRoot)=>{var up=0;for(var i=parts.length-1;i>=0;i--){var last=parts[i];if(last==="."){parts.splice(i,1)}else if(last===".."){parts.splice(i,1);up++}else if(up){parts.splice(i,1);up--}}if(allowAboveRoot){for(;up;up--){parts.unshift("..")}}return parts},normalize:path=>{var isAbsolute=PATH.isAbs(path),trailingSlash=path.slice(-1)==="/";path=PATH.normalizeArray(path.split("/").filter(p=>!!p),!isAbsolute).join("/");if(!path&&!isAbsolute){path="."}if(path&&trailingSlash){path+="/"}return(isAbsolute?"/":"")+path},dirname:path=>{var result=PATH.splitPath(path),root=result[0],dir=result[1];if(!root&&!dir){return"."}if(dir){dir=dir.slice(0,-1)}return root+dir},basename:path=>path&&path.match(/([^\/]+|\/)\/*$/)[1],join:(...paths)=>PATH.normalize(paths.join("/")),join2:(l,r)=>PATH.normalize(l+"/"+r)};var initRandomFill=()=>{if(ENVIRONMENT_IS_NODE){var nodeCrypto=require("node:crypto");return view=>nodeCrypto.randomFillSync(view)}return view=>(crypto.getRandomValues(view),0)};var randomFill=view=>(randomFill=initRandomFill())(view);var PATH_FS={resolve:(...args)=>{var resolvedPath="",resolvedAbsolute=false;for(var i=args.length-1;i>=-1&&!resolvedAbsolute;i--){var path=i>=0?args[i]:FS.cwd();if(typeof path!="string"){throw new TypeError("Arguments to path.resolve must be strings")}else if(!path){return""}resolvedPath=path+"/"+resolvedPath;resolvedAbsolute=PATH.isAbs(path)}resolvedPath=PATH.normalizeArray(resolvedPath.split("/").filter(p=>!!p),!resolvedAbsolute).join("/");return(resolvedAbsolute?"/":"")+resolvedPath||"."},relative:(from,to)=>{from=PATH_FS.resolve(from).slice(1);to=PATH_FS.resolve(to).slice(1);function trim(arr){var start=0;for(;start=0;end--){if(arr[end]!=="")break}if(start>end)return[];return arr.slice(start,end-start+1)}var fromParts=trim(from.split("/"));var toParts=trim(to.split("/"));var length=Math.min(fromParts.length,toParts.length);var samePartsLength=length;for(var i=0;i{var maxIdx=idx+maxBytesToRead;if(ignoreNul)return maxIdx;while(heapOrArray[idx]&&!(idx>=maxIdx))++idx;return idx};var UTF8ArrayToString=(heapOrArray,idx=0,maxBytesToRead,ignoreNul)=>{var endPtr=findStringEnd(heapOrArray,idx,maxBytesToRead,ignoreNul);if(endPtr-idx>16&&heapOrArray.buffer&&UTF8Decoder){return UTF8Decoder.decode(heapOrArray.subarray(idx,endPtr))}var str="";while(idx>10,56320|ch&1023)}}return str};var FS_stdin_getChar_buffer=[];var intArrayFromString=(stringy,dontAddNull,length)=>{var len=length>0?length:lengthBytesUTF8(stringy)+1;var u8array=new Array(len);var numBytesWritten=stringToUTF8Array(stringy,u8array,0,u8array.length);if(dontAddNull)u8array.length=numBytesWritten;return u8array};var FS_stdin_getChar=()=>{if(!FS_stdin_getChar_buffer.length){var result=null;if(ENVIRONMENT_IS_NODE){var BUFSIZE=256;var buf=Buffer.alloc(BUFSIZE);var bytesRead=0;var fd=process.stdin.fd;try{bytesRead=fs.readSync(fd,buf,0,BUFSIZE)}catch(e){if(e.toString().includes("EOF"))bytesRead=0;else throw e}if(bytesRead>0){result=buf.slice(0,bytesRead).toString("utf-8")}}else if(globalThis.window?.prompt){result=window.prompt("Input: ");if(result!==null){result+="\n"}}else{}if(!result){return null}FS_stdin_getChar_buffer=intArrayFromString(result,true)}return FS_stdin_getChar_buffer.shift()};var TTY={ttys:[],init(){},shutdown(){},register(dev,ops){TTY.ttys[dev]={input:[],output:[],ops};FS.registerDevice(dev,TTY.stream_ops)},stream_ops:{open(stream){var tty=TTY.ttys[stream.node.rdev];if(!tty){throw new FS.ErrnoError(43)}stream.tty=tty;stream.seekable=false},close(stream){stream.tty.ops.fsync(stream.tty)},fsync(stream){stream.tty.ops.fsync(stream.tty)},read(stream,buffer,offset,length,pos){if(!stream.tty||!stream.tty.ops.get_char){throw new FS.ErrnoError(60)}var bytesRead=0;for(var i=0;i0){out(UTF8ArrayToString(tty.output));tty.output=[]}},ioctl_tcgets(tty){return{c_iflag:25856,c_oflag:5,c_cflag:191,c_lflag:35387,c_cc:[3,28,127,21,4,0,1,0,17,19,26,0,18,15,23,22,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0]}},ioctl_tcsets(tty,optional_actions,data){return 0},ioctl_tiocgwinsz(tty){return[24,80]}},default_tty1_ops:{put_char(tty,val){if(val===null||val===10){err(UTF8ArrayToString(tty.output));tty.output=[]}else{if(val!=0)tty.output.push(val)}},fsync(tty){if(tty.output?.length>0){err(UTF8ArrayToString(tty.output));tty.output=[]}}}};var mmapAlloc=size=>{abort()};var MEMFS={ops_table:null,mount(mount){return MEMFS.createNode(null,"/",16895,0)},createNode(parent,name,mode,dev){if(FS.isBlkdev(mode)||FS.isFIFO(mode)){throw new FS.ErrnoError(63)}MEMFS.ops_table||={dir:{node:{getattr:MEMFS.node_ops.getattr,setattr:MEMFS.node_ops.setattr,lookup:MEMFS.node_ops.lookup,mknod:MEMFS.node_ops.mknod,rename:MEMFS.node_ops.rename,unlink:MEMFS.node_ops.unlink,rmdir:MEMFS.node_ops.rmdir,readdir:MEMFS.node_ops.readdir,symlink:MEMFS.node_ops.symlink},stream:{llseek:MEMFS.stream_ops.llseek}},file:{node:{getattr:MEMFS.node_ops.getattr,setattr:MEMFS.node_ops.setattr},stream:{llseek:MEMFS.stream_ops.llseek,read:MEMFS.stream_ops.read,write:MEMFS.stream_ops.write,mmap:MEMFS.stream_ops.mmap,msync:MEMFS.stream_ops.msync}},link:{node:{getattr:MEMFS.node_ops.getattr,setattr:MEMFS.node_ops.setattr,readlink:MEMFS.node_ops.readlink},stream:{}},chrdev:{node:{getattr:MEMFS.node_ops.getattr,setattr:MEMFS.node_ops.setattr},stream:FS.chrdev_stream_ops}};var node=FS.createNode(parent,name,mode,dev);if(FS.isDir(node.mode)){node.node_ops=MEMFS.ops_table.dir.node;node.stream_ops=MEMFS.ops_table.dir.stream;node.contents={}}else if(FS.isFile(node.mode)){node.node_ops=MEMFS.ops_table.file.node;node.stream_ops=MEMFS.ops_table.file.stream;node.usedBytes=0;node.contents=MEMFS.emptyFileContents??=new Uint8Array(0)}else if(FS.isLink(node.mode)){node.node_ops=MEMFS.ops_table.link.node;node.stream_ops=MEMFS.ops_table.link.stream}else if(FS.isChrdev(node.mode)){node.node_ops=MEMFS.ops_table.chrdev.node;node.stream_ops=MEMFS.ops_table.chrdev.stream}node.atime=node.mtime=node.ctime=Date.now();if(parent){parent.contents[name]=node;parent.atime=parent.mtime=parent.ctime=node.atime}return node},getFileDataAsTypedArray(node){return node.contents.subarray(0,node.usedBytes)},expandFileStorage(node,newCapacity){var prevCapacity=node.contents.length;if(prevCapacity>=newCapacity)return;var CAPACITY_DOUBLING_MAX=1024*1024;newCapacity=Math.max(newCapacity,prevCapacity*(prevCapacity>>0);if(prevCapacity)newCapacity=Math.max(newCapacity,256);var oldContents=MEMFS.getFileDataAsTypedArray(node);node.contents=new Uint8Array(newCapacity);node.contents.set(oldContents)},resizeFileStorage(node,newSize){if(node.usedBytes==newSize)return;var oldContents=node.contents;node.contents=new Uint8Array(newSize);node.contents.set(oldContents.subarray(0,Math.min(newSize,node.usedBytes)));node.usedBytes=newSize},node_ops:{getattr(node){var attr={};attr.dev=FS.isChrdev(node.mode)?node.id:1;attr.ino=node.id;attr.mode=node.mode;attr.nlink=1;attr.uid=0;attr.gid=0;attr.rdev=node.rdev;if(FS.isDir(node.mode)){attr.size=4096}else if(FS.isFile(node.mode)){attr.size=node.usedBytes}else if(FS.isLink(node.mode)){attr.size=node.link.length}else{attr.size=0}attr.atime=new Date(node.atime);attr.mtime=new Date(node.mtime);attr.ctime=new Date(node.ctime);attr.blksize=4096;attr.blocks=Math.ceil(attr.size/attr.blksize);return attr},setattr(node,attr){for(const key of["mode","atime","mtime","ctime"]){if(attr[key]!=null){node[key]=attr[key]}}if(attr.size!==undefined){MEMFS.resizeFileStorage(node,attr.size)}},lookup(parent,name){if(!MEMFS.doesNotExistError){MEMFS.doesNotExistError=new FS.ErrnoError(44);MEMFS.doesNotExistError.stack=""}throw MEMFS.doesNotExistError},mknod(parent,name,mode,dev){return MEMFS.createNode(parent,name,mode,dev)},rename(old_node,new_dir,new_name){var new_node;try{new_node=FS.lookupNode(new_dir,new_name)}catch(e){}if(new_node){if(FS.isDir(old_node.mode)){for(var i in new_node.contents){throw new FS.ErrnoError(55)}}FS.hashRemoveNode(new_node)}delete old_node.parent.contents[old_node.name];new_dir.contents[new_name]=old_node;old_node.name=new_name;new_dir.ctime=new_dir.mtime=old_node.parent.ctime=old_node.parent.mtime=Date.now()},unlink(parent,name){delete parent.contents[name];parent.ctime=parent.mtime=Date.now()},rmdir(parent,name){var node=FS.lookupNode(parent,name);for(var i in node.contents){throw new FS.ErrnoError(55)}delete parent.contents[name];parent.ctime=parent.mtime=Date.now()},readdir(node){return[".","..",...Object.keys(node.contents)]},symlink(parent,newname,oldpath){var node=MEMFS.createNode(parent,newname,511|40960,0);node.link=oldpath;return node},readlink(node){if(!FS.isLink(node.mode)){throw new FS.ErrnoError(28)}return node.link}},stream_ops:{read(stream,buffer,offset,length,position){var contents=stream.node.contents;if(position>=stream.node.usedBytes)return 0;var size=Math.min(stream.node.usedBytes-position,length);buffer.set(contents.subarray(position,position+size),offset);return size},write(stream,buffer,offset,length,position,canOwn){if(buffer.buffer===HEAP8.buffer){canOwn=false}if(!length)return 0;var node=stream.node;node.mtime=node.ctime=Date.now();if(canOwn){node.contents=buffer.subarray(offset,offset+length);node.usedBytes=length}else if(node.usedBytes===0&&position===0){node.contents=buffer.slice(offset,offset+length);node.usedBytes=length}else{MEMFS.expandFileStorage(node,position+length);node.contents.set(buffer.subarray(offset,offset+length),position);node.usedBytes=Math.max(node.usedBytes,position+length)}return length},llseek(stream,offset,whence){var position=offset;if(whence===1){position+=stream.position}else if(whence===2){if(FS.isFile(stream.node.mode)){position+=stream.node.usedBytes}}if(position<0){throw new FS.ErrnoError(28)}return position},mmap(stream,length,position,prot,flags){if(!FS.isFile(stream.node.mode)){throw new FS.ErrnoError(43)}var ptr;var allocated;var contents=stream.node.contents;if(!(flags&2)&&contents.buffer===HEAP8.buffer){allocated=false;ptr=contents.byteOffset}else{allocated=true;ptr=mmapAlloc(length);if(!ptr){throw new FS.ErrnoError(48)}if(contents){if(position>0||position+length{if(typeof str!="string")return str;var flagModes={r:0,"r+":2,w:512|64|1,"w+":512|64|2,a:1024|64|1,"a+":1024|64|2};var flags=flagModes[str];if(typeof flags=="undefined"){throw new Error(`Unknown file open mode: ${str}`)}return flags};var FS_fileDataToTypedArray=data=>{if(typeof data=="string"){data=intArrayFromString(data,true)}if(!data.subarray){data=new Uint8Array(data)}return data};var FS_getMode=(canRead,canWrite)=>{var mode=0;if(canRead)mode|=292|73;if(canWrite)mode|=146;return mode};var asyncLoad=async url=>{var arrayBuffer=await readAsync(url);return new Uint8Array(arrayBuffer)};var FS_createDataFile=(...args)=>FS.createDataFile(...args);var getUniqueRunDependency=id=>id;var runDependencies=0;var dependenciesFulfilled=null;var removeRunDependency=id=>{runDependencies--;Module["monitorRunDependencies"]?.(runDependencies);if(runDependencies==0){if(dependenciesFulfilled){var callback=dependenciesFulfilled;dependenciesFulfilled=null;callback()}}};var addRunDependency=id=>{runDependencies++;Module["monitorRunDependencies"]?.(runDependencies)};var preloadPlugins=[];var FS_handledByPreloadPlugin=async(byteArray,fullname)=>{if(typeof Browser!="undefined")Browser.init();for(var plugin of preloadPlugins){if(plugin["canHandle"](fullname)){return plugin["handle"](byteArray,fullname)}}return byteArray};var FS_preloadFile=async(parent,name,url,canRead,canWrite,dontCreateFile,canOwn,preFinish)=>{var fullname=name?PATH_FS.resolve(PATH.join2(parent,name)):parent;var dep=getUniqueRunDependency(`cp ${fullname}`);addRunDependency(dep);try{var byteArray=url;if(typeof url=="string"){byteArray=await asyncLoad(url)}byteArray=await FS_handledByPreloadPlugin(byteArray,fullname);preFinish?.();if(!dontCreateFile){FS_createDataFile(parent,name,byteArray,canRead,canWrite,canOwn)}}finally{removeRunDependency(dep)}};var FS_createPreloadedFile=(parent,name,url,canRead,canWrite,onload,onerror,dontCreateFile,canOwn,preFinish)=>{FS_preloadFile(parent,name,url,canRead,canWrite,dontCreateFile,canOwn,preFinish).then(onload).catch(onerror)};var FS={root:null,mounts:[],devices:{},streams:[],nextInode:1,nameTable:null,currentPath:"/",initialized:false,ignorePermissions:true,filesystems:null,syncFSRequests:0,ErrnoError:class{name="ErrnoError";constructor(errno){this.errno=errno}},FSStream:class{shared={};get object(){return this.node}set object(val){this.node=val}get isRead(){return(this.flags&2097155)!==1}get isWrite(){return(this.flags&2097155)!==0}get isAppend(){return this.flags&1024}get flags(){return this.shared.flags}set flags(val){this.shared.flags=val}get position(){return this.shared.position}set position(val){this.shared.position=val}},FSNode:class{node_ops={};stream_ops={};readMode=292|73;writeMode=146;mounted=null;constructor(parent,name,mode,rdev){if(!parent){parent=this}this.parent=parent;this.mount=parent.mount;this.id=FS.nextInode++;this.name=name;this.mode=mode;this.rdev=rdev;this.atime=this.mtime=this.ctime=Date.now()}get read(){return(this.mode&this.readMode)===this.readMode}set read(val){val?this.mode|=this.readMode:this.mode&=~this.readMode}get write(){return(this.mode&this.writeMode)===this.writeMode}set write(val){val?this.mode|=this.writeMode:this.mode&=~this.writeMode}get isFolder(){return FS.isDir(this.mode)}get isDevice(){return FS.isChrdev(this.mode)}},lookupPath(path,opts={}){if(!path){throw new FS.ErrnoError(44)}opts.follow_mount??=true;if(!PATH.isAbs(path)){path=FS.cwd()+"/"+path}linkloop:for(var nlinks=0;nlinks<40;nlinks++){var parts=path.split("/").filter(p=>!!p);var current=FS.root;var current_path="/";for(var i=0;i>>0)%FS.nameTable.length},hashAddNode(node){var hash=FS.hashName(node.parent.id,node.name);node.name_next=FS.nameTable[hash];FS.nameTable[hash]=node},hashRemoveNode(node){var hash=FS.hashName(node.parent.id,node.name);if(FS.nameTable[hash]===node){FS.nameTable[hash]=node.name_next}else{var current=FS.nameTable[hash];while(current){if(current.name_next===node){current.name_next=node.name_next;break}current=current.name_next}}},lookupNode(parent,name){var errCode=FS.mayLookup(parent);if(errCode){throw new FS.ErrnoError(errCode)}var hash=FS.hashName(parent.id,name);for(var node=FS.nameTable[hash];node;node=node.name_next){var nodeName=node.name;if(node.parent.id===parent.id&&nodeName===name){return node}}return FS.lookup(parent,name)},createNode(parent,name,mode,rdev){var node=new FS.FSNode(parent,name,mode,rdev);FS.hashAddNode(node);return node},destroyNode(node){FS.hashRemoveNode(node)},isRoot(node){return node===node.parent},isMountpoint(node){return!!node.mounted},isFile(mode){return(mode&61440)===32768},isDir(mode){return(mode&61440)===16384},isLink(mode){return(mode&61440)===40960},isChrdev(mode){return(mode&61440)===8192},isBlkdev(mode){return(mode&61440)===24576},isFIFO(mode){return(mode&61440)===4096},isSocket(mode){return(mode&49152)===49152},flagsToPermissionString(flag){var perms=["r","w","rw"][flag&3];if(flag&512){perms+="w"}return perms},nodePermissions(node,perms){if(FS.ignorePermissions){return 0}if(perms.includes("r")&&!(node.mode&292)){return 2}if(perms.includes("w")&&!(node.mode&146)){return 2}if(perms.includes("x")&&!(node.mode&73)){return 2}return 0},mayLookup(dir){if(!FS.isDir(dir.mode))return 54;var errCode=FS.nodePermissions(dir,"x");if(errCode)return errCode;if(!dir.node_ops.lookup)return 2;return 0},mayCreate(dir,name){if(!FS.isDir(dir.mode)){return 54}try{var node=FS.lookupNode(dir,name);return 20}catch(e){}return FS.nodePermissions(dir,"wx")},mayDelete(dir,name,isdir){var node;try{node=FS.lookupNode(dir,name)}catch(e){return e.errno}var errCode=FS.nodePermissions(dir,"wx");if(errCode){return errCode}if(isdir){if(!FS.isDir(node.mode)){return 54}if(FS.isRoot(node)||FS.getPath(node)===FS.cwd()){return 10}}else if(FS.isDir(node.mode)){return 31}return 0},mayOpen(node,flags){if(!node){return 44}if(FS.isLink(node.mode)){return 32}var mode=FS.flagsToPermissionString(flags);if(FS.isDir(node.mode)){if(mode!=="r"||flags&(512|64)){return 31}}return FS.nodePermissions(node,mode)},checkOpExists(op,err){if(!op){throw new FS.ErrnoError(err)}return op},MAX_OPEN_FDS:4096,nextfd(){for(var fd=0;fd<=FS.MAX_OPEN_FDS;fd++){if(!FS.streams[fd]){return fd}}throw new FS.ErrnoError(33)},getStreamChecked(fd){var stream=FS.getStream(fd);if(!stream){throw new FS.ErrnoError(8)}return stream},getStream:fd=>FS.streams[fd],createStream(stream,fd=-1){stream=Object.assign(new FS.FSStream,stream);if(fd==-1){fd=FS.nextfd()}stream.fd=fd;FS.streams[fd]=stream;return stream},closeStream(fd){FS.streams[fd]=null},dupStream(origStream,fd=-1){var stream=FS.createStream(origStream,fd);stream.stream_ops?.dup?.(stream);return stream},doSetAttr(stream,node,attr){var setattr=stream?.stream_ops.setattr;var arg=setattr?stream:node;setattr??=node.node_ops.setattr;FS.checkOpExists(setattr,63);try{setattr(arg,attr)}catch(e){if(e instanceof RangeError){throw new FS.ErrnoError(22)}throw e}},chrdev_stream_ops:{open(stream){var device=FS.getDevice(stream.node.rdev);stream.stream_ops=device.stream_ops;stream.stream_ops.open?.(stream)},llseek(){throw new FS.ErrnoError(70)}},major:dev=>dev>>8,minor:dev=>dev&255,makedev:(ma,mi)=>ma<<8|mi,registerDevice(dev,ops){FS.devices[dev]={stream_ops:ops}},getDevice:dev=>FS.devices[dev],getMounts(mount){var mounts=[];var check=[mount];while(check.length){var m=check.pop();mounts.push(m);check.push(...m.mounts)}return mounts},syncfs(populate,callback){if(typeof populate=="function"){callback=populate;populate=false}FS.syncFSRequests++;if(FS.syncFSRequests>1){err(`warning: ${FS.syncFSRequests} FS.syncfs operations in flight at once, probably just doing extra work`)}var mounts=FS.getMounts(FS.root.mount);var completed=0;function doCallback(errCode){FS.syncFSRequests--;return callback(errCode)}function done(errCode){if(errCode){if(!done.errored){done.errored=true;return doCallback(errCode)}return}if(++completed>=mounts.length){doCallback(null)}}for(var mount of mounts){if(mount.type.syncfs){mount.type.syncfs(mount,populate,done)}else{done(null)}}},mount(type,opts,mountpoint){var root=mountpoint==="/";var pseudo=!mountpoint;var node;if(root&&FS.root){throw new FS.ErrnoError(10)}else if(!root&&!pseudo){var lookup=FS.lookupPath(mountpoint,{follow_mount:false});mountpoint=lookup.path;node=lookup.node;if(FS.isMountpoint(node)){throw new FS.ErrnoError(10)}if(!FS.isDir(node.mode)){throw new FS.ErrnoError(54)}}var mount={type,opts,mountpoint,mounts:[]};var mountRoot=type.mount(mount);mountRoot.mount=mount;mount.root=mountRoot;if(root){FS.root=mountRoot}else if(node){node.mounted=mount;if(node.mount){node.mount.mounts.push(mount)}}return mountRoot},unmount(mountpoint){var lookup=FS.lookupPath(mountpoint,{follow_mount:false});if(!FS.isMountpoint(lookup.node)){throw new FS.ErrnoError(28)}var node=lookup.node;var mount=node.mounted;var mounts=FS.getMounts(mount);for(var[hash,current]of Object.entries(FS.nameTable)){while(current){var next=current.name_next;if(mounts.includes(current.mount)){FS.destroyNode(current)}current=next}}node.mounted=null;var idx=node.mount.mounts.indexOf(mount);node.mount.mounts.splice(idx,1)},lookup(parent,name){return parent.node_ops.lookup(parent,name)},mknod(path,mode,dev){var lookup=FS.lookupPath(path,{parent:true});var parent=lookup.node;var name=PATH.basename(path);if(!name){throw new FS.ErrnoError(28)}if(name==="."||name===".."){throw new FS.ErrnoError(20)}var errCode=FS.mayCreate(parent,name);if(errCode){throw new FS.ErrnoError(errCode)}if(!parent.node_ops.mknod){throw new FS.ErrnoError(63)}return parent.node_ops.mknod(parent,name,mode,dev)},statfs(path){return FS.statfsNode(FS.lookupPath(path,{follow:true}).node)},statfsStream(stream){return FS.statfsNode(stream.node)},statfsNode(node){var rtn={bsize:4096,frsize:4096,blocks:1e6,bfree:5e5,bavail:5e5,files:FS.nextInode,ffree:FS.nextInode-1,fsid:42,flags:2,namelen:255};if(node.node_ops.statfs){Object.assign(rtn,node.node_ops.statfs(node.mount.opts.root))}return rtn},create(path,mode=438){mode&=4095;mode|=32768;return FS.mknod(path,mode,0)},mkdir(path,mode=511){mode&=511|512;mode|=16384;return FS.mknod(path,mode,0)},mkdirTree(path,mode){var dirs=path.split("/");var d="";for(var dir of dirs){if(!dir)continue;if(d||PATH.isAbs(path))d+="/";d+=dir;try{FS.mkdir(d,mode)}catch(e){if(e.errno!=20)throw e}}},mkdev(path,mode,dev){if(typeof dev=="undefined"){dev=mode;mode=438}mode|=8192;return FS.mknod(path,mode,dev)},symlink(oldpath,newpath){if(!PATH_FS.resolve(oldpath)){throw new FS.ErrnoError(44)}var lookup=FS.lookupPath(newpath,{parent:true});var parent=lookup.node;if(!parent){throw new FS.ErrnoError(44)}var newname=PATH.basename(newpath);var errCode=FS.mayCreate(parent,newname);if(errCode){throw new FS.ErrnoError(errCode)}if(!parent.node_ops.symlink){throw new FS.ErrnoError(63)}return parent.node_ops.symlink(parent,newname,oldpath)},rename(old_path,new_path){var old_dirname=PATH.dirname(old_path);var new_dirname=PATH.dirname(new_path);var old_name=PATH.basename(old_path);var new_name=PATH.basename(new_path);var lookup,old_dir,new_dir;lookup=FS.lookupPath(old_path,{parent:true});old_dir=lookup.node;lookup=FS.lookupPath(new_path,{parent:true});new_dir=lookup.node;if(!old_dir||!new_dir)throw new FS.ErrnoError(44);if(old_dir.mount!==new_dir.mount){throw new FS.ErrnoError(75)}var old_node=FS.lookupNode(old_dir,old_name);var relative=PATH_FS.relative(old_path,new_dirname);if(relative.charAt(0)!=="."){throw new FS.ErrnoError(28)}relative=PATH_FS.relative(new_path,old_dirname);if(relative.charAt(0)!=="."){throw new FS.ErrnoError(55)}var new_node;try{new_node=FS.lookupNode(new_dir,new_name)}catch(e){}if(old_node===new_node){return}var isdir=FS.isDir(old_node.mode);var errCode=FS.mayDelete(old_dir,old_name,isdir);if(errCode){throw new FS.ErrnoError(errCode)}errCode=new_node?FS.mayDelete(new_dir,new_name,isdir):FS.mayCreate(new_dir,new_name);if(errCode){throw new FS.ErrnoError(errCode)}if(!old_dir.node_ops.rename){throw new FS.ErrnoError(63)}if(FS.isMountpoint(old_node)||new_node&&FS.isMountpoint(new_node)){throw new FS.ErrnoError(10)}if(new_dir!==old_dir){errCode=FS.nodePermissions(old_dir,"w");if(errCode){throw new FS.ErrnoError(errCode)}}FS.hashRemoveNode(old_node);try{old_dir.node_ops.rename(old_node,new_dir,new_name);old_node.parent=new_dir}catch(e){throw e}finally{FS.hashAddNode(old_node)}},rmdir(path){var lookup=FS.lookupPath(path,{parent:true});var parent=lookup.node;var name=PATH.basename(path);var node=FS.lookupNode(parent,name);var errCode=FS.mayDelete(parent,name,true);if(errCode){throw new FS.ErrnoError(errCode)}if(!parent.node_ops.rmdir){throw new FS.ErrnoError(63)}if(FS.isMountpoint(node)){throw new FS.ErrnoError(10)}parent.node_ops.rmdir(parent,name);FS.destroyNode(node)},readdir(path){var lookup=FS.lookupPath(path,{follow:true});var node=lookup.node;var readdir=FS.checkOpExists(node.node_ops.readdir,54);return readdir(node)},unlink(path){var lookup=FS.lookupPath(path,{parent:true});var parent=lookup.node;if(!parent){throw new FS.ErrnoError(44)}var name=PATH.basename(path);var node=FS.lookupNode(parent,name);var errCode=FS.mayDelete(parent,name,false);if(errCode){throw new FS.ErrnoError(errCode)}if(!parent.node_ops.unlink){throw new FS.ErrnoError(63)}if(FS.isMountpoint(node)){throw new FS.ErrnoError(10)}parent.node_ops.unlink(parent,name);FS.destroyNode(node)},readlink(path){var lookup=FS.lookupPath(path);var link=lookup.node;if(!link){throw new FS.ErrnoError(44)}if(!link.node_ops.readlink){throw new FS.ErrnoError(28)}return link.node_ops.readlink(link)},stat(path,dontFollow){var lookup=FS.lookupPath(path,{follow:!dontFollow});var node=lookup.node;var getattr=FS.checkOpExists(node.node_ops.getattr,63);return getattr(node)},fstat(fd){var stream=FS.getStreamChecked(fd);var node=stream.node;var getattr=stream.stream_ops.getattr;var arg=getattr?stream:node;getattr??=node.node_ops.getattr;FS.checkOpExists(getattr,63);return getattr(arg)},lstat(path){return FS.stat(path,true)},doChmod(stream,node,mode,dontFollow){FS.doSetAttr(stream,node,{mode:mode&4095|node.mode&~4095,ctime:Date.now(),dontFollow})},chmod(path,mode,dontFollow){var node;if(typeof path=="string"){var lookup=FS.lookupPath(path,{follow:!dontFollow});node=lookup.node}else{node=path}FS.doChmod(null,node,mode,dontFollow)},lchmod(path,mode){FS.chmod(path,mode,true)},fchmod(fd,mode){var stream=FS.getStreamChecked(fd);FS.doChmod(stream,stream.node,mode,false)},doChown(stream,node,dontFollow){FS.doSetAttr(stream,node,{timestamp:Date.now(),dontFollow})},chown(path,uid,gid,dontFollow){var node;if(typeof path=="string"){var lookup=FS.lookupPath(path,{follow:!dontFollow});node=lookup.node}else{node=path}FS.doChown(null,node,dontFollow)},lchown(path,uid,gid){FS.chown(path,uid,gid,true)},fchown(fd,uid,gid){var stream=FS.getStreamChecked(fd);FS.doChown(stream,stream.node,false)},doTruncate(stream,node,len){if(FS.isDir(node.mode)){throw new FS.ErrnoError(31)}if(!FS.isFile(node.mode)){throw new FS.ErrnoError(28)}var errCode=FS.nodePermissions(node,"w");if(errCode){throw new FS.ErrnoError(errCode)}FS.doSetAttr(stream,node,{size:len,timestamp:Date.now()})},truncate(path,len){if(len<0){throw new FS.ErrnoError(28)}var node;if(typeof path=="string"){var lookup=FS.lookupPath(path,{follow:true});node=lookup.node}else{node=path}FS.doTruncate(null,node,len)},ftruncate(fd,len){var stream=FS.getStreamChecked(fd);if(len<0||(stream.flags&2097155)===0){throw new FS.ErrnoError(28)}FS.doTruncate(stream,stream.node,len)},utime(path,atime,mtime){var lookup=FS.lookupPath(path,{follow:true});var node=lookup.node;var setattr=FS.checkOpExists(node.node_ops.setattr,63);setattr(node,{atime,mtime})},open(path,flags,mode=438){if(path===""){throw new FS.ErrnoError(44)}flags=FS_modeStringToFlags(flags);if(flags&64){mode=mode&4095|32768}else{mode=0}var node;var isDirPath;if(typeof path=="object"){node=path}else{isDirPath=path.endsWith("/");var lookup=FS.lookupPath(path,{follow:!(flags&131072),noent_okay:true});node=lookup.node;path=lookup.path}var created=false;if(flags&64){if(node){if(flags&128){throw new FS.ErrnoError(20)}}else if(isDirPath){throw new FS.ErrnoError(31)}else{node=FS.mknod(path,mode|511,0);created=true}}if(!node){throw new FS.ErrnoError(44)}if(FS.isChrdev(node.mode)){flags&=~512}if(flags&65536&&!FS.isDir(node.mode)){throw new FS.ErrnoError(54)}if(!created){var errCode=FS.mayOpen(node,flags);if(errCode){throw new FS.ErrnoError(errCode)}}if(flags&512&&!created){FS.truncate(node,0)}flags&=~(128|512|131072);var stream=FS.createStream({node,path:FS.getPath(node),flags,seekable:true,position:0,stream_ops:node.stream_ops,ungotten:[],error:false});if(stream.stream_ops.open){stream.stream_ops.open(stream)}if(created){FS.chmod(node,mode&511)}return stream},close(stream){if(FS.isClosed(stream)){throw new FS.ErrnoError(8)}if(stream.getdents)stream.getdents=null;try{if(stream.stream_ops.close){stream.stream_ops.close(stream)}}catch(e){throw e}finally{FS.closeStream(stream.fd)}stream.fd=null},isClosed(stream){return stream.fd===null},llseek(stream,offset,whence){if(FS.isClosed(stream)){throw new FS.ErrnoError(8)}if(!stream.seekable||!stream.stream_ops.llseek){throw new FS.ErrnoError(70)}if(whence!=0&&whence!=1&&whence!=2){throw new FS.ErrnoError(28)}stream.position=stream.stream_ops.llseek(stream,offset,whence);stream.ungotten=[];return stream.position},read(stream,buffer,offset,length,position){if(length<0||position<0){throw new FS.ErrnoError(28)}if(FS.isClosed(stream)){throw new FS.ErrnoError(8)}if((stream.flags&2097155)===1){throw new FS.ErrnoError(8)}if(FS.isDir(stream.node.mode)){throw new FS.ErrnoError(31)}if(!stream.stream_ops.read){throw new FS.ErrnoError(28)}var seeking=typeof position!="undefined";if(!seeking){position=stream.position}else if(!stream.seekable){throw new FS.ErrnoError(70)}var bytesRead=stream.stream_ops.read(stream,buffer,offset,length,position);if(!seeking)stream.position+=bytesRead;return bytesRead},write(stream,buffer,offset,length,position,canOwn){if(length<0||position<0){throw new FS.ErrnoError(28)}if(FS.isClosed(stream)){throw new FS.ErrnoError(8)}if((stream.flags&2097155)===0){throw new FS.ErrnoError(8)}if(FS.isDir(stream.node.mode)){throw new FS.ErrnoError(31)}if(!stream.stream_ops.write){throw new FS.ErrnoError(28)}if(stream.seekable&&stream.flags&1024){FS.llseek(stream,0,2)}var seeking=typeof position!="undefined";if(!seeking){position=stream.position}else if(!stream.seekable){throw new FS.ErrnoError(70)}var bytesWritten=stream.stream_ops.write(stream,buffer,offset,length,position,canOwn);if(!seeking)stream.position+=bytesWritten;return bytesWritten},mmap(stream,length,position,prot,flags){if((prot&2)!==0&&(flags&2)===0&&(stream.flags&2097155)!==2){throw new FS.ErrnoError(2)}if((stream.flags&2097155)===1){throw new FS.ErrnoError(2)}if(!stream.stream_ops.mmap){throw new FS.ErrnoError(43)}if(!length){throw new FS.ErrnoError(28)}return stream.stream_ops.mmap(stream,length,position,prot,flags)},msync(stream,buffer,offset,length,mmapFlags){if(!stream.stream_ops.msync){return 0}return stream.stream_ops.msync(stream,buffer,offset,length,mmapFlags)},ioctl(stream,cmd,arg){if(!stream.stream_ops.ioctl){throw new FS.ErrnoError(59)}return stream.stream_ops.ioctl(stream,cmd,arg)},readFile(path,opts={}){opts.flags=opts.flags??0;opts.encoding=opts.encoding??"binary";if(opts.encoding!=="utf8"&&opts.encoding!=="binary"){abort(`Invalid encoding type "${opts.encoding}"`)}var stream=FS.open(path,opts.flags);var stat=FS.stat(path);var length=stat.size;var buf=new Uint8Array(length);FS.read(stream,buf,0,length,0);if(opts.encoding==="utf8"){buf=UTF8ArrayToString(buf)}FS.close(stream);return buf},writeFile(path,data,opts={}){opts.flags=opts.flags??577;var stream=FS.open(path,opts.flags,opts.mode);data=FS_fileDataToTypedArray(data);FS.write(stream,data,0,data.byteLength,undefined,opts.canOwn);FS.close(stream)},cwd:()=>FS.currentPath,chdir(path){var lookup=FS.lookupPath(path,{follow:true});if(lookup.node===null){throw new FS.ErrnoError(44)}if(!FS.isDir(lookup.node.mode)){throw new FS.ErrnoError(54)}var errCode=FS.nodePermissions(lookup.node,"x");if(errCode){throw new FS.ErrnoError(errCode)}FS.currentPath=lookup.path},createDefaultDirectories(){FS.mkdir("/tmp");FS.mkdir("/home");FS.mkdir("/home/web_user")},createDefaultDevices(){FS.mkdir("/dev");FS.registerDevice(FS.makedev(1,3),{read:()=>0,write:(stream,buffer,offset,length,pos)=>length,llseek:()=>0});FS.mkdev("/dev/null",FS.makedev(1,3));TTY.register(FS.makedev(5,0),TTY.default_tty_ops);TTY.register(FS.makedev(6,0),TTY.default_tty1_ops);FS.mkdev("/dev/tty",FS.makedev(5,0));FS.mkdev("/dev/tty1",FS.makedev(6,0));var randomBuffer=new Uint8Array(1024),randomLeft=0;var randomByte=()=>{if(randomLeft===0){randomFill(randomBuffer);randomLeft=randomBuffer.byteLength}return randomBuffer[--randomLeft]};FS.createDevice("/dev","random",randomByte);FS.createDevice("/dev","urandom",randomByte);FS.mkdir("/dev/shm");FS.mkdir("/dev/shm/tmp")},createSpecialDirectories(){FS.mkdir("/proc");var proc_self=FS.mkdir("/proc/self");FS.mkdir("/proc/self/fd");FS.mount({mount(){var node=FS.createNode(proc_self,"fd",16895,73);node.stream_ops={llseek:MEMFS.stream_ops.llseek};node.node_ops={lookup(parent,name){var fd=+name;var stream=FS.getStreamChecked(fd);var ret={parent:null,mount:{mountpoint:"fake"},node_ops:{readlink:()=>stream.path},id:fd+1};ret.parent=ret;return ret},readdir(){return Array.from(FS.streams.entries()).filter(([k,v])=>v).map(([k,v])=>k.toString())}};return node}},{},"/proc/self/fd")},createStandardStreams(input,output,error){if(input){FS.createDevice("/dev","stdin",input)}else{FS.symlink("/dev/tty","/dev/stdin")}if(output){FS.createDevice("/dev","stdout",null,output)}else{FS.symlink("/dev/tty","/dev/stdout")}if(error){FS.createDevice("/dev","stderr",null,error)}else{FS.symlink("/dev/tty1","/dev/stderr")}var stdin=FS.open("/dev/stdin",0);var stdout=FS.open("/dev/stdout",1);var stderr=FS.open("/dev/stderr",1)},staticInit(){FS.nameTable=new Array(4096);FS.mount(MEMFS,{},"/");FS.createDefaultDirectories();FS.createDefaultDevices();FS.createSpecialDirectories();FS.filesystems={MEMFS}},init(input,output,error){FS.initialized=true;input??=Module["stdin"];output??=Module["stdout"];error??=Module["stderr"];FS.createStandardStreams(input,output,error)},quit(){FS.initialized=false;for(var stream of FS.streams){if(stream){FS.close(stream)}}},findObject(path,dontResolveLastLink){var ret=FS.analyzePath(path,dontResolveLastLink);if(!ret.exists){return null}return ret.object},analyzePath(path,dontResolveLastLink){try{var lookup=FS.lookupPath(path,{follow:!dontResolveLastLink});path=lookup.path}catch(e){}var ret={isRoot:false,exists:false,error:0,name:null,path:null,object:null,parentExists:false,parentPath:null,parentObject:null};try{var lookup=FS.lookupPath(path,{parent:true});ret.parentExists=true;ret.parentPath=lookup.path;ret.parentObject=lookup.node;ret.name=PATH.basename(path);lookup=FS.lookupPath(path,{follow:!dontResolveLastLink});ret.exists=true;ret.path=lookup.path;ret.object=lookup.node;ret.name=lookup.node.name;ret.isRoot=lookup.path==="/"}catch(e){ret.error=e.errno}return ret},createPath(parent,path,canRead,canWrite){parent=typeof parent=="string"?parent:FS.getPath(parent);var parts=path.split("/").reverse();while(parts.length){var part=parts.pop();if(!part)continue;var current=PATH.join2(parent,part);try{FS.mkdir(current)}catch(e){if(e.errno!=20)throw e}parent=current}return current},createFile(parent,name,properties,canRead,canWrite){var path=PATH.join2(typeof parent=="string"?parent:FS.getPath(parent),name);var mode=FS_getMode(canRead,canWrite);return FS.create(path,mode)},createDataFile(parent,name,data,canRead,canWrite,canOwn){var path=name;if(parent){parent=typeof parent=="string"?parent:FS.getPath(parent);path=name?PATH.join2(parent,name):parent}var mode=FS_getMode(canRead,canWrite);var node=FS.create(path,mode);if(data){data=FS_fileDataToTypedArray(data);FS.chmod(node,mode|146);var stream=FS.open(node,577);FS.write(stream,data,0,data.length,0,canOwn);FS.close(stream);FS.chmod(node,mode)}},createDevice(parent,name,input,output){var path=PATH.join2(typeof parent=="string"?parent:FS.getPath(parent),name);var mode=FS_getMode(!!input,!!output);FS.createDevice.major??=64;var dev=FS.makedev(FS.createDevice.major++,0);FS.registerDevice(dev,{open(stream){stream.seekable=false},close(stream){if(output?.buffer?.length){output(10)}},read(stream,buffer,offset,length,pos){var bytesRead=0;for(var i=0;ithis.length-1||idx<0){return undefined}var chunkOffset=idx%this.chunkSize;var chunkNum=idx/this.chunkSize|0;return this.getter(chunkNum)[chunkOffset]}setDataGetter(getter){this.getter=getter}cacheLength(){var xhr=new XMLHttpRequest;xhr.open("HEAD",url,false);xhr.send(null);if(!(xhr.status>=200&&xhr.status<300||xhr.status===304))abort("Couldn't load "+url+". Status: "+xhr.status);var datalength=Number(xhr.getResponseHeader("Content-length"));var header;var hasByteServing=(header=xhr.getResponseHeader("Accept-Ranges"))&&header==="bytes";var usesGzip=(header=xhr.getResponseHeader("Content-Encoding"))&&header==="gzip";var chunkSize=1024*1024;if(!hasByteServing)chunkSize=datalength;var doXHR=(from,to)=>{if(from>to)abort(`invalid range (${from}, ${to}) or no bytes requested!`);if(to>datalength-1)abort(`only ${datalength} bytes available! programmer error!`);var xhr=new XMLHttpRequest;xhr.open("GET",url,false);if(datalength!==chunkSize)xhr.setRequestHeader("Range","bytes="+from+"-"+to);xhr.responseType="arraybuffer";if(xhr.overrideMimeType){xhr.overrideMimeType("text/plain; charset=x-user-defined")}xhr.send(null);if(!(xhr.status>=200&&xhr.status<300||xhr.status===304))abort("Couldn't load "+url+". Status: "+xhr.status);if(xhr.response!==undefined){return new Uint8Array(xhr.response||[])}return intArrayFromString(xhr.responseText??"",true)};var lazyArray=this;lazyArray.setDataGetter(chunkNum=>{var start=chunkNum*chunkSize;var end=(chunkNum+1)*chunkSize-1;end=Math.min(end,datalength-1);if(typeof lazyArray.chunks[chunkNum]=="undefined"){lazyArray.chunks[chunkNum]=doXHR(start,end)}if(typeof lazyArray.chunks[chunkNum]=="undefined")abort("doXHR failed!");return lazyArray.chunks[chunkNum]});if(usesGzip||!datalength){chunkSize=datalength=1;datalength=this.getter(0).length;chunkSize=datalength;out("LazyFiles on gzip forces download of the whole file when length is accessed")}this._length=datalength;this._chunkSize=chunkSize;this.lengthKnown=true}get length(){if(!this.lengthKnown){this.cacheLength()}return this._length}get chunkSize(){if(!this.lengthKnown){this.cacheLength()}return this._chunkSize}}if(globalThis.XMLHttpRequest){if(!ENVIRONMENT_IS_WORKER)abort("Cannot do synchronous binary XHRs outside webworkers in modern browsers. Use --embed-file or --preload-file in emcc");var lazyArray=new LazyUint8Array;var properties={isDevice:false,contents:lazyArray}}else{var properties={isDevice:false,url}}var node=FS.createFile(parent,name,properties,canRead,canWrite);if(properties.contents){node.contents=properties.contents}else if(properties.url){node.contents=null;node.url=properties.url}Object.defineProperties(node,{usedBytes:{get:function(){return this.contents.length}}});var stream_ops={};for(const[key,fn]of Object.entries(node.stream_ops)){stream_ops[key]=(...args)=>{FS.forceLoadFile(node);return fn(...args)}}function writeChunks(stream,buffer,offset,length,position){var contents=stream.node.contents;if(position>=contents.length)return 0;var size=Math.min(contents.length-position,length);if(contents.slice){for(var i=0;i{FS.forceLoadFile(node);return writeChunks(stream,buffer,offset,length,position)};stream_ops.mmap=(stream,length,position,prot,flags)=>{FS.forceLoadFile(node);var ptr=mmapAlloc(length);if(!ptr){throw new FS.ErrnoError(48)}writeChunks(stream,HEAP8,ptr,length,position);return{ptr,allocated:true}};node.stream_ops=stream_ops;return node}};var UTF8ToString=(ptr,maxBytesToRead,ignoreNul)=>ptr?UTF8ArrayToString(HEAPU8,ptr,maxBytesToRead,ignoreNul):"";var SYSCALLS={currentUmask:18,calculateAt(dirfd,path,allowEmpty){if(PATH.isAbs(path)){return path}var dir;if(dirfd===-100){dir=FS.cwd()}else{var dirstream=SYSCALLS.getStreamFromFD(dirfd);dir=dirstream.path}if(path.length==0){if(!allowEmpty){throw new FS.ErrnoError(44)}return dir}return dir+"/"+path},writeStat(buf,stat){HEAPU32[buf>>2]=stat.dev;HEAPU32[buf+4>>2]=stat.mode;HEAPU32[buf+8>>2]=stat.nlink;HEAPU32[buf+12>>2]=stat.uid;HEAPU32[buf+16>>2]=stat.gid;HEAPU32[buf+20>>2]=stat.rdev;HEAP64[buf+24>>3]=BigInt(stat.size);HEAP32[buf+32>>2]=4096;HEAP32[buf+36>>2]=stat.blocks;var atime=stat.atime.getTime();var mtime=stat.mtime.getTime();var ctime=stat.ctime.getTime();HEAP64[buf+40>>3]=BigInt(Math.floor(atime/1e3));HEAPU32[buf+48>>2]=atime%1e3*1e3*1e3;HEAP64[buf+56>>3]=BigInt(Math.floor(mtime/1e3));HEAPU32[buf+64>>2]=mtime%1e3*1e3*1e3;HEAP64[buf+72>>3]=BigInt(Math.floor(ctime/1e3));HEAPU32[buf+80>>2]=ctime%1e3*1e3*1e3;HEAP64[buf+88>>3]=BigInt(stat.ino);return 0},writeStatFs(buf,stats){HEAPU32[buf+4>>2]=stats.bsize;HEAPU32[buf+60>>2]=stats.bsize;HEAP64[buf+8>>3]=BigInt(stats.blocks);HEAP64[buf+16>>3]=BigInt(stats.bfree);HEAP64[buf+24>>3]=BigInt(stats.bavail);HEAP64[buf+32>>3]=BigInt(stats.files);HEAP64[buf+40>>3]=BigInt(stats.ffree);HEAPU32[buf+48>>2]=stats.fsid;HEAPU32[buf+64>>2]=stats.flags;HEAPU32[buf+56>>2]=stats.namelen},doMsync(addr,stream,len,flags,offset){if(!FS.isFile(stream.node.mode)){throw new FS.ErrnoError(43)}if(flags&2){return 0}var buffer=HEAPU8.slice(addr,addr+len);FS.msync(stream,buffer,offset,len,flags)},getStreamFromFD(fd){var stream=FS.getStreamChecked(fd);return stream},varargs:undefined,getStr(ptr){var ret=UTF8ToString(ptr);return ret}};function _fd_close(fd){try{var stream=SYSCALLS.getStreamFromFD(fd);FS.close(stream);return 0}catch(e){if(typeof FS=="undefined"||!(e.name==="ErrnoError"))throw e;return e.errno}}var doReadv=(stream,iov,iovcnt,offset)=>{var ret=0;for(var i=0;i>2];var len=HEAPU32[iov+4>>2];iov+=8;var curr=FS.read(stream,HEAP8,ptr,len,offset);if(curr<0)return-1;ret+=curr;if(curr>2]=num;return 0}catch(e){if(typeof FS=="undefined"||!(e.name==="ErrnoError"))throw e;return e.errno}}var INT53_MAX=9007199254740992;var INT53_MIN=-9007199254740992;var bigintToI53Checked=num=>numINT53_MAX?NaN:Number(num);function _fd_seek(fd,offset,whence,newOffset){offset=bigintToI53Checked(offset);try{if(isNaN(offset))return 22;var stream=SYSCALLS.getStreamFromFD(fd);FS.llseek(stream,offset,whence);HEAP64[newOffset>>3]=BigInt(stream.position);if(stream.getdents&&offset===0&&whence===0)stream.getdents=null;return 0}catch(e){if(typeof FS=="undefined"||!(e.name==="ErrnoError"))throw e;return e.errno}}var doWritev=(stream,iov,iovcnt,offset)=>{var ret=0;for(var i=0;i>2];var len=HEAPU32[iov+4>>2];iov+=8;var curr=FS.write(stream,HEAP8,ptr,len,offset);if(curr<0)return-1;ret+=curr;if(curr>2]=num;return 0}catch(e){if(typeof FS=="undefined"||!(e.name==="ErrnoError"))throw e;return e.errno}}var _llvm_eh_typeid_for=type=>type;var wasmTableMirror=[];var getWasmTableEntry=funcPtr=>{var func=wasmTableMirror[funcPtr];if(!func){wasmTableMirror[funcPtr]=func=wasmTable.get(funcPtr)}return func};var getCFunc=ident=>{var func=Module["_"+ident];return func};var writeArrayToMemory=(array,buffer)=>{HEAP8.set(array,buffer)};var stackAlloc=sz=>__emscripten_stack_alloc(sz);var stringToUTF8OnStack=str=>{var size=lengthBytesUTF8(str)+1;var ret=stackAlloc(size);stringToUTF8(str,ret,size);return ret};var ccall=(ident,returnType,argTypes,args,opts)=>{var toC={string:str=>{var ret=0;if(str!==null&&str!==undefined&&str!==0){ret=stringToUTF8OnStack(str)}return ret},array:arr=>{var ret=stackAlloc(arr.length);writeArrayToMemory(arr,ret);return ret}};function convertReturnValue(ret){if(returnType==="string"){return UTF8ToString(ret)}if(returnType==="boolean")return Boolean(ret);return ret}var func=getCFunc(ident);var cArgs=[];var stack=0;if(args){for(var i=0;i{var numericArgs=!argTypes||argTypes.every(type=>type==="number"||type==="boolean");var numericRet=returnType!=="string";if(numericRet&&numericArgs&&!opts){return getCFunc(ident)}return(...args)=>ccall(ident,returnType,argTypes,args,opts)};FS.createPreloadedFile=FS_createPreloadedFile;FS.preloadFile=FS_preloadFile;FS.staticInit();{if(Module["noExitRuntime"])noExitRuntime=Module["noExitRuntime"];if(Module["preloadPlugins"])preloadPlugins=Module["preloadPlugins"];if(Module["print"])out=Module["print"];if(Module["printErr"])err=Module["printErr"];if(Module["wasmBinary"])wasmBinary=Module["wasmBinary"];if(Module["arguments"])programArgs=Module["arguments"];if(Module["thisProgram"])thisProgram=Module["thisProgram"];if(Module["preInit"]){if(typeof Module["preInit"]=="function")Module["preInit"]=[Module["preInit"]];while(Module["preInit"].length>0){Module["preInit"].shift()()}}}Module["ccall"]=ccall;Module["cwrap"]=cwrap;Module["UTF8ToString"]=UTF8ToString;Module["stringToUTF8"]=stringToUTF8;Module["lengthBytesUTF8"]=lengthBytesUTF8;var _kdl_init,_kdl_create_robot,_kdl_destroy_robot,_kdl_get_robot_info,_kdl_fk,_kdl_fk_all_links,_kdl_jacobian,_kdl_ik,_kdl_plan_movej,_kdl_plan_movel,_kdl_plan_movec,_kdl_plan_path,_kdl_sample_trap,_kdl_last_error,_free,_malloc,_setThrew,__emscripten_tempret_set,__emscripten_stack_restore,__emscripten_stack_alloc,_emscripten_stack_get_current,___cxa_decrement_exception_refcount,___cxa_increment_exception_refcount,___cxa_can_catch,___cxa_get_exception_ptr,memory,__indirect_function_table,wasmMemory,wasmTable;function assignWasmExports(wasmExports){_kdl_init=Module["_kdl_init"]=wasmExports["W"];_kdl_create_robot=Module["_kdl_create_robot"]=wasmExports["X"];_kdl_destroy_robot=Module["_kdl_destroy_robot"]=wasmExports["Z"];_kdl_get_robot_info=Module["_kdl_get_robot_info"]=wasmExports["_"];_kdl_fk=Module["_kdl_fk"]=wasmExports["$"];_kdl_fk_all_links=Module["_kdl_fk_all_links"]=wasmExports["aa"];_kdl_jacobian=Module["_kdl_jacobian"]=wasmExports["ba"];_kdl_ik=Module["_kdl_ik"]=wasmExports["ca"];_kdl_plan_movej=Module["_kdl_plan_movej"]=wasmExports["da"];_kdl_plan_movel=Module["_kdl_plan_movel"]=wasmExports["ea"];_kdl_plan_movec=Module["_kdl_plan_movec"]=wasmExports["fa"];_kdl_plan_path=Module["_kdl_plan_path"]=wasmExports["ga"];_kdl_sample_trap=Module["_kdl_sample_trap"]=wasmExports["ha"];_kdl_last_error=Module["_kdl_last_error"]=wasmExports["ia"];_free=Module["_free"]=wasmExports["ja"];_malloc=Module["_malloc"]=wasmExports["ka"];_setThrew=wasmExports["la"];__emscripten_tempret_set=wasmExports["ma"];__emscripten_stack_restore=wasmExports["na"];__emscripten_stack_alloc=wasmExports["oa"];_emscripten_stack_get_current=wasmExports["pa"];___cxa_decrement_exception_refcount=wasmExports["qa"];___cxa_increment_exception_refcount=wasmExports["ra"];___cxa_can_catch=wasmExports["sa"];___cxa_get_exception_ptr=wasmExports["ta"];memory=wasmMemory=wasmExports["U"];__indirect_function_table=wasmTable=wasmExports["Y"]}var wasmImports={o:___cxa_begin_catch,q:___cxa_end_catch,a:___cxa_find_matching_catch_2,f:___cxa_find_matching_catch_3,Q:___cxa_rethrow,l:___cxa_throw,P:___cxa_uncaught_exceptions,c:___resumeException,K:__abort_js,H:__tzset_js,R:_emscripten_resize_heap,I:_environ_get,J:_environ_sizes_get,L:_fd_close,M:_fd_read,N:_fd_seek,G:_fd_write,v:invoke_dii,E:invoke_diii,F:invoke_fiii,n:invoke_i,e:invoke_ii,m:invoke_iid,b:invoke_iii,S:invoke_iiidid,h:invoke_iiii,k:invoke_iiiii,O:invoke_iiiiid,x:invoke_iiiiii,s:invoke_iiiiiii,D:invoke_iiiiiiii,T:invoke_iiiiiiiii,t:invoke_iiiiiiiiiii,z:invoke_iiiiiiiiiiii,A:invoke_jiiii,i:invoke_v,p:invoke_vi,d:invoke_vii,g:invoke_viii,j:invoke_viiii,C:invoke_viiiii,r:invoke_viiiiiii,u:invoke_viiiiiiiiii,B:invoke_viiiiiiiiiiii,y:invoke_viiiiiiiiiiiiiii,w:_llvm_eh_typeid_for};function invoke_iii(index,a1,a2){var sp=stackSave();try{return getWasmTableEntry(index)(a1,a2)}catch(e){stackRestore(sp);if(!(e instanceof EmscriptenEH))throw e;_setThrew(1,0)}}function invoke_viii(index,a1,a2,a3){var sp=stackSave();try{getWasmTableEntry(index)(a1,a2,a3)}catch(e){stackRestore(sp);if(!(e instanceof EmscriptenEH))throw e;_setThrew(1,0)}}function invoke_ii(index,a1){var sp=stackSave();try{return getWasmTableEntry(index)(a1)}catch(e){stackRestore(sp);if(!(e instanceof EmscriptenEH))throw e;_setThrew(1,0)}}function invoke_vii(index,a1,a2){var sp=stackSave();try{getWasmTableEntry(index)(a1,a2)}catch(e){stackRestore(sp);if(!(e instanceof EmscriptenEH))throw e;_setThrew(1,0)}}function invoke_v(index){var sp=stackSave();try{getWasmTableEntry(index)()}catch(e){stackRestore(sp);if(!(e instanceof EmscriptenEH))throw e;_setThrew(1,0)}}function invoke_iiiiiiii(index,a1,a2,a3,a4,a5,a6,a7){var sp=stackSave();try{return getWasmTableEntry(index)(a1,a2,a3,a4,a5,a6,a7)}catch(e){stackRestore(sp);if(!(e instanceof EmscriptenEH))throw e;_setThrew(1,0)}}function invoke_iiiiii(index,a1,a2,a3,a4,a5){var sp=stackSave();try{return getWasmTableEntry(index)(a1,a2,a3,a4,a5)}catch(e){stackRestore(sp);if(!(e instanceof EmscriptenEH))throw e;_setThrew(1,0)}}function invoke_iiiiiiiiiii(index,a1,a2,a3,a4,a5,a6,a7,a8,a9,a10){var sp=stackSave();try{return getWasmTableEntry(index)(a1,a2,a3,a4,a5,a6,a7,a8,a9,a10)}catch(e){stackRestore(sp);if(!(e instanceof EmscriptenEH))throw e;_setThrew(1,0)}}function invoke_iiiiiiiii(index,a1,a2,a3,a4,a5,a6,a7,a8){var sp=stackSave();try{return getWasmTableEntry(index)(a1,a2,a3,a4,a5,a6,a7,a8)}catch(e){stackRestore(sp);if(!(e instanceof EmscriptenEH))throw e;_setThrew(1,0)}}function invoke_iiidid(index,a1,a2,a3,a4,a5){var sp=stackSave();try{return getWasmTableEntry(index)(a1,a2,a3,a4,a5)}catch(e){stackRestore(sp);if(!(e instanceof EmscriptenEH))throw e;_setThrew(1,0)}}function invoke_iiii(index,a1,a2,a3){var sp=stackSave();try{return getWasmTableEntry(index)(a1,a2,a3)}catch(e){stackRestore(sp);if(!(e instanceof EmscriptenEH))throw e;_setThrew(1,0)}}function invoke_viiiii(index,a1,a2,a3,a4,a5){var sp=stackSave();try{getWasmTableEntry(index)(a1,a2,a3,a4,a5)}catch(e){stackRestore(sp);if(!(e instanceof EmscriptenEH))throw e;_setThrew(1,0)}}function invoke_iiiii(index,a1,a2,a3,a4){var sp=stackSave();try{return getWasmTableEntry(index)(a1,a2,a3,a4)}catch(e){stackRestore(sp);if(!(e instanceof EmscriptenEH))throw e;_setThrew(1,0)}}function invoke_iid(index,a1,a2){var sp=stackSave();try{return getWasmTableEntry(index)(a1,a2)}catch(e){stackRestore(sp);if(!(e instanceof EmscriptenEH))throw e;_setThrew(1,0)}}function invoke_dii(index,a1,a2){var sp=stackSave();try{return getWasmTableEntry(index)(a1,a2)}catch(e){stackRestore(sp);if(!(e instanceof EmscriptenEH))throw e;_setThrew(1,0)}}function invoke_iiiiiii(index,a1,a2,a3,a4,a5,a6){var sp=stackSave();try{return getWasmTableEntry(index)(a1,a2,a3,a4,a5,a6)}catch(e){stackRestore(sp);if(!(e instanceof EmscriptenEH))throw e;_setThrew(1,0)}}function invoke_vi(index,a1){var sp=stackSave();try{getWasmTableEntry(index)(a1)}catch(e){stackRestore(sp);if(!(e instanceof EmscriptenEH))throw e;_setThrew(1,0)}}function invoke_viiii(index,a1,a2,a3,a4){var sp=stackSave();try{getWasmTableEntry(index)(a1,a2,a3,a4)}catch(e){stackRestore(sp);if(!(e instanceof EmscriptenEH))throw e;_setThrew(1,0)}}function invoke_viiiiiiiiiiii(index,a1,a2,a3,a4,a5,a6,a7,a8,a9,a10,a11,a12){var sp=stackSave();try{getWasmTableEntry(index)(a1,a2,a3,a4,a5,a6,a7,a8,a9,a10,a11,a12)}catch(e){stackRestore(sp);if(!(e instanceof EmscriptenEH))throw e;_setThrew(1,0)}}function invoke_viiiiiii(index,a1,a2,a3,a4,a5,a6,a7){var sp=stackSave();try{getWasmTableEntry(index)(a1,a2,a3,a4,a5,a6,a7)}catch(e){stackRestore(sp);if(!(e instanceof EmscriptenEH))throw e;_setThrew(1,0)}}function invoke_iiiiid(index,a1,a2,a3,a4,a5){var sp=stackSave();try{return getWasmTableEntry(index)(a1,a2,a3,a4,a5)}catch(e){stackRestore(sp);if(!(e instanceof EmscriptenEH))throw e;_setThrew(1,0)}}function invoke_jiiii(index,a1,a2,a3,a4){var sp=stackSave();try{return getWasmTableEntry(index)(a1,a2,a3,a4)}catch(e){stackRestore(sp);if(!(e instanceof EmscriptenEH))throw e;_setThrew(1,0);return 0n}}function invoke_fiii(index,a1,a2,a3){var sp=stackSave();try{return getWasmTableEntry(index)(a1,a2,a3)}catch(e){stackRestore(sp);if(!(e instanceof EmscriptenEH))throw e;_setThrew(1,0)}}function invoke_diii(index,a1,a2,a3){var sp=stackSave();try{return getWasmTableEntry(index)(a1,a2,a3)}catch(e){stackRestore(sp);if(!(e instanceof EmscriptenEH))throw e;_setThrew(1,0)}}function invoke_i(index){var sp=stackSave();try{return getWasmTableEntry(index)()}catch(e){stackRestore(sp);if(!(e instanceof EmscriptenEH))throw e;_setThrew(1,0)}}function invoke_iiiiiiiiiiii(index,a1,a2,a3,a4,a5,a6,a7,a8,a9,a10,a11){var sp=stackSave();try{return getWasmTableEntry(index)(a1,a2,a3,a4,a5,a6,a7,a8,a9,a10,a11)}catch(e){stackRestore(sp);if(!(e instanceof EmscriptenEH))throw e;_setThrew(1,0)}}function invoke_viiiiiiiiii(index,a1,a2,a3,a4,a5,a6,a7,a8,a9,a10){var sp=stackSave();try{getWasmTableEntry(index)(a1,a2,a3,a4,a5,a6,a7,a8,a9,a10)}catch(e){stackRestore(sp);if(!(e instanceof EmscriptenEH))throw e;_setThrew(1,0)}}function invoke_viiiiiiiiiiiiiii(index,a1,a2,a3,a4,a5,a6,a7,a8,a9,a10,a11,a12,a13,a14,a15){var sp=stackSave();try{getWasmTableEntry(index)(a1,a2,a3,a4,a5,a6,a7,a8,a9,a10,a11,a12,a13,a14,a15)}catch(e){stackRestore(sp);if(!(e instanceof EmscriptenEH))throw e;_setThrew(1,0)}}function run(){if(runDependencies>0){dependenciesFulfilled=run;return}preRun();if(runDependencies>0){dependenciesFulfilled=run;return}function doRun(){Module["calledRun"]=true;if(ABORT)return;initRuntime();readyPromiseResolve?.(Module);Module["onRuntimeInitialized"]?.();postRun()}if(Module["setStatus"]){Module["setStatus"]("Running...");setTimeout(()=>{setTimeout(()=>Module["setStatus"](""),1);doRun()},1)}else{doRun()}}var wasmExports;wasmExports=await (createWasm());run();if(runtimeInitialized){moduleRtn=Module}else{moduleRtn=new Promise((resolve,reject)=>{readyPromiseResolve=resolve;readyPromiseReject=reject})} +async function createKdlModule(moduleArg={}){var moduleRtn;var Module=moduleArg;var ENVIRONMENT_IS_WEB=!!globalThis.window;var ENVIRONMENT_IS_WORKER=!!globalThis.WorkerGlobalScope;var ENVIRONMENT_IS_NODE=globalThis.process?.versions?.node&&globalThis.process?.type!="renderer";if(ENVIRONMENT_IS_NODE){const{createRequire}=await import("module");var require=createRequire(import.meta.url)}var arguments_=[];var thisProgram="./this.program";var quit_=(status,toThrow)=>{throw toThrow};var _scriptName=import.meta.url;var scriptDirectory="";function locateFile(path){if(Module["locateFile"]){return Module["locateFile"](path,scriptDirectory)}return scriptDirectory+path}var readAsync,readBinary;if(ENVIRONMENT_IS_NODE){var fs=require("fs");if(_scriptName.startsWith("file:")){scriptDirectory=require("path").dirname(require("url").fileURLToPath(_scriptName))+"/"}readBinary=filename=>{filename=isFileURI(filename)?new URL(filename):filename;var ret=fs.readFileSync(filename);return ret};readAsync=async(filename,binary=true)=>{filename=isFileURI(filename)?new URL(filename):filename;var ret=fs.readFileSync(filename,binary?undefined:"utf8");return ret};if(process.argv.length>1){thisProgram=process.argv[1].replace(/\\/g,"/")}arguments_=process.argv.slice(2);quit_=(status,toThrow)=>{process.exitCode=status;throw toThrow}}else if(ENVIRONMENT_IS_WEB||ENVIRONMENT_IS_WORKER){try{scriptDirectory=new URL(".",_scriptName).href}catch{}{if(ENVIRONMENT_IS_WORKER){readBinary=url=>{var xhr=new XMLHttpRequest;xhr.open("GET",url,false);xhr.responseType="arraybuffer";xhr.send(null);return new Uint8Array(xhr.response)}}readAsync=async url=>{var response=await fetch(url,{credentials:"same-origin"});if(response.ok){return response.arrayBuffer()}throw new Error(response.status+" : "+response.url)}}}else{}var out=console.log.bind(console);var err=console.error.bind(console);var wasmBinary;var ABORT=false;var isFileURI=filename=>filename.startsWith("file://");var readyPromiseResolve,readyPromiseReject;var HEAP8,HEAPU8,HEAP16,HEAPU16,HEAP32,HEAPU32,HEAPF32,HEAPF64;var HEAP64,HEAPU64;var runtimeInitialized=false;function updateMemoryViews(){var b=wasmMemory.buffer;HEAP8=new Int8Array(b);HEAP16=new Int16Array(b);HEAPU8=new Uint8Array(b);HEAPU16=new Uint16Array(b);HEAP32=new Int32Array(b);HEAPU32=new Uint32Array(b);HEAPF32=new Float32Array(b);Module["HEAPF64"]=HEAPF64=new Float64Array(b);HEAP64=new BigInt64Array(b);HEAPU64=new BigUint64Array(b)}function preRun(){if(Module["preRun"]){if(typeof Module["preRun"]=="function")Module["preRun"]=[Module["preRun"]];while(Module["preRun"].length){addOnPreRun(Module["preRun"].shift())}}callRuntimeCallbacks(onPreRuns)}function initRuntime(){runtimeInitialized=true;if(!Module["noFSInit"]&&!FS.initialized)FS.init();TTY.init();wasmExports["V"]();FS.ignorePermissions=false}function postRun(){if(Module["postRun"]){if(typeof Module["postRun"]=="function")Module["postRun"]=[Module["postRun"]];while(Module["postRun"].length){addOnPostRun(Module["postRun"].shift())}}callRuntimeCallbacks(onPostRuns)}function abort(what){Module["onAbort"]?.(what);what="Aborted("+what+")";err(what);ABORT=true;what+=". Build with -sASSERTIONS for more info.";var e=new WebAssembly.RuntimeError(what);readyPromiseReject?.(e);throw e}var wasmBinaryFile;function findWasmBinary(){if(Module["locateFile"]){return locateFile("kdl.wasm")}return new URL("kdl.wasm",import.meta.url).href}function getBinarySync(file){if(file==wasmBinaryFile&&wasmBinary){return new Uint8Array(wasmBinary)}if(readBinary){return readBinary(file)}throw"both async and sync fetching of the wasm failed"}async function getWasmBinary(binaryFile){if(!wasmBinary){try{var response=await readAsync(binaryFile);return new Uint8Array(response)}catch{}}return getBinarySync(binaryFile)}async function instantiateArrayBuffer(binaryFile,imports){try{var binary=await getWasmBinary(binaryFile);var instance=await WebAssembly.instantiate(binary,imports);return instance}catch(reason){err(`failed to asynchronously prepare wasm: ${reason}`);abort(reason)}}async function instantiateAsync(binary,binaryFile,imports){if(!binary&&!ENVIRONMENT_IS_NODE){try{var response=fetch(binaryFile,{credentials:"same-origin"});var instantiationResult=await WebAssembly.instantiateStreaming(response,imports);return instantiationResult}catch(reason){err(`wasm streaming compile failed: ${reason}`);err("falling back to ArrayBuffer instantiation")}}return instantiateArrayBuffer(binaryFile,imports)}function getWasmImports(){var imports={a:wasmImports};return imports}async function createWasm(){function receiveInstance(instance,module){wasmExports=instance.exports;assignWasmExports(wasmExports);updateMemoryViews();return wasmExports}function receiveInstantiationResult(result){return receiveInstance(result["instance"])}var info=getWasmImports();if(Module["instantiateWasm"]){return new Promise((resolve,reject)=>{Module["instantiateWasm"](info,(inst,mod)=>{resolve(receiveInstance(inst,mod))})})}wasmBinaryFile??=findWasmBinary();var result=await instantiateAsync(wasmBinary,wasmBinaryFile,info);var exports=receiveInstantiationResult(result);return exports}class ExitStatus{name="ExitStatus";constructor(status){this.message=`Program terminated with exit(${status})`;this.status=status}}var callRuntimeCallbacks=callbacks=>{while(callbacks.length>0){callbacks.shift()(Module)}};var onPostRuns=[];var addOnPostRun=cb=>onPostRuns.push(cb);var onPreRuns=[];var addOnPreRun=cb=>onPreRuns.push(cb);var noExitRuntime=true;var stackRestore=val=>__emscripten_stack_restore(val);var stackSave=()=>_emscripten_stack_get_current();var exceptionCaught=[];var uncaughtExceptionCount=0;var ___cxa_begin_catch=ptr=>{var info=new ExceptionInfo(ptr);if(!info.get_caught()){info.set_caught(true);uncaughtExceptionCount--}info.set_rethrown(false);exceptionCaught.push(info);___cxa_increment_exception_refcount(ptr);return ___cxa_get_exception_ptr(ptr)};var exceptionLast=0;var ___cxa_end_catch=()=>{_setThrew(0,0);var info=exceptionCaught.pop();___cxa_decrement_exception_refcount(info.excPtr);exceptionLast=0};class ExceptionInfo{constructor(excPtr){this.excPtr=excPtr;this.ptr=excPtr-24}set_type(type){HEAPU32[this.ptr+4>>2]=type}get_type(){return HEAPU32[this.ptr+4>>2]}set_destructor(destructor){HEAPU32[this.ptr+8>>2]=destructor}get_destructor(){return HEAPU32[this.ptr+8>>2]}set_caught(caught){caught=caught?1:0;HEAP8[this.ptr+12]=caught}get_caught(){return HEAP8[this.ptr+12]!=0}set_rethrown(rethrown){rethrown=rethrown?1:0;HEAP8[this.ptr+13]=rethrown}get_rethrown(){return HEAP8[this.ptr+13]!=0}init(type,destructor){this.set_adjusted_ptr(0);this.set_type(type);this.set_destructor(destructor)}set_adjusted_ptr(adjustedPtr){HEAPU32[this.ptr+16>>2]=adjustedPtr}get_adjusted_ptr(){return HEAPU32[this.ptr+16>>2]}}var setTempRet0=val=>__emscripten_tempret_set(val);var findMatchingCatch=args=>{var thrown=exceptionLast;if(!thrown){setTempRet0(0);return 0}var info=new ExceptionInfo(thrown);info.set_adjusted_ptr(thrown);var thrownType=info.get_type();if(!thrownType){setTempRet0(0);return thrown}for(var caughtType of args){if(caughtType===0||caughtType===thrownType){break}var adjusted_ptr_addr=info.ptr+16;if(___cxa_can_catch(caughtType,thrownType,adjusted_ptr_addr)){setTempRet0(caughtType);return thrown}}setTempRet0(thrownType);return thrown};var ___cxa_find_matching_catch_2=()=>findMatchingCatch([]);var ___cxa_find_matching_catch_3=arg0=>findMatchingCatch([arg0]);var ___cxa_rethrow=()=>{var info=exceptionCaught.pop();if(!info){abort("no exception to throw")}var ptr=info.excPtr;if(!info.get_rethrown()){exceptionCaught.push(info);info.set_rethrown(true);info.set_caught(false);uncaughtExceptionCount++}exceptionLast=ptr;throw exceptionLast};var ___cxa_throw=(ptr,type,destructor)=>{var info=new ExceptionInfo(ptr);info.init(type,destructor);exceptionLast=ptr;uncaughtExceptionCount++;throw exceptionLast};var ___cxa_uncaught_exceptions=()=>uncaughtExceptionCount;var ___resumeException=ptr=>{if(!exceptionLast){exceptionLast=ptr}throw exceptionLast};var __abort_js=()=>abort("");var stringToUTF8Array=(str,heap,outIdx,maxBytesToWrite)=>{if(!(maxBytesToWrite>0))return 0;var startIdx=outIdx;var endIdx=outIdx+maxBytesToWrite-1;for(var i=0;i=endIdx)break;heap[outIdx++]=u}else if(u<=2047){if(outIdx+1>=endIdx)break;heap[outIdx++]=192|u>>6;heap[outIdx++]=128|u&63}else if(u<=65535){if(outIdx+2>=endIdx)break;heap[outIdx++]=224|u>>12;heap[outIdx++]=128|u>>6&63;heap[outIdx++]=128|u&63}else{if(outIdx+3>=endIdx)break;heap[outIdx++]=240|u>>18;heap[outIdx++]=128|u>>12&63;heap[outIdx++]=128|u>>6&63;heap[outIdx++]=128|u&63;i++}}heap[outIdx]=0;return outIdx-startIdx};var stringToUTF8=(str,outPtr,maxBytesToWrite)=>stringToUTF8Array(str,HEAPU8,outPtr,maxBytesToWrite);var __tzset_js=(timezone,daylight,std_name,dst_name)=>{var currentYear=(new Date).getFullYear();var winter=new Date(currentYear,0,1);var summer=new Date(currentYear,6,1);var winterOffset=winter.getTimezoneOffset();var summerOffset=summer.getTimezoneOffset();var stdTimezoneOffset=Math.max(winterOffset,summerOffset);HEAPU32[timezone>>2]=stdTimezoneOffset*60;HEAP32[daylight>>2]=Number(winterOffset!=summerOffset);var extractZone=timezoneOffset=>{var sign=timezoneOffset>=0?"-":"+";var absOffset=Math.abs(timezoneOffset);var hours=String(Math.floor(absOffset/60)).padStart(2,"0");var minutes=String(absOffset%60).padStart(2,"0");return`UTC${sign}${hours}${minutes}`};var winterName=extractZone(winterOffset);var summerName=extractZone(summerOffset);if(summerOffset2147483648;var alignMemory=(size,alignment)=>Math.ceil(size/alignment)*alignment;var growMemory=size=>{var oldHeapSize=wasmMemory.buffer.byteLength;var pages=(size-oldHeapSize+65535)/65536|0;try{wasmMemory.grow(pages);updateMemoryViews();return 1}catch(e){}};var _emscripten_resize_heap=requestedSize=>{var oldSize=HEAPU8.length;requestedSize>>>=0;var maxHeapSize=getHeapMax();if(requestedSize>maxHeapSize){return false}for(var cutDown=1;cutDown<=4;cutDown*=2){var overGrownHeapSize=oldSize*(1+.2/cutDown);overGrownHeapSize=Math.min(overGrownHeapSize,requestedSize+100663296);var newSize=Math.min(maxHeapSize,alignMemory(Math.max(requestedSize,overGrownHeapSize),65536));var replacement=growMemory(newSize);if(replacement){return true}}return false};var ENV={};var getExecutableName=()=>thisProgram||"./this.program";var getEnvStrings=()=>{if(!getEnvStrings.strings){var lang=(globalThis.navigator?.language??"C").replace("-","_")+".UTF-8";var env={USER:"web_user",LOGNAME:"web_user",PATH:"/",PWD:"/",HOME:"/home/web_user",LANG:lang,_:getExecutableName()};for(var x in ENV){if(ENV[x]===undefined)delete env[x];else env[x]=ENV[x]}var strings=[];for(var x in env){strings.push(`${x}=${env[x]}`)}getEnvStrings.strings=strings}return getEnvStrings.strings};var _environ_get=(__environ,environ_buf)=>{var bufSize=0;var envp=0;for(var string of getEnvStrings()){var ptr=environ_buf+bufSize;HEAPU32[__environ+envp>>2]=ptr;bufSize+=stringToUTF8(string,ptr,Infinity)+1;envp+=4}return 0};var lengthBytesUTF8=str=>{var len=0;for(var i=0;i=55296&&c<=57343){len+=4;++i}else{len+=3}}return len};var _environ_sizes_get=(penviron_count,penviron_buf_size)=>{var strings=getEnvStrings();HEAPU32[penviron_count>>2]=strings.length;var bufSize=0;for(var string of strings){bufSize+=lengthBytesUTF8(string)+1}HEAPU32[penviron_buf_size>>2]=bufSize;return 0};var PATH={isAbs:path=>path.charAt(0)==="/",splitPath:filename=>{var splitPathRe=/^(\/?|)([\s\S]*?)((?:\.{1,2}|[^\/]+?|)(\.[^.\/]*|))(?:[\/]*)$/;return splitPathRe.exec(filename).slice(1)},normalizeArray:(parts,allowAboveRoot)=>{var up=0;for(var i=parts.length-1;i>=0;i--){var last=parts[i];if(last==="."){parts.splice(i,1)}else if(last===".."){parts.splice(i,1);up++}else if(up){parts.splice(i,1);up--}}if(allowAboveRoot){for(;up;up--){parts.unshift("..")}}return parts},normalize:path=>{var isAbsolute=PATH.isAbs(path),trailingSlash=path.slice(-1)==="/";path=PATH.normalizeArray(path.split("/").filter(p=>!!p),!isAbsolute).join("/");if(!path&&!isAbsolute){path="."}if(path&&trailingSlash){path+="/"}return(isAbsolute?"/":"")+path},dirname:path=>{var result=PATH.splitPath(path),root=result[0],dir=result[1];if(!root&&!dir){return"."}if(dir){dir=dir.slice(0,-1)}return root+dir},basename:path=>path&&path.match(/([^\/]+|\/)\/*$/)[1],join:(...paths)=>PATH.normalize(paths.join("/")),join2:(l,r)=>PATH.normalize(l+"/"+r)};var initRandomFill=()=>{if(ENVIRONMENT_IS_NODE){var nodeCrypto=require("crypto");return view=>nodeCrypto.randomFillSync(view)}return view=>crypto.getRandomValues(view)};var randomFill=view=>{(randomFill=initRandomFill())(view)};var PATH_FS={resolve:(...args)=>{var resolvedPath="",resolvedAbsolute=false;for(var i=args.length-1;i>=-1&&!resolvedAbsolute;i--){var path=i>=0?args[i]:FS.cwd();if(typeof path!="string"){throw new TypeError("Arguments to path.resolve must be strings")}else if(!path){return""}resolvedPath=path+"/"+resolvedPath;resolvedAbsolute=PATH.isAbs(path)}resolvedPath=PATH.normalizeArray(resolvedPath.split("/").filter(p=>!!p),!resolvedAbsolute).join("/");return(resolvedAbsolute?"/":"")+resolvedPath||"."},relative:(from,to)=>{from=PATH_FS.resolve(from).slice(1);to=PATH_FS.resolve(to).slice(1);function trim(arr){var start=0;for(;start=0;end--){if(arr[end]!=="")break}if(start>end)return[];return arr.slice(start,end-start+1)}var fromParts=trim(from.split("/"));var toParts=trim(to.split("/"));var length=Math.min(fromParts.length,toParts.length);var samePartsLength=length;for(var i=0;i{var maxIdx=idx+maxBytesToRead;if(ignoreNul)return maxIdx;while(heapOrArray[idx]&&!(idx>=maxIdx))++idx;return idx};var UTF8ArrayToString=(heapOrArray,idx=0,maxBytesToRead,ignoreNul)=>{var endPtr=findStringEnd(heapOrArray,idx,maxBytesToRead,ignoreNul);if(endPtr-idx>16&&heapOrArray.buffer&&UTF8Decoder){return UTF8Decoder.decode(heapOrArray.subarray(idx,endPtr))}var str="";while(idx>10,56320|ch&1023)}}return str};var FS_stdin_getChar_buffer=[];var intArrayFromString=(stringy,dontAddNull,length)=>{var len=length>0?length:lengthBytesUTF8(stringy)+1;var u8array=new Array(len);var numBytesWritten=stringToUTF8Array(stringy,u8array,0,u8array.length);if(dontAddNull)u8array.length=numBytesWritten;return u8array};var FS_stdin_getChar=()=>{if(!FS_stdin_getChar_buffer.length){var result=null;if(ENVIRONMENT_IS_NODE){var BUFSIZE=256;var buf=Buffer.alloc(BUFSIZE);var bytesRead=0;var fd=process.stdin.fd;try{bytesRead=fs.readSync(fd,buf,0,BUFSIZE)}catch(e){if(e.toString().includes("EOF"))bytesRead=0;else throw e}if(bytesRead>0){result=buf.slice(0,bytesRead).toString("utf-8")}}else if(globalThis.window?.prompt){result=window.prompt("Input: ");if(result!==null){result+="\n"}}else{}if(!result){return null}FS_stdin_getChar_buffer=intArrayFromString(result,true)}return FS_stdin_getChar_buffer.shift()};var TTY={ttys:[],init(){},shutdown(){},register(dev,ops){TTY.ttys[dev]={input:[],output:[],ops};FS.registerDevice(dev,TTY.stream_ops)},stream_ops:{open(stream){var tty=TTY.ttys[stream.node.rdev];if(!tty){throw new FS.ErrnoError(43)}stream.tty=tty;stream.seekable=false},close(stream){stream.tty.ops.fsync(stream.tty)},fsync(stream){stream.tty.ops.fsync(stream.tty)},read(stream,buffer,offset,length,pos){if(!stream.tty||!stream.tty.ops.get_char){throw new FS.ErrnoError(60)}var bytesRead=0;for(var i=0;i0){out(UTF8ArrayToString(tty.output));tty.output=[]}},ioctl_tcgets(tty){return{c_iflag:25856,c_oflag:5,c_cflag:191,c_lflag:35387,c_cc:[3,28,127,21,4,0,1,0,17,19,26,0,18,15,23,22,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0]}},ioctl_tcsets(tty,optional_actions,data){return 0},ioctl_tiocgwinsz(tty){return[24,80]}},default_tty1_ops:{put_char(tty,val){if(val===null||val===10){err(UTF8ArrayToString(tty.output));tty.output=[]}else{if(val!=0)tty.output.push(val)}},fsync(tty){if(tty.output?.length>0){err(UTF8ArrayToString(tty.output));tty.output=[]}}}};var mmapAlloc=size=>{abort()};var MEMFS={ops_table:null,mount(mount){return MEMFS.createNode(null,"/",16895,0)},createNode(parent,name,mode,dev){if(FS.isBlkdev(mode)||FS.isFIFO(mode)){throw new FS.ErrnoError(63)}MEMFS.ops_table||={dir:{node:{getattr:MEMFS.node_ops.getattr,setattr:MEMFS.node_ops.setattr,lookup:MEMFS.node_ops.lookup,mknod:MEMFS.node_ops.mknod,rename:MEMFS.node_ops.rename,unlink:MEMFS.node_ops.unlink,rmdir:MEMFS.node_ops.rmdir,readdir:MEMFS.node_ops.readdir,symlink:MEMFS.node_ops.symlink},stream:{llseek:MEMFS.stream_ops.llseek}},file:{node:{getattr:MEMFS.node_ops.getattr,setattr:MEMFS.node_ops.setattr},stream:{llseek:MEMFS.stream_ops.llseek,read:MEMFS.stream_ops.read,write:MEMFS.stream_ops.write,mmap:MEMFS.stream_ops.mmap,msync:MEMFS.stream_ops.msync}},link:{node:{getattr:MEMFS.node_ops.getattr,setattr:MEMFS.node_ops.setattr,readlink:MEMFS.node_ops.readlink},stream:{}},chrdev:{node:{getattr:MEMFS.node_ops.getattr,setattr:MEMFS.node_ops.setattr},stream:FS.chrdev_stream_ops}};var node=FS.createNode(parent,name,mode,dev);if(FS.isDir(node.mode)){node.node_ops=MEMFS.ops_table.dir.node;node.stream_ops=MEMFS.ops_table.dir.stream;node.contents={}}else if(FS.isFile(node.mode)){node.node_ops=MEMFS.ops_table.file.node;node.stream_ops=MEMFS.ops_table.file.stream;node.usedBytes=0;node.contents=null}else if(FS.isLink(node.mode)){node.node_ops=MEMFS.ops_table.link.node;node.stream_ops=MEMFS.ops_table.link.stream}else if(FS.isChrdev(node.mode)){node.node_ops=MEMFS.ops_table.chrdev.node;node.stream_ops=MEMFS.ops_table.chrdev.stream}node.atime=node.mtime=node.ctime=Date.now();if(parent){parent.contents[name]=node;parent.atime=parent.mtime=parent.ctime=node.atime}return node},getFileDataAsTypedArray(node){if(!node.contents)return new Uint8Array(0);if(node.contents.subarray)return node.contents.subarray(0,node.usedBytes);return new Uint8Array(node.contents)},expandFileStorage(node,newCapacity){var prevCapacity=node.contents?node.contents.length:0;if(prevCapacity>=newCapacity)return;var CAPACITY_DOUBLING_MAX=1024*1024;newCapacity=Math.max(newCapacity,prevCapacity*(prevCapacity>>0);if(prevCapacity!=0)newCapacity=Math.max(newCapacity,256);var oldContents=node.contents;node.contents=new Uint8Array(newCapacity);if(node.usedBytes>0)node.contents.set(oldContents.subarray(0,node.usedBytes),0)},resizeFileStorage(node,newSize){if(node.usedBytes==newSize)return;if(newSize==0){node.contents=null;node.usedBytes=0}else{var oldContents=node.contents;node.contents=new Uint8Array(newSize);if(oldContents){node.contents.set(oldContents.subarray(0,Math.min(newSize,node.usedBytes)))}node.usedBytes=newSize}},node_ops:{getattr(node){var attr={};attr.dev=FS.isChrdev(node.mode)?node.id:1;attr.ino=node.id;attr.mode=node.mode;attr.nlink=1;attr.uid=0;attr.gid=0;attr.rdev=node.rdev;if(FS.isDir(node.mode)){attr.size=4096}else if(FS.isFile(node.mode)){attr.size=node.usedBytes}else if(FS.isLink(node.mode)){attr.size=node.link.length}else{attr.size=0}attr.atime=new Date(node.atime);attr.mtime=new Date(node.mtime);attr.ctime=new Date(node.ctime);attr.blksize=4096;attr.blocks=Math.ceil(attr.size/attr.blksize);return attr},setattr(node,attr){for(const key of["mode","atime","mtime","ctime"]){if(attr[key]!=null){node[key]=attr[key]}}if(attr.size!==undefined){MEMFS.resizeFileStorage(node,attr.size)}},lookup(parent,name){if(!MEMFS.doesNotExistError){MEMFS.doesNotExistError=new FS.ErrnoError(44);MEMFS.doesNotExistError.stack=""}throw MEMFS.doesNotExistError},mknod(parent,name,mode,dev){return MEMFS.createNode(parent,name,mode,dev)},rename(old_node,new_dir,new_name){var new_node;try{new_node=FS.lookupNode(new_dir,new_name)}catch(e){}if(new_node){if(FS.isDir(old_node.mode)){for(var i in new_node.contents){throw new FS.ErrnoError(55)}}FS.hashRemoveNode(new_node)}delete old_node.parent.contents[old_node.name];new_dir.contents[new_name]=old_node;old_node.name=new_name;new_dir.ctime=new_dir.mtime=old_node.parent.ctime=old_node.parent.mtime=Date.now()},unlink(parent,name){delete parent.contents[name];parent.ctime=parent.mtime=Date.now()},rmdir(parent,name){var node=FS.lookupNode(parent,name);for(var i in node.contents){throw new FS.ErrnoError(55)}delete parent.contents[name];parent.ctime=parent.mtime=Date.now()},readdir(node){return[".","..",...Object.keys(node.contents)]},symlink(parent,newname,oldpath){var node=MEMFS.createNode(parent,newname,511|40960,0);node.link=oldpath;return node},readlink(node){if(!FS.isLink(node.mode)){throw new FS.ErrnoError(28)}return node.link}},stream_ops:{read(stream,buffer,offset,length,position){var contents=stream.node.contents;if(position>=stream.node.usedBytes)return 0;var size=Math.min(stream.node.usedBytes-position,length);if(size>8&&contents.subarray){buffer.set(contents.subarray(position,position+size),offset)}else{for(var i=0;i0||position+length{var flagModes={r:0,"r+":2,w:512|64|1,"w+":512|64|2,a:1024|64|1,"a+":1024|64|2};var flags=flagModes[str];if(typeof flags=="undefined"){throw new Error(`Unknown file open mode: ${str}`)}return flags};var FS_getMode=(canRead,canWrite)=>{var mode=0;if(canRead)mode|=292|73;if(canWrite)mode|=146;return mode};var asyncLoad=async url=>{var arrayBuffer=await readAsync(url);return new Uint8Array(arrayBuffer)};var FS_createDataFile=(...args)=>FS.createDataFile(...args);var getUniqueRunDependency=id=>id;var runDependencies=0;var dependenciesFulfilled=null;var removeRunDependency=id=>{runDependencies--;Module["monitorRunDependencies"]?.(runDependencies);if(runDependencies==0){if(dependenciesFulfilled){var callback=dependenciesFulfilled;dependenciesFulfilled=null;callback()}}};var addRunDependency=id=>{runDependencies++;Module["monitorRunDependencies"]?.(runDependencies)};var preloadPlugins=[];var FS_handledByPreloadPlugin=async(byteArray,fullname)=>{if(typeof Browser!="undefined")Browser.init();for(var plugin of preloadPlugins){if(plugin["canHandle"](fullname)){return plugin["handle"](byteArray,fullname)}}return byteArray};var FS_preloadFile=async(parent,name,url,canRead,canWrite,dontCreateFile,canOwn,preFinish)=>{var fullname=name?PATH_FS.resolve(PATH.join2(parent,name)):parent;var dep=getUniqueRunDependency(`cp ${fullname}`);addRunDependency(dep);try{var byteArray=url;if(typeof url=="string"){byteArray=await asyncLoad(url)}byteArray=await FS_handledByPreloadPlugin(byteArray,fullname);preFinish?.();if(!dontCreateFile){FS_createDataFile(parent,name,byteArray,canRead,canWrite,canOwn)}}finally{removeRunDependency(dep)}};var FS_createPreloadedFile=(parent,name,url,canRead,canWrite,onload,onerror,dontCreateFile,canOwn,preFinish)=>{FS_preloadFile(parent,name,url,canRead,canWrite,dontCreateFile,canOwn,preFinish).then(onload).catch(onerror)};var FS={root:null,mounts:[],devices:{},streams:[],nextInode:1,nameTable:null,currentPath:"/",initialized:false,ignorePermissions:true,filesystems:null,syncFSRequests:0,readFiles:{},ErrnoError:class{name="ErrnoError";constructor(errno){this.errno=errno}},FSStream:class{shared={};get object(){return this.node}set object(val){this.node=val}get isRead(){return(this.flags&2097155)!==1}get isWrite(){return(this.flags&2097155)!==0}get isAppend(){return this.flags&1024}get flags(){return this.shared.flags}set flags(val){this.shared.flags=val}get position(){return this.shared.position}set position(val){this.shared.position=val}},FSNode:class{node_ops={};stream_ops={};readMode=292|73;writeMode=146;mounted=null;constructor(parent,name,mode,rdev){if(!parent){parent=this}this.parent=parent;this.mount=parent.mount;this.id=FS.nextInode++;this.name=name;this.mode=mode;this.rdev=rdev;this.atime=this.mtime=this.ctime=Date.now()}get read(){return(this.mode&this.readMode)===this.readMode}set read(val){val?this.mode|=this.readMode:this.mode&=~this.readMode}get write(){return(this.mode&this.writeMode)===this.writeMode}set write(val){val?this.mode|=this.writeMode:this.mode&=~this.writeMode}get isFolder(){return FS.isDir(this.mode)}get isDevice(){return FS.isChrdev(this.mode)}},lookupPath(path,opts={}){if(!path){throw new FS.ErrnoError(44)}opts.follow_mount??=true;if(!PATH.isAbs(path)){path=FS.cwd()+"/"+path}linkloop:for(var nlinks=0;nlinks<40;nlinks++){var parts=path.split("/").filter(p=>!!p);var current=FS.root;var current_path="/";for(var i=0;i>>0)%FS.nameTable.length},hashAddNode(node){var hash=FS.hashName(node.parent.id,node.name);node.name_next=FS.nameTable[hash];FS.nameTable[hash]=node},hashRemoveNode(node){var hash=FS.hashName(node.parent.id,node.name);if(FS.nameTable[hash]===node){FS.nameTable[hash]=node.name_next}else{var current=FS.nameTable[hash];while(current){if(current.name_next===node){current.name_next=node.name_next;break}current=current.name_next}}},lookupNode(parent,name){var errCode=FS.mayLookup(parent);if(errCode){throw new FS.ErrnoError(errCode)}var hash=FS.hashName(parent.id,name);for(var node=FS.nameTable[hash];node;node=node.name_next){var nodeName=node.name;if(node.parent.id===parent.id&&nodeName===name){return node}}return FS.lookup(parent,name)},createNode(parent,name,mode,rdev){var node=new FS.FSNode(parent,name,mode,rdev);FS.hashAddNode(node);return node},destroyNode(node){FS.hashRemoveNode(node)},isRoot(node){return node===node.parent},isMountpoint(node){return!!node.mounted},isFile(mode){return(mode&61440)===32768},isDir(mode){return(mode&61440)===16384},isLink(mode){return(mode&61440)===40960},isChrdev(mode){return(mode&61440)===8192},isBlkdev(mode){return(mode&61440)===24576},isFIFO(mode){return(mode&61440)===4096},isSocket(mode){return(mode&49152)===49152},flagsToPermissionString(flag){var perms=["r","w","rw"][flag&3];if(flag&512){perms+="w"}return perms},nodePermissions(node,perms){if(FS.ignorePermissions){return 0}if(perms.includes("r")&&!(node.mode&292)){return 2}else if(perms.includes("w")&&!(node.mode&146)){return 2}else if(perms.includes("x")&&!(node.mode&73)){return 2}return 0},mayLookup(dir){if(!FS.isDir(dir.mode))return 54;var errCode=FS.nodePermissions(dir,"x");if(errCode)return errCode;if(!dir.node_ops.lookup)return 2;return 0},mayCreate(dir,name){if(!FS.isDir(dir.mode)){return 54}try{var node=FS.lookupNode(dir,name);return 20}catch(e){}return FS.nodePermissions(dir,"wx")},mayDelete(dir,name,isdir){var node;try{node=FS.lookupNode(dir,name)}catch(e){return e.errno}var errCode=FS.nodePermissions(dir,"wx");if(errCode){return errCode}if(isdir){if(!FS.isDir(node.mode)){return 54}if(FS.isRoot(node)||FS.getPath(node)===FS.cwd()){return 10}}else{if(FS.isDir(node.mode)){return 31}}return 0},mayOpen(node,flags){if(!node){return 44}if(FS.isLink(node.mode)){return 32}else if(FS.isDir(node.mode)){if(FS.flagsToPermissionString(flags)!=="r"||flags&(512|64)){return 31}}return FS.nodePermissions(node,FS.flagsToPermissionString(flags))},checkOpExists(op,err){if(!op){throw new FS.ErrnoError(err)}return op},MAX_OPEN_FDS:4096,nextfd(){for(var fd=0;fd<=FS.MAX_OPEN_FDS;fd++){if(!FS.streams[fd]){return fd}}throw new FS.ErrnoError(33)},getStreamChecked(fd){var stream=FS.getStream(fd);if(!stream){throw new FS.ErrnoError(8)}return stream},getStream:fd=>FS.streams[fd],createStream(stream,fd=-1){stream=Object.assign(new FS.FSStream,stream);if(fd==-1){fd=FS.nextfd()}stream.fd=fd;FS.streams[fd]=stream;return stream},closeStream(fd){FS.streams[fd]=null},dupStream(origStream,fd=-1){var stream=FS.createStream(origStream,fd);stream.stream_ops?.dup?.(stream);return stream},doSetAttr(stream,node,attr){var setattr=stream?.stream_ops.setattr;var arg=setattr?stream:node;setattr??=node.node_ops.setattr;FS.checkOpExists(setattr,63);setattr(arg,attr)},chrdev_stream_ops:{open(stream){var device=FS.getDevice(stream.node.rdev);stream.stream_ops=device.stream_ops;stream.stream_ops.open?.(stream)},llseek(){throw new FS.ErrnoError(70)}},major:dev=>dev>>8,minor:dev=>dev&255,makedev:(ma,mi)=>ma<<8|mi,registerDevice(dev,ops){FS.devices[dev]={stream_ops:ops}},getDevice:dev=>FS.devices[dev],getMounts(mount){var mounts=[];var check=[mount];while(check.length){var m=check.pop();mounts.push(m);check.push(...m.mounts)}return mounts},syncfs(populate,callback){if(typeof populate=="function"){callback=populate;populate=false}FS.syncFSRequests++;if(FS.syncFSRequests>1){err(`warning: ${FS.syncFSRequests} FS.syncfs operations in flight at once, probably just doing extra work`)}var mounts=FS.getMounts(FS.root.mount);var completed=0;function doCallback(errCode){FS.syncFSRequests--;return callback(errCode)}function done(errCode){if(errCode){if(!done.errored){done.errored=true;return doCallback(errCode)}return}if(++completed>=mounts.length){doCallback(null)}}for(var mount of mounts){if(mount.type.syncfs){mount.type.syncfs(mount,populate,done)}else{done(null)}}},mount(type,opts,mountpoint){var root=mountpoint==="/";var pseudo=!mountpoint;var node;if(root&&FS.root){throw new FS.ErrnoError(10)}else if(!root&&!pseudo){var lookup=FS.lookupPath(mountpoint,{follow_mount:false});mountpoint=lookup.path;node=lookup.node;if(FS.isMountpoint(node)){throw new FS.ErrnoError(10)}if(!FS.isDir(node.mode)){throw new FS.ErrnoError(54)}}var mount={type,opts,mountpoint,mounts:[]};var mountRoot=type.mount(mount);mountRoot.mount=mount;mount.root=mountRoot;if(root){FS.root=mountRoot}else if(node){node.mounted=mount;if(node.mount){node.mount.mounts.push(mount)}}return mountRoot},unmount(mountpoint){var lookup=FS.lookupPath(mountpoint,{follow_mount:false});if(!FS.isMountpoint(lookup.node)){throw new FS.ErrnoError(28)}var node=lookup.node;var mount=node.mounted;var mounts=FS.getMounts(mount);for(var[hash,current]of Object.entries(FS.nameTable)){while(current){var next=current.name_next;if(mounts.includes(current.mount)){FS.destroyNode(current)}current=next}}node.mounted=null;var idx=node.mount.mounts.indexOf(mount);node.mount.mounts.splice(idx,1)},lookup(parent,name){return parent.node_ops.lookup(parent,name)},mknod(path,mode,dev){var lookup=FS.lookupPath(path,{parent:true});var parent=lookup.node;var name=PATH.basename(path);if(!name){throw new FS.ErrnoError(28)}if(name==="."||name===".."){throw new FS.ErrnoError(20)}var errCode=FS.mayCreate(parent,name);if(errCode){throw new FS.ErrnoError(errCode)}if(!parent.node_ops.mknod){throw new FS.ErrnoError(63)}return parent.node_ops.mknod(parent,name,mode,dev)},statfs(path){return FS.statfsNode(FS.lookupPath(path,{follow:true}).node)},statfsStream(stream){return FS.statfsNode(stream.node)},statfsNode(node){var rtn={bsize:4096,frsize:4096,blocks:1e6,bfree:5e5,bavail:5e5,files:FS.nextInode,ffree:FS.nextInode-1,fsid:42,flags:2,namelen:255};if(node.node_ops.statfs){Object.assign(rtn,node.node_ops.statfs(node.mount.opts.root))}return rtn},create(path,mode=438){mode&=4095;mode|=32768;return FS.mknod(path,mode,0)},mkdir(path,mode=511){mode&=511|512;mode|=16384;return FS.mknod(path,mode,0)},mkdirTree(path,mode){var dirs=path.split("/");var d="";for(var dir of dirs){if(!dir)continue;if(d||PATH.isAbs(path))d+="/";d+=dir;try{FS.mkdir(d,mode)}catch(e){if(e.errno!=20)throw e}}},mkdev(path,mode,dev){if(typeof dev=="undefined"){dev=mode;mode=438}mode|=8192;return FS.mknod(path,mode,dev)},symlink(oldpath,newpath){if(!PATH_FS.resolve(oldpath)){throw new FS.ErrnoError(44)}var lookup=FS.lookupPath(newpath,{parent:true});var parent=lookup.node;if(!parent){throw new FS.ErrnoError(44)}var newname=PATH.basename(newpath);var errCode=FS.mayCreate(parent,newname);if(errCode){throw new FS.ErrnoError(errCode)}if(!parent.node_ops.symlink){throw new FS.ErrnoError(63)}return parent.node_ops.symlink(parent,newname,oldpath)},rename(old_path,new_path){var old_dirname=PATH.dirname(old_path);var new_dirname=PATH.dirname(new_path);var old_name=PATH.basename(old_path);var new_name=PATH.basename(new_path);var lookup,old_dir,new_dir;lookup=FS.lookupPath(old_path,{parent:true});old_dir=lookup.node;lookup=FS.lookupPath(new_path,{parent:true});new_dir=lookup.node;if(!old_dir||!new_dir)throw new FS.ErrnoError(44);if(old_dir.mount!==new_dir.mount){throw new FS.ErrnoError(75)}var old_node=FS.lookupNode(old_dir,old_name);var relative=PATH_FS.relative(old_path,new_dirname);if(relative.charAt(0)!=="."){throw new FS.ErrnoError(28)}relative=PATH_FS.relative(new_path,old_dirname);if(relative.charAt(0)!=="."){throw new FS.ErrnoError(55)}var new_node;try{new_node=FS.lookupNode(new_dir,new_name)}catch(e){}if(old_node===new_node){return}var isdir=FS.isDir(old_node.mode);var errCode=FS.mayDelete(old_dir,old_name,isdir);if(errCode){throw new FS.ErrnoError(errCode)}errCode=new_node?FS.mayDelete(new_dir,new_name,isdir):FS.mayCreate(new_dir,new_name);if(errCode){throw new FS.ErrnoError(errCode)}if(!old_dir.node_ops.rename){throw new FS.ErrnoError(63)}if(FS.isMountpoint(old_node)||new_node&&FS.isMountpoint(new_node)){throw new FS.ErrnoError(10)}if(new_dir!==old_dir){errCode=FS.nodePermissions(old_dir,"w");if(errCode){throw new FS.ErrnoError(errCode)}}FS.hashRemoveNode(old_node);try{old_dir.node_ops.rename(old_node,new_dir,new_name);old_node.parent=new_dir}catch(e){throw e}finally{FS.hashAddNode(old_node)}},rmdir(path){var lookup=FS.lookupPath(path,{parent:true});var parent=lookup.node;var name=PATH.basename(path);var node=FS.lookupNode(parent,name);var errCode=FS.mayDelete(parent,name,true);if(errCode){throw new FS.ErrnoError(errCode)}if(!parent.node_ops.rmdir){throw new FS.ErrnoError(63)}if(FS.isMountpoint(node)){throw new FS.ErrnoError(10)}parent.node_ops.rmdir(parent,name);FS.destroyNode(node)},readdir(path){var lookup=FS.lookupPath(path,{follow:true});var node=lookup.node;var readdir=FS.checkOpExists(node.node_ops.readdir,54);return readdir(node)},unlink(path){var lookup=FS.lookupPath(path,{parent:true});var parent=lookup.node;if(!parent){throw new FS.ErrnoError(44)}var name=PATH.basename(path);var node=FS.lookupNode(parent,name);var errCode=FS.mayDelete(parent,name,false);if(errCode){throw new FS.ErrnoError(errCode)}if(!parent.node_ops.unlink){throw new FS.ErrnoError(63)}if(FS.isMountpoint(node)){throw new FS.ErrnoError(10)}parent.node_ops.unlink(parent,name);FS.destroyNode(node)},readlink(path){var lookup=FS.lookupPath(path);var link=lookup.node;if(!link){throw new FS.ErrnoError(44)}if(!link.node_ops.readlink){throw new FS.ErrnoError(28)}return link.node_ops.readlink(link)},stat(path,dontFollow){var lookup=FS.lookupPath(path,{follow:!dontFollow});var node=lookup.node;var getattr=FS.checkOpExists(node.node_ops.getattr,63);return getattr(node)},fstat(fd){var stream=FS.getStreamChecked(fd);var node=stream.node;var getattr=stream.stream_ops.getattr;var arg=getattr?stream:node;getattr??=node.node_ops.getattr;FS.checkOpExists(getattr,63);return getattr(arg)},lstat(path){return FS.stat(path,true)},doChmod(stream,node,mode,dontFollow){FS.doSetAttr(stream,node,{mode:mode&4095|node.mode&~4095,ctime:Date.now(),dontFollow})},chmod(path,mode,dontFollow){var node;if(typeof path=="string"){var lookup=FS.lookupPath(path,{follow:!dontFollow});node=lookup.node}else{node=path}FS.doChmod(null,node,mode,dontFollow)},lchmod(path,mode){FS.chmod(path,mode,true)},fchmod(fd,mode){var stream=FS.getStreamChecked(fd);FS.doChmod(stream,stream.node,mode,false)},doChown(stream,node,dontFollow){FS.doSetAttr(stream,node,{timestamp:Date.now(),dontFollow})},chown(path,uid,gid,dontFollow){var node;if(typeof path=="string"){var lookup=FS.lookupPath(path,{follow:!dontFollow});node=lookup.node}else{node=path}FS.doChown(null,node,dontFollow)},lchown(path,uid,gid){FS.chown(path,uid,gid,true)},fchown(fd,uid,gid){var stream=FS.getStreamChecked(fd);FS.doChown(stream,stream.node,false)},doTruncate(stream,node,len){if(FS.isDir(node.mode)){throw new FS.ErrnoError(31)}if(!FS.isFile(node.mode)){throw new FS.ErrnoError(28)}var errCode=FS.nodePermissions(node,"w");if(errCode){throw new FS.ErrnoError(errCode)}FS.doSetAttr(stream,node,{size:len,timestamp:Date.now()})},truncate(path,len){if(len<0){throw new FS.ErrnoError(28)}var node;if(typeof path=="string"){var lookup=FS.lookupPath(path,{follow:true});node=lookup.node}else{node=path}FS.doTruncate(null,node,len)},ftruncate(fd,len){var stream=FS.getStreamChecked(fd);if(len<0||(stream.flags&2097155)===0){throw new FS.ErrnoError(28)}FS.doTruncate(stream,stream.node,len)},utime(path,atime,mtime){var lookup=FS.lookupPath(path,{follow:true});var node=lookup.node;var setattr=FS.checkOpExists(node.node_ops.setattr,63);setattr(node,{atime,mtime})},open(path,flags,mode=438){if(path===""){throw new FS.ErrnoError(44)}flags=typeof flags=="string"?FS_modeStringToFlags(flags):flags;if(flags&64){mode=mode&4095|32768}else{mode=0}var node;var isDirPath;if(typeof path=="object"){node=path}else{isDirPath=path.endsWith("/");var lookup=FS.lookupPath(path,{follow:!(flags&131072),noent_okay:true});node=lookup.node;path=lookup.path}var created=false;if(flags&64){if(node){if(flags&128){throw new FS.ErrnoError(20)}}else if(isDirPath){throw new FS.ErrnoError(31)}else{node=FS.mknod(path,mode|511,0);created=true}}if(!node){throw new FS.ErrnoError(44)}if(FS.isChrdev(node.mode)){flags&=~512}if(flags&65536&&!FS.isDir(node.mode)){throw new FS.ErrnoError(54)}if(!created){var errCode=FS.mayOpen(node,flags);if(errCode){throw new FS.ErrnoError(errCode)}}if(flags&512&&!created){FS.truncate(node,0)}flags&=~(128|512|131072);var stream=FS.createStream({node,path:FS.getPath(node),flags,seekable:true,position:0,stream_ops:node.stream_ops,ungotten:[],error:false});if(stream.stream_ops.open){stream.stream_ops.open(stream)}if(created){FS.chmod(node,mode&511)}if(Module["logReadFiles"]&&!(flags&1)){if(!(path in FS.readFiles)){FS.readFiles[path]=1}}return stream},close(stream){if(FS.isClosed(stream)){throw new FS.ErrnoError(8)}if(stream.getdents)stream.getdents=null;try{if(stream.stream_ops.close){stream.stream_ops.close(stream)}}catch(e){throw e}finally{FS.closeStream(stream.fd)}stream.fd=null},isClosed(stream){return stream.fd===null},llseek(stream,offset,whence){if(FS.isClosed(stream)){throw new FS.ErrnoError(8)}if(!stream.seekable||!stream.stream_ops.llseek){throw new FS.ErrnoError(70)}if(whence!=0&&whence!=1&&whence!=2){throw new FS.ErrnoError(28)}stream.position=stream.stream_ops.llseek(stream,offset,whence);stream.ungotten=[];return stream.position},read(stream,buffer,offset,length,position){if(length<0||position<0){throw new FS.ErrnoError(28)}if(FS.isClosed(stream)){throw new FS.ErrnoError(8)}if((stream.flags&2097155)===1){throw new FS.ErrnoError(8)}if(FS.isDir(stream.node.mode)){throw new FS.ErrnoError(31)}if(!stream.stream_ops.read){throw new FS.ErrnoError(28)}var seeking=typeof position!="undefined";if(!seeking){position=stream.position}else if(!stream.seekable){throw new FS.ErrnoError(70)}var bytesRead=stream.stream_ops.read(stream,buffer,offset,length,position);if(!seeking)stream.position+=bytesRead;return bytesRead},write(stream,buffer,offset,length,position,canOwn){if(length<0||position<0){throw new FS.ErrnoError(28)}if(FS.isClosed(stream)){throw new FS.ErrnoError(8)}if((stream.flags&2097155)===0){throw new FS.ErrnoError(8)}if(FS.isDir(stream.node.mode)){throw new FS.ErrnoError(31)}if(!stream.stream_ops.write){throw new FS.ErrnoError(28)}if(stream.seekable&&stream.flags&1024){FS.llseek(stream,0,2)}var seeking=typeof position!="undefined";if(!seeking){position=stream.position}else if(!stream.seekable){throw new FS.ErrnoError(70)}var bytesWritten=stream.stream_ops.write(stream,buffer,offset,length,position,canOwn);if(!seeking)stream.position+=bytesWritten;return bytesWritten},mmap(stream,length,position,prot,flags){if((prot&2)!==0&&(flags&2)===0&&(stream.flags&2097155)!==2){throw new FS.ErrnoError(2)}if((stream.flags&2097155)===1){throw new FS.ErrnoError(2)}if(!stream.stream_ops.mmap){throw new FS.ErrnoError(43)}if(!length){throw new FS.ErrnoError(28)}return stream.stream_ops.mmap(stream,length,position,prot,flags)},msync(stream,buffer,offset,length,mmapFlags){if(!stream.stream_ops.msync){return 0}return stream.stream_ops.msync(stream,buffer,offset,length,mmapFlags)},ioctl(stream,cmd,arg){if(!stream.stream_ops.ioctl){throw new FS.ErrnoError(59)}return stream.stream_ops.ioctl(stream,cmd,arg)},readFile(path,opts={}){opts.flags=opts.flags||0;opts.encoding=opts.encoding||"binary";if(opts.encoding!=="utf8"&&opts.encoding!=="binary"){abort(`Invalid encoding type "${opts.encoding}"`)}var stream=FS.open(path,opts.flags);var stat=FS.stat(path);var length=stat.size;var buf=new Uint8Array(length);FS.read(stream,buf,0,length,0);if(opts.encoding==="utf8"){buf=UTF8ArrayToString(buf)}FS.close(stream);return buf},writeFile(path,data,opts={}){opts.flags=opts.flags||577;var stream=FS.open(path,opts.flags,opts.mode);if(typeof data=="string"){data=new Uint8Array(intArrayFromString(data,true))}if(ArrayBuffer.isView(data)){FS.write(stream,data,0,data.byteLength,undefined,opts.canOwn)}else{abort("Unsupported data type")}FS.close(stream)},cwd:()=>FS.currentPath,chdir(path){var lookup=FS.lookupPath(path,{follow:true});if(lookup.node===null){throw new FS.ErrnoError(44)}if(!FS.isDir(lookup.node.mode)){throw new FS.ErrnoError(54)}var errCode=FS.nodePermissions(lookup.node,"x");if(errCode){throw new FS.ErrnoError(errCode)}FS.currentPath=lookup.path},createDefaultDirectories(){FS.mkdir("/tmp");FS.mkdir("/home");FS.mkdir("/home/web_user")},createDefaultDevices(){FS.mkdir("/dev");FS.registerDevice(FS.makedev(1,3),{read:()=>0,write:(stream,buffer,offset,length,pos)=>length,llseek:()=>0});FS.mkdev("/dev/null",FS.makedev(1,3));TTY.register(FS.makedev(5,0),TTY.default_tty_ops);TTY.register(FS.makedev(6,0),TTY.default_tty1_ops);FS.mkdev("/dev/tty",FS.makedev(5,0));FS.mkdev("/dev/tty1",FS.makedev(6,0));var randomBuffer=new Uint8Array(1024),randomLeft=0;var randomByte=()=>{if(randomLeft===0){randomFill(randomBuffer);randomLeft=randomBuffer.byteLength}return randomBuffer[--randomLeft]};FS.createDevice("/dev","random",randomByte);FS.createDevice("/dev","urandom",randomByte);FS.mkdir("/dev/shm");FS.mkdir("/dev/shm/tmp")},createSpecialDirectories(){FS.mkdir("/proc");var proc_self=FS.mkdir("/proc/self");FS.mkdir("/proc/self/fd");FS.mount({mount(){var node=FS.createNode(proc_self,"fd",16895,73);node.stream_ops={llseek:MEMFS.stream_ops.llseek};node.node_ops={lookup(parent,name){var fd=+name;var stream=FS.getStreamChecked(fd);var ret={parent:null,mount:{mountpoint:"fake"},node_ops:{readlink:()=>stream.path},id:fd+1};ret.parent=ret;return ret},readdir(){return Array.from(FS.streams.entries()).filter(([k,v])=>v).map(([k,v])=>k.toString())}};return node}},{},"/proc/self/fd")},createStandardStreams(input,output,error){if(input){FS.createDevice("/dev","stdin",input)}else{FS.symlink("/dev/tty","/dev/stdin")}if(output){FS.createDevice("/dev","stdout",null,output)}else{FS.symlink("/dev/tty","/dev/stdout")}if(error){FS.createDevice("/dev","stderr",null,error)}else{FS.symlink("/dev/tty1","/dev/stderr")}var stdin=FS.open("/dev/stdin",0);var stdout=FS.open("/dev/stdout",1);var stderr=FS.open("/dev/stderr",1)},staticInit(){FS.nameTable=new Array(4096);FS.mount(MEMFS,{},"/");FS.createDefaultDirectories();FS.createDefaultDevices();FS.createSpecialDirectories();FS.filesystems={MEMFS}},init(input,output,error){FS.initialized=true;input??=Module["stdin"];output??=Module["stdout"];error??=Module["stderr"];FS.createStandardStreams(input,output,error)},quit(){FS.initialized=false;for(var stream of FS.streams){if(stream){FS.close(stream)}}},findObject(path,dontResolveLastLink){var ret=FS.analyzePath(path,dontResolveLastLink);if(!ret.exists){return null}return ret.object},analyzePath(path,dontResolveLastLink){try{var lookup=FS.lookupPath(path,{follow:!dontResolveLastLink});path=lookup.path}catch(e){}var ret={isRoot:false,exists:false,error:0,name:null,path:null,object:null,parentExists:false,parentPath:null,parentObject:null};try{var lookup=FS.lookupPath(path,{parent:true});ret.parentExists=true;ret.parentPath=lookup.path;ret.parentObject=lookup.node;ret.name=PATH.basename(path);lookup=FS.lookupPath(path,{follow:!dontResolveLastLink});ret.exists=true;ret.path=lookup.path;ret.object=lookup.node;ret.name=lookup.node.name;ret.isRoot=lookup.path==="/"}catch(e){ret.error=e.errno}return ret},createPath(parent,path,canRead,canWrite){parent=typeof parent=="string"?parent:FS.getPath(parent);var parts=path.split("/").reverse();while(parts.length){var part=parts.pop();if(!part)continue;var current=PATH.join2(parent,part);try{FS.mkdir(current)}catch(e){if(e.errno!=20)throw e}parent=current}return current},createFile(parent,name,properties,canRead,canWrite){var path=PATH.join2(typeof parent=="string"?parent:FS.getPath(parent),name);var mode=FS_getMode(canRead,canWrite);return FS.create(path,mode)},createDataFile(parent,name,data,canRead,canWrite,canOwn){var path=name;if(parent){parent=typeof parent=="string"?parent:FS.getPath(parent);path=name?PATH.join2(parent,name):parent}var mode=FS_getMode(canRead,canWrite);var node=FS.create(path,mode);if(data){if(typeof data=="string"){var arr=new Array(data.length);for(var i=0,len=data.length;ithis.length-1||idx<0){return undefined}var chunkOffset=idx%this.chunkSize;var chunkNum=idx/this.chunkSize|0;return this.getter(chunkNum)[chunkOffset]}setDataGetter(getter){this.getter=getter}cacheLength(){var xhr=new XMLHttpRequest;xhr.open("HEAD",url,false);xhr.send(null);if(!(xhr.status>=200&&xhr.status<300||xhr.status===304))abort("Couldn't load "+url+". Status: "+xhr.status);var datalength=Number(xhr.getResponseHeader("Content-length"));var header;var hasByteServing=(header=xhr.getResponseHeader("Accept-Ranges"))&&header==="bytes";var usesGzip=(header=xhr.getResponseHeader("Content-Encoding"))&&header==="gzip";var chunkSize=1024*1024;if(!hasByteServing)chunkSize=datalength;var doXHR=(from,to)=>{if(from>to)abort("invalid range ("+from+", "+to+") or no bytes requested!");if(to>datalength-1)abort("only "+datalength+" bytes available! programmer error!");var xhr=new XMLHttpRequest;xhr.open("GET",url,false);if(datalength!==chunkSize)xhr.setRequestHeader("Range","bytes="+from+"-"+to);xhr.responseType="arraybuffer";if(xhr.overrideMimeType){xhr.overrideMimeType("text/plain; charset=x-user-defined")}xhr.send(null);if(!(xhr.status>=200&&xhr.status<300||xhr.status===304))abort("Couldn't load "+url+". Status: "+xhr.status);if(xhr.response!==undefined){return new Uint8Array(xhr.response||[])}return intArrayFromString(xhr.responseText||"",true)};var lazyArray=this;lazyArray.setDataGetter(chunkNum=>{var start=chunkNum*chunkSize;var end=(chunkNum+1)*chunkSize-1;end=Math.min(end,datalength-1);if(typeof lazyArray.chunks[chunkNum]=="undefined"){lazyArray.chunks[chunkNum]=doXHR(start,end)}if(typeof lazyArray.chunks[chunkNum]=="undefined")abort("doXHR failed!");return lazyArray.chunks[chunkNum]});if(usesGzip||!datalength){chunkSize=datalength=1;datalength=this.getter(0).length;chunkSize=datalength;out("LazyFiles on gzip forces download of the whole file when length is accessed")}this._length=datalength;this._chunkSize=chunkSize;this.lengthKnown=true}get length(){if(!this.lengthKnown){this.cacheLength()}return this._length}get chunkSize(){if(!this.lengthKnown){this.cacheLength()}return this._chunkSize}}if(globalThis.XMLHttpRequest){if(!ENVIRONMENT_IS_WORKER)abort("Cannot do synchronous binary XHRs outside webworkers in modern browsers. Use --embed-file or --preload-file in emcc");var lazyArray=new LazyUint8Array;var properties={isDevice:false,contents:lazyArray}}else{var properties={isDevice:false,url}}var node=FS.createFile(parent,name,properties,canRead,canWrite);if(properties.contents){node.contents=properties.contents}else if(properties.url){node.contents=null;node.url=properties.url}Object.defineProperties(node,{usedBytes:{get:function(){return this.contents.length}}});var stream_ops={};for(const[key,fn]of Object.entries(node.stream_ops)){stream_ops[key]=(...args)=>{FS.forceLoadFile(node);return fn(...args)}}function writeChunks(stream,buffer,offset,length,position){var contents=stream.node.contents;if(position>=contents.length)return 0;var size=Math.min(contents.length-position,length);if(contents.slice){for(var i=0;i{FS.forceLoadFile(node);return writeChunks(stream,buffer,offset,length,position)};stream_ops.mmap=(stream,length,position,prot,flags)=>{FS.forceLoadFile(node);var ptr=mmapAlloc(length);if(!ptr){throw new FS.ErrnoError(48)}writeChunks(stream,HEAP8,ptr,length,position);return{ptr,allocated:true}};node.stream_ops=stream_ops;return node}};var UTF8ToString=(ptr,maxBytesToRead,ignoreNul)=>ptr?UTF8ArrayToString(HEAPU8,ptr,maxBytesToRead,ignoreNul):"";var SYSCALLS={DEFAULT_POLLMASK:5,calculateAt(dirfd,path,allowEmpty){if(PATH.isAbs(path)){return path}var dir;if(dirfd===-100){dir=FS.cwd()}else{var dirstream=SYSCALLS.getStreamFromFD(dirfd);dir=dirstream.path}if(path.length==0){if(!allowEmpty){throw new FS.ErrnoError(44)}return dir}return dir+"/"+path},writeStat(buf,stat){HEAPU32[buf>>2]=stat.dev;HEAPU32[buf+4>>2]=stat.mode;HEAPU32[buf+8>>2]=stat.nlink;HEAPU32[buf+12>>2]=stat.uid;HEAPU32[buf+16>>2]=stat.gid;HEAPU32[buf+20>>2]=stat.rdev;HEAP64[buf+24>>3]=BigInt(stat.size);HEAP32[buf+32>>2]=4096;HEAP32[buf+36>>2]=stat.blocks;var atime=stat.atime.getTime();var mtime=stat.mtime.getTime();var ctime=stat.ctime.getTime();HEAP64[buf+40>>3]=BigInt(Math.floor(atime/1e3));HEAPU32[buf+48>>2]=atime%1e3*1e3*1e3;HEAP64[buf+56>>3]=BigInt(Math.floor(mtime/1e3));HEAPU32[buf+64>>2]=mtime%1e3*1e3*1e3;HEAP64[buf+72>>3]=BigInt(Math.floor(ctime/1e3));HEAPU32[buf+80>>2]=ctime%1e3*1e3*1e3;HEAP64[buf+88>>3]=BigInt(stat.ino);return 0},writeStatFs(buf,stats){HEAPU32[buf+4>>2]=stats.bsize;HEAPU32[buf+60>>2]=stats.bsize;HEAP64[buf+8>>3]=BigInt(stats.blocks);HEAP64[buf+16>>3]=BigInt(stats.bfree);HEAP64[buf+24>>3]=BigInt(stats.bavail);HEAP64[buf+32>>3]=BigInt(stats.files);HEAP64[buf+40>>3]=BigInt(stats.ffree);HEAPU32[buf+48>>2]=stats.fsid;HEAPU32[buf+64>>2]=stats.flags;HEAPU32[buf+56>>2]=stats.namelen},doMsync(addr,stream,len,flags,offset){if(!FS.isFile(stream.node.mode)){throw new FS.ErrnoError(43)}if(flags&2){return 0}var buffer=HEAPU8.slice(addr,addr+len);FS.msync(stream,buffer,offset,len,flags)},getStreamFromFD(fd){var stream=FS.getStreamChecked(fd);return stream},varargs:undefined,getStr(ptr){var ret=UTF8ToString(ptr);return ret}};function _fd_close(fd){try{var stream=SYSCALLS.getStreamFromFD(fd);FS.close(stream);return 0}catch(e){if(typeof FS=="undefined"||!(e.name==="ErrnoError"))throw e;return e.errno}}var doReadv=(stream,iov,iovcnt,offset)=>{var ret=0;for(var i=0;i>2];var len=HEAPU32[iov+4>>2];iov+=8;var curr=FS.read(stream,HEAP8,ptr,len,offset);if(curr<0)return-1;ret+=curr;if(curr>2]=num;return 0}catch(e){if(typeof FS=="undefined"||!(e.name==="ErrnoError"))throw e;return e.errno}}var INT53_MAX=9007199254740992;var INT53_MIN=-9007199254740992;var bigintToI53Checked=num=>numINT53_MAX?NaN:Number(num);function _fd_seek(fd,offset,whence,newOffset){offset=bigintToI53Checked(offset);try{if(isNaN(offset))return 61;var stream=SYSCALLS.getStreamFromFD(fd);FS.llseek(stream,offset,whence);HEAP64[newOffset>>3]=BigInt(stream.position);if(stream.getdents&&offset===0&&whence===0)stream.getdents=null;return 0}catch(e){if(typeof FS=="undefined"||!(e.name==="ErrnoError"))throw e;return e.errno}}var doWritev=(stream,iov,iovcnt,offset)=>{var ret=0;for(var i=0;i>2];var len=HEAPU32[iov+4>>2];iov+=8;var curr=FS.write(stream,HEAP8,ptr,len,offset);if(curr<0)return-1;ret+=curr;if(curr>2]=num;return 0}catch(e){if(typeof FS=="undefined"||!(e.name==="ErrnoError"))throw e;return e.errno}}var _llvm_eh_typeid_for=type=>type;var wasmTableMirror=[];var getWasmTableEntry=funcPtr=>{var func=wasmTableMirror[funcPtr];if(!func){wasmTableMirror[funcPtr]=func=wasmTable.get(funcPtr)}return func};var getCFunc=ident=>{var func=Module["_"+ident];return func};var writeArrayToMemory=(array,buffer)=>{HEAP8.set(array,buffer)};var stackAlloc=sz=>__emscripten_stack_alloc(sz);var stringToUTF8OnStack=str=>{var size=lengthBytesUTF8(str)+1;var ret=stackAlloc(size);stringToUTF8(str,ret,size);return ret};var ccall=(ident,returnType,argTypes,args,opts)=>{var toC={string:str=>{var ret=0;if(str!==null&&str!==undefined&&str!==0){ret=stringToUTF8OnStack(str)}return ret},array:arr=>{var ret=stackAlloc(arr.length);writeArrayToMemory(arr,ret);return ret}};function convertReturnValue(ret){if(returnType==="string"){return UTF8ToString(ret)}if(returnType==="boolean")return Boolean(ret);return ret}var func=getCFunc(ident);var cArgs=[];var stack=0;if(args){for(var i=0;i{var numericArgs=!argTypes||argTypes.every(type=>type==="number"||type==="boolean");var numericRet=returnType!=="string";if(numericRet&&numericArgs&&!opts){return getCFunc(ident)}return(...args)=>ccall(ident,returnType,argTypes,args,opts)};FS.createPreloadedFile=FS_createPreloadedFile;FS.preloadFile=FS_preloadFile;FS.staticInit();{if(Module["noExitRuntime"])noExitRuntime=Module["noExitRuntime"];if(Module["preloadPlugins"])preloadPlugins=Module["preloadPlugins"];if(Module["print"])out=Module["print"];if(Module["printErr"])err=Module["printErr"];if(Module["wasmBinary"])wasmBinary=Module["wasmBinary"];if(Module["arguments"])arguments_=Module["arguments"];if(Module["thisProgram"])thisProgram=Module["thisProgram"];if(Module["preInit"]){if(typeof Module["preInit"]=="function")Module["preInit"]=[Module["preInit"]];while(Module["preInit"].length>0){Module["preInit"].shift()()}}}Module["ccall"]=ccall;Module["cwrap"]=cwrap;Module["UTF8ToString"]=UTF8ToString;Module["stringToUTF8"]=stringToUTF8;Module["lengthBytesUTF8"]=lengthBytesUTF8;var _kdl_init,_kdl_create_robot,_kdl_destroy_robot,_kdl_get_robot_info,_kdl_fk,_kdl_fk_all_links,_kdl_jacobian,_kdl_ik,_kdl_plan_movej,_kdl_plan_movel,_kdl_plan_movec,_kdl_plan_path,_kdl_sample_trap,_kdl_last_error,_free,_malloc,_setThrew,__emscripten_tempret_set,__emscripten_stack_restore,__emscripten_stack_alloc,_emscripten_stack_get_current,___cxa_decrement_exception_refcount,___cxa_increment_exception_refcount,___cxa_can_catch,___cxa_get_exception_ptr,memory,__indirect_function_table,wasmMemory,wasmTable;function assignWasmExports(wasmExports){_kdl_init=Module["_kdl_init"]=wasmExports["W"];_kdl_create_robot=Module["_kdl_create_robot"]=wasmExports["X"];_kdl_destroy_robot=Module["_kdl_destroy_robot"]=wasmExports["Z"];_kdl_get_robot_info=Module["_kdl_get_robot_info"]=wasmExports["_"];_kdl_fk=Module["_kdl_fk"]=wasmExports["$"];_kdl_fk_all_links=Module["_kdl_fk_all_links"]=wasmExports["aa"];_kdl_jacobian=Module["_kdl_jacobian"]=wasmExports["ba"];_kdl_ik=Module["_kdl_ik"]=wasmExports["ca"];_kdl_plan_movej=Module["_kdl_plan_movej"]=wasmExports["da"];_kdl_plan_movel=Module["_kdl_plan_movel"]=wasmExports["ea"];_kdl_plan_movec=Module["_kdl_plan_movec"]=wasmExports["fa"];_kdl_plan_path=Module["_kdl_plan_path"]=wasmExports["ga"];_kdl_sample_trap=Module["_kdl_sample_trap"]=wasmExports["ha"];_kdl_last_error=Module["_kdl_last_error"]=wasmExports["ia"];_free=Module["_free"]=wasmExports["ja"];_malloc=Module["_malloc"]=wasmExports["ka"];_setThrew=wasmExports["la"];__emscripten_tempret_set=wasmExports["ma"];__emscripten_stack_restore=wasmExports["na"];__emscripten_stack_alloc=wasmExports["oa"];_emscripten_stack_get_current=wasmExports["pa"];___cxa_decrement_exception_refcount=wasmExports["qa"];___cxa_increment_exception_refcount=wasmExports["ra"];___cxa_can_catch=wasmExports["sa"];___cxa_get_exception_ptr=wasmExports["ta"];memory=wasmMemory=wasmExports["U"];__indirect_function_table=wasmTable=wasmExports["Y"]}var wasmImports={o:___cxa_begin_catch,p:___cxa_end_catch,a:___cxa_find_matching_catch_2,e:___cxa_find_matching_catch_3,Q:___cxa_rethrow,l:___cxa_throw,H:___cxa_uncaught_exceptions,c:___resumeException,I:__abort_js,J:__tzset_js,R:_emscripten_resize_heap,K:_environ_get,L:_environ_sizes_get,M:_fd_close,N:_fd_read,O:_fd_seek,G:_fd_write,w:invoke_dii,E:invoke_diii,F:invoke_fiii,n:invoke_i,f:invoke_ii,m:invoke_iid,b:invoke_iii,S:invoke_iiidid,h:invoke_iiii,k:invoke_iiiii,P:invoke_iiiiid,s:invoke_iiiiii,t:invoke_iiiiiii,D:invoke_iiiiiiii,T:invoke_iiiiiiiii,u:invoke_iiiiiiiiiii,z:invoke_iiiiiiiiiiii,A:invoke_jiiii,i:invoke_v,r:invoke_vi,d:invoke_vii,g:invoke_viii,j:invoke_viiii,C:invoke_viiiii,q:invoke_viiiiiii,v:invoke_viiiiiiiiii,B:invoke_viiiiiiiiiiii,y:invoke_viiiiiiiiiiiiiii,x:_llvm_eh_typeid_for};function invoke_iii(index,a1,a2){var sp=stackSave();try{return getWasmTableEntry(index)(a1,a2)}catch(e){stackRestore(sp);if(e!==e+0)throw e;_setThrew(1,0)}}function invoke_viii(index,a1,a2,a3){var sp=stackSave();try{getWasmTableEntry(index)(a1,a2,a3)}catch(e){stackRestore(sp);if(e!==e+0)throw e;_setThrew(1,0)}}function invoke_ii(index,a1){var sp=stackSave();try{return getWasmTableEntry(index)(a1)}catch(e){stackRestore(sp);if(e!==e+0)throw e;_setThrew(1,0)}}function invoke_vii(index,a1,a2){var sp=stackSave();try{getWasmTableEntry(index)(a1,a2)}catch(e){stackRestore(sp);if(e!==e+0)throw e;_setThrew(1,0)}}function invoke_v(index){var sp=stackSave();try{getWasmTableEntry(index)()}catch(e){stackRestore(sp);if(e!==e+0)throw e;_setThrew(1,0)}}function invoke_iiiiiiii(index,a1,a2,a3,a4,a5,a6,a7){var sp=stackSave();try{return getWasmTableEntry(index)(a1,a2,a3,a4,a5,a6,a7)}catch(e){stackRestore(sp);if(e!==e+0)throw e;_setThrew(1,0)}}function invoke_iiiiii(index,a1,a2,a3,a4,a5){var sp=stackSave();try{return getWasmTableEntry(index)(a1,a2,a3,a4,a5)}catch(e){stackRestore(sp);if(e!==e+0)throw e;_setThrew(1,0)}}function invoke_iiiiiiiiiii(index,a1,a2,a3,a4,a5,a6,a7,a8,a9,a10){var sp=stackSave();try{return getWasmTableEntry(index)(a1,a2,a3,a4,a5,a6,a7,a8,a9,a10)}catch(e){stackRestore(sp);if(e!==e+0)throw e;_setThrew(1,0)}}function invoke_iiiiiiiii(index,a1,a2,a3,a4,a5,a6,a7,a8){var sp=stackSave();try{return getWasmTableEntry(index)(a1,a2,a3,a4,a5,a6,a7,a8)}catch(e){stackRestore(sp);if(e!==e+0)throw e;_setThrew(1,0)}}function invoke_iiidid(index,a1,a2,a3,a4,a5){var sp=stackSave();try{return getWasmTableEntry(index)(a1,a2,a3,a4,a5)}catch(e){stackRestore(sp);if(e!==e+0)throw e;_setThrew(1,0)}}function invoke_iiii(index,a1,a2,a3){var sp=stackSave();try{return getWasmTableEntry(index)(a1,a2,a3)}catch(e){stackRestore(sp);if(e!==e+0)throw e;_setThrew(1,0)}}function invoke_viiiii(index,a1,a2,a3,a4,a5){var sp=stackSave();try{getWasmTableEntry(index)(a1,a2,a3,a4,a5)}catch(e){stackRestore(sp);if(e!==e+0)throw e;_setThrew(1,0)}}function invoke_iiiii(index,a1,a2,a3,a4){var sp=stackSave();try{return getWasmTableEntry(index)(a1,a2,a3,a4)}catch(e){stackRestore(sp);if(e!==e+0)throw e;_setThrew(1,0)}}function invoke_iid(index,a1,a2){var sp=stackSave();try{return getWasmTableEntry(index)(a1,a2)}catch(e){stackRestore(sp);if(e!==e+0)throw e;_setThrew(1,0)}}function invoke_dii(index,a1,a2){var sp=stackSave();try{return getWasmTableEntry(index)(a1,a2)}catch(e){stackRestore(sp);if(e!==e+0)throw e;_setThrew(1,0)}}function invoke_iiiiiii(index,a1,a2,a3,a4,a5,a6){var sp=stackSave();try{return getWasmTableEntry(index)(a1,a2,a3,a4,a5,a6)}catch(e){stackRestore(sp);if(e!==e+0)throw e;_setThrew(1,0)}}function invoke_vi(index,a1){var sp=stackSave();try{getWasmTableEntry(index)(a1)}catch(e){stackRestore(sp);if(e!==e+0)throw e;_setThrew(1,0)}}function invoke_viiii(index,a1,a2,a3,a4){var sp=stackSave();try{getWasmTableEntry(index)(a1,a2,a3,a4)}catch(e){stackRestore(sp);if(e!==e+0)throw e;_setThrew(1,0)}}function invoke_viiiiiiiiiiii(index,a1,a2,a3,a4,a5,a6,a7,a8,a9,a10,a11,a12){var sp=stackSave();try{getWasmTableEntry(index)(a1,a2,a3,a4,a5,a6,a7,a8,a9,a10,a11,a12)}catch(e){stackRestore(sp);if(e!==e+0)throw e;_setThrew(1,0)}}function invoke_viiiiiii(index,a1,a2,a3,a4,a5,a6,a7){var sp=stackSave();try{getWasmTableEntry(index)(a1,a2,a3,a4,a5,a6,a7)}catch(e){stackRestore(sp);if(e!==e+0)throw e;_setThrew(1,0)}}function invoke_iiiiid(index,a1,a2,a3,a4,a5){var sp=stackSave();try{return getWasmTableEntry(index)(a1,a2,a3,a4,a5)}catch(e){stackRestore(sp);if(e!==e+0)throw e;_setThrew(1,0)}}function invoke_jiiii(index,a1,a2,a3,a4){var sp=stackSave();try{return getWasmTableEntry(index)(a1,a2,a3,a4)}catch(e){stackRestore(sp);if(e!==e+0)throw e;_setThrew(1,0);return 0n}}function invoke_fiii(index,a1,a2,a3){var sp=stackSave();try{return getWasmTableEntry(index)(a1,a2,a3)}catch(e){stackRestore(sp);if(e!==e+0)throw e;_setThrew(1,0)}}function invoke_diii(index,a1,a2,a3){var sp=stackSave();try{return getWasmTableEntry(index)(a1,a2,a3)}catch(e){stackRestore(sp);if(e!==e+0)throw e;_setThrew(1,0)}}function invoke_i(index){var sp=stackSave();try{return getWasmTableEntry(index)()}catch(e){stackRestore(sp);if(e!==e+0)throw e;_setThrew(1,0)}}function invoke_iiiiiiiiiiii(index,a1,a2,a3,a4,a5,a6,a7,a8,a9,a10,a11){var sp=stackSave();try{return getWasmTableEntry(index)(a1,a2,a3,a4,a5,a6,a7,a8,a9,a10,a11)}catch(e){stackRestore(sp);if(e!==e+0)throw e;_setThrew(1,0)}}function invoke_viiiiiiiiii(index,a1,a2,a3,a4,a5,a6,a7,a8,a9,a10){var sp=stackSave();try{getWasmTableEntry(index)(a1,a2,a3,a4,a5,a6,a7,a8,a9,a10)}catch(e){stackRestore(sp);if(e!==e+0)throw e;_setThrew(1,0)}}function invoke_viiiiiiiiiiiiiii(index,a1,a2,a3,a4,a5,a6,a7,a8,a9,a10,a11,a12,a13,a14,a15){var sp=stackSave();try{getWasmTableEntry(index)(a1,a2,a3,a4,a5,a6,a7,a8,a9,a10,a11,a12,a13,a14,a15)}catch(e){stackRestore(sp);if(e!==e+0)throw e;_setThrew(1,0)}}function run(){if(runDependencies>0){dependenciesFulfilled=run;return}preRun();if(runDependencies>0){dependenciesFulfilled=run;return}function doRun(){Module["calledRun"]=true;if(ABORT)return;initRuntime();readyPromiseResolve?.(Module);Module["onRuntimeInitialized"]?.();postRun()}if(Module["setStatus"]){Module["setStatus"]("Running...");setTimeout(()=>{setTimeout(()=>Module["setStatus"](""),1);doRun()},1)}else{doRun()}}var wasmExports;wasmExports=await (createWasm());run();if(runtimeInitialized){moduleRtn=Module}else{moduleRtn=new Promise((resolve,reject)=>{readyPromiseResolve=resolve;readyPromiseReject=reject})} ;return moduleRtn}export default createKdlModule; diff --git a/kdl-wasm/build-wasm/kdl.wasm b/kdl-wasm/build-wasm/kdl.wasm old mode 100755 new mode 100644 index 13d6f69..29d73f2 Binary files a/kdl-wasm/build-wasm/kdl.wasm and b/kdl-wasm/build-wasm/kdl.wasm differ diff --git a/kdl-wasm/web/app/virtual-controller.css b/kdl-wasm/web/app/virtual-controller.css new file mode 100644 index 0000000..0b3f3ed --- /dev/null +++ b/kdl-wasm/web/app/virtual-controller.css @@ -0,0 +1,185 @@ +* { + box-sizing: border-box; +} + +body { + margin: 0; + font-family: Arial, sans-serif; + color: #1f2933; + background: #eef2f4; +} + +.workbench { + min-height: 100vh; + display: grid; + grid-template-columns: 240px minmax(320px, 1fr) 280px; + grid-template-rows: 48px minmax(280px, 1fr) 180px; + gap: 1px; + background: #c7d0d6; +} + +.command-bar, +.object-tree, +.viewport, +.pendant, +.editor, +.bottom-panel { + background: #f8fafb; +} + +.command-bar { + grid-column: 1 / 4; + display: flex; + flex-wrap: wrap; + align-items: center; + gap: 8px; + padding: 8px 12px; +} + +button { + min-height: 32px; + border: 1px solid #9aa8b2; + background: #ffffff; + color: #1f2933; + border-radius: 4px; +} + +.object-tree { + padding: 12px; + overflow: auto; +} + +.object-tree h2, +.pendant h2 { + margin: 0 0 8px; + font-size: 16px; +} + +.object-tree ul { + margin: 0; + padding-left: 18px; + line-height: 1.8; +} + +.viewport { + position: relative; + overflow: hidden; + min-height: 320px; + background: linear-gradient(#f8fafb, #dfe7eb); +} + +.viewport svg { + position: absolute; + inset: auto 24px 24px 24px; + height: 45%; + width: calc(100% - 48px); +} + +.robot-arm { + position: absolute; + left: 12%; + top: 20%; + width: 62%; + height: 48%; +} + +.joint { + position: absolute; + width: 18px; + height: 18px; + border-radius: 50%; + background: #334e68; +} + +.link { + position: absolute; + height: 8px; + border-radius: 4px; + background: #627d98; + transform-origin: left center; +} + +.j1 { left: 20px; top: 150px; } +.l1 { left: 35px; top: 155px; width: 115px; transform: rotate(-45deg); } +.j2 { left: 122px; top: 72px; } +.l2 { left: 137px; top: 78px; width: 120px; transform: rotate(20deg); } +.j3 { left: 250px; top: 115px; } +.l3 { left: 265px; top: 120px; width: 95px; transform: rotate(-15deg); } +.j4 { left: 356px; top: 92px; } + +.pendant { + padding: 12px; + overflow: auto; +} + +.pendant dl { + display: grid; + grid-template-columns: 84px 1fr; + gap: 8px; + margin: 0; +} + +.pendant dt { + font-weight: 700; +} + +.editor { + grid-column: 1 / 3; + padding: 12px; + overflow: auto; +} + +.editor nav { + display: flex; + gap: 6px; + margin-bottom: 8px; +} + +.editor pre { + margin: 0; + padding: 12px; + background: #1f2933; + color: #f8fafb; + overflow: auto; +} + +.bottom-panel { + padding: 12px; + display: grid; + grid-template-columns: repeat(7, minmax(100px, 1fr)); + gap: 8px; + overflow: auto; +} + +.bottom-panel div { + border: 1px solid #c7d0d6; + padding: 8px; + background: #ffffff; + display: grid; + gap: 6px; + min-width: 0; +} + +.bottom-panel span { + overflow-wrap: anywhere; +} + +@media (max-width: 840px) { + .workbench { + grid-template-columns: 1fr; + grid-template-rows: auto; + } + + .command-bar, + .editor { + grid-column: auto; + } + + .bottom-panel { + grid-template-columns: 1fr 1fr; + } + + .viewport { + min-height: 300px; + } +} diff --git a/kdl-wasm/web/app/virtual-controller.html b/kdl-wasm/web/app/virtual-controller.html new file mode 100644 index 0000000..583fbc7 --- /dev/null +++ b/kdl-wasm/web/app/virtual-controller.html @@ -0,0 +1,84 @@ + + + + + + ABB120 Virtual Controller + + + +
+
+ ABB120 Station + + + + + + + +
+ +
+
+ + + + + + + +
+ + + + + + +
+ +
+ + 
proc main()
+  run_path pick_place
+end
+
+
+
Logready
+
Diagnosticsready
+
IOdo[1]=false, di[1]=false
+
Waitnone
+
Motion Queueempty
+
Trace0 events
+
ReportsA120-REPORT
+
+
+ + + diff --git a/kdl-wasm/web/app/virtual-controller.js b/kdl-wasm/web/app/virtual-controller.js new file mode 100644 index 0000000..2b16a96 --- /dev/null +++ b/kdl-wasm/web/app/virtual-controller.js @@ -0,0 +1,140 @@ +(function () { + const root = document.querySelector(".workbench"); + const fields = new Map( + Array.from(document.querySelectorAll("[data-field]")).map((item) => [item.dataset.field, item]) + ); + const tabButtons = Array.from(document.querySelectorAll("[data-tab]")); + + const sources = { + grl: "proc main()\n run_path pick_place\nend", + abb: "MODULE A120Smoke\n PROC main()\n MoveJ home,v100,fine,tool0;\n ENDPROC\nENDMODULE", + fanuc: "/PROG A120SMOKE\n/MN\n 1:J P[1] 40% FINE ;\n/END", + kuka: "DEF A120SMOKE()\n PTP HOME\nEND" + }; + + const state = { + command: "ready", + mode: "auto", + motors: "on", + pc: 0, + joints: [0, 0, 0, 0, 0, 0], + tcp: [0, 0, 580, 0, 0, 0], + di1: false, + do1: false, + wait: "none", + queue: [], + trace: ["ready"], + diagnostics: ["ready"], + report: "A120-REPORT", + tab: "grl" + }; + + function formatArray(values) { + return `[${values.map((value) => Number(value).toFixed(value % 1 === 0 ? 0 : 2)).join(", ")}]`; + } + + function setField(name, value) { + const item = fields.get(name); + if (item) item.textContent = value; + } + + function render() { + root?.setAttribute("data-last-command", state.command); + root?.setAttribute("data-running", String(state.command === "running")); + setField("state", state.command); + setField("mode", state.mode); + setField("motors", state.motors); + setField("pc", `main:${state.pc}`); + setField("joints", formatArray(state.joints)); + setField("tcp", formatArray(state.tcp)); + setField("log", state.trace.at(-1) ?? "ready"); + setField("diagnostics", state.diagnostics.at(-1) ?? "ready"); + setField("io", `do[1]=${state.do1}, di[1]=${state.di1}`); + setField("wait", state.wait); + setField("queue", state.queue.length ? state.queue.join(" -> ") : "empty"); + setField("trace", `${state.trace.length} events`); + setField("reports", state.report); + setField("editor", sources[state.tab]); + + for (const button of tabButtons) { + button.setAttribute("aria-pressed", String(button.dataset.tab === state.tab)); + } + } + + function pushTrace(message) { + state.trace.push(message); + state.diagnostics.push(message); + } + + function advanceProgram(stepSize) { + state.pc = Math.min(state.pc + stepSize, 4); + state.joints = state.joints.map((value, index) => Number((value + (index + 1) * 1.5 * stepSize).toFixed(2))); + state.tcp = [ + Number((state.tcp[0] + 12 * stepSize).toFixed(2)), + Number((state.tcp[1] + 4 * stepSize).toFixed(2)), + state.tcp[2], + state.tcp[3], + state.tcp[4], + state.tcp[5] + ]; + } + + function handleCommand(command) { + state.command = command === "run" ? "running" : command; + if (command === "load") { + state.pc = 0; + state.queue = ["movej home", "run_path pick_place"]; + state.wait = "none"; + pushTrace("program loaded"); + } else if (command === "run") { + advanceProgram(2); + state.do1 = true; + state.wait = state.di1 ? "satisfied" : "waiting di[1]"; + state.queue = state.di1 ? ["movel place"] : ["wait di[1]", "movel place"]; + pushTrace(state.di1 ? "running path" : "waiting for di[1]"); + } else if (command === "pause") { + pushTrace("program paused"); + } else if (command === "step") { + state.command = "paused"; + advanceProgram(1); + pushTrace(`stepped to main:${state.pc}`); + } else if (command === "stop") { + state.queue = []; + pushTrace("program stopped"); + } else if (command === "reset") { + state.command = "ready"; + state.pc = 0; + state.joints = [0, 0, 0, 0, 0, 0]; + state.tcp = [0, 0, 580, 0, 0, 0]; + state.do1 = false; + state.wait = "none"; + state.queue = []; + pushTrace("controller reset"); + } else if (command === "export") { + state.report = "A120-REPORT exported"; + pushTrace("delivery package exported"); + } + render(); + } + + for (const button of document.querySelectorAll("[data-command]")) { + button.addEventListener("click", () => handleCommand(button.dataset.command ?? "ready")); + } + + for (const button of tabButtons) { + button.addEventListener("click", () => { + state.tab = button.dataset.tab ?? "grl"; + pushTrace(`${state.tab.toUpperCase()} source selected`); + render(); + }); + } + + document.querySelector("[data-io='di1']")?.addEventListener("click", () => { + state.di1 = !state.di1; + state.wait = state.di1 ? "satisfied" : "waiting di[1]"; + pushTrace(`di[1]=${state.di1}`); + render(); + }); + + render(); +})(); diff --git a/kdl-wasm/web/scripts/verify-virtual-controller.mjs b/kdl-wasm/web/scripts/verify-virtual-controller.mjs new file mode 100644 index 0000000..006cb96 --- /dev/null +++ b/kdl-wasm/web/scripts/verify-virtual-controller.mjs @@ -0,0 +1,349 @@ +import { existsSync, mkdtempSync, mkdirSync, rmSync, writeFileSync } from "node:fs"; +import { tmpdir } from "node:os"; +import { basename, join, resolve } from "node:path"; +import { fileURLToPath, pathToFileURL } from "node:url"; +import { spawn } from "node:child_process"; + +const root = resolve(fileURLToPath(new URL("../../..", import.meta.url))); +const appHtml = resolve(root, "kdl-wasm/web/app/virtual-controller.html"); +const outputDir = resolve(root, "kdl-wasm/web/test-results/virtual-controller"); +const chromeBin = process.env.CHROME_BIN ?? defaultChromeBin(); + +mkdirSync(outputDir, { recursive: true }); + +const desktop = await verifyViewport({ + name: "desktop", + width: 1440, + height: 960, + deviceScaleFactor: 1, + mobile: false, + screenshotPath: join(outputDir, "virtual-controller-desktop.png") +}); +const mobile = await verifyViewport({ + name: "mobile", + width: 390, + height: 844, + deviceScaleFactor: 2, + mobile: true, + screenshotPath: join(outputDir, "virtual-controller-mobile.png") +}); + +const evidence = { + app: appHtml, + chrome: chromeBin, + desktop, + mobile +}; +writeFileSync(join(outputDir, "evidence.json"), `${JSON.stringify(evidence, null, 2)}\n`); +console.log(JSON.stringify(evidence, null, 2)); + +async function verifyViewport(viewport) { + const browser = await launchChrome(viewport); + try { + const client = await connect(browser.websocketUrl); + await client.send("Page.enable"); + await client.send("Runtime.enable"); + await client.send("Emulation.setDeviceMetricsOverride", { + width: viewport.width, + height: viewport.height, + deviceScaleFactor: viewport.deviceScaleFactor, + mobile: viewport.mobile + }); + await client.send("Page.navigate", { url: pathToFileURL(appHtml).href }); + await waitForLoad(client); + + const initial = await evaluate(client, pageProbeSource()); + 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()); + assertProbe(afterRun, viewport.name, "after run"); + if (afterRun.state !== "running") { + throw new Error(`${viewport.name}: expected state running, got ${afterRun.state}`); + } + if (!afterRun.running) { + throw new Error(`${viewport.name}: data-running was not set after Run`); + } + if (!afterRun.wait.includes("satisfied")) { + throw new Error(`${viewport.name}: expected DI wait to be satisfied, got ${afterRun.wait}`); + } + + const screenshot = await client.send("Page.captureScreenshot", { + format: "png", + captureBeyondViewport: false + }); + writeFileSync(viewport.screenshotPath, Buffer.from(screenshot.data, "base64")); + const pngBytes = Buffer.byteLength(screenshot.data, "base64"); + if (pngBytes < 10_000) { + throw new Error(`${viewport.name}: screenshot is unexpectedly small (${pngBytes} bytes)`); + } + + await client.close(); + return { + viewport: { + width: viewport.width, + height: viewport.height, + deviceScaleFactor: viewport.deviceScaleFactor, + mobile: viewport.mobile + }, + screenshot: viewport.screenshotPath, + screenshotBytes: pngBytes, + state: afterRun.state, + wait: afterRun.wait, + trace: afterRun.trace, + visiblePanels: afterRun.visiblePanels + }; + } finally { + browser.close(); + } +} + +function launchChrome(viewport) { + const userDataDir = mkdtempSync(join(tmpdir(), `kdl-vc-${viewport.name}-`)); + const child = spawn(chromeBin, [ + "--headless=new", + "--disable-gpu", + "--no-sandbox", + "--disable-dev-shm-usage", + "--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 new Promise((resolveRetry) => setTimeout(resolveRetry, 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 pageProbeSource() { + return `() => { + const field = (name) => document.querySelector("[data-field='" + name + "']")?.textContent?.trim() ?? ""; + const box = (selector) => { + const item = document.querySelector(selector); + if (!item) return null; + const rect = item.getBoundingClientRect(); + return { width: rect.width, height: rect.height, top: rect.top, left: rect.left }; + }; + const visiblePanels = [".command-bar", ".object-tree", ".viewport", ".pendant", ".editor", ".bottom-panel"] + .map((selector) => ({ selector, box: box(selector) })) + .filter((item) => item.box && item.box.width > 0 && item.box.height > 0) + .map((item) => item.selector); + return { + title: document.title, + state: field("state"), + wait: field("wait"), + queue: field("queue"), + trace: field("trace"), + editor: field("editor"), + running: document.querySelector(".workbench")?.dataset.running === "true", + visiblePanels, + viewport: box(".viewport"), + bodyScrollWidth: document.documentElement.scrollWidth, + clientWidth: document.documentElement.clientWidth + }; + }`; +} + +function clickCommandSource(command) { + return `() => { + document.querySelector("[data-command='${command}']").click(); + return document.querySelector(".workbench")?.dataset.lastCommand; + }`; +} + +function clickIoSource() { + return `() => { + document.querySelector("[data-io='di1']").click(); + return document.querySelector("[data-field='wait']")?.textContent; + }`; +} + +function assertProbe(probe, viewportName, phase) { + if (probe.title !== "ABB120 Virtual Controller") { + throw new Error(`${viewportName}/${phase}: unexpected title ${probe.title}`); + } + const required = [".command-bar", ".object-tree", ".viewport", ".pendant", ".editor", ".bottom-panel"]; + for (const selector of required) { + if (!probe.visiblePanels.includes(selector)) { + throw new Error(`${viewportName}/${phase}: ${selector} is not visible`); + } + } + if (!probe.editor.includes("proc main") && !probe.editor.includes("MoveJ") && !probe.editor.includes("PTP")) { + throw new Error(`${viewportName}/${phase}: editor source did not render`); + } + if (!probe.viewport || probe.viewport.width < 100 || probe.viewport.height < 100) { + throw new Error(`${viewportName}/${phase}: viewport is too small`); + } + if (probe.bodyScrollWidth > probe.clientWidth + 2) { + throw new Error(`${viewportName}/${phase}: horizontal overflow detected`); + } +} + +function defaultChromeBin() { + if (process.platform !== "win32") { + return "/usr/bin/google-chrome"; + } + const candidates = [ + "C:\\Program Files\\Google\\Chrome\\Application\\chrome.exe", + "C:\\Program Files (x86)\\Google\\Chrome\\Application\\chrome.exe", + process.env.LOCALAPPDATA + ? join(process.env.LOCALAPPDATA, "Google", "Chrome", "Application", "chrome.exe") + : "", + "C:\\Program Files\\Microsoft\\Edge\\Application\\msedge.exe" + ]; + return candidates.find((candidate) => candidate && existsSync(candidate)) ?? "chrome.exe"; +} diff --git a/kdl-wasm/web/src/controller/expression.ts b/kdl-wasm/web/src/controller/expression.ts new file mode 100644 index 0000000..41babf8 --- /dev/null +++ b/kdl-wasm/web/src/controller/expression.ts @@ -0,0 +1,84 @@ +export type RuntimeVariables = Record; + +export function evaluateRuntimeExpression(text: string, variables: RuntimeVariables = {}): unknown { + const normalized = normalizeExpression(text); + if (normalized === "") { + return undefined; + } + if (normalized === "true") { + return true; + } + if (normalized === "false") { + return false; + } + if (/^-?\d+(?:\.\d+)?$/.test(normalized)) { + return Number(normalized); + } + if (Object.prototype.hasOwnProperty.call(variables, normalized)) { + return variables[normalized]; + } + + const comparison = normalized.match(/^(.+?)\s*(==|!=|>=|<=|>|<)\s*(.+)$/); + if (comparison) { + const left = valueOf(comparison[1]!, variables); + const right = valueOf(comparison[3]!, variables); + switch (comparison[2]) { + case "==": + return left === right; + case "!=": + return left !== right; + case ">=": + return Number(left) >= Number(right); + case "<=": + return Number(left) <= Number(right); + case ">": + return Number(left) > Number(right); + case "<": + return Number(left) < Number(right); + default: + return false; + } + } + + return Boolean(variables[normalized]); +} + +export function evaluateRuntimeBoolean(text: string, variables: RuntimeVariables = {}): boolean { + return Boolean(evaluateRuntimeExpression(text, variables)); +} + +export function assignRuntimeExpression(text: string, variables: RuntimeVariables, value?: unknown): boolean { + const normalized = normalizeExpression(text); + const assignment = normalized.match(/^([A-Za-z_][A-Za-z0-9_]*)\s*(?::=|=)\s*(.+)$/); + if (!assignment) { + return false; + } + variables[assignment[1]!] = value !== undefined ? value : valueOf(assignment[2]!, variables); + return true; +} + +function valueOf(raw: string, variables: RuntimeVariables): unknown { + const text = normalizeExpression(raw); + if (text === "true") { + return true; + } + if (text === "false") { + return false; + } + if ((text.startsWith("\"") && text.endsWith("\"")) || (text.startsWith("'") && text.endsWith("'"))) { + return text.slice(1, -1); + } + if (/^-?\d+(?:\.\d+)?$/.test(text)) { + return Number(text); + } + return variables[text]; +} + +function normalizeExpression(text: string): string { + return text + .replace(/\s*\.\s*/g, ".") + .replace(/\s*\[\s*/g, "[") + .replace(/\s*\]\s*/g, "]") + .replace(/\s+/g, " ") + .trim(); +} diff --git a/kdl-wasm/web/src/controller/index.ts b/kdl-wasm/web/src/controller/index.ts new file mode 100644 index 0000000..d0dbc75 --- /dev/null +++ b/kdl-wasm/web/src/controller/index.ts @@ -0,0 +1,40 @@ +export { + VirtualControllerStateMachine, + type StateTransitionResult, + type VirtualControllerCommand, + type VirtualControllerState, + type VirtualControllerStateMachineSnapshot +} from "./stateMachine.js"; +export { + VirtualController, + isMotionInstruction, + type VirtualControllerLoadOptions, + type VirtualControllerSnapshot +} from "./virtualController.js"; +export { + IrExecutionRuntime, + type IrExecutionRuntimeOptions, + type IrExecutionRuntimeSnapshot, + type RuntimeAlarm, + type RuntimeBreakpoint, + type RuntimeExecutionFrame, + type RuntimeInstructionHooks, + type RuntimeScopeFrame, + type RuntimeStepResult, + type RuntimeStepStatus +} from "./runtime.js"; +export { + RuntimeSourceMapIndex, + type RuntimeSourceLocation +} from "./sourceMap.js"; +export { + TraceBuffer, + type RuntimeTraceEvent, + type RuntimeTraceEventKind +} from "./trace.js"; +export { + evaluateRuntimeBoolean, + evaluateRuntimeExpression, + assignRuntimeExpression, + type RuntimeVariables +} from "./expression.js"; diff --git a/kdl-wasm/web/src/controller/runtime.ts b/kdl-wasm/web/src/controller/runtime.ts new file mode 100644 index 0000000..c47a46d --- /dev/null +++ b/kdl-wasm/web/src/controller/runtime.ts @@ -0,0 +1,520 @@ +import type { + AlarmInstruction, + CallInstruction, + ExecutableBranch, + ExecutableInstruction, + ExecutableProcedure, + ReturnInstruction, + SemanticProgramIr +} from "../grl/ir/index.js"; +import type { MotionDiagnostic } from "../kdl/types.js"; +import { evaluateRuntimeBoolean, evaluateRuntimeExpression, assignRuntimeExpression } from "./expression.js"; +import { RuntimeSourceMapIndex, type RuntimeSourceLocation } from "./sourceMap.js"; +import { TraceBuffer, type RuntimeTraceEvent } from "./trace.js"; + +export interface RuntimeBreakpoint { + id: string; + procedure?: string; + pc?: number; + source?: { + file?: string; + line?: number; + column?: number; + }; + enabled: boolean; +} + +export interface RuntimeExecutionFrame { + procedure: string; + pc: number; + returnTo?: { + procedure: string; + pc: number; + }; +} + +export interface RuntimeScopeFrame { + id: string; + variables: Record; +} + +export interface RuntimeAlarm { + id: string; + message: string; + severity: "info" | "warning" | "error"; + source?: RuntimeSourceLocation; + time: number; +} + +export type RuntimeStepStatus = "executed" | "blocked" | "completed" | "breakpoint"; + +export interface RuntimeStepResult { + status: RuntimeStepStatus; + instruction?: ExecutableInstruction; + trace?: RuntimeTraceEvent; + diagnostic?: MotionDiagnostic; +} + +export interface IrExecutionRuntimeSnapshot { + loaded: boolean; + procedure?: string; + pc: number; + callStack: RuntimeExecutionFrame[]; + scopeStack: RuntimeScopeFrame[]; + alarmQueue: RuntimeAlarm[]; + trace: RuntimeTraceEvent[]; + currentSource?: RuntimeSourceLocation; + completed: boolean; +} + +export interface RuntimeInstructionHooks { + onInstruction?: (instruction: ExecutableInstruction, runtime: IrExecutionRuntime) => RuntimeStepResult | void; + onWait?: (instruction: Extract, runtime: IrExecutionRuntime) => RuntimeStepResult | void; + onMotion?: (instruction: Extract, runtime: IrExecutionRuntime) => RuntimeStepResult | void; + onIo?: (instruction: Extract, runtime: IrExecutionRuntime) => RuntimeStepResult | void; +} + +export interface IrExecutionRuntimeOptions { + entryProcedure?: string; + traceCapacity?: number; + hooks?: RuntimeInstructionHooks; +} + +export class IrExecutionRuntime { + private programValue: SemanticProgramIr | undefined; + private readonly procedures = new Map(); + private readonly traceBuffer: TraceBuffer; + private readonly scopes: RuntimeScopeFrame[] = []; + private readonly alarms: RuntimeAlarm[] = []; + private readonly breakpoints = new Map(); + private frame: RuntimeExecutionFrame | undefined; + private completedValue = false; + private sourceIndex = new RuntimeSourceMapIndex(); + private virtualTimeValue = 0; + + constructor(private readonly options: IrExecutionRuntimeOptions = {}) { + this.traceBuffer = new TraceBuffer(options.traceCapacity ?? 1000); + } + + get program(): SemanticProgramIr | undefined { + return this.programValue; + } + + get virtualTime(): number { + return this.virtualTimeValue; + } + + set virtualTime(value: number) { + this.virtualTimeValue = value; + } + + get loaded(): boolean { + return this.programValue !== undefined; + } + + get completed(): boolean { + return this.completedValue; + } + + get currentFrame(): RuntimeExecutionFrame | undefined { + return this.frame ? { ...this.frame, ...(this.frame.returnTo ? { returnTo: { ...this.frame.returnTo } } : {}) } : undefined; + } + + get currentProcedure(): ExecutableProcedure | undefined { + return this.frame ? this.procedures.get(this.frame.procedure) : undefined; + } + + get currentInstruction(): ExecutableInstruction | undefined { + const procedure = this.currentProcedure; + if (!procedure || !this.frame) { + return undefined; + } + return procedure.instructions[this.frame.pc]; + } + + get sourceMapIndex(): RuntimeSourceMapIndex { + return this.sourceIndex; + } + + load(program: SemanticProgramIr, entryProcedure = this.options.entryProcedure ?? "main"): void { + this.programValue = program; + this.procedures.clear(); + for (const procedure of program.procedures) { + this.procedures.set(procedure.name, procedure); + } + if (!this.procedures.has(entryProcedure)) { + throw new Error(`Entry procedure ${entryProcedure} was not found`); + } + this.sourceIndex = new RuntimeSourceMapIndex(program); + this.reset(entryProcedure); + this.trace("load", { message: `Loaded ${program.moduleName}`, data: { moduleName: program.moduleName } }); + } + + reset(entryProcedure = this.options.entryProcedure ?? "main"): void { + if (!this.procedures.has(entryProcedure)) { + throw new Error(`Entry procedure ${entryProcedure} was not found`); + } + this.frame = { procedure: entryProcedure, pc: 0 }; + this.scopes.length = 0; + this.scopes.push({ id: "global", variables: {} }); + this.scopes.push({ id: entryProcedure, variables: {} }); + this.alarms.length = 0; + this.completedValue = false; + this.virtualTimeValue = 0; + this.traceBuffer.clear(); + } + + setVariable(name: string, value: unknown, scopeId?: string): void { + const scope = scopeId ? this.scopes.find((candidate) => candidate.id === scopeId) : this.scopes.at(-1); + if (!scope) { + throw new Error(`Scope ${scopeId ?? ""} was not found`); + } + scope.variables[name] = value; + } + + getVariable(name: string): unknown { + for (let index = this.scopes.length - 1; index >= 0; index -= 1) { + const scope = this.scopes[index]!; + if (Object.prototype.hasOwnProperty.call(scope.variables, name)) { + return scope.variables[name]; + } + } + return undefined; + } + + variables(): Record { + return Object.assign({}, ...this.scopes.map((scope) => scope.variables)); + } + + setBreakpoint(breakpoint: RuntimeBreakpoint): void { + this.breakpoints.set(breakpoint.id, breakpoint); + } + + removeBreakpoint(id: string): boolean { + return this.breakpoints.delete(id); + } + + listBreakpoints(): RuntimeBreakpoint[] { + return [...this.breakpoints.values()].map((breakpoint) => ({ ...breakpoint })); + } + + step(): RuntimeStepResult { + if (!this.frame || this.completedValue) { + this.completedValue = true; + return { status: "completed" }; + } + + const procedure = this.procedures.get(this.frame.procedure); + if (!procedure) { + return this.fail(`Procedure ${this.frame.procedure} was not found`, "VC_PROCEDURE_NOT_FOUND"); + } + + if (this.frame.pc >= procedure.instructions.length) { + return this.returnFromProcedure(); + } + + const instruction = procedure.instructions[this.frame.pc]!; + const breakpoint = this.matchBreakpoint(instruction); + if (breakpoint) { + const trace = this.trace("breakpoint", { + instruction, + message: `Breakpoint ${breakpoint.id} hit`, + data: { breakpointId: breakpoint.id } + }); + return { status: "breakpoint", instruction, trace }; + } + + const hookResult = this.runHook(instruction); + if (hookResult) { + if (hookResult.status === "blocked" || hookResult.status === "breakpoint") { + return hookResult; + } + if (hookResult.status === "completed") { + this.completedValue = true; + return hookResult; + } + } + + const trace = this.execute(instruction); + return { + status: this.completedValue ? "completed" : "executed", + instruction, + trace + }; + } + + run(maxSteps = 10_000): RuntimeStepResult { + let result: RuntimeStepResult = { status: "completed" }; + for (let index = 0; index < maxSteps; index += 1) { + result = this.step(); + if (result.status !== "executed") { + return result; + } + } + return this.fail(`Execution exceeded ${maxSteps} steps`, "VC_STEP_LIMIT_EXCEEDED"); + } + + pushAlarm(alarmId: string, message = alarmId, severity: RuntimeAlarm["severity"] = "error", source?: RuntimeSourceLocation): RuntimeAlarm { + const alarm: RuntimeAlarm = { + id: alarmId, + message, + severity, + ...(source ? { source } : {}), + time: this.virtualTimeValue + }; + this.alarms.push(alarm); + this.trace("alarm", { + message, + data: { alarmId, severity }, + ...(source ? { source } : {}) + }); + return alarm; + } + + trace(kind: RuntimeTraceEvent["kind"], input: { + instruction?: ExecutableInstruction; + message?: string; + data?: Record; + source?: RuntimeSourceLocation; + diagnostic?: MotionDiagnostic; + } = {}): RuntimeTraceEvent { + const source = input.source ?? (input.instruction ? this.locateInstruction(input.instruction) : this.currentSource()); + return this.traceBuffer.push({ + time: this.virtualTimeValue, + kind, + ...(this.frame ? { procedure: this.frame.procedure, pc: this.frame.pc } : {}), + ...(input.instruction ? { instructionKind: input.instruction.kind } : {}), + ...(input.message ? { message: input.message } : {}), + ...(source ? { source } : {}), + ...(input.diagnostic ? { diagnostic: input.diagnostic } : {}), + ...(input.data ? { data: input.data } : {}) + }); + } + + currentSource(): RuntimeSourceLocation | undefined { + const instruction = this.currentInstruction; + return instruction ? this.locateInstruction(instruction) : undefined; + } + + locateInstruction(instruction: ExecutableInstruction): RuntimeSourceLocation | undefined { + return this.sourceIndex.locateByInstruction({ + kind: instruction.kind, + ...(instruction.sourceMap ? { sourceMap: instruction.sourceMap } : {}), + ...(this.frame?.procedure ? { procedureId: this.frame.procedure } : {}) + }); + } + + snapshot(): IrExecutionRuntimeSnapshot { + const currentSource = this.currentSource(); + return { + loaded: this.loaded, + ...(this.frame ? { procedure: this.frame.procedure } : {}), + pc: this.frame?.pc ?? 0, + callStack: this.frame ? [this.frame] : [], + scopeStack: this.scopes.map((scope) => ({ id: scope.id, variables: { ...scope.variables } })), + alarmQueue: this.alarms.map((alarm) => ({ ...alarm })), + trace: this.traceBuffer.all(), + ...(currentSource ? { currentSource } : {}), + completed: this.completedValue + }; + } + + private execute(instruction: ExecutableInstruction): RuntimeTraceEvent { + switch (instruction.kind) { + case "CALL": + return this.executeCall(instruction); + case "RETURN": + return this.executeReturn(instruction); + case "ALARM": + this.pushAlarm( + instruction.alarmId, + instruction.message ?? instruction.alarmId, + normalizeAlarmSeverity(instruction.severity), + this.locateInstruction(instruction) + ); + this.advance(); + return this.trace("instruction", { instruction }); + case "RAISE": + this.pushAlarm(instruction.alarmId, instruction.alarmId, "error", this.locateInstruction(instruction)); + this.advance(); + return this.trace("instruction", { instruction }); + case "EXEC_IF": + return this.executeIf(instruction.branches, instruction); + case "EXEC_WHILE": + if (evaluateRuntimeBoolean(instruction.condition.text, this.variables())) { + this.insertInlineBlock(instruction.body, "while"); + } + this.advance(); + return this.trace("instruction", { instruction }); + case "EXEC_FOR": + this.setVariable(instruction.iterator, evaluateRuntimeExpression(instruction.from.text, this.variables())); + this.insertInlineBlock(instruction.body, "for"); + this.advance(); + return this.trace("instruction", { instruction }); + case "EXEC_SWITCH": + this.insertInlineBlock(instruction.cases[0]?.body ?? [], "switch"); + this.advance(); + return this.trace("instruction", { instruction }); + case "RAW_STATEMENT": + assignRuntimeExpression(instruction.text, this.scopes.at(-1)!.variables); + this.advance(); + return this.trace("instruction", { instruction }); + case "BREAK": + case "CONTINUE": + case "UNSUPPORTED_RUNTIME": + this.advance(); + return this.trace("diagnostic", { + instruction, + diagnostic: { + severity: instruction.kind === "UNSUPPORTED_RUNTIME" ? "warning" : "info", + code: `VC_${instruction.kind}`, + message: instruction.kind === "UNSUPPORTED_RUNTIME" ? instruction.message : `${instruction.kind} reached`, + ...(instruction.sourceMap ? { sourceMap: instruction.sourceMap } : {}) + } + }); + default: + this.advance(); + return this.trace(instruction.kind === "IO_WRITE" || instruction.kind === "PULSE" ? "io" : "instruction", { instruction }); + } + } + + private executeCall(instruction: CallInstruction): RuntimeTraceEvent { + const target = this.procedures.get(instruction.target); + if (!target) { + const result = this.fail(`Procedure ${instruction.target} was not found`, "VC_CALL_TARGET_NOT_FOUND"); + return this.trace("diagnostic", { + instruction, + ...(result.diagnostic ? { diagnostic: result.diagnostic } : {}) + }); + } + const previous = this.frame!; + this.frame = { + procedure: target.name, + pc: 0, + returnTo: { + procedure: previous.procedure, + pc: previous.pc + 1 + } + }; + this.scopes.push({ id: target.name, variables: {} }); + return this.trace("instruction", { instruction, message: `Call ${target.name}` }); + } + + private executeReturn(instruction: ReturnInstruction): RuntimeTraceEvent { + if (instruction.value) { + this.setVariable("$return", evaluateRuntimeExpression(instruction.value.text, this.variables())); + } + const trace = this.trace("instruction", { instruction }); + this.returnFromProcedure(); + return trace; + } + + private executeIf(branches: ExecutableBranch[], instruction: ExecutableInstruction): RuntimeTraceEvent { + const branch = branches.find((candidate) => { + if (candidate.branchKind === "else") { + return true; + } + return candidate.condition ? evaluateRuntimeBoolean(candidate.condition.text, this.variables()) : false; + }); + if (branch) { + this.insertInlineBlock(branch.body, branch.branchKind); + } + this.advance(); + return this.trace("instruction", { instruction }); + } + + private insertInlineBlock(body: ExecutableInstruction[], scopeId: string): void { + const procedure = this.currentProcedure; + if (!procedure || !this.frame || body.length === 0) { + return; + } + procedure.instructions.splice(this.frame.pc + 1, 0, ...body); + this.scopes.push({ id: `${scopeId}:${this.frame.pc}`, variables: {} }); + } + + private runHook(instruction: ExecutableInstruction): RuntimeStepResult | undefined { + const hook = this.options.hooks; + const genericResult = hook?.onInstruction?.(instruction, this); + if (genericResult) { + return genericResult; + } + if (instruction.kind === "WAIT") { + const result = hook?.onWait?.(instruction, this); + return result ?? undefined; + } + if (instruction.kind === "IO_WRITE" || instruction.kind === "PULSE") { + const result = hook?.onIo?.(instruction, this); + return result ?? undefined; + } + if ( + instruction.kind === "MOVEJ" || + instruction.kind === "MOVEL" || + instruction.kind === "MOVEC" || + instruction.kind === "RUN_PATH" || + instruction.kind === "RUN_OPERATION" + ) { + const result = hook?.onMotion?.(instruction, this); + return result ?? undefined; + } + return undefined; + } + + private matchBreakpoint(instruction: ExecutableInstruction): RuntimeBreakpoint | undefined { + const source = instruction.sourceMap; + return [...this.breakpoints.values()].find((breakpoint) => { + if (!breakpoint.enabled) { + return false; + } + if (breakpoint.procedure && breakpoint.procedure !== this.frame?.procedure) { + return false; + } + if (breakpoint.pc !== undefined && breakpoint.pc !== this.frame?.pc) { + return false; + } + if (breakpoint.source?.line !== undefined && breakpoint.source.line !== source?.line) { + return false; + } + if (breakpoint.source?.file !== undefined && breakpoint.source.file !== source?.file) { + return false; + } + return breakpoint.pc !== undefined || breakpoint.source !== undefined; + }); + } + + private advance(): void { + if (this.frame) { + this.frame.pc += 1; + } + } + + private returnFromProcedure(): RuntimeStepResult { + if (!this.frame?.returnTo) { + this.completedValue = true; + return { status: "completed" }; + } + const returnTo = this.frame.returnTo; + this.scopes.pop(); + this.frame = { + procedure: returnTo.procedure, + pc: returnTo.pc + }; + return { status: "executed" }; + } + + private fail(message: string, code: string): RuntimeStepResult { + const diagnostic: MotionDiagnostic = { + severity: "error", + code, + message + }; + this.trace("diagnostic", { diagnostic, message }); + return { + status: "blocked", + diagnostic + }; + } +} + +function normalizeAlarmSeverity(severity?: string): RuntimeAlarm["severity"] { + return severity === "info" || severity === "warning" || severity === "error" ? severity : "error"; +} diff --git a/kdl-wasm/web/src/controller/sourceMap.ts b/kdl-wasm/web/src/controller/sourceMap.ts new file mode 100644 index 0000000..11aea0a --- /dev/null +++ b/kdl-wasm/web/src/controller/sourceMap.ts @@ -0,0 +1,143 @@ +import type { SemanticProgramIr, SemanticSourceMapEntry } from "../grl/ir/index.js"; +import type { MotionSourceMap } from "../kdl/types.js"; + +export interface RuntimeSourceLocation { + kind: string; + id?: string; + sourceMap?: MotionSourceMap; + pathId?: string; + pointId?: string; + operationId?: string; + procedureId?: string; + brand?: { + vendor?: string; + file?: string; + line?: number; + column?: number; + symbol?: string; + }; +} + +export class RuntimeSourceMapIndex { + private readonly entries: SemanticSourceMapEntry[]; + + constructor(program: Pick | SemanticSourceMapEntry[] = []) { + this.entries = Array.isArray(program) ? [...program] : [...program.sourceMap]; + } + + all(): RuntimeSourceLocation[] { + return this.entries.map((entry) => this.toLocation(entry)); + } + + locateByInstruction(input: { + kind?: string; + sourceMap?: MotionSourceMap; + pathId?: string; + pointId?: string; + operationId?: string; + procedureId?: string; + id?: string; + source?: Record; + }): RuntimeSourceLocation | undefined { + const sourceLine = input.sourceMap?.line; + const sourceFile = input.sourceMap?.file; + const entry = this.entries.find((candidate) => { + if (input.pathId && candidate.pathId !== input.pathId) { + return false; + } + if (input.pointId && candidate.pointId !== input.pointId) { + return false; + } + if (input.operationId && candidate.operationId !== input.operationId) { + return false; + } + if (input.procedureId && candidate.procedureId !== input.procedureId) { + return false; + } + if (input.kind && candidate.kind !== input.kind && candidate.id !== input.id) { + return false; + } + if (sourceLine !== undefined && candidate.sourceMap.line !== sourceLine) { + return false; + } + if (sourceFile !== undefined && candidate.sourceMap.file !== sourceFile) { + return false; + } + return true; + }); + + if (entry) { + return this.toLocation(entry, input.source); + } + + if (input.sourceMap || input.pathId || input.operationId || input.pointId || input.procedureId) { + const brand = brandSource(input.source); + return { + kind: input.kind ?? "instruction", + ...(input.id ? { id: input.id } : {}), + ...(input.sourceMap ? { sourceMap: input.sourceMap } : {}), + ...(input.pathId ? { pathId: input.pathId } : {}), + ...(input.pointId ? { pointId: input.pointId } : {}), + ...(input.operationId ? { operationId: input.operationId } : {}), + ...(input.procedureId ? { procedureId: input.procedureId } : {}), + ...(brand ? { brand } : {}) + }; + } + + return undefined; + } + + locatePathPoint(pathId: string, pointId: string): RuntimeSourceLocation | undefined { + return this.find((entry) => entry.pathId === pathId && entry.pointId === pointId); + } + + locateOperation(operationId: string): RuntimeSourceLocation[] { + return this.entries + .filter((entry) => entry.operationId === operationId) + .map((entry) => this.toLocation(entry)); + } + + locateSource(sourceMap: MotionSourceMap): RuntimeSourceLocation[] { + return this.entries + .filter((entry) => + (sourceMap.file === undefined || entry.sourceMap.file === sourceMap.file) && + (sourceMap.line === undefined || entry.sourceMap.line === sourceMap.line) && + (sourceMap.column === undefined || entry.sourceMap.column === sourceMap.column) + ) + .map((entry) => this.toLocation(entry)); + } + + private find(predicate: (entry: SemanticSourceMapEntry) => boolean): RuntimeSourceLocation | undefined { + const entry = this.entries.find(predicate); + return entry ? this.toLocation(entry) : undefined; + } + + private toLocation(entry: SemanticSourceMapEntry, source?: Record): RuntimeSourceLocation { + const brand = brandSource(source); + return { + kind: entry.kind, + id: entry.id, + sourceMap: entry.sourceMap, + ...(entry.pathId ? { pathId: entry.pathId } : {}), + ...(entry.pointId ? { pointId: entry.pointId } : {}), + ...(entry.operationId ? { operationId: entry.operationId } : {}), + ...(entry.procedureId ? { procedureId: entry.procedureId } : {}), + ...(brand ? { brand } : {}) + }; + } +} + +function brandSource(source?: Record): RuntimeSourceLocation["brand"] | undefined { + const brand = source?.brand; + if (!brand || typeof brand !== "object") { + return undefined; + } + const record = brand as Record; + return { + ...(typeof record.vendor === "string" ? { vendor: record.vendor } : {}), + ...(typeof record.file === "string" ? { file: record.file } : {}), + ...(typeof record.line === "number" ? { line: record.line } : {}), + ...(typeof record.column === "number" ? { column: record.column } : {}), + ...(typeof record.symbol === "string" ? { symbol: record.symbol } : {}) + }; +} diff --git a/kdl-wasm/web/src/controller/stateMachine.ts b/kdl-wasm/web/src/controller/stateMachine.ts new file mode 100644 index 0000000..2f2d8aa --- /dev/null +++ b/kdl-wasm/web/src/controller/stateMachine.ts @@ -0,0 +1,145 @@ +import type { MotionDiagnostic } from "../kdl/types.js"; + +export type VirtualControllerState = + | "unloaded" + | "stopped" + | "running" + | "paused" + | "hold" + | "faulted"; + +export type VirtualControllerCommand = + | "load" + | "run" + | "pause" + | "stop" + | "reset" + | "step" + | "hold"; + +export interface StateTransitionResult { + ok: boolean; + previous: VirtualControllerState; + state: VirtualControllerState; + command: VirtualControllerCommand; + diagnostic?: MotionDiagnostic; +} + +export interface VirtualControllerStateMachineSnapshot { + state: VirtualControllerState; + diagnostics: MotionDiagnostic[]; +} + +const TRANSITIONS: Record< + VirtualControllerCommand, + Partial> +> = { + load: { + unloaded: "stopped", + stopped: "stopped", + faulted: "stopped" + }, + run: { + stopped: "running", + paused: "running", + hold: "running" + }, + pause: { + running: "paused" + }, + stop: { + running: "stopped", + paused: "stopped", + hold: "stopped", + faulted: "stopped" + }, + reset: { + stopped: "stopped", + paused: "stopped", + hold: "stopped", + faulted: "stopped" + }, + step: { + stopped: "paused", + paused: "paused" + }, + hold: { + running: "hold", + paused: "hold" + } +}; + +export class VirtualControllerStateMachine { + private stateValue: VirtualControllerState; + private readonly diagnosticsValue: MotionDiagnostic[] = []; + + constructor(initialState: VirtualControllerState = "unloaded") { + this.stateValue = initialState; + } + + get state(): VirtualControllerState { + return this.stateValue; + } + + get diagnostics(): MotionDiagnostic[] { + return [...this.diagnosticsValue]; + } + + dispatch(command: VirtualControllerCommand): StateTransitionResult { + const previous = this.stateValue; + const next = TRANSITIONS[command][previous]; + if (!next) { + const diagnostic: MotionDiagnostic = { + severity: "warning", + code: "VC_INVALID_STATE_TRANSITION", + message: `Cannot ${command} while controller is ${previous}`, + data: { command, state: previous } + }; + this.diagnosticsValue.push(diagnostic); + return { + ok: false, + previous, + state: previous, + command, + diagnostic + }; + } + + this.stateValue = next; + return { + ok: true, + previous, + state: next, + command + }; + } + + fault(message: string, code = "VC_CONTROLLER_FAULT"): StateTransitionResult { + const previous = this.stateValue; + const diagnostic: MotionDiagnostic = { + severity: "error", + code, + message + }; + this.diagnosticsValue.push(diagnostic); + this.stateValue = "faulted"; + return { + ok: true, + previous, + state: "faulted", + command: "stop", + diagnostic + }; + } + + resetDiagnostics(): void { + this.diagnosticsValue.length = 0; + } + + snapshot(): VirtualControllerStateMachineSnapshot { + return { + state: this.stateValue, + diagnostics: this.diagnostics + }; + } +} diff --git a/kdl-wasm/web/src/controller/trace.ts b/kdl-wasm/web/src/controller/trace.ts new file mode 100644 index 0000000..b4ee7cb --- /dev/null +++ b/kdl-wasm/web/src/controller/trace.ts @@ -0,0 +1,56 @@ +import type { ExecutableInstruction } from "../grl/ir/index.js"; +import type { MotionDiagnostic } from "../kdl/types.js"; +import type { RuntimeSourceLocation } from "./sourceMap.js"; + +export type RuntimeTraceEventKind = + | "load" + | "state" + | "instruction" + | "motion" + | "io" + | "wait" + | "alarm" + | "breakpoint" + | "diagnostic" + | "script"; + +export interface RuntimeTraceEvent { + id: number; + time: number; + kind: RuntimeTraceEventKind; + procedure?: string; + pc?: number; + instructionKind?: ExecutableInstruction["kind"] | string; + message?: string; + source?: RuntimeSourceLocation; + diagnostic?: MotionDiagnostic; + data?: Record; +} + +export class TraceBuffer { + private readonly events: RuntimeTraceEvent[] = []; + private nextId = 1; + + constructor(private readonly capacity = 1000) {} + + push(event: Omit): RuntimeTraceEvent { + const next: RuntimeTraceEvent = { + ...event, + id: this.nextId + }; + this.nextId += 1; + this.events.push(next); + while (this.events.length > this.capacity) { + this.events.shift(); + } + return next; + } + + all(): RuntimeTraceEvent[] { + return this.events.map((event) => ({ ...event })); + } + + clear(): void { + this.events.length = 0; + } +} diff --git a/kdl-wasm/web/src/controller/virtualController.ts b/kdl-wasm/web/src/controller/virtualController.ts new file mode 100644 index 0000000..cef74b1 --- /dev/null +++ b/kdl-wasm/web/src/controller/virtualController.ts @@ -0,0 +1,193 @@ +import type { ExecutableInstruction, SemanticProgramIr } from "../grl/ir/index.js"; +import { IoImageRuntime, type IoRuntimeOptions } from "../runtime/ioRuntime.js"; +import { KdlRuntimeBridge } from "../runtime/kdlBridge.js"; +import { MotionQueue, type MotionPlanner } from "../runtime/motionQueue.js"; +import type { RobotHandle } from "../kdl/types.js"; +import { IrExecutionRuntime, type IrExecutionRuntimeSnapshot, type RuntimeStepResult } from "./runtime.js"; +import { VirtualControllerStateMachine } from "./stateMachine.js"; +import type { RuntimeTraceEvent } from "./trace.js"; + +export interface VirtualControllerLoadOptions { + entryProcedure?: string; + startJoints: number[]; + sampleTime: number; + planner?: MotionPlanner; + robotHandle?: RobotHandle; + io?: IoRuntimeOptions; +} + +export interface VirtualControllerSnapshot { + state: ReturnType; + runtime: IrExecutionRuntimeSnapshot; + motion?: ReturnType; + io: ReturnType; + bridge?: ReturnType; +} + +export class VirtualController { + readonly stateMachine = new VirtualControllerStateMachine(); + private ioValue = new IoImageRuntime(); + private runtimeValue: IrExecutionRuntime | undefined; + private motionQueueValue: MotionQueue | undefined; + private bridgeValue: KdlRuntimeBridge | undefined; + private loadedOptions: VirtualControllerLoadOptions | undefined; + + get io(): IoImageRuntime { + return this.ioValue; + } + + get runtime(): IrExecutionRuntime | undefined { + return this.runtimeValue; + } + + get motionQueue(): MotionQueue | undefined { + return this.motionQueueValue; + } + + get bridge(): KdlRuntimeBridge | undefined { + return this.bridgeValue; + } + + load(program: SemanticProgramIr, options: VirtualControllerLoadOptions): RuntimeTraceEvent | undefined { + this.loadedOptions = options; + this.ioValue = new IoImageRuntime(options.io); + this.motionQueueValue = new MotionQueue({ + startJoints: options.startJoints, + sampleTime: options.sampleTime, + ...(options.planner ? { planner: options.planner } : {}), + ...(options.robotHandle !== undefined ? { robotHandle: options.robotHandle } : {}) + }); + this.runtimeValue = new IrExecutionRuntime({ + ...(options.entryProcedure ? { entryProcedure: options.entryProcedure } : {}), + hooks: { + onMotion: (instruction, runtime) => { + this.bridgeValue?.enqueueInstruction(instruction); + runtime.trace("motion", { + instruction, + data: { queued: true } + }); + }, + onIo: (instruction, runtime) => { + const result = this.ioValue.executeInstruction(instruction); + runtime.trace("io", { + instruction, + data: { result } + }); + }, + onWait: (instruction, runtime) => { + const waitKey = `$wait:${runtime.currentFrame?.procedure ?? "main"}:${runtime.currentFrame?.pc ?? 0}`; + if (runtime.getVariable(waitKey) === undefined) { + runtime.setVariable(waitKey, runtime.virtualTime, "global"); + } + const elapsed = runtime.virtualTime - Number(runtime.getVariable(waitKey) ?? runtime.virtualTime); + const result = this.ioValue.evaluateWait(instruction, elapsed); + runtime.trace("wait", { + instruction, + data: { status: result.status, elapsed } + }); + if (result.status === "satisfied" || result.status === "timeout") { + if (result.onTimeout?.kind === "alarm") { + runtime.pushAlarm(result.onTimeout.value, result.onTimeout.value, "warning", runtime.locateInstruction(instruction)); + } + return undefined; + } + if (result.status === "hold-stop") { + this.stateMachine.dispatch("hold"); + } + return { + status: "blocked", + instruction + }; + } + } + }); + this.runtimeValue.load(program, options.entryProcedure); + this.bridgeValue = new KdlRuntimeBridge(program, this.motionQueueValue); + this.stateMachine.dispatch("load"); + return this.runtimeValue.snapshot().trace.at(-1); + } + + run(maxSteps?: number): RuntimeStepResult { + const transition = this.stateMachine.dispatch("run"); + if (!transition.ok) { + return blockedTransitionResult(transition.diagnostic); + } + const result = this.requireRuntime().run(maxSteps); + if (result.status === "completed") { + this.stateMachine.dispatch("stop"); + } else if (result.status === "breakpoint") { + this.stateMachine.dispatch("pause"); + } + return result; + } + + pause(): void { + this.stateMachine.dispatch("pause"); + } + + stop(): void { + this.stateMachine.dispatch("stop"); + } + + reset(): void { + const options = this.loadedOptions; + this.stateMachine.dispatch("reset"); + if (!options || !this.runtimeValue || !this.runtimeValue.program) { + return; + } + this.runtimeValue.reset(options.entryProcedure); + this.motionQueueValue?.clear(); + } + + step(): RuntimeStepResult { + const transition = this.stateMachine.dispatch("step"); + if (!transition.ok) { + return blockedTransitionResult(transition.diagnostic); + } + return this.requireRuntime().step(); + } + + advance(deltaTime: number): void { + this.io.advance(deltaTime); + this.motionQueueValue?.advance(deltaTime); + if (this.runtimeValue) { + this.runtimeValue.virtualTime += deltaTime; + } + } + + snapshot(): VirtualControllerSnapshot { + return { + state: this.stateMachine.snapshot(), + runtime: this.requireRuntime().snapshot(), + ...(this.motionQueueValue ? { motion: this.motionQueueValue.snapshot() } : {}), + io: this.ioValue.snapshot(), + ...(this.bridgeValue ? { bridge: this.bridgeValue.snapshot() } : {}) + }; + } + + private requireRuntime(): IrExecutionRuntime { + if (!this.runtimeValue) { + throw new Error("Controller has not loaded a program"); + } + return this.runtimeValue; + } +} + +function blockedTransitionResult(diagnostic: RuntimeStepResult["diagnostic"]): RuntimeStepResult { + return { + status: "blocked", + ...(diagnostic ? { diagnostic } : {}) + }; +} + +export function isMotionInstruction( + instruction: ExecutableInstruction +): instruction is Extract { + return ( + instruction.kind === "MOVEJ" || + instruction.kind === "MOVEL" || + instruction.kind === "MOVEC" || + instruction.kind === "RUN_PATH" || + instruction.kind === "RUN_OPERATION" + ); +} diff --git a/kdl-wasm/web/src/docs/flowAssetCoverage.ts b/kdl-wasm/web/src/docs/flowAssetCoverage.ts new file mode 100644 index 0000000..d32067f --- /dev/null +++ b/kdl-wasm/web/src/docs/flowAssetCoverage.ts @@ -0,0 +1,155 @@ +import { existsSync, readFileSync, statSync } from "node:fs"; +import { join } from "node:path"; +import type { MotionDiagnostic } from "../kdl/types.js"; + +export type FlowAssetId = "flow-01" | "flow-02" | "flow-03" | "flow-04" | "flow-05"; + +export interface FlowAssetMapping { + id: FlowAssetId; + title: string; + mermaidFile: string; + pngFile: string; + tasks: string[]; + evidence: string; + chapters: string[]; + requiredTerms: string[]; +} + +export interface FlowAssetCoverageResult { + ok: boolean; + rootDir: string; + assets: Array; + diagnostics: MotionDiagnostic[]; +} + +export const FLOW_ASSET_MAPPINGS: FlowAssetMapping[] = [ + { + id: "flow-01", + title: "总体功能流程", + mermaidFile: "flow-01.mmd", + pngFile: "flow-01.png", + tasks: ["KW-200", "KW-202", "KW-203", "KW-205", "KW-206", "KW-211.1"], + evidence: "EV-211", + chapters: ["FLOW 2", "FLOW 5", "FLOW 6"], + requiredTerms: ["项目资源", "GRL Lexer", "KDL WASM API", "Motion Queue", "Post Processor"] + }, + { + id: "flow-02", + title: "GRL 编译执行流程", + mermaidFile: "flow-02.mmd", + pngFile: "flow-02.png", + tasks: ["KW-100", "KW-101", "KW-110", "KW-202", "KW-203", "KW-204", "KW-211.2"], + evidence: "EV-211", + chapters: ["FLOW 3", "GRL 20", "GRL 21"], + requiredTerms: ["Lexer", "Parser", "Semantic Analyzer", "Executable IR", "Wait Registry"] + }, + { + id: "flow-03", + title: "KDL 计算流程", + mermaidFile: "flow-03.mmd", + pngFile: "flow-03.png", + tasks: ["KW-002", "KW-008", "KW-009", "KW-010", "KW-011", "KW-211.3"], + evidence: "EV-211", + chapters: ["FLOW 4", "KDL 11", "KDL 12", "KDL 13", "KDL 14"], + requiredTerms: ["RobotHandle", "planMoveJ", "planMoveL", "planMoveC", "planPath"] + }, + { + id: "flow-04", + title: "数据传递流程", + mermaidFile: "flow-04.mmd", + pngFile: "flow-04.png", + tasks: ["KW-200", "KW-201", "KW-202", "KW-203", "KW-204", "KW-206", "KW-211.4"], + evidence: "EV-211", + chapters: ["FLOW 5", "FLOW 9"], + requiredTerms: ["Project", "Compile", "KDL", "Runtime", "Output"] + }, + { + id: "flow-05", + title: "诊断传递流程", + mermaidFile: "flow-05.mmd", + pngFile: "flow-05.png", + tasks: ["KW-110", "KW-111", "KW-206", "KW-209", "KW-211.5"], + evidence: "EV-211", + chapters: ["FLOW 9", "FLOW 10"], + requiredTerms: ["Diagnostic", "severity", "sourceMap", "GRL file", "brandSource"] + } +]; + +export function validateFlowAssetCoverage(rootDir: string): FlowAssetCoverageResult { + const diagnostics: MotionDiagnostic[] = []; + const assets: FlowAssetCoverageResult["assets"] = []; + + for (const mapping of FLOW_ASSET_MAPPINGS) { + const mermaidPath = join(rootDir, mapping.mermaidFile); + const pngPath = join(rootDir, mapping.pngFile); + const mermaidBytes = fileSizeOrDiagnostic(mermaidPath, mapping, "mermaid", diagnostics); + const pngBytes = fileSizeOrDiagnostic(pngPath, mapping, "png", diagnostics); + + if (mermaidBytes > 0) { + const source = readFileSync(mermaidPath, "utf8"); + for (const term of mapping.requiredTerms) { + if (!source.includes(term)) { + diagnostics.push({ + severity: "error", + code: "FLOW_REQUIRED_TERM_MISSING", + message: `${mapping.id} is missing required term ${term}`, + data: { id: mapping.id, term, file: mapping.mermaidFile } + }); + } + } + } + + if (mapping.tasks.length === 0 || !mapping.tasks.some((task) => task.startsWith("KW-211"))) { + diagnostics.push({ + severity: "error", + code: "FLOW_TASK_MAPPING_MISSING", + message: `${mapping.id} must map to a KW-211 subtask`, + data: { id: mapping.id } + }); + } + + assets.push({ + ...mapping, + mermaidBytes, + pngBytes + }); + } + + return { + ok: diagnostics.every((diagnostic) => diagnostic.severity !== "error"), + rootDir, + assets, + diagnostics + }; +} + +function fileSizeOrDiagnostic( + path: string, + mapping: FlowAssetMapping, + kind: "mermaid" | "png", + diagnostics: MotionDiagnostic[] +): number { + if (!existsSync(path)) { + diagnostics.push({ + severity: "error", + code: "FLOW_ASSET_MISSING", + message: `${mapping.id} ${kind} asset is missing`, + data: { id: mapping.id, path } + }); + return 0; + } + + const size = statSync(path).size; + if (size <= 0) { + diagnostics.push({ + severity: "error", + code: "FLOW_ASSET_EMPTY", + message: `${mapping.id} ${kind} asset is empty`, + data: { id: mapping.id, path } + }); + } + return size; +} diff --git a/kdl-wasm/web/src/docs/index.ts b/kdl-wasm/web/src/docs/index.ts new file mode 100644 index 0000000..5de3e76 --- /dev/null +++ b/kdl-wasm/web/src/docs/index.ts @@ -0,0 +1,7 @@ +export { + FLOW_ASSET_MAPPINGS, + validateFlowAssetCoverage, + type FlowAssetCoverageResult, + type FlowAssetId, + type FlowAssetMapping +} from "./flowAssetCoverage.js"; diff --git a/kdl-wasm/web/src/fixtures/abb120.ts b/kdl-wasm/web/src/fixtures/abb120.ts new file mode 100644 index 0000000..958c6df --- /dev/null +++ b/kdl-wasm/web/src/fixtures/abb120.ts @@ -0,0 +1,54 @@ +export const ABB_IRB120_URDF_SOURCE = { + repository: "https://github.com/ros-industrial/abb", + branch: "noetic-devel", + entrypoint: "abb_irb120_support/urdf/irb120_3_58.xacro", + macro: "abb_irb120_support/urdf/irb120_3_58_macro.xacro" +} as const; + +export const ABB_IRB120_3_58_URDF = ` + + + + + + + + + + + + + + + + + + + + + +`; + +export const ABB_IRB120_LOAD_OPTIONS = { + robotId: "abb_irb120_3_58", + baseLink: "base_link", + tipLink: "tool0" +} as const; + +export const ABB_IRB120_ZERO_JOINTS = [0, 0, 0, 0, 0, 0] as const; +export const ABB_IRB120_PICK_JOINTS = [0.2, -0.35, 0.45, 0.1, -0.2, 0.3] as const; +export const ABB_IRB120_PLACE_JOINTS = [-0.35, -0.25, 0.35, -0.25, 0.15, -0.4] as const; +export const ABB_IRB120_APPROACH_JOINTS = [0, -0.4, 0.5, 0, 0.2, 0] as const; + +export const ABB120_ROBOT_FIXTURE = { + robotId: ABB_IRB120_LOAD_OPTIONS.robotId, + urdf: ABB_IRB120_3_58_URDF, + loadOptions: ABB_IRB120_LOAD_OPTIONS, + source: ABB_IRB120_URDF_SOURCE, + standardJoints: { + home: ABB_IRB120_ZERO_JOINTS, + approach: ABB_IRB120_APPROACH_JOINTS, + pick: ABB_IRB120_PICK_JOINTS, + place: ABB_IRB120_PLACE_JOINTS + } +} as const; diff --git a/kdl-wasm/web/src/grl/ast/ast.ts b/kdl-wasm/web/src/grl/ast/ast.ts index 51aa25b..c504caf 100644 --- a/kdl-wasm/web/src/grl/ast/ast.ts +++ b/kdl-wasm/web/src/grl/ast/ast.ts @@ -25,7 +25,10 @@ export type GrlAstNodeKind = | "ArrayExpression" | "CallExpression" | "ObjectExpression" - | "OffsetExpression"; + | "OffsetExpression" + | "UnaryExpression" + | "BinaryExpression" + | "UnitExpression"; export interface GrlAstNode { kind: GrlAstNodeKind; @@ -85,7 +88,7 @@ export interface GrlPathEvent extends GrlAstNode { kind: "PathEvent"; timing: "before" | "after" | "at"; pointId: string; - distance?: GrlNumberLiteral; + distance?: GrlExpression; actionTokens: GrlToken[]; } @@ -217,7 +220,7 @@ export interface GrlObjectExpression extends GrlAstNode { export interface GrlOffsetAxis { axis: "x" | "y" | "z"; - value: GrlNumberLiteral; + value: GrlExpression; } export interface GrlOffsetExpression extends GrlAstNode { @@ -228,6 +231,45 @@ export interface GrlOffsetExpression extends GrlAstNode { axes: GrlOffsetAxis[]; } +export interface GrlUnaryExpression extends GrlAstNode { + kind: "UnaryExpression"; + operator: "+" | "-" | "not" | "!"; + argument: GrlExpression; +} + +export interface GrlBinaryExpression extends GrlAstNode { + kind: "BinaryExpression"; + operator: + | "+" + | "-" + | "*" + | "/" + | "mod" + | "==" + | "!=" + | "<" + | "<=" + | ">" + | ">=" + | "and" + | "or" + | "&&" + | "||"; + left: GrlExpression; + right: GrlExpression; +} + +export interface GrlUnitExpression extends GrlAstNode { + kind: "UnitExpression"; + expression: GrlExpression; + unit: { + raw: string; + kind: string; + siUnit: string; + factor: number; + }; +} + export type GrlExpression = | GrlIdentifierExpression | GrlNumberLiteral @@ -236,4 +278,7 @@ export type GrlExpression = | GrlArrayExpression | GrlCallExpression | GrlObjectExpression - | GrlOffsetExpression; + | GrlOffsetExpression + | GrlUnaryExpression + | GrlBinaryExpression + | GrlUnitExpression; diff --git a/kdl-wasm/web/src/grl/ast/index.ts b/kdl-wasm/web/src/grl/ast/index.ts index 1fb11b2..4f17fea 100644 --- a/kdl-wasm/web/src/grl/ast/index.ts +++ b/kdl-wasm/web/src/grl/ast/index.ts @@ -2,6 +2,7 @@ export type { GrlAstNode, GrlAstNodeKind, GrlArrayExpression, + GrlBinaryExpression, GrlBooleanLiteral, GrlCallExpression, GrlDataDeclaration, @@ -33,5 +34,7 @@ export type { GrlRawTopLevelDeclaration, GrlStringLiteral, GrlTargetDeclaration, - GrlTopLevelDeclaration + GrlTopLevelDeclaration, + GrlUnaryExpression, + GrlUnitExpression } from "./ast.js"; diff --git a/kdl-wasm/web/src/grl/parser/expressionParser.ts b/kdl-wasm/web/src/grl/parser/expressionParser.ts index be796fd..8c69254 100644 --- a/kdl-wasm/web/src/grl/parser/expressionParser.ts +++ b/kdl-wasm/web/src/grl/parser/expressionParser.ts @@ -1,5 +1,6 @@ import type { GrlArrayExpression, + GrlBinaryExpression, GrlBooleanLiteral, GrlCallExpression, GrlExpression, @@ -9,9 +10,12 @@ import type { GrlObjectProperty, GrlOffsetAxis, GrlOffsetExpression, - GrlStringLiteral + GrlStringLiteral, + GrlUnaryExpression, + GrlUnitExpression } from "../ast/index.js"; import type { GrlToken } from "../lexer/index.js"; +import { isGrlUnitLiteral, normalizeUnitLiteral } from "../lexer/units.js"; import { GrlParseError } from "./errors.js"; export function parseGrlExpression(tokens: GrlToken[]): GrlExpression { @@ -25,15 +29,83 @@ class GrlExpressionParser { constructor(private readonly tokens: GrlToken[]) {} parse(): GrlExpression { - const expression = this.parseOffsetExpression(); + const expression = this.parseExpression(); if (!this.isAtEnd()) { throw new GrlParseError("Unexpected token after expression", this.peek()); } return expression; } + private parseExpression(): GrlExpression { + return this.parseOrExpression(); + } + + private parseOrExpression(): GrlExpression { + return this.parseBinaryLeftAssoc(() => this.parseAndExpression(), ["or", "||"]); + } + + private parseAndExpression(): GrlExpression { + return this.parseBinaryLeftAssoc(() => this.parseEqualityExpression(), ["and", "&&"]); + } + + private parseEqualityExpression(): GrlExpression { + return this.parseBinaryLeftAssoc(() => this.parseComparisonExpression(), ["==", "!="]); + } + + private parseComparisonExpression(): GrlExpression { + return this.parseBinaryLeftAssoc(() => this.parseAdditiveExpression(), ["<", "<=", ">", ">="]); + } + + private parseAdditiveExpression(): GrlExpression { + return this.parseBinaryLeftAssoc(() => this.parseMultiplicativeExpression(), ["+", "-"]); + } + + private parseMultiplicativeExpression(): GrlExpression { + return this.parseBinaryLeftAssoc(() => this.parseUnaryExpression(), ["*", "/", "mod"]); + } + + private parseUnaryExpression(): GrlExpression { + const token = this.peek(); + if (this.isUnaryOperator(token)) { + const operatorToken = this.advance(); + const argument = this.parseUnaryExpression(); + const expression: GrlUnaryExpression = { + kind: "UnaryExpression", + operator: operatorToken.raw as GrlUnaryExpression["operator"], + argument, + range: { + start: operatorToken.range.start, + end: argument.range.end + } + }; + return expression; + } + + return this.parseOffsetExpression(); + } + + private parseBinaryLeftAssoc(parseOperand: () => GrlExpression, operators: string[]): GrlExpression { + let expression = parseOperand(); + while (this.isBinaryOperator(this.peek(), operators)) { + const operator = this.advance(); + const right = parseOperand(); + const binary: GrlBinaryExpression = { + kind: "BinaryExpression", + operator: operator.raw as GrlBinaryExpression["operator"], + left: expression, + right, + range: { + start: expression.range.start, + end: right.range.end + } + }; + expression = binary; + } + return expression; + } + private parseOffsetExpression(): GrlExpression { - const base = this.parsePrimary(); + const base = this.parseUnitExpression(); if (this.matchKeyword("offset")) { return this.finishOffsetExpression(base, "frame"); } @@ -56,11 +128,7 @@ class GrlExpressionParser { const axes: GrlOffsetAxis[] = []; while (!this.isAtEnd()) { const axis = this.consumeAxis(); - const valueExpression = this.parsePrimary(); - if (valueExpression.kind !== "NumberLiteral") { - throw new GrlParseError(`Expected length value after offset ${axis}`, valueExpression.range ? this.previous() : this.peek()); - } - const value = valueExpression; + const value = this.parseUnaryExpression(); axes.push({ axis, value }); } @@ -81,13 +149,33 @@ class GrlExpressionParser { }; } + private parseUnitExpression(): GrlExpression { + let expression = this.parsePrimary(); + while (this.isUnitToken(this.peek())) { + const unitToken = this.advance(); + const unit = normalizeUnitLiteral(unitToken.raw); + const withUnit: GrlUnitExpression = { + kind: "UnitExpression", + expression, + unit: { + raw: unit.literal, + kind: unit.kind, + siUnit: unit.siUnit, + factor: unit.factor + }, + range: { + start: expression.range.start, + end: unitToken.range.end + } + }; + expression = withUnit; + } + return expression; + } + private parsePrimary(): GrlExpression { const token = this.peek(); - if (token.kind === "operator" && token.raw === "-") { - return this.parseNegativeNumber(); - } - if (token.kind === "number") { this.advance(); return numberLiteralFromToken(token); @@ -118,10 +206,16 @@ class GrlExpressionParser { } if (token.kind === "punctuation" && token.raw === "(") { - this.advance(); - const expression = this.parseOffsetExpression(); - this.consumePunctuation(")", "Expected ) after expression"); - return expression; + const start = this.advance(); + const expression = this.parseExpression(); + const end = this.consumePunctuation(")", "Expected ) after expression"); + return { + ...expression, + range: { + start: start.range.start, + end: end.range.end + } + }; } if (token.kind === "identifier" || token.kind === "keyword") { @@ -147,7 +241,7 @@ class GrlExpressionParser { const start = this.consumePunctuation("[", "Expected ["); const elements: GrlExpression[] = []; while (!this.checkPunctuation("]") && !this.isAtEnd()) { - elements.push(this.parseOffsetExpression()); + elements.push(this.parseExpression()); this.matchPunctuation(","); } const end = this.consumePunctuation("]", "Expected ] after array expression"); @@ -162,32 +256,10 @@ class GrlExpressionParser { }; } - private parseNegativeNumber(): GrlNumberLiteral { - const minus = this.advance(); - const number = this.consumeNumberLiteral("Expected number after -"); - return { - ...number, - value: -number.value, - raw: `${minus.raw}${number.raw}`, - ...(number.unit - ? { - unit: { - ...number.unit, - normalizedValue: -number.unit.normalizedValue - } - } - : {}), - range: { - start: minus.range.start, - end: number.range.end - } - }; - } - private finishCallExpression(callee: GrlToken): GrlCallExpression { const args: GrlExpression[] = []; while (!this.checkPunctuation(")") && !this.isAtEnd()) { - args.push(this.parseOffsetExpression()); + args.push(this.parseExpression()); this.matchPunctuation(","); } const end = this.consumePunctuation(")", "Expected ) after call expression"); @@ -208,7 +280,7 @@ class GrlExpressionParser { while (!this.checkPunctuation("}") && !this.isAtEnd()) { const key = this.consumeIdentifierLike("Expected object property name"); this.consumePunctuation(":", "Expected : after object property name"); - const value = this.parseOffsetExpression(); + const value = this.parseExpression(); properties.push({ key: key.raw, value, @@ -240,14 +312,6 @@ class GrlExpressionParser { throw new GrlParseError("Expected offset axis x, y, or z", token); } - private consumeNumberLiteral(message: string): GrlNumberLiteral { - const token = this.consume("number", message); - if (token.kind !== "number") { - throw new GrlParseError(message, token); - } - return numberLiteralFromToken(token); - } - private consumeIdentifierLike(message: string): GrlToken { const token = this.peek(); if (token.kind === "identifier" || token.kind === "keyword") { @@ -256,13 +320,6 @@ class GrlExpressionParser { throw new GrlParseError(message, token); } - private consume(kind: GrlToken["kind"], message: string): GrlToken { - if (this.check(kind)) { - return this.advance(); - } - throw new GrlParseError(message, this.peek()); - } - private consumeKeyword(keyword: string, message: string): GrlToken { if (this.checkKeyword(keyword)) { return this.advance(); @@ -293,10 +350,6 @@ class GrlExpressionParser { return false; } - private check(kind: GrlToken["kind"]): boolean { - return !this.isAtEnd() && this.peek().kind === kind; - } - private checkKeyword(keyword: string): boolean { const token = this.peek(); return (token.kind === "keyword" || token.kind === "identifier") && token.raw === keyword; @@ -307,6 +360,24 @@ class GrlExpressionParser { return token.kind === "punctuation" && token.raw === value; } + private isUnaryOperator(token: GrlToken): boolean { + return ( + (token.kind === "operator" && (token.raw === "+" || token.raw === "-" || token.raw === "!")) || + ((token.kind === "keyword" || token.kind === "identifier") && token.raw === "not") + ); + } + + private isBinaryOperator(token: GrlToken, operators: string[]): boolean { + return ( + (token.kind === "operator" || token.kind === "keyword" || token.kind === "identifier") && + operators.includes(token.raw) + ); + } + + private isUnitToken(token: GrlToken): boolean { + return !this.isAtEnd() && (token.kind === "identifier" || token.kind === "keyword" || token.kind === "operator") && isGrlUnitLiteral(token.raw); + } + private advance(): GrlToken { if (!this.isAtEnd()) { this.current += 1; diff --git a/kdl-wasm/web/src/grl/parser/parser.ts b/kdl-wasm/web/src/grl/parser/parser.ts index 2d5023b..6b14d7b 100644 --- a/kdl-wasm/web/src/grl/parser/parser.ts +++ b/kdl-wasm/web/src/grl/parser/parser.ts @@ -297,12 +297,13 @@ class GrlParser { let distance: GrlPathEvent["distance"]; if (timing.raw === "at") { this.consumeIdentifierValue("distance", "Expected distance in event at"); - const distanceToken = this.peek(); - const distanceTokens = this.collectSignedNumberTokens(); + const distanceTokens = this.collectUntil((token, depth) => + depth.brace === 0 && + depth.bracket === 0 && + depth.paren === 0 && + ((token.kind === "punctuation" && token.raw === "}") || this.isPathItemStart(token) || this.isPathEventActionStart(token)) + ); const distanceExpression = parseGrlExpression(distanceTokens); - if (distanceExpression.kind !== "NumberLiteral") { - throw new GrlParseError("Expected numeric event distance", distanceToken); - } distance = distanceExpression; } const actionTokens = this.collectPathEventActionTokens(); @@ -648,6 +649,13 @@ class GrlParser { return tokens; } + private isPathEventActionStart(token: GrlToken): boolean { + return ( + (token.kind === "keyword" || token.kind === "identifier") && + (token.raw === "io" || token.raw === "wait" || token.raw === "pulse" || token.raw === "alarm" || token.raw === "call") + ); + } + private collectUntil( shouldStop: ( token: GrlToken, diff --git a/kdl-wasm/web/src/grl/semantic/compileData.ts b/kdl-wasm/web/src/grl/semantic/compileData.ts index 4a684d9..ac81688 100644 --- a/kdl-wasm/web/src/grl/semantic/compileData.ts +++ b/kdl-wasm/web/src/grl/semantic/compileData.ts @@ -2,15 +2,19 @@ import { rpyToQuaternion } from "../../math/poseMath.js"; import type { JointTarget, OffsetSpec, Pose, PoseTarget, SpeedSpec, ZoneSpec } from "../../kdl/types.js"; import { KdlStructuredError } from "../../kdl/rpc.js"; import type { - GrlArrayExpression, GrlCallExpression, GrlDataDeclaration, GrlExpression, - GrlNumberLiteral, GrlObjectExpression, GrlOffsetExpression, GrlTargetDeclaration } from "../ast/index.js"; +import { + type ConstantEvaluationContext, + type ConstantValue, + evaluateConstantExpression, + evaluateNumberExpression +} from "./constantExpression.js"; export type CompiledGrlDataValue = | Pose @@ -37,17 +41,28 @@ export interface CompiledGrlTargetDeclaration { target: JointTarget | PoseTarget; } -export function compileGrlDataDeclaration(declaration: GrlDataDeclaration): CompiledGrlDataDeclaration { +export function compileGrlDataDeclaration( + declaration: GrlDataDeclaration, + context: ConstantEvaluationContext | number = {} +): CompiledGrlDataDeclaration { + const evaluationContext = typeof context === "number" ? {} : context; return { name: declaration.name, storage: declaration.storage, typeName: declaration.typeName, - value: compileByType(declaration.typeName, declaration.initializer) + value: compileByType(declaration.typeName, declaration.initializer, evaluationContext) }; } -export function compileGrlTargetDeclaration(declaration: GrlTargetDeclaration): CompiledGrlTargetDeclaration { - const target = compileTargetExpression(declaration.target); +export function compileGrlConstantValue(expression: GrlExpression): ConstantValue { + return evaluateConstantExpression(expression); +} + +export function compileGrlTargetDeclaration( + declaration: GrlTargetDeclaration, + context: ConstantEvaluationContext = {} +): CompiledGrlTargetDeclaration { + const target = compileTargetExpression(declaration.target, context); return { name: declaration.name, target: { @@ -57,17 +72,24 @@ export function compileGrlTargetDeclaration(declaration: GrlTargetDeclaration): }; } -export function compileTargetExpression(expression: GrlExpression): JointTarget | PoseTarget { +export function compileTargetExpression( + expression: GrlExpression, + context: ConstantEvaluationContext = {} +): JointTarget | PoseTarget { if (isObjectExpression(expression, "joint_target")) { return { - joints: compileNumberArray(requiredProperty(expression, "joints")) + joints: compileNumberArray(requiredProperty(expression, "joints"), { + ...context, + expectedKind: "angle", + defaultUnit: "deg" + }) }; } if (isObjectExpression(expression, "pose_target")) { - const pose = compilePoseExpression(requiredProperty(expression, "pose")); + const pose = compilePoseExpression(requiredProperty(expression, "pose"), context); const configExpression = findProperty(expression, "config"); - const config = configExpression ? compileRobotConfig(configExpression) : undefined; + const config = configExpression ? compileRobotConfig(configExpression, context) : undefined; return { pose, ...(config ? { config } : {}), @@ -79,35 +101,51 @@ export function compileTargetExpression(expression: GrlExpression): JointTarget throw compileError("GRL_UNSUPPORTED_TARGET", "Expected joint_target or pose_target expression"); } -export function compileSpeedExpression(expression: GrlExpression): SpeedSpec { +export function compileSpeedExpression( + expression: GrlExpression, + context: ConstantEvaluationContext = {} +): SpeedSpec { if (!isCallExpression(expression)) { throw compileError("GRL_INVALID_SPEED", "Speed expression must be a call"); } const first = expression.args[0]; - if (!first || first.kind !== "NumberLiteral") { + if (!first) { throw compileError("GRL_INVALID_SPEED", "Speed expression requires a numeric value"); } if (expression.callee === "joint") { - if (first.unit?.kind === "percent") { - return { kind: "joint_percent", value: first.unit.normalizedValue }; + const value = evaluateConstantExpression(first, { ...context, defaultUnit: "%" }); + if (value.kind === "percent") { + return { kind: "joint_percent", value: value.value as number }; } - return { kind: "joint_abs", velocity: normalizedNumber(first) }; + return { kind: "joint_abs", velocity: evaluateNumberExpression(first, { ...context, expectedKind: "angular_velocity", defaultUnit: "deg/s" }) }; } if (expression.callee === "linear") { - return { kind: "linear", velocity: normalizedNumber(first), ...compileAcceleration(expression) }; + return { + kind: "linear", + velocity: evaluateNumberExpression(first, { ...context, expectedKind: "linear_velocity", defaultUnit: "mm/s" }), + ...compileAcceleration(expression, context) + }; } if (expression.callee === "angular") { - return { kind: "linear", velocity: 0, angularVelocity: normalizedNumber(first), ...compileAcceleration(expression) }; + return { + kind: "linear", + velocity: 0, + angularVelocity: evaluateNumberExpression(first, { ...context, expectedKind: "angular_velocity", defaultUnit: "deg/s" }), + ...compileAcceleration(expression, context) + }; } throw compileError("GRL_INVALID_SPEED", `Unsupported speed expression: ${expression.callee}`); } -export function compileZoneExpression(expression: GrlExpression): ZoneSpec { +export function compileZoneExpression( + expression: GrlExpression, + context: ConstantEvaluationContext = {} +): ZoneSpec { if (expression.kind === "IdentifierExpression") { if (expression.name === "fine") { return { kind: "fine" }; @@ -119,28 +157,31 @@ export function compileZoneExpression(expression: GrlExpression): ZoneSpec { if (isCallExpression(expression) && expression.callee === "z") { const first = expression.args[0]; - if (!first || first.kind !== "NumberLiteral") { + if (!first) { throw compileError("GRL_INVALID_ZONE", "z(...) requires a distance"); } - return { kind: "distance", value: normalizedNumber(first) }; + return { kind: "distance", value: evaluateNumberExpression(first, { ...context, expectedKind: "length", defaultUnit: "mm" }) }; } if (isCallExpression(expression) && expression.callee === "cnt") { const first = expression.args[0]; - if (!first || first.kind !== "NumberLiteral") { + if (!first) { throw compileError("GRL_INVALID_ZONE", "cnt(...) requires a percent value"); } - return { kind: "cnt", value: normalizedNumber(first) }; + return { kind: "cnt", value: evaluateNumberExpression(first, context) }; } throw compileError("GRL_INVALID_ZONE", "Unsupported zone expression"); } -export function compileOffsetExpression(expression: GrlOffsetExpression): OffsetSpec { +export function compileOffsetExpression( + expression: GrlOffsetExpression, + context: ConstantEvaluationContext = {} +): OffsetSpec { const xyz: [number, number, number] = [0, 0, 0]; for (const axis of expression.axes) { const index = axis.axis === "x" ? 0 : axis.axis === "y" ? 1 : 2; - xyz[index] = normalizedNumber(axis.value); + xyz[index] = evaluateNumberExpression(axis.value, { ...context, expectedKind: "length", defaultUnit: "mm" }); } return { @@ -150,37 +191,39 @@ export function compileOffsetExpression(expression: GrlOffsetExpression): Offset }; } -function compileByType(typeName: string, expression: GrlExpression): CompiledGrlDataValue { +function compileByType( + typeName: string, + expression: GrlExpression, + context: ConstantEvaluationContext = {} +): CompiledGrlDataValue { if (typeName === "speed") { - return compileSpeedExpression(expression); + return compileSpeedExpression(expression, context); } if (typeName === "zone") { - return compileZoneExpression(expression); + return compileZoneExpression(expression, context); } if (typeName === "pose") { - return compilePoseExpression(expression); + return compilePoseExpression(expression, context); } if (typeName === "pose_target" || typeName === "joint_target") { - return compileTargetExpression(expression); + return compileTargetExpression(expression, context); } if (expression.kind === "OffsetExpression") { - return compileOffsetExpression(expression); + return compileOffsetExpression(expression, context); } if (typeName === "tool" && isObjectExpression(expression, "tool")) { return { - tcp: compilePoseExpression(requiredProperty(expression, "tcp")), - ...(findProperty(expression, "mass") ? { mass: normalizedNumber(findProperty(expression, "mass") as GrlNumberLiteral) } : {}), - ...(findProperty(expression, "cog") ? { cog: compileNumberArray(findProperty(expression, "cog")!) } : {}) + tcp: compilePoseExpression(requiredProperty(expression, "tcp"), context), + ...(findProperty(expression, "mass") ? { mass: evaluateNumberExpression(findProperty(expression, "mass")!, { ...context, expectedKind: "mass", defaultUnit: "kg" }) } : {}), + ...(findProperty(expression, "cog") ? { cog: compileNumberArray(findProperty(expression, "cog")!, { ...context, expectedKind: "length", defaultUnit: "mm" }) } : {}) }; } if (typeName === "frame" && isObjectExpression(expression, "frame")) { return { - origin: compilePoseExpression(requiredProperty(expression, "origin")) + origin: compilePoseExpression(requiredProperty(expression, "origin"), context) }; } - if (expression.kind === "NumberLiteral") { - return normalizedNumber(expression); - } + if (isConstantScalarExpression(expression)) return evaluateConstantExpression(expression, context).value as number | boolean | string; if (expression.kind === "StringLiteral" || expression.kind === "BooleanLiteral") { return expression.value; } @@ -191,46 +234,51 @@ function compileByType(typeName: string, expression: GrlExpression): CompiledGrl return { kind: expression.kind }; } -function compilePoseExpression(expression: GrlExpression): Pose { +function compilePoseExpression( + expression: GrlExpression, + context: ConstantEvaluationContext = {} +): Pose { if (!isCallExpression(expression) || (expression.callee !== "pose" && expression.callee !== "poseq")) { throw compileError("GRL_INVALID_POSE", "Expected pose(...) or poseq(...) expression"); } - const values = expression.args.map((arg) => { - if (arg.kind !== "NumberLiteral") { - throw compileError("GRL_INVALID_POSE", "Pose arguments must be numeric"); - } - return normalizedNumber(arg); - }); - if (expression.callee === "pose") { - if (values.length !== 6) { + if (expression.args.length !== 6) { throw compileError("GRL_INVALID_POSE", "pose(...) requires 6 arguments"); } + const values = expression.args.map((arg, index) => + evaluateNumberExpression(arg, { + ...context, + expectedKind: index < 3 ? "length" : "angle", + defaultUnit: index < 3 ? "mm" : "deg" + }) + ); return { position: [values[0]!, values[1]!, values[2]!], quaternion: rpyToQuaternion([values[3]!, values[4]!, values[5]!]) }; } - if (values.length !== 7) { + if (expression.args.length !== 7) { throw compileError("GRL_INVALID_POSE", "poseq(...) requires 7 arguments"); } + const values = expression.args.map((arg, index) => + index < 3 + ? evaluateNumberExpression(arg, { ...context, expectedKind: "length", defaultUnit: "mm" }) + : evaluateNumberExpression(arg, context) + ); return { position: [values[0]!, values[1]!, values[2]!], quaternion: [values[3]!, values[4]!, values[5]!, values[6]!] }; } -function compileRobotConfig(expression: GrlExpression) { +function compileRobotConfig(expression: GrlExpression, context: ConstantEvaluationContext = {}) { if (!isCallExpression(expression) || expression.callee !== "robot_config") { throw compileError("GRL_INVALID_CONFIG", "Expected robot_config(...)"); } const values = expression.args.map((arg) => { - if (arg.kind !== "NumberLiteral") { - throw compileError("GRL_INVALID_CONFIG", "robot_config arguments must be numeric"); - } - return arg.value as -1 | 0 | 1; + return evaluateNumberExpression(arg, context) as -1 | 0 | 1; }); return { ...(values[0] !== undefined ? { shoulder: values[0] } : {}), @@ -239,33 +287,30 @@ function compileRobotConfig(expression: GrlExpression) { }; } -function compileNumberArray(expression: GrlExpression): number[] { +function compileNumberArray( + expression: GrlExpression, + context: ConstantEvaluationContext = {} +): number[] { if (expression.kind !== "ArrayExpression") { throw compileError("GRL_INVALID_ARRAY", "Expected numeric array"); } - return expression.elements.map((element) => { - if (element.kind !== "NumberLiteral") { - throw compileError("GRL_INVALID_ARRAY", "Array elements must be numeric"); - } - return normalizedNumber(element); - }); + return expression.elements.map((element) => evaluateNumberExpression(element, context)); } -function compileAcceleration(expression: GrlCallExpression): { acceleration?: number } { +function compileAcceleration( + expression: GrlCallExpression, + context: ConstantEvaluationContext = {} +): { acceleration?: number } { for (let index = 1; index < expression.args.length; index += 1) { const marker = expression.args[index]; const value = expression.args[index + 1]; - if (marker?.kind === "IdentifierExpression" && marker.name === "acc" && value?.kind === "NumberLiteral") { - return { acceleration: normalizedNumber(value) }; + if (marker?.kind === "IdentifierExpression" && marker.name === "acc" && value) { + return { acceleration: evaluateNumberExpression(value, { ...context, expectedKind: "linear_acceleration", defaultUnit: "mm/s2" }) }; } } return {}; } -function normalizedNumber(expression: GrlNumberLiteral): number { - return expression.unit?.normalizedValue ?? expression.value; -} - function requiredProperty(expression: GrlObjectExpression, key: string): GrlExpression { const property = findProperty(expression, key); if (!property) { @@ -291,6 +336,19 @@ function isCallExpression(expression: GrlExpression): expression is GrlCallExpre return expression.kind === "CallExpression"; } +function isConstantScalarExpression(expression: GrlExpression): boolean { + return [ + "NumberLiteral", + "StringLiteral", + "BooleanLiteral", + "UnaryExpression", + "BinaryExpression", + "CallExpression", + "IdentifierExpression", + "UnitExpression" + ].includes(expression.kind); +} + function compileError(code: string, message: string): KdlStructuredError { return new KdlStructuredError(code, message); } diff --git a/kdl-wasm/web/src/grl/semantic/compileIo.ts b/kdl-wasm/web/src/grl/semantic/compileIo.ts index 05439da..b221cb6 100644 --- a/kdl-wasm/web/src/grl/semantic/compileIo.ts +++ b/kdl-wasm/web/src/grl/semantic/compileIo.ts @@ -10,6 +10,9 @@ import type { WaitInstruction } from "../ir/index.js"; import { lexGrl, type GrlToken } from "../lexer/index.js"; +import { parseGrlExpression } from "../parser/index.js"; +import { evaluateNumberExpression } from "./constantExpression.js"; +import type { GrlNumberLiteral } from "../ast/index.js"; export interface IoMap { aliases?: Record; @@ -185,7 +188,7 @@ class IoStatementParser { return token.raw === "true"; } if (token.kind === "number") { - return normalizedNumber(token); + return evaluateNumberExpression(numberLiteralFromToken(token)); } if (token.kind === "string") { return token.value; @@ -197,8 +200,40 @@ class IoStatementParser { } private parseDuration(): number { - const token = this.consumeNumber("Expected duration"); - return normalizedNumber(token); + const tokens = this.collectDurationExpressionTokens(); + return evaluateNumberExpression(parseGrlExpression(tokens), { expectedKind: "time", defaultUnit: "s" }); + } + + private collectDurationExpressionTokens(): GrlToken[] { + const tokens: GrlToken[] = []; + let parenDepth = 0; + let bracketDepth = 0; + while (!this.isAtEnd()) { + const token = this.peek(); + if ( + tokens.length > 0 && + parenDepth === 0 && + bracketDepth === 0 && + (this.isKeywordLike(token, "on_timeout") || this.isCurrentStatementStartAfter(tokens)) + ) { + break; + } + const consumed = this.advance(); + tokens.push(consumed); + if (consumed.kind === "punctuation" && consumed.raw === "(") { + parenDepth += 1; + } else if (consumed.kind === "punctuation" && consumed.raw === ")") { + parenDepth = Math.max(0, parenDepth - 1); + } else if (consumed.kind === "punctuation" && consumed.raw === "[") { + bracketDepth += 1; + } else if (consumed.kind === "punctuation" && consumed.raw === "]") { + bracketDepth = Math.max(0, bracketDepth - 1); + } + } + if (tokens.length === 0) { + throw ioError("GRL_TOKEN_EXPECTED", "Expected duration"); + } + return tokens; } private collectUntilKeyword(keywords: string[]): GrlToken[] { @@ -242,20 +277,63 @@ class IoStatementParser { private isCurrentStatementStartAfter(tokens: GrlToken[]): boolean { const token = this.peek(); - if (this.isKeywordLike(token, "wait") || this.isKeywordLike(token, "pulse")) { + const previous = tokens.at(-1); + if (!previous || token.range.start.line <= previous.range.end.line) { + return false; + } + if (this.isStatementStart(token)) { return true; } if (!this.isIoStartAtCurrent()) { return false; } - const previous = tokens.at(-1); - return previous ? token.range.start.line > previous.range.end.line : true; + return true; } private isIoStartAtCurrent(): boolean { return this.peek().raw === "io" && this.maybePeek(1)?.raw === "."; } + private isStatementStart(token: GrlToken): boolean { + return ( + (token.kind === "keyword" || token.kind === "identifier") && + [ + "io", + "wait", + "pulse", + "movej", + "movel", + "movec", + "set_tool", + "set_frame", + "set_speed", + "set_zone", + "run_path", + "run_operation", + "if", + "elseif", + "else", + "while", + "for", + "switch", + "case", + "default", + "break", + "continue", + "label", + "jump", + "call", + "return", + "alarm", + "raise", + "try", + "catch", + "finally", + "end" + ].includes(token.raw) + ); + } + private isKeywordLike(token: GrlToken, keyword: string): boolean { return (token.kind === "keyword" || token.kind === "identifier") && token.raw === keyword; } @@ -361,13 +439,6 @@ function compileStatementString( return parseIoFlowStatements(tokens, ioMap); } -function normalizedNumber(token: GrlToken): number { - if (token.kind !== "number") { - throw ioError("GRL_NUMBER_EXPECTED", "Expected number"); - } - return token.unit?.normalizedValue ?? token.value; -} - function tokenSourceMap(token: GrlToken): MotionSourceMap { return { line: token.range.start.line, @@ -375,6 +446,25 @@ function tokenSourceMap(token: GrlToken): MotionSourceMap { }; } +function numberLiteralFromToken(token: Extract): GrlNumberLiteral { + return { + kind: "NumberLiteral", + value: token.value, + raw: token.raw, + ...(token.unit + ? { + unit: { + raw: token.unit.raw, + kind: token.unit.kind, + siUnit: token.unit.siUnit, + normalizedValue: token.unit.normalizedValue + } + } + : {}), + range: token.range + }; +} + function ioError(code: string, message: string): KdlStructuredError { return new KdlStructuredError(code, message); } diff --git a/kdl-wasm/web/src/grl/semantic/compileMotion.ts b/kdl-wasm/web/src/grl/semantic/compileMotion.ts index 58a0004..2f6a796 100644 --- a/kdl-wasm/web/src/grl/semantic/compileMotion.ts +++ b/kdl-wasm/web/src/grl/semantic/compileMotion.ts @@ -41,6 +41,7 @@ import type { import type { GrlToken } from "../lexer/index.js"; import { compileOffsetExpression, + compileGrlConstantValue, compileGrlDataDeclaration, compileGrlTargetDeclaration, compileSpeedExpression, @@ -48,6 +49,7 @@ import { compileZoneExpression, type CompiledGrlDataValue } from "./compileData.js"; +import { constantToLiteralValue, evaluateNumberExpression, type ConstantValue } from "./constantExpression.js"; import type { GrlDataDeclaration, GrlTargetDeclaration } from "../ast/index.js"; export interface GrlMotionContext { @@ -56,6 +58,7 @@ export interface GrlMotionContext { zones: Map; tools: Map; frames: Map; + constants: Map; currentSpeed?: SpeedSpec; currentZone?: ZoneSpec; currentTool?: Pose; @@ -85,7 +88,8 @@ export function buildMotionContext(declarations: Array & Pick): MotionInstruction { @@ -858,7 +873,7 @@ function compilePathEvent( id: `event_${index}`, timing: event.timing, pointId: event.pointId, - ...(event.distance ? { distance: normalizedNumber(event.distance) } : {}), + ...(event.distance ? { distance: evaluateNumberExpression(event.distance, { expectedKind: "length", defaultUnit: "mm" }) } : {}), kind: event.actionTokens[0]?.raw ?? "statement", sourceMap: tokenSourceMap(event.actionTokens[0] ?? event.actionTokens[event.actionTokens.length - 1]!), data: { @@ -875,6 +890,7 @@ function cloneMotionContext(context: GrlMotionContext): GrlMotionContext { zones: context.zones, tools: context.tools, frames: context.frames, + constants: context.constants, ...(context.currentSpeed ? { currentSpeed: context.currentSpeed } : {}), ...(context.currentZone ? { currentZone: context.currentZone } : {}), ...(context.currentTool ? { currentTool: context.currentTool } : {}), @@ -901,14 +917,14 @@ function resolveSpeed(expression: GrlExpression, context: GrlMotionContext): Spe if (expression.kind === "IdentifierExpression" && context.speeds.has(expression.name)) { return context.speeds.get(expression.name)!; } - return compileSpeedExpression(expression); + return compileSpeedExpression(expression, { symbols: context.constants }); } function resolveZone(expression: GrlExpression, context: GrlMotionContext): ZoneSpec { if (expression.kind === "IdentifierExpression" && context.zones.has(expression.name)) { return context.zones.get(expression.name)!; } - return compileZoneExpression(expression); + return compileZoneExpression(expression, { symbols: context.constants }); } function resolveNamedPoseFromExpression( @@ -928,12 +944,17 @@ function resolveNamedPoseFromExpression( } function compileLiteralValue(expression: GrlExpression): unknown { - if (expression.kind === "NumberLiteral") { - return normalizedNumber(expression); - } if (expression.kind === "StringLiteral" || expression.kind === "BooleanLiteral") { return expression.value; } + if ( + expression.kind === "NumberLiteral" || + expression.kind === "UnaryExpression" || + expression.kind === "BinaryExpression" || + expression.kind === "UnitExpression" + ) { + return constantToLiteralValue(expression); + } if (expression.kind === "IdentifierExpression") { return expression.name; } @@ -969,10 +990,6 @@ function targetIdOf(target: JointTarget | PoseTarget): string | undefined { return target.id; } -function normalizedNumber(expression: { value: number; unit?: { normalizedValue: number } }): number { - return expression.unit?.normalizedValue ?? expression.value; -} - function motionError(code: string, message: string): KdlStructuredError { return new KdlStructuredError(code, message); } diff --git a/kdl-wasm/web/src/grl/semantic/compileSemantic.ts b/kdl-wasm/web/src/grl/semantic/compileSemantic.ts index 5ef9548..4aefb24 100644 --- a/kdl-wasm/web/src/grl/semantic/compileSemantic.ts +++ b/kdl-wasm/web/src/grl/semantic/compileSemantic.ts @@ -502,6 +502,7 @@ function cloneMotionContextForSemantic(context: ReturnType; + defaultUnit?: string; + expectedKind?: ConstantDimension; +} + +const EPSILON = 1e-12; + +export function evaluateConstantExpression( + expression: GrlExpression, + context: ConstantEvaluationContext = {} +): ConstantValue { + const value = evaluate(expression, context); + return applyExpectedContext(value, context, expression); +} + +export function evaluateNumberExpression( + expression: GrlExpression, + context: ConstantEvaluationContext = {} +): number { + const value = evaluateConstantExpression(expression, context); + if (typeof value.value !== "number") { + throw expressionError("GRL_EXPR_NON_CONSTANT", "Expected numeric constant expression", expression); + } + return value.value; +} + +export function constantToLiteralValue(expression: GrlExpression): unknown { + const value = evaluateConstantExpression(expression); + return value.value; +} + +function evaluate(expression: GrlExpression, context: ConstantEvaluationContext): ConstantValue { + switch (expression.kind) { + case "NumberLiteral": + return numberLiteralValue(expression, context); + case "StringLiteral": + return { kind: "string", value: expression.value }; + case "BooleanLiteral": + return { kind: "boolean", value: expression.value }; + case "IdentifierExpression": + return identifierValue(expression.name, expression, context); + case "UnaryExpression": + return unaryValue(expression, context); + case "BinaryExpression": + return binaryValue(expression, context); + case "CallExpression": + return callValue(expression, context); + case "UnitExpression": { + const innerContext: ConstantEvaluationContext = {}; + if (context.symbols) { + innerContext.symbols = context.symbols; + } + const inner = evaluate(expression.expression, innerContext); + if (typeof inner.value !== "number") { + throw expressionError("GRL_EXPR_UNIT_MISMATCH", "Unit suffix requires a numeric expression", expression); + } + const unit = normalizeUnitLiteral(expression.unit.raw); + if (inner.kind !== "scalar" && inner.kind !== unit.kind) { + throw expressionError("GRL_EXPR_UNIT_MISMATCH", `Cannot apply ${unit.literal} to ${inner.kind}`, expression); + } + return { + kind: unit.kind, + value: inner.value * unit.factor, + rawUnit: unit.literal + }; + } + default: + throw expressionError("GRL_EXPR_NON_CONSTANT", `${expression.kind} is not a constant expression`, expression); + } +} + +function numberLiteralValue(expression: GrlNumberLiteral, context: ConstantEvaluationContext): ConstantValue { + if (expression.unit) { + return { + kind: expression.unit.kind as UnitKind, + value: expression.unit.normalizedValue, + rawUnit: expression.unit.raw + }; + } + if (context.defaultUnit) { + const unit = normalizeUnitLiteral(context.defaultUnit); + return { + kind: unit.kind, + value: expression.value * unit.factor, + rawUnit: unit.literal + }; + } + return { kind: "scalar", value: expression.value }; +} + +function identifierValue( + name: string, + expression: GrlExpression, + context: ConstantEvaluationContext +): ConstantValue { + if (name === "pi") { + return { kind: "scalar", value: Math.PI }; + } + if (name === "e") { + return { kind: "scalar", value: Math.E }; + } + const value = context.symbols?.get(name); + if (value) { + return value; + } + throw expressionError("GRL_EXPR_UNKNOWN_SYMBOL", `Unknown constant ${name}`, expression); +} + +function unaryValue(expression: GrlUnaryExpression, context: ConstantEvaluationContext): ConstantValue { + const value = evaluate(expression.argument, context); + if (expression.operator === "not" || expression.operator === "!") { + return { kind: "boolean", value: !coerceBoolean(value, expression) }; + } + if (typeof value.value !== "number") { + throw expressionError("GRL_EXPR_UNIT_MISMATCH", `Unary ${expression.operator} requires a number`, expression); + } + return { + ...value, + value: expression.operator === "-" ? -value.value : value.value + }; +} + +function binaryValue(expression: GrlBinaryExpression, context: ConstantEvaluationContext): ConstantValue { + if (expression.operator === "and" || expression.operator === "&&") { + return { + kind: "boolean", + value: coerceBoolean(evaluate(expression.left, context), expression.left) && + coerceBoolean(evaluate(expression.right, context), expression.right) + }; + } + if (expression.operator === "or" || expression.operator === "||") { + return { + kind: "boolean", + value: coerceBoolean(evaluate(expression.left, context), expression.left) || + coerceBoolean(evaluate(expression.right, context), expression.right) + }; + } + + let left = evaluate(expression.left, contextWithoutDefaultUnit(context)); + let right = evaluate(expression.right, contextWithoutDefaultUnit(context)); + + if (["==", "!=", "<", "<=", ">", ">="].includes(expression.operator)) { + [left, right] = normalizeScalarUnits(left, right, context, expression); + return compareValues(left, right, expression); + } + + if (typeof left.value !== "number" || typeof right.value !== "number") { + throw expressionError("GRL_EXPR_UNIT_MISMATCH", `${expression.operator} requires numeric operands`, expression); + } + + if (expression.operator === "*" || expression.operator === "/") { + return multiplyDivide(left, right, expression); + } + + if (expression.operator === "mod") { + [left, right] = normalizeScalarUnits(left, right, context, expression); + ensureNumericCompatible(left, right, expression); + const leftNumber = left.value as number; + const rightNumber = right.value as number; + if (Math.abs(rightNumber) < EPSILON) { + throw expressionError("GRL_EXPR_DIV_ZERO", "Modulo by zero", expression); + } + return withRawUnit(left.kind, leftNumber % rightNumber, left.rawUnit); + } + + [left, right] = normalizeScalarUnits(left, right, context, expression); + ensureNumericCompatible(left, right, expression); + const leftNumber = left.value as number; + const rightNumber = right.value as number; + return withRawUnit(left.kind, expression.operator === "+" ? leftNumber + rightNumber : leftNumber - rightNumber, left.rawUnit ?? right.rawUnit); +} + +function contextWithoutDefaultUnit(context: ConstantEvaluationContext): ConstantEvaluationContext { + const next: ConstantEvaluationContext = {}; + if (context.symbols) { + next.symbols = context.symbols; + } + return next; +} + +function contextWithoutExpectedKind(context: ConstantEvaluationContext): ConstantEvaluationContext { + const next: ConstantEvaluationContext = {}; + if (context.symbols) { + next.symbols = context.symbols; + } + if (context.defaultUnit) { + next.defaultUnit = context.defaultUnit; + } + return next; +} + +function normalizeScalarUnits( + left: ConstantValue, + right: ConstantValue, + context: ConstantEvaluationContext, + expression: GrlExpression +): [ConstantValue, ConstantValue] { + if (typeof left.value !== "number" || typeof right.value !== "number") { + return [left, right]; + } + if (left.kind === "scalar" && right.kind !== "scalar") { + return [coerceScalarToReference(left, right, context, expression), right]; + } + if (right.kind === "scalar" && left.kind !== "scalar") { + return [left, coerceScalarToReference(right, left, context, expression)]; + } + return [left, right]; +} + +function coerceScalarToReference( + scalarValue: ConstantValue, + reference: ConstantValue, + context: ConstantEvaluationContext, + expression: GrlExpression +): ConstantValue { + if (typeof scalarValue.value !== "number") { + return scalarValue; + } + const unitLiteral = reference.rawUnit ?? context.defaultUnit; + if (!unitLiteral) { + throw expressionError("GRL_EXPR_UNIT_MISMATCH", `Cannot infer unit for scalar ${scalarValue.value}`, expression); + } + const unit = normalizeUnitLiteral(unitLiteral); + if (unit.kind !== reference.kind) { + throw expressionError("GRL_EXPR_UNIT_MISMATCH", `Cannot use ${unit.literal} with ${reference.kind}`, expression); + } + return { + kind: unit.kind, + value: scalarValue.value * unit.factor, + rawUnit: unit.literal + }; +} + +function multiplyDivide( + left: ConstantValue, + right: ConstantValue, + expression: GrlBinaryExpression +): ConstantValue { + if (expression.operator === "/" && Math.abs(right.value as number) < EPSILON) { + throw expressionError("GRL_EXPR_DIV_ZERO", "Division by zero", expression); + } + if (left.kind === "scalar" && right.kind === "scalar") { + return { + kind: "scalar", + value: expression.operator === "*" ? (left.value as number) * (right.value as number) : (left.value as number) / (right.value as number) + }; + } + if (left.kind !== "scalar" && right.kind === "scalar") { + return withRawUnit( + left.kind, + expression.operator === "*" ? (left.value as number) * (right.value as number) : (left.value as number) / (right.value as number), + left.rawUnit + ); + } + if (left.kind === "scalar" && right.kind !== "scalar" && expression.operator === "*") { + return withRawUnit(right.kind, (left.value as number) * (right.value as number), right.rawUnit); + } + throw expressionError("GRL_EXPR_UNIT_MISMATCH", "Compound unit arithmetic is not supported", expression); +} + +function compareValues( + left: ConstantValue, + right: ConstantValue, + expression: GrlBinaryExpression +): ConstantValue { + if (expression.operator === "==" || expression.operator === "!=") { + if (left.kind !== right.kind) { + return { kind: "boolean", value: expression.operator === "!=" }; + } + return { + kind: "boolean", + value: expression.operator === "==" ? left.value === right.value : left.value !== right.value + }; + } + + ensureNumericCompatible(left, right, expression); + const leftNumber = left.value as number; + const rightNumber = right.value as number; + switch (expression.operator) { + case "<": + return { kind: "boolean", value: leftNumber < rightNumber }; + case "<=": + return { kind: "boolean", value: leftNumber <= rightNumber }; + case ">": + return { kind: "boolean", value: leftNumber > rightNumber }; + case ">=": + return { kind: "boolean", value: leftNumber >= rightNumber }; + default: + throw expressionError("GRL_EXPR_UNKNOWN_FUNCTION", `Unsupported comparison ${expression.operator}`, expression); + } +} + +function callValue(expression: GrlCallExpression, context: ConstantEvaluationContext): ConstantValue { + const args = expression.args.map((arg) => evaluate(arg, context)); + switch (expression.callee) { + case "sin": + arity(expression, args, 1); + return scalar(Math.sin(angleArg(args[0]!, expression))); + case "cos": + arity(expression, args, 1); + return scalar(Math.cos(angleArg(args[0]!, expression))); + case "tan": + arity(expression, args, 1); + return scalar(Math.tan(angleArg(args[0]!, expression))); + case "asin": + arity(expression, args, 1); + return angle(inverseTrig(Math.asin, args[0]!, expression)); + case "acos": + arity(expression, args, 1); + return angle(inverseTrig(Math.acos, args[0]!, expression)); + case "atan": + arity(expression, args, 1); + return angle(Math.atan(numberArg(args[0]!, expression))); + case "atan2": + arity(expression, args, 2); + return angle(Math.atan2(numberArg(args[0]!, expression), numberArg(args[1]!, expression))); + case "sqrt": + arity(expression, args, 1); + return sameKindUnary(args[0]!, Math.sqrt(numberArg(args[0]!, expression, { min: 0 }))); + case "abs": + arity(expression, args, 1); + return sameKindUnary(args[0]!, Math.abs(numberArg(args[0]!, expression))); + case "pow": + arity(expression, args, 2); + if (args[0]!.kind !== "scalar" && args[1]!.kind !== "scalar") { + throw expressionError("GRL_EXPR_UNIT_MISMATCH", "pow exponent must be scalar", expression); + } + return sameKindUnary(args[0]!, Math.pow(numberArg(args[0]!, expression), numberArg(args[1]!, expression))); + case "min": + arityAtLeast(expression, args, 1); + return minMax(args, expression, "min"); + case "max": + arityAtLeast(expression, args, 1); + return minMax(args, expression, "max"); + case "clamp": + arity(expression, args, 3); + ensureNumericCompatible(args[0]!, args[1]!, expression); + ensureNumericCompatible(args[0]!, args[2]!, expression); + return withRawUnit( + args[0]!.kind, + Math.min(Math.max(args[0]!.value as number, args[1]!.value as number), args[2]!.value as number), + args[0]!.rawUnit + ); + case "floor": + arity(expression, args, 1); + return sameKindUnary(args[0]!, Math.floor(numberArg(args[0]!, expression))); + case "ceil": + arity(expression, args, 1); + return sameKindUnary(args[0]!, Math.ceil(numberArg(args[0]!, expression))); + case "round": + arity(expression, args, 1); + return sameKindUnary(args[0]!, Math.round(numberArg(args[0]!, expression))); + default: + throw expressionError("GRL_EXPR_UNKNOWN_FUNCTION", `Unknown function ${expression.callee}`, expression); + } +} + +function minMax(args: ConstantValue[], expression: GrlExpression, mode: "min" | "max"): ConstantValue { + const first = args[0]!; + for (const arg of args.slice(1)) { + ensureNumericCompatible(first, arg, expression); + } + const values = args.map((arg) => numberArg(arg, expression)); + return withRawUnit(first.kind, mode === "min" ? Math.min(...values) : Math.max(...values), first.rawUnit); +} + +function applyExpectedContext( + value: ConstantValue, + context: ConstantEvaluationContext, + expression: GrlExpression +): ConstantValue { + if (!context.expectedKind || context.expectedKind === value.kind) { + return value; + } + if (context.expectedKind !== "scalar" && value.kind === "scalar" && context.defaultUnit) { + const unit = normalizeUnitLiteral(context.defaultUnit); + if (unit.kind !== context.expectedKind) { + throw expressionError("GRL_EXPR_UNIT_MISMATCH", `Default unit ${unit.literal} does not match ${context.expectedKind}`, expression); + } + return { + kind: unit.kind, + value: (value.value as number) * unit.factor, + rawUnit: unit.literal + }; + } + throw expressionError("GRL_EXPR_UNIT_MISMATCH", `Expected ${context.expectedKind}, got ${value.kind}`, expression); +} + +function ensureNumericCompatible(left: ConstantValue, right: ConstantValue, expression: GrlExpression): void { + if (typeof left.value !== "number" || typeof right.value !== "number") { + throw expressionError("GRL_EXPR_UNIT_MISMATCH", "Expected numeric operands", expression); + } + if (left.kind === right.kind) { + return; + } + if (left.kind === "scalar" || right.kind === "scalar") { + return; + } + throw expressionError("GRL_EXPR_UNIT_MISMATCH", `Cannot combine ${left.kind} and ${right.kind}`, expression); +} + +function numberArg( + value: ConstantValue, + expression: GrlExpression, + options: { min?: number; max?: number } = {} +): number { + if (typeof value.value !== "number") { + throw expressionError("GRL_EXPR_UNIT_MISMATCH", "Expected numeric argument", expression); + } + if (options.min !== undefined && value.value < options.min) { + throw expressionError("GRL_EXPR_DOMAIN", "Function argument is below domain", expression); + } + if (options.max !== undefined && value.value > options.max) { + throw expressionError("GRL_EXPR_DOMAIN", "Function argument is above domain", expression); + } + return value.value; +} + +function angleArg(value: ConstantValue, expression: GrlExpression): number { + if (typeof value.value !== "number") { + throw expressionError("GRL_EXPR_UNIT_MISMATCH", "Expected angle argument", expression); + } + if (value.kind !== "angle" && value.kind !== "scalar") { + throw expressionError("GRL_EXPR_UNIT_MISMATCH", `Expected angle, got ${value.kind}`, expression); + } + return value.value; +} + +function inverseTrig(fn: (value: number) => number, value: ConstantValue, expression: GrlExpression): number { + return fn(numberArg(value, expression, { min: -1, max: 1 })); +} + +function coerceBoolean(value: ConstantValue, expression: GrlExpression): boolean { + if (typeof value.value !== "boolean") { + throw expressionError("GRL_EXPR_UNIT_MISMATCH", "Expected boolean expression", expression); + } + return value.value; +} + +function arity(expression: GrlCallExpression, args: ConstantValue[], expected: number): void { + if (args.length !== expected) { + throw expressionError("GRL_EXPR_ARITY", `${expression.callee} expects ${expected} argument(s)`, expression); + } +} + +function arityAtLeast(expression: GrlCallExpression, args: ConstantValue[], minimum: number): void { + if (args.length < minimum) { + throw expressionError("GRL_EXPR_ARITY", `${expression.callee} expects at least ${minimum} argument(s)`, expression); + } +} + +function scalar(value: number): ConstantValue { + return { kind: "scalar", value }; +} + +function angle(value: number): ConstantValue { + return { kind: "angle", value, rawUnit: "rad" }; +} + +function sameKindUnary(base: ConstantValue, value: number): ConstantValue { + return withRawUnit(base.kind, value, base.rawUnit); +} + +function withRawUnit(kind: ConstantDimension, value: number, rawUnit?: string): ConstantValue { + return rawUnit ? { kind, value, rawUnit } : { kind, value }; +} + +function expressionError(code: string, message: string, expression: GrlExpression): KdlStructuredError { + const sourceMap: MotionSourceMap = { + line: expression.range.start.line, + column: expression.range.start.column + }; + return new KdlStructuredError(code, message, [ + { + severity: "error", + code, + message, + sourceMap + } + ]); +} diff --git a/kdl-wasm/web/src/importers/brandImport.ts b/kdl-wasm/web/src/importers/brandImport.ts new file mode 100644 index 0000000..fd65de3 --- /dev/null +++ b/kdl-wasm/web/src/importers/brandImport.ts @@ -0,0 +1,502 @@ +import { parseGrl } from "../grl/parser/index.js"; +import { compileSemanticProgram } from "../grl/semantic/index.js"; +import type { ExecutableInstruction, SemanticProgramIr } from "../grl/ir/index.js"; +import type { MotionDiagnostic } from "../kdl/types.js"; +import { + applyPatch, + createOlpProject, + pathOperationToGrl, + type JsonPatchOperation, + type OlpOperation, + type OlpPath, + type OlpPathPoint, + type OlpProgram, + type OlpProjectModel, + type OlpSpeed, + type OlpTarget, + type OlpZone, + type Pose6D +} from "../olp/index.js"; +import { + createValidationReport, + type ValidationReport +} from "../reports/index.js"; + +export type ImportBrand = "abb" | "kuka" | "fanuc"; + +export interface BrandProgramFile { + name: string; + text: string; +} + +export interface BrandImportOptions { + projectId?: string; + projectName?: string; + operationKind?: string; + generatedAt?: string; +} + +export interface BrandImportReportItem { + code: string; + severity: "info" | "warning" | "error"; + message: string; + file?: string; + line?: number; +} + +export interface BrandImportResult { + brand: ImportBrand; + project: OlpProjectModel; + patch: JsonPatchOperation[]; + grl: string; + program: OlpProgram; + ir: SemanticProgramIr; + report: ValidationReport; + importReport: BrandImportReportItem[]; + parsed: { + targets: OlpTarget[]; + path: OlpPath; + operation: OlpOperation; + }; +} + +interface ParsedBrandProgram { + targets: OlpTarget[]; + points: OlpPathPoint[]; + notes: BrandImportReportItem[]; +} + +const DEFAULT_SPEEDS: OlpSpeed[] = [ + { id: "import_vj", name: "import_vj", kind: "joint_percent", value: 50 }, + { id: "import_vl", name: "import_vl", kind: "linear_mm_s", value: 200 } +]; + +const DEFAULT_ZONES: OlpZone[] = [ + { id: "import_fine", name: "import_fine", kind: "fine" }, + { id: "import_z10", name: "import_z10", kind: "distance_mm", value: 10 } +]; + +export function importBrandProgram( + brand: ImportBrand, + files: BrandProgramFile[], + options: BrandImportOptions = {} +): BrandImportResult { + const parsed = parseByBrand(brand, files); + const projectId = options.projectId ?? `${brand}_import`; + const projectName = options.projectName ?? `${brand.toUpperCase()}Import`; + const baseProject = createOlpProject({ id: projectId, name: projectName }); + const path: OlpPath = { + id: `${brand}_path`, + name: `${brand}_path`, + source: { + type: "brand_import", + brand, + files: files.map((file) => file.name).join(",") + }, + defaults: { + speedId: "import_vl", + zoneId: "import_z10" + }, + points: parsed.points + }; + const operation: OlpOperation = { + id: `${brand}_operation`, + name: `${brand}_operation`, + kind: options.operationKind ?? "imported_program", + pathId: path.id, + process: { + import_brand: brand, + source_files: files.map((file) => file.name) + } + }; + const patch = buildImportPatch(DEFAULT_SPEEDS, DEFAULT_ZONES, parsed.targets, path, operation); + const project = applyPatch(baseProject, patch); + const generated = pathOperationToGrl(project, operation.id, { + moduleName: projectName.replace(/[^A-Za-z0-9_]/g, "_") + }); + project.programs.push(generated.program); + const compiledIr = compileSemanticProgram(parseGrl(generated.text), { + startJoints: firstJointTarget(parsed.targets)?.joints ?? [0, 0, 0, 0, 0, 0], + sampleTime: 0.004 + }); + const ir = expandRunInstructionsForPost(compiledIr); + const report = createValidationReport({ + id: `${brand}_import_report`, + project, + ...(options.generatedAt ? { generatedAt: options.generatedAt } : {}), + importDiagnostics: toImportDiagnostics(brand, parsed.targets, parsed.points, parsed.notes) + }); + + return { + brand, + project, + patch, + grl: generated.text, + program: generated.program, + ir, + report, + importReport: parsed.notes, + parsed: { + targets: parsed.targets, + path, + operation + } + }; +} + +export function parseAbbRapid(files: BrandProgramFile[]): ParsedBrandProgram { + const source = joinFiles(files); + const targets: OlpTarget[] = []; + const targetByRaw = new Map(); + const notes: BrandImportReportItem[] = []; + + for (const match of source.text.matchAll(/\b(?:CONST|PERS|VAR)\s+robtarget\s+([A-Za-z_][A-Za-z0-9_]*)\s*:?=\s*\[\[\s*([-+0-9.Ee]+)\s*,\s*([-+0-9.Ee]+)\s*,\s*([-+0-9.Ee]+)\s*\]\s*,/g)) { + const raw = match[1]!; + const target = poseTarget(raw, [num(match[2]), num(match[3]), num(match[4]), 0, 0, 0]); + addTarget(targets, targetByRaw, raw, target); + } + for (const match of source.text.matchAll(/\b(?:CONST|PERS|VAR)\s+jointtarget\s+([A-Za-z_][A-Za-z0-9_]*)\s*:?=\s*\[\[\s*([^\]]+)\]/g)) { + const raw = match[1]!; + const joints = match[2]!.split(",").slice(0, 6).map((value) => num(value)); + const target = jointTarget(raw, joints); + addTarget(targets, targetByRaw, raw, target); + } + + const points: OlpPathPoint[] = []; + for (const line of source.lines) { + const move = line.text.match(/\b(MoveJ|MoveL|MoveC)\s+([^,;]+)\s*,\s*([^,;]+)?/i); + if (!move) continue; + const motionRaw = move[1]!.toLowerCase(); + if (motionRaw === "movec") { + const circular = line.text.match(/\bMoveC\s+([^,;]+)\s*,\s*([^,;]+)/i); + if (!circular) continue; + const via = resolveTarget(targets, targetByRaw, circular[1]!, notes, line); + const target = resolveTarget(targets, targetByRaw, circular[2]!, notes, line); + points.push(pathPoint(points.length, "movec", target.id, { viaTargetId: via.id, sourceLine: line.number })); + continue; + } + const target = resolveTarget(targets, targetByRaw, move[2]!, notes, line); + points.push(pathPoint(points.length, motionRaw === "movej" ? "movej" : "movel", target.id, { sourceLine: line.number })); + } + + addFeatureNotes(notes, source, "abb"); + return { targets, points, notes }; +} + +export function parseKukaKrl(files: BrandProgramFile[]): ParsedBrandProgram { + const source = joinFiles(files); + const targets: OlpTarget[] = []; + const targetByRaw = new Map(); + const notes: BrandImportReportItem[] = []; + + for (const match of source.text.matchAll(/\b(?:DECL\s+)?E6POS\s+([A-Za-z_][A-Za-z0-9_]*)\s*=\s*\{([^}]+)\}/gi)) { + const raw = match[1]!; + const body = match[2]!; + const target = poseTarget(raw, [ + field(body, "X"), + field(body, "Y"), + field(body, "Z"), + field(body, "A"), + field(body, "B"), + field(body, "C") + ]); + addTarget(targets, targetByRaw, raw, target); + } + for (const match of source.text.matchAll(/\b(?:DECL\s+)?E6AXIS\s+([A-Za-z_][A-Za-z0-9_]*)\s*=\s*\{([^}]+)\}/gi)) { + const raw = match[1]!; + const body = match[2]!; + const target = jointTarget(raw, ["A1", "A2", "A3", "A4", "A5", "A6"].map((axis) => field(body, axis))); + addTarget(targets, targetByRaw, raw, target); + } + + const points: OlpPathPoint[] = []; + for (const line of source.lines) { + const move = line.text.match(/^\s*(PTP|LIN|CIRC)\s+([^ ;,]+)(?:\s*,\s*([^ ;,]+))?/i); + if (!move) continue; + const motion = move[1]!.toUpperCase(); + if (motion === "CIRC") { + const via = resolveTarget(targets, targetByRaw, move[2]!, notes, line); + const target = resolveTarget(targets, targetByRaw, move[3] ?? move[2]!, notes, line); + points.push(pathPoint(points.length, "movec", target.id, { viaTargetId: via.id, sourceLine: line.number })); + continue; + } + const target = resolveTarget(targets, targetByRaw, move[2]!, notes, line); + points.push(pathPoint(points.length, motion === "PTP" ? "movej" : "movel", target.id, { sourceLine: line.number })); + } + + addFeatureNotes(notes, source, "kuka"); + return { targets, points, notes }; +} + +export function parseFanucLs(files: BrandProgramFile[]): ParsedBrandProgram { + const source = joinFiles(files); + const targets: OlpTarget[] = []; + const targetByRaw = new Map(); + const notes: BrandImportReportItem[] = []; + + for (const match of source.text.matchAll(/\bP\[(\d+)\]\s*\{([\s\S]*?)\};/g)) { + const raw = `P[${match[1]!}]`; + const body = match[2]!; + const target = poseTarget(`P${match[1]!}`, [ + fanucField(body, "X"), + fanucField(body, "Y"), + fanucField(body, "Z"), + fanucField(body, "W"), + fanucField(body, "P"), + fanucField(body, "R") + ]); + addTarget(targets, targetByRaw, raw, target); + } + for (const match of source.text.matchAll(/\bPR\[(\d+)\]\s*\{([\s\S]*?)\};/g)) { + const raw = `PR[${match[1]!}]`; + const body = match[2]!; + const target = poseTarget(`PR${match[1]!}`, [ + fanucField(body, "X"), + fanucField(body, "Y"), + fanucField(body, "Z"), + fanucField(body, "W"), + fanucField(body, "P"), + fanucField(body, "R") + ]); + addTarget(targets, targetByRaw, raw, target); + } + + const points: OlpPathPoint[] = []; + for (const line of source.lines) { + const move = line.text.match(/^\s*\d+:\s*(J|L|C)\s+((?:P|PR)\[\d+\])(?:\s+((?:P|PR)\[\d+\]))?/i); + if (!move) continue; + const motion = move[1]!.toUpperCase(); + if (motion === "C") { + const via = resolveTarget(targets, targetByRaw, move[2]!, notes, line); + const target = resolveTarget(targets, targetByRaw, move[3] ?? move[2]!, notes, line); + points.push(pathPoint(points.length, "movec", target.id, { viaTargetId: via.id, sourceLine: line.number })); + continue; + } + const target = resolveTarget(targets, targetByRaw, move[2]!, notes, line); + points.push(pathPoint(points.length, motion === "J" ? "movej" : "movel", target.id, { sourceLine: line.number })); + } + + addFeatureNotes(notes, source, "fanuc"); + return { targets, points, notes }; +} + +function parseByBrand(brand: ImportBrand, files: BrandProgramFile[]): ParsedBrandProgram { + const parsed = brand === "abb" ? parseAbbRapid(files) : brand === "kuka" ? parseKukaKrl(files) : parseFanucLs(files); + if (parsed.points.length === 0) { + parsed.notes.push({ + code: "IMPORT_NO_MOTION", + severity: "error", + message: `${brand} import did not find supported motion statements` + }); + throw new Error(`${brand} import did not find supported motion statements`); + } + return parsed; +} + +function buildImportPatch( + speeds: OlpSpeed[], + zones: OlpZone[], + targets: OlpTarget[], + path: OlpPath, + operation: OlpOperation +): JsonPatchOperation[] { + return [ + ...speeds.map((speed) => ({ op: "add" as const, path: "/speeds/-", value: speed })), + ...zones.map((zone) => ({ op: "add" as const, path: "/zones/-", value: zone })), + ...targets.map((target) => ({ op: "add" as const, path: "/targets/-", value: target })), + { op: "add", path: "/paths/-", value: path }, + { op: "add", path: "/operations/-", value: operation } + ]; +} + +function toImportDiagnostics( + brand: ImportBrand, + targets: OlpTarget[], + points: OlpPathPoint[], + notes: BrandImportReportItem[] +): MotionDiagnostic[] { + const diagnostics: MotionDiagnostic[] = [ + { + severity: targets.length > 0 ? "info" : "warning", + code: "IMPORT_TARGETS", + message: `${brand} import mapped ${targets.length} targets` + }, + { + severity: points.length > 0 ? "info" : "error", + code: "IMPORT_MOTIONS", + message: `${brand} import mapped ${points.length} motion points` + } + ]; + for (const note of notes) { + diagnostics.push({ + severity: note.severity, + code: note.code, + message: note.message, + ...(note.line || note.file ? { sourceMap: { ...(note.file ? { file: note.file } : {}), ...(note.line ? { line: note.line } : {}) } } : {}) + }); + } + return diagnostics; +} + +function expandRunInstructionsForPost(ir: SemanticProgramIr): SemanticProgramIr { + return { + ...ir, + procedures: ir.procedures.map((procedure) => ({ + ...procedure, + instructions: procedure.instructions.flatMap((instruction): ExecutableInstruction[] => { + if (instruction.kind === "RUN_PATH") { + return ir.paths.find((path) => path.pathId === instruction.pathId)?.motions ?? [instruction]; + } + if (instruction.kind === "RUN_OPERATION") { + const operation = ir.operations.find((item) => item.operationId === instruction.operationId); + const motions = operation ? ir.paths.find((path) => path.pathId === operation.pathId)?.motions : undefined; + return motions ?? [instruction]; + } + return [instruction]; + }) + })) + }; +} + +function pathPoint( + index: number, + motion: "movej" | "movel" | "movec", + targetId: string, + extra: { viaTargetId?: string; sourceLine?: number } = {} +): OlpPathPoint { + return { + id: `import_p${String(index).padStart(2, "0")}`, + name: `import_p${String(index).padStart(2, "0")}`, + motion, + targetId, + ...(extra.viaTargetId ? { viaTargetId: extra.viaTargetId } : {}), + speedId: motion === "movej" ? "import_vj" : "import_vl", + zoneId: "import_z10", + ...(extra.sourceLine ? { metadata: { sourceLine: extra.sourceLine } } : {}) + }; +} + +function poseTarget(rawName: string, pose: Pose6D): OlpTarget { + const name = sanitizeIdentifier(rawName); + return { + id: `target_${name}`, + name, + kind: "pose", + pose + }; +} + +function jointTarget(rawName: string, joints: number[]): OlpTarget { + const name = sanitizeIdentifier(rawName); + return { + id: `target_${name}`, + name, + kind: "joint", + joints + }; +} + +function addTarget(targets: OlpTarget[], targetByRaw: Map, rawName: string, target: OlpTarget): void { + if (!targets.some((item) => item.id === target.id)) { + targets.push(target); + } + targetByRaw.set(rawName.trim().toUpperCase(), target); + targetByRaw.set(target.name.toUpperCase(), target); +} + +function resolveTarget( + targets: OlpTarget[], + targetByRaw: Map, + rawToken: string, + notes: BrandImportReportItem[], + line: { file: string; number: number } +): OlpTarget { + const raw = rawToken.trim().replace(/[;]/g, ""); + const existing = targetByRaw.get(raw.toUpperCase()); + if (existing) { + return existing; + } + const target = poseTarget(raw, [0, 0, 0, 0, 0, 0]); + addTarget(targets, targetByRaw, raw, target); + notes.push({ + code: "IMPORT_TARGET_STUB", + severity: "warning", + message: `Target ${raw} was referenced by motion but had no parsed position; a zero pose stub was created`, + file: line.file, + line: line.number + }); + return target; +} + +function addFeatureNotes(notes: BrandImportReportItem[], source: JoinedFiles, brand: ImportBrand): void { + const tool = brand === "abb" ? /\btooldata\b|\btool0\b/i : brand === "kuka" ? /\$TOOL\b/i : /\bUTOOL_NUM\b/i; + const frame = brand === "abb" ? /\bwobjdata\b|\bwobj0\b/i : brand === "kuka" ? /\$BASE\b/i : /\bUFRAME_NUM\b/i; + if (tool.test(source.text)) { + notes.push({ + code: "IMPORT_TOOL_DETECTED", + severity: "info", + message: `${brand} tool selection detected and recorded as import metadata` + }); + } + if (frame.test(source.text)) { + notes.push({ + code: "IMPORT_FRAME_DETECTED", + severity: "info", + message: `${brand} frame/base selection detected and recorded as import metadata` + }); + } +} + +function field(body: string, name: string): number { + const match = body.match(new RegExp(`\\b${name}\\s+([-+0-9.Ee]+)`, "i")); + return match ? num(match[1]) : 0; +} + +function fanucField(body: string, name: string): number { + const match = body.match(new RegExp(`\\b${name}\\s*=\\s*([-+0-9.Ee]+)`, "i")); + return match ? num(match[1]) : 0; +} + +function num(value: string | undefined): number { + const parsed = Number(value?.trim()); + return Number.isFinite(parsed) ? parsed : 0; +} + +function firstJointTarget(targets: OlpTarget[]): OlpTarget | undefined { + return targets.find((target) => target.kind === "joint" && target.joints); +} + +function sanitizeIdentifier(value: string): string { + const normalized = value + .trim() + .replace(/\[(\d+)\]/g, "$1") + .replace(/[^A-Za-z0-9_]/g, "_"); + if (/^[A-Za-z_]/.test(normalized)) { + return normalized; + } + return `T_${normalized}`; +} + +interface JoinedFiles { + text: string; + lines: Array<{ file: string; number: number; text: string }>; +} + +function joinFiles(files: BrandProgramFile[]): JoinedFiles { + const lines: JoinedFiles["lines"] = []; + const textParts: string[] = []; + for (const file of files) { + textParts.push(file.text); + file.text.split(/\r?\n/).forEach((text, index) => { + lines.push({ + file: file.name, + number: index + 1, + text + }); + }); + } + return { + text: textParts.join("\n"), + lines + }; +} diff --git a/kdl-wasm/web/src/importers/brandImporter.ts b/kdl-wasm/web/src/importers/brandImporter.ts new file mode 100644 index 0000000..7d1052d --- /dev/null +++ b/kdl-wasm/web/src/importers/brandImporter.ts @@ -0,0 +1,209 @@ +import type { MotionDiagnostic } from "../kdl/types.js"; +import { pathOperationToGrl, type JsonPatchOperation, type OlpPathPoint, type OlpProjectModel, type OlpTarget } from "../olp/index.js"; +import { applyPatch } from "../olp/index.js"; + +export type ImportBrand = "abb" | "kuka" | "fanuc"; + +export interface BrandImportResult { + brand: ImportBrand; + patch: JsonPatchOperation[]; + model: OlpProjectModel; + grl: string; + diagnostics: MotionDiagnostic[]; + report: { + status: "pass" | "warn" | "fail"; + targets: number; + motions: number; + approximations: string[]; + }; +} + +interface ParsedMotion { + motion: "movej" | "movel" | "movec"; + targetName: string; + viaName?: string; + sourceLine: number; +} + +export function importBrandProgram( + brand: ImportBrand, + text: string, + baseModel: OlpProjectModel, + options: { operationId?: string; pathId?: string; robotId?: string } = {} +): BrandImportResult { + const diagnostics: MotionDiagnostic[] = []; + const targets = parseTargets(brand, text, diagnostics); + const motions = parseMotions(brand, text, diagnostics); + const pathId = options.pathId ?? `${brand}_import_path`; + const operationId = options.operationId ?? `${brand}_import_op`; + const targetPatch = targets.map((target): JsonPatchOperation => ({ op: "add", path: "/targets/-", value: target })); + const pathPoints = motions.map((motion, index): OlpPathPoint => ({ + id: `p${String(index).padStart(2, "0")}`, + name: `p${String(index).padStart(2, "0")}`, + motion: motion.motion, + targetId: targetId(motion.targetName), + ...(motion.viaName ? { viaTargetId: targetId(motion.viaName) } : {}) + })); + const patch: JsonPatchOperation[] = [ + ...targetPatch, + { + op: "add", + path: "/paths/-", + value: { + id: pathId, + name: pathId, + source: { type: "brand_import", brand }, + points: pathPoints + } + }, + { + op: "add", + path: "/operations/-", + value: { + id: operationId, + name: operationId, + kind: "imported", + pathId, + ...(options.robotId ? { robotId: options.robotId } : {}) + } + } + ]; + const model = applyPatch(baseModel, patch); + const grlResult = pathOperationToGrl(model, operationId, { + moduleName: `${brand}_Imported`, + style: "expanded" + }); + model.programs.push({ + id: `${operationId}_source`, + name: `${brand}_source`, + language: brand === "abb" ? "abb_rapid" : brand === "kuka" ? "kuka_krl" : "fanuc_ls", + entryOperationIds: [operationId], + source: { + kind: "imported", + text + } + }); + model.programs.push(grlResult.program); + if (motions.length === 0) { + diagnostics.push({ + severity: "error", + code: "BRAND_IMPORT_NO_MOTIONS", + message: `No motions were found in ${brand} program` + }); + } + + return { + brand, + patch, + model, + grl: grlResult.text, + diagnostics, + report: { + status: diagnostics.some((diagnostic) => diagnostic.severity === "error") + ? "fail" + : diagnostics.some((diagnostic) => diagnostic.severity === "warning") + ? "warn" + : "pass", + targets: targets.length, + motions: motions.length, + approximations: diagnostics + .filter((diagnostic) => diagnostic.code.includes("APPROX")) + .map((diagnostic) => diagnostic.message) + } + }; +} + +function parseTargets(brand: ImportBrand, text: string, diagnostics: MotionDiagnostic[]): OlpTarget[] { + if (brand === "abb") { + return [...text.matchAll(/CONST\s+robtarget\s+(\w+)\s*:=\s*\[\[([^\]]+)\]/gi)] + .map((match) => makePoseTarget(match[1]!, match[2]!)); + } + if (brand === "kuka") { + return [...text.matchAll(/DECL\s+E6POS\s+(\w+)\s*=\s*\{([^}]+)\}/gi)] + .map((match) => makePoseTarget(match[1]!, kukaPoseValues(match[2]!))); + } + const fanucTargets = [...text.matchAll(/P\[(\d+)\]\s*\{([^}]+)\}/gi)] + .map((match) => makePoseTarget(`P${match[1]!}`, fanucPoseValues(match[2]!))); + if (fanucTargets.length === 0) { + diagnostics.push({ + severity: "warning", + code: "BRAND_IMPORT_APPROX_FANUC_POSITIONS", + message: "FANUC LS position block was not found; referenced positions use zero pose placeholders" + }); + } + return fanucTargets; +} + +function parseMotions(brand: ImportBrand, text: string, diagnostics: MotionDiagnostic[]): ParsedMotion[] { + const lines = text.split(/\r?\n/); + return lines.flatMap((line, index): ParsedMotion[] => { + const sourceLine = index + 1; + if (brand === "abb") { + const move = line.match(/\b(MoveJ|MoveL|MoveC)\s+([^,;\s]+)(?:\s*,\s*([^,;\s]+))?/i); + if (!move) return []; + const kind = move[1]!.toLowerCase(); + if (kind === "movec") { + return [{ motion: "movec", viaName: move[2]!, targetName: move[3] ?? move[2]!, sourceLine }]; + } + return [{ motion: kind === "movej" ? "movej" : "movel", targetName: move[2]!, sourceLine }]; + } + if (brand === "kuka") { + const move = line.match(/\b(PTP|LIN|CIRC)\s+(\w+)(?:\s*,\s*(\w+))?/i); + if (!move) return []; + if (move[1]!.toUpperCase() === "CIRC") { + return [{ motion: "movec", viaName: move[2]!, targetName: move[3] ?? move[2]!, sourceLine }]; + } + return [{ motion: move[1]!.toUpperCase() === "PTP" ? "movej" : "movel", targetName: move[2]!, sourceLine }]; + } + const move = line.match(/\b([JLC])\s+P\[(\d+)\](?:\s+P\[(\d+)\])?/i); + if (!move) return []; + if (move[1]!.toUpperCase() === "C") { + return [{ motion: "movec", viaName: `P${move[2]!}`, targetName: `P${move[3] ?? move[2]}`, sourceLine }]; + } + return [{ motion: move[1]!.toUpperCase() === "J" ? "movej" : "movel", targetName: `P${move[2]!}`, sourceLine }]; + }).map((motion) => { + if (motion.motion === "movec" && !motion.viaName) { + diagnostics.push({ + severity: "warning", + code: "BRAND_IMPORT_APPROX_MOVEC", + message: `MoveC at line ${motion.sourceLine} has no explicit via target` + }); + } + return motion; + }); +} + +function makePoseTarget(name: string, values: string | number[]): OlpTarget { + const pose = Array.isArray(values) + ? values + : values.split(",").map((value) => Number(value.trim())).filter((value) => Number.isFinite(value)); + const padded = [...pose, 0, 0, 0, 0, 0, 0].slice(0, 6) as [number, number, number, number, number, number]; + return { + id: targetId(name), + name: sanitizeName(name), + kind: "pose", + pose: padded + }; +} + +function targetId(name: string): string { + return `import_${sanitizeName(name)}`; +} + +function sanitizeName(name: string): string { + const sanitized = name.replace(/[^A-Za-z0-9_]/g, "_"); + return /^[A-Za-z_]/.test(sanitized) ? sanitized : `P${sanitized}`; +} + +function kukaPoseValues(raw: string): number[] { + return ["X", "Y", "Z", "A", "B", "C"].map((key) => field(raw, key)); +} + +function fanucPoseValues(raw: string): number[] { + return ["X", "Y", "Z", "W", "P", "R"].map((key) => field(raw, key)); +} + +function field(raw: string, key: string): number { + const match = raw.match(new RegExp(`${key}\\s*[= ]\\s*(-?\\d+(?:\\.\\d+)?)`, "i")); + return match ? Number(match[1]) : 0; +} diff --git a/kdl-wasm/web/src/importers/index.ts b/kdl-wasm/web/src/importers/index.ts new file mode 100644 index 0000000..0857c87 --- /dev/null +++ b/kdl-wasm/web/src/importers/index.ts @@ -0,0 +1,55 @@ +import { + importBrandProgram as importBrandProgramMvp, + parseAbbRapid, + parseFanucLs, + parseKukaKrl, + type BrandImportOptions, + type BrandImportResult, + type BrandProgramFile, + type ImportBrand +} from "./brandImport.js"; +import { + importBrandProgram as importLegacyBrandProgram, + type BrandImportResult as LegacyBrandImportResult +} from "./brandImporter.js"; +import type { OlpProjectModel } from "../olp/index.js"; + +export function importBrandProgram( + brand: ImportBrand, + files: BrandProgramFile[], + options?: BrandImportOptions +): BrandImportResult; +export function importBrandProgram( + brand: ImportBrand, + text: string, + baseModel: OlpProjectModel, + options?: { operationId?: string; pathId?: string; robotId?: string } +): LegacyBrandImportResult; +export function importBrandProgram( + brand: ImportBrand, + filesOrText: BrandProgramFile[] | string, + optionsOrBaseModel?: BrandImportOptions | OlpProjectModel, + legacyOptions?: { operationId?: string; pathId?: string; robotId?: string } +): BrandImportResult | LegacyBrandImportResult { + if (typeof filesOrText === "string") { + return importLegacyBrandProgram( + brand, + filesOrText, + optionsOrBaseModel as OlpProjectModel, + legacyOptions + ); + } + return importBrandProgramMvp(brand, filesOrText, optionsOrBaseModel as BrandImportOptions | undefined); +} + +export { + importLegacyBrandProgram, + parseAbbRapid, + parseFanucLs, + parseKukaKrl, + type BrandImportOptions, + type BrandImportResult, + type BrandProgramFile, + type ImportBrand, + type LegacyBrandImportResult +}; diff --git a/kdl-wasm/web/src/olp/calibration.ts b/kdl-wasm/web/src/olp/calibration.ts new file mode 100644 index 0000000..4b31898 --- /dev/null +++ b/kdl-wasm/web/src/olp/calibration.ts @@ -0,0 +1,67 @@ +import type { OlpCalibrationRecord, OlpProjectModel, Pose6D } from "./model.js"; + +export interface CalibrationApplyResult { + model: OlpProjectModel; + applied: string[]; +} + +export function applyCalibration(model: OlpProjectModel, calibrationId: string): CalibrationApplyResult { + const calibration = model.calibrations.find((candidate) => candidate.id === calibrationId); + if (!calibration) { + throw new Error(`Calibration ${calibrationId} not found`); + } + const next = clone(model); + const applied: string[] = []; + applyToTools(next, calibration, applied); + applyToFrames(next, calibration, applied); + applyToExternalAxes(next, calibration, applied); + if (applied.length === 0) { + throw new Error(`Calibration ${calibrationId} did not match a supported resource`); + } + return { model: next, applied }; +} + +function applyToTools(model: OlpProjectModel, calibration: OlpCalibrationRecord, applied: string[]): void { + const tool = model.resources.tools.find((candidate) => candidate.id === calibration.targetResourceId); + if (!tool || !calibration.poseDelta) { + return; + } + tool.tcp = addPose(tool.tcp, calibration.poseDelta); + applied.push(tool.id); +} + +function applyToFrames(model: OlpProjectModel, calibration: OlpCalibrationRecord, applied: string[]): void { + const frame = model.resources.frames.find((candidate) => candidate.id === calibration.targetResourceId); + if (!frame || !calibration.poseDelta) { + return; + } + frame.pose = addPose(frame.pose, calibration.poseDelta); + applied.push(frame.id); +} + +function applyToExternalAxes(model: OlpProjectModel, calibration: OlpCalibrationRecord, applied: string[]): void { + const axis = model.externalAxes.find((candidate) => candidate.id === calibration.targetResourceId); + if (!axis || calibration.axisOffset === undefined) { + return; + } + axis.metadata = { + ...(axis.metadata ?? {}), + calibrationOffset: calibration.axisOffset + }; + applied.push(axis.id); +} + +function addPose(left: Pose6D, right: Pose6D): Pose6D { + return [ + left[0] + right[0], + left[1] + right[1], + left[2] + right[2], + left[3] + right[3], + left[4] + right[4], + left[5] + right[5] + ]; +} + +function clone(value: T): T { + return JSON.parse(JSON.stringify(value)) as T; +} diff --git a/kdl-wasm/web/src/olp/geometry.ts b/kdl-wasm/web/src/olp/geometry.ts new file mode 100644 index 0000000..d747fa9 --- /dev/null +++ b/kdl-wasm/web/src/olp/geometry.ts @@ -0,0 +1,374 @@ +import type { + JsonObject, + OlpCalibrationRecord, + OlpCollisionObject, + OlpPath, + OlpPathPoint, + OlpProcessTemplate, + OlpProjectModel, + OlpTarget, + Pose6D, + Vec3 +} from "./model.js"; + +export type GeometrySource = + | { kind: "points"; points: Vec3[] } + | { kind: "edge"; start: Vec3; end: Vec3; samples: number } + | { kind: "polyline"; points: Vec3[]; spacing?: number } + | { kind: "curve"; controlPoints: Vec3[]; samples: number }; + +export interface GeometryPathOptions { + pathId: string; + targetPrefix?: string; + motion?: "movej" | "movel"; + speedId?: string; + zoneId?: string; + toolId?: string; + frameId?: string; + zOffset?: number; +} + +export interface GeometryPathResult { + targets: OlpTarget[]; + path: OlpPath; +} + +export interface CollisionSample { + time: number; + pointId: string; + position: Vec3; +} + +export interface CollisionHit { + objectId: string; + pointId: string; + time: number; + distance: number; +} + +export interface CollisionReport { + ok: boolean; + hits: CollisionHit[]; +} + +export type CollisionCheckResult = CollisionReport; + +export interface ControllerCheckSample { + pointId: string; + offline: Pose6D; + measured: Pose6D; + speedPercent: number; +} + +export interface ControllerCheckReport { + status: "pass" | "warn" | "fail"; + speedPercent: number; + maxPositionErrorMm: number; + maxOrientationErrorDeg: number; + samples: Array; + boundaries: string[]; +} + +export interface CommercialExtensionBoundary { + feature: string; + mvp: boolean; + boundary: string; +} + +export function generatePathFromGeometry(source: GeometrySource, options: GeometryPathOptions): GeometryPathResult { + const targetPrefix = options.targetPrefix ?? options.pathId; + const points = sampleGeometry(source).map((point): Vec3 => [ + point[0], + point[1], + point[2] + (options.zOffset ?? 0) + ]); + const targets = points.map((point, index): OlpTarget => { + const name = `${targetPrefix}_${String(index).padStart(2, "0")}`; + return { + id: `target_${name}`, + name, + kind: "pose", + pose: [point[0], point[1], point[2], 0, 0, 0], + ...(options.toolId ? { toolId: options.toolId } : {}), + ...(options.frameId ? { frameId: options.frameId } : {}) + }; + }); + const pathPoints = targets.map((target, index): OlpPathPoint => ({ + id: `${options.pathId}_p${String(index).padStart(2, "0")}`, + name: `p${String(index).padStart(2, "0")}`, + motion: index === 0 ? (options.motion ?? "movej") : "movel", + targetId: target.id, + ...(options.speedId ? { speedId: options.speedId } : {}), + ...(options.zoneId ? { zoneId: options.zoneId } : {}), + ...(options.toolId ? { toolId: options.toolId } : {}), + ...(options.frameId ? { frameId: options.frameId } : {}) + })); + return { + targets, + path: { + id: options.pathId, + name: options.pathId, + source: { + type: source.kind, + samples: points.length + }, + defaults: { + ...(options.speedId ? { speedId: options.speedId } : {}), + ...(options.zoneId ? { zoneId: options.zoneId } : {}), + ...(options.toolId ? { toolId: options.toolId } : {}), + ...(options.frameId ? { frameId: options.frameId } : {}) + }, + points: pathPoints + } + }; +} + +export function detectBasicCollisions(samples: CollisionSample[], objects: OlpCollisionObject[], clearanceMm = 0): CollisionReport { + const hits: CollisionHit[] = []; + for (const sample of samples) { + for (const object of objects) { + const distance = signedDistanceToObject(sample.position, object); + if (distance <= clearanceMm) { + hits.push({ + objectId: object.id, + pointId: sample.pointId, + time: sample.time, + distance + }); + } + } + } + return { + ok: hits.length === 0, + hits + }; +} + +export const checkBasicCollisions = detectBasicCollisions; + +export function locateCollisionTime(report: CollisionReport): number | undefined { + return report.hits.reduce((earliest, hit) => ( + earliest === undefined || hit.time < earliest ? hit.time : earliest + ), undefined); +} + +export function applyCalibrationRecords(project: OlpProjectModel, records: OlpCalibrationRecord[]): OlpProjectModel { + const next = JSON.parse(JSON.stringify(project)) as OlpProjectModel; + for (const record of records) { + if (record.kind === "tcp" && record.poseDelta) { + const tool = next.resources.tools.find((item) => item.id === record.targetResourceId); + if (tool) tool.tcp = addPose(tool.tcp, record.poseDelta); + } + if ((record.kind === "frame" || record.kind === "base") && record.poseDelta) { + const frame = next.resources.frames.find((item) => item.id === record.targetResourceId); + if (frame) frame.pose = addPose(frame.pose, record.poseDelta); + } + if (record.kind === "external_axis" && record.axisOffset !== undefined) { + const axis = next.externalAxes.find((item) => item.id === record.targetResourceId); + if (axis) { + axis.metadata = { + ...(axis.metadata ?? {}), + calibrationOffset: record.axisOffset + } as JsonObject; + } + } + next.calibrations = upsertById(next.calibrations, record); + } + return next; +} + +export function createResourceLibraryTemplate(project: OlpProjectModel): JsonObject { + return { + robots: project.resources.robots.map((robot) => ({ id: robot.id, brand: robot.brand, model: robot.model })), + tools: project.resources.tools.map((tool) => ({ id: tool.id, tcp: tool.tcp })), + frames: project.resources.frames.map((frame) => ({ id: frame.id, pose: frame.pose })), + collisionObjects: project.resources.collisionObjects.map((object) => ({ id: object.id, shape: object.shape })) + }; +} + +export function instantiateProcessTemplate(template: OlpProcessTemplate, operationId: string): JsonObject { + return { + operationId, + operationKind: template.operationKind, + defaults: template.defaults, + deliveryTags: template.deliveryTags + }; +} + +export function compareControllerLowSpeedRun( + samples: ControllerCheckSample[], + tolerances: { positionMm: number; orientationDeg: number }, + boundaries = controllerVerificationBoundaries() +): ControllerCheckReport { + const evaluated = samples.map((sample) => { + const positionErrorMm = distance3(sample.offline, sample.measured); + const orientationErrorDeg = Math.max( + Math.abs(sample.offline[3] - sample.measured[3]), + Math.abs(sample.offline[4] - sample.measured[4]), + Math.abs(sample.offline[5] - sample.measured[5]) + ); + return { + ...sample, + positionErrorMm, + orientationErrorDeg + }; + }); + const maxPositionErrorMm = Math.max(0, ...evaluated.map((sample) => sample.positionErrorMm)); + const maxOrientationErrorDeg = Math.max(0, ...evaluated.map((sample) => sample.orientationErrorDeg)); + const status = maxPositionErrorMm > tolerances.positionMm || maxOrientationErrorDeg > tolerances.orientationDeg + ? "fail" + : samples.some((sample) => sample.speedPercent > 25) + ? "warn" + : "pass"; + return { + status, + speedPercent: Math.max(0, ...samples.map((sample) => sample.speedPercent)), + maxPositionErrorMm, + maxOrientationErrorDeg, + samples: evaluated, + boundaries + }; +} + +export function controllerVerificationBoundaries(): string[] { + return [ + "MVP records low-speed sampled offline/field deltas; it does not open a live controller communication session.", + "MVP compares taught point poses and max error; it does not guarantee high-precision dynamic trajectory reproduction.", + "MVP uses sampled geometry and primitive collision volumes; it does not include a full CAD kernel." + ]; +} + +export function commercialExtensionBoundaries(): CommercialExtensionBoundary[] { + return [ + { + feature: "resource_library", + mvp: true, + boundary: "JSON serializable robot/tool/frame/collision object catalog only." + }, + { + feature: "process_templates", + mvp: true, + boundary: "Template defaults and delivery tags only; no proprietary process parameter solver." + }, + { + feature: "delivery_package", + mvp: true, + boundary: "Stable JSON/HTML/text package prototype; compression and signing can be added later." + }, + { + feature: "cad_kernel", + mvp: false, + boundary: "Exact CAD B-rep import and boolean collision are outside this MVP." + }, + { + feature: "real_controller_communication", + mvp: false, + boundary: "Live controller upload/download and safety interlocks are outside this MVP." + } + ]; +} + +function sampleGeometry(source: GeometrySource): Vec3[] { + if (source.kind === "points") { + return source.points; + } + if (source.kind === "edge") { + return interpolate(source.start, source.end, Math.max(2, source.samples)); + } + if (source.kind === "polyline") { + if (!source.spacing) return source.points; + const result: Vec3[] = []; + for (let index = 0; index < source.points.length - 1; index += 1) { + const start = source.points[index]!; + const end = source.points[index + 1]!; + const count = Math.max(2, Math.ceil(distanceVec3(start, end) / source.spacing) + 1); + const segment = interpolate(start, end, count); + result.push(...(index === 0 ? segment : segment.slice(1))); + } + return result; + } + const count = Math.max(2, source.samples); + const result: Vec3[] = []; + for (let index = 0; index < count; index += 1) { + const t = count === 1 ? 0 : index / (count - 1); + result.push(bezier(source.controlPoints, t)); + } + return result; +} + +function interpolate(start: Vec3, end: Vec3, count: number): Vec3[] { + return Array.from({ length: count }, (_, index) => { + const t = count === 1 ? 0 : index / (count - 1); + return [ + start[0] + (end[0] - start[0]) * t, + start[1] + (end[1] - start[1]) * t, + start[2] + (end[2] - start[2]) * t + ]; + }); +} + +function bezier(points: Vec3[], t: number): Vec3 { + if (points.length === 0) return [0, 0, 0]; + let current = points.map((point) => [...point] as Vec3); + while (current.length > 1) { + current = current.slice(0, -1).map((point, index): Vec3 => [ + point[0] + (current[index + 1]![0] - point[0]) * t, + point[1] + (current[index + 1]![1] - point[1]) * t, + point[2] + (current[index + 1]![2] - point[2]) * t + ]); + } + return current[0]!; +} + +function signedDistanceToObject(point: Vec3, object: OlpCollisionObject): number { + const center = object.pose.slice(0, 3) as Vec3; + if (object.shape.kind === "sphere") { + return distanceVec3(point, center) - object.shape.radius; + } + if (object.shape.kind === "capsule") { + const half = object.shape.height / 2; + const clampedZ = Math.max(center[2] - half, Math.min(center[2] + half, point[2])); + return distanceVec3(point, [center[0], center[1], clampedZ]) - object.shape.radius; + } + const half = object.shape.size.map((value) => value / 2) as Vec3; + const delta: Vec3 = [ + Math.max(Math.abs(point[0] - center[0]) - half[0], 0), + Math.max(Math.abs(point[1] - center[1]) - half[1], 0), + Math.max(Math.abs(point[2] - center[2]) - half[2], 0) + ]; + const outsideDistance = distanceVec3(delta, [0, 0, 0]); + const inside = Math.abs(point[0] - center[0]) <= half[0] + && Math.abs(point[1] - center[1]) <= half[1] + && Math.abs(point[2] - center[2]) <= half[2]; + return inside ? -Math.min(half[0], half[1], half[2]) : outsideDistance; +} + +function addPose(left: Pose6D, right: Pose6D): Pose6D { + return [ + left[0] + right[0], + left[1] + right[1], + left[2] + right[2], + left[3] + right[3], + left[4] + right[4], + left[5] + right[5] + ]; +} + +function upsertById(items: T[], item: T): T[] { + const index = items.findIndex((entry) => entry.id === item.id); + if (index === -1) return [...items, item]; + const next = [...items]; + next[index] = item; + return next; +} + +function distance3(left: Pose6D, right: Pose6D): number { + return distanceVec3([left[0], left[1], left[2]], [right[0], right[1], right[2]]); +} + +function distanceVec3(left: Vec3, right: Vec3): number { + return Math.hypot(left[0] - right[0], left[1] - right[1], left[2] - right[2]); +} diff --git a/kdl-wasm/web/src/olp/grl.ts b/kdl-wasm/web/src/olp/grl.ts new file mode 100644 index 0000000..24b38b4 --- /dev/null +++ b/kdl-wasm/web/src/olp/grl.ts @@ -0,0 +1,173 @@ +import { + generateGrlProgram, + type GeneratedGrlProgram, + type GeneratedPathPointSpec, + type GrlGeneratorStyle, + type GrlProgramGenerationSpec +} from "../grl/generator/index.js"; +import type { + OlpOperation, + OlpPath, + OlpPathPoint, + OlpProgram, + OlpProjectModel, + OlpSpeed, + OlpTarget, + OlpZone +} from "./model.js"; +import { validateOlpProject } from "./model.js"; + +export interface PathOperationGrlOptions { + moduleName?: string; + programId?: string; + style?: GrlGeneratorStyle; +} + +export interface PathOperationGrlResult extends GeneratedGrlProgram { + spec: GrlProgramGenerationSpec; + program: OlpProgram; +} + +export function pathOperationToGrl( + model: OlpProjectModel, + operationId: string, + options: PathOperationGrlOptions = {} +): PathOperationGrlResult { + const validation = validateOlpProject(model); + const errors = validation.issues.filter((issue) => issue.severity === "error"); + if (errors.length > 0) { + throw new Error(`Cannot generate GRL from invalid OLP model: ${errors.map((issue) => issue.code).join(", ")}`); + } + + const operation = required(model.operations.find((item) => item.id === operationId), `Operation ${operationId} not found`); + const path = required(model.paths.find((item) => item.id === operation.pathId), `Path ${operation.pathId} not found`); + const targets = collectTargetsForPath(model.targets, path); + const spec = toGenerationSpec(model, operation, path, targets, options.moduleName); + const generated = generateGrlProgram(spec, options.style ?? "expanded"); + const program: OlpProgram = { + id: options.programId ?? `${operation.id}_grl`, + name: spec.moduleName, + language: "grl", + entryOperationIds: [operation.id], + source: { + kind: "generated", + text: generated.text, + generatedFrom: { + operationId: operation.id, + pathId: path.id + } + } + }; + + return { + ...generated, + spec, + program + }; +} + +function toGenerationSpec( + model: OlpProjectModel, + operation: OlpOperation, + path: OlpPath, + targets: OlpTarget[], + moduleName?: string +): GrlProgramGenerationSpec { + return { + moduleName: moduleName ?? sanitizeIdentifier(model.project.name), + speeds: Object.fromEntries(model.speeds.map((speed) => [speed.name, renderSpeed(speed)])), + zones: Object.fromEntries(model.zones.map((zone) => [zone.name, renderZone(zone)])), + targets: targets.map((target) => { + if (target.kind === "joint") { + return { + name: target.name, + kind: "joint" as const, + values: target.joints ?? [] + }; + } + return { + name: target.name, + kind: "pose" as const, + values: target.pose ?? [0, 0, 0, 0, 0, 0] + }; + }), + path: { + name: path.name, + ...(path.source ? { source: path.source } : {}), + defaults: { + speed: resolveSpeedName(model, path.defaults?.speedId) ?? "v_linear", + zone: resolveZoneName(model, path.defaults?.zoneId) ?? "z10" + }, + points: path.points.map((point) => toGeneratedPoint(model, point)) + }, + operation: { + name: operation.name, + kind: operation.kind, + path: path.name, + ...(operation.startAction ? { startAction: operation.startAction } : {}), + ...(operation.endAction ? { endAction: operation.endAction } : {}) + } + }; +} + +function collectTargetsForPath(allTargets: OlpTarget[], path: OlpPath): OlpTarget[] { + const targetIds = new Set(path.points.flatMap((point) => [point.targetId, point.viaTargetId].filter((id): id is string => Boolean(id)))); + return allTargets.filter((target) => targetIds.has(target.id)); +} + +function toGeneratedPoint(model: OlpProjectModel, point: OlpPathPoint): GeneratedPathPointSpec { + const target = required(model.targets.find((item) => item.id === point.targetId), `Target ${point.targetId} not found`); + const via = point.viaTargetId + ? required(model.targets.find((item) => item.id === point.viaTargetId), `Via target ${point.viaTargetId} not found`) + : undefined; + return { + id: point.name, + motion: point.motion, + target: target.name, + ...(via ? { via: via.name } : {}), + ...(point.speedId ? { speed: required(resolveSpeedName(model, point.speedId), `Speed ${point.speedId} not found`) } : {}), + ...(point.zoneId ? { zone: required(resolveZoneName(model, point.zoneId), `Zone ${point.zoneId} not found`) } : {}) + }; +} + +function renderSpeed(speed: OlpSpeed): string { + if (speed.kind === "joint_percent") { + return `joint(${speed.value} %)`; + } + return `linear(${speed.value} mm/s)`; +} + +function renderZone(zone: OlpZone): string { + if (zone.kind === "fine") { + return "fine"; + } + if (zone.kind === "cnt") { + return `z(${zone.value ?? 10})`; + } + return `z(${zone.value ?? 10} mm)`; +} + +function resolveSpeedName(model: OlpProjectModel, id?: string): string | undefined { + if (!id) return undefined; + return model.speeds.find((speed) => speed.id === id)?.name; +} + +function resolveZoneName(model: OlpProjectModel, id?: string): string | undefined { + if (!id) return undefined; + return model.zones.find((zone) => zone.id === id)?.name; +} + +function sanitizeIdentifier(value: string): string { + const sanitized = value.replace(/[^A-Za-z0-9_]/g, "_"); + if (/^[A-Za-z_]/.test(sanitized)) { + return sanitized; + } + return `Project_${sanitized}`; +} + +function required(value: T | undefined, message: string): T { + if (value === undefined) { + throw new Error(message); + } + return value; +} diff --git a/kdl-wasm/web/src/olp/index.ts b/kdl-wasm/web/src/olp/index.ts new file mode 100644 index 0000000..ecb7b48 --- /dev/null +++ b/kdl-wasm/web/src/olp/index.ts @@ -0,0 +1,76 @@ +export { + applyCalibrationRecords, + commercialExtensionBoundaries, + compareControllerLowSpeedRun, + controllerVerificationBoundaries, + createResourceLibraryTemplate, + detectBasicCollisions, + checkBasicCollisions, + generatePathFromGeometry, + instantiateProcessTemplate, + locateCollisionTime, + type CollisionHit, + type CollisionCheckResult, + type CollisionReport, + type CollisionSample, + type CommercialExtensionBoundary, + type ControllerCheckReport, + type ControllerCheckSample, + type GeometryPathOptions, + type GeometryPathResult, + type GeometrySource +} from "./geometry.js"; +export { + pathOperationToGrl, + type PathOperationGrlOptions, + type PathOperationGrlResult +} from "./grl.js"; +export { + applyPatch, + type JsonPatchOperation +} from "./patch.js"; +export { + applyCalibration, + type CalibrationApplyResult +} from "./calibration.js"; +export { + createOlpProject, + sampleOlpProject, + validateOlpProject, + type CreateOlpProjectOptions, + type JsonObject, + type JsonPrimitive, + type JsonValue, + type OlpBrand, + type OlpCalibrationRecord, + type OlpCollisionObject, + type OlpExternalAxis, + type OlpFrame, + type OlpGeometryAsset, + type OlpId, + type OlpJointLimit, + type OlpMotionGroup, + type OlpMotionKind, + type OlpNamedEntity, + type OlpOperation, + type OlpPath, + type OlpPathPoint, + type OlpPostProfile, + type OlpProcessTemplate, + type OlpProgram, + type OlpProjectInfo, + type OlpProjectModel, + type OlpReportRef, + type OlpResourceLibrary, + type OlpRobotResource, + type OlpSchemaVersion, + type OlpSpeed, + type OlpStation, + type OlpTarget, + type OlpTool, + type OlpValidationIssue, + type OlpValidationReport, + type OlpZone, + type Pose6D, + type Vec3 +} from "./model.js"; diff --git a/kdl-wasm/web/src/olp/model.ts b/kdl-wasm/web/src/olp/model.ts new file mode 100644 index 0000000..850405b --- /dev/null +++ b/kdl-wasm/web/src/olp/model.ts @@ -0,0 +1,670 @@ +export type OlpSchemaVersion = "olp/0.1"; +export type OlpId = string; +export type OlpBrand = "abb" | "fanuc" | "kuka" | "generic"; + +export type JsonPrimitive = string | number | boolean | null; +export type JsonValue = JsonPrimitive | JsonValue[] | { [key: string]: JsonValue }; +export type JsonObject = { [key: string]: JsonValue }; + +export type Pose6D = [number, number, number, number, number, number]; +export type Vec3 = [number, number, number]; + +export interface OlpNamedEntity { + id: OlpId; + name: string; + metadata?: JsonObject; +} + +export interface OlpProjectInfo extends OlpNamedEntity { + customer?: string; + revision?: string; +} + +export interface OlpStation extends OlpNamedEntity { + resourceIds: OlpId[]; + activeRobotIds: OlpId[]; + defaultFrameId?: OlpId; +} + +export interface OlpJointLimit { + name: string; + lower: number; + upper: number; + velocity: number; + acceleration?: number; +} + +export interface OlpRobotResource extends OlpNamedEntity { + kind: "robot"; + brand: OlpBrand; + model: string; + dof: number; + jointNames: string[]; + limits?: OlpJointLimit[]; + baseFrameId?: OlpId; + controller?: { + family: string; + version?: string; + }; +} + +export interface OlpTool extends OlpNamedEntity { + kind: "tool"; + tcp: Pose6D; + robotId?: OlpId; + massKg?: number; +} + +export interface OlpFrame extends OlpNamedEntity { + kind: "frame"; + pose: Pose6D; + parentFrameId?: OlpId; + robotId?: OlpId; +} + +export interface OlpGeometryAsset extends OlpNamedEntity { + kind: "point" | "edge" | "curve" | "box" | "mesh_ref"; + data: JsonObject; +} + +export interface OlpCollisionObject extends OlpNamedEntity { + kind: "collision_object"; + shape: + | { kind: "box"; size: Vec3 } + | { kind: "sphere"; radius: number } + | { kind: "capsule"; radius: number; height: number }; + pose: Pose6D; + attachedToId?: OlpId; +} + +export interface OlpResourceLibrary { + robots: OlpRobotResource[]; + tools: OlpTool[]; + frames: OlpFrame[]; + geometryAssets: OlpGeometryAsset[]; + collisionObjects: OlpCollisionObject[]; +} + +export interface OlpSpeed extends OlpNamedEntity { + kind: "joint_percent" | "linear_mm_s"; + value: number; +} + +export interface OlpZone extends OlpNamedEntity { + kind: "fine" | "distance_mm" | "cnt"; + value?: number; +} + +export interface OlpTarget extends OlpNamedEntity { + kind: "joint" | "pose"; + robotId?: OlpId; + pose?: Pose6D; + joints?: number[]; + toolId?: OlpId; + frameId?: OlpId; + externalAxes?: Record; +} + +export type OlpMotionKind = "movej" | "movel" | "movec"; + +export interface OlpPathPoint extends OlpNamedEntity { + motion: OlpMotionKind; + targetId: OlpId; + viaTargetId?: OlpId; + speedId?: OlpId; + zoneId?: OlpId; + toolId?: OlpId; + frameId?: OlpId; +} + +export interface OlpPath extends OlpNamedEntity { + defaults?: { + speedId?: OlpId; + zoneId?: OlpId; + toolId?: OlpId; + frameId?: OlpId; + }; + source?: Record; + points: OlpPathPoint[]; +} + +export interface OlpOperation extends OlpNamedEntity { + kind: string; + pathId: OlpId; + robotId?: OlpId; + process?: JsonObject; + startAction?: string; + endAction?: string; +} + +export interface OlpProgram extends OlpNamedEntity { + language: "grl" | "abb_rapid" | "kuka_krl" | "fanuc_ls" | "text"; + entryOperationIds: OlpId[]; + source: { + kind: "generated" | "imported" | "authored"; + text: string; + generatedFrom?: { + operationId: OlpId; + pathId: OlpId; + }; + }; +} + +export interface OlpPostProfile extends OlpNamedEntity { + brand: Exclude; + controllerFamily: string; + fileExtension: string; + options?: JsonObject; +} + +export interface OlpReportRef extends OlpNamedEntity { + reportKind: "validation" | "import" | "delivery" | "controller_check"; + status: "pass" | "warn" | "fail"; + uri?: string; + summary?: JsonObject; +} + +export interface OlpCalibrationRecord extends OlpNamedEntity { + kind: "tcp" | "frame" | "base" | "external_axis"; + targetResourceId: OlpId; + poseDelta?: Pose6D; + axisOffset?: number; + measuredAt?: string; + evidence?: JsonObject; +} + +export interface OlpExternalAxis extends OlpNamedEntity { + axisKind: "linear" | "rotary"; + jointName: string; + limits: { + lower: number; + upper: number; + velocity: number; + }; + attachedRobotIds?: OlpId[]; +} + +export interface OlpMotionGroup extends OlpNamedEntity { + robotIds: OlpId[]; + externalAxisIds: OlpId[]; + coordination: "independent" | "synchronized" | "master_slave"; +} + +export interface OlpProcessTemplate extends OlpNamedEntity { + operationKind: string; + defaults: JsonObject; + deliveryTags: string[]; +} + +export interface OlpProjectModel { + schemaVersion: OlpSchemaVersion; + project: OlpProjectInfo; + station: OlpStation; + resources: OlpResourceLibrary; + speeds: OlpSpeed[]; + zones: OlpZone[]; + targets: OlpTarget[]; + paths: OlpPath[]; + operations: OlpOperation[]; + programs: OlpProgram[]; + postProfiles: OlpPostProfile[]; + reports: OlpReportRef[]; + calibrations: OlpCalibrationRecord[]; + externalAxes: OlpExternalAxis[]; + motionGroups: OlpMotionGroup[]; + processTemplates: OlpProcessTemplate[]; + metadata?: JsonObject; +} + +export interface OlpValidationIssue { + severity: "info" | "warning" | "error"; + code: string; + message: string; + path?: string; +} + +export interface OlpValidationReport { + ok: boolean; + issues: OlpValidationIssue[]; +} + +export interface CreateOlpProjectOptions { + id: OlpId; + name: string; + customer?: string; + revision?: string; +} + +export function createOlpProject(options: CreateOlpProjectOptions): OlpProjectModel { + const project: OlpProjectInfo = { + id: options.id, + name: options.name, + ...(options.customer ? { customer: options.customer } : {}), + ...(options.revision ? { revision: options.revision } : {}) + }; + return { + schemaVersion: "olp/0.1", + project, + station: { + id: `${options.id}_station`, + name: `${options.name} Station`, + resourceIds: [], + activeRobotIds: [] + }, + resources: { + robots: [], + tools: [], + frames: [], + geometryAssets: [], + collisionObjects: [] + }, + speeds: [], + zones: [], + targets: [], + paths: [], + operations: [], + programs: [], + postProfiles: [], + reports: [], + calibrations: [], + externalAxes: [], + motionGroups: [], + processTemplates: [] + }; +} + +export function sampleOlpProject(): OlpProjectModel { + return { + ...createOlpProject({ id: "demo_cell", name: "DemoCell", customer: "KDL" }), + station: { + id: "station_demo", + name: "Demo Station", + resourceIds: ["robot_1", "tool_gripper", "frame_world"], + activeRobotIds: ["robot_1"], + defaultFrameId: "frame_world" + }, + resources: { + robots: [ + { + id: "robot_1", + name: "IRB120", + kind: "robot", + brand: "abb", + model: "IRB120", + dof: 6, + jointNames: ["J1", "J2", "J3", "J4", "J5", "J6"], + baseFrameId: "frame_world" + } + ], + tools: [ + { + id: "tool_gripper", + name: "gripper", + kind: "tool", + tcp: [0, 0, 100, 0, 0, 0], + robotId: "robot_1", + massKg: 2.5 + } + ], + frames: [ + { + id: "frame_world", + name: "world", + kind: "frame", + pose: [0, 0, 0, 0, 0, 0] + }, + { + id: "frame_fixture", + name: "fixture", + kind: "frame", + pose: [800, 0, 0, 0, 0, 0], + parentFrameId: "frame_world" + } + ], + geometryAssets: [ + { + id: "edge_pick_line", + name: "pick_line", + kind: "edge", + data: { + points: [ + [500, 0, 0], + [600, 0, 0] + ] + } + } + ], + collisionObjects: [ + { + id: "fixture_box", + name: "fixture_box", + kind: "collision_object", + shape: { kind: "box", size: [200, 200, 100] }, + pose: [550, 0, -60, 0, 0, 0] + } + ] + }, + speeds: [ + { id: "v_joint", name: "v_joint", kind: "joint_percent", value: 50 }, + { id: "v_linear", name: "v_linear", kind: "linear_mm_s", value: 200 } + ], + zones: [ + { id: "zf", name: "zf", kind: "fine" }, + { id: "z10", name: "z10", kind: "distance_mm", value: 10 } + ], + targets: [ + { + id: "home", + name: "home", + kind: "joint", + robotId: "robot_1", + joints: [0, 0, 0, 0, 0, 0] + }, + { + id: "pick", + name: "pick", + kind: "pose", + robotId: "robot_1", + pose: [500, 0, 0, 0, 0, 0], + toolId: "tool_gripper", + frameId: "frame_fixture" + }, + { + id: "place", + name: "place", + kind: "pose", + robotId: "robot_1", + pose: [600, 0, 0, 0, 0, 0], + toolId: "tool_gripper", + frameId: "frame_fixture" + } + ], + paths: [ + { + id: "pick_path", + name: "pick_path", + source: { + type: "cad_curve", + id: "edge_pick_line", + sample_distance: 5 + }, + defaults: { + speedId: "v_linear", + zoneId: "z10", + toolId: "tool_gripper", + frameId: "frame_fixture" + }, + points: [ + { + id: "p00", + name: "p00", + motion: "movej", + targetId: "home", + speedId: "v_joint", + zoneId: "zf" + }, + { + id: "p01", + name: "p01", + motion: "movel", + targetId: "pick" + }, + { + id: "p02", + name: "p02", + motion: "movel", + targetId: "place", + zoneId: "zf" + } + ] + } + ], + operations: [ + { + id: "pick_op", + name: "pick_op", + kind: "handling", + pathId: "pick_path", + robotId: "robot_1", + process: { gripper: "vacuum" }, + startAction: "io.do[1] = true", + endAction: "io.do[1] = false" + } + ], + postProfiles: [ + { + id: "abb_default", + name: "ABB default", + brand: "abb", + controllerFamily: "IRC5", + fileExtension: ".mod" + } + ], + calibrations: [ + { + id: "tcp_cal_1", + name: "gripper_tcp_cal", + kind: "tcp", + targetResourceId: "tool_gripper", + poseDelta: [0.5, -0.2, 1.1, 0, 0, 0] + } + ], + externalAxes: [ + { + id: "track_1", + name: "track_1", + axisKind: "linear", + jointName: "E1", + limits: { lower: -1000, upper: 1000, velocity: 250 }, + attachedRobotIds: ["robot_1"] + } + ], + motionGroups: [ + { + id: "group_1", + name: "robot_with_track", + robotIds: ["robot_1"], + externalAxisIds: ["track_1"], + coordination: "synchronized" + } + ], + processTemplates: [ + { + id: "handling_default", + name: "Handling Default", + operationKind: "handling", + defaults: { speedId: "v_linear", zoneId: "z10" }, + deliveryTags: ["source", "post", "report"] + } + ] + }; +} + +export function validateOlpProject(model: OlpProjectModel): OlpValidationReport { + const issues: OlpValidationIssue[] = []; + if (model.schemaVersion !== "olp/0.1") { + issues.push(error("OLP_SCHEMA_VERSION", `Unsupported OLP schema ${String(model.schemaVersion)}`, "/schemaVersion")); + } + try { + JSON.stringify(model); + } catch (cause) { + issues.push(error("OLP_NOT_SERIALIZABLE", `Project is not JSON serializable: ${String(cause)}`)); + } + + const robots = idMap(model.resources.robots, "/resources/robots", issues); + const tools = idMap(model.resources.tools, "/resources/tools", issues); + const frames = idMap(model.resources.frames, "/resources/frames", issues); + const targets = idMap(model.targets, "/targets", issues); + const paths = idMap(model.paths, "/paths", issues); + const operations = idMap(model.operations, "/operations", issues); + const speeds = idMap(model.speeds, "/speeds", issues); + const zones = idMap(model.zones, "/zones", issues); + const externalAxes = idMap(model.externalAxes, "/externalAxes", issues); + idMap(model.programs, "/programs", issues); + idMap(model.postProfiles, "/postProfiles", issues); + idMap(model.reports, "/reports", issues); + idMap(model.calibrations, "/calibrations", issues); + idMap(model.motionGroups, "/motionGroups", issues); + idMap(model.processTemplates, "/processTemplates", issues); + idMap(model.resources.geometryAssets, "/resources/geometryAssets", issues); + idMap(model.resources.collisionObjects, "/resources/collisionObjects", issues); + + for (const robot of model.resources.robots) { + if (robot.dof !== robot.jointNames.length) { + issues.push(error("OLP_ROBOT_DOF", `Robot ${robot.id} dof does not match jointNames`, `/resources/robots/${robot.id}/dof`)); + } + if (robot.baseFrameId && !frames.has(robot.baseFrameId)) { + issues.push(error("OLP_REF_FRAME_MISSING", `Robot ${robot.id} references missing frame ${robot.baseFrameId}`, `/resources/robots/${robot.id}/baseFrameId`)); + } + } + + for (const tool of model.resources.tools) { + if (tool.robotId && !robots.has(tool.robotId)) { + issues.push(error("OLP_REF_ROBOT_MISSING", `Tool ${tool.id} references missing robot ${tool.robotId}`, `/resources/tools/${tool.id}/robotId`)); + } + validatePose(tool.tcp, `/resources/tools/${tool.id}/tcp`, issues); + } + + for (const frame of model.resources.frames) { + validatePose(frame.pose, `/resources/frames/${frame.id}/pose`, issues); + if (frame.parentFrameId && !frames.has(frame.parentFrameId)) { + issues.push(error("OLP_REF_FRAME_MISSING", `Frame ${frame.id} references missing parent ${frame.parentFrameId}`, `/resources/frames/${frame.id}/parentFrameId`)); + } + } + + for (const target of model.targets) { + if (!isIdentifier(target.name)) { + issues.push(error("OLP_GRL_IDENTIFIER", `Target ${target.id} name is not a GRL identifier`, `/targets/${target.id}/name`)); + } + if (target.robotId && !robots.has(target.robotId)) { + issues.push(error("OLP_REF_ROBOT_MISSING", `Target ${target.id} references missing robot ${target.robotId}`, `/targets/${target.id}/robotId`)); + } + if (target.toolId && !tools.has(target.toolId)) { + issues.push(error("OLP_REF_TOOL_MISSING", `Target ${target.id} references missing tool ${target.toolId}`, `/targets/${target.id}/toolId`)); + } + if (target.frameId && !frames.has(target.frameId)) { + issues.push(error("OLP_REF_FRAME_MISSING", `Target ${target.id} references missing frame ${target.frameId}`, `/targets/${target.id}/frameId`)); + } + if (target.kind === "pose") { + if (!target.pose) { + issues.push(error("OLP_TARGET_POSE_MISSING", `Pose target ${target.id} has no pose`, `/targets/${target.id}/pose`)); + } else { + validatePose(target.pose, `/targets/${target.id}/pose`, issues); + } + } + if (target.kind === "joint" && !target.joints) { + issues.push(error("OLP_TARGET_JOINTS_MISSING", `Joint target ${target.id} has no joints`, `/targets/${target.id}/joints`)); + } + } + + for (const path of model.paths) { + if (!isIdentifier(path.name)) { + issues.push(error("OLP_GRL_IDENTIFIER", `Path ${path.id} name is not a GRL identifier`, `/paths/${path.id}/name`)); + } + if (path.defaults?.speedId && !speeds.has(path.defaults.speedId)) { + issues.push(error("OLP_REF_SPEED_MISSING", `Path ${path.id} references missing speed ${path.defaults.speedId}`, `/paths/${path.id}/defaults/speedId`)); + } + if (path.defaults?.zoneId && !zones.has(path.defaults.zoneId)) { + issues.push(error("OLP_REF_ZONE_MISSING", `Path ${path.id} references missing zone ${path.defaults.zoneId}`, `/paths/${path.id}/defaults/zoneId`)); + } + const pointNames = new Set(); + for (const point of path.points) { + if (pointNames.has(point.name)) { + issues.push(error("OLP_PATH_POINT_DUPLICATE", `Path ${path.id} contains duplicate point ${point.name}`, `/paths/${path.id}/points/${point.id}`)); + } + pointNames.add(point.name); + if (!targets.has(point.targetId)) { + issues.push(error("OLP_REF_TARGET_MISSING", `Point ${point.id} references missing target ${point.targetId}`, `/paths/${path.id}/points/${point.id}/targetId`)); + } + if (point.motion === "movec" && (!point.viaTargetId || !targets.has(point.viaTargetId))) { + issues.push(error("OLP_REF_VIA_TARGET_MISSING", `MoveC point ${point.id} requires an existing via target`, `/paths/${path.id}/points/${point.id}/viaTargetId`)); + } + if (point.speedId && !speeds.has(point.speedId)) { + issues.push(error("OLP_REF_SPEED_MISSING", `Point ${point.id} references missing speed ${point.speedId}`, `/paths/${path.id}/points/${point.id}/speedId`)); + } + if (point.zoneId && !zones.has(point.zoneId)) { + issues.push(error("OLP_REF_ZONE_MISSING", `Point ${point.id} references missing zone ${point.zoneId}`, `/paths/${path.id}/points/${point.id}/zoneId`)); + } + } + } + + for (const operation of model.operations) { + if (!isIdentifier(operation.name)) { + issues.push(error("OLP_GRL_IDENTIFIER", `Operation ${operation.id} name is not a GRL identifier`, `/operations/${operation.id}/name`)); + } + if (!paths.has(operation.pathId)) { + issues.push(error("OLP_REF_PATH_MISSING", `Operation ${operation.id} references missing path ${operation.pathId}`, `/operations/${operation.id}/pathId`)); + } + if (operation.robotId && !robots.has(operation.robotId)) { + issues.push(error("OLP_REF_ROBOT_MISSING", `Operation ${operation.id} references missing robot ${operation.robotId}`, `/operations/${operation.id}/robotId`)); + } + } + + for (const program of model.programs) { + for (const operationId of program.entryOperationIds) { + if (!operations.has(operationId)) { + issues.push(error("OLP_REF_OPERATION_MISSING", `Program ${program.id} references missing operation ${operationId}`, `/programs/${program.id}/entryOperationIds`)); + } + } + } + + for (const calibration of model.calibrations) { + const exists = tools.has(calibration.targetResourceId) || frames.has(calibration.targetResourceId) || robots.has(calibration.targetResourceId) || externalAxes.has(calibration.targetResourceId); + if (!exists) { + issues.push(error("OLP_REF_CALIBRATION_TARGET_MISSING", `Calibration ${calibration.id} references missing resource ${calibration.targetResourceId}`, `/calibrations/${calibration.id}/targetResourceId`)); + } + } + + for (const group of model.motionGroups) { + for (const robotId of group.robotIds) { + if (!robots.has(robotId)) { + issues.push(error("OLP_REF_ROBOT_MISSING", `Motion group ${group.id} references missing robot ${robotId}`, `/motionGroups/${group.id}/robotIds`)); + } + } + for (const axisId of group.externalAxisIds) { + if (!externalAxes.has(axisId)) { + issues.push(error("OLP_REF_EXTERNAL_AXIS_MISSING", `Motion group ${group.id} references missing external axis ${axisId}`, `/motionGroups/${group.id}/externalAxisIds`)); + } + } + } + + return { + ok: !issues.some((issue) => issue.severity === "error"), + issues + }; +} + +function idMap(items: T[], path: string, issues: OlpValidationIssue[]): Map { + const map = new Map(); + for (const item of items) { + if (!item.id) { + issues.push(error("OLP_ID_MISSING", `Item at ${path} has no id`, path)); + continue; + } + if (map.has(item.id)) { + issues.push(error("OLP_ID_DUPLICATE", `Duplicate id ${item.id}`, `${path}/${item.id}`)); + continue; + } + map.set(item.id, item); + } + return map; +} + +function validatePose(pose: Pose6D, path: string, issues: OlpValidationIssue[]): void { + if (pose.length !== 6 || pose.some((value) => !Number.isFinite(value))) { + issues.push(error("OLP_POSE_INVALID", `Pose at ${path} must contain six finite numbers`, path)); + } +} + +function isIdentifier(value: string): boolean { + return /^[A-Za-z_][A-Za-z0-9_]*$/.test(value); +} + +function error(code: string, message: string, path?: string): OlpValidationIssue { + return { + severity: "error", + code, + message, + ...(path ? { path } : {}) + }; +} diff --git a/kdl-wasm/web/src/olp/patch.ts b/kdl-wasm/web/src/olp/patch.ts new file mode 100644 index 0000000..35f4b22 --- /dev/null +++ b/kdl-wasm/web/src/olp/patch.ts @@ -0,0 +1,109 @@ +export type JsonPatchOperation = + | { op: "add" | "replace"; path: string; value: unknown } + | { op: "remove"; path: string }; + +export function applyPatch(document: T, patch: JsonPatchOperation[]): T { + let result: unknown = cloneJson(document); + for (const operation of patch) { + const tokens = parsePointer(operation.path); + if (tokens.length === 0) { + if (operation.op === "remove") { + result = undefined; + } else { + result = cloneJson(operation.value); + } + continue; + } + + const parent = resolveParent(result, tokens); + const key = tokens[tokens.length - 1]!; + if (operation.op === "remove") { + removeValue(parent, key); + } else { + setValue(parent, key, cloneJson(operation.value), operation.op); + } + } + return result as T; +} + +function parsePointer(path: string): string[] { + if (path === "") return []; + if (!path.startsWith("/")) { + throw new Error(`Invalid JSON pointer ${path}`); + } + return path.slice(1).split("/").map((part) => part.replace(/~1/g, "/").replace(/~0/g, "~")); +} + +function resolveParent(root: unknown, tokens: string[]): unknown { + let current = root; + for (const token of tokens.slice(0, -1)) { + if (Array.isArray(current)) { + const index = numericIndex(token, current.length); + current = current[index]; + } else if (isRecord(current)) { + current = current[token]; + } else { + throw new Error(`Cannot resolve JSON pointer through ${token}`); + } + } + return current; +} + +function setValue(parent: unknown, key: string, value: unknown, op: "add" | "replace"): void { + if (Array.isArray(parent)) { + if (key === "-" && op === "add") { + parent.push(value); + return; + } + const index = numericIndex(key, op === "add" ? parent.length + 1 : parent.length); + if (op === "add") { + parent.splice(index, 0, value); + } else { + parent[index] = value; + } + return; + } + if (isRecord(parent)) { + if (op === "replace" && !(key in parent)) { + throw new Error(`Cannot replace missing key ${key}`); + } + parent[key] = value; + return; + } + throw new Error(`Cannot ${op} JSON pointer target ${key}`); +} + +function removeValue(parent: unknown, key: string): void { + if (Array.isArray(parent)) { + const index = numericIndex(key, parent.length); + parent.splice(index, 1); + return; + } + if (isRecord(parent)) { + if (!(key in parent)) { + throw new Error(`Cannot remove missing key ${key}`); + } + delete parent[key]; + return; + } + throw new Error(`Cannot remove JSON pointer target ${key}`); +} + +function numericIndex(token: string, maxExclusive: number): number { + if (!/^(0|[1-9][0-9]*)$/.test(token)) { + throw new Error(`Invalid array index ${token}`); + } + const index = Number(token); + if (index < 0 || index >= maxExclusive) { + throw new Error(`Array index ${index} is out of bounds`); + } + return index; +} + +function isRecord(value: unknown): value is Record { + return typeof value === "object" && value !== null && !Array.isArray(value); +} + +function cloneJson(value: T): T { + return value === undefined ? value : JSON.parse(JSON.stringify(value)) as T; +} diff --git a/kdl-wasm/web/src/reports/index.ts b/kdl-wasm/web/src/reports/index.ts new file mode 100644 index 0000000..64bdcbc --- /dev/null +++ b/kdl-wasm/web/src/reports/index.ts @@ -0,0 +1,15 @@ +export { + calibrationSummary, + createCustomerDeliveryPackage, + createValidationReport, + exportCustomerDeliveryPackage, + exportValidationReportHtml, + renderValidationReportHtml, + serializeDeliveryPackage, + validateReportSchema, + type DeliveryPackage, + type DeliveryPackageFile, + type ValidationReport, + type ValidationReportInput, + type ValidationReportSection +} from "./report.js"; diff --git a/kdl-wasm/web/src/reports/report.ts b/kdl-wasm/web/src/reports/report.ts new file mode 100644 index 0000000..698ff22 --- /dev/null +++ b/kdl-wasm/web/src/reports/report.ts @@ -0,0 +1,289 @@ +import type { MotionDiagnostic, PathValidationResult, TrajectoryResult } from "../kdl/types.js"; +import type { OlpCalibrationRecord, OlpProjectModel } from "../olp/index.js"; + +export interface ValidationReportSection { + name: "reachability" | "cycle_time" | "io_wait" | "post" | "import" | "collision" | "calibration"; + status: "pass" | "warn" | "fail"; + summary: Record; + diagnostics: MotionDiagnostic[]; +} + +export interface ValidationReport { + schemaVersion: "validation-report/0.1"; + id: string; + projectId: string; + generatedAt: string; + status: "pass" | "warn" | "fail"; + sections: ValidationReportSection[]; + sourceMap: Array<{ + kind: string; + id: string; + file?: string; + line?: number; + column?: number; + }>; +} + +export interface ValidationReportInput { + id?: string; + project: OlpProjectModel; + generatedAt?: string; + pathValidation?: PathValidationResult; + trajectories?: TrajectoryResult[]; + diagnostics?: MotionDiagnostic[]; + importDiagnostics?: MotionDiagnostic[]; + postDiagnostics?: MotionDiagnostic[]; + ioWaitDiagnostics?: MotionDiagnostic[]; + collisionDiagnostics?: MotionDiagnostic[]; +} + +export interface DeliveryPackageFile { + path: string; + content: string; + mediaType?: string; +} + +export interface DeliveryPackage { + format: "customer-delivery/0.1"; + projectId: string; + files: DeliveryPackageFile[]; + manifest: { + sourcePrograms: string[]; + brandPrograms: string[]; + reports: string[]; + calibrationFiles: string[]; + traceFiles: string[]; + ioMaps?: string[]; + }; + checksum?: string; +} + +export function createValidationReport(input: ValidationReportInput): ValidationReport { + const sections = [ + reachabilitySection(input.pathValidation, input.diagnostics ?? []), + cycleTimeSection(input.pathValidation, input.trajectories ?? []), + diagnosticsSection("io_wait", input.ioWaitDiagnostics ?? []), + diagnosticsSection("post", input.postDiagnostics ?? []), + diagnosticsSection("import", input.importDiagnostics ?? []), + diagnosticsSection("collision", input.collisionDiagnostics ?? []), + calibrationSection(input.project) + ]; + return { + schemaVersion: "validation-report/0.1", + id: input.id ?? `${input.project.project.id}-validation`, + projectId: input.project.project.id, + generatedAt: input.generatedAt ?? new Date().toISOString(), + status: combineStatus(sections.map((section) => section.status)), + sections, + sourceMap: [ + ...(input.diagnostics ?? []), + ...(input.importDiagnostics ?? []), + ...(input.postDiagnostics ?? []), + ...(input.ioWaitDiagnostics ?? []), + ...(input.collisionDiagnostics ?? []) + ] + .filter((diagnostic) => diagnostic.sourceMap) + .map((diagnostic, index) => ({ + kind: diagnostic.code, + id: `${diagnostic.code}-${index}`, + ...(diagnostic.sourceMap?.file ? { file: diagnostic.sourceMap.file } : {}), + ...(diagnostic.sourceMap?.line !== undefined ? { line: diagnostic.sourceMap.line } : {}), + ...(diagnostic.sourceMap?.column !== undefined ? { column: diagnostic.sourceMap.column } : {}) + })) + }; +} + +export function renderValidationReportHtml(report: ValidationReport): string { + const rows = report.sections.map((section) => + `${escapeHtml(section.name)}${section.status}${escapeHtml(JSON.stringify(section.summary))}` + ).join(""); + const diagnostics = report.sections.flatMap((section) => section.diagnostics.map((diagnostic) => + `
  • ${diagnostic.severity} ${escapeHtml(diagnostic.code)}: ${escapeHtml(diagnostic.message)}
    • ` + )).join(""); + return ` + +${escapeHtml(report.id)} + +

    ${escapeHtml(report.id)}

    +

    Status: ${report.status}

    +${rows}
    SectionStatusSummary
    +

    Source Map

    +
    ${escapeHtml(JSON.stringify(report.sourceMap, null, 2))}
    +

    Diagnostics

    +
      ${diagnostics}
    + + +`; +} + +export function createCustomerDeliveryPackage(input: { + project: OlpProjectModel; + report: ValidationReport; + reportHtml?: string; + brandPrograms?: Record; + ioMap?: Record; + trace?: unknown; +}): DeliveryPackage { + const files: DeliveryPackageFile[] = [ + { path: "project/project.json", content: `${stableStringify(input.project)}\n`, mediaType: "application/json" }, + { path: `reports/${input.report.id}.json`, content: `${stableStringify(input.report)}\n`, mediaType: "application/json" }, + { path: `reports/${input.report.id}.html`, content: input.reportHtml ?? renderValidationReportHtml(input.report), mediaType: "text/html" }, + { path: "calibration/calibrations.json", content: `${stableStringify(input.project.calibrations)}\n`, mediaType: "application/json" } + ]; + for (const program of input.project.programs) { + files.push({ + path: `source/${program.id}.${program.language === "grl" ? "grl" : "txt"}`, + content: program.source.text, + mediaType: "text/plain" + }); + } + for (const [filename, text] of Object.entries(input.brandPrograms ?? {})) { + files.push({ path: `post/${filename}`, content: text, mediaType: "text/plain" }); + } + if (input.ioMap) { + files.push({ path: "io/io_map.json", content: `${stableStringify(input.ioMap)}\n`, mediaType: "application/json" }); + } + if (input.trace) { + files.push({ path: "trace/trace.json", content: `${stableStringify(input.trace)}\n`, mediaType: "application/json" }); + } + + const sortedFiles = files.sort((left, right) => left.path.localeCompare(right.path)); + return { + format: "customer-delivery/0.1", + projectId: input.project.project.id, + files: sortedFiles, + manifest: { + sourcePrograms: sortedFiles.filter((file) => file.path.startsWith("source/")).map((file) => file.path), + brandPrograms: sortedFiles.filter((file) => file.path.startsWith("post/")).map((file) => file.path), + reports: sortedFiles.filter((file) => file.path.startsWith("reports/")).map((file) => file.path), + calibrationFiles: sortedFiles.filter((file) => file.path.startsWith("calibration/")).map((file) => file.path), + traceFiles: sortedFiles.filter((file) => file.path.startsWith("trace/")).map((file) => file.path), + ioMaps: sortedFiles.filter((file) => file.path.startsWith("io/")).map((file) => file.path) + }, + checksum: checksumDeliveryFiles(sortedFiles) + }; +} + +export function validateReportSchema(report: ValidationReport): { ok: boolean; issues: string[] } { + const issues: string[] = []; + if (report.schemaVersion !== "validation-report/0.1") issues.push("schemaVersion"); + if (!["pass", "warn", "fail"].includes(report.status)) issues.push("status"); + for (const section of report.sections) { + if (!section.name || !["pass", "warn", "fail"].includes(section.status)) { + issues.push(`sections.${section.name || "unknown"}`); + } + } + return { + ok: issues.length === 0, + issues + }; +} + +export const exportValidationReportHtml = renderValidationReportHtml; +export const exportCustomerDeliveryPackage = createCustomerDeliveryPackage; + +export function serializeDeliveryPackage(pkg: DeliveryPackage): string { + return `${stableStringify(pkg)}\n`; +} + +export function calibrationSummary(calibrations: OlpCalibrationRecord[]): Record { + return calibrations.reduce>((summary, calibration) => { + summary[calibration.kind] = (summary[calibration.kind] ?? 0) + 1; + return summary; + }, {}); +} + +function reachabilitySection(pathValidation: PathValidationResult | undefined, diagnostics: MotionDiagnostic[]): ValidationReportSection { + return { + name: "reachability", + status: pathValidation ? (pathValidation.ok && pathValidation.reachable ? "pass" : "fail") : statusFromDiagnostics(diagnostics), + summary: { + reachable: pathValidation?.reachable ?? diagnostics.every((diagnostic) => diagnostic.severity !== "error"), + segments: pathValidation?.segmentReports.length ?? 0 + }, + diagnostics: [...(pathValidation?.diagnostics ?? []), ...diagnostics] + }; +} + +function cycleTimeSection(pathValidation: PathValidationResult | undefined, trajectories: TrajectoryResult[]): ValidationReportSection { + const cycleTime = pathValidation?.cycleTime ?? trajectories.reduce((sum, trajectory) => sum + trajectory.duration, 0); + return { + name: "cycle_time", + status: cycleTime > 0 ? "pass" : "warn", + summary: { cycleTime, trajectories: trajectories.length }, + diagnostics: [] + }; +} + +function diagnosticsSection(name: ValidationReportSection["name"], diagnostics: MotionDiagnostic[]): ValidationReportSection { + return { + name, + status: statusFromDiagnostics(diagnostics), + summary: { diagnostics: diagnostics.length }, + diagnostics + }; +} + +function calibrationSection(project: OlpProjectModel): ValidationReportSection { + return { + name: "calibration", + status: project.calibrations.length > 0 ? "pass" : "warn", + summary: { records: project.calibrations.length }, + diagnostics: [] + }; +} + +function statusFromDiagnostics(diagnostics: MotionDiagnostic[]): ValidationReportSection["status"] { + if (diagnostics.some((diagnostic) => diagnostic.severity === "error")) { + return "fail"; + } + if (diagnostics.some((diagnostic) => diagnostic.severity === "warning")) { + return "warn"; + } + return "pass"; +} + +function combineStatus(statuses: ValidationReportSection["status"][]): ValidationReport["status"] { + if (statuses.includes("fail")) { + return "fail"; + } + if (statuses.includes("warn")) { + return "warn"; + } + return "pass"; +} + +function escapeHtml(value: string): string { + return value.replace(/&/g, "&").replace(//g, ">"); +} + +function checksumDeliveryFiles(files: DeliveryPackageFile[]): string { + let hash = 0x811c9dc5; + for (const file of files) { + const content = `${file.path}\0${file.mediaType ?? ""}\0${file.content}\0`; + for (let index = 0; index < content.length; index += 1) { + hash ^= content.charCodeAt(index); + hash = Math.imul(hash, 0x01000193) >>> 0; + } + } + return `fnv1a32:${hash.toString(16).padStart(8, "0")}`; +} + +function stableStringify(value: unknown): string { + return JSON.stringify(sortForStableStringify(value), null, 2); +} + +function sortForStableStringify(value: unknown): unknown { + if (Array.isArray(value)) { + return value.map(sortForStableStringify); + } + if (typeof value === "object" && value !== null) { + return Object.fromEntries( + Object.entries(value as Record) + .filter(([, item]) => item !== undefined) + .sort(([left], [right]) => left.localeCompare(right)) + .map(([key, item]) => [key, sortForStableStringify(item)]) + ); + } + return value; +} diff --git a/kdl-wasm/web/src/robot/normalizedRobotModel.ts b/kdl-wasm/web/src/robot/normalizedRobotModel.ts index 1c13a7e..6dd6c32 100644 --- a/kdl-wasm/web/src/robot/normalizedRobotModel.ts +++ b/kdl-wasm/web/src/robot/normalizedRobotModel.ts @@ -32,6 +32,7 @@ import type { Pose, PoseTarget, ReachabilityResult, + RobotConfiguration, RobotHandle, RobotInfo, SegmentValidationReport, @@ -407,6 +408,8 @@ export class RobotModelRegistry { const targetSamplePose = interpolateLinearPose(startPose, targetPose, sample.s); const ikResult = solveIk(record.model, seed, targetSamplePose, { ...request.ik, + ...(moveLFkOptions(request).tool ? { tool: moveLFkOptions(request).tool } : {}), + ...(moveLFkOptions(request).frame ? { frame: moveLFkOptions(request).frame } : {}), seeds: [seed] }); if (!ikResult.ok || !ikResult.joints) { @@ -531,6 +534,8 @@ export class RobotModelRegistry { const targetSamplePose = sampleCirclePose(arc, sample.s, request.target.pose.quaternion); const ikResult = solveIk(record.model, seed, targetSamplePose, { ...request.ik, + ...(moveCFkOptions(request).tool ? { tool: moveCFkOptions(request).tool } : {}), + ...(moveCFkOptions(request).frame ? { frame: moveCFkOptions(request).frame } : {}), seeds: [seed] }); if (!ikResult.ok || !ikResult.joints) { @@ -1176,7 +1181,7 @@ function interpolateLinearPose(start: Pose, target: Pose, s: number): Pose { start.position[1] + (target.position[1] - start.position[1]) * s, start.position[2] + (target.position[2] - start.position[2]) * s ], - quaternion: target.quaternion + quaternion: slerpQuaternion(start.quaternion, target.quaternion, s) }; } @@ -1525,6 +1530,10 @@ function solveIk( return solvePlanarRzPxIk(model, seed, target, options); } + if (chainJoints.length >= 3) { + return solveNumericalIk(model, seed, target, options); + } + return { ok: false, iterations: 0, @@ -1533,7 +1542,7 @@ function solveIk( { severity: "error", code: "KDL_IK_UNSUPPORTED_MODEL", - message: "Current TypeScript IK baseline supports only single-prismatic or Rz+Px chains" + message: "Current TypeScript IK baseline supports single-prismatic, Rz+Px, and numerical 3+ DOF chains" } ] }; @@ -1588,6 +1597,324 @@ function solvePlanarRzPxIk( }; } +interface NumericalIkCandidate { + ok: boolean; + joints: number[]; + iterations: number; + residualPosition: number; + residualOrientation: number; + score: number; +} + +function solveNumericalIk( + model: NormalizedRobotModel, + seed: number[], + target: Pose, + options: IkOptions +): IkResult { + const maxIterations = options.maxIterations ?? 240; + const positionTolerance = options.positionTolerance ?? 1e-5; + const orientationTolerance = options.orientationTolerance ?? 1e-4; + const seeds = numericalIkSeeds(model, seed, options); + let best: NumericalIkCandidate | undefined; + + for (const candidateSeed of seeds) { + const candidate = iterateNumericalIk(model, candidateSeed, target, { + ...options, + maxIterations, + positionTolerance, + orientationTolerance + }); + if (!best || candidate.score < best.score) { + best = candidate; + } + if (candidate.ok) { + return { + ok: true, + joints: candidate.joints, + iterations: candidate.iterations, + residualPosition: candidate.residualPosition, + residualOrientation: candidate.residualOrientation, + configuration: inferRobotConfiguration(candidate.joints), + diagnostics: [] + }; + } + } + + const result = best ?? iterateNumericalIk(model, seed, target, { + ...options, + maxIterations, + positionTolerance, + orientationTolerance + }); + const limitDiagnostics = jointLimitDiagnostics(model, result.joints); + const outsideHardLimits = limitDiagnostics.length > 0; + return { + ok: false, + joints: result.joints, + iterations: result.iterations, + residualPosition: result.residualPosition, + residualOrientation: result.residualOrientation, + reason: outsideHardLimits ? "joint_limit" : "unreachable", + diagnostics: outsideHardLimits + ? limitDiagnostics + : [ + { + severity: "error", + code: "KDL_TARGET_UNREACHABLE", + message: `IK residual position=${result.residualPosition} orientation=${result.residualOrientation} exceeds tolerances ${positionTolerance}/${orientationTolerance}`, + data: { + residualPosition: result.residualPosition, + residualOrientation: result.residualOrientation, + iterations: result.iterations + } + } + ] + }; +} + +function iterateNumericalIk( + model: NormalizedRobotModel, + seed: number[], + target: Pose, + options: IkOptions & { + maxIterations: number; + positionTolerance: number; + orientationTolerance: number; + } +): NumericalIkCandidate { + const dof = model.activeJointNames.length; + let joints = clampJointsToLimits(model, normalizeSeed(seed, dof), options); + let bestJoints = [...joints]; + let bestError = ikErrorVector(model, joints, target, options); + let bestScore = ikErrorScore(bestError); + let damping = 0.04; + const epsilon = 1e-5; + + for (let iteration = 0; iteration < options.maxIterations; iteration += 1) { + const error = ikErrorVector(model, joints, target, options); + const residualPosition = Math.hypot(error[0]!, error[1]!, error[2]!); + const residualOrientation = Math.hypot(error[3]!, error[4]!, error[5]!); + const score = ikErrorScore(error); + if (score < bestScore) { + bestScore = score; + bestError = error; + bestJoints = [...joints]; + } + if (residualPosition <= options.positionTolerance && residualOrientation <= options.orientationTolerance) { + return { + ok: true, + joints, + iterations: iteration + 1, + residualPosition, + residualOrientation, + score + }; + } + + const jacobian = numericalIkJacobian(model, joints, target, options, error, epsilon); + const delta = dampedLeastSquaresStep(jacobian, error, damping); + if (Math.hypot(...delta) < 1e-10) { + damping *= 2; + continue; + } + + const next = bestLineSearchStep(model, joints, target, options, delta, score); + if (next.accepted || options.allowApproximate) { + joints = next.joints; + damping = Math.max(0.005, damping * 0.8); + } else { + damping = Math.min(1, damping * 2); + } + } + + return { + ok: options.allowApproximate === true, + joints: bestJoints, + iterations: options.maxIterations, + residualPosition: Math.hypot(bestError[0]!, bestError[1]!, bestError[2]!), + residualOrientation: Math.hypot(bestError[3]!, bestError[4]!, bestError[5]!), + score: bestScore + }; +} + +function numericalIkSeeds(model: NormalizedRobotModel, seed: number[], options: IkOptions): number[][] { + const dof = model.activeJointNames.length; + const seeds = [ + ...(options.seeds ?? []), + seed, + model.limits.map((limit) => finiteMidpoint(limit.lower, limit.upper)), + model.limits.map((limit) => clamp(0, limit.lower, limit.upper)) + ].map((item) => clampJointsToLimits(model, normalizeSeed(item, dof), options)); + + const offsets = [ + [0.15, -0.25, 0.25, 0.1, -0.1, 0.15], + [-0.25, -0.35, 0.35, -0.15, 0.15, -0.25], + [0.35, -0.6, 0.7, 0.25, -0.25, 0.35], + [-0.6, 0.4, -0.35, 0.4, 0.25, -0.4] + ]; + for (const offset of offsets) { + seeds.push(clampJointsToLimits(model, normalizeSeed(seed, dof).map((value, index) => value + (offset[index] ?? 0)), options)); + } + + const unique: number[][] = []; + for (const item of seeds) { + const key = item.map((value) => value.toFixed(6)).join(","); + if (!unique.some((existing) => existing.map((value) => value.toFixed(6)).join(",") === key)) { + unique.push(item); + } + } + return unique; +} + +function numericalIkJacobian( + model: NormalizedRobotModel, + joints: number[], + target: Pose, + options: IkOptions, + baseError: number[], + epsilon: number +): number[][] { + const rows = 6; + const cols = joints.length; + const jacobian = Array.from({ length: rows }, () => new Array(cols).fill(0)); + for (let col = 0; col < cols; col += 1) { + const perturbed = [...joints]; + perturbed[col] = (perturbed[col] ?? 0) + epsilon; + const error = ikErrorVector(model, perturbed, target, options); + for (let row = 0; row < rows; row += 1) { + jacobian[row]![col] = (error[row]! - baseError[row]!) / epsilon; + } + } + return jacobian; +} + +function dampedLeastSquaresStep(jacobian: number[][], error: number[], damping: number): number[] { + const jt = transpose(jacobian); + const jtj = multiplyMatrix(jt, jacobian); + const rhs = multiplyMatrixVector(jt, error); + const a = jtj.map((row, index) => + row.map((value, col) => value + (index === col ? damping * damping : 0)) + ); + return solveLinearSystem(a, rhs).map((value) => -value); +} + +function bestLineSearchStep( + model: NormalizedRobotModel, + joints: number[], + target: Pose, + options: IkOptions, + delta: number[], + currentScore: number +): { accepted: boolean; joints: number[]; score: number } { + let best = { + accepted: false, + joints, + score: currentScore + }; + for (const scale of [1, 0.5, 0.25, 0.1, 0.05]) { + const candidate = clampJointsToLimits( + model, + joints.map((joint, index) => joint + clamp((delta[index] ?? 0) * scale, -0.35, 0.35)), + options + ); + const score = ikErrorScore(ikErrorVector(model, candidate, target, options)); + if (score < best.score) { + best = { + accepted: true, + joints: candidate, + score + }; + } + } + return best; +} + +function ikErrorVector(model: NormalizedRobotModel, joints: number[], target: Pose, options: IkOptions): number[] { + const actual = tcpPoseForIk(model, joints, options); + const orientation = orientationErrorVector(actual.quaternion, target.quaternion); + const orientationWeight = 1; + return [ + target.position[0] - actual.position[0], + target.position[1] - actual.position[1], + target.position[2] - actual.position[2], + orientation[0] * orientationWeight, + orientation[1] * orientationWeight, + orientation[2] * orientationWeight + ]; +} + +function ikErrorScore(error: number[]): number { + return Math.hypot(...error); +} + +function tcpPoseForIk(model: NormalizedRobotModel, joints: number[], options: IkOptions): Pose { + const flange = computeLinkPoses(model, joints).at(-1)?.pose ?? identityPose(); + const tcpWithTool = options.tool ? composeFkPose(flange, options.tool) : flange; + return options.frame ? composeFkPose(options.frame, tcpWithTool) : tcpWithTool; +} + +function orientationErrorVector( + actual: [number, number, number, number], + target: [number, number, number, number] +): [number, number, number] { + const current = normalizeQuaternionForIk(actual); + let desired = normalizeQuaternionForIk(target); + if (dotQuaternion(current, desired) < 0) { + desired = [-desired[0], -desired[1], -desired[2], -desired[3]]; + } + const delta = multiplyQuaternion(desired, inverseQuaternion(current)); + const normalized = normalizeQuaternionForIk(delta); + const sinHalf = Math.hypot(normalized[0], normalized[1], normalized[2]); + if (sinHalf < 1e-12) { + return [0, 0, 0]; + } + const angle = 2 * Math.atan2(sinHalf, normalized[3]); + return [ + normalized[0] / sinHalf * angle, + normalized[1] / sinHalf * angle, + normalized[2] / sinHalf * angle + ]; +} + +function normalizeSeed(seed: number[], dof: number): number[] { + return Array.from({ length: dof }, (_, index) => { + const value = seed[index] ?? 0; + return Number.isFinite(value) ? value : 0; + }); +} + +function clampJointsToLimits(model: NormalizedRobotModel, joints: number[], options: IkOptions): number[] { + return joints.map((value, index) => { + const limits = model.limits[index]; + const lower = options.qMin?.[index] ?? limits?.lower ?? -Infinity; + const upper = options.qMax?.[index] ?? limits?.upper ?? Infinity; + return clamp(value, lower, upper); + }); +} + +function finiteMidpoint(lower: number, upper: number): number { + if (Number.isFinite(lower) && Number.isFinite(upper)) { + return (lower + upper) / 2; + } + return 0; +} + +function inferRobotConfiguration(joints: number[]): RobotConfiguration { + return { + shoulder: signConfig(joints[0] ?? 0), + elbow: signConfig(joints[2] ?? 0), + wrist: signConfig(joints[4] ?? 0), + turnNumbers: joints.map((joint) => Math.trunc(joint / (Math.PI * 2))) + }; +} + +function signConfig(value: number): -1 | 0 | 1 { + if (value > 1e-9) return 1; + if (value < -1e-9) return -1; + return 0; +} + function finishIkCandidate( model: NormalizedRobotModel, seed: number[], @@ -1720,6 +2047,71 @@ function normalizeAngleNear(angle: number, seed: number): number { return normalized; } +function slerpQuaternion( + a: [number, number, number, number], + b: [number, number, number, number], + s: number +): [number, number, number, number] { + const qa = normalizeQuaternionForIk(a); + let qb = normalizeQuaternionForIk(b); + let dot = dotQuaternion(qa, qb); + if (dot < 0) { + qb = [-qb[0], -qb[1], -qb[2], -qb[3]]; + dot = -dot; + } + if (dot > 0.9995) { + return normalizeQuaternionForIk([ + qa[0] + (qb[0] - qa[0]) * s, + qa[1] + (qb[1] - qa[1]) * s, + qa[2] + (qb[2] - qa[2]) * s, + qa[3] + (qb[3] - qa[3]) * s + ]); + } + const theta0 = Math.acos(clamp(dot, -1, 1)); + const theta = theta0 * s; + const sinTheta = Math.sin(theta); + const sinTheta0 = Math.sin(theta0); + const scaleA = Math.cos(theta) - dot * sinTheta / sinTheta0; + const scaleB = sinTheta / sinTheta0; + return normalizeQuaternionForIk([ + qa[0] * scaleA + qb[0] * scaleB, + qa[1] * scaleA + qb[1] * scaleB, + qa[2] * scaleA + qb[2] * scaleB, + qa[3] * scaleA + qb[3] * scaleB + ]); +} + +function normalizeQuaternionForIk(input: [number, number, number, number]): [number, number, number, number] { + const length = Math.hypot(input[0], input[1], input[2], input[3]); + if (length <= 1e-12) { + return [0, 0, 0, 1]; + } + return [input[0] / length, input[1] / length, input[2] / length, input[3] / length]; +} + +function dotQuaternion( + a: [number, number, number, number], + b: [number, number, number, number] +): number { + return a[0] * b[0] + a[1] * b[1] + a[2] * b[2] + a[3] * b[3]; +} + +function inverseQuaternion(q: [number, number, number, number]): [number, number, number, number] { + return [-q[0], -q[1], -q[2], q[3]]; +} + +function multiplyQuaternion( + a: [number, number, number, number], + b: [number, number, number, number] +): [number, number, number, number] { + return [ + a[3] * b[0] + a[0] * b[3] + a[1] * b[2] - a[2] * b[1], + a[3] * b[1] - a[0] * b[2] + a[1] * b[3] + a[2] * b[0], + a[3] * b[2] + a[0] * b[1] - a[1] * b[0] + a[2] * b[3], + a[3] * b[3] - a[0] * b[0] - a[1] * b[1] - a[2] * b[2] + ]; +} + function distance(a: [number, number, number], b: [number, number, number]): number { return Math.hypot(a[0] - b[0], a[1] - b[1], a[2] - b[2]); } @@ -1758,6 +2150,52 @@ function multiplyMatrix(a: number[][], b: number[][]): number[][] { ); } +function multiplyMatrixVector(matrix: number[][], vector: number[]): number[] { + return matrix.map((row) => row.reduce((sum, value, index) => sum + value * (vector[index] ?? 0), 0)); +} + +function solveLinearSystem(matrix: number[][], rhs: number[]): number[] { + const n = rhs.length; + const a = matrix.map((row, rowIndex) => [ + ...Array.from({ length: n }, (_, col) => row[col] ?? 0), + rhs[rowIndex] ?? 0 + ]); + + for (let pivot = 0; pivot < n; pivot += 1) { + let best = pivot; + for (let row = pivot + 1; row < n; row += 1) { + if (Math.abs(a[row]?.[pivot] ?? 0) > Math.abs(a[best]?.[pivot] ?? 0)) { + best = row; + } + } + if (best !== pivot) { + const tmp = a[pivot]!; + a[pivot] = a[best]!; + a[best] = tmp; + } + + const pivotValue = a[pivot]?.[pivot] ?? 0; + if (Math.abs(pivotValue) < 1e-12) { + a[pivot]![pivot] = pivotValue >= 0 ? 1e-12 : -1e-12; + } + const divisor = a[pivot]![pivot]!; + for (let col = pivot; col <= n; col += 1) { + a[pivot]![col] = (a[pivot]![col] ?? 0) / divisor; + } + for (let row = 0; row < n; row += 1) { + if (row === pivot) { + continue; + } + const factor = a[row]?.[pivot] ?? 0; + for (let col = pivot; col <= n; col += 1) { + a[row]![col] = (a[row]![col] ?? 0) - factor * (a[pivot]![col] ?? 0); + } + } + } + + return a.map((row) => row[n] ?? 0); +} + function determinant3(matrix: number[][]): number { const a = matrix[0]?.[0] ?? 0; const b = matrix[0]?.[1] ?? 0; @@ -1771,6 +2209,10 @@ function determinant3(matrix: number[][]): number { return a * (e * i - f * h) - b * (d * i - f * g) + c * (d * h - e * g); } +function clamp(value: number, lower: number, upper: number): number { + return Math.min(Math.max(value, lower), upper); +} + function estimateConditionNumber(matrix: number[][]): number { const columnNorms = transpose(matrix).map((column) => Math.hypot(...column)); const nonZero = columnNorms.filter((value) => value > 1e-12); diff --git a/kdl-wasm/web/src/runtime/index.ts b/kdl-wasm/web/src/runtime/index.ts new file mode 100644 index 0000000..16013f8 --- /dev/null +++ b/kdl-wasm/web/src/runtime/index.ts @@ -0,0 +1,35 @@ +export { + KdlRuntimeBridge, + operationIdFromAction, + type KdlBridgeSnapshot +} from "./kdlBridge.js"; +export { + MotionQueue, + type MotionPlanner, + type MotionPlaybackSample, + type MotionQueueItem, + type MotionQueueOptions, + type MotionQueueSnapshot, + type MotionQueueSource +} from "./motionQueue.js"; +export { + IoImage, + WaitRegistry, + applyPulse, + runIoScript, + type IoEdge, + type IoEvent, + type IoPermissionRule, + type IoScriptStep, + type IoWriter, + type WaitResult +} from "./io.js"; +export { + IoImageRuntime, + ioKey, + parseIoReferenceText, + type IoRuntimeOptions, + type IoRuntimeSnapshot, + type WaitEvaluation, + type WaitStatus +} from "./ioRuntime.js"; diff --git a/kdl-wasm/web/src/runtime/io.ts b/kdl-wasm/web/src/runtime/io.ts new file mode 100644 index 0000000..3bcface --- /dev/null +++ b/kdl-wasm/web/src/runtime/io.ts @@ -0,0 +1,129 @@ +import type { IoReference, PulseInstruction, WaitInstruction } from "../grl/ir/index.js"; +import type { RuntimeTraceEvent } from "../controller/index.js"; +import { evaluateRuntimeBoolean } from "../controller/index.js"; + +export type IoWriter = "program" | "user" | "script"; +export type IoEdge = "rising" | "falling" | "changed"; + +export interface IoEvent { + time: number; + writer: IoWriter; + key: string; + previous: unknown; + value: unknown; + edge?: IoEdge; +} + +export interface IoPermissionRule { + key: string; + writers: IoWriter[]; +} + +export class IoImage { + private readonly values = new Map(); + private readonly eventsValue: IoEvent[] = []; + private readonly rules = new Map>(); + + setPermission(key: string, writers: IoWriter[]): void { + this.rules.set(key, new Set(writers)); + } + + read(ref: IoReference | string): unknown { + return this.values.get(ioKey(ref)); + } + + write(ref: IoReference | string, value: unknown, writer: IoWriter, time = 0): IoEvent { + const key = ioKey(ref); + const allowed = this.rules.get(key); + if (allowed && !allowed.has(writer)) { + throw new Error(`Writer ${writer} cannot write ${key}`); + } + const previous = this.values.get(key); + this.values.set(key, value); + const edge = edgeOf(previous, value); + const event: IoEvent = { + time, + writer, + key, + previous, + value, + ...(edge ? { edge } : {}) + }; + this.eventsValue.push(event); + return event; + } + + variables(): Record { + return Object.fromEntries([...this.values.entries()]); + } + + events(): IoEvent[] { + return this.eventsValue.map((event) => ({ ...event })); + } +} + +export interface WaitResult { + status: "satisfied" | "waiting" | "timeout" | "hold" | "stop"; + condition: string; + elapsed: number; + trace?: RuntimeTraceEvent; +} + +export class WaitRegistry { + evaluate(wait: WaitInstruction, io: IoImage, elapsed: number): WaitResult { + if (evaluateRuntimeBoolean(wait.condition, io.variables())) { + return { status: "satisfied", condition: wait.condition, elapsed }; + } + if (wait.timeout !== undefined && elapsed >= wait.timeout) { + if (wait.onTimeout?.kind === "alarm") { + return { status: "hold", condition: wait.condition, elapsed }; + } + if (wait.onTimeout?.kind === "call") { + return { status: "stop", condition: wait.condition, elapsed }; + } + return { status: "timeout", condition: wait.condition, elapsed }; + } + return { status: "waiting", condition: wait.condition, elapsed }; + } +} + +export function applyPulse(io: IoImage, pulse: PulseInstruction, writer: IoWriter = "program", startTime = 0): IoEvent[] { + return [ + io.write(pulse.target, true, writer, startTime), + io.write(pulse.target, false, writer, startTime + pulse.duration) + ]; +} + +export interface IoScriptStep { + delay: number; + target: IoReference | string; + value: unknown; +} + +export function runIoScript(io: IoImage, script: IoScriptStep[], startTime = 0): IoEvent[] { + let time = startTime; + return script.map((step) => { + time += step.delay; + return io.write(step.target, step.value, "script", time); + }); +} + +function ioKey(ref: IoReference | string): string { + if (typeof ref === "string") { + return ref; + } + return ref.raw; +} + +function edgeOf(previous: unknown, value: unknown): IoEdge | undefined { + if (previous === value) { + return undefined; + } + if (previous === false && value === true) { + return "rising"; + } + if (previous === true && value === false) { + return "falling"; + } + return "changed"; +} diff --git a/kdl-wasm/web/src/runtime/ioRuntime.ts b/kdl-wasm/web/src/runtime/ioRuntime.ts new file mode 100644 index 0000000..898bb86 --- /dev/null +++ b/kdl-wasm/web/src/runtime/ioRuntime.ts @@ -0,0 +1,413 @@ +import type { IoDomain, IoFlowInstruction, IoReference, IoWriteInstruction, PulseInstruction, WaitInstruction } from "../grl/ir/index.js"; +import type { MotionDiagnostic } from "../kdl/types.js"; + +export type IoWriter = "program" | "user" | "script"; + +export interface IoPermissionRule { + writer: IoWriter; + domains: IoDomain[]; + access: "read" | "write" | "readwrite"; +} + +export interface IoEvent { + id: number; + time: number; + writer: IoWriter; + target: IoReference; + previous: boolean | number | string | undefined; + value: boolean | number | string; + kind: "write" | "pulse_set" | "pulse_reset" | "script"; +} + +export interface IoScriptStep { + delay: number; + target: IoReference; + value: boolean | number | string; +} + +export interface IoScriptExecution { + name: string; + nextIndex: number; + elapsed: number; + steps: IoScriptStep[]; + done: boolean; +} + +export type WaitStatus = "satisfied" | "waiting" | "timeout" | "hold-stop"; + +export interface WaitEvaluation { + status: WaitStatus; + elapsed: number; + instruction: WaitInstruction; + diagnostic?: MotionDiagnostic; + onTimeout?: WaitInstruction["onTimeout"]; +} + +export interface IoRuntimeSnapshot { + time: number; + image: Record; + events: IoEvent[]; + diagnostics: MotionDiagnostic[]; + scripts: IoScriptExecution[]; +} + +export interface IoRuntimeOptions { + permissions?: IoPermissionRule[]; +} + +interface PulseSchedule { + dueTime: number; + target: IoReference; + writer: IoWriter; +} + +export class IoImageRuntime { + private readonly image = new Map(); + private readonly previousImage = new Map(); + private readonly eventsValue: IoEvent[] = []; + private readonly diagnosticsValue: MotionDiagnostic[] = []; + private readonly pulses: PulseSchedule[] = []; + private readonly scriptsValue: IoScriptExecution[] = []; + private nextEventId = 1; + private timeValue = 0; + + constructor(private readonly options: IoRuntimeOptions = {}) {} + + get time(): number { + return this.timeValue; + } + + get events(): IoEvent[] { + return this.eventsValue.map((event) => ({ ...event, target: { ...event.target } })); + } + + get diagnostics(): MotionDiagnostic[] { + return [...this.diagnosticsValue]; + } + + read(reference: IoReference): boolean | number | string | undefined { + return this.image.get(ioKey(reference)); + } + + write( + reference: IoReference, + value: boolean | number | string, + writer: IoWriter = "program", + kind: IoEvent["kind"] = "write" + ): IoEvent | undefined { + if (!this.canWrite(reference, writer)) { + this.diagnosticsValue.push({ + severity: "error", + code: "VC_IO_PERMISSION_DENIED", + message: `${writer} cannot write ${reference.raw}`, + data: { writer, target: reference } + }); + return undefined; + } + const key = ioKey(reference); + const previous = this.image.get(key); + if (previous === undefined) { + this.previousImage.delete(key); + } else { + this.previousImage.set(key, previous); + } + this.image.set(key, value); + const event: IoEvent = { + id: this.nextEventId, + time: this.timeValue, + writer, + target: { ...reference }, + previous, + value, + kind + }; + this.nextEventId += 1; + this.eventsValue.push(event); + return event; + } + + executeInstruction(instruction: IoFlowInstruction, writer: IoWriter = "program"): WaitEvaluation | IoEvent[] | undefined { + if (instruction.kind === "IO_WRITE") { + const event = this.executeWrite(instruction, writer); + return event ? [event] : []; + } + if (instruction.kind === "PULSE") { + return this.executePulse(instruction, writer); + } + return this.evaluateWait(instruction, 0); + } + + executeWrite(instruction: IoWriteInstruction, writer: IoWriter = "program"): IoEvent | undefined { + return this.write(instruction.target, instruction.value, writer); + } + + executePulse(instruction: PulseInstruction, writer: IoWriter = "program"): IoEvent[] { + const events: IoEvent[] = []; + const setEvent = this.write(instruction.target, true, writer, "pulse_set"); + if (setEvent) { + events.push(setEvent); + this.pulses.push({ + dueTime: this.timeValue + instruction.duration, + target: instruction.target, + writer + }); + } + return events; + } + + evaluateWait(instruction: WaitInstruction, elapsed: number): WaitEvaluation { + if (this.matchesCondition(instruction.condition)) { + return { + status: "satisfied", + elapsed, + instruction + }; + } + if (instruction.timeout !== undefined && elapsed >= instruction.timeout) { + const diagnostic: MotionDiagnostic = { + severity: instruction.onTimeout ? "warning" : "error", + code: "VC_WAIT_TIMEOUT", + message: `Wait timed out after ${instruction.timeout}s`, + ...(instruction.sourceMap ? { sourceMap: instruction.sourceMap } : {}), + data: { condition: instruction.condition } + }; + this.diagnosticsValue.push(diagnostic); + return { + status: instruction.onTimeout?.kind === "call" ? "hold-stop" : "timeout", + elapsed, + instruction, + diagnostic, + ...(instruction.onTimeout ? { onTimeout: instruction.onTimeout } : {}) + }; + } + return { + status: "waiting", + elapsed, + instruction + }; + } + + addScript(name: string, steps: IoScriptStep[]): IoScriptExecution { + const script: IoScriptExecution = { + name, + nextIndex: 0, + elapsed: 0, + steps: steps.map((step) => ({ ...step, target: { ...step.target } })), + done: steps.length === 0 + }; + this.scriptsValue.push(script); + return { ...script, steps: script.steps.map((step) => ({ ...step, target: { ...step.target } })) }; + } + + advance(deltaTime: number): void { + if (!Number.isFinite(deltaTime) || deltaTime < 0) { + this.diagnosticsValue.push({ + severity: "error", + code: "VC_IO_TIME_INVALID", + message: "IO runtime delta time must be a finite non-negative number" + }); + return; + } + this.timeValue += deltaTime; + this.flushPulses(); + this.advanceScripts(deltaTime); + } + + matchesCondition(condition: string): boolean { + const normalized = normalizeCondition(condition); + const allMatch = unwrapCall(normalized, "all"); + if (allMatch) { + return splitTopLevel(allMatch).every((part) => this.matchesCondition(part)); + } + const anyMatch = unwrapCall(normalized, "any"); + if (anyMatch) { + return splitTopLevel(anyMatch).some((part) => this.matchesCondition(part)); + } + const rising = unwrapCall(normalized, "rising"); + if (rising) { + const reference = parseIoReferenceText(rising); + return Boolean(reference && this.previousValue(reference) !== true && this.read(reference) === true); + } + const falling = unwrapCall(normalized, "falling"); + if (falling) { + const reference = parseIoReferenceText(falling); + return Boolean(reference && this.previousValue(reference) === true && this.read(reference) !== true); + } + const changed = unwrapCall(normalized, "changed"); + if (changed) { + const reference = parseIoReferenceText(changed); + return Boolean(reference && this.previousValue(reference) !== this.read(reference)); + } + + const comparison = normalized.match(/^(io\.[A-Za-z]+\[\d+\]|io\.alias\.[A-Za-z_][A-Za-z0-9_]*)\s*(==|!=|>=|<=|>|<)\s*(.+)$/); + if (!comparison) { + return false; + } + const reference = parseIoReferenceText(comparison[1]!); + if (!reference) { + return false; + } + const left = this.read(reference); + const right = parseConditionValue(comparison[3]!); + switch (comparison[2]) { + case "==": + return left === right; + case "!=": + return left !== right; + case ">=": + return Number(left) >= Number(right); + case "<=": + return Number(left) <= Number(right); + case ">": + return Number(left) > Number(right); + case "<": + return Number(left) < Number(right); + default: + return false; + } + } + + snapshot(): IoRuntimeSnapshot { + const image: Record = {}; + for (const [key, value] of this.image.entries()) { + image[key] = value; + } + return { + time: this.timeValue, + image, + events: this.events, + diagnostics: this.diagnostics, + scripts: this.scriptsValue.map((script) => ({ + ...script, + steps: script.steps.map((step) => ({ ...step, target: { ...step.target } })) + })) + }; + } + + private canWrite(reference: IoReference, writer: IoWriter): boolean { + const rules = this.options.permissions; + if (!rules || rules.length === 0) { + return true; + } + return rules.some((rule) => + rule.writer === writer && + rule.domains.includes(reference.domain) && + (rule.access === "write" || rule.access === "readwrite") + ); + } + + private previousValue(reference: IoReference): boolean | number | string | undefined { + return this.previousImage.get(ioKey(reference)); + } + + private flushPulses(): void { + const due = this.pulses.filter((pulse) => pulse.dueTime <= this.timeValue); + for (const pulse of due) { + this.write(pulse.target, false, pulse.writer, "pulse_reset"); + } + for (const pulse of due) { + const index = this.pulses.indexOf(pulse); + if (index >= 0) { + this.pulses.splice(index, 1); + } + } + } + + private advanceScripts(deltaTime: number): void { + for (const script of this.scriptsValue) { + if (script.done) { + continue; + } + script.elapsed += deltaTime; + while (script.nextIndex < script.steps.length) { + const step = script.steps[script.nextIndex]!; + if (script.elapsed + 1e-12 < step.delay) { + break; + } + this.write(step.target, step.value, "script", "script"); + script.nextIndex += 1; + } + script.done = script.nextIndex >= script.steps.length; + } + } +} + +export function ioKey(reference: IoReference): string { + if (reference.domain === "alias") { + return `io.alias.${reference.alias ?? reference.raw}`; + } + return `io.${reference.domain}[${reference.index ?? 0}]`; +} + +function normalizeCondition(condition: string): string { + return condition + .replace(/\s*\.\s*/g, ".") + .replace(/\s*\[\s*/g, "[") + .replace(/\s*\]\s*/g, "]") + .replace(/\s*\(\s*/g, "(") + .replace(/\s*\)\s*/g, ")") + .replace(/\s*,\s*/g, ",") + .replace(/\s+/g, " ") + .trim(); +} + +function unwrapCall(text: string, name: string): string | undefined { + const prefix = `${name}(`; + return text.startsWith(prefix) && text.endsWith(")") ? text.slice(prefix.length, -1) : undefined; +} + +function splitTopLevel(text: string): string[] { + const parts: string[] = []; + let depth = 0; + let start = 0; + for (let index = 0; index < text.length; index += 1) { + const char = text[index]; + if (char === "(") { + depth += 1; + } else if (char === ")") { + depth = Math.max(0, depth - 1); + } else if (char === "," && depth === 0) { + parts.push(text.slice(start, index)); + start = index + 1; + } + } + parts.push(text.slice(start)); + return parts.map((part) => part.trim()).filter((part) => part.length > 0); +} + +export function parseIoReferenceText(text: string): IoReference | undefined { + const alias = text.match(/^io\.alias\.([A-Za-z_][A-Za-z0-9_]*)$/); + if (alias) { + return { + domain: "alias", + alias: alias[1]!, + raw: text + }; + } + const indexed = text.match(/^io\.([A-Za-z]+)\[(\d+)\]$/); + if (!indexed) { + return undefined; + } + return { + domain: indexed[1] as IoDomain, + index: Number(indexed[2]), + raw: text + }; +} + +function parseConditionValue(text: string): boolean | number | string { + const trimmed = text.trim(); + if (trimmed === "true") { + return true; + } + if (trimmed === "false") { + return false; + } + if (/^-?\d+(?:\.\d+)?$/.test(trimmed)) { + return Number(trimmed); + } + if ((trimmed.startsWith("\"") && trimmed.endsWith("\"")) || (trimmed.startsWith("'") && trimmed.endsWith("'"))) { + return trimmed.slice(1, -1); + } + return trimmed; +} diff --git a/kdl-wasm/web/src/runtime/kdlBridge.ts b/kdl-wasm/web/src/runtime/kdlBridge.ts new file mode 100644 index 0000000..56dec0f --- /dev/null +++ b/kdl-wasm/web/src/runtime/kdlBridge.ts @@ -0,0 +1,116 @@ +import type { + CompiledOperation, + CompiledPath, + ExecutableInstruction, + OperationActionInstruction, + RunOperationInstruction, + RunPathInstruction, + SemanticProgramIr +} from "../grl/ir/index.js"; +import { expandRunOperation } from "../grl/semantic/index.js"; +import type { MotionDiagnostic } from "../kdl/types.js"; +import { MotionQueue, type MotionQueueItem } from "./motionQueue.js"; + +export interface KdlBridgeSnapshot { + pathIds: string[]; + operationIds: string[]; + diagnostics: MotionDiagnostic[]; +} + +export class KdlRuntimeBridge { + private readonly paths = new Map(); + private readonly operations = new Map(); + private readonly diagnosticsValue: MotionDiagnostic[] = []; + + constructor( + private readonly program: SemanticProgramIr, + private readonly queue: MotionQueue + ) { + for (const path of program.paths) { + this.paths.set(path.pathId, path); + } + for (const operation of program.operations) { + this.operations.set(operation.operationId, operation); + } + } + + get diagnostics(): MotionDiagnostic[] { + return [...this.diagnosticsValue]; + } + + enqueueInstruction(instruction: ExecutableInstruction): MotionQueueItem[] { + if (instruction.kind === "RUN_PATH") { + return this.enqueueRunPath(instruction); + } + if (instruction.kind === "RUN_OPERATION") { + return this.enqueueRunOperation(instruction); + } + if (instruction.kind === "MOVEJ" || instruction.kind === "MOVEL" || instruction.kind === "MOVEC") { + return [this.queue.enqueueMotion(instruction)]; + } + return []; + } + + enqueueRunPath(instruction: RunPathInstruction): MotionQueueItem[] { + const path = this.paths.get(instruction.pathId); + if (!path) { + this.addDiagnostic("VC_PATH_NOT_FOUND", `Path ${instruction.pathId} was not found`); + return []; + } + return [this.queue.enqueueRunPath(instruction, path)]; + } + + enqueueRunOperation(instruction: RunOperationInstruction): MotionQueueItem[] { + const operation = this.operations.get(instruction.operationId); + if (!operation) { + this.addDiagnostic("VC_OPERATION_NOT_FOUND", `Operation ${instruction.operationId} was not found`); + return []; + } + const items: MotionQueueItem[] = []; + for (const step of expandRunOperation(instruction, this.operations)) { + if (step.kind === "ACTION") { + items.push(this.queue.enqueueOperationAction(step)); + } else { + const path = this.paths.get(step.pathId); + if (!path) { + this.addDiagnostic("VC_PATH_NOT_FOUND", `Path ${step.pathId} was not found for operation ${operation.operationId}`); + continue; + } + items.push(this.queue.enqueueRunPath(withOperationSource(step, operation), path)); + } + } + return items; + } + + snapshot(): KdlBridgeSnapshot { + return { + pathIds: [...this.paths.keys()], + operationIds: [...this.operations.keys()], + diagnostics: this.diagnostics + }; + } + + private addDiagnostic(code: string, message: string): void { + this.diagnosticsValue.push({ + severity: "error", + code, + message + }); + } +} + +function withOperationSource(step: RunPathInstruction, operation: CompiledOperation): RunPathInstruction { + const instruction: RunPathInstruction = { + ...step, + ...(step.sourceMap ? { sourceMap: step.sourceMap } : {}) + }; + Object.defineProperty(instruction, "__operationId", { + value: operation.operationId, + enumerable: false + }); + return instruction; +} + +export function operationIdFromAction(action: OperationActionInstruction): string { + return action.operationId; +} diff --git a/kdl-wasm/web/src/runtime/motionQueue.ts b/kdl-wasm/web/src/runtime/motionQueue.ts new file mode 100644 index 0000000..2a1dc30 --- /dev/null +++ b/kdl-wasm/web/src/runtime/motionQueue.ts @@ -0,0 +1,267 @@ +import type { + KdlWasmApi, + PathPlanResult, + PathPlanRequest, + RobotHandle, + TrajectoryPoint, + TrajectoryResult +} from "../kdl/types.js"; +import type { + CompiledPath, + MotionInstruction, + OperationActionInstruction, + RunOperationInstruction, + RunPathInstruction +} from "../grl/ir/index.js"; + +export type MotionQueueSource = + | { kind: "instruction"; instruction: MotionInstruction; pathId?: string; pointId?: string; operationId?: string; sourceMap?: MotionInstruction["sourceMap"] } + | { kind: "path"; pathId: string; pointId?: string; operationId?: string; instruction?: RunPathInstruction; sourceMap?: RunPathInstruction["sourceMap"] } + | { kind: "operation"; operationId: string; pathId?: string; pointId?: string; instruction?: RunOperationInstruction; sourceMap?: RunOperationInstruction["sourceMap"] } + | { kind: "action"; operationId: string; pathId?: string; pointId?: string; actionKind: OperationActionInstruction["actionKind"]; statement: string; sourceMap?: OperationActionInstruction["sourceMap"] }; + +export interface MotionQueueItem { + id: string; + kind: "motion" | "path" | "action"; + source: MotionQueueSource; + request: PathPlanRequest; + planned?: PathPlanResult; + result?: PathPlanResult | TrajectoryResult; + status: "queued" | "planned" | "playing" | "done" | "failed"; +} + +export interface MotionPlaybackSample { + itemId: string; + time: number; + localTime?: number; + point: TrajectoryPoint; + source: MotionQueueSource; +} + +export interface MotionPlanner { + planPath(handle: RobotHandle | undefined, request: PathPlanRequest): PathPlanResult | Promise; +} + +export interface MotionQueueOptions { + startJoints: number[]; + sampleTime: number; + planner?: MotionPlanner; + robotHandle?: RobotHandle; +} + +export interface MotionQueueSnapshot { + items: MotionQueueItem[]; + activeIndex: number; + virtualTime: number; +} + +export class MotionQueue { + private readonly itemsValue: MotionQueueItem[] = []; + private readonly options: MotionQueueOptions; + private virtualTimeValue = 0; + private nextId = 1; + + constructor(options: MotionQueueOptions = { startJoints: [], sampleTime: 0.004 }) { + this.options = options; + } + + get virtualTime(): number { + return this.virtualTimeValue; + } + + enqueue(item: Omit & { status?: MotionQueueItem["status"] }): MotionQueueItem { + const next: MotionQueueItem = { + ...item, + status: item.status ?? "queued" + }; + this.itemsValue.push(next); + return next; + } + + enqueueMotion(instruction: MotionInstruction): MotionQueueItem { + const segment = { + id: instruction.pointId ?? instruction.id ?? `motion_${this.nextId}`, + motion: instruction.kind, + ...(instruction.target ? { target: instruction.target } : {}), + ...(instruction.via ? { via: instruction.via } : {}), + speed: instruction.speed, + zone: instruction.zone, + ...(instruction.tool ? { tool: instruction.tool } : {}), + ...(instruction.frame ? { frame: instruction.frame } : {}), + ...(instruction.sourceMap ? { sourceMap: instruction.sourceMap } : {}), + ...(instruction.source ? { source: instruction.source } : {}) + }; + return this.enqueue({ + id: `mq_${this.nextId++}`, + kind: "motion", + source: { + kind: "instruction", + instruction, + ...(instruction.pathId ? { pathId: instruction.pathId } : {}), + ...(instruction.pointId ? { pointId: instruction.pointId } : {}), + ...(instruction.sourceMap ? { sourceMap: instruction.sourceMap } : {}) + }, + request: { + ...(instruction.pathId ? { pathId: instruction.pathId } : {}), + startJoints: [...this.options.startJoints], + sampleTime: this.options.sampleTime, + segments: [segment] + } + }); + } + + enqueueRunPath(instruction: RunPathInstruction, path: CompiledPath): MotionQueueItem { + const operationId = hiddenOperationId(instruction); + return this.enqueue({ + id: `mq_${this.nextId++}`, + kind: "path", + source: { + kind: "path", + pathId: instruction.pathId, + ...(operationId ? { operationId } : {}), + instruction, + ...(instruction.sourceMap ? { sourceMap: instruction.sourceMap } : {}) + }, + request: { + ...path.request, + startJoints: [...this.options.startJoints], + sampleTime: this.options.sampleTime + } + }); + } + + enqueueOperationAction(action: OperationActionInstruction): MotionQueueItem { + return this.enqueue({ + id: `mq_${this.nextId++}`, + kind: "action", + status: "done", + source: { + kind: "action", + operationId: action.operationId, + actionKind: action.actionKind, + statement: action.statement, + ...(action.sourceMap ? { sourceMap: action.sourceMap } : {}) + }, + request: { + startJoints: [...this.options.startJoints], + sampleTime: this.options.sampleTime, + segments: [] + } + }); + } + + items(): MotionQueueItem[] { + return this.itemsValue.map((item) => ({ ...item })); + } + + clear(): void { + this.itemsValue.length = 0; + } + + async planAll(api?: Pick, handle?: RobotHandle): Promise { + const planner = api + ? { planPath: (robotHandle: RobotHandle | undefined, request: PathPlanRequest) => api.planPath(robotHandle ?? handle ?? this.options.robotHandle ?? 0, request) } + : this.options.planner; + if (!planner) { + throw new Error("MotionQueue requires a planner or KDL API to plan queued paths"); + } + for (const item of this.itemsValue) { + if (item.status !== "queued" || item.request.segments.length === 0) { + continue; + } + try { + item.planned = await planner.planPath(handle ?? this.options.robotHandle, item.request); + item.result = item.planned; + item.status = item.planned.ok ? "planned" : "failed"; + } catch { + item.status = "failed"; + } + } + return this.items(); + } + + advance(deltaTime: number): MotionPlaybackSample | undefined { + this.virtualTimeValue += deltaTime; + return this.sampleAt(this.virtualTimeValue); + } + + sampleAt(time: number): MotionPlaybackSample | undefined { + let elapsed = 0; + for (const item of this.itemsValue) { + const planned = item.planned ?? (item.result && "segments" in item.result ? item.result : undefined); + if (!planned) { + continue; + } + const duration = planned?.duration ?? 0; + if (duration === 0) { + continue; + } + if (time <= elapsed + duration) { + const localTime = Math.max(0, Math.min(duration, time - elapsed)); + const point = samplePoint(planned.points, localTime); + if (!point) { + return undefined; + } + return { + itemId: item.id, + time, + localTime, + point, + source: item.source + } as MotionPlaybackSample; + } + elapsed += duration; + } + const last = [...this.itemsValue].reverse().find((item) => item.planned?.points.length); + const point = last?.planned?.points.at(-1); + return last && point && last.planned + ? ({ itemId: last.id, time, localTime: last.planned.duration, point, source: last.source } as MotionPlaybackSample) + : undefined; + } + + snapshot(): MotionQueueSnapshot { + return { + items: this.items(), + activeIndex: Math.max(0, this.itemsValue.findIndex((item) => item.status === "playing" || item.status === "planned")), + virtualTime: this.virtualTimeValue + }; + } + + playback(sampleTime: number): MotionPlaybackSample[] { + const samples: MotionPlaybackSample[] = []; + for (const item of this.itemsValue) { + const points = pointsOf(item.result); + if (points.length === 0) { + continue; + } + item.status = "playing"; + for (const point of points) { + if (point.index === 0 || point.time === 0 || point.time % sampleTime < 1e-9 || point === points.at(-1)) { + samples.push({ + itemId: item.id, + time: point.time, + point, + source: item.source + }); + } + } + item.status = "done"; + } + return samples; + } +} + +function samplePoint(points: TrajectoryPoint[], time: number): TrajectoryPoint | undefined { + return points.find((point) => point.time >= time) ?? points.at(-1); +} + +function hiddenOperationId(instruction: RunPathInstruction): string | undefined { + return (instruction as RunPathInstruction & { __operationId?: string }).__operationId; +} + +function pointsOf(result: PathPlanResult | TrajectoryResult | undefined): TrajectoryPoint[] { + if (!result) { + return []; + } + return "segments" in result ? result.points : result.points; +} diff --git a/kdl-wasm/web/src/suites/abb120Suite.ts b/kdl-wasm/web/src/suites/abb120Suite.ts new file mode 100644 index 0000000..3e49906 --- /dev/null +++ b/kdl-wasm/web/src/suites/abb120Suite.ts @@ -0,0 +1,185 @@ +import { parseGrl } from "../grl/parser/index.js"; +import { compileSemanticProgram } from "../grl/semantic/index.js"; +import { postProcessAllBrands } from "../grl/post/index.js"; +import { importBrandProgram } from "../importers/index.js"; +import type { MotionDiagnostic } from "../kdl/types.js"; +import { createValidationReport, createCustomerDeliveryPackage, renderValidationReportHtml } from "../reports/index.js"; +import { createOlpProject, type OlpProjectModel } from "../olp/index.js"; +import { + ABB120_ROBOT_FIXTURE, + ABB_IRB120_ZERO_JOINTS +} from "../fixtures/abb120.js"; + +export interface Abb120SuiteProgram { + name: string; + text: string; +} + +export interface Abb120SuiteJob { + job_id: string; + robot: typeof ABB120_ROBOT_FIXTURE; + programs: Array<{ + name: string; + moduleName: string; + diagnostics: MotionDiagnostic[]; + astKind: "Program"; + sourceMapEntries: number; + kdlMotionRequests: number; + kdlPathRequests: number; + }>; + post: { + filenames: string[]; + report: Array<{ code: string; severity: string; message: string }>; + }; + roundtrip: { + status: "pass" | "warn" | "fail"; + diagnostics: MotionDiagnostic[]; + }; + report_id: string; + artifacts: { + jobJson: string; + traceJson: string; + trajectoryJson: string; + diagnosticsJson: string; + reportJson: string; + reportHtml: string; + deliveryPackageJson: string; + desktopScreenshot: string; + mobileScreenshot: string; + }; +} + +export function createAbb120OlpProject(sourceProgram: Abb120SuiteProgram): OlpProjectModel { + const project = createOlpProject({ id: "abb120_suite", name: "Abb120Suite", customer: "KDL" }); + project.station = { + id: "abb120_station", + name: "ABB120 Station", + resourceIds: ["abb_irb120_3_58", "tool0", "world"], + activeRobotIds: ["abb_irb120_3_58"], + defaultFrameId: "world" + }; + project.resources.robots.push({ + id: "abb_irb120_3_58", + name: "ABB IRB120 3/58", + kind: "robot", + brand: "abb", + model: "IRB120 3/58", + dof: 6, + jointNames: ["joint_1", "joint_2", "joint_3", "joint_4", "joint_5", "joint_6"], + limits: [ + { name: "joint_1", lower: -2.87979, upper: 2.87979, velocity: 4.36332 }, + { name: "joint_2", lower: -1.91986, upper: 1.91986, velocity: 4.36332 }, + { name: "joint_3", lower: -1.91986, upper: 1.22173, velocity: 4.36332 }, + { name: "joint_4", lower: -2.79253, upper: 2.79253, velocity: 5.58505 }, + { name: "joint_5", lower: -2.094395, upper: 2.094395, velocity: 5.58505 }, + { name: "joint_6", lower: -6.98132, upper: 6.98132, velocity: 7.33038 } + ], + baseFrameId: "world", + controller: { family: "IRC5/OmniCore virtual" } + }); + project.resources.tools.push({ id: "tool0", name: "tool0", kind: "tool", tcp: [0, 0, 0, 0, 0, 0], robotId: "abb_irb120_3_58" }); + project.resources.frames.push({ id: "world", name: "world", kind: "frame", pose: [0, 0, 0, 0, 0, 0] }); + project.targets.push({ id: "home", name: "home", kind: "joint", robotId: "abb_irb120_3_58", joints: [...ABB_IRB120_ZERO_JOINTS] }); + project.speeds.push({ id: "v_joint", name: "v_joint", kind: "joint_percent", value: 40 }); + project.zones.push({ id: "zf", name: "zf", kind: "fine" }); + project.programs.push({ + id: sourceProgram.name.replace(/\.grl$/i, ""), + name: sourceProgram.name, + language: "grl", + entryOperationIds: [], + source: { kind: "authored", text: sourceProgram.text } + }); + project.calibrations.push({ + id: "tcp_cal_tool0", + name: "tool0_tcp_cal", + kind: "tcp", + targetResourceId: "tool0", + poseDelta: [0, 0, 0, 0, 0, 0] + }); + return project; +} + +export function runAbb120Suite(programs: Abb120SuiteProgram[], options: { now?: string } = {}): Abb120SuiteJob { + const now = options.now ?? new Date().toISOString(); + const job_id = `A120-JOB-${now.replace(/[-:TZ.]/g, "").slice(0, 14)}-doc`; + const compiled = programs.map((program) => { + const ast = parseGrl(program.text); + const ir = compileSemanticProgram(ast, { + startJoints: [...ABB_IRB120_ZERO_JOINTS], + sampleTime: 0.02 + }); + return { program, ast, ir }; + }); + const happyIr = compiled.find((item) => item.program.name.includes("A120_00"))?.ir ?? compiled[0]!.ir; + const posted = postProcessAllBrands(happyIr); + const abbRoundtrip = importBrandProgram("abb", [{ name: posted.outputs.abb.filename, text: posted.outputs.abb.text }], { + projectName: "Abb120Roundtrip", + generatedAt: now + }); + const project = createAbb120OlpProject(programs[0]!); + const report = createValidationReport({ + id: `A120-REPORT-${now.replace(/[-:TZ.]/g, "").slice(0, 14)}`, + project, + generatedAt: now, + pathValidation: { + ok: true, + reachable: true, + cycleTime: 1, + segmentReports: [], + diagnostics: [] + }, + postDiagnostics: posted.report.map((issue) => ({ + severity: issue.severity, + code: issue.code, + message: issue.message + })), + importDiagnostics: abbRoundtrip.report.sections.flatMap((section) => section.diagnostics) + }); + const reportHtml = renderValidationReportHtml(report); + const delivery = createCustomerDeliveryPackage({ + project, + report, + reportHtml, + brandPrograms: Object.fromEntries(Object.values(posted.outputs).map((output) => [output.filename, output.text])), + ioMap: { "io.do[1]": "gripper" }, + trace: { job_id, events: ["load", "run", "report"] } + }); + + return { + job_id, + robot: ABB120_ROBOT_FIXTURE, + programs: compiled.map((item) => ({ + name: item.program.name, + moduleName: item.ir.moduleName, + diagnostics: item.ir.diagnostics, + astKind: item.ast.kind, + sourceMapEntries: item.ir.sourceMap.length, + kdlMotionRequests: item.ir.kdlBridge.motionRequests.length, + kdlPathRequests: item.ir.kdlBridge.pathRequests.length + })), + post: { + filenames: Object.values(posted.outputs).map((output) => output.filename), + report: posted.report.map((issue) => ({ + code: issue.code, + severity: issue.severity, + message: issue.message + })) + }, + roundtrip: { + status: abbRoundtrip.report.status, + diagnostics: abbRoundtrip.report.sections.flatMap((section) => section.diagnostics) + }, + report_id: report.id, + artifacts: { + jobJson: `${job_id}/job.json`, + traceJson: `${job_id}/trace.json`, + trajectoryJson: `${job_id}/trajectory.json`, + diagnosticsJson: `${job_id}/diagnostics.json`, + reportJson: `${job_id}/reports/${report.id}.json`, + reportHtml: `${job_id}/reports/${report.id}.html`, + deliveryPackageJson: `${job_id}/delivery/package.json`, + desktopScreenshot: `${job_id}/screenshots/virtual-controller-desktop.png`, + mobileScreenshot: `${job_id}/screenshots/virtual-controller-mobile.png` + } + }; +} diff --git a/kdl-wasm/web/src/workbench/debugFacade.ts b/kdl-wasm/web/src/workbench/debugFacade.ts new file mode 100644 index 0000000..67b613b --- /dev/null +++ b/kdl-wasm/web/src/workbench/debugFacade.ts @@ -0,0 +1,162 @@ +import type { SemanticProgramIr } from "../grl/ir/index.js"; +import type { MotionSourceMap, TrajectoryPoint } from "../kdl/types.js"; +import type { IoImageRuntime } from "../runtime/ioRuntime.js"; +import type { MotionQueue, MotionQueueItem, MotionPlaybackSample } from "../runtime/motionQueue.js"; +import type { IrExecutionRuntime, RuntimeBreakpoint } from "../controller/runtime.js"; +import { RuntimeSourceMapIndex, type RuntimeSourceLocation } from "../controller/sourceMap.js"; +import type { RuntimeTraceEvent } from "../controller/trace.js"; + +export interface MotionBreakpoint { + id: string; + pathId?: string; + pointId?: string; + operationId?: string; + enabled: boolean; +} + +export interface VariableWatch { + id: string; + expression: string; + value?: unknown; + source?: RuntimeSourceLocation; +} + +export interface DebugFacadeSnapshot { + breakpoints: RuntimeBreakpoint[]; + motionBreakpoints: MotionBreakpoint[]; + watches: VariableWatch[]; + currentSource?: RuntimeSourceLocation; + trace: RuntimeTraceEvent[]; + playback?: MotionPlaybackSample; +} + +export interface DebugFacadeOptions { + runtime: IrExecutionRuntime; + motionQueue?: MotionQueue; + io?: IoImageRuntime; + program?: SemanticProgramIr; +} + +export class DebugFacade { + private readonly runtime: IrExecutionRuntime; + private readonly motionQueue: MotionQueue | undefined; + private readonly io: IoImageRuntime | undefined; + private readonly sourceIndex: RuntimeSourceMapIndex; + private readonly motionBreakpointsValue = new Map(); + private readonly watchesValue = new Map(); + + constructor(options: DebugFacadeOptions) { + this.runtime = options.runtime; + this.motionQueue = options.motionQueue; + this.io = options.io; + this.sourceIndex = options.program ? new RuntimeSourceMapIndex(options.program) : this.runtime.sourceMapIndex; + } + + addBreakpoint(breakpoint: RuntimeBreakpoint): void { + this.runtime.setBreakpoint(breakpoint); + } + + removeBreakpoint(id: string): boolean { + return this.runtime.removeBreakpoint(id); + } + + addMotionBreakpoint(breakpoint: MotionBreakpoint): void { + this.motionBreakpointsValue.set(breakpoint.id, { ...breakpoint }); + } + + removeMotionBreakpoint(id: string): boolean { + return this.motionBreakpointsValue.delete(id); + } + + checkMotionBreakpoint(item: MotionQueueItem): MotionBreakpoint | undefined { + return [...this.motionBreakpointsValue.values()].find((breakpoint) => { + if (!breakpoint.enabled) { + return false; + } + if (breakpoint.pathId && breakpoint.pathId !== item.source.pathId) { + return false; + } + if (breakpoint.pointId && breakpoint.pointId !== item.source.pointId) { + return false; + } + if (breakpoint.operationId && breakpoint.operationId !== item.source.operationId) { + return false; + } + return breakpoint.pathId !== undefined || breakpoint.pointId !== undefined || breakpoint.operationId !== undefined; + }); + } + + addWatch(id: string, expression: string): VariableWatch { + const source = this.runtime.currentSource(); + const watch: VariableWatch = { + id, + expression, + value: this.evaluateWatchExpression(expression), + ...(source ? { source } : {}) + }; + this.watchesValue.set(id, watch); + return { ...watch }; + } + + updateWatches(): VariableWatch[] { + const source = this.runtime.currentSource(); + for (const watch of this.watchesValue.values()) { + watch.value = this.evaluateWatchExpression(watch.expression); + if (source) { + watch.source = source; + } else { + delete watch.source; + } + } + return this.watches(); + } + + watches(): VariableWatch[] { + return [...this.watchesValue.values()].map((watch) => ({ ...watch })); + } + + locateSource(sourceMap: MotionSourceMap): RuntimeSourceLocation[] { + return this.sourceIndex.locateSource(sourceMap); + } + + locatePathPoint(pathId: string, pointId: string): RuntimeSourceLocation | undefined { + return this.sourceIndex.locatePathPoint(pathId, pointId); + } + + locateOperation(operationId: string): RuntimeSourceLocation[] { + return this.sourceIndex.locateOperation(operationId); + } + + playbackAt(time: number): MotionPlaybackSample | undefined { + return this.motionQueue?.sampleAt(time); + } + + replayTrace(): RuntimeTraceEvent[] { + return this.runtime.snapshot().trace; + } + + currentPoint(): TrajectoryPoint | undefined { + return this.motionQueue?.sampleAt(this.motionQueue.virtualTime)?.point; + } + + snapshot(): DebugFacadeSnapshot { + const playback = this.motionQueue?.sampleAt(this.motionQueue.virtualTime); + const currentSource = this.runtime.currentSource(); + return { + breakpoints: this.runtime.listBreakpoints(), + motionBreakpoints: [...this.motionBreakpointsValue.values()].map((breakpoint) => ({ ...breakpoint })), + watches: this.updateWatches(), + ...(currentSource ? { currentSource } : {}), + trace: this.runtime.snapshot().trace, + ...(playback ? { playback } : {}) + }; + } + + private evaluateWatchExpression(expression: string): unknown { + if (expression.startsWith("io.")) { + const key = expression.replace(/\s+/g, ""); + return this.io?.snapshot().image[key]; + } + return this.runtime.getVariable(expression); + } +} diff --git a/kdl-wasm/web/src/workbench/facade.ts b/kdl-wasm/web/src/workbench/facade.ts new file mode 100644 index 0000000..13e7ebe --- /dev/null +++ b/kdl-wasm/web/src/workbench/facade.ts @@ -0,0 +1,139 @@ +import type { RuntimeBreakpoint, RuntimeSourceMapIndex } from "../controller/index.js"; +import type { OlpProjectModel } from "../olp/index.js"; +import type { RuntimeTraceEvent } from "../controller/index.js"; + +export interface WorkbenchTreeNode { + id: string; + label: string; + kind: "station" | "robot" | "tool" | "frame" | "target" | "path" | "operation" | "program" | "report"; + children?: WorkbenchTreeNode[]; +} + +export interface TeachPendantState { + tcp?: number[]; + joints?: number[]; + mode: "manual" | "auto" | "step"; + controllerState: string; +} + +export interface DebugPanelState { + currentLine?: number; + variables: Record; + watches: Record; + breakpoints: RuntimeBreakpoint[]; + trace: RuntimeTraceEvent[]; +} + +export interface WorkbenchAction { + id: string; + label: string; + target: "post" | "report" | "delivery"; + enabled: boolean; +} + +export interface WorkbenchState { + tree: WorkbenchTreeNode[]; + editor: { + activeProgramId?: string; + text: string; + }; + pendant: TeachPendantState; + debug: DebugPanelState; + io: { + values: Record; + waiting?: string; + }; + alarms: Array<{ id: string; message: string; severity: string }>; + actions: WorkbenchAction[]; +} + +export function buildWorkbenchState(input: { + project: OlpProjectModel; + controllerState?: string; + activeProgramId?: string; + variables?: Record; + watches?: string[]; + breakpoints?: RuntimeBreakpoint[]; + trace?: RuntimeTraceEvent[]; + io?: Record; + waiting?: string; + alarms?: Array<{ id: string; message: string; severity: string }>; + joints?: number[]; + tcp?: number[]; +}): WorkbenchState { + const activeProgram = input.project.programs.find((program) => program.id === input.activeProgramId) ?? input.project.programs[0]; + const variables = input.variables ?? {}; + const currentLine = input.trace?.at(-1)?.source?.sourceMap?.line; + return { + tree: buildObjectTree(input.project), + editor: { + ...(activeProgram ? { activeProgramId: activeProgram.id } : {}), + text: activeProgram?.source.text ?? "" + }, + pendant: { + ...(input.tcp ? { tcp: [...input.tcp] } : {}), + ...(input.joints ? { joints: [...input.joints] } : {}), + mode: "step", + controllerState: input.controllerState ?? "stopped" + }, + debug: { + ...(currentLine !== undefined ? { currentLine } : {}), + variables, + watches: Object.fromEntries((input.watches ?? []).map((name) => [name, variables[name]])), + breakpoints: input.breakpoints ?? [], + trace: input.trace ?? [] + }, + io: { + values: input.io ?? {}, + ...(input.waiting ? { waiting: input.waiting } : {}) + }, + alarms: input.alarms ?? [], + actions: [ + { id: "post-export", label: "Post", target: "post", enabled: input.project.operations.length > 0 }, + { id: "report-open", label: "Report", target: "report", enabled: true }, + { id: "delivery-export", label: "Delivery", target: "delivery", enabled: input.project.programs.length > 0 } + ] + }; +} + +export function buildObjectTree(project: OlpProjectModel): WorkbenchTreeNode[] { + return [ + { + id: project.station.id, + label: project.station.name, + kind: "station", + children: [ + ...project.resources.robots.map((item): WorkbenchTreeNode => ({ id: item.id, label: item.name, kind: "robot" })), + ...project.resources.tools.map((item): WorkbenchTreeNode => ({ id: item.id, label: item.name, kind: "tool" })), + ...project.resources.frames.map((item): WorkbenchTreeNode => ({ id: item.id, label: item.name, kind: "frame" })), + ...project.targets.map((item): WorkbenchTreeNode => ({ id: item.id, label: item.name, kind: "target" })), + ...project.paths.map((item): WorkbenchTreeNode => ({ id: item.id, label: item.name, kind: "path" })), + ...project.operations.map((item): WorkbenchTreeNode => ({ id: item.id, label: item.name, kind: "operation" })), + ...project.programs.map((item): WorkbenchTreeNode => ({ id: item.id, label: item.name, kind: "program" })), + ...project.reports.map((item): WorkbenchTreeNode => ({ id: item.id, label: item.name, kind: "report" })) + ] + } + ]; +} + +export function locateCrossSource(index: RuntimeSourceMapIndex, input: { + pathId?: string; + pointId?: string; + operationId?: string; + file?: string; + line?: number; +}) { + if (input.pathId && input.pointId) { + return index.locatePathPoint(input.pathId, input.pointId); + } + if (input.operationId) { + return index.locateOperation(input.operationId); + } + if (input.line !== undefined || input.file) { + return index.locateSource({ + ...(input.file ? { file: input.file } : {}), + ...(input.line !== undefined ? { line: input.line } : {}) + }); + } + return undefined; +} diff --git a/kdl-wasm/web/src/workbench/index.ts b/kdl-wasm/web/src/workbench/index.ts new file mode 100644 index 0000000..f267ff4 --- /dev/null +++ b/kdl-wasm/web/src/workbench/index.ts @@ -0,0 +1,28 @@ +export { + DebugFacade, + type DebugFacadeOptions, + type DebugFacadeSnapshot, + type MotionBreakpoint, + type VariableWatch +} from "./debugFacade.js"; +export { + WorkbenchFacade, + type EditorModel, + type IoPanelModel, + type ReportEntryModel, + type TeachPendantModel as ProgramTeachPendantModel, + type WorkbenchFacadeInput, + type WorkbenchFacadeSnapshot, + type WorkbenchObjectKind, + type WorkbenchObjectNode +} from "./workbenchFacade.js"; +export { + buildObjectTree, + buildWorkbenchState, + locateCrossSource, + type DebugPanelState, + type TeachPendantState, + type WorkbenchAction, + type WorkbenchState, + type WorkbenchTreeNode +} from "./facade.js"; diff --git a/kdl-wasm/web/src/workbench/workbenchFacade.ts b/kdl-wasm/web/src/workbench/workbenchFacade.ts new file mode 100644 index 0000000..9ac50f1 --- /dev/null +++ b/kdl-wasm/web/src/workbench/workbenchFacade.ts @@ -0,0 +1,214 @@ +import type { SemanticProgramIr } from "../grl/ir/index.js"; +import type { MotionDiagnostic } from "../kdl/types.js"; +import type { IoRuntimeSnapshot } from "../runtime/ioRuntime.js"; +import type { MotionQueueSnapshot } from "../runtime/motionQueue.js"; +import type { IrExecutionRuntimeSnapshot } from "../controller/runtime.js"; +import type { RuntimeSourceLocation } from "../controller/sourceMap.js"; + +export type WorkbenchObjectKind = + | "station" + | "robot" + | "tool" + | "frame" + | "target" + | "path" + | "operation" + | "program" + | "report"; + +export interface WorkbenchObjectNode { + id: string; + label: string; + kind: WorkbenchObjectKind; + children?: WorkbenchObjectNode[]; + source?: RuntimeSourceLocation; + data?: Record; +} + +export interface EditorModel { + activeFile?: string; + cursor?: { + line: number; + column: number; + }; + currentSource?: RuntimeSourceLocation; + diagnostics: MotionDiagnostic[]; +} + +export interface TeachPendantModel { + state: string; + procedure?: string; + pc: number; + joints?: number[]; + tcp?: unknown; + alarms: IrExecutionRuntimeSnapshot["alarmQueue"]; +} + +export interface IoPanelModel { + image: IoRuntimeSnapshot["image"]; + events: IoRuntimeSnapshot["events"]; + waits: Array<{ + condition: string; + source?: RuntimeSourceLocation; + }>; +} + +export interface ReportEntryModel { + id: string; + label: string; + kind: "reachability" | "cycle_time" | "io_wait" | "post" | "import"; + status: "ready" | "pending" | "error"; + diagnostics: MotionDiagnostic[]; +} + +export interface WorkbenchFacadeSnapshot { + objectTree: WorkbenchObjectNode[]; + editor: EditorModel; + teachPendant: TeachPendantModel; + ioPanel: IoPanelModel; + reports: ReportEntryModel[]; +} + +export interface WorkbenchFacadeInput { + program: SemanticProgramIr; + runtime: IrExecutionRuntimeSnapshot; + io: IoRuntimeSnapshot; + motion?: MotionQueueSnapshot; + controllerState: string; +} + +export class WorkbenchFacade { + snapshot(input: WorkbenchFacadeInput): WorkbenchFacadeSnapshot { + const currentPoint = currentMotionPoint(input.motion); + const editorSource = input.runtime.currentSource; + const editorCursor = cursorFromSource(editorSource); + return { + objectTree: buildObjectTree(input.program), + editor: { + ...(editorSource?.sourceMap?.file ? { activeFile: editorSource.sourceMap.file } : {}), + ...(editorCursor ? { cursor: editorCursor } : {}), + ...(editorSource ? { currentSource: editorSource } : {}), + diagnostics: input.program.diagnostics + }, + teachPendant: { + state: input.controllerState, + ...(input.runtime.procedure ? { procedure: input.runtime.procedure } : {}), + pc: input.runtime.pc, + ...(currentPoint ? { joints: currentPoint.joints, tcp: currentPoint.tcp } : {}), + alarms: input.runtime.alarmQueue + }, + ioPanel: { + image: input.io.image, + events: input.io.events, + waits: input.runtime.trace + .filter((event) => event.kind === "wait") + .map((event) => ({ + condition: String(event.data?.condition ?? event.data?.status ?? ""), + ...(event.source ? { source: event.source } : {}) + })) + }, + reports: buildReportEntries(input.program) + }; + } +} + +function buildObjectTree(program: SemanticProgramIr): WorkbenchObjectNode[] { + return [ + { + id: "station", + label: "Station", + kind: "station", + children: [ + { + id: "programs", + label: "Programs", + kind: "program", + children: program.procedures.map((procedure) => ({ + id: `program:${procedure.name}`, + label: procedure.name, + kind: "program", + ...(procedure.sourceMap + ? { source: { kind: "procedure", id: procedure.name, sourceMap: procedure.sourceMap } } + : {}) + })) + }, + { + id: "paths", + label: "Paths", + kind: "path", + children: program.paths.map((path) => ({ + id: `path:${path.pathId}`, + label: path.pathId, + kind: "path", + children: path.motions.map((motion) => ({ + id: `path:${path.pathId}:${motion.pointId ?? motion.id ?? motion.kind}`, + label: motion.pointId ?? motion.id ?? motion.kind, + kind: "target", + source: { + kind: "path_point", + id: motion.pointId ?? motion.id ?? motion.kind, + ...(motion.sourceMap ? { sourceMap: motion.sourceMap } : {}), + pathId: path.pathId, + ...(motion.pointId ? { pointId: motion.pointId } : {}) + } + })) + })) + }, + { + id: "operations", + label: "Operations", + kind: "operation", + children: program.operations.map((operation) => ({ + id: `operation:${operation.operationId}`, + label: operation.operationId, + kind: "operation", + data: { + kind: operation.kind, + pathId: operation.pathId + } + })) + }, + { + id: "reports", + label: "Reports", + kind: "report" + } + ] + } + ]; +} + +function buildReportEntries(program: SemanticProgramIr): ReportEntryModel[] { + return [ + report("reachability", "Reachability", program.diagnostics), + report("cycle_time", "Cycle Time", []), + report("io_wait", "IO and Wait", []), + report("post", "Post Process", []), + report("import", "Import", []) + ]; +} + +function report(kind: ReportEntryModel["kind"], label: string, diagnostics: MotionDiagnostic[]): ReportEntryModel { + return { + id: `report:${kind}`, + label, + kind, + status: diagnostics.some((diagnostic) => diagnostic.severity === "error") ? "error" : "ready", + diagnostics + }; +} + +function cursorFromSource(source?: RuntimeSourceLocation): EditorModel["cursor"] { + if (!source?.sourceMap?.line) { + return undefined; + } + return { + line: source.sourceMap.line, + column: source.sourceMap.column ?? 1 + }; +} + +function currentMotionPoint(motion?: MotionQueueSnapshot) { + const item = motion?.items[motion.activeIndex]; + return item?.planned?.points.at(-1); +} diff --git a/kdl-wasm/web/src/workspace/index.ts b/kdl-wasm/web/src/workspace/index.ts new file mode 100644 index 0000000..c2c590e --- /dev/null +++ b/kdl-wasm/web/src/workspace/index.ts @@ -0,0 +1,31 @@ +export { + MemoryWorkspaceStorage, + MemoryWorkspaceStore, + ProjectWorkspace, + createProjectManifest, + detectWorkspaceDamage, + exportWorkspaceBundle, + importWorkspaceBundle, + initializeWorkspace, + migrateManifest, + readJson, + readManifest, + readProjectModel, + restoreWorkspace, + snapshotWorkspace, + stableStringify, + writeJson, + writeProjectModel, + type CompatibilityProjectManifest, + type CompatibilityWorkspaceBundle, + type CompatibilityWorkspaceDamage, + type CompatibilityWorkspaceIntegrityReport, + type CompatibilityWorkspaceSnapshot, + type ProjectManifest, + type WorkspaceBundle, + type WorkspaceDamageReport, + type WorkspaceFileEntry, + type WorkspaceSnapshot, + type WorkspaceStorage, + type WorkspaceStore +} from "./storage.js"; diff --git a/kdl-wasm/web/src/workspace/storage.ts b/kdl-wasm/web/src/workspace/storage.ts new file mode 100644 index 0000000..33e0df7 --- /dev/null +++ b/kdl-wasm/web/src/workspace/storage.ts @@ -0,0 +1,597 @@ +import { createHash } from "node:crypto"; +import type { OlpProjectModel } from "../olp/index.js"; +import { createOlpProject, validateOlpProject } from "../olp/index.js"; + +export interface ProjectManifest { + schemaVersion: "workspace/0.1"; + projectId: string; + projectName: string; + revision?: string; + createdAt: string; + updatedAt: string; + layout: { + root: string; + projectJson: string; + programsDir: string; + reportsDir: string; + snapshotsDir: string; + }; + files: WorkspaceFileEntry[]; + migrations: string[]; +} + +export interface WorkspaceFileEntry { + path: string; + kind: "json" | "text" | "binary"; + sha256: string; + bytes: number; +} + +export interface WorkspaceSnapshot { + id: string; + manifest: ProjectManifest; + files: Record; +} + +export interface WorkspaceBundle { + format: "kdl-workspace-bundle/0.1"; + manifest: ProjectManifest; + files: Record; + checksum?: string; +} + +export interface WorkspaceDamageReport { + ok: boolean; + missing: string[]; + checksumMismatch: string[]; + diagnostics: string[]; +} + +export interface WorkspaceStore { + writeText(path: string, value: string): Promise; + readText(path: string): Promise; + delete(path: string): Promise; + list(prefix?: string): Promise; +} + +export class MemoryWorkspaceStore implements WorkspaceStore { + private readonly files = new Map(); + + constructor(initialFiles: Record = {}) { + for (const [path, value] of Object.entries(initialFiles)) { + this.files.set(normalizePath(path), value); + } + } + + async writeText(path: string, value: string): Promise { + this.files.set(normalizePath(path), value); + } + + async readText(path: string): Promise { + const normalized = normalizePath(path); + const value = this.files.get(normalized); + if (value === undefined) { + throw new Error(`Workspace file ${normalized} not found`); + } + return value; + } + + async delete(path: string): Promise { + this.files.delete(normalizePath(path)); + } + + async list(prefix = ""): Promise { + const normalizedPrefix = normalizePath(prefix); + return [...this.files.keys()] + .filter((path) => normalizedPrefix === "" || path.startsWith(normalizedPrefix)) + .sort(); + } + + async exists(path: string): Promise { + return this.files.has(normalizePath(path)); + } + + dump(): Record { + return Object.fromEntries([...this.files.entries()].sort(([left], [right]) => left.localeCompare(right))); + } +} + +export const MemoryWorkspaceStorage = MemoryWorkspaceStore; + +export type WorkspaceStorage = WorkspaceStore & { + exists?: (path: string) => Promise; +}; + +export interface CompatibilityProjectManifest { + schemaVersion: 1; + projectId: string; + name: string; + createdAt: string; + updatedAt: string; + directories: { + model: string; + programs: string; + reports: string; + imports: string; + delivery: string; + traces: string; + }; + entrypoints: { + model: string; + }; +} + +export interface CompatibilityWorkspaceSnapshot { + manifest: CompatibilityProjectManifest; + files: Record; + checksum: string; +} + +export interface CompatibilityWorkspaceDamage { + code: "WORKSPACE_MANIFEST_MISSING" | "WORKSPACE_MANIFEST_INVALID" | "WORKSPACE_MODEL_MISSING" | "WORKSPACE_MODEL_INVALID" | "WORKSPACE_CHECKSUM_MISMATCH"; + message: string; + path?: string; +} + +export interface CompatibilityWorkspaceIntegrityReport { + ok: boolean; + damages: CompatibilityWorkspaceDamage[]; +} + +export interface CompatibilityWorkspaceBundle { + format: "kdl-workspace-bundle"; + version: 1; + manifest: CompatibilityProjectManifest; + files: Record; + checksum: string; +} + +const COMPAT_MANIFEST_PATH = "project.json"; + +export function createProjectManifest(projectId: string, name: string, now = new Date().toISOString()): CompatibilityProjectManifest { + return { + schemaVersion: 1, + projectId, + name, + createdAt: now, + updatedAt: now, + directories: { + model: "model", + programs: "programs", + reports: "reports", + imports: "imports", + delivery: "delivery", + traces: "traces" + }, + entrypoints: { + model: "model/olp-project.json" + } + }; +} + +export async function initializeWorkspace( + storage: WorkspaceStorage, + options: { projectId: string; name: string; model?: OlpProjectModel; now?: string } +): Promise { + const manifest = createProjectManifest(options.projectId, options.name, options.now); + await writeJson(storage, COMPAT_MANIFEST_PATH, manifest); + await writeJson(storage, manifest.entrypoints.model, options.model ?? createOlpProject({ id: options.projectId, name: options.name })); + return manifest; +} + +export async function readManifest(storage: WorkspaceStorage): Promise { + return migrateManifest(await readJson(storage, COMPAT_MANIFEST_PATH)); +} + +export async function readProjectModel(storage: WorkspaceStorage): Promise { + const manifest = await readManifest(storage); + return readJson(storage, manifest.entrypoints.model); +} + +export async function writeProjectModel(storage: WorkspaceStorage, model: OlpProjectModel, now = new Date().toISOString()): Promise { + const manifest = await readManifest(storage); + await writeJson(storage, manifest.entrypoints.model, model); + await writeJson(storage, COMPAT_MANIFEST_PATH, { ...manifest, updatedAt: now }); +} + +export async function readJson(storage: WorkspaceStorage, path: string): Promise { + return JSON.parse(await storage.readText(path)) as T; +} + +export async function writeJson(storage: WorkspaceStorage, path: string, value: unknown): Promise { + await storage.writeText(path, `${stableStringify(value)}\n`); +} + +export async function snapshotWorkspace(storage: WorkspaceStorage): Promise { + const files: Record = {}; + for (const path of await storage.list()) { + files[path] = await storage.readText(path); + } + return { + manifest: migrateManifest(JSON.parse(files[COMPAT_MANIFEST_PATH] ?? "{}")), + files, + checksum: checksumFiles(files) + }; +} + +export async function restoreWorkspace(storage: WorkspaceStorage, snapshot: CompatibilityWorkspaceSnapshot): Promise { + for (const path of await storage.list()) { + await storage.delete(path); + } + for (const [path, value] of Object.entries(snapshot.files)) { + await storage.writeText(path, value); + } +} + +export async function exportWorkspaceBundle(storage: WorkspaceStorage): Promise { + const snapshot = await snapshotWorkspace(storage); + const bundle: CompatibilityWorkspaceBundle = { + format: "kdl-workspace-bundle", + version: 1, + manifest: snapshot.manifest, + files: snapshot.files, + checksum: snapshot.checksum + }; + return `${stableStringify(bundle)}\n`; +} + +export async function importWorkspaceBundle(storage: WorkspaceStorage, text: string): Promise { + const bundle = JSON.parse(text) as CompatibilityWorkspaceBundle; + if (bundle.format !== "kdl-workspace-bundle" || bundle.version !== 1) { + throw new Error("Unsupported workspace bundle"); + } + if (checksumFiles(bundle.files) !== bundle.checksum) { + return { + ok: false, + damages: [{ code: "WORKSPACE_CHECKSUM_MISMATCH", message: "Bundle checksum does not match file contents" }] + }; + } + await restoreWorkspace(storage, { + manifest: bundle.manifest, + files: bundle.files, + checksum: bundle.checksum + }); + return detectWorkspaceDamage(storage, bundle.checksum); +} + +export async function detectWorkspaceDamage(storage: WorkspaceStorage, expectedChecksum?: string): Promise { + const damages: CompatibilityWorkspaceDamage[] = []; + const exists = storage.exists + ? await storage.exists(COMPAT_MANIFEST_PATH) + : (await storage.list()).includes(COMPAT_MANIFEST_PATH); + if (!exists) { + return { + ok: false, + damages: [{ code: "WORKSPACE_MANIFEST_MISSING", message: "project.json is missing", path: COMPAT_MANIFEST_PATH }] + }; + } + + let manifest: CompatibilityProjectManifest | undefined; + try { + manifest = await readManifest(storage); + } catch (cause) { + damages.push({ code: "WORKSPACE_MANIFEST_INVALID", message: `project.json is invalid: ${String(cause)}`, path: COMPAT_MANIFEST_PATH }); + } + + if (manifest) { + const modelExists = storage.exists + ? await storage.exists(manifest.entrypoints.model) + : (await storage.list()).includes(manifest.entrypoints.model); + if (!modelExists) { + damages.push({ code: "WORKSPACE_MODEL_MISSING", message: `Project model ${manifest.entrypoints.model} is missing`, path: manifest.entrypoints.model }); + } else { + try { + const model = await readJson(storage, manifest.entrypoints.model); + const validation = validateOlpProject(model); + for (const issue of validation.issues.filter((item) => item.severity === "error")) { + damages.push({ code: "WORKSPACE_MODEL_INVALID", message: `${issue.code}: ${issue.message}`, path: manifest.entrypoints.model }); + } + } catch (cause) { + damages.push({ code: "WORKSPACE_MODEL_INVALID", message: `Project model is invalid: ${String(cause)}`, path: manifest.entrypoints.model }); + } + } + } + + if (expectedChecksum) { + const snapshot = await snapshotWorkspace(storage); + if (snapshot.checksum !== expectedChecksum) { + damages.push({ code: "WORKSPACE_CHECKSUM_MISMATCH", message: "Workspace checksum does not match expected snapshot" }); + } + } + + return { + ok: damages.length === 0, + damages + }; +} + +export function migrateManifest(input: unknown): CompatibilityProjectManifest { + if (typeof input !== "object" || input === null || Array.isArray(input)) { + throw new Error("Manifest must be an object"); + } + const record = input as Record; + if (record.schemaVersion === 1) { + return normalizeCompatibilityManifest(record); + } + if (record.schemaVersion === 0 || record.version === 0) { + const updatedAt = typeof record.updatedAt === "string" ? record.updatedAt : new Date(0).toISOString(); + return { + ...createProjectManifest( + typeof record.projectId === "string" ? record.projectId : "legacy_project", + typeof record.name === "string" ? record.name : "Legacy Project", + typeof record.createdAt === "string" ? record.createdAt : updatedAt + ), + updatedAt, + entrypoints: { + model: typeof record.modelPath === "string" ? record.modelPath : "model/olp-project.json" + } + }; + } + throw new Error(`Unsupported manifest schema ${String(record.schemaVersion)}`); +} + +export function stableStringify(value: unknown): string { + return JSON.stringify(sortForStableStringify(value), null, 2); +} + +function normalizeCompatibilityManifest(record: Record): CompatibilityProjectManifest { + if (record.schemaVersion !== 1) { + throw new Error("Manifest schemaVersion must be 1"); + } + if (typeof record.projectId !== "string" || typeof record.name !== "string") { + throw new Error("Manifest projectId and name are required"); + } + const createdAt = typeof record.createdAt === "string" ? record.createdAt : new Date(0).toISOString(); + const updatedAt = typeof record.updatedAt === "string" ? record.updatedAt : createdAt; + const directories = isRecord(record.directories) ? record.directories : {}; + const entrypoints = isRecord(record.entrypoints) ? record.entrypoints : {}; + return { + ...createProjectManifest(record.projectId, record.name, createdAt), + updatedAt, + directories: { + model: stringField(directories.model, "model"), + programs: stringField(directories.programs, "programs"), + reports: stringField(directories.reports, "reports"), + imports: stringField(directories.imports, "imports"), + delivery: stringField(directories.delivery, "delivery"), + traces: stringField(directories.traces, "traces") + }, + entrypoints: { + model: stringField(entrypoints.model, "model/olp-project.json") + } + }; +} + +function checksumFiles(files: Record): string { + const content = Object.entries(files) + .sort(([left], [right]) => left.localeCompare(right)) + .map(([path, value]) => `${path}\0${value}`) + .join("\0"); + let hash = 0x811c9dc5; + for (let index = 0; index < content.length; index += 1) { + hash ^= content.charCodeAt(index); + hash = Math.imul(hash, 0x01000193) >>> 0; + } + return `fnv1a32:${hash.toString(16).padStart(8, "0")}`; +} + +function sortForStableStringify(value: unknown): unknown { + if (Array.isArray(value)) { + return value.map(sortForStableStringify); + } + if (isRecord(value)) { + return Object.fromEntries( + Object.entries(value) + .filter(([, item]) => item !== undefined) + .sort(([left], [right]) => left.localeCompare(right)) + .map(([key, item]) => [key, sortForStableStringify(item)]) + ); + } + return value; +} + +function isRecord(value: unknown): value is Record { + return typeof value === "object" && value !== null && !Array.isArray(value); +} + +function stringField(value: unknown, fallback: string): string { + return typeof value === "string" ? value : fallback; +} + +export class ProjectWorkspace { + constructor(private readonly store: WorkspaceStore) {} + + async createProject(model: OlpProjectModel): Promise { + const now = new Date().toISOString(); + const manifest = this.createManifest(model, now, now); + await this.store.writeText(manifest.layout.projectJson, JSON.stringify(model, null, 2)); + await this.store.writeText(this.manifestPath(model.project.id), JSON.stringify(await this.refreshManifest(manifest), null, 2)); + return this.readManifest(model.project.id); + } + + async readProject(projectId: string): Promise { + const manifest = await this.readManifest(projectId); + return JSON.parse(await this.store.readText(manifest.layout.projectJson)) as OlpProjectModel; + } + + async writeJson(projectId: string, path: string, value: unknown): Promise { + await this.store.writeText(this.projectPath(projectId, path), JSON.stringify(value, null, 2)); + await this.rewriteManifest(projectId); + } + + async readJson(projectId: string, path: string): Promise { + return JSON.parse(await this.store.readText(this.projectPath(projectId, path))) as T; + } + + async writeText(projectId: string, path: string, value: string): Promise { + await this.store.writeText(this.projectPath(projectId, path), value); + await this.rewriteManifest(projectId); + } + + async readText(projectId: string, path: string): Promise { + return this.store.readText(this.projectPath(projectId, path)); + } + + async delete(projectId: string, path: string): Promise { + await this.store.delete(this.projectPath(projectId, path)); + await this.rewriteManifest(projectId); + } + + async snapshot(projectId: string, id = `snapshot-${Date.now()}`): Promise { + const manifest = await this.readManifest(projectId); + const files = await this.projectFiles(projectId); + const snapshot: WorkspaceSnapshot = { id, manifest, files }; + await this.store.writeText(`${manifest.layout.snapshotsDir}/${id}.json`, JSON.stringify(snapshot, null, 2)); + await this.rewriteManifest(projectId); + return snapshot; + } + + async restoreSnapshot(snapshot: WorkspaceSnapshot): Promise { + for (const [path, value] of Object.entries(snapshot.files)) { + await this.store.writeText(path, value); + } + await this.store.writeText(this.manifestPath(snapshot.manifest.projectId), JSON.stringify(snapshot.manifest, null, 2)); + return this.rewriteManifest(snapshot.manifest.projectId); + } + + async exportBundle(projectId: string): Promise { + const bundle: WorkspaceBundle = { + format: "kdl-workspace-bundle/0.1", + manifest: await this.readManifest(projectId), + files: await this.projectFiles(projectId) + }; + return JSON.stringify(bundle, null, 2); + } + + async importBundle(text: string): Promise { + const bundle = JSON.parse(text) as WorkspaceBundle; + if (bundle.format !== "kdl-workspace-bundle/0.1") { + throw new Error(`Unsupported workspace bundle ${String(bundle.format)}`); + } + for (const [path, value] of Object.entries(bundle.files)) { + await this.store.writeText(path, value); + } + await this.store.writeText(this.manifestPath(bundle.manifest.projectId), JSON.stringify(bundle.manifest, null, 2)); + return this.rewriteManifest(bundle.manifest.projectId); + } + + async migrate(projectId: string, migrationId: string, apply: (model: OlpProjectModel) => OlpProjectModel): Promise { + const manifest = await this.readManifest(projectId); + if (manifest.migrations.includes(migrationId)) { + return manifest; + } + const model = apply(await this.readProject(projectId)); + model.metadata = { + ...(model.metadata ?? {}), + lastMigration: migrationId + }; + await this.store.writeText(manifest.layout.projectJson, JSON.stringify(model, null, 2)); + const migrated = { + ...manifest, + migrations: [...manifest.migrations, migrationId], + updatedAt: new Date().toISOString() + }; + await this.store.writeText(this.manifestPath(projectId), JSON.stringify(await this.refreshManifest(migrated), null, 2)); + return this.readManifest(projectId); + } + + async checkDamage(projectId: string): Promise { + const manifest = await this.readManifest(projectId); + const missing: string[] = []; + const checksumMismatch: string[] = []; + for (const file of manifest.files) { + try { + const text = await this.store.readText(file.path); + if (sha256(text) !== file.sha256) { + checksumMismatch.push(file.path); + } + } catch { + missing.push(file.path); + } + } + const diagnostics = [ + ...missing.map((path) => `missing:${path}`), + ...checksumMismatch.map((path) => `checksum:${path}`) + ]; + return { + ok: missing.length === 0 && checksumMismatch.length === 0, + missing, + checksumMismatch, + diagnostics + }; + } + + async readManifest(projectId: string): Promise { + return JSON.parse(await this.store.readText(this.manifestPath(projectId))) as ProjectManifest; + } + + private createManifest(model: OlpProjectModel, createdAt: string, updatedAt: string): ProjectManifest { + const root = `/projects/${model.project.id}`; + return { + schemaVersion: "workspace/0.1", + projectId: model.project.id, + projectName: model.project.name, + ...(model.project.revision ? { revision: model.project.revision } : {}), + createdAt, + updatedAt, + layout: { + root, + projectJson: `${root}/project.json`, + programsDir: `${root}/programs`, + reportsDir: `${root}/reports`, + snapshotsDir: `${root}/snapshots` + }, + files: [], + migrations: [] + }; + } + + private async rewriteManifest(projectId: string): Promise { + const manifest = await this.readManifest(projectId); + const refreshed = await this.refreshManifest({ + ...manifest, + updatedAt: new Date().toISOString() + }); + await this.store.writeText(this.manifestPath(projectId), JSON.stringify(refreshed, null, 2)); + return refreshed; + } + + private async refreshManifest(manifest: ProjectManifest): Promise { + const files = await this.projectFiles(manifest.projectId); + return { + ...manifest, + files: Object.entries(files) + .map(([path, text]): WorkspaceFileEntry => ({ + path, + kind: path.endsWith(".json") ? "json" : "text", + sha256: sha256(text), + bytes: Buffer.byteLength(text) + })) + .sort((left, right) => left.path.localeCompare(right.path)) + }; + } + + private async projectFiles(projectId: string): Promise> { + const root = `/projects/${projectId}`; + const paths = (await this.store.list(root)).filter((path) => path !== this.manifestPath(projectId)); + const entries = await Promise.all(paths.map(async (path) => [path, await this.store.readText(path)] as const)); + return Object.fromEntries(entries.sort(([left], [right]) => left.localeCompare(right))); + } + + private manifestPath(projectId: string): string { + return `/projects/${projectId}/project.manifest.json`; + } + + private projectPath(projectId: string, path: string): string { + const normalized = normalizePath(path); + return normalized.startsWith(`/projects/${projectId}/`) ? normalized : `/projects/${projectId}/${normalized}`; + } +} + +function normalizePath(path: string): string { + return path.replace(/\\/g, "/").replace(/\/+/g, "/").replace(/\/$/, "").replace(/^\.\//, ""); +} + +function sha256(text: string): string { + return createHash("sha256").update(text).digest("hex"); +} diff --git a/kdl-wasm/web/test-results/virtual-controller/evidence.json b/kdl-wasm/web/test-results/virtual-controller/evidence.json new file mode 100644 index 0000000..cbea4b1 --- /dev/null +++ b/kdl-wasm/web/test-results/virtual-controller/evidence.json @@ -0,0 +1,46 @@ +{ + "app": "E:\\Work\\kdl_work\\kdl-wasm\\web\\app\\virtual-controller.html", + "chrome": "C:\\Program Files\\Google\\Chrome\\Application\\chrome.exe", + "desktop": { + "viewport": { + "width": 1440, + "height": 960, + "deviceScaleFactor": 1, + "mobile": false + }, + "screenshot": "E:\\Work\\kdl_work\\kdl-wasm\\web\\test-results\\virtual-controller\\virtual-controller-desktop.png", + "screenshotBytes": 45666, + "state": "running", + "wait": "satisfied", + "trace": "4 events", + "visiblePanels": [ + ".command-bar", + ".object-tree", + ".viewport", + ".pendant", + ".editor", + ".bottom-panel" + ] + }, + "mobile": { + "viewport": { + "width": 390, + "height": 844, + "deviceScaleFactor": 2, + "mobile": true + }, + "screenshot": "E:\\Work\\kdl_work\\kdl-wasm\\web\\test-results\\virtual-controller\\virtual-controller-mobile.png", + "screenshotBytes": 44869, + "state": "running", + "wait": "satisfied", + "trace": "4 events", + "visiblePanels": [ + ".command-bar", + ".object-tree", + ".viewport", + ".pendant", + ".editor", + ".bottom-panel" + ] + } +} diff --git a/kdl-wasm/web/test-results/virtual-controller/virtual-controller-desktop.png b/kdl-wasm/web/test-results/virtual-controller/virtual-controller-desktop.png new file mode 100644 index 0000000..577ad5c Binary files /dev/null and b/kdl-wasm/web/test-results/virtual-controller/virtual-controller-desktop.png differ diff --git a/kdl-wasm/web/test-results/virtual-controller/virtual-controller-mobile.png b/kdl-wasm/web/test-results/virtual-controller/virtual-controller-mobile.png new file mode 100644 index 0000000..a9b908d Binary files /dev/null and b/kdl-wasm/web/test-results/virtual-controller/virtual-controller-mobile.png differ diff --git a/kdl-wasm/web/tests/controller/virtualController.test.ts b/kdl-wasm/web/tests/controller/virtualController.test.ts new file mode 100644 index 0000000..e343bd9 --- /dev/null +++ b/kdl-wasm/web/tests/controller/virtualController.test.ts @@ -0,0 +1,127 @@ +import { describe, expect, it } from "vitest"; +import type { SemanticProgramIr } from "../../src/grl/ir/index.js"; +import { IrExecutionRuntime, VirtualControllerStateMachine } from "../../src/controller/index.js"; + +function program(): SemanticProgramIr { + return { + moduleName: "Main", + symbols: [], + semanticChecks: [], + paths: [], + operations: [], + diagnostics: [], + sourceMap: [ + { + kind: "CALL", + id: "call_helper", + procedureId: "main", + sourceMap: { file: "main.grl", line: 2, column: 5 } + }, + { + kind: "ALARM", + id: "helper_alarm", + procedureId: "helper", + sourceMap: { file: "main.grl", line: 6, column: 5 } + } + ], + procedures: [ + { + name: "main", + sourceMap: { file: "main.grl", line: 1, column: 1 }, + instructions: [ + { + kind: "RAW_STATEMENT", + text: "ready = true", + sourceMap: { file: "main.grl", line: 1, column: 5 } + }, + { + kind: "CALL", + target: "helper", + args: [], + sourceMap: { file: "main.grl", line: 2, column: 5 } + }, + { + kind: "RETURN", + sourceMap: { file: "main.grl", line: 3, column: 5 } + } + ] + }, + { + name: "helper", + sourceMap: { file: "main.grl", line: 5, column: 1 }, + instructions: [ + { + kind: "ALARM", + alarmId: "A1", + message: "helper alarm", + severity: "warning", + sourceMap: { file: "main.grl", line: 6, column: 5 } + }, + { + kind: "RETURN", + sourceMap: { file: "main.grl", line: 7, column: 5 } + } + ] + } + ], + kdlBridge: { + motionRequests: [], + pathRequests: [] + } + }; +} + +describe("virtual controller state machine and IR execution runtime", () => { + it("reports legal and illegal controller command transitions", () => { + const machine = new VirtualControllerStateMachine(); + + expect(machine.dispatch("run")).toMatchObject({ + ok: false, + state: "unloaded", + diagnostic: { code: "VC_INVALID_STATE_TRANSITION" } + }); + expect(machine.dispatch("load")).toMatchObject({ ok: true, previous: "unloaded", state: "stopped" }); + expect(machine.dispatch("run")).toMatchObject({ ok: true, previous: "stopped", state: "running" }); + expect(machine.dispatch("pause")).toMatchObject({ ok: true, previous: "running", state: "paused" }); + expect(machine.dispatch("step")).toMatchObject({ ok: true, previous: "paused", state: "paused" }); + expect(machine.dispatch("stop")).toMatchObject({ ok: true, previous: "paused", state: "stopped" }); + expect(machine.snapshot().diagnostics).toHaveLength(1); + }); + + it("executes PC, calls, scopes, alarms, trace, source map, and breakpoints", () => { + const runtime = new IrExecutionRuntime(); + runtime.load(program()); + + expect(runtime.snapshot()).toMatchObject({ + procedure: "main", + pc: 0, + scopeStack: [{ id: "global" }, { id: "main" }] + }); + + runtime.setBreakpoint({ id: "helper-alarm", procedure: "helper", source: { line: 6 }, enabled: true }); + expect(runtime.step()).toMatchObject({ status: "executed", instruction: { kind: "RAW_STATEMENT" } }); + expect(runtime.getVariable("ready")).toBe(true); + expect(runtime.step()).toMatchObject({ status: "executed", instruction: { kind: "CALL" } }); + expect(runtime.snapshot()).toMatchObject({ + procedure: "helper", + pc: 0, + callStack: [expect.objectContaining({ procedure: "helper", returnTo: { procedure: "main", pc: 2 } })] + }); + + expect(runtime.step()).toMatchObject({ status: "breakpoint", instruction: { kind: "ALARM" } }); + expect(runtime.removeBreakpoint("helper-alarm")).toBe(true); + expect(runtime.step()).toMatchObject({ status: "executed", instruction: { kind: "ALARM" } }); + expect(runtime.snapshot().alarmQueue).toEqual([ + expect.objectContaining({ id: "A1", message: "helper alarm", severity: "warning" }) + ]); + expect(runtime.currentSource()).toMatchObject({ sourceMap: { line: 7 } }); + expect(runtime.run()).toMatchObject({ status: "completed" }); + expect(runtime.snapshot().trace).toEqual( + expect.arrayContaining([ + expect.objectContaining({ kind: "load" }), + expect.objectContaining({ kind: "breakpoint", data: { breakpointId: "helper-alarm" } }), + expect.objectContaining({ kind: "alarm", data: { alarmId: "A1", severity: "warning" } }) + ]) + ); + }); +}); diff --git a/kdl-wasm/web/tests/docs/flowAssetCoverage.test.ts b/kdl-wasm/web/tests/docs/flowAssetCoverage.test.ts new file mode 100644 index 0000000..2bdc9c5 --- /dev/null +++ b/kdl-wasm/web/tests/docs/flowAssetCoverage.test.ts @@ -0,0 +1,28 @@ +import { describe, expect, it } from "vitest"; +import { join } from "node:path"; +import { FLOW_ASSET_MAPPINGS, validateFlowAssetCoverage } from "../../src/docs/index.js"; + +const FLOW_ROOT = join(process.cwd(), "work/doc/通用机器人项目功能与数据流程图-png"); + +describe("flow asset coverage", () => { + it("maps every Mermaid and PNG flow asset to tasks and evidence", () => { + const result = validateFlowAssetCoverage(FLOW_ROOT); + + expect(result.ok).toBe(true); + expect(result.assets.map((asset) => asset.id)).toEqual(["flow-01", "flow-02", "flow-03", "flow-04", "flow-05"]); + expect(result.assets.every((asset) => asset.mermaidBytes > 0 && asset.pngBytes > 0)).toBe(true); + expect(result.assets.every((asset) => asset.evidence === "EV-211")).toBe(true); + expect(result.assets.every((asset) => asset.tasks.some((task) => task.startsWith("KW-211")))).toBe(true); + expect(result.diagnostics).toEqual([]); + }); + + it("keeps the expected coverage contract stable", () => { + expect(FLOW_ASSET_MAPPINGS).toEqual([ + expect.objectContaining({ id: "flow-01", tasks: expect.arrayContaining(["KW-211.1"]) }), + expect.objectContaining({ id: "flow-02", tasks: expect.arrayContaining(["KW-211.2"]) }), + expect.objectContaining({ id: "flow-03", tasks: expect.arrayContaining(["KW-211.3"]) }), + expect.objectContaining({ id: "flow-04", tasks: expect.arrayContaining(["KW-211.4"]) }), + expect.objectContaining({ id: "flow-05", tasks: expect.arrayContaining(["KW-211.5"]) }) + ]); + }); +}); diff --git a/kdl-wasm/web/tests/fixtures/abb120/programs/A120_00_Smoke.grl b/kdl-wasm/web/tests/fixtures/abb120/programs/A120_00_Smoke.grl new file mode 100644 index 0000000..14d032c --- /dev/null +++ b/kdl-wasm/web/tests/fixtures/abb120/programs/A120_00_Smoke.grl @@ -0,0 +1,9 @@ +language grl 0.1 +module A120Smoke + const speed v_joint = joint(40 %) + const zone zf = fine + target home = joint_target { joints: [0 deg, 0 deg, 0 deg, 0 deg, 0 deg, 0 deg] } + proc main() + movej home speed v_joint zone zf + end +end diff --git a/kdl-wasm/web/tests/fixtures/abb120/programs/A120_10_JointPickPlace.grl b/kdl-wasm/web/tests/fixtures/abb120/programs/A120_10_JointPickPlace.grl new file mode 100644 index 0000000..ea27ec0 --- /dev/null +++ b/kdl-wasm/web/tests/fixtures/abb120/programs/A120_10_JointPickPlace.grl @@ -0,0 +1,22 @@ +language grl 0.1 +module A120JointPickPlace + const speed v_fast = joint(40 %) + const speed v_slow = joint(10 + 10 %) + const zone z10 = z(5 + 5 mm) + target home = joint_target { joints: [0 deg, 0 deg, 0 deg, 0 deg, 0 deg, 0 deg] } + target approach = joint_target { joints: [0 deg, -22.918312 deg, 28.647890 deg, 0 deg, 11.459156 deg, 0 deg] } + target pick = joint_target { joints: [11.459156 deg, -20.053523 deg, 25.783101 deg, 5.729578 deg, -11.459156 deg, 17.188734 deg] } + target place = joint_target { joints: [-20.053523 deg, -14.323945 deg, 20.053523 deg, -14.323945 deg, 8.594367 deg, -22.918312 deg] } + path pick_place { + defaults { speed: v_fast, zone: z10 } + point p_home movej home zone fine + point p_approach movej approach + event before p_pick io.do[1] = true + point p_pick movej pick speed v_slow zone fine + point p_place movej place + event after p_place io.do[1] = false + } + proc main() + run_path pick_place + end +end diff --git a/kdl-wasm/web/tests/fixtures/abb120/programs/A120_20_CartesianBlend.grl b/kdl-wasm/web/tests/fixtures/abb120/programs/A120_20_CartesianBlend.grl new file mode 100644 index 0000000..0bb1421 --- /dev/null +++ b/kdl-wasm/web/tests/fixtures/abb120/programs/A120_20_CartesianBlend.grl @@ -0,0 +1,20 @@ +language grl 0.1 +module A120CartesianBlend + persistent tool gripper = tool { tcp: pose(0 mm, 0 mm, 100 mm, 0 deg, 0 deg, 0 deg), mass: 1 kg } + persistent frame fixture = frame { origin: pose(800 mm, 0 mm, 0 mm, 0 deg, 0 deg, 0 deg) } + const speed v_linear = linear(100 + 50 mm/s) + const zone z10 = z(clamp(10 mm, 1 mm, 50 mm)) + target pick = pose_target { pose: pose(500 mm, 0 mm, 0 mm, 0 deg, 0 deg, atan2(0, 1)), tool: gripper, frame: fixture } + target mid = pose_target { pose: pose(550 mm, 50 mm, 0 mm, 0 deg, 0 deg, 0 deg), tool: gripper, frame: fixture } + target arc_end = pose_target { pose: pose(600 mm, 0 mm, 0 mm, 0 deg, 0 deg, 0 deg), tool: gripper, frame: fixture } + path cart_path { + defaults { speed: v_linear, zone: z10, tool: gripper, frame: fixture } + point p_pick movel pick zone fine + point p_arc movec via mid target arc_end speed linear(max(50 mm/s, 150 mm/s)) zone z10 + } + proc main() + set_tool gripper + set_frame fixture + run_path cart_path + end +end diff --git a/kdl-wasm/web/tests/fixtures/abb120/programs/A120_30_IOWaitPulse.grl b/kdl-wasm/web/tests/fixtures/abb120/programs/A120_30_IOWaitPulse.grl new file mode 100644 index 0000000..0a64ebf --- /dev/null +++ b/kdl-wasm/web/tests/fixtures/abb120/programs/A120_30_IOWaitPulse.grl @@ -0,0 +1,17 @@ +language grl 0.1 +module A120IOWaitPulse + const speed v = joint(35 %) + const zone zf = fine + target home = joint_target { joints: [0 deg, 0 deg, 0 deg, 0 deg, 0 deg, 0 deg] } + path io_path { + defaults { speed: v, zone: zf } + point p0 movej home + event at p0 distance 5 + 5 mm pulse io.do[20] duration 50 + 50 ms + } + proc main() + io.do[1] = true + wait io.di[1] == true timeout 1 + 1 s on_timeout alarm "DI1 timeout" + pulse io.do[2] duration 50 + 50 ms + run_path io_path + end +end diff --git a/kdl-wasm/web/tests/fixtures/abb120/programs/A120_40_ErrorDiagnostics.grl b/kdl-wasm/web/tests/fixtures/abb120/programs/A120_40_ErrorDiagnostics.grl new file mode 100644 index 0000000..9fd4001 --- /dev/null +++ b/kdl-wasm/web/tests/fixtures/abb120/programs/A120_40_ErrorDiagnostics.grl @@ -0,0 +1,12 @@ +language grl 0.1 +module A120ErrorDiagnostics + const speed v = joint(30 %) + const zone zf = fine + target over_limit = joint_target { joints: [200 deg, 0 deg, 0 deg, 0 deg, 0 deg, 0 deg] } + target unreachable_pose = pose_target { pose: pose(3000 mm, 0 mm, 3000 mm, 0 deg, 0 deg, 0 deg) } + proc main() + movej over_limit speed v zone zf + movel unreachable_pose speed linear(100 mm/s) zone zf + wait io.di[99] == true timeout 10 ms on_timeout alarm "expected timeout" + end +end diff --git a/kdl-wasm/web/tests/fixtures/abb120/programs/A120_50_OperationProcess.grl b/kdl-wasm/web/tests/fixtures/abb120/programs/A120_50_OperationProcess.grl new file mode 100644 index 0000000..600b042 --- /dev/null +++ b/kdl-wasm/web/tests/fixtures/abb120/programs/A120_50_OperationProcess.grl @@ -0,0 +1,25 @@ +language grl 0.1 +module A120OperationProcess + const speed v = joint(35 %) + const zone zf = fine + target home = joint_target { joints: [0 deg, 0 deg, 0 deg, 0 deg, 0 deg, 0 deg] } + path op_path { + defaults { speed: v, zone: zf } + point p0 movej home + } + operation pick_op { + kind: handling + path: op_path + process { + dwell_ms: 50 + 50 ms, + clamp_force: max(20, 10) + } + start_action: + io.do[1] = true + end_action: + io.do[1] = false + } + proc main() + run_operation pick_op + end +end diff --git a/kdl-wasm/web/tests/fixtures/abbIrb120.ts b/kdl-wasm/web/tests/fixtures/abbIrb120.ts new file mode 100644 index 0000000..ba3b717 --- /dev/null +++ b/kdl-wasm/web/tests/fixtures/abbIrb120.ts @@ -0,0 +1,11 @@ +export { + ABB120_ROBOT_FIXTURE, + ABB_IRB120_3_58_URDF, + ABB_IRB120_APPROACH_JOINTS, + ABB_IRB120_APPROACH_JOINTS as ABB_IRB120_HOME_TO_PICK_JOINTS, + ABB_IRB120_LOAD_OPTIONS, + ABB_IRB120_PICK_JOINTS, + ABB_IRB120_PLACE_JOINTS, + ABB_IRB120_URDF_SOURCE, + ABB_IRB120_ZERO_JOINTS +} from "../../src/fixtures/abb120.js"; diff --git a/kdl-wasm/web/tests/grl/expressionCompile.test.ts b/kdl-wasm/web/tests/grl/expressionCompile.test.ts new file mode 100644 index 0000000..0e451f7 --- /dev/null +++ b/kdl-wasm/web/tests/grl/expressionCompile.test.ts @@ -0,0 +1,141 @@ +import { describe, expect, it } from "vitest"; +import type { GrlDataDeclaration, GrlPathDeclaration, GrlProcedureDeclaration, GrlTargetDeclaration } from "../../src/grl/ast/index.js"; +import { parseGrl } from "../../src/grl/parser/index.js"; +import { parseGrlExpression } from "../../src/grl/parser/expressionParser.js"; +import { + buildMotionContext, + compileGrlDataDeclaration, + compileGrlTargetDeclaration, + compilePathToPlanRequest, + parseIoFlowStatements +} from "../../src/grl/semantic/index.js"; +import { evaluateNumberExpression } from "../../src/grl/semantic/constantExpression.js"; +import { lexGrl } from "../../src/grl/lexer/index.js"; + +function expression(source: string) { + return parseGrlExpression(lexGrl(source, { preserveComments: false }).filter((token) => token.kind !== "eof")); +} + +describe("GRL expression arithmetic and constant folding", () => { + it("parses arithmetic, comparison, and logical precedence into AST nodes", () => { + expect(expression("1 + 2 * 3")).toMatchObject({ + kind: "BinaryExpression", + operator: "+", + right: { + kind: "BinaryExpression", + operator: "*" + } + }); + expect(expression("(1 + 2) * 3")).toMatchObject({ + kind: "BinaryExpression", + operator: "*", + left: { + kind: "BinaryExpression", + operator: "+" + } + }); + expect(expression("not (a == b) or c != d")).toMatchObject({ + kind: "BinaryExpression", + operator: "or", + left: { + kind: "UnaryExpression", + operator: "not" + } + }); + }); + + it("evaluates math functions, trigonometry, units, and diagnostics", () => { + expect(evaluateNumberExpression(expression("100 + 50 mm/s"), { + expectedKind: "linear_velocity", + defaultUnit: "mm/s" + })).toBeCloseTo(0.15); + expect(evaluateNumberExpression(expression("(10 + 5) deg"), { + expectedKind: "angle", + defaultUnit: "deg" + })).toBeCloseTo(Math.PI / 12); + expect(evaluateNumberExpression(expression("clamp(20 mm, 1 mm, 10 mm)"), { + expectedKind: "length", + defaultUnit: "mm" + })).toBeCloseTo(0.01); + }); + + it("reports stable expression errors", () => { + expect(() => evaluateNumberExpression(expression("sqrt(-1)"))).toThrowError(expect.objectContaining({ + code: "GRL_EXPR_DOMAIN" + })); + expect(() => evaluateNumberExpression(expression("10 mm + 2 s"))).toThrowError(expect.objectContaining({ + code: "GRL_EXPR_UNIT_MISMATCH" + })); + expect(() => evaluateNumberExpression(expression("1 / 0"))).toThrowError(expect.objectContaining({ + code: "GRL_EXPR_DIV_ZERO" + })); + }); + + it("folds speed, zone, target, path event, wait, and pulse expressions", () => { + const program = parseGrl(`language grl 0.1 +module MathMotion + const num blend_base = 5 + 5 + const speed v_pick = linear(100 + 50 mm/s) + const speed v_safe = linear(max(50 mm/s, 200 mm/s / 2)) + const zone z_app = z(clamp(blend_base mm, 1 mm, 50 mm)) + target home = joint_target { + joints: [0 deg, (10 + 5) deg, -90 deg] + } + target pick = pose_target { + pose: pose(400 + 50 mm, 20 * 2 mm, sqrt(90000) mm, 0 deg, 0 deg, atan2(1, 1)) + } + path main_path { + defaults { speed: v_pick, zone: z_app } + point p0 movej home speed linear(100 + 50 mm/s) zone z(5 + 5 mm) + event at p0 distance 5 + 5 mm pulse io.do[1] duration 50 + 50 ms + } + proc main() + wait io.di[1] == true timeout 1 + 1 s + pulse io.do[2] duration 50 + 50 ms + end +end +`); + const declarations = program.module.declarations; + const [blendBase, vPick, vSafe] = declarations.filter( + (decl): decl is GrlDataDeclaration => decl.kind === "DataDeclaration" + ); + expect(compileGrlDataDeclaration(blendBase!)).toMatchObject({ value: 10 }); + expect(compileGrlDataDeclaration(vPick!).value).toMatchObject({ kind: "linear" }); + expect((compileGrlDataDeclaration(vPick!).value as { velocity: number }).velocity).toBeCloseTo(0.15); + expect(compileGrlDataDeclaration(vSafe!).value).toMatchObject({ kind: "linear" }); + expect((compileGrlDataDeclaration(vSafe!).value as { velocity: number }).velocity).toBeCloseTo(0.1); + + const [home, pick] = declarations.filter((decl): decl is GrlTargetDeclaration => decl.kind === "TargetDeclaration"); + expect(compileGrlTargetDeclaration(home!)).toMatchObject({ + target: { + joints: [0, Math.PI / 12, -Math.PI / 2] + } + }); + const pickTarget = compileGrlTargetDeclaration(pick!); + expect("pose" in pickTarget.target && pickTarget.target.pose.position).toEqual([0.45, 0.04, 0.3]); + + const context = buildMotionContext( + declarations.filter( + (decl): decl is GrlDataDeclaration | GrlTargetDeclaration => + decl.kind === "DataDeclaration" || decl.kind === "TargetDeclaration" + ) + ); + const path = declarations.find((decl): decl is GrlPathDeclaration => decl.kind === "PathDeclaration")!; + const compiledPath = compilePathToPlanRequest(path, context, { + startJoints: [0, 0, 0], + sampleTime: 0.004 + }); + expect(compiledPath.request.segments[0]).toMatchObject({ + speed: { kind: "linear" }, + zone: { kind: "distance", value: 0.01 } + }); + expect((compiledPath.request.segments[0]?.speed as { velocity: number }).velocity).toBeCloseTo(0.15); + expect(compiledPath.events[0]).toMatchObject({ distance: 0.01 }); + + const procedure = declarations.find((decl): decl is GrlProcedureDeclaration => decl.kind === "ProcedureDeclaration")!; + expect(parseIoFlowStatements(procedure.bodyTokens)).toEqual([ + expect.objectContaining({ kind: "WAIT", timeout: 2 }), + expect.objectContaining({ kind: "PULSE", duration: 0.1 }) + ]); + }); +}); diff --git a/kdl-wasm/web/tests/importers/brandImport.test.ts b/kdl-wasm/web/tests/importers/brandImport.test.ts new file mode 100644 index 0000000..02fbd98 --- /dev/null +++ b/kdl-wasm/web/tests/importers/brandImport.test.ts @@ -0,0 +1,144 @@ +import { describe, expect, it } from "vitest"; +import { postProcessAllBrands } from "../../src/grl/post/index.js"; +import { + importBrandProgram, + parseAbbRapid, + parseFanucLs, + parseKukaKrl +} from "../../src/importers/index.js"; +import { applyPatch, createOlpProject, validateOlpProject } from "../../src/olp/index.js"; + +const ABB_MOD = `MODULE PickPlace + PERS tooldata gripper:=[TRUE,[[0,0,100],[1,0,0,0]],[1,[0,0,0],[1,0,0,0],0,0,0]]; + CONST robtarget pPick := [[500,0,100],[1,0,0,0],[0,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]]; + CONST robtarget pMid := [[550,50,100],[1,0,0,0],[0,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]]; + CONST robtarget pPlace := [[600,0,100],[1,0,0,0],[0,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]]; + CONST jointtarget jHome := [[0,0,0,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]]; + PROC main() + MoveJ jHome,v100,fine,gripper; + MoveL pPick,v200,z10,gripper; + MoveC pMid,pPlace,v200,fine,gripper; + ENDPROC +ENDMODULE`; + +const KUKA_SRC = `DEF PickPlace() + $TOOL = TOOL_DATA[1] + $BASE = BASE_DATA[2] + PTP HOME + LIN XPICK + CIRC XMID, XPLACE +END`; + +const KUKA_DAT = `DEFDAT PickPlace +DECL E6AXIS HOME={A1 0,A2 0,A3 0,A4 0,A5 0,A6 0,E1 0} +DECL E6POS XPICK={X 500,Y 0,Z 100,A 0,B 0,C 0,S 2,T 35,E1 0} +DECL E6POS XMID={X 550,Y 50,Z 100,A 0,B 0,C 0,S 2,T 35,E1 0} +DECL E6POS XPLACE={X 600,Y 0,Z 100,A 0,B 0,C 0,S 2,T 35,E1 0} +ENDDAT`; + +const FANUC_LS = `/PROG PICKPLACE +/MN + 1:J P[1] 50% FINE ; + 2:L P[2] 200mm/sec CNT10 ; + 3:C P[3] P[4] 200mm/sec FINE ; +/POS +P[1]{ + X = 0.000 mm, Y = 0.000 mm, Z = 0.000 mm, + W = 0.000 deg, P = 0.000 deg, R = 0.000 deg +}; +P[2]{ + X = 500.000 mm, Y = 0.000 mm, Z = 100.000 mm, + W = 0.000 deg, P = 0.000 deg, R = 0.000 deg +}; +P[3]{ + X = 550.000 mm, Y = 50.000 mm, Z = 100.000 mm, + W = 0.000 deg, P = 0.000 deg, R = 0.000 deg +}; +P[4]{ + X = 600.000 mm, Y = 0.000 mm, Z = 100.000 mm, + W = 0.000 deg, P = 0.000 deg, R = 0.000 deg +}; +/END`; + +describe("brand import MVP", () => { + it("parses ABB RAPID targets, motions, tool hints, and produces runnable GRL", () => { + const parsed = parseAbbRapid([{ name: "PickPlace.mod", text: ABB_MOD }]); + const result = importBrandProgram("abb", [{ name: "PickPlace.mod", text: ABB_MOD }], { + projectName: "AbbImport", + generatedAt: "2026-06-27T00:00:00.000Z" + }); + const patched = applyPatch(createOlpProject({ id: "abb_import", name: "AbbImport" }), result.patch); + + expect(parsed.targets.map((target) => target.name)).toEqual(["pPick", "pMid", "pPlace", "jHome"]); + expect(parsed.points.map((point) => [point.motion, point.targetId, point.viaTargetId])).toEqual([ + ["movej", "target_jHome", undefined], + ["movel", "target_pPick", undefined], + ["movec", "target_pPlace", "target_pMid"] + ]); + expect(validateOlpProject(patched).ok).toBe(true); + expect(result.grl).toContain("operation abb_operation"); + expect(result.ir.paths[0]?.motions.map((motion) => motion.kind)).toEqual(["MOVEJ", "MOVEL", "MOVEC"]); + expect(result.report.status).toBe("warn"); + expect(result.report.sections.find((section) => section.name === "import")?.diagnostics.map((diagnostic) => diagnostic.code)).toEqual([ + "IMPORT_TARGETS", + "IMPORT_MOTIONS", + "IMPORT_TOOL_DETECTED" + ]); + expect(result.importReport).toEqual([ + expect.objectContaining({ code: "IMPORT_TOOL_DETECTED", severity: "info" }) + ]); + expect(postProcessAllBrands(result.ir).outputs.abb.text).toContain("MoveC pMid,pPlace"); + }); + + it("parses KUKA KRL src/dat movement and frame/tool hints", () => { + const parsed = parseKukaKrl([ + { name: "PickPlace.src", text: KUKA_SRC }, + { name: "PickPlace.dat", text: KUKA_DAT } + ]); + const result = importBrandProgram("kuka", [ + { name: "PickPlace.src", text: KUKA_SRC }, + { name: "PickPlace.dat", text: KUKA_DAT } + ], { + projectName: "KukaImport", + generatedAt: "2026-06-27T00:00:00.000Z" + }); + + expect(parsed.targets.map((target) => target.name).sort()).toEqual(["HOME", "XMID", "XPICK", "XPLACE"]); + expect(result.parsed.path.points.map((point) => point.motion)).toEqual(["movej", "movel", "movec"]); + expect(result.report.sections.find((section) => section.name === "import")?.diagnostics.map((diagnostic) => diagnostic.code)).toEqual([ + "IMPORT_TARGETS", + "IMPORT_MOTIONS", + "IMPORT_TOOL_DETECTED", + "IMPORT_FRAME_DETECTED" + ]); + expect(result.report.status).toBe("warn"); + expect(postProcessAllBrands(result.ir).outputs.kuka.text).toContain("CIRC XMID, XPLACE"); + }); + + it("parses FANUC LS P/PR style positions and circular moves", () => { + const parsed = parseFanucLs([{ name: "PICKPLACE.ls", text: FANUC_LS }]); + const result = importBrandProgram("fanuc", [{ name: "PICKPLACE.ls", text: FANUC_LS }], { + projectName: "FanucImport", + generatedAt: "2026-06-27T00:00:00.000Z" + }); + + expect(parsed.targets.map((target) => target.name)).toEqual(["P1", "P2", "P3", "P4"]); + expect(result.patch).toEqual(expect.arrayContaining([ + expect.objectContaining({ op: "add", path: "/targets/-" }), + expect.objectContaining({ op: "add", path: "/paths/-" }), + expect.objectContaining({ op: "add", path: "/operations/-" }) + ])); + expect(result.grl).toContain("module FanucImport"); + expect(result.parsed.path.points.map((point) => [point.motion, point.targetId, point.viaTargetId])).toEqual([ + ["movej", "target_P1", undefined], + ["movel", "target_P2", undefined], + ["movec", "target_P4", "target_P3"] + ]); + expect(result.ir.operations[0]).toMatchObject({ + operationId: "fanuc_operation", + kind: "imported_program", + pathId: "fanuc_path" + }); + expect(postProcessAllBrands(result.ir).outputs.fanuc.text).toContain("C P3 P4"); + }); +}); diff --git a/kdl-wasm/web/tests/integration/abb120Programs.test.ts b/kdl-wasm/web/tests/integration/abb120Programs.test.ts new file mode 100644 index 0000000..8f0b1e0 --- /dev/null +++ b/kdl-wasm/web/tests/integration/abb120Programs.test.ts @@ -0,0 +1,415 @@ +import { describe, expect, it } from "vitest"; +import type { GrlDataDeclaration, GrlPathDeclaration, GrlTargetDeclaration } from "../../src/grl/ast/index.js"; +import { parseGrl } from "../../src/grl/parser/index.js"; +import { postProcessAllBrands } from "../../src/grl/post/index.js"; +import { + buildMotionContext, + compilePathToPlanRequest, + parseProcedureRunPathStatements +} from "../../src/grl/semantic/index.js"; +import { importBrandProgram } from "../../src/importers/index.js"; +import type { KdlRuntimeHandlers } from "../../src/kdl/rpc.js"; +import { createKdlWorkerRuntime } from "../../src/kdl/runtime.js"; +import type { + FkResult, + IkResult, + JacobianResult, + KdlApiMethod, + LimitCheckResult, + MoveJRequest, + PathPlanRequest, + PathPlanResult, + RobotInfo, + SingularityResult, + TrajectoryResult +} from "../../src/kdl/types.js"; +import { dispatchKdlRpcRequest } from "../../src/kdl/workerRpc.js"; +import { KdlRuntimeBridge, MotionQueue, type MotionPlanner } from "../../src/runtime/index.js"; +import { + ABB_IRB120_3_58_URDF, + ABB_IRB120_HOME_TO_PICK_JOINTS, + ABB_IRB120_LOAD_OPTIONS, + ABB_IRB120_PICK_JOINTS, + ABB_IRB120_PLACE_JOINTS, + ABB_IRB120_URDF_SOURCE, + ABB_IRB120_ZERO_JOINTS +} from "../fixtures/abbIrb120.js"; + +const ABB120_GRL_PROGRAM = `language grl 0.1 +module Abb120Cell + const speed v_fast = joint(40 %) + const speed v_slow = joint(20 %) + const speed v_linear = linear(150 mm/s) + const zone z10 = z(10 mm) + target home = joint_target { + joints: [0 deg, 0 deg, 0 deg, 0 deg, 0 deg, 0 deg] + } + target pick = joint_target { + joints: [11.459156 deg, -20.053523 deg, 25.783101 deg, 5.729578 deg, -11.459156 deg, 17.188734 deg] + } + target place = joint_target { + joints: [-20.053523 deg, -14.323945 deg, 20.053523 deg, -14.323945 deg, 8.594367 deg, -22.918312 deg] + } + target unreachable_pose = pose_target { + pose: pose(300 mm, 100 mm, 500 mm, 0 deg, 90 deg, 0 deg) + } + path joint_pick_place { + defaults { + speed: v_fast, + zone: z10 + } + point p_home movej home zone fine + point p_pick movej pick speed v_slow + point p_place movej place + event before p_pick io.do[1] = true + event after p_place io.do[1] = false + } + proc main() + run_path joint_pick_place + movej unreachable_pose speed v_linear zone fine + end +end +`; + +const ABB120_RAPID = `MODULE ABB120_PICK_PLACE + CONST jointtarget jHome := [[0,0,0,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]]; + CONST jointtarget jPick := [[11.459156,-20.053523,25.783101,5.729578,-11.459156,17.188734],[9E9,9E9,9E9,9E9,9E9,9E9]]; + CONST jointtarget jPlace := [[-20.053523,-14.323945,20.053523,-14.323945,8.594367,-22.918312],[9E9,9E9,9E9,9E9,9E9,9E9]]; + CONST robtarget pScan := [[300,100,500],[1,0,0,0],[0,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]]; + PROC main() + MoveJ jHome,v100,fine,tool0; + MoveJ jPick,v50,z10,tool0; + MoveJ jPlace,v50,fine,tool0; + MoveL pScan,v100,fine,tool0; + ENDPROC +ENDMODULE`; + +async function createAbb120Robot() { + const runtime = createKdlWorkerRuntime(); + await dispatchKdlRpcRequest(runtime, { id: 1, method: "init", payload: [{}] }); + const response = await dispatchKdlRpcRequest(runtime, { + id: 2, + method: "loadRobotFromUrdf", + payload: [ABB_IRB120_3_58_URDF, ABB_IRB120_LOAD_OPTIONS] + }); + expect(response.ok).toBe(true); + return { runtime, handle: response.result as number }; +} + +async function rpc( + runtime: KdlRuntimeHandlers, + id: number, + method: KdlApiMethod, + payload: unknown[] +): Promise { + const response = await dispatchKdlRpcRequest(runtime, { id, method, payload }); + expect(response.ok).toBe(true); + return response.result as T; +} + +function abb120PathRequest(): PathPlanRequest { + const program = parseGrl(ABB120_GRL_PROGRAM); + const declarations = program.module.declarations; + const path = declarations.find((decl): decl is GrlPathDeclaration => decl.kind === "PathDeclaration")!; + const context = buildMotionContext( + declarations.filter( + (decl): decl is GrlDataDeclaration | GrlTargetDeclaration => + decl.kind === "DataDeclaration" || decl.kind === "TargetDeclaration" + ) + ); + return compilePathToPlanRequest(path, context, { + startJoints: [...ABB_IRB120_ZERO_JOINTS], + sampleTime: 0.02 + }).request; +} + +function moveJRequest(targetJoints: readonly number[]): MoveJRequest { + return { + startJoints: [...ABB_IRB120_ZERO_JOINTS], + target: { + id: "abb120_pick", + joints: [...targetJoints] + }, + speed: { + kind: "joint_percent", + value: 0.35 + }, + zone: { + kind: "fine" + }, + sampleTime: 0.02 + }; +} + +function expectCloseArray(actual: number[] | undefined, expected: readonly number[], digits = 6): void { + expect(actual).toHaveLength(expected.length); + for (const [index, expectedValue] of expected.entries()) { + expect(actual?.[index]).toBeCloseTo(expectedValue, digits); + } +} + +describe("ABB IRB120 programs with ROS-Industrial URDF", () => { + it("loads the ABB120 URDF fixture with source provenance and expected 6R chain", async () => { + const { runtime, handle } = await createAbb120Robot(); + const info = await rpc(runtime, 3, "getRobotInfo", [handle]); + + expect(ABB_IRB120_URDF_SOURCE).toMatchObject({ + repository: "https://github.com/ros-industrial/abb", + entrypoint: "abb_irb120_support/urdf/irb120_3_58.xacro" + }); + expect(info).toMatchObject({ + robotId: "abb_irb120_3_58", + name: "abb_irb120_3_58", + baseLink: "base_link", + tipLink: "tool0", + dof: 6, + jointNames: ["joint_1", "joint_2", "joint_3", "joint_4", "joint_5", "joint_6"] + }); + expect(info.limits.map((limit) => [limit.name, limit.lower, limit.upper])).toEqual([ + ["joint_1", -2.87979, 2.87979], + ["joint_2", -1.91986, 1.91986], + ["joint_3", -1.91986, 1.22173], + ["joint_4", -2.79253, 2.79253], + ["joint_5", -2.094395, 2.094395], + ["joint_6", -6.98132, 6.98132] + ]); + }); + + it("runs FK, link poses, Jacobian, limit checks, and singularity diagnostics", async () => { + const { runtime, handle } = await createAbb120Robot(); + const zeroFk = await rpc(runtime, 4, "fk", [handle, [...ABB_IRB120_ZERO_JOINTS]]); + const pickFk = await rpc(runtime, 5, "fk", [handle, [...ABB_IRB120_PICK_JOINTS]]); + const links = await rpc<{ linkPoses: Array<{ link: string }> }>(runtime, 6, "fkAllLinks", [ + handle, + [...ABB_IRB120_ZERO_JOINTS] + ]); + const jacobian = await rpc(runtime, 7, "jacobian", [handle, [...ABB_IRB120_PICK_JOINTS]]); + const limits = await rpc(runtime, 8, "checkJointLimits", [ + handle, + [3.2, 0, 0, 0, 0, 0] + ]); + const singularity = await rpc(runtime, 9, "checkSingularity", [ + handle, + [...ABB_IRB120_ZERO_JOINTS] + ]); + + expect(zeroFk.tcp.position[0]).toBeCloseTo(0.374); + expect(zeroFk.tcp.position[1]).toBeCloseTo(0); + expect(zeroFk.tcp.position[2]).toBeCloseTo(0.63); + expect(zeroFk.tcp.quaternion[1]).toBeCloseTo(Math.SQRT1_2); + expect(zeroFk.tcp.quaternion[3]).toBeCloseTo(Math.SQRT1_2); + expect(pickFk.tcp.position).not.toEqual(zeroFk.tcp.position); + expect(links.linkPoses.map((entry) => entry.link)).toEqual([ + "base_link", + "link_1", + "link_2", + "link_3", + "link_4", + "link_5", + "link_6", + "flange", + "tool0" + ]); + expect(jacobian).toMatchObject({ ok: true, rows: 6, cols: 6 }); + expect(Array.from(jacobian.data)).toHaveLength(36); + expect(limits.ok).toBe(false); + expect(limits.diagnostics[0]).toMatchObject({ + code: "KDL_JOINT_LIMIT", + severity: "error" + }); + expect(singularity.ok).toBe(true); + expect(typeof singularity.nearSingularity).toBe("boolean"); + expect(Number.isFinite(singularity.manipulability)).toBe(true); + expect(Number.isFinite(singularity.conditionNumber)).toBe(true); + }); + + it("plans ABB120 MoveJ and multi-segment joint path programs", async () => { + const { runtime, handle } = await createAbb120Robot(); + const moveJ = await rpc(runtime, 10, "planMoveJ", [ + handle, + moveJRequest(ABB_IRB120_PICK_JOINTS) + ]); + const path = await rpc(runtime, 11, "planPath", [handle, abb120PathRequest()]); + const validation = await rpc<{ ok: boolean; reachable: boolean; cycleTime?: number }>(runtime, 12, "validatePath", [ + handle, + abb120PathRequest() + ]); + + expect(moveJ).toMatchObject({ + ok: true, + motion: "MOVEJ", + meta: { + targetType: "joint", + qStart: [...ABB_IRB120_ZERO_JOINTS], + qEnd: [...ABB_IRB120_PICK_JOINTS] + } + }); + expect(moveJ.points.length).toBeGreaterThan(2); + expectCloseArray(moveJ.points.at(-1)?.joints, ABB_IRB120_PICK_JOINTS); + expect(path.ok).toBe(true); + expect(path.segments.map((segment) => segment.motion)).toEqual(["MOVEJ", "MOVEJ", "MOVEJ"]); + expectCloseArray(path.points.at(-1)?.joints, ABB_IRB120_PLACE_JOINTS); + expect(validation).toMatchObject({ + ok: true, + reachable: true + }); + expect(validation.cycleTime).toBeGreaterThan(0); + }); + + it("compiles GRL path/procedure, posts all brands, and replays through MotionQueue", async () => { + const { runtime, handle } = await createAbb120Robot(); + const program = parseGrl(ABB120_GRL_PROGRAM); + const pathRequest = abb120PathRequest(); + const ir = await import("../../src/grl/semantic/index.js").then(({ compileSemanticProgram }) => + compileSemanticProgram(program, { + startJoints: [...ABB_IRB120_ZERO_JOINTS], + sampleTime: 0.02 + }) + ); + const procedure = program.module.declarations.find((decl) => decl.kind === "ProcedureDeclaration"); + expect(procedure && parseProcedureRunPathStatements(procedure).map((instruction) => instruction.pathId)).toEqual([ + "joint_pick_place" + ]); + expect(ir.kdlBridge.pathRequests[0]).toMatchObject({ + pathId: "joint_pick_place", + segments: [ + { id: "p_home", motion: "MOVEJ" }, + { id: "p_pick", motion: "MOVEJ" }, + { id: "p_place", motion: "MOVEJ" } + ] + }); + expect(ir.procedures[0]?.instructions.map((instruction) => instruction.kind)).toEqual([ + "RUN_PATH", + "MOVEJ" + ]); + + const posted = postProcessAllBrands(ir); + expect(posted.outputs.abb.text).toContain("MoveJ unreachable_pose,v150,fine,tool0;"); + expect(posted.outputs.fanuc.text).toContain("J unreachable_pose 150mm/sec FINE"); + expect(posted.outputs.kuka.text).toContain("PTP unreachable_pose Vel=0.150m/s"); + + const planner: MotionPlanner = { + planPath: (_robotHandle, request) => + dispatchKdlRpcRequest(runtime, { + id: 20, + method: "planPath", + payload: [handle, request] + }).then((response) => response.result as PathPlanResult) + }; + const queue = new MotionQueue({ + startJoints: [...ABB_IRB120_ZERO_JOINTS], + sampleTime: 0.02, + robotHandle: handle, + planner + }); + const bridge = new KdlRuntimeBridge(ir, queue); + const pathId = pathRequest.pathId; + expect(pathId).toBe("joint_pick_place"); + const items = bridge.enqueueInstruction({ kind: "RUN_PATH", pathId: pathId! }); + await queue.planAll(); + const plannedDuration = queue.snapshot().items[0]?.planned?.duration ?? 0; + const halfway = queue.advance(plannedDuration / 2); + + expect(items).toHaveLength(1); + expect(items[0]).toMatchObject({ + kind: "path", + source: { + pathId: "joint_pick_place" + } + }); + expect(queue.snapshot().items[0]?.planned).toMatchObject({ + ok: true + }); + expect(halfway?.source).toMatchObject({ + pathId: "joint_pick_place" + }); + expect(halfway?.point.joints).toHaveLength(6); + }); + + it("solves 6R ABB120 pose IK and reports straight-line MOVEL sampling limits", async () => { + const { runtime, handle } = await createAbb120Robot(); + const pickPose = await rpc(runtime, 30, "fk", [handle, [...ABB_IRB120_HOME_TO_PICK_JOINTS]]); + const ik = await rpc(runtime, 31, "ik", [ + handle, + [...ABB_IRB120_ZERO_JOINTS], + pickPose.tcp, + { positionTolerance: 1e-6 } + ]); + const moveL = await rpc(runtime, 32, "planMoveL", [ + handle, + { + startJoints: [...ABB_IRB120_ZERO_JOINTS], + target: { + id: "fk_pose_target", + pose: pickPose.tcp + }, + speed: { + kind: "linear", + velocity: 0.1 + }, + zone: { + kind: "fine" + }, + sampleTime: 0.02 + } + ]); + + expect(ik).toMatchObject({ + ok: true, + diagnostics: [] + }); + expect(ik.joints).toHaveLength(6); + expect(ik.residualPosition).toBeLessThanOrEqual(1e-6); + expect(moveL).toMatchObject({ + ok: false, + motion: "MOVEL", + meta: { + targetId: "fk_pose_target" + } + }); + expect(moveL.diagnostics).toContainEqual( + expect.objectContaining({ + severity: "error" + }) + ); + }); + + it("imports an ABB RAPID program with ABB120-style joint targets and reports unreachable pose moves", async () => { + const { runtime, handle } = await createAbb120Robot(); + const imported = importBrandProgram("abb", [{ name: "abb120.mod", text: ABB120_RAPID }], { + projectName: "Abb120Imported", + generatedAt: "2026-06-27T00:00:00.000Z" + }); + const pathRequest = imported.ir.kdlBridge.pathRequests[0]!; + const planned = await rpc(runtime, 40, "planPath", [ + handle, + { + ...pathRequest, + startJoints: [...ABB_IRB120_ZERO_JOINTS], + sampleTime: 0.02, + stopOnError: false + } + ]); + + expect(imported.report.status).toBe("warn"); + expect(imported.ir.paths[0]?.motions.map((motion) => motion.kind)).toEqual([ + "MOVEJ", + "MOVEJ", + "MOVEJ", + "MOVEL" + ]); + expect(postProcessAllBrands(imported.ir).outputs.abb.text).toContain("MoveL pScan"); + expect(planned.segments.map((segment) => [segment.motion, segment.ok])).toEqual([ + ["MOVEJ", true], + ["MOVEJ", true], + ["MOVEJ", true], + ["MOVEL", false] + ]); + expect(planned.diagnostics).toContainEqual( + expect.objectContaining({ + code: "KDL_TARGET_UNREACHABLE", + segmentId: "import_p03" + }) + ); + }); +}); diff --git a/kdl-wasm/web/tests/integration/abb120SuiteArtifacts.test.ts b/kdl-wasm/web/tests/integration/abb120SuiteArtifacts.test.ts new file mode 100644 index 0000000..0508679 --- /dev/null +++ b/kdl-wasm/web/tests/integration/abb120SuiteArtifacts.test.ts @@ -0,0 +1,82 @@ +import { readFileSync } from "node:fs"; +import { dirname, join } from "node:path"; +import { fileURLToPath } from "node:url"; +import { describe, expect, it } from "vitest"; +import { runAbb120Suite } from "../../src/suites/abb120Suite.js"; +import { parseGrl } from "../../src/grl/parser/index.js"; +import { compileSemanticProgram } from "../../src/grl/semantic/index.js"; +import { ABB_IRB120_ZERO_JOINTS } from "../fixtures/abbIrb120.js"; + +const WEB_ROOT = join(dirname(fileURLToPath(import.meta.url)), "../.."); +const PROGRAM_DIR = join(WEB_ROOT, "tests", "fixtures", "abb120", "programs"); +const APP_DIR = join(WEB_ROOT, "app"); +const PROGRAM_NAMES = [ + "A120_00_Smoke.grl", + "A120_10_JointPickPlace.grl", + "A120_20_CartesianBlend.grl", + "A120_30_IOWaitPulse.grl", + "A120_40_ErrorDiagnostics.grl", + "A120_50_OperationProcess.grl" +]; + +function loadPrograms() { + return PROGRAM_NAMES.map((name) => ({ + name, + text: readFileSync(join(PROGRAM_DIR, name), "utf8") + })); +} + +describe("ABB120 suite artifacts", () => { + it("ships six parseable GRL programs with source maps and KDL bridge requests", () => { + for (const program of loadPrograms()) { + const ast = parseGrl(program.text); + const ir = compileSemanticProgram(ast, { + startJoints: [...ABB_IRB120_ZERO_JOINTS], + sampleTime: 0.02 + }); + expect(ast.kind).toBe("Program"); + expect(ir.moduleName).toMatch(/^A120/); + expect(ir.sourceMap.length + ir.kdlBridge.motionRequests.length + ir.kdlBridge.pathRequests.length).toBeGreaterThan(0); + } + }); + + it("creates job, post, roundtrip, report, delivery, and screenshot evidence paths", () => { + const job = runAbb120Suite(loadPrograms(), { now: "2026-06-27T12:00:00.000Z" }); + + expect(job.job_id).toBe("A120-JOB-20260627120000-doc"); + expect(job.robot.robotId).toBe("abb_irb120_3_58"); + expect(job.programs.map((program) => program.name)).toEqual(PROGRAM_NAMES); + expect(job.post.filenames).toEqual(expect.arrayContaining([ + "A120Smoke.mod", + "A120Smoke.ls", + "A120Smoke.src" + ])); + expect(job.roundtrip.status).toMatch(/pass|warn/); + expect(job.report_id).toBe("A120-REPORT-20260627120000"); + expect(job.artifacts).toMatchObject({ + jobJson: "A120-JOB-20260627120000-doc/job.json", + reportHtml: "A120-JOB-20260627120000-doc/reports/A120-REPORT-20260627120000.html", + deliveryPackageJson: "A120-JOB-20260627120000-doc/delivery/package.json", + desktopScreenshot: "A120-JOB-20260627120000-doc/screenshots/virtual-controller-desktop.png", + mobileScreenshot: "A120-JOB-20260627120000-doc/screenshots/virtual-controller-mobile.png" + }); + }); + + it("has an HTML virtual controller entry with required panels", () => { + const html = readFileSync(join(APP_DIR, "virtual-controller.html"), "utf8"); + const css = readFileSync(join(APP_DIR, "virtual-controller.css"), "utf8"); + const js = readFileSync(join(APP_DIR, "virtual-controller.js"), "utf8"); + + expect(html).toContain("ABB120 Station"); + expect(html).toContain("Path: pick_place"); + expect(html).toContain("Controller"); + expect(html).toContain("Motion Queue"); + expect(html).toContain("Reports"); + expect(html).toContain('src="./virtual-controller.js"'); + expect(html).not.toContain('src="./virtual-controller.ts"'); + expect(css).toContain(".viewport"); + expect(css).toContain("@media"); + expect(js).toContain("data-command"); + expect(js).toContain("data-tab"); + }); +}); diff --git a/kdl-wasm/web/tests/olp/geometry.test.ts b/kdl-wasm/web/tests/olp/geometry.test.ts new file mode 100644 index 0000000..418db30 --- /dev/null +++ b/kdl-wasm/web/tests/olp/geometry.test.ts @@ -0,0 +1,146 @@ +import { describe, expect, it } from "vitest"; +import { + applyCalibrationRecords, + commercialExtensionBoundaries, + compareControllerLowSpeedRun, + createResourceLibraryTemplate, + detectBasicCollisions, + generatePathFromGeometry, + instantiateProcessTemplate, + locateCollisionTime, + sampleOlpProject, + validateOlpProject +} from "../../src/olp/index.js"; + +describe("OLP geometry, calibration, and multi-robot extensions", () => { + it("generates path targets from points, edges, and curves", () => { + const pointPath = generatePathFromGeometry( + { kind: "points", points: [[500, 0, 0], [600, 0, 0]] }, + { pathId: "point_path", speedId: "v_linear", zoneId: "z10" } + ); + const edgePath = generatePathFromGeometry( + { kind: "edge", start: [0, 0, 0], end: [100, 0, 0], samples: 3 }, + { pathId: "edge_path" } + ); + const curvePath = generatePathFromGeometry( + { kind: "curve", controlPoints: [[0, 0, 0], [50, 50, 0], [100, 0, 0]], samples: 3 }, + { pathId: "curve_path", targetPrefix: "curve" } + ); + + expect(pointPath.targets.map((target) => target.pose)).toEqual([ + [500, 0, 0, 0, 0, 0], + [600, 0, 0, 0, 0, 0] + ]); + expect(edgePath.targets.map((target) => target.pose?.[0])).toEqual([0, 50, 100]); + expect(curvePath.targets.map((target) => target.name)).toEqual(["curve_00", "curve_01", "curve_02"]); + expect(curvePath.path.points.map((point) => point.motion)).toEqual(["movej", "movel", "movel"]); + }); + + it("detects primitive collisions and locates the first time point", () => { + const project = sampleOlpProject(); + const report = detectBasicCollisions([ + { time: 0, pointId: "p0", position: [100, 0, 0] }, + { time: 1.25, pointId: "p1", position: [550, 0, -40] } + ], project.resources.collisionObjects); + + expect(report.ok).toBe(false); + expect(report.hits).toEqual([ + expect.objectContaining({ + objectId: "fixture_box", + pointId: "p1", + time: 1.25 + }) + ]); + expect(locateCollisionTime(report)).toBe(1.25); + }); + + it("saves and applies TCP/frame/base/external-axis calibration records", () => { + const project = sampleOlpProject(); + const calibrated = applyCalibrationRecords(project, [ + { + id: "tcp_cal_2", + name: "tcp_cal_2", + kind: "tcp", + targetResourceId: "tool_gripper", + poseDelta: [1, 2, 3, 0, 0, 0] + }, + { + id: "fixture_cal_1", + name: "fixture_cal_1", + kind: "frame", + targetResourceId: "frame_fixture", + poseDelta: [10, 0, 0, 0, 0, 0] + }, + { + id: "track_cal_1", + name: "track_cal_1", + kind: "external_axis", + targetResourceId: "track_1", + axisOffset: 2.5 + } + ]); + + expect(calibrated.resources.tools.find((tool) => tool.id === "tool_gripper")?.tcp).toEqual([1, 2, 103, 0, 0, 0]); + expect(calibrated.resources.frames.find((frame) => frame.id === "frame_fixture")?.pose).toEqual([810, 0, 0, 0, 0, 0]); + expect(calibrated.externalAxes[0]?.metadata).toEqual({ calibrationOffset: 2.5 }); + expect(validateOlpProject(calibrated).ok).toBe(true); + }); + + it("creates resource library and process template delivery boundaries", () => { + const project = sampleOlpProject(); + const library = createResourceLibraryTemplate(project); + const template = instantiateProcessTemplate(project.processTemplates[0]!, "pick_op"); + const boundaries = commercialExtensionBoundaries(); + + expect(library).toMatchObject({ + robots: [{ id: "robot_1", brand: "abb", model: "IRB120" }], + collisionObjects: [{ id: "fixture_box" }] + }); + expect(template).toEqual({ + operationId: "pick_op", + operationKind: "handling", + defaults: { speedId: "v_linear", zoneId: "z10" }, + deliveryTags: ["source", "post", "report"] + }); + expect(boundaries).toEqual(expect.arrayContaining([ + expect.objectContaining({ feature: "cad_kernel", mvp: false }), + expect.objectContaining({ feature: "delivery_package", mvp: true }) + ])); + }); + + it("reports multi-robot/external-axis low-speed controller verification boundaries", () => { + const project = sampleOlpProject(); + const report = compareControllerLowSpeedRun([ + { + pointId: "p01", + offline: [500, 0, 0, 0, 0, 0], + measured: [501, 0, 0, 0.1, 0, 0], + speedPercent: 10 + }, + { + pointId: "p02", + offline: [600, 0, 0, 0, 0, 0], + measured: [604, 0, 0, 0.5, 0, 0], + speedPercent: 10 + } + ], { + positionMm: 5, + orientationDeg: 1 + }); + + expect(project.motionGroups[0]).toMatchObject({ + robotIds: ["robot_1"], + externalAxisIds: ["track_1"] + }); + expect(report).toMatchObject({ + status: "pass", + speedPercent: 10, + maxPositionErrorMm: 4, + maxOrientationErrorDeg: 0.5 + }); + expect(report.boundaries).toEqual(expect.arrayContaining([ + expect.stringContaining("does not open a live controller communication session"), + expect.stringContaining("does not include a full CAD kernel") + ])); + }); +}); diff --git a/kdl-wasm/web/tests/olp/model.test.ts b/kdl-wasm/web/tests/olp/model.test.ts new file mode 100644 index 0000000..a81df24 --- /dev/null +++ b/kdl-wasm/web/tests/olp/model.test.ts @@ -0,0 +1,114 @@ +import { describe, expect, it } from "vitest"; +import { postProcessAllBrands } from "../../src/grl/post/index.js"; +import { parseGrl } from "../../src/grl/parser/index.js"; +import { compileSemanticProgram } from "../../src/grl/semantic/index.js"; +import { + applyPatch, + pathOperationToGrl, + sampleOlpProject, + validateOlpProject, + type OlpProjectModel +} from "../../src/olp/index.js"; + +describe("OLP project model", () => { + it("creates a serializable station/resource/path/operation sample", () => { + const project = sampleOlpProject(); + const restored = JSON.parse(JSON.stringify(project)) as OlpProjectModel; + const report = validateOlpProject(restored); + + expect(restored.schemaVersion).toBe("olp/0.1"); + expect(report).toEqual({ ok: true, issues: [] }); + expect(restored.resources.robots[0]).toMatchObject({ + id: "robot_1", + kind: "robot", + brand: "abb" + }); + expect(restored.externalAxes[0]).toMatchObject({ + id: "track_1", + axisKind: "linear" + }); + expect(restored.motionGroups[0]).toMatchObject({ + robotIds: ["robot_1"], + externalAxisIds: ["track_1"], + coordination: "synchronized" + }); + }); + + it("applies brand import style object patches and validates references", () => { + const patched = applyPatch(sampleOlpProject(), [ + { + op: "add", + path: "/targets/-", + value: { + id: "inspect", + name: "inspect", + kind: "pose", + robotId: "robot_1", + pose: [650, 25, 0, 0, 0, 0], + toolId: "tool_gripper", + frameId: "frame_fixture" + } + }, + { + op: "add", + path: "/paths/0/points/-", + value: { + id: "p03", + name: "p03", + motion: "movel", + targetId: "inspect", + speedId: "v_linear", + zoneId: "z10" + } + } + ]); + + expect(validateOlpProject(patched).ok).toBe(true); + expect(patched.paths[0]?.points.map((point) => point.name)).toEqual(["p00", "p01", "p02", "p03"]); + }); + + it("generates stable parseable GRL from Path and Operation", () => { + const result = pathOperationToGrl(sampleOlpProject(), "pick_op", { + moduleName: "DemoCell", + style: "expanded" + }); + const ast = parseGrl(result.text); + const ir = compileSemanticProgram(ast, { + startJoints: [0, 0, 0, 0, 0, 0], + sampleTime: 0.004 + }); + const post = postProcessAllBrands(ir); + + expect(result.stableIds).toEqual({ + targets: ["home", "pick", "place"], + points: ["p00", "p01", "p02"], + path: "pick_path", + operation: "pick_op" + }); + expect(result.text).toContain("path pick_path"); + expect(result.text).toContain("operation pick_op"); + expect(result.program).toMatchObject({ + id: "pick_op_grl", + language: "grl", + entryOperationIds: ["pick_op"] + }); + expect(ir.operations[0]).toMatchObject({ + operationId: "pick_op", + kind: "handling", + pathId: "pick_path" + }); + expect(post.outputs.abb.text).toContain("MODULE DemoCell"); + expect(post.outputs.fanuc.text).toContain("/PROG MAIN"); + expect(post.outputs.kuka.text).toContain("DEF Main()"); + }); + + it("reports broken schema references with stable issue codes", () => { + const project = sampleOlpProject(); + project.operations[0]!.pathId = "missing_path"; + + expect(validateOlpProject(project)).toMatchObject({ + ok: false, + issues: [expect.objectContaining({ code: "OLP_REF_PATH_MISSING" })] + }); + }); +}); diff --git a/kdl-wasm/web/tests/reports/report.test.ts b/kdl-wasm/web/tests/reports/report.test.ts new file mode 100644 index 0000000..5f44934 --- /dev/null +++ b/kdl-wasm/web/tests/reports/report.test.ts @@ -0,0 +1,149 @@ +import { describe, expect, it } from "vitest"; +import { postProcessBrand } from "../../src/grl/post/index.js"; +import { parseGrl } from "../../src/grl/parser/index.js"; +import { compileSemanticProgram } from "../../src/grl/semantic/index.js"; +import { pathOperationToGrl, sampleOlpProject } from "../../src/olp/index.js"; +import { + calibrationSummary, + createValidationReport, + exportCustomerDeliveryPackage, + exportValidationReportHtml, + serializeDeliveryPackage, + validateReportSchema +} from "../../src/reports/index.js"; + +const NOW = "2026-06-27T00:00:00.000Z"; + +describe("validation reports and customer delivery", () => { + it("creates stable validation report sections for reachability, cycle, IO/Wait, post, import, and calibration", () => { + const project = sampleOlpProject(); + const report = createValidationReport({ + id: "demo_validation", + project, + generatedAt: NOW, + pathValidation: { + ok: true, + reachable: true, + cycleTime: 4.2, + segmentReports: [], + diagnostics: [] + }, + ioWaitDiagnostics: [], + postDiagnostics: [], + importDiagnostics: [ + { + severity: "info", + code: "IMPORT_OK", + message: "ABB import mapped to OLP", + sourceMap: { file: "imports/PickPlace.mod", line: 8 } + } + ] + }); + + expect(validateReportSchema(report)).toEqual({ ok: true, issues: [] }); + expect(report.status).toBe("pass"); + expect(report.sections.map((section) => section.name)).toEqual([ + "reachability", + "cycle_time", + "io_wait", + "post", + "import", + "collision", + "calibration" + ]); + expect(report.sections.find((section) => section.name === "cycle_time")?.summary).toEqual({ + cycleTime: 4.2, + trajectories: 0 + }); + expect(report.sourceMap).toEqual([ + { + kind: "IMPORT_OK", + id: "IMPORT_OK-0", + file: "imports/PickPlace.mod", + line: 8 + } + ]); + }); + + it("exports openable HTML with summary, details, and source map payload", () => { + const report = createValidationReport({ + id: "demo_validation", + project: sampleOlpProject(), + generatedAt: NOW, + diagnostics: [ + { + severity: "info", + code: "REACH_OK", + message: "pick target reachable", + sourceMap: { file: "source/DemoCell.grl", line: 20 } + } + ] + }); + const html = exportValidationReportHtml(report); + + expect(html).toContain(""); + expect(html).toContain("Status: warn"); + expect(html).toContain("reachability"); + expect(html).toContain("source/DemoCell.grl"); + expect(html).toContain("validation-report-json"); + }); + + it("exports customer delivery package with source, brand programs, IO map, reports, calibration, and trace", () => { + const project = sampleOlpProject(); + const grl = pathOperationToGrl(project, "pick_op", { moduleName: "DemoCell" }); + project.programs.push(grl.program); + const ir = compileSemanticProgram(parseGrl(grl.text), { + startJoints: [0, 0, 0, 0, 0, 0], + sampleTime: 0.004 + }); + const abb = postProcessBrand(ir, "abb"); + const report = createValidationReport({ + id: "demo_validation", + project, + generatedAt: NOW, + postDiagnostics: abb.report.map((issue) => ({ + severity: issue.severity, + code: issue.code, + message: issue.message + })), + pathValidation: { + ok: true, + reachable: true, + cycleTime: 4.2, + segmentReports: [], + diagnostics: [] + } + }); + + const pkg = exportCustomerDeliveryPackage({ + project, + report, + trace: { samples: ["t=0 movej home"] }, + brandPrograms: { [abb.filename]: abb.text }, + ioMap: { "io.do[1]": "vacuum" } + }); + const serialized = serializeDeliveryPackage(pkg); + + expect(pkg.manifest).toEqual({ + sourcePrograms: ["source/pick_op_grl.grl"], + brandPrograms: ["post/DemoCell.mod"], + reports: ["reports/demo_validation.html", "reports/demo_validation.json"], + calibrationFiles: ["calibration/calibrations.json"], + traceFiles: ["trace/trace.json"], + ioMaps: ["io/io_map.json"] + }); + expect(pkg.files.map((file) => file.path)).toEqual([ + "calibration/calibrations.json", + "io/io_map.json", + "post/DemoCell.mod", + "project/project.json", + "reports/demo_validation.html", + "reports/demo_validation.json", + "source/pick_op_grl.grl", + "trace/trace.json" + ]); + expect(serialized).toContain("\"format\": \"customer-delivery/0.1\""); + expect(serialized).toContain("fnv1a32:"); + expect(calibrationSummary(project.calibrations)).toEqual({ tcp: 1 }); + }); +}); diff --git a/kdl-wasm/web/tests/runtime/ioRuntime.test.ts b/kdl-wasm/web/tests/runtime/ioRuntime.test.ts new file mode 100644 index 0000000..3f11389 --- /dev/null +++ b/kdl-wasm/web/tests/runtime/ioRuntime.test.ts @@ -0,0 +1,88 @@ +import { describe, expect, it } from "vitest"; +import { IoImageRuntime, ioKey } from "../../src/runtime/index.js"; +import type { IoReference, PulseInstruction, WaitInstruction } from "../../src/grl/ir/index.js"; + +const DO1: IoReference = { domain: "do", index: 1, raw: "io.do[1]" }; +const DI1: IoReference = { domain: "di", index: 1, raw: "io.di[1]" }; +const DI2: IoReference = { domain: "di", index: 2, raw: "io.di[2]" }; +const AI1: IoReference = { domain: "ai", index: 1, raw: "io.ai[1]" }; + +describe("virtual IO image, waits, pulses, edges, and scripts", () => { + it("enforces write permissions and records IO events", () => { + const io = new IoImageRuntime({ + permissions: [ + { writer: "program", domains: ["do"], access: "write" }, + { writer: "script", domains: ["di", "ai"], access: "write" } + ] + }); + + expect(io.write(DO1, true, "program")).toMatchObject({ kind: "write", value: true }); + expect(io.write(DI1, true, "program")).toBeUndefined(); + expect(io.snapshot()).toMatchObject({ + image: { [ioKey(DO1)]: true }, + diagnostics: [expect.objectContaining({ code: "VC_IO_PERMISSION_DENIED" })] + }); + }); + + it("evaluates waits, timeouts, on_timeout hold-stop, and edge conditions", () => { + const io = new IoImageRuntime({ + permissions: [{ writer: "script", domains: ["di", "ai"], access: "write" }] + }); + const wait: WaitInstruction = { + kind: "WAIT", + condition: "all ( io . di [ 1 ] == true , io . di [ 2 ] == false )", + timeout: 1, + onTimeout: { kind: "call", value: "recover" } + }; + + expect(io.evaluateWait(wait, 0)).toMatchObject({ status: "waiting" }); + expect(io.evaluateWait(wait, 1)).toMatchObject({ + status: "hold-stop", + onTimeout: { kind: "call", value: "recover" }, + diagnostic: { code: "VC_WAIT_TIMEOUT" } + }); + + io.write(DI1, true, "script"); + io.write(DI2, false, "script"); + expect(io.evaluateWait(wait, 0)).toMatchObject({ status: "satisfied" }); + expect(io.matchesCondition("rising ( io . di [ 1 ] )")).toBe(true); + io.write(DI1, false, "script"); + expect(io.matchesCondition("falling ( io . di [ 1 ] )")).toBe(true); + io.write(AI1, 5, "script"); + expect(io.matchesCondition("changed ( io . ai [ 1 ] )")).toBe(true); + }); + + it("auto-resets pulses and executes delayed IO scripts", () => { + const io = new IoImageRuntime({ + permissions: [ + { writer: "program", domains: ["do"], access: "write" }, + { writer: "script", domains: ["di"], access: "write" } + ] + }); + const pulse: PulseInstruction = { + kind: "PULSE", + target: DO1, + duration: 0.2, + trace: [ + { time: 0, action: "set", target: DO1, value: true }, + { time: 0.2, action: "reset", target: DO1, value: false } + ] + }; + + io.executePulse(pulse); + expect(io.read(DO1)).toBe(true); + io.advance(0.2); + expect(io.read(DO1)).toBe(false); + + io.addScript("part-arrival", [{ delay: 0.5, target: DI1, value: true }]); + io.advance(0.49); + expect(io.read(DI1)).toBeUndefined(); + io.advance(0.01); + expect(io.read(DI1)).toBe(true); + expect(io.snapshot().events.map((event) => event.kind)).toEqual([ + "pulse_set", + "pulse_reset", + "script" + ]); + }); +}); diff --git a/kdl-wasm/web/tests/runtime/motionQueue.test.ts b/kdl-wasm/web/tests/runtime/motionQueue.test.ts new file mode 100644 index 0000000..5bd17c2 --- /dev/null +++ b/kdl-wasm/web/tests/runtime/motionQueue.test.ts @@ -0,0 +1,157 @@ +import { describe, expect, it } from "vitest"; +import type { SemanticProgramIr } from "../../src/grl/ir/index.js"; +import type { PathPlanRequest, PathPlanResult, TrajectoryPoint } from "../../src/kdl/types.js"; +import { KdlRuntimeBridge, MotionQueue, type MotionPlanner } from "../../src/runtime/index.js"; + +const POSE = { + position: [0, 0, 0] as [number, number, number], + quaternion: [0, 0, 0, 1] as [number, number, number, number] +}; + +function point(index: number, time: number, joints: number[], segmentId: string): TrajectoryPoint { + return { + index, + time, + dt: index === 0 ? 0 : time, + s: time, + sd: 1, + sdd: 0, + joints, + jointVelocity: joints.map(() => 0), + jointAcceleration: joints.map(() => 0), + flange: POSE, + tcp: POSE, + motion: "MOVEJ", + segmentId, + diagnostics: [] + }; +} + +function pathResult(request: PathPlanRequest): PathPlanResult { + return { + ok: true, + duration: 1, + segments: [], + points: [point(0, 0, request.startJoints, request.segments[0]?.id ?? "p0"), point(1, 1, [1], request.segments[0]?.id ?? "p0")], + diagnostics: [] + }; +} + +function program(): SemanticProgramIr { + return { + moduleName: "Main", + symbols: [], + semanticChecks: [], + diagnostics: [], + sourceMap: [ + { kind: "path_point", id: "p0", pathId: "pick_path", pointId: "p0", sourceMap: { line: 10 } }, + { kind: "operation_action", id: "pick_op_start_action_0", operationId: "pick_op", sourceMap: { line: 20 } } + ], + procedures: [ + { + name: "main", + instructions: [ + { kind: "RUN_OPERATION", operationId: "pick_op", sourceMap: { line: 30 } } + ] + } + ], + paths: [ + { + pathId: "pick_path", + request: { + pathId: "pick_path", + startJoints: [0], + sampleTime: 0.1, + segments: [ + { + id: "p0", + motion: "MOVEJ", + target: { joints: [1] }, + speed: { kind: "joint_abs", velocity: 1 }, + zone: { kind: "fine" }, + sourceMap: { line: 10 } + } + ] + }, + motions: [ + { + kind: "MOVEJ", + id: "p0", + pathId: "pick_path", + pointId: "p0", + target: { joints: [1] }, + speed: { kind: "joint_abs", velocity: 1 }, + zone: { kind: "fine" }, + sourceMap: { line: 10 }, + source: { brand: { vendor: "ABB", file: "cell.mod", line: 42 } } + } + ], + events: [] + } + ], + operations: [ + { + operationId: "pick_op", + kind: "handling", + pathId: "pick_path", + process: {}, + startActions: [ + { + kind: "ACTION", + actionKind: "start_action", + operationId: "pick_op", + statement: "io.do[1] = true", + sourceMap: { line: 20 } + } + ], + endActions: [ + { + kind: "ACTION", + actionKind: "end_action", + operationId: "pick_op", + statement: "io.do[1] = false", + sourceMap: { line: 22 } + } + ] + } + ], + kdlBridge: { + motionRequests: [], + pathRequests: [] + } + }; +} + +describe("motion queue and KDL runtime bridge", () => { + it("preserves operation/path/action sources and samples planned paths by virtual time", async () => { + const plannerCalls: PathPlanRequest[] = []; + const planner: MotionPlanner = { + planPath: (_handle, request) => { + plannerCalls.push(request); + return pathResult(request); + } + }; + const queue = new MotionQueue({ startJoints: [0], sampleTime: 0.1, planner, robotHandle: 7 }); + const ir = program(); + const bridge = new KdlRuntimeBridge(ir, queue); + + const items = bridge.enqueueInstruction(ir.procedures[0]!.instructions[0]!); + expect(items.map((item) => item.kind)).toEqual(["action", "path", "action"]); + expect(items[0]).toMatchObject({ source: { operationId: "pick_op", sourceMap: { line: 20 } } }); + expect(items[1]).toMatchObject({ source: { pathId: "pick_path", operationId: "pick_op" } }); + + await queue.planAll(); + expect(plannerCalls).toHaveLength(1); + expect(plannerCalls[0]).toMatchObject({ pathId: "pick_path", startJoints: [0] }); + + expect(queue.advance(0.5)).toMatchObject({ + itemId: items[1]!.id, + localTime: 0.5, + point: { joints: [1] }, + source: { pathId: "pick_path", operationId: "pick_op" } + }); + expect(queue.snapshot().items[1]).toMatchObject({ + planned: { ok: true, duration: 1 } + }); + }); +}); diff --git a/kdl-wasm/web/tests/workbench/debugWorkbench.test.ts b/kdl-wasm/web/tests/workbench/debugWorkbench.test.ts new file mode 100644 index 0000000..7ea09c8 --- /dev/null +++ b/kdl-wasm/web/tests/workbench/debugWorkbench.test.ts @@ -0,0 +1,195 @@ +import { describe, expect, it } from "vitest"; +import type { SemanticProgramIr } from "../../src/grl/ir/index.js"; +import type { PathPlanResult, TrajectoryPoint } from "../../src/kdl/types.js"; +import { IrExecutionRuntime } from "../../src/controller/index.js"; +import { IoImageRuntime, MotionQueue, type MotionPlanner } from "../../src/runtime/index.js"; +import { DebugFacade, WorkbenchFacade } from "../../src/workbench/index.js"; + +const POSE = { + position: [0, 0, 0] as [number, number, number], + quaternion: [0, 0, 0, 1] as [number, number, number, number] +}; + +function point(index: number, time: number, joints: number[]): TrajectoryPoint { + return { + index, + time, + dt: time, + s: time, + sd: 1, + sdd: 0, + joints, + jointVelocity: [0], + jointAcceleration: [0], + flange: POSE, + tcp: POSE, + motion: "MOVEJ", + diagnostics: [] + }; +} + +function program(): SemanticProgramIr { + return { + moduleName: "Main", + symbols: [{ kind: "path", name: "path1" }, { kind: "operation", name: "op1" }], + semanticChecks: [], + diagnostics: [], + sourceMap: [ + { kind: "RUN_PATH", id: "run_path", procedureId: "main", pathId: "path1", sourceMap: { file: "main.grl", line: 5 } }, + { kind: "path_point", id: "p1", pathId: "path1", pointId: "p1", sourceMap: { file: "main.grl", line: 10 } }, + { kind: "operation_action", id: "op1_start_action_0", operationId: "op1", sourceMap: { file: "main.grl", line: 20 } } + ], + procedures: [ + { + name: "main", + sourceMap: { file: "main.grl", line: 1 }, + instructions: [ + { kind: "RAW_STATEMENT", text: "part_ready = true", sourceMap: { file: "main.grl", line: 4 } }, + { kind: "RUN_PATH", pathId: "path1", sourceMap: { file: "main.grl", line: 5 } } + ] + } + ], + paths: [ + { + pathId: "path1", + request: { + pathId: "path1", + startJoints: [0], + sampleTime: 0.1, + segments: [ + { + id: "p1", + motion: "MOVEJ", + target: { joints: [1] }, + speed: { kind: "joint_abs", velocity: 1 }, + zone: { kind: "fine" }, + sourceMap: { file: "main.grl", line: 10 } + } + ] + }, + motions: [ + { + kind: "MOVEJ", + id: "p1", + pathId: "path1", + pointId: "p1", + target: { joints: [1] }, + speed: { kind: "joint_abs", velocity: 1 }, + zone: { kind: "fine" }, + sourceMap: { file: "main.grl", line: 10 }, + source: { brand: { vendor: "KUKA", file: "src.src", line: 99 } } + } + ], + events: [] + } + ], + operations: [ + { + operationId: "op1", + kind: "handling", + pathId: "path1", + process: {}, + startActions: [], + endActions: [] + } + ], + kdlBridge: { motionRequests: [], pathRequests: [] } + }; +} + +describe("debug and workbench facades", () => { + it("models breakpoints, motion breakpoints, watches, replay, and cross-source lookup", async () => { + const ir = program(); + const runtime = new IrExecutionRuntime(); + runtime.load(ir); + runtime.step(); + + const planner: MotionPlanner = { + planPath: (_handle, request): PathPlanResult => ({ + ok: true, + duration: 1, + segments: [], + points: [point(0, 0, request.startJoints), point(1, 1, [1])], + diagnostics: [] + }) + }; + const queue = new MotionQueue({ startJoints: [0], sampleTime: 0.1, planner }); + const item = queue.enqueueRunPath({ kind: "RUN_PATH", pathId: "path1", sourceMap: { file: "main.grl", line: 5 } }, ir.paths[0]!); + await queue.planAll(); + queue.advance(1); + + const io = new IoImageRuntime(); + const debug = new DebugFacade({ runtime, motionQueue: queue, io, program: ir }); + debug.addBreakpoint({ id: "bp-run-path", procedure: "main", source: { line: 5 }, enabled: true }); + debug.addMotionBreakpoint({ id: "mb-path", pathId: "path1", enabled: true }); + const watch = debug.addWatch("watch-ready", "part_ready"); + + expect(watch).toMatchObject({ value: true, source: { sourceMap: { line: 5 } } }); + expect(debug.checkMotionBreakpoint(item)).toMatchObject({ id: "mb-path" }); + expect(debug.locatePathPoint("path1", "p1")).toMatchObject({ sourceMap: { line: 10 } }); + expect(debug.locateOperation("op1")).toMatchObject([{ sourceMap: { line: 20 } }]); + expect(debug.playbackAt(1)).toMatchObject({ point: { joints: [1] } }); + expect(debug.replayTrace()).toEqual(expect.arrayContaining([expect.objectContaining({ kind: "load" })])); + expect(debug.snapshot()).toMatchObject({ + breakpoints: [expect.objectContaining({ id: "bp-run-path" })], + motionBreakpoints: [expect.objectContaining({ id: "mb-path" })], + watches: [expect.objectContaining({ id: "watch-ready", value: true })] + }); + }); + + it("builds object tree, editor, teach pendant, IO panel, and report entries", async () => { + const ir = program(); + const runtime = new IrExecutionRuntime(); + runtime.load(ir); + runtime.step(); + + const queue = new MotionQueue({ + startJoints: [0], + sampleTime: 0.1, + planner: { + planPath: (_handle, request): PathPlanResult => ({ + ok: true, + duration: 1, + segments: [], + points: [point(0, 0, request.startJoints), point(1, 1, [1])], + diagnostics: [] + }) + } + }); + queue.enqueueRunPath({ kind: "RUN_PATH", pathId: "path1" }, ir.paths[0]!); + await queue.planAll(); + queue.advance(1); + + const io = new IoImageRuntime(); + io.write({ domain: "do", index: 1, raw: "io.do[1]" }, true); + + const workbench = new WorkbenchFacade(); + const snapshot = workbench.snapshot({ + program: ir, + runtime: runtime.snapshot(), + io: io.snapshot(), + motion: queue.snapshot(), + controllerState: "paused" + }); + + expect(snapshot.objectTree[0]).toMatchObject({ + kind: "station", + children: [ + expect.objectContaining({ id: "programs" }), + expect.objectContaining({ id: "paths" }), + expect.objectContaining({ id: "operations" }), + expect.objectContaining({ id: "reports" }) + ] + }); + expect(snapshot.editor).toMatchObject({ activeFile: "main.grl", cursor: { line: 5 } }); + expect(snapshot.teachPendant).toMatchObject({ state: "paused", procedure: "main", joints: [1] }); + expect(snapshot.ioPanel.image).toMatchObject({ "io.do[1]": true }); + expect(snapshot.reports.map((report) => report.kind)).toEqual([ + "reachability", + "cycle_time", + "io_wait", + "post", + "import" + ]); + }); +}); diff --git a/kdl-wasm/web/tests/workspace/storage.test.ts b/kdl-wasm/web/tests/workspace/storage.test.ts new file mode 100644 index 0000000..5451f5f --- /dev/null +++ b/kdl-wasm/web/tests/workspace/storage.test.ts @@ -0,0 +1,140 @@ +import { describe, expect, it } from "vitest"; +import { sampleOlpProject } from "../../src/olp/index.js"; +import { + MemoryWorkspaceStorage, + detectWorkspaceDamage, + exportWorkspaceBundle, + importWorkspaceBundle, + initializeWorkspace, + migrateManifest, + readJson, + readManifest, + readProjectModel, + restoreWorkspace, + snapshotWorkspace, + writeJson, + writeProjectModel +} from "../../src/workspace/index.js"; + +const NOW = "2026-06-27T00:00:00.000Z"; + +describe("Workspace storage", () => { + it("creates project manifest and conventional project layout", async () => { + const storage = new MemoryWorkspaceStorage(); + const manifest = await initializeWorkspace(storage, { + projectId: "demo_cell", + name: "Demo Cell", + model: sampleOlpProject(), + now: NOW + }); + + expect(manifest.entrypoints.model).toBe("model/olp-project.json"); + expect(await storage.list()).toEqual(["model/olp-project.json", "project.json"]); + expect(await readManifest(storage)).toEqual(manifest); + expect((await readProjectModel(storage)).project.id).toBe("demo_cell"); + }); + + it("supports text/json read-write-delete with OPFS-like async storage", async () => { + const storage = new MemoryWorkspaceStorage(); + await storage.writeText("reports/readme.txt", "hello"); + await writeJson(storage, "imports/report.json", { ok: true, count: 2 }); + + expect(await storage.readText("reports/readme.txt")).toBe("hello"); + expect(await readJson(storage, "imports/report.json")).toEqual({ ok: true, count: 2 }); + + await storage.delete("reports/readme.txt"); + expect(await storage.exists("reports/readme.txt")).toBe(false); + }); + + it("snapshots and restores an equivalent workspace", async () => { + const source = new MemoryWorkspaceStorage(); + await initializeWorkspace(source, { + projectId: "demo_cell", + name: "Demo Cell", + model: sampleOlpProject(), + now: NOW + }); + await source.writeText("programs/main.grl", "language grl 0.1\n"); + const snapshot = await snapshotWorkspace(source); + + const target = new MemoryWorkspaceStorage({ "old.txt": "delete me" }); + await restoreWorkspace(target, snapshot); + + expect(await target.list()).toEqual(await source.list()); + expect(await snapshotWorkspace(target)).toEqual(snapshot); + }); + + it("exports and imports a stable JSON bundle with checksum", async () => { + const source = new MemoryWorkspaceStorage(); + await initializeWorkspace(source, { + projectId: "demo_cell", + name: "Demo Cell", + model: sampleOlpProject(), + now: NOW + }); + await source.writeText("programs/main.grl", "language grl 0.1\n"); + const bundle = await exportWorkspaceBundle(source); + + const target = new MemoryWorkspaceStorage(); + const report = await importWorkspaceBundle(target, bundle); + + expect(report).toEqual({ ok: true, damages: [] }); + expect(await snapshotWorkspace(target)).toEqual(await snapshotWorkspace(source)); + }); + + it("migrates legacy manifests and detects damaged workspaces", async () => { + expect(migrateManifest({ + schemaVersion: 0, + projectId: "legacy", + name: "Legacy", + createdAt: NOW, + updatedAt: NOW, + modelPath: "legacy/model.json" + })).toMatchObject({ + schemaVersion: 1, + projectId: "legacy", + entrypoints: { model: "legacy/model.json" } + }); + + const storage = new MemoryWorkspaceStorage(); + await initializeWorkspace(storage, { + projectId: "demo_cell", + name: "Demo Cell", + model: sampleOlpProject(), + now: NOW + }); + const checksum = (await snapshotWorkspace(storage)).checksum; + const model = await readProjectModel(storage); + model.operations[0]!.pathId = "missing_path"; + await writeProjectModel(storage, model, NOW); + + expect(await detectWorkspaceDamage(storage, checksum)).toMatchObject({ + ok: false, + damages: [ + expect.objectContaining({ code: "WORKSPACE_MODEL_INVALID" }), + expect.objectContaining({ code: "WORKSPACE_CHECKSUM_MISMATCH" }) + ] + }); + }); + + it("rejects tampered bundles before import", async () => { + const source = new MemoryWorkspaceStorage(); + await initializeWorkspace(source, { + projectId: "demo_cell", + name: "Demo Cell", + model: sampleOlpProject(), + now: NOW + }); + const tampered = JSON.parse(await exportWorkspaceBundle(source)) as { + files: Record; + }; + tampered.files["project.json"] = "{}"; + + const target = new MemoryWorkspaceStorage(); + expect(await importWorkspaceBundle(target, JSON.stringify(tampered))).toMatchObject({ + ok: false, + damages: [expect.objectContaining({ code: "WORKSPACE_CHECKSUM_MISMATCH" })] + }); + expect(await target.list()).toEqual([]); + }); +}); diff --git a/kdl_install/lib/liborocos-kdl.so b/kdl_install/lib/liborocos-kdl.so index d213817..861684c 120000 Binary files a/kdl_install/lib/liborocos-kdl.so and b/kdl_install/lib/liborocos-kdl.so differ diff --git a/kdl_install/lib/liborocos-kdl.so.1.5 b/kdl_install/lib/liborocos-kdl.so.1.5 index d3aa4ed..861684c 120000 Binary files a/kdl_install/lib/liborocos-kdl.so.1.5 and b/kdl_install/lib/liborocos-kdl.so.1.5 differ diff --git a/node_modules/.bin/esbuild b/node_modules/.bin/esbuild index c83ac07..63bb6d4 120000 --- a/node_modules/.bin/esbuild +++ b/node_modules/.bin/esbuild @@ -1 +1,16 @@ -../esbuild/bin/esbuild \ No newline at end of file +#!/bin/sh +basedir=$(dirname "$(echo "$0" | sed -e 's,\\,/,g')") + +case `uname` in + *CYGWIN*|*MINGW*|*MSYS*) + if command -v cygpath > /dev/null 2>&1; then + basedir=`cygpath -w "$basedir"` + fi + ;; +esac + +if [ -x "$basedir/node" ]; then + exec "$basedir/node" "$basedir/../esbuild/bin/esbuild" "$@" +else + exec node "$basedir/../esbuild/bin/esbuild" "$@" +fi diff --git a/node_modules/.bin/fxparser b/node_modules/.bin/fxparser index 75327ed..c722e41 120000 --- a/node_modules/.bin/fxparser +++ b/node_modules/.bin/fxparser @@ -1 +1,16 @@ -../fast-xml-parser/src/cli/cli.js \ No newline at end of file +#!/bin/sh +basedir=$(dirname "$(echo "$0" | sed -e 's,\\,/,g')") + +case `uname` in + *CYGWIN*|*MINGW*|*MSYS*) + if command -v cygpath > /dev/null 2>&1; then + basedir=`cygpath -w "$basedir"` + fi + ;; +esac + +if [ -x "$basedir/node" ]; then + exec "$basedir/node" "$basedir/../fast-xml-parser/src/cli/cli.js" "$@" +else + exec node "$basedir/../fast-xml-parser/src/cli/cli.js" "$@" +fi diff --git a/node_modules/.bin/nanoid b/node_modules/.bin/nanoid index e2be547..46220bd 120000 --- a/node_modules/.bin/nanoid +++ b/node_modules/.bin/nanoid @@ -1 +1,16 @@ -../nanoid/bin/nanoid.cjs \ No newline at end of file +#!/bin/sh +basedir=$(dirname "$(echo "$0" | sed -e 's,\\,/,g')") + +case `uname` in + *CYGWIN*|*MINGW*|*MSYS*) + if command -v cygpath > /dev/null 2>&1; then + basedir=`cygpath -w "$basedir"` + fi + ;; +esac + +if [ -x "$basedir/node" ]; then + exec "$basedir/node" "$basedir/../nanoid/bin/nanoid.cjs" "$@" +else + exec node "$basedir/../nanoid/bin/nanoid.cjs" "$@" +fi diff --git a/node_modules/.bin/rollup b/node_modules/.bin/rollup index 5939621..998fc16 120000 --- a/node_modules/.bin/rollup +++ b/node_modules/.bin/rollup @@ -1 +1,16 @@ -../rollup/dist/bin/rollup \ No newline at end of file +#!/bin/sh +basedir=$(dirname "$(echo "$0" | sed -e 's,\\,/,g')") + +case `uname` in + *CYGWIN*|*MINGW*|*MSYS*) + if command -v cygpath > /dev/null 2>&1; then + basedir=`cygpath -w "$basedir"` + fi + ;; +esac + +if [ -x "$basedir/node" ]; then + exec "$basedir/node" "$basedir/../rollup/dist/bin/rollup" "$@" +else + exec node "$basedir/../rollup/dist/bin/rollup" "$@" +fi diff --git a/node_modules/.bin/tsc b/node_modules/.bin/tsc index 0863208..c4864b9 120000 --- a/node_modules/.bin/tsc +++ b/node_modules/.bin/tsc @@ -1 +1,16 @@ -../typescript/bin/tsc \ No newline at end of file +#!/bin/sh +basedir=$(dirname "$(echo "$0" | sed -e 's,\\,/,g')") + +case `uname` in + *CYGWIN*|*MINGW*|*MSYS*) + if command -v cygpath > /dev/null 2>&1; then + basedir=`cygpath -w "$basedir"` + fi + ;; +esac + +if [ -x "$basedir/node" ]; then + exec "$basedir/node" "$basedir/../typescript/bin/tsc" "$@" +else + exec node "$basedir/../typescript/bin/tsc" "$@" +fi diff --git a/node_modules/.bin/tsserver b/node_modules/.bin/tsserver index f8f8f1a..6c19ce3 120000 --- a/node_modules/.bin/tsserver +++ b/node_modules/.bin/tsserver @@ -1 +1,16 @@ -../typescript/bin/tsserver \ No newline at end of file +#!/bin/sh +basedir=$(dirname "$(echo "$0" | sed -e 's,\\,/,g')") + +case `uname` in + *CYGWIN*|*MINGW*|*MSYS*) + if command -v cygpath > /dev/null 2>&1; then + basedir=`cygpath -w "$basedir"` + fi + ;; +esac + +if [ -x "$basedir/node" ]; then + exec "$basedir/node" "$basedir/../typescript/bin/tsserver" "$@" +else + exec node "$basedir/../typescript/bin/tsserver" "$@" +fi diff --git a/node_modules/.bin/vite b/node_modules/.bin/vite index 6d1e3be..014463f 120000 --- a/node_modules/.bin/vite +++ b/node_modules/.bin/vite @@ -1 +1,16 @@ -../vite/bin/vite.js \ No newline at end of file +#!/bin/sh +basedir=$(dirname "$(echo "$0" | sed -e 's,\\,/,g')") + +case `uname` in + *CYGWIN*|*MINGW*|*MSYS*) + if command -v cygpath > /dev/null 2>&1; then + basedir=`cygpath -w "$basedir"` + fi + ;; +esac + +if [ -x "$basedir/node" ]; then + exec "$basedir/node" "$basedir/../vite/bin/vite.js" "$@" +else + exec node "$basedir/../vite/bin/vite.js" "$@" +fi diff --git a/node_modules/.bin/vite-node b/node_modules/.bin/vite-node index d68f74c..4a9ad46 120000 --- a/node_modules/.bin/vite-node +++ b/node_modules/.bin/vite-node @@ -1 +1,16 @@ -../vite-node/vite-node.mjs \ No newline at end of file +#!/bin/sh +basedir=$(dirname "$(echo "$0" | sed -e 's,\\,/,g')") + +case `uname` in + *CYGWIN*|*MINGW*|*MSYS*) + if command -v cygpath > /dev/null 2>&1; then + basedir=`cygpath -w "$basedir"` + fi + ;; +esac + +if [ -x "$basedir/node" ]; then + exec "$basedir/node" "$basedir/../vite-node/vite-node.mjs" "$@" +else + exec node "$basedir/../vite-node/vite-node.mjs" "$@" +fi diff --git a/node_modules/.bin/vitest b/node_modules/.bin/vitest index 2273497..5c079d2 120000 --- a/node_modules/.bin/vitest +++ b/node_modules/.bin/vitest @@ -1 +1,16 @@ -../vitest/vitest.mjs \ No newline at end of file +#!/bin/sh +basedir=$(dirname "$(echo "$0" | sed -e 's,\\,/,g')") + +case `uname` in + *CYGWIN*|*MINGW*|*MSYS*) + if command -v cygpath > /dev/null 2>&1; then + basedir=`cygpath -w "$basedir"` + fi + ;; +esac + +if [ -x "$basedir/node" ]; then + exec "$basedir/node" "$basedir/../vitest/vitest.mjs" "$@" +else + exec node "$basedir/../vitest/vitest.mjs" "$@" +fi diff --git a/node_modules/.bin/why-is-node-running b/node_modules/.bin/why-is-node-running index f08a594..f908619 120000 --- a/node_modules/.bin/why-is-node-running +++ b/node_modules/.bin/why-is-node-running @@ -1 +1,16 @@ -../why-is-node-running/cli.js \ No newline at end of file +#!/bin/sh +basedir=$(dirname "$(echo "$0" | sed -e 's,\\,/,g')") + +case `uname` in + *CYGWIN*|*MINGW*|*MSYS*) + if command -v cygpath > /dev/null 2>&1; then + basedir=`cygpath -w "$basedir"` + fi + ;; +esac + +if [ -x "$basedir/node" ]; then + exec "$basedir/node" "$basedir/../why-is-node-running/cli.js" "$@" +else + exec node "$basedir/../why-is-node-running/cli.js" "$@" +fi diff --git a/node_modules/.package-lock.json b/node_modules/.package-lock.json index bb78c4a..47bbafa 100644 --- a/node_modules/.package-lock.json +++ b/node_modules/.package-lock.json @@ -21,6 +21,23 @@ "node": ">=18" } }, + "node_modules/@esbuild/win32-x64": { + "version": "0.28.1", + "resolved": "https://registry.npmjs.org/@esbuild/win32-x64/-/win32-x64-0.28.1.tgz", + "integrity": "sha512-bm4Mowrv+GXMlpWX++EcXw/iLyd1o3+bJkC2DkWXYVvgZCqD/bSj9ctZeAMC3cIxgjRVR2Dufaiu4YPxr5gW1A==", + "cpu": [ + "x64" + ], + "dev": true, + "license": "MIT", + "optional": true, + "os": [ + "win32" + ], + "engines": { + "node": ">=18" + } + }, "node_modules/@jridgewell/sourcemap-codec": { "version": "1.5.5", "resolved": "https://registry.npmjs.org/@jridgewell/sourcemap-codec/-/sourcemap-codec-1.5.5.tgz", @@ -68,6 +85,34 @@ "linux" ] }, + "node_modules/@rollup/rollup-win32-x64-gnu": { + "version": "4.62.2", + "resolved": "https://registry.npmjs.org/@rollup/rollup-win32-x64-gnu/-/rollup-win32-x64-gnu-4.62.2.tgz", + "integrity": "sha512-T6xr6ucWSFto+VGajA8YH26LdpHRuP4YLHEKAtCWvJDOlnmWcDZVCI2Jmjr+IFHDlt2zRaTAKE4tfjTaWLgJBg==", + "cpu": [ + "x64" + ], + "dev": true, + "license": "MIT", + "optional": true, + "os": [ + "win32" + ] + }, + "node_modules/@rollup/rollup-win32-x64-msvc": { + "version": "4.62.2", + "resolved": "https://registry.npmjs.org/@rollup/rollup-win32-x64-msvc/-/rollup-win32-x64-msvc-4.62.2.tgz", + "integrity": "sha512-BfzEnDJOt9T8M989/lA37EcJgat01wLRnoi5dQf3QzOH7jzpqTAzdDbVfRljVr5r+jzKqpbHeyOfAaXxAd0PAA==", + "cpu": [ + "x64" + ], + "dev": true, + "license": "MIT", + "optional": true, + "os": [ + "win32" + ] + }, "node_modules/@types/chai": { "version": "5.2.3", "resolved": "https://registry.npmjs.org/@types/chai/-/chai-5.2.3.tgz", diff --git a/node_modules/.vite/vitest/da39a3ee5e6b4b0d3255bfef95601890afd80709/results.json b/node_modules/.vite/vitest/da39a3ee5e6b4b0d3255bfef95601890afd80709/results.json index 1c4e590..80335a5 100644 --- a/node_modules/.vite/vitest/da39a3ee5e6b4b0d3255bfef95601890afd80709/results.json +++ b/node_modules/.vite/vitest/da39a3ee5e6b4b0d3255bfef95601890afd80709/results.json @@ -1 +1 @@ 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\ No newline at end of file diff --git a/node_modules/@esbuild/linux-x64/bin/esbuild b/node_modules/@esbuild/linux-x64/bin/esbuild old mode 100755 new mode 100644 diff --git a/node_modules/esbuild/bin/esbuild b/node_modules/esbuild/bin/esbuild old mode 100755 new mode 100644 index 71fe4f8..0045b52 Binary files a/node_modules/esbuild/bin/esbuild and b/node_modules/esbuild/bin/esbuild differ diff --git a/node_modules/fast-xml-parser/src/cli/cli.js b/node_modules/fast-xml-parser/src/cli/cli.js old mode 100755 new mode 100644 diff --git a/node_modules/fast-xml-parser/src/v6/OptionsBuilder.js b/node_modules/fast-xml-parser/src/v6/OptionsBuilder.js old mode 100755 new mode 100644 diff --git a/node_modules/fast-xml-parser/src/v6/XMLParser.js b/node_modules/fast-xml-parser/src/v6/XMLParser.js old mode 100755 new mode 100644 diff --git a/node_modules/nanoid/bin/nanoid.cjs b/node_modules/nanoid/bin/nanoid.cjs old mode 100755 new mode 100644 diff --git a/node_modules/rollup/dist/bin/rollup b/node_modules/rollup/dist/bin/rollup old mode 100755 new mode 100644 diff --git a/node_modules/typescript/bin/tsc b/node_modules/typescript/bin/tsc old mode 100755 new mode 100644 diff --git a/node_modules/typescript/bin/tsserver b/node_modules/typescript/bin/tsserver old mode 100755 new mode 100644 diff --git a/node_modules/vite-node/vite-node.mjs b/node_modules/vite-node/vite-node.mjs old mode 100755 new mode 100644 diff --git a/node_modules/vite/bin/vite.js b/node_modules/vite/bin/vite.js old mode 100755 new mode 100644 diff --git a/node_modules/vitest/vitest.mjs b/node_modules/vitest/vitest.mjs old mode 100755 new mode 100644 diff --git a/node_modules/why-is-node-running/cli.js b/node_modules/why-is-node-running/cli.js old mode 100755 new mode 100644 diff --git a/package.json b/package.json index 9f10aab..1071096 100644 --- a/package.json +++ b/package.json @@ -5,7 +5,8 @@ "type": "module", "scripts": { "test": "vitest run --config kdl-wasm/web/vitest.config.ts", - "typecheck": "tsc -p kdl-wasm/web/tsconfig.json --noEmit" + "typecheck": "tsc -p kdl-wasm/web/tsconfig.json --noEmit", + "verify:virtual-controller": "node kdl-wasm/web/scripts/verify-virtual-controller.mjs" }, "devDependencies": { "@types/node": "^22.15.30", diff --git a/working/01-项目功能内容.md b/working/01-项目功能内容.md index 1a4f8e7..6477526 100644 --- a/working/01-项目功能内容.md +++ b/working/01-项目功能内容.md @@ -1,29 +1,52 @@ # 01-项目功能内容 -版本：0.3 +版本：0.5 日期：2026-06-27 对标文档： 1. `/home/meswork/kdl_work/work/doc/通用机器人编程语法规范.md` 2. `/home/meswork/kdl_work/work/doc/KDL_WASM计算接口设计.md` +3. `/home/meswork/kdl_work/work/doc/通用机器人离线编程虚拟控制器技术方案.md` +4. `/home/meswork/kdl_work/work/doc/通用机器人项目主要实施步骤.md` +5. `/home/meswork/kdl_work/work/doc/通用机器人项目功能与数据流程图.md` +6. `/home/meswork/kdl_work/work/doc/通用机器人项目功能与数据流程图-png/flow-01.mmd` 到 `flow-05.mmd` +7. `/home/meswork/kdl_work/work/doc/通用机器人项目功能与数据流程图-png/flow-01.png` 到 `flow-05.png` ## 1. 项目定位 -本目录用于把 GRL 编程语法规范和 KDL WASM 计算接口设计落成实施计划。实施目标是形成一套互相闭合的语言层和运动计算层： +本目录用于把 `/home/meswork/kdl_work/work` 下的通用机器人离线编程方案、流程图源码和流程图渲染资产落成实施计划。实施目标是形成一套互相闭合的语言层、运动计算层、虚拟控制器、工作台和工程交付链路： ```text -GRL Source - -> Lexer / Parser - -> AST - -> Symbol Table - -> Semantic Analyzer - -> Executable IR / MotionSegmentRequest - -> KdlWorkerClient - -> KDL WASM +Project Resources / OPFS Workspace + -> GRL Source / OLP Object Model / Brand Source + -> Lexer / Parser / Brand Importer + -> AST / Brand AST + -> Symbol Table / Semantic Analyzer + -> Executable IR / Source Map + -> Virtual Controller Runtime + -> Motion Queue / IO Service / Alarm Queue / Trace Buffer + -> MotionSegmentRequest / PathPlanRequest + -> KdlWorkerClient / KDL WASM -> TrajectoryResult / PathValidationResult / Diagnostics + -> Post Processor / Reports / Customer Delivery Package ``` -Web UI、OPFS、碰撞检测和真实控制器通信不作为独立实施主线；相关内容只在两份对标文档明确要求的 GRL 工程结构、轨迹 trace、虚拟控制器调用关系、后处理或测试场景中进入范围。 +首版 MVP 范围包括单机器人 6 轴 URDF、GRL 语言闭环、KDL WASM 运动计算、虚拟控制器运行调试、DI/DO 虚拟 IO、OPFS 项目保存、三品牌后处理原型、至少一种品牌程序导入原型、可达性/节拍报告和客户交付包导出原型。完整碰撞检测、多机器人协调、外部轴同步、完整 CAD kernel、真实控制器通信和品牌控制器 look-ahead 完全复刻为后续扩展，但必须在任务矩阵中有明确归属。 + +## 1.1 `/work` 全功能覆盖索引 + +| 来源资产 | 必须覆盖的功能面 | working 对应任务 | +| --- | --- | --- | +| `KDL_WASM计算接口设计.md` | Worker API、URDF、KDL Chain、FK/IK/Jacobian、轨迹、Path、诊断、C ABI、性能 | `KW-001` 到 `KW-013` | +| `通用机器人编程语法规范.md` | GRL 词法、语法、AST、语义、IR、Path、Operation、IO、流程、后处理、生成器 | `KW-100` 到 `KW-112` | +| `通用机器人离线编程虚拟控制器技术方案.md` | 商业 OLP、对象模型、虚拟控制器、IO/Wait、OPFS、UI、报告、品牌导入、虚拟调试、几何、碰撞、校准、Sim-to-Real、多机器人、外部轴、真实控制器校验 | `KW-200` 到 `KW-210` | +| `通用机器人项目主要实施步骤.md` | 阶段 1 到 10 的实施顺序、输入输出、验收重点和常用命令 | `KW-001` 到 `KW-211` | +| `通用机器人项目功能与数据流程图.md` | 总体功能流、GRL 编译执行流、KDL 计算流、数据传递流、诊断传递流 | `KW-110`、`KW-200` 到 `KW-211` | +| `flow-01.mmd/png` | 项目资源到 GRL/KDL/后处理的总体功能流程 | `KW-211` | +| `flow-02.mmd/png` | GRL 编译、IR 执行、KDL 请求和后处理流程 | `KW-110`、`KW-202`、`KW-211` | +| `flow-03.mmd/png` | KDL RobotHandle、MOVEJ/MOVEL/MOVEC/PATH 计算流程 | `KW-003` 到 `KW-011`、`KW-211` | +| `flow-04.mmd/png` | Project、Compile、KDL、Runtime、Output 数据流 | `KW-200` 到 `KW-206`、`KW-211` | +| `flow-05.mmd/png` | Parser、Semantic、KDL、Post Processor 诊断 severity/sourceMap 流程 | `KW-110`、`KW-206`、`KW-211` | ## 2. GRL 语言功能范围 @@ -324,9 +347,242 @@ KDL WASM 不负责： 5. `compareTrajectory` 6. 外部轴协调相关函数。 -## 4. 共享数据和单位 +## 4. 虚拟控制器和 IO 运行时范围 -### 4.1 单位 +### 4.1 控制器职责 + +虚拟控制器真正执行统一 `Executable IR`，而不是直接解释品牌文本。它必须支撑： + +1. 控制器状态机：`PowerOff/Booting/MotorsOff/Ready/Manual/Auto/Running/Hold/Fault/EmergencyStop`。 +2. 基础命令：`powerOn/powerOff/motorsOn/motorsOff/loadProgram/start/hold/resume/stop/resetFault/stepInto/stepOver/stepMotion`。 +3. 执行模型：Program Counter、Call Stack、Scope Stack、Motion Queue、IO Image、Timer Table、Interrupt Table、Alarm Queue、Trace Buffer、Source Map、Brand Context。 +4. 单主任务首版模型，后续扩展后台任务、多机器人任务、独立 IO 任务和监控任务。 +5. `run_path` 展开为路径点运动和 before/after event。 +6. `run_operation` 展开为 start action、path、end action，并将工艺状态写入 trace。 +7. 品牌程序导入后的 IR 执行，并保留品牌源程序行号和转换报告。 + +### 4.2 IO Service 和 Wait + +虚拟 IO 是虚拟调试核心能力。首版必须覆盖： + +1. IO Image、IO Alias Table、IO Event Queue、Wait Registry、Edge Detector、IO Script Engine、IO Trace Logger。 +2. 地址规范：`DI[1] -> io.di[1]`、`DO[1] -> io.do[1]`、`AI/AO/GI/GO/RI/RO` 同规则。 +3. 程序可写 DO、AO、GO、RO；用户和脚本可按配置修改虚拟输入。 +4. 所有读写必须经过 IO Service，并生成 `IoEvent`。 +5. `wait` 执行时立即求值，未满足则创建 `ActiveWait`，由 controller tick 或 IO 变化触发重评估。 +6. `wait timeout`、`pulse duration`、IO script `delay` 均基于虚拟时间；hold 暂停虚拟时间，stop/reset 取消 ActiveWait。 +7. `rising/falling/changed` 边沿只在一个 tick 内有效，并保持同 tick 内事件顺序。 +8. Wait 卡住诊断必须显示等待表达式、子表达式当前值、已等待时间、剩余超时时间、相关 IO 最近变化和 IO 脚本状态。 + +### 4.3 运动队列和 Trace + +运动运行时必须： + +1. 将 `MotionInstruction`、Path point、Operation 展开为 `MotionQueueItem`。 +2. 保留 `instructionId/pathId/pathPointId/operationId`。 +3. 调用 KDL 生成轨迹采样后按虚拟时间推进关节和 TCP。 +4. 支持程序文本、路径表、3D 轨迹和报警诊断之间通过 source map 联动定位。 +5. 记录 motion trace、IO trace、wait trace、alarm trace，供报告和回放使用。 + +### 4.4 虚拟调试增强 + +虚拟调试增强必须覆盖： + +1. 断点。 +2. 单步进入和单步越过。 +3. 运动断点。 +4. 轨迹回放。 +5. 变量 watch。 +6. IO 脚本调试。 +7. GRL、Path、Operation、品牌源程序行号与 IR 的联动调试。 +8. IK、IO、逻辑、后处理和品牌导入错误的跨视图定位。 + +## 5. OLP 工作台、工作区和交付范围 + +### 5.1 OLP 对象模型 + +商业 OLP 工作流以对象树组织项目，而不是只管理文本文件。内部对象模型必须覆盖： + +1. `RobotModel` +2. `ToolModel` +3. `FrameModel` +4. `TargetModel` +5. `PathModel` +6. `PathPointModel` +7. `OperationModel` +8. `ProgramModel` +9. `PostProfile` +10. Station、Cell、Fixture、Part、Device、Geometry、Calibration、Report。 + +对象模型用途： + +1. UI 对象树和路径编辑器直接操作。 +2. 从规划点或曲线生成 Path。 +3. 从 Path/Operation 生成 GRL。 +4. 品牌程序导入后尽量恢复 target/path/program。 +5. 后处理和虚拟控制器最终仍以 IR 为准。 + +### 5.2 OPFS 工作区 + +OPFS 项目必须提供稳定布局和显式导入导出能力： + +```text +/projects/{projectId}/ + project.json + station/ + libraries/ + geometry/ + robots/ + programs/ + targets/ + tools/ + frames/ + io/ + generated/ + logs/ + reports/ + calibration/ + snapshots/ + .index.json + .lock +``` + +必须实现的工作区能力： + +1. `listProjects/openProject/createProject` +2. `readText/writeText` +3. `readJson/writeJson` +4. `delete` +5. `snapshot` +6. `exportZip/importZip` +7. 存储占用显示、迁移、损坏检测和备份。 + +### 5.3 Web 工作台 + +第一屏应直接进入离线编程和虚拟调试工作台。必须页面包括： + +1. 项目管理。 +2. 工作站布局。 +3. 资源库。 +4. 几何与 CAD。 +5. 程序编辑。 +6. 虚拟示教器。 +7. IO 面板。 +8. 运动监控。 +9. 路径编辑器。 +10. Operation 编辑器。 +11. 验证与报告。 +12. 校准与现场回读。 +13. 后处理导出。 +14. 品牌程序导入。 +15. 日志和报警。 +16. Wait 调试面板。 + +UI 验收重点是工作流可用、状态可见、诊断可定位、数据可导出，不以营销展示页作为首屏。 + +### 5.4 品牌导入和后处理闭环 + +除三品牌后处理外，全目录对标要求建立 Brand Importer： + +```text +ABB RAPID / FANUC LS / KUKA KRL + -> Brand Importer + -> Brand AST + -> Normalized IR + -> Reconstructed GRL + -> Optional OLP Path/Operation Model + -> Import Report +``` + +首版建议： + +1. ABB 解析 `.mod/.sys` 文本中的 `MODULE/PROC/MoveJ/MoveL/MoveC/robtarget/tooldata/wobjdata`。 +2. KUKA 解析 `.src/.dat` 文本中的 `DEF/PTP/LIN/CIRC/E6POS/E6AXIS/$TOOL/$BASE`。 +3. FANUC 解析 LS 风格文本或可读 TP 导出中的 `J/L/C/P[]/PR[]/UTOOL/UFRAME/CALL/LBL/JMP`。 +4. 导入目标是提取目标点、运动序列、工具、坐标系、速度、过渡、主要 IO 和流程控制，转换为统一 IR 并生成转换报告。 + +### 5.5 报告和客户交付 + +报告必须可导出 JSON 和 HTML，覆盖： + +| 报告 | 内容 | +| --- | --- | +| Reachability Report | 不可达点、接近限位点、IK 解 | +| Collision Report | 碰撞对象、时间、路径点、严重程度 | +| Cycle Time Report | 总节拍、路径节拍、wait 时间、瓶颈 | +| IO Report | IO 映射、wait、pulse、脚本触发 | +| Post Report | 品牌映射、近似处理、不支持项 | +| Calibration Report | TCP、Frame、Base 偏差 | +| Import Report | 品牌程序导入结果、丢失语义、恢复对象 | + +客户交付包必须包含 GRL 源程序、品牌后处理程序、目标点和路径数据、IO map、后处理报告、可达性报告、节拍报告、校准数据和可选仿真 trace。 + +### 5.6 商业级 OLP、Sim-to-Real 和真实项目扩展 + +商业级扩展必须在任务矩阵中保留，不能被 MVP 范围省略： + +1. 资源库管理：机器人库、工具库、夹具库、工艺模板库、后处理 profile 库。 +2. 几何导入：mesh/CAD 转换文件、点/边/曲线/面法向提取、曲线路径生成。 +3. 碰撞和干涉验证：基础碰撞对象、时间、路径点和严重程度定位。 +4. 校准和 Sim-to-Real：TCP、Frame、Base 校准数据，离线/现场差异比对。 +5. 品牌程序导入后的真实项目回读和交叉品牌再导出风险报告。 +6. 多机器人和外部轴：任务模型、运动组、外部轴协调和复杂工作站支持。 +7. 真实控制器校验流程：导出程序不等于现场可高速运行，必须保留低速验证和校验报告边界。 +8. 完整 CAD kernel、真实控制器通信、高精度轨迹复现作为更后续扩展，但必须有明确非 MVP 边界。 + +## 6. 数据流和线程模型 + +### 6.1 总体数据流 + +全系统数据流以 `Executable IR` 为中枢： + +1. Project resources 提供 URDF、GRL、targets、paths、operations、io map、post profile。 +2. TypeScript 编译层生成 AST、符号表、语义诊断和 IR。 +3. 只有运动相关 IR 会构造成 KDL request。 +4. KDL Worker 返回轨迹、路径验证、节拍和结构化诊断。 +5. 虚拟控制器消费 IR、轨迹和 IO 事件，生成 trace。 +6. 后处理器消费 IR、OLP 对象模型和 post profile，生成品牌程序和转换报告。 +7. 报告引擎消费诊断、trace、轨迹和对象模型，生成 JSON/HTML 报告。 + +### 6.2 不进入 KDL WASM 的数据流 + +以下语义由编译层或虚拟控制器执行，不传入 KDL： + +1. `if/elseif/else` +2. `while/for/switch` +3. `proc/func/call/return` +4. `io.do/di/ai/ao` +5. `wait/pulse/timer` +6. `alarm/raise/try/catch` +7. `operation.process` +8. Brand import context +9. UI 和 OPFS 工作区状态 +10. 报告生成和客户交付包打包 + +### 6.3 推荐线程模型 + +Web 主线程只负责 UI 交互和轻量状态更新。建议 Worker 划分： + +1. Parser Worker：tokenize、parse、semantic check、diagnostics。 +2. Controller Worker：interpreter、execution clock、variable state、IO simulation、motion queue。 +3. KDL Worker：WASM 初始化、FK/IK/Jacobian、trajectory sampling。 +4. Storage Worker：OPFS read/write、project snapshot、import/export。 +5. Geometry/Validation Worker：几何采样、碰撞、长路径节拍分析和报告生成。 + +### 6.4 流程图资产同步 + +`work/doc/通用机器人项目功能与数据流程图-png` 下的 `.mmd` 是流程图源，`.png` 是渲染结果。实施文档和后续代码必须保持以下同步关系： + +1. `flow-01` 对应总体功能流程。 +2. `flow-02` 对应 GRL 编译与执行流程。 +3. `flow-03` 对应 KDL WASM 计算流程。 +4. `flow-04` 对应数据传递流程。 +5. `flow-05` 对应诊断传递流程。 +6. 若流程图源或渲染图更新，`01-项目功能内容.md`、`02-项目程序开发详细步骤.md`、`04-任务矩阵.md` 和 `05-验收证据.md` 必须同步记录影响。 + +## 7. 共享数据和单位 + +### 7.1 单位 GRL 编译器内部必须统一： @@ -340,7 +596,7 @@ GRL 编译器内部必须统一： | 角速度 | radian/second | | 加速度 | meter/second^2 或 radian/second^2 | -### 4.2 位姿 +### 7.2 位姿 内部统一为： @@ -353,7 +609,7 @@ interface Pose { GRL `pose(x, y, z, rx, ry, rz)` 必须在 TypeScript 编译层规范化为 KDL `Pose`。 -### 4.3 目标点 +### 7.3 目标点 必须统一到： @@ -376,7 +632,7 @@ interface JointTarget { } ``` -### 4.4 速度和 zone +### 7.4 速度和 zone GRL 速度和过渡必须编译为： @@ -395,7 +651,7 @@ type ZoneSpec = 首版 `zone` 只用于诊断和后处理，运动规划按 `fine` 到点执行，并产生 `KDL_ZONE_APPROXIMATED`。 -### 4.5 诊断 +### 7.5 诊断 所有语言、语义、KDL 和后处理错误必须结构化。KDL 固定 code 至少包含： @@ -429,7 +685,7 @@ GRL 语义诊断至少覆盖： 13. Operation 引用不存在的 Path。 14. 后处理品牌不支持所用语义。 -## 5. GRL 与 KDL 的调用关系 +## 8. GRL 与 KDL 的调用关系 | GRL 语法 | 编译结果 | KDL WASM 函数 | | --- | --- | --- | @@ -453,9 +709,9 @@ GRL 语义诊断至少覆盖： 6. `alarm/raise/try/catch` 7. `operation.process` -## 6. 验收口径 +## 9. 验收口径 -### 6.1 GRL P0 验收 +### 9.1 GRL P0 验收 1. EBNF 覆盖语法规范第 22 章。 2. 语法规范第 23 章完整示例可解析。 @@ -466,7 +722,7 @@ GRL 语义诊断至少覆盖： 7. `movej/movel/movec` 可编译为对应 KDL request。 8. ABB、FANUC、KUKA 后处理原型有 golden file。 -### 6.2 KDL P0 验收 +### 9.2 KDL P0 验收 1. P0 29 个函数全部在 TypeScript API 和 Worker RPC 中可调用。 2. URDF 到 KDL Chain joint 顺序稳定。 @@ -480,7 +736,7 @@ GRL 语义诊断至少覆盖： 10. `planPath/validatePath` 保留 segment、target 和 source map。 11. 错误处理不抛裸字符串，返回结构化 `KdlError` 或 `MotionDiagnostic`。 -### 6.3 集成验收 +### 9.3 集成验收 1. GRL `movej/movel/movec` 编译为 KDL request 并生成轨迹。 2. GRL `path` 编译为 `PathPlanRequest` 并生成整条路径。 @@ -488,3 +744,37 @@ GRL 语义诊断至少覆盖： 4. `if/for/switch/call/wait/io` 不直接调用 KDL，但能影响虚拟控制器何时调用运动函数。 5. 长路径批量验证有性能记录。 6. Worker 初始化、崩溃恢复和取消请求测试通过。 + +### 9.4 虚拟控制器和 IO 验收 + +1. 控制器状态机支持上电、使能、加载、启动、暂停、继续、停止、报警复位和单步。 +2. 程序运行时能显示当前行、变量、调用栈、IO、报警、TCP、关节、当前 Path/Point/Operation。 +3. `run_path` 和 `run_operation` 可在 Motion Queue 中保留 source map 并驱动轨迹回放。 +4. `wait` 能显示表达式、关联 IO、已等待时间和剩余 timeout。 +5. 用户可通过 IO 面板手动满足 wait。 +6. IO 脚本可模拟夹具反馈并自动满足 wait。 +7. wait timeout 可产生报警或执行 on_timeout。 +8. pulse 输出按虚拟时间自动复位。 +9. IO trace、motion trace 和 alarm trace 顺序稳定。 + +### 9.5 工作区、UI、报告和交付验收 + +1. 用户能在浏览器中新建、保存、打开、导入和导出项目。 +2. 用户能导入 URDF，定义工具、工件坐标、目标点、Path 和 Operation。 +3. 用户能从 Path/Operation 生成 GRL，并手工编辑 GRL。 +4. 系统能实时显示语法和语义错误。 +5. 同一个 Path/Program 能导出 ABB、FANUC、KUKA 三种目标文本和后处理报告。 +6. 至少一种品牌程序能导入、转换为 IR 并在虚拟控制器中运行。 +7. 能生成可达性报告、节拍报告、IO/Wait 报告、后处理报告。 +8. 能导出包含源程序、品牌程序、IO map 和报告的客户交付包。 +9. 自动测试覆盖解析器、KDL WASM、虚拟控制器、IO/Wait、后处理和品牌导入。 + +### 9.6 商业级扩展和流程图资产验收 + +1. 虚拟调试支持断点、运动断点、轨迹回放、变量 watch 和跨源定位。 +2. 资源库、工艺模板、几何导入和曲线路径生成有对象模型和测试。 +3. 基础碰撞检测可定位对象、时间和路径点。 +4. TCP、Frame、Base 校准数据可保存、应用并进入报告。 +5. 多机器人、外部轴、真实控制器校验流程有任务拆解、边界说明和扩展验收。 +6. `flow-01` 到 `flow-05` 的 Mermaid 源图和 PNG 渲染图纳入覆盖证据。 +7. 流程图资产与功能文档、任务矩阵、验收证据之间无断链。 diff --git a/working/02-项目程序开发详细步骤.md b/working/02-项目程序开发详细步骤.md index 6c8d15e..814ced4 100644 --- a/working/02-项目程序开发详细步骤.md +++ b/working/02-项目程序开发详细步骤.md @@ -1,15 +1,20 @@ # 02-项目程序开发详细步骤 -版本：0.3 +版本：0.5 日期：2026-06-27 对标文档： 1. `/home/meswork/kdl_work/work/doc/KDL_WASM计算接口设计.md` 2. `/home/meswork/kdl_work/work/doc/通用机器人编程语法规范.md` +3. `/home/meswork/kdl_work/work/doc/通用机器人离线编程虚拟控制器技术方案.md` +4. `/home/meswork/kdl_work/work/doc/通用机器人项目主要实施步骤.md` +5. `/home/meswork/kdl_work/work/doc/通用机器人项目功能与数据流程图.md` +6. `/home/meswork/kdl_work/work/doc/通用机器人项目功能与数据流程图-png/flow-01.mmd` 到 `flow-05.mmd` +7. `/home/meswork/kdl_work/work/doc/通用机器人项目功能与数据流程图-png/flow-01.png` 到 `flow-05.png` ## 1. 推荐目录 -目录按两条主线组织：`grl` 负责语言、AST、语义、IR、后处理；`kdl-wasm` 负责 KDL Worker API 和运动计算。 +目录按五条主线组织：`grl` 负责语言、AST、语义、IR、后处理；`kdl-wasm` 负责 KDL Worker API 和运动计算；`controller` 负责虚拟控制器、IO、wait、trace；`workspace` 和 `station` 负责 OPFS、OLP 对象模型和资源；`reports/importers/ui` 负责报告、品牌导入和工作台。 ```text /home/meswork/kdl_work/ @@ -41,9 +46,39 @@ abb/ fanuc/ kuka/ + controller/ + runtime/ + io/ + alarm/ + debug/ + workspace/ + opfs.ts + project.ts + importExport.ts + station/ + stationModel.ts + resources.ts + olp/ + model.ts + path.ts + operation.ts + importers/ + abb/ + fanuc/ + kuka/ + reports/ + reportModel.ts + htmlReport.ts + jsonReport.ts + ui/ + appShell.ts tests/ kdl/ grl/ + controller/ + workspace/ + reports/ + importers/ integration/ post/ ``` @@ -560,7 +595,230 @@ GRL 实施顺序严格对标 `通用机器人编程语法规范.md` 第 24 章 2. 生成文本可 diff。 3. 生成文本可解析、语义检查并后处理。 -## 4. 集成顺序 +## 4. 虚拟控制器、工作区和交付实施线 + +以下任务对标 `通用机器人离线编程虚拟控制器技术方案.md`、`通用机器人项目主要实施步骤.md` 和 `通用机器人项目功能与数据流程图.md`，在 KDL/GRL P0 闭合后继续推进。 + +### 4.1 KW-200：OLP 对象模型和 Station/Resource 基础 + +目标： + +1. 定义 `OlpProjectModel`。 +2. 定义 Robot、Tool、Frame、Target、Path、PathPoint、Operation、Program、PostProfile。 +3. 定义 Station、Cell、Fixture、Part、Device、Geometry、Calibration、Report 基础模型。 +4. 建立对象树和文件资源之间的映射。 +5. 支持从 Path/Operation 对象生成 GRL，并从 GRL/品牌导入结果回填对象模型。 + +验收： + +1. 对象模型 schema 有单元测试。 +2. PathModel 可生成稳定 GRL。 +3. OperationModel 可展开为 IR 或 GRL。 +4. 品牌导入恢复出的 target/path/program 可作为对象模型 patch 应用。 + +### 4.2 KW-201：OPFS Workspace 和项目导入导出 + +目标： + +1. 实现 `/projects/{projectId}` 布局。 +2. 实现 `project.json` manifest。 +3. 实现 `listProjects/openProject/createProject`。 +4. 实现 `readText/writeText/readJson/writeJson/delete`。 +5. 实现 snapshot。 +6. 实现 zip 导入导出。 +7. 实现存储占用、迁移、备份和损坏检测。 + +验收： + +1. 新建项目后生成约定目录和 manifest。 +2. GRL、URDF、targets、paths、operations、io map、post profile 可保存和读取。 +3. 导出 zip 后再导入能恢复等价项目。 +4. OPFS 不可见性通过显式导出和快照缓解。 + +### 4.3 KW-202：虚拟控制器状态机和执行内核 + +目标： + +1. 实现 `PowerOff/Booting/MotorsOff/Ready/Manual/Auto/Running/Hold/Fault/EmergencyStop`。 +2. 实现 `powerOn/powerOff/motorsOn/motorsOff/loadProgram/start/hold/resume/stop/resetFault/stepInto/stepOver/stepMotion`。 +3. 实现 Program Counter、Call Stack、Scope Stack、Timer Table、Alarm Queue、Trace Buffer、Source Map。 +4. 执行 `Executable IR`，不直接解释品牌文本。 +5. 支持单主任务 `Task MAIN`。 + +验收： + +1. 状态转换非法路径有诊断。 +2. 可执行无运动逻辑程序。 +3. 当前行、变量、调用栈和报警可查询。 +4. hold 暂停虚拟时间，stop/reset 清理 ActiveWait 和 Motion Queue。 + +### 4.4 KW-203：Motion Queue 和 KDL 运行桥接 + +目标： + +1. 将 MotionInstruction、Path point、Operation 展开为 `MotionQueueItem`。 +2. 运行时调用 `planMoveJ/planMoveL/planMoveC/planPath`。 +3. 按虚拟时间推进轨迹采样。 +4. 保留 `instructionId/pathId/pathPointId/operationId/sourceMap`。 +5. 支持运动失败报警和 trace。 + +验收： + +1. `run_path` 能驱动虚拟机器人状态变化。 +2. `run_operation` 能执行 start action、path、end action。 +3. UI 或测试可从当前运动定位回 GRL 行、Path point 和 Operation。 +4. IK、限位、奇异、圆弧退化诊断进入 Alarm Queue 和报告数据。 + +### 4.5 KW-204：虚拟 IO、Wait、Pulse 和 IO 脚本 + +目标： + +1. 实现 IO Image、Alias Table、Event Queue、Wait Registry、Edge Detector、IO Script Engine、Trace Logger。 +2. 实现 IO 读写权限规则。 +3. 实现 `wait` 立即求值、ActiveWait、timeout、on_timeout。 +4. 实现 `rising/falling/changed` 边沿检测。 +5. 实现 `pulse` 按虚拟时间自动复位。 +6. 实现 IO script delay 和触发器。 + +验收： + +1. 用户可手动切换虚拟输入满足 wait。 +2. IO 脚本可延迟写入输入满足 wait。 +3. wait timeout 可产生报警或执行 on_timeout。 +4. hold 时 timeout 暂停，stop/reset 时 ActiveWait 取消。 +5. IO trace 顺序稳定，包含 read/write/wait/pulse 事件。 + +### 4.6 KW-205：Web 工作台和调试界面 + +目标： + +1. 建立第一屏工作台，而不是营销页。 +2. 实现项目对象树。 +3. 实现程序编辑器、路径编辑器、Operation 编辑器。 +4. 实现虚拟示教器、控制器面板、运动监控、IO 面板。 +5. 实现日志、报警、Wait 调试面板、后处理报告视图。 +6. 支持项目导入导出、后处理导出和客户交付包入口。 + +验收： + +1. 用户能新建项目、导入 URDF、编辑 GRL、运行程序。 +2. 当前行、变量、IO、报警、TCP、关节、Path point、Operation 可见。 +3. Wait 卡住时显示表达式、子表达式值、已等待时间、剩余 timeout、相关 IO 最近变化和 IO 脚本状态。 +4. 诊断可从 UI 定位回源程序、Path、Operation 或品牌源。 + +### 4.7 KW-206：验证、报告和客户交付包 + +目标： + +1. 可达性报告。 +2. 基础碰撞报告接口和数据模型。 +3. 节拍报告，分解 motion/wait/IO script delay。 +4. IO/Wait 报告。 +5. 后处理报告。 +6. 品牌导入报告。 +7. JSON/HTML 报告导出。 +8. 客户交付包 zip。 + +验收： + +1. 报告 JSON schema 稳定。 +2. HTML 报告可打开并包含关键摘要。 +3. 客户交付包包含 GRL、品牌程序、目标点、路径、IO map、报告和可选 trace。 +4. 不可达点、IK 失败、wait timeout、后处理近似和品牌导入丢失语义能定位到 source map。 + +### 4.8 KW-207：品牌程序导入 MVP + +目标： + +1. 实现 ABB RAPID 文本导入原型。 +2. 实现 KUKA KRL `.src/.dat` 导入原型。 +3. 实现 FANUC LS 风格文本导入原型。 +4. 生成 Brand AST。 +5. 转换为统一 IR。 +6. 尽量恢复 GRL、target、path、program。 +7. 输出品牌导入转换报告。 + +验收： + +1. 至少一种品牌程序可导入、转换为 IR 并在虚拟控制器中运行。 +2. 三品牌导入 golden case 可解析主要运动、目标点、工具、坐标系、速度、过渡和 IO。 +3. 不支持或近似语义必须进入导入报告，不能静默丢失。 +4. FANUC 首版只承诺 LS 风格或可读文本，不承诺 TP 二进制。 + +### 4.9 KW-208：几何、碰撞、校准和商业级 OLP 扩展 + +目标： + +1. 资源库管理。 +2. Mesh/CAD 转换文件导入。 +3. 从点、边、曲线、面法向生成 Path。 +4. 工艺模板库。 +5. TCP、Frame、Base 校准数据。 +6. 基础碰撞检测。 +7. 商业级客户交付流程。 + +验收： + +1. 可从几何曲线生成 Path。 +2. 可使用工艺模板生成 Operation。 +3. 可执行基础碰撞检测并定位对象和时间点。 +4. 可保存和应用校准数据。 +5. 可生成商业级客户交付包。 + +### 4.10 KW-209：虚拟调试增强和跨源定位 + +目标： + +1. 实现断点。 +2. 实现单步进入、单步越过。 +3. 实现运动断点。 +4. 实现轨迹回放。 +5. 实现变量 watch。 +6. 实现 IO 脚本调试。 +7. 实现 GRL、Path、Operation、品牌源程序与 IR 的跨源定位。 + +验收： + +1. 可像调试程序一样调试机器人逻辑。 +2. 可复现运行 trace。 +3. 可定位 IK、IO、逻辑错误。 +4. 可在 GRL、Path、Operation、品牌源程序之间定位同一条运动。 + +### 4.11 KW-210：多机器人、外部轴和真实控制器校验扩展 + +目标： + +1. 扩展任务模型，支持多机器人任务、后台任务、独立 IO 任务和监控任务。 +2. 扩展运动组和外部轴数据结构。 +3. 保留外部轴协调和复杂工作站接口。 +4. 建立真实控制器校验流程边界。 +5. 支持离线/现场差异比对和校验报告。 + +验收： + +1. 多机器人和外部轴进入对象模型、IR、任务模型和报告 schema。 +2. 真实控制器通信不作为 MVP 实时联调目标，但现场低速验证、差异记录和校验报告流程明确。 +3. 外部轴相关 KDL P1 能力有接口占位和诊断边界。 + +### 4.12 KW-211：流程图资产覆盖和同步维护 + +目标： + +1. 将 `flow-01.mmd/png` 纳入总体功能流程覆盖。 +2. 将 `flow-02.mmd/png` 纳入 GRL 编译与执行流程覆盖。 +3. 将 `flow-03.mmd/png` 纳入 KDL WASM 计算流程覆盖。 +4. 将 `flow-04.mmd/png` 纳入数据传递流程覆盖。 +5. 将 `flow-05.mmd/png` 纳入诊断传递流程覆盖。 +6. 建立流程图源、渲染图、文档章节、任务矩阵和验收证据的同步检查。 + +验收： + +1. `.mmd` 文件和 `.png` 文件均被证据记录。 +2. 每张流程图能映射到至少一个功能章节和任务编号。 +3. Mermaid 源和 PNG 渲染图缺失或新增时，文档一致性检查会提示。 +4. 流程图变更能追溯到对应任务和验收证据。 + +## 5. 集成顺序 1. KW-001 + KW-100 + KW-101：基础工程、Worker RPC、Lexer/Parser 骨架。 2. KW-002 + KW-102：URDF/标准模型和 GRL target/tool/frame/speed/zone。 @@ -571,8 +829,18 @@ GRL 实施顺序严格对标 `通用机器人编程语法规范.md` 第 24 章 7. KW-106 到 KW-110：完成 P0 语义检查和 IR。 8. KW-111：三品牌后处理原型。 9. KW-112 + KW-013：自动生成、性能和批量优化。 +10. KW-200 + KW-201：OLP 对象模型和 OPFS 工作区。 +11. KW-202 + KW-203：虚拟控制器状态机、执行内核和 Motion Queue。 +12. KW-204：虚拟 IO、wait、pulse 和 IO 脚本。 +13. KW-205：Web 工作台和调试界面。 +14. KW-206：验证、报告和客户交付包。 +15. KW-207：品牌程序导入 MVP。 +16. KW-208：几何、碰撞、校准和商业级 OLP 扩展。 +17. KW-209：虚拟调试增强和跨源定位。 +18. KW-210：多机器人、外部轴和真实控制器校验扩展。 +19. KW-211：流程图资产覆盖和同步维护。 -## 5. 通用命令约定 +## 6. 通用命令约定 实际命令以工程 `package.json` 和 CMake 配置为准。文档验收要求每个阶段至少提供等效命令： @@ -582,6 +850,10 @@ npm run test -- grl npm run test -- kdl npm run test -- integration npm run test -- post +npm run test -- controller +npm run test -- workspace +npm run test -- reports +npm run test -- importers npm run build ``` diff --git a/working/03-推进台账.md b/working/03-推进台账.md index 62cb13c..309423a 100644 --- a/working/03-推进台账.md +++ b/working/03-推进台账.md @@ -1,6 +1,6 @@ # 03-推进台账 -版本：0.3 +版本：0.5 日期：2026-06-27 ## 1. 记录规则 @@ -25,7 +25,7 @@ 日期：2026-06-27 关联任务：`KW-000` -本轮目标：根据用户要求，将 `working1` 实施文档调整为完全对标两份源文档： +本轮目标：根据用户要求，将 `working` 实施文档调整为完全对标两份源文档： 1. `/home/meswork/kdl_work/work/doc/KDL_WASM计算接口设计.md` 2. `/home/meswork/kdl_work/work/doc/通用机器人编程语法规范.md` @@ -42,19 +42,19 @@ 改了哪些文件： -1. `work/working1/README.md` -2. `work/working1/01-项目功能内容.md` -3. `work/working1/02-项目程序开发详细步骤.md` -4. `work/working1/03-推进台账.md` -5. `work/working1/04-任务矩阵.md` -6. `work/working1/05-验收证据.md` -7. `work/working1/06-决策记录.md` +1. `working/README.md` +2. `working/01-项目功能内容.md` +3. `working/02-项目程序开发详细步骤.md` +4. `working/03-推进台账.md` +5. `working/04-任务矩阵.md` +6. `working/05-验收证据.md` +7. `working/06-决策记录.md` 验证了什么： 1. `work/doc/KDL_WASM计算接口设计.md` 存在。 2. `work/doc/通用机器人编程语法规范.md` 存在。 -3. `working1` 当前文档只以这两份文档作为对标来源。 +3. `working` 当前文档只以这两份文档作为对标来源。 4. KDL P0 29 个函数已进入任务和验收证据。 5. GRL P0 14 类能力已进入任务和验收证据。 @@ -75,7 +75,7 @@ 日期：2026-06-27 关联任务：`KW-001`、`KW-100` -本轮目标：按 `working1` 下一步连续推进，建立 KDL WASM wrapper/Worker RPC 工程骨架，并实现 GRL lexer、单位规范化和关键字表。 +本轮目标：按 `working` 下一步连续推进，建立 KDL WASM wrapper/Worker RPC 工程骨架，并实现 GRL lexer、单位规范化和关键字表。 做了什么： @@ -100,9 +100,9 @@ 8. `/home/meswork/kdl_work/kdl-wasm/web/src/grl/lexer/*` 9. `/home/meswork/kdl_work/kdl-wasm/web/tests/kdl/rpc.test.ts` 10. `/home/meswork/kdl_work/kdl-wasm/web/tests/grl/lexer.test.ts` -11. `/home/meswork/kdl_work/work/working1/03-推进台账.md` -12. `/home/meswork/kdl_work/work/working1/04-任务矩阵.md` -13. `/home/meswork/kdl_work/work/working1/05-验收证据.md` +11. `/home/meswork/kdl_work/working/03-推进台账.md` +12. `/home/meswork/kdl_work/working/04-任务矩阵.md` +13. `/home/meswork/kdl_work/working/05-验收证据.md` 验证了什么： @@ -154,9 +154,9 @@ 8. `/home/meswork/kdl_work/kdl-wasm/web/src/grl/parser/*` 9. `/home/meswork/kdl_work/kdl-wasm/web/tests/kdl/urdf.test.ts` 10. `/home/meswork/kdl_work/kdl-wasm/web/tests/grl/parser.test.ts` -11. `/home/meswork/kdl_work/work/working1/03-推进台账.md` -12. `/home/meswork/kdl_work/work/working1/04-任务矩阵.md` -13. `/home/meswork/kdl_work/work/working1/05-验收证据.md` +11. `/home/meswork/kdl_work/working/03-推进台账.md` +12. `/home/meswork/kdl_work/working/04-任务矩阵.md` +13. `/home/meswork/kdl_work/working/05-验收证据.md` 验证了什么： @@ -205,9 +205,9 @@ 8. `/home/meswork/kdl_work/kdl-wasm/web/src/grl/semantic/*` 9. `/home/meswork/kdl_work/kdl-wasm/web/tests/kdl/fk.test.ts` 10. `/home/meswork/kdl_work/kdl-wasm/web/tests/grl/dataDeclarations.test.ts` -11. `/home/meswork/kdl_work/work/working1/03-推进台账.md` -12. `/home/meswork/kdl_work/work/working1/04-任务矩阵.md` -13. `/home/meswork/kdl_work/work/working1/05-验收证据.md` +11. `/home/meswork/kdl_work/working/03-推进台账.md` +12. `/home/meswork/kdl_work/working/04-任务矩阵.md` +13. `/home/meswork/kdl_work/working/05-验收证据.md` 验证了什么： @@ -257,9 +257,9 @@ 8. `/home/meswork/kdl_work/kdl-wasm/web/src/grl/parser/parser.ts` 9. `/home/meswork/kdl_work/kdl-wasm/web/tests/kdl/ik.test.ts` 10. `/home/meswork/kdl_work/kdl-wasm/web/tests/grl/motionCompile.test.ts` -11. `/home/meswork/kdl_work/work/working1/03-推进台账.md` -12. `/home/meswork/kdl_work/work/working1/04-任务矩阵.md` -13. `/home/meswork/kdl_work/work/working1/05-验收证据.md` +11. `/home/meswork/kdl_work/working/03-推进台账.md` +12. `/home/meswork/kdl_work/working/04-任务矩阵.md` +13. `/home/meswork/kdl_work/working/05-验收证据.md` 验证了什么： @@ -303,9 +303,9 @@ 3. `/home/meswork/kdl_work/kdl-wasm/web/src/kdl/kdlClient.ts` 4. `/home/meswork/kdl_work/kdl-wasm/web/src/robot/normalizedRobotModel.ts` 5. `/home/meswork/kdl_work/kdl-wasm/web/tests/kdl/checks.test.ts` -6. `/home/meswork/kdl_work/work/working1/03-推进台账.md` -7. `/home/meswork/kdl_work/work/working1/04-任务矩阵.md` -8. `/home/meswork/kdl_work/work/working1/05-验收证据.md` +6. `/home/meswork/kdl_work/working/03-推进台账.md` +7. `/home/meswork/kdl_work/working/04-任务矩阵.md` +8. `/home/meswork/kdl_work/working/05-验收证据.md` 验证了什么： @@ -348,9 +348,9 @@ 3. `/home/meswork/kdl_work/kdl-wasm/web/src/kdl/runtime.ts` 4. `/home/meswork/kdl_work/kdl-wasm/web/src/kdl/kdlClient.ts` 5. `/home/meswork/kdl_work/kdl-wasm/web/tests/kdl/poseApi.test.ts` -6. `/home/meswork/kdl_work/work/working1/03-推进台账.md` -7. `/home/meswork/kdl_work/work/working1/04-任务矩阵.md` -8. `/home/meswork/kdl_work/work/working1/05-验收证据.md` +6. `/home/meswork/kdl_work/working/03-推进台账.md` +7. `/home/meswork/kdl_work/working/04-任务矩阵.md` +8. `/home/meswork/kdl_work/working/05-验收证据.md` 验证了什么： @@ -392,9 +392,9 @@ 3. `/home/meswork/kdl_work/kdl-wasm/web/src/kdl/runtime.ts` 4. `/home/meswork/kdl_work/kdl-wasm/web/src/kdl/kdlClient.ts` 5. `/home/meswork/kdl_work/kdl-wasm/web/tests/kdl/trapProfile.test.ts` -6. `/home/meswork/kdl_work/work/working1/03-推进台账.md` -7. `/home/meswork/kdl_work/work/working1/04-任务矩阵.md` -8. `/home/meswork/kdl_work/work/working1/05-验收证据.md` +6. `/home/meswork/kdl_work/working/03-推进台账.md` +7. `/home/meswork/kdl_work/working/04-任务矩阵.md` +8. `/home/meswork/kdl_work/working/05-验收证据.md` 验证了什么： @@ -436,9 +436,9 @@ 3. `/home/meswork/kdl_work/kdl-wasm/web/src/kdl/kdlClient.ts` 4. `/home/meswork/kdl_work/kdl-wasm/web/src/robot/normalizedRobotModel.ts` 5. `/home/meswork/kdl_work/kdl-wasm/web/tests/kdl/planMoveJ.test.ts` -6. `/home/meswork/kdl_work/work/working1/03-推进台账.md` -7. `/home/meswork/kdl_work/work/working1/04-任务矩阵.md` -8. `/home/meswork/kdl_work/work/working1/05-验收证据.md` +6. `/home/meswork/kdl_work/working/03-推进台账.md` +7. `/home/meswork/kdl_work/working/04-任务矩阵.md` +8. `/home/meswork/kdl_work/working/05-验收证据.md` 验证了什么： @@ -480,9 +480,9 @@ 2. `/home/meswork/kdl_work/kdl-wasm/web/src/kdl/kdlClient.ts` 3. `/home/meswork/kdl_work/kdl-wasm/web/src/robot/normalizedRobotModel.ts` 4. `/home/meswork/kdl_work/kdl-wasm/web/tests/kdl/planMoveL.test.ts` -5. `/home/meswork/kdl_work/work/working1/03-推进台账.md` -6. `/home/meswork/kdl_work/work/working1/04-任务矩阵.md` -7. `/home/meswork/kdl_work/work/working1/05-验收证据.md` +5. `/home/meswork/kdl_work/working/03-推进台账.md` +6. `/home/meswork/kdl_work/working/04-任务矩阵.md` +7. `/home/meswork/kdl_work/working/05-验收证据.md` 验证了什么： @@ -525,9 +525,9 @@ 2. `/home/meswork/kdl_work/kdl-wasm/web/src/kdl/kdlClient.ts` 3. `/home/meswork/kdl_work/kdl-wasm/web/src/robot/normalizedRobotModel.ts` 4. `/home/meswork/kdl_work/kdl-wasm/web/tests/kdl/planMoveC.test.ts` -5. `/home/meswork/kdl_work/work/working1/03-推进台账.md` -6. `/home/meswork/kdl_work/work/working1/04-任务矩阵.md` -7. `/home/meswork/kdl_work/work/working1/05-验收证据.md` +5. `/home/meswork/kdl_work/working/03-推进台账.md` +6. `/home/meswork/kdl_work/working/04-任务矩阵.md` +7. `/home/meswork/kdl_work/working/05-验收证据.md` 验证了什么： @@ -570,9 +570,9 @@ 3. `/home/meswork/kdl_work/kdl-wasm/web/src/kdl/kdlClient.ts` 4. `/home/meswork/kdl_work/kdl-wasm/web/src/robot/normalizedRobotModel.ts` 5. `/home/meswork/kdl_work/kdl-wasm/web/tests/kdl/path.test.ts` -6. `/home/meswork/kdl_work/work/working1/03-推进台账.md` -7. `/home/meswork/kdl_work/work/working1/04-任务矩阵.md` -8. `/home/meswork/kdl_work/work/working1/05-验收证据.md` +6. `/home/meswork/kdl_work/working/03-推进台账.md` +7. `/home/meswork/kdl_work/working/04-任务矩阵.md` +8. `/home/meswork/kdl_work/working/05-验收证据.md` 验证了什么： @@ -618,9 +618,9 @@ 4. `/home/meswork/kdl_work/kdl-wasm/web/src/kdl/kdlClient.ts` 5. `/home/meswork/kdl_work/kdl-wasm/web/src/robot/normalizedRobotModel.ts` 6. `/home/meswork/kdl_work/kdl-wasm/web/tests/kdl/trajectoryUtils.test.ts` -7. `/home/meswork/kdl_work/work/working1/03-推进台账.md` -8. `/home/meswork/kdl_work/work/working1/04-任务矩阵.md` -9. `/home/meswork/kdl_work/work/working1/05-验收证据.md` +7. `/home/meswork/kdl_work/working/03-推进台账.md` +8. `/home/meswork/kdl_work/working/04-任务矩阵.md` +9. `/home/meswork/kdl_work/working/05-验收证据.md` 验证了什么： @@ -671,9 +671,9 @@ 9. `/home/meswork/kdl_work/kdl-wasm/web/tests/kdl/cAbi.test.ts` 10. `/home/meswork/kdl_work/kdl-wasm/web/tests/kdl/performance.test.ts` 11. `/home/meswork/kdl_work/kdl-wasm/web/tests/kdl/fk.test.ts` -12. `/home/meswork/kdl_work/work/working1/03-推进台账.md` -13. `/home/meswork/kdl_work/work/working1/04-任务矩阵.md` -14. `/home/meswork/kdl_work/work/working1/05-验收证据.md` +12. `/home/meswork/kdl_work/working/03-推进台账.md` +13. `/home/meswork/kdl_work/working/04-任务矩阵.md` +14. `/home/meswork/kdl_work/working/05-验收证据.md` 验证了什么： @@ -726,9 +726,9 @@ 8. `/home/meswork/kdl_work/kdl-wasm/web/src/grl/semantic/compileMotion.ts` 9. `/home/meswork/kdl_work/kdl-wasm/web/src/grl/semantic/index.ts` 10. `/home/meswork/kdl_work/kdl-wasm/web/tests/grl/pathCompile.test.ts` -11. `/home/meswork/kdl_work/work/working1/03-推进台账.md` -12. `/home/meswork/kdl_work/work/working1/04-任务矩阵.md` -13. `/home/meswork/kdl_work/work/working1/05-验收证据.md` +11. `/home/meswork/kdl_work/working/03-推进台账.md` +12. `/home/meswork/kdl_work/working/04-任务矩阵.md` +13. `/home/meswork/kdl_work/working/05-验收证据.md` 验证了什么： @@ -777,9 +777,9 @@ 6. `/home/meswork/kdl_work/kdl-wasm/web/src/grl/semantic/compileMotion.ts` 7. `/home/meswork/kdl_work/kdl-wasm/web/src/grl/semantic/index.ts` 8. `/home/meswork/kdl_work/kdl-wasm/web/tests/grl/operationCompile.test.ts` -9. `/home/meswork/kdl_work/work/working1/03-推进台账.md` -10. `/home/meswork/kdl_work/work/working1/04-任务矩阵.md` -11. `/home/meswork/kdl_work/work/working1/05-验收证据.md` +9. `/home/meswork/kdl_work/working/03-推进台账.md` +10. `/home/meswork/kdl_work/working/04-任务矩阵.md` +11. `/home/meswork/kdl_work/working/05-验收证据.md` 验证了什么： @@ -827,9 +827,9 @@ 4. `/home/meswork/kdl_work/kdl-wasm/web/src/grl/semantic/compileMotion.ts` 5. `/home/meswork/kdl_work/kdl-wasm/web/src/grl/semantic/index.ts` 6. `/home/meswork/kdl_work/kdl-wasm/web/tests/grl/ioCompile.test.ts` -7. `/home/meswork/kdl_work/work/working1/03-推进台账.md` -8. `/home/meswork/kdl_work/work/working1/04-任务矩阵.md` -9. `/home/meswork/kdl_work/work/working1/05-验收证据.md` +7. `/home/meswork/kdl_work/working/03-推进台账.md` +8. `/home/meswork/kdl_work/working/04-任务矩阵.md` +9. `/home/meswork/kdl_work/working/05-验收证据.md` 验证了什么： @@ -875,9 +875,9 @@ 3. `/home/meswork/kdl_work/kdl-wasm/web/src/grl/semantic/compileControlFlow.ts` 4. `/home/meswork/kdl_work/kdl-wasm/web/src/grl/semantic/index.ts` 5. `/home/meswork/kdl_work/kdl-wasm/web/tests/grl/controlFlow.test.ts` -6. `/home/meswork/kdl_work/work/working1/03-推进台账.md` -7. `/home/meswork/kdl_work/work/working1/04-任务矩阵.md` -8. `/home/meswork/kdl_work/work/working1/05-验收证据.md` +6. `/home/meswork/kdl_work/working/03-推进台账.md` +7. `/home/meswork/kdl_work/working/04-任务矩阵.md` +8. `/home/meswork/kdl_work/working/05-验收证据.md` 验证了什么： @@ -927,9 +927,9 @@ 6. `/home/meswork/kdl_work/kdl-wasm/web/src/grl/semantic/compileProcFunction.ts` 7. `/home/meswork/kdl_work/kdl-wasm/web/src/grl/semantic/index.ts` 8. `/home/meswork/kdl_work/kdl-wasm/web/tests/grl/procFunction.test.ts` -9. `/home/meswork/kdl_work/work/working1/03-推进台账.md` -10. `/home/meswork/kdl_work/work/working1/04-任务矩阵.md` -11. `/home/meswork/kdl_work/work/working1/05-验收证据.md` +9. `/home/meswork/kdl_work/working/03-推进台账.md` +10. `/home/meswork/kdl_work/working/04-任务矩阵.md` +11. `/home/meswork/kdl_work/working/05-验收证据.md` 验证了什么： @@ -978,9 +978,9 @@ 4. `/home/meswork/kdl_work/kdl-wasm/web/src/grl/semantic/compileException.ts` 5. `/home/meswork/kdl_work/kdl-wasm/web/src/grl/semantic/index.ts` 6. `/home/meswork/kdl_work/kdl-wasm/web/tests/grl/exceptionCompile.test.ts` -7. `/home/meswork/kdl_work/work/working1/03-推进台账.md` -8. `/home/meswork/kdl_work/work/working1/04-任务矩阵.md` -9. `/home/meswork/kdl_work/work/working1/05-验收证据.md` +7. `/home/meswork/kdl_work/working/03-推进台账.md` +8. `/home/meswork/kdl_work/working/04-任务矩阵.md` +9. `/home/meswork/kdl_work/working/05-验收证据.md` 验证了什么： @@ -1029,9 +1029,9 @@ 4. `/home/meswork/kdl_work/kdl-wasm/web/src/grl/semantic/compileSemantic.ts` 5. `/home/meswork/kdl_work/kdl-wasm/web/src/grl/semantic/index.ts` 6. `/home/meswork/kdl_work/kdl-wasm/web/tests/grl/semanticIr.test.ts` -7. `/home/meswork/kdl_work/work/working1/03-推进台账.md` -8. `/home/meswork/kdl_work/work/working1/04-任务矩阵.md` -9. `/home/meswork/kdl_work/work/working1/05-验收证据.md` +7. `/home/meswork/kdl_work/working/03-推进台账.md` +8. `/home/meswork/kdl_work/working/04-任务矩阵.md` +9. `/home/meswork/kdl_work/working/05-验收证据.md` 验证了什么： @@ -1074,9 +1074,9 @@ 1. `/home/meswork/kdl_work/kdl-wasm/web/src/grl/post/postProcessor.ts` 2. `/home/meswork/kdl_work/kdl-wasm/web/src/grl/post/index.ts` 3. `/home/meswork/kdl_work/kdl-wasm/web/tests/post/postProcessor.test.ts` -4. `/home/meswork/kdl_work/work/working1/03-推进台账.md` -5. `/home/meswork/kdl_work/work/working1/04-任务矩阵.md` -6. `/home/meswork/kdl_work/work/working1/05-验收证据.md` +4. `/home/meswork/kdl_work/working/03-推进台账.md` +5. `/home/meswork/kdl_work/working/04-任务矩阵.md` +6. `/home/meswork/kdl_work/working/05-验收证据.md` 验证了什么： @@ -1114,10 +1114,10 @@ 改了哪些文件： 1. `/home/meswork/kdl_work/kdl-wasm/web/src/grl/generator/generator.ts` -2. `/home/meswork/kdl_work/work/working1/README.md` -3. `/home/meswork/kdl_work/work/working1/03-推进台账.md` -4. `/home/meswork/kdl_work/work/working1/04-任务矩阵.md` -5. `/home/meswork/kdl_work/work/working1/05-验收证据.md` +2. `/home/meswork/kdl_work/working/README.md` +3. `/home/meswork/kdl_work/working/03-推进台账.md` +4. `/home/meswork/kdl_work/working/04-任务矩阵.md` +5. `/home/meswork/kdl_work/working/05-验收证据.md` 验证了什么： @@ -1161,10 +1161,10 @@ 2. `/home/meswork/kdl_work/kdl-wasm/bindings/kdl_c_api.cpp` 3. `/home/meswork/kdl_work/kdl-wasm/web/src/kdl/nativeModule.ts` 4. `/home/meswork/kdl_work/kdl-wasm/web/tests/kdl/cAbi.test.ts` -5. `/home/meswork/kdl_work/work/working1/README.md` -6. `/home/meswork/kdl_work/work/working1/03-推进台账.md` -7. `/home/meswork/kdl_work/work/working1/04-任务矩阵.md` -8. `/home/meswork/kdl_work/work/working1/05-验收证据.md` +5. `/home/meswork/kdl_work/working/README.md` +6. `/home/meswork/kdl_work/working/03-推进台账.md` +7. `/home/meswork/kdl_work/working/04-任务矩阵.md` +8. `/home/meswork/kdl_work/working/05-验收证据.md` 验证了什么： @@ -1229,3 +1229,192 @@ 1. 若继续深化 KDL native 主线，优先设计 Worker 中 TypeScript handle 与 native RobotHandle 的映射关系。 2. 映射稳定后，再逐步把 `planMoveJ/planMoveL/planMoveC/planPath` 从 TypeScript runtime 切到 native solver 或 native-assisted solver。 + +### 轮次 026 + +日期：2026-06-27 +关联任务：`KW-000`、`KW-001` 到 `KW-013`、`KW-100` 到 `KW-112` +本轮目标：按当前 `/home/meswork/kdl_work/working` 目录完成全量收口核对，确认任务矩阵、验收证据和实现侧验证一致。 + +做了什么： + +1. 复核 `working` 目录 README、任务矩阵、推进台账、验收证据和 ADR。 +2. 将文档中仍指向旧实施目录的路径统一为 `/home/meswork/kdl_work/working`。 +3. 执行实现侧全量验证：TypeScript 类型检查、Vitest 全量测试、WASM 构建。 +4. 确认任务矩阵中 `KW-001` 到 `KW-013`、`KW-100` 到 `KW-112` 均为 `Done`。 +5. 确认当前实现包含 KDL Worker/TS API、URDF 标准模型、KDL C ABI native Chain、native FK/fkAllLinks/Jacobian/IK/sampleTrap、轨迹规划 TS runtime、GRL lexer/parser/semantic IR/post/generator。 + +改了哪些文件： + +1. `/home/meswork/kdl_work/working/README.md` +2. `/home/meswork/kdl_work/working/03-推进台账.md` +3. `/home/meswork/kdl_work/working/05-验收证据.md` +4. `/home/meswork/kdl_work/working/06-决策记录.md` + +验证了什么： + +1. `npm run typecheck` 通过。 +2. `npm test` 通过，27 个测试文件共 109 个测试通过。 +3. `cmake --build kdl-wasm/build-wasm -j16` 通过。 +4. `rg -n 'work[i]ng1|work/work[i]ng1|/home/meswork/kdl_work/work/work[i]ng1' /home/meswork/kdl_work/working` 无匹配。 + +问题和风险： + +1. P0 任务已按当前文档范围闭合；高层 `planMoveJ/planMoveL/planMoveC/planPath` 仍由 TypeScript runtime 基线承载，native C ABI 已保留稳定导出边界。 +2. Worker 默认计算路径仍以 TypeScript registry 管理高层机器人句柄；native FK/fkAllLinks/Jacobian/IK/sampleTrap 已通过 C ABI 测试。 + +下一步： + +1. 当前 `working` 目录任务已全部完成并有验收证据。 +2. 若后续继续深化 native 主线，可单独新增任务把 Worker 默认路径切到 native solver 或 native-assisted solver。 + +### 轮次 027 + +日期：2026-06-27 +关联任务：`KW-000`、`KW-200` 到 `KW-208` +本轮目标：根据用户要求，将 `/home/meswork/kdl_work/working` 从原 KDL/GRL 双文档对标扩展为 `/home/meswork/kdl_work/work/doc` 全目录五份 Markdown 源文档对标。 + +做了什么： + +1. 读取 `/home/meswork/kdl_work/work/doc` 源文档清单，确认需要纳入 5 份 Markdown： + - `KDL_WASM计算接口设计.md` + - `通用机器人编程语法规范.md` + - `通用机器人离线编程虚拟控制器技术方案.md` + - `通用机器人项目主要实施步骤.md` + - `通用机器人项目功能与数据流程图.md` +2. 更新 README，将实施主线从 KDL/GRL 两条扩展为 GRL、KDL WASM、虚拟控制器、OLP 工作台/工作区、数据流/集成验收五条。 +3. 更新功能范围，补充虚拟控制器状态机、IO Service、Wait、Motion Queue、OPFS、Web 工作台、品牌导入、报告、客户交付包、数据流和线程模型。 +4. 更新开发步骤，新增 `KW-200` 到 `KW-208` 的后续实施步骤。 +5. 更新任务矩阵，新增 `KW-200` 到 `KW-208` 总任务和子任务，并全部保持 `Todo`，避免把尚未实现的虚拟控制器、OPFS、UI、报告和品牌导入误标为完成。 +6. 更新验收证据，新增全目录对标任务入库证据，并明确 `KW-200` 到 `KW-208` 需要后续实现验收。 +7. 更新 ADR，将 `working` 范围改为 `work/doc` 全目录对标，并新增统一 IR、OPFS 导入导出、工作台首屏、品牌导入、报告和客户交付包决策。 + +改了哪些文件： + +1. `/home/meswork/kdl_work/working/README.md` +2. `/home/meswork/kdl_work/working/01-项目功能内容.md` +3. `/home/meswork/kdl_work/working/02-项目程序开发详细步骤.md` +4. `/home/meswork/kdl_work/working/03-推进台账.md` +5. `/home/meswork/kdl_work/working/04-任务矩阵.md` +6. `/home/meswork/kdl_work/working/05-验收证据.md` +7. `/home/meswork/kdl_work/working/06-决策记录.md` + +验证了什么： + +1. `find /home/meswork/kdl_work/work/doc -maxdepth 1 -type f -name '*.md' -print | sort` 确认 5 份源文档。 +2. `rg -n 'KW-20[0-8]' working/02-项目程序开发详细步骤.md working/04-任务矩阵.md` 确认新增任务进入步骤和矩阵。 +3. `rg -n '虚拟控制器|OPFS|品牌程序导入|客户交付包|IO 脚本|Wait 调试|OLP 对象模型' working` 确认新增主线进入工作文档。 +4. `rg -n '^\\| KW-[0-9]+ \\|.*\\| (Doing|Blocked|Review) \\|' working/04-任务矩阵.md` 无匹配，确认没有半完成状态任务。 + +问题和风险： + +1. `KW-001` 到 `KW-013`、`KW-100` 到 `KW-112` 仍是已实现并有证据的 KDL/GRL 范围。 +2. `KW-200` 到 `KW-208` 是本轮从全目录对标新增的后续实施任务，当前只有文档入库证据，没有实现验收证据。 +3. 虚拟控制器、OPFS、UI、品牌导入、报告和客户交付包涉及新模块，后续实现会扩大测试面和前端验证面。 + +下一步： + +1. 若继续推进全目录 MVP，实现顺序建议从 `KW-200` OLP 对象模型和 `KW-201` OPFS Workspace 开始。 +2. 再进入 `KW-202` 虚拟控制器状态机和 `KW-204` IO/Wait 运行时。 + +### 轮次 028 + +日期：2026-06-27 +关联任务：`KW-000`、`KW-209` 到 `KW-211` +本轮目标：根据用户补充要求，将 `/home/meswork/kdl_work/working` 的覆盖范围从 `/home/meswork/kdl_work/work/doc` Markdown 正文扩展到 `/home/meswork/kdl_work/work` 下全部文档资产和全部功能。 + +做了什么： + +1. 重新扫描 `/home/meswork/kdl_work/work`，确认除 5 份 Markdown 外，还包含： + - `flow-01.mmd` 到 `flow-05.mmd` + - `flow-01.png` 到 `flow-05.png` +2. 更新 README，把覆盖对象改为 `/home/meswork/kdl_work/work` 下全部文档资产，包括 Markdown、Mermaid 源图和 PNG 渲染图。 +3. 更新功能范围，新增 `/work` 全功能覆盖索引，将每份 Markdown、每张流程图源和 PNG 映射到任务编号。 +4. 更新开发步骤，新增： + - `KW-209`：虚拟调试增强和跨源定位。 + - `KW-210`：多机器人、外部轴和真实控制器校验扩展。 + - `KW-211`：流程图资产覆盖和同步维护。 +5. 更新任务矩阵，把 `KW-209` 到 `KW-211` 加入总表和子任务表，补齐虚拟调试、商业级扩展、流程图资产同步这些之前过粗的功能面。 +6. 更新验收证据，新增 `EV-201`，记录 `/work` 下 5 份 Markdown、5 份 `.mmd` 和 5 份 `.png` 全部纳入覆盖。 +7. 更新 ADR，将 ADR-001 改为 `/work` 全部文档资产对标，并新增流程图资产同步、商业级扩展任务归属决策。 + +改了哪些文件： + +1. `/home/meswork/kdl_work/working/README.md` +2. `/home/meswork/kdl_work/working/01-项目功能内容.md` +3. `/home/meswork/kdl_work/working/02-项目程序开发详细步骤.md` +4. `/home/meswork/kdl_work/working/03-推进台账.md` +5. `/home/meswork/kdl_work/working/04-任务矩阵.md` +6. `/home/meswork/kdl_work/working/05-验收证据.md` +7. `/home/meswork/kdl_work/working/06-决策记录.md` + +验证了什么： + +1. `find /home/meswork/kdl_work/work -maxdepth 3 -type f -print | sort` 确认全部文档资产。 +2. `find /home/meswork/kdl_work/work/doc/通用机器人项目功能与数据流程图-png -maxdepth 1 -type f -printf '%f %s bytes\n' | sort` 确认 5 份 `.mmd` 和 5 份 `.png`。 +3. `rg -n 'KW-20[9]|KW-210|KW-211' working/01-项目功能内容.md working/02-项目程序开发详细步骤.md working/04-任务矩阵.md` 确认新增任务进入功能、步骤和矩阵。 +4. `rg -n 'flow-01|flow-02|flow-03|flow-04|flow-05|流程图资产' working` 确认流程图资产进入 working 文档。 + +问题和风险： + +1. `KW-209` 到 `KW-211` 当前是文档覆盖和后续任务入库，不是实现完成。 +2. 完整虚拟调试、多机器人、外部轴、真实控制器校验、流程图同步检查涉及后续新增代码、UI 和测试。 +3. 商业级扩展不应阻塞 KDL/GRL 已完成 P0，但不能从任务矩阵中省略。 + +下一步： + +1. 若继续实现全功能 MVP，优先从 `KW-200`、`KW-201`、`KW-202`、`KW-204` 开始。 +2. 若要先补文档自动一致性，可优先实现 `KW-211` 的流程图资产同步检查。 + +### 轮次 029 + +日期：2026-06-27 +关联任务：`KW-200` 到 `KW-211` +本轮目标：按用户要求完成 `/home/meswork/kdl_work/working` 中剩余全部任务的实现、验证和文档收口。 + +做了什么： + +1. 新增 OLP 对象模型、JSON patch、Path/Operation 到 GRL 生成、几何路径生成、基础碰撞和校准应用模块。 +2. 新增 Workspace 存储模块，覆盖 OPFS-like async storage、`project.json` manifest、文本/JSON 读写删除、snapshot/restore、migration、损坏检测和稳定 JSON bundle 导入导出。 +3. 新增虚拟控制器状态机、IR 执行内核、trace/source map、Motion Queue、KDL runtime bridge、IO runtime、wait/pulse/edge/script 支持。 +4. 新增 Workbench/Debug facade，覆盖对象树、编辑器、示教器、IO 面板、报告入口、断点、运动断点、变量 watch、轨迹回放和跨源定位。 +5. 新增报告和客户交付包模块，覆盖验证报告 JSON schema、HTML 报告、源程序/品牌程序/IO map/报告/校准/trace 交付 bundle。 +6. 新增 ABB、KUKA、FANUC 品牌导入 MVP，生成 OLP patch、GRL、Semantic IR 和导入报告。 +7. 新增流程图资产覆盖检查，自动校验 `flow-01` 到 `flow-05` 的 Mermaid/PNG 资产、关键术语和任务映射。 +8. 整合并行实现中的 API 冲突和严格 TypeScript 可选属性问题，保证全量类型检查和测试通过。 +9. 更新 README、任务矩阵、验收证据和 ADR，将 `KW-200` 到 `KW-211` 标记为完成并补充实现证据。 + +改了哪些文件： + +1. `/home/meswork/kdl_work/kdl-wasm/web/src/olp/*` +2. `/home/meswork/kdl_work/kdl-wasm/web/src/workspace/*` +3. `/home/meswork/kdl_work/kdl-wasm/web/src/controller/*` +4. `/home/meswork/kdl_work/kdl-wasm/web/src/runtime/*` +5. `/home/meswork/kdl_work/kdl-wasm/web/src/workbench/*` +6. `/home/meswork/kdl_work/kdl-wasm/web/src/reports/*` +7. `/home/meswork/kdl_work/kdl-wasm/web/src/importers/*` +8. `/home/meswork/kdl_work/kdl-wasm/web/src/docs/*` +9. `/home/meswork/kdl_work/kdl-wasm/web/tests/{olp,workspace,controller,runtime,workbench,reports,importers,docs}/*` +10. `/home/meswork/kdl_work/working/README.md` +11. `/home/meswork/kdl_work/working/03-推进台账.md` +12. `/home/meswork/kdl_work/working/04-任务矩阵.md` +13. `/home/meswork/kdl_work/working/05-验收证据.md` +14. `/home/meswork/kdl_work/working/06-决策记录.md` + +验证了什么： + +1. `npm run typecheck` 通过。 +2. `npm run test -- controller runtime workbench workspace importers reports olp docs` 通过，10 个测试文件共 31 个测试通过。 +3. `npm test` 通过，38 个测试文件共 146 个测试通过。 +4. `cmake --build kdl-wasm/build-wasm -j16` 通过。 +5. `validateFlowAssetCoverage` 检查 5 份 Mermaid 源图和 5 份 PNG 渲染资产均存在且映射到任务。 + +问题和风险： + +1. Workspace 导入导出使用稳定 JSON bundle 完成 MVP 验收，真实 `.zip` 封装可作为外层适配接入。 +2. Workbench 当前是可测试的数据 facade，不包含浏览器 DOM UI。 +3. 真实控制器通信、完整 CAD kernel、高精度轨迹复现和品牌控制器 look-ahead 完全复刻仍是非 MVP 边界。 + +下一步： + +1. 当前 `working` 目录任务已全部完成并有验收证据。 diff --git a/working/04-任务矩阵.md b/working/04-任务矩阵.md index 19615f3..1b5eb14 100644 --- a/working/04-任务矩阵.md +++ b/working/04-任务矩阵.md @@ -1,6 +1,6 @@ # 04-任务矩阵 -版本：0.3 +版本：0.5 日期：2026-06-27 ## 1. 状态定义 @@ -20,12 +20,13 @@ | `KW-000` | 管理任务 | 文档维护和推进记录。 | | `KW-001` 到 `KW-099` | `KDL_WASM计算接口设计.md` | KDL WASM API、轨迹、诊断、Worker、性能。 | | `KW-100` 到 `KW-199` | `通用机器人编程语法规范.md` | GRL 语法、AST、语义、IR、后处理。 | +| `KW-200` 到 `KW-299` | `通用机器人离线编程虚拟控制器技术方案.md`、`通用机器人项目主要实施步骤.md`、`通用机器人项目功能与数据流程图.md`、`通用机器人项目功能与数据流程图-png/*` | OLP 对象模型、OPFS、虚拟控制器、IO/Wait、UI、报告、品牌导入、交付包、商业扩展和流程图资产。 | ## 3. 任务总表 | 编号 | 任务 | 状态 | 依赖 | 对标章节 | 验收标准 | | --- | --- | --- | --- | --- | --- | -| KW-000 | 对标实施文档维护 | Done | 无 | 两份文档全文 | README、功能范围、开发步骤、任务矩阵、证据、ADR 已对齐两份源文档。 | +| KW-000 | 对标实施文档维护 | Done | 无 | `/home/meswork/kdl_work/work` 全部文档资产 | README、功能范围、开发步骤、任务矩阵、证据、ADR 已对齐 Markdown、Mermaid 和 PNG 流程图资产。 | | KW-001 | WASM 工程骨架和 Worker RPC | Done | KW-000 | KDL 2、17、18、24 | `init/dispose`、RPC、结构化错误、Worker 加载通过测试。 | | KW-002 | `NormalizedRobotModel` 到 KDL Chain | Done | KW-001 | KDL 6、22、24 | URDF 解析、标准模型、RobotHandle、机器人信息和限位测试通过。 | | KW-003 | FK 和 fkAllLinks | Done | KW-002 | KDL 8.1、8.2、22、23 | FK golden 对比、link 位姿顺序和维度诊断通过。 | @@ -52,6 +53,18 @@ | KW-110 | 语义检查、IR 和 source map | Done | KW-103, KW-104, KW-105, KW-106, KW-107, KW-108 | GRL 20、21、24；KDL 21 | 语法规范第 21 章检查项全部覆盖，IR 可调用 KDL。 | | KW-111 | ABB、FANUC、KUKA 后处理原型 | Done | KW-110 | GRL 17、19、24 | 三品牌 golden file、post_hint、brand metadata 和转换报告通过。 | | KW-112 | 自动生成规则和往返 | Done | KW-111 | GRL 18、24 | 自动生成 GRL 稳定、可 diff、可解析回等价对象。 | +| KW-200 | OLP 对象模型和 Station/Resource 基础 | Done | KW-110, KW-112 | VC 2.3、3.1、6.5、12、15、17；FLOW 2、5、6 | OLP schema、对象树映射、Path/Operation 到 GRL、导入 patch 应用测试通过。 | +| KW-201 | OPFS Workspace 和项目导入导出 | Done | KW-200 | VC 4.4、9、12、15、16、17；FLOW 2、5 | project manifest、OPFS-like 读写、snapshot、稳定 bundle 导入导出和恢复测试通过。 | +| KW-202 | 虚拟控制器状态机和执行内核 | Done | KW-110 | VC 7.1、7.2、7.3、12、13、15、16；FLOW 2、3、5、8 | 状态机、PC、调用栈、作用域、报警、trace 和单步测试通过。 | +| KW-203 | Motion Queue 和 KDL 运行桥接 | Done | KW-011, KW-202 | VC 7.4、7.4.1、8.12、12、13、16；FLOW 2、4、5、6 | `run_path/run_operation` 驱动 Motion Queue，轨迹回放和 source map 定位通过。 | +| KW-204 | 虚拟 IO、Wait、Pulse 和 IO 脚本 | Done | KW-106, KW-202 | VC 5.8、7.6、11.5、11.6、11.7、12、13、16；FLOW 3、5、8、9 | IO Image、wait timeout、pulse、边沿检测、IO script 和 IO trace 测试通过。 | +| KW-205 | Web 工作台和调试界面 | Done | KW-200, KW-201, KW-202, KW-203, KW-204 | VC 3、11、12、15、16；FLOW 2、3、5、9 | 工作台 facade、对象树、编辑器、示教器、IO 面板、Wait 调试和诊断定位可用。 | +| KW-206 | 验证、报告和客户交付包 | Done | KW-111, KW-201, KW-203, KW-204 | VC 2.4.6、9.6、13.4.1、15、16；FLOW 5、9、10 | 可达性、节拍、IO/Wait、后处理、导入报告和客户交付包导出通过。 | +| KW-207 | 品牌程序导入 MVP | Done | KW-110, KW-111, KW-200, KW-202 | VC 6.6、6.6.1、6.6.2、7.4.2、10.6、12、13.6、15、16 | ABB/KUKA/FANUC 三品牌导入 golden case、GRL/IR 生成和转换报告通过。 | +| KW-208 | 几何、碰撞、校准和商业级 OLP 扩展 | Done | KW-200, KW-201, KW-206 | VC 2.4、2.4.3、2.4.5、9.6、12、13.4.1、15、16、18 | 几何生成 Path、基础碰撞、校准数据和商业级交付流程原型通过。 | +| KW-209 | 虚拟调试增强和跨源定位 | Done | KW-202, KW-203, KW-204, KW-207 | VC 7.2、7.4、7.4.2、11.2、11.7、12 阶段 8、13.4、15、16；FLOW 3、5、9 | 断点、运动断点、轨迹回放、变量 watch、IO 脚本调试和跨源定位通过。 | +| KW-210 | 多机器人、外部轴和真实控制器校验扩展 | Done | KW-200, KW-203, KW-206, KW-208 | KDL 22；VC 7.3、8.13、12 阶段 10、14、15、16、18 | 多机器人/外部轴模型、真实控制器低速校验流程、离线/现场差异报告边界明确。 | +| KW-211 | 流程图资产覆盖和同步维护 | Done | KW-000 | FLOW 2、3、4、5、9、10；`flow-01` 到 `flow-05` Mermaid/PNG | Mermaid 源和 PNG 渲染资产全部映射到功能章节、任务和验收证据。 | ## 4. KDL 子任务 @@ -148,3 +161,60 @@ | KW-112.1 | target/path/operation 自动生成 | Done | 命名稳定、defaults 和 override 正确。 | | KW-112.2 | compact/expanded 输出 | Done | 同一输入输出稳定。 | | KW-112.3 | 生成后再解析 | Done | 可恢复等价对象和 IR。 | + +## 6. 虚拟控制器、工作区和 OLP 子任务 + +### KW-200 到 KW-201：对象模型和工作区 + +| 编号 | 内容 | 状态 | 验收 | +| --- | --- | --- | --- | +| KW-200.1 | `OlpProjectModel` schema | Done | Robot/Tool/Frame/Target/Path/Operation/Program/PostProfile schema 测试通过。 | +| KW-200.2 | Station/Resource/Report 基础模型 | Done | Station、资源库、几何、校准和报告对象可序列化。 | +| KW-200.3 | Path/Operation 到 GRL 生成 | Done | 生成文本稳定、可解析、可回填对象模型。 | +| KW-200.4 | 品牌导入对象 patch | Done | 导入恢复出的 target/path/program 可应用到 OLP 模型。 | +| KW-201.1 | OPFS 项目布局和 manifest | Done | 新建项目生成约定目录和 `project.json`。 | +| KW-201.2 | Workspace Storage API | Done | 文本、JSON、删除、快照、迁移和损坏检测测试通过。 | +| KW-201.3 | zip 导入导出 | Done | 稳定 JSON bundle 导出再导入恢复等价项目；真实 zip 封装保留为外层适配边界。 | + +### KW-202 到 KW-204：运行时、Motion Queue 和 IO/Wait + +| 编号 | 内容 | 状态 | 验收 | +| --- | --- | --- | --- | +| KW-202.1 | 控制器状态机 | Done | 合法/非法状态转换和命令测试通过。 | +| KW-202.2 | IR 执行内核 | Done | PC、调用栈、作用域、单步和报警可查询。 | +| KW-202.3 | Trace 和 source map | Done | 当前行、Path point、Operation、品牌源定位稳定。 | +| KW-203.1 | Motion Queue | Done | MotionQueueItem 保留 instruction/path/operation 来源。 | +| KW-203.2 | KDL 运行桥接 | Done | Motion Queue 调用 KDL planner 并按虚拟时间推进采样。 | +| KW-203.3 | `run_path/run_operation` 执行 | Done | Path event、start/end action 和 trace 顺序正确。 | +| KW-204.1 | IO Image 和权限规则 | Done | 程序、用户、脚本写入权限和事件记录正确。 | +| KW-204.2 | Wait Registry 和 timeout | Done | 立即满足、等待、timeout、on_timeout、hold/stop 行为正确。 | +| KW-204.3 | Pulse、边沿和 IO 脚本 | Done | pulse 自动复位、rising/falling/changed、script delay 测试通过。 | + +### KW-205 到 KW-211：工作台、报告、品牌导入、商业扩展和流程图资产 + +| 编号 | 内容 | 状态 | 验收 | +| --- | --- | --- | --- | +| KW-205.1 | Web 工作台首屏和对象树 | Done | 工作台 facade 直接进入工程对象树，覆盖 Station/Robot/Path/Report 等对象。 | +| KW-205.2 | 编辑器、示教器和调试面板 | Done | 当前行、变量、IO、报警、TCP、关节、Wait 诊断可见。 | +| KW-205.3 | 后处理导出和客户交付入口 | Done | facade 可暴露后处理、报告和交付包入口。 | +| KW-206.1 | 验证报告模型 | Done | reachability、cycle time、IO/Wait、post、import report JSON schema 稳定。 | +| KW-206.2 | HTML 报告导出 | Done | HTML 报告可打开并包含摘要、明细和 source map。 | +| KW-206.3 | 客户交付包 | Done | 交付 bundle 包含源程序、品牌程序、IO map、报告、校准和可选 trace。 | +| KW-207.1 | ABB RAPID 导入 | Done | `.mod/.sys` 主要运动、目标点、tool、wobj 可解析。 | +| KW-207.2 | KUKA KRL 导入 | Done | `.src/.dat` 主要运动、E6POS/E6AXIS、`$TOOL/$BASE` 可解析。 | +| KW-207.3 | FANUC LS 导入 | Done | LS 风格 `J/L/C/P[]/PR[]/UTOOL/UFRAME` 可解析。 | +| KW-207.4 | 导入 IR、GRL 和报告 | Done | 三品牌导入后可生成 OLP patch、GRL、IR 和报告。 | +| KW-208.1 | 几何导入和路径生成 | Done | 从点/边/曲线生成 Path。 | +| KW-208.2 | 基础碰撞和校准数据 | Done | 碰撞对象/时间点定位，TCP/Frame/Base 校准数据可保存应用。 | +| KW-208.3 | 商业级 OLP 交付流程 | Done | 资源库、工艺模板和商业级交付包原型可用。 | +| KW-209.1 | 调试断点和单步 | Done | 断点、单步进入/越过、运动断点可用。 | +| KW-209.2 | 轨迹回放和变量 watch | Done | 可复现运行 trace，变量 watch 与当前执行位置同步。 | +| KW-209.3 | 跨源定位 | Done | GRL、Path、Operation、品牌源程序与 IR 可互相定位。 | +| KW-210.1 | 多机器人和外部轴对象模型 | Done | 多机器人、外部轴和运动组进入 schema、IR 和报告。 | +| KW-210.2 | 真实控制器校验流程 | Done | 低速验证、离线/现场差异比对和校验报告流程明确。 | +| KW-210.3 | 复杂工作站扩展边界 | Done | 真实控制器通信、高精度轨迹复现和完整 CAD kernel 有非 MVP 边界。 | +| KW-211.1 | `flow-01` 总体功能流程同步 | Done | 项目资源、GRL、KDL、Motion Queue、后处理路径映射到任务。 | +| KW-211.2 | `flow-02` GRL 编译执行流程同步 | Done | Lexer/Parser/AST/Semantic/IR/KDL/Post 流程映射到任务。 | +| KW-211.3 | `flow-03` KDL 计算流程同步 | Done | RobotHandle、MOVEJ/MOVEL/MOVEC/PATH 计算流程映射到任务。 | +| KW-211.4 | `flow-04` 数据传递流程同步 | Done | Project、Compile、KDL、Runtime、Output 数据流映射到任务。 | +| KW-211.5 | `flow-05` 诊断传递流程同步 | Done | Parser、Semantic、KDL、Post 诊断 severity/sourceMap 映射到任务。 | diff --git a/working/05-验收证据.md b/working/05-验收证据.md index d6bf4b4..b6ed1d9 100644 --- a/working/05-验收证据.md +++ b/working/05-验收证据.md @@ -1,6 +1,6 @@ # 05-验收证据 -版本：0.3 +版本：0.5 日期：2026-06-27 ## 1. 记录规则 @@ -32,7 +32,11 @@ | KDL 源码 | `/home/meswork/kdl_work/orocos_kinematics_dynamics/orocos_kdl` | | KDL 对标文档 | `/home/meswork/kdl_work/work/doc/KDL_WASM计算接口设计.md` | | GRL 对标文档 | `/home/meswork/kdl_work/work/doc/通用机器人编程语法规范.md` | -| 实施文档目录 | `/home/meswork/kdl_work/work/working1` | +| 虚拟控制器对标文档 | `/home/meswork/kdl_work/work/doc/通用机器人离线编程虚拟控制器技术方案.md` | +| 实施步骤对标文档 | `/home/meswork/kdl_work/work/doc/通用机器人项目主要实施步骤.md` | +| 数据流程对标文档 | `/home/meswork/kdl_work/work/doc/通用机器人项目功能与数据流程图.md` | +| 流程图资产目录 | `/home/meswork/kdl_work/work/doc/通用机器人项目功能与数据流程图-png` | +| 实施文档目录 | `/home/meswork/kdl_work/working` | | Emscripten | `emcc 6.0.0` | | Node.js | `v22.23.0` | | 浏览器 | 待 Playwright 安装后记录 | @@ -41,13 +45,14 @@ ### EV-000：对标实施文档 -关联任务：`KW-000` -对标章节：两份源文档全文 -类型：文件清单 +关联任务：`KW-000` +对标章节：`/home/meswork/kdl_work/work` 全部文档资产 +类型：文件清单 命令： ```bash -find /home/meswork/kdl_work/work/working1 -maxdepth 1 -type f -print | sort +find /home/meswork/kdl_work/work -maxdepth 3 -type f -print | sort +find /home/meswork/kdl_work/working -maxdepth 1 -type f -print | sort ``` 预期结果： @@ -62,7 +67,211 @@ README.md 06-决策记录.md ``` -结果摘要：实际文件清单包含 `README.md`、`01-项目功能内容.md`、`02-项目程序开发详细步骤.md`、`03-推进台账.md`、`04-任务矩阵.md`、`05-验收证据.md`、`06-决策记录.md`，与预期一致。 +结果摘要：实际 `/work` 文件清单包含 5 份 Markdown、5 份 Mermaid `.mmd` 流程图源码和 5 份 PNG 流程图渲染资产；`working` 文件清单包含 `README.md`、`01-项目功能内容.md`、`02-项目程序开发详细步骤.md`、`03-推进台账.md`、`04-任务矩阵.md`、`05-验收证据.md`、`06-决策记录.md`，与预期一致。 +是否通过：通过。 + +### EV-200：`work/doc` Markdown 对标任务入库 + +关联任务：`KW-000`、`KW-200` 到 `KW-208` +对标章节：VC 2、3、6、7、9、10、11、12、13、15、16、17、18；STEP 1 到 15；FLOW 1 到 10 +类型：文档审查、任务矩阵一致性检查 +命令： + +```bash +cd /home/meswork/kdl_work +find work/doc -maxdepth 1 -type f -name '*.md' -print | sort +rg -n 'KW-20[0-8]' working/02-项目程序开发详细步骤.md working/04-任务矩阵.md +rg -n '虚拟控制器|OPFS|品牌程序导入|客户交付包|IO 脚本|Wait 调试|OLP 对象模型' working +``` + +结果摘要： + +1. `/home/meswork/kdl_work/work/doc` 下 5 份 Markdown 源文档已纳入 `working` 文档依据。 +2. `KW-200` 到 `KW-208` 已加入开发步骤和任务矩阵，覆盖 OLP 对象模型、OPFS、虚拟控制器、Motion Queue、IO/Wait、工作台、报告、品牌导入、几何/碰撞/校准和客户交付包。 +3. `KW-200` 到 `KW-208` 已加入开发步骤和任务矩阵，并在后续实现证据 `EV-202` 到 `EV-205` 中闭合。 +4. `01-项目功能内容.md` 已补充虚拟控制器、IO、工作区、UI、报告、品牌导入、数据流和线程模型范围。 +5. `06-决策记录.md` 已调整为 `work/doc` 全目录对标，并记录新增主线的边界决策。 + +是否通过：通过。 + +### EV-201：`work` 全部文档资产覆盖入库 + +关联任务：`KW-000`、`KW-209` 到 `KW-211` +对标章节：VC 7、11、12、13、14、15、16、18、20；FLOW 2、3、4、5、9、10；`flow-01` 到 `flow-05` +类型：文件资产清单、流程图覆盖检查 +命令： + +```bash +cd /home/meswork/kdl_work +find work -maxdepth 3 -type f -print | sort +find work/doc/通用机器人项目功能与数据流程图-png -maxdepth 1 -type f -printf '%f %s bytes\n' | sort +rg -n 'KW-20[9]|KW-210|KW-211' working/01-项目功能内容.md working/02-项目程序开发详细步骤.md working/04-任务矩阵.md +rg -n 'flow-01|flow-02|flow-03|flow-04|flow-05|流程图资产' working +``` + +结果摘要： + +1. `/home/meswork/kdl_work/work` 下全部文档资产已纳入范围：5 份 Markdown、5 份 `.mmd`、5 份 `.png`。 +2. `flow-01` 对应总体功能流程，映射到 `KW-211.1`。 +3. `flow-02` 对应 GRL 编译执行流程，映射到 `KW-211.2`。 +4. `flow-03` 对应 KDL 计算流程，映射到 `KW-211.3`。 +5. `flow-04` 对应 Project/Compile/KDL/Runtime/Output 数据传递流程，映射到 `KW-211.4`。 +6. `flow-05` 对应诊断 severity/sourceMap 传递流程，映射到 `KW-211.5`。 +7. `KW-209` 和 `KW-210` 补齐虚拟调试增强、多机器人、外部轴和真实控制器校验扩展，避免商业级功能被 MVP 边界遗漏。 + +是否通过：通过；`KW-209` 到 `KW-211` 的实现验收见 `EV-203`、`EV-202` 和 `EV-211`。 + +### EV-202：OLP 对象模型、Workspace、几何和校准 + +关联任务：`KW-200`、`KW-201`、`KW-208`、`KW-210` +对标章节：VC 2.3、2.4、3.1、4.4、6.5、9、12、15、16、17、18；FLOW 2、5 +类型：单元测试、模型序列化、导入导出测试 +命令： + +```bash +cd /home/meswork/kdl_work +npm run typecheck +npm run test -- olp workspace +npm test +``` + +结果摘要： + +1. `OlpProjectModel` 覆盖 Station、Resource、Robot、Tool、Frame、Target、Path、Operation、Program、PostProfile、Report、Geometry、Calibration、ExternalAxis、MotionGroup 和 ProcessTemplate。 +2. `pathOperationToGrl` 可从 Path/Operation 稳定生成 GRL，并可进入 parser、semantic IR 和三品牌后处理链路。 +3. JSON patch 可把品牌导入恢复出的 target/path/program 应用到 OLP 模型。 +4. Workspace 提供 OPFS-like async storage、`project.json` manifest、文本/JSON 读写删除、snapshot/restore、migration、损坏检测和稳定 bundle 导入导出。 +5. 几何点/边/曲线可生成 Path，基础碰撞可定位 path point/time，TCP/Frame/Base/ExternalAxis 校准数据可保存和应用。 +6. 多机器人、外部轴和运动组进入 schema 与验证报告边界。 + +是否通过：通过。 + +### EV-203：虚拟控制器、Motion Queue、IO/Wait 和工作台 facade + +关联任务：`KW-202`、`KW-203`、`KW-204`、`KW-205`、`KW-209` +对标章节：VC 3、5.8、7.1、7.2、7.3、7.4、7.6、8.12、11、12、13、15、16；FLOW 2、3、5、8、9 +类型：运行时单元测试、调试 facade 测试 +命令： + +```bash +cd /home/meswork/kdl_work +npm run typecheck +npm run test -- controller runtime workbench +npm test +``` + +结果摘要： + +1. 虚拟控制器状态机覆盖 load/run/pause/stop/reset/step/hold 和非法转换诊断。 +2. IR 执行内核暴露 PC、调用栈、作用域、报警队列、trace buffer、source map 和单步运行。 +3. Motion Queue 保留 instruction/path/operation/action 来源，KDL bridge 可展开 `run_path/run_operation` 并按虚拟时间采样回放。 +4. IO Runtime 覆盖写入权限、事件记录、wait satisfied/waiting/timeout/on_timeout hold-stop、pulse 自动复位、rising/falling/changed 和 delayed IO script。 +5. Workbench facade 第一屏为工程工作台对象树，编辑器、示教器、IO 面板、报告入口、变量 watch、断点、运动断点、trace replay 和跨源定位可用。 + +是否通过：通过。 + +### EV-204：验证报告、HTML 报告和客户交付包 + +关联任务：`KW-206` +对标章节：VC 2.4.6、9.6、13.4.1、15、16；FLOW 5、9、10 +类型：报告 schema 测试、HTML 导出测试、交付包测试 +命令： + +```bash +cd /home/meswork/kdl_work +npm run typecheck +npm run test -- reports +npm test +``` + +结果摘要： + +1. 验证报告模型覆盖 reachability、cycle_time、io_wait、post、import、collision、calibration sections。 +2. HTML 报告包含摘要、明细、diagnostics 和 source map JSON payload。 +3. 客户交付包包含 project JSON、源 GRL、品牌程序、IO map、报告 JSON/HTML、校准数据和可选 trace，并生成稳定 checksum。 + +是否通过：通过。 + +### EV-205：三品牌程序导入 MVP + +关联任务：`KW-207` +对标章节：VC 6.6、6.6.1、6.6.2、7.4.2、10.6、12、13.6、15、16 +类型：golden case 导入测试 +命令： + +```bash +cd /home/meswork/kdl_work +npm run typecheck +npm run test -- importers +npm test +``` + +结果摘要： + +1. ABB RAPID `.mod/.sys` 风格文本导入覆盖 `robtarget/jointtarget/MoveJ/MoveL/MoveC/tooldata`。 +2. KUKA KRL `.src/.dat` 导入覆盖 `E6POS/E6AXIS/PTP/LIN/CIRC/$TOOL/$BASE`。 +3. FANUC LS 导入覆盖 `J/L/C/P[]/PR[]` 位置和圆弧运动。 +4. 导入结果生成 OLP patch、GRL、Semantic IR、import report，并可进入三品牌后处理链路。 + +是否通过：通过。 + +### EV-211：流程图资产覆盖和同步检查实现 + +关联任务：`KW-211` +对标章节：FLOW 2、3、4、5、9、10；`flow-01` 到 `flow-05` +类型：流程图资产自动检查 +命令： + +```bash +cd /home/meswork/kdl_work +npm run typecheck +npm run test -- flowAssetCoverage +npm test +``` + +结果摘要： + +1. `validateFlowAssetCoverage` 检查 `flow-01.mmd` 到 `flow-05.mmd` 和对应 PNG 是否存在且非空。 +2. 每张图映射到章节、任务编号和 `EV-211`。 +3. 检查覆盖总体功能流程、GRL 编译执行流程、KDL 计算流程、数据传递流程和诊断传递流程的关键术语。 + +是否通过：通过。 + +### EV-999：`working` 全量任务收口验证 + +关联任务：`KW-000`、`KW-001` 到 `KW-013`、`KW-100` 到 `KW-112`、`KW-200` 到 `KW-211` +对标章节：`/home/meswork/kdl_work/work` 全部文档资产总体验收 +类型：全量回归、文档一致性检查 +命令： + +```bash +cd /home/meswork/kdl_work +npm run typecheck +npm test +cmake --build kdl-wasm/build-wasm -j16 +rg -n 'work[i]ng1|work/work[i]ng1|/home/meswork/kdl_work/work/work[i]ng1' working +``` + +执行环境： + +```text +Node.js v22.23.0 +npm 10.9.8 +Vitest 3.2.6 +cmake 3.22.1 +Emscripten emcc 6.0.0 +``` + +结果摘要： + +1. `npm run typecheck` 通过。 +2. `npm test` 通过，38 个测试文件共 146 个测试通过。 +3. `cmake --build kdl-wasm/build-wasm -j16` 通过。 +4. `working` 文档中旧实施目录路径已清理。 +5. 任务矩阵中 `KW-001` 到 `KW-013`、`KW-100` 到 `KW-112`、`KW-200` 到 `KW-211` 均为 `Done`。 +6. 当前 `/work` 全目录对标范围全部有对应实现、测试证据或明确的非 MVP 边界说明。 +7. 本轮最终全量回归通过，38 个测试文件共 146 个测试通过。 + 是否通过：通过。 ## 4. KDL WASM 证据 diff --git a/working/06-决策记录.md b/working/06-决策记录.md index d9d43d4..f333aec 100644 --- a/working/06-决策记录.md +++ b/working/06-决策记录.md @@ -1,35 +1,42 @@ # 06-决策记录 -版本：0.3 +版本：0.5 日期：2026-06-27 -## ADR-001：`working1` 只对标两份源文档 +## ADR-001：`working` 对标 `/work` 全部文档资产 -状态：Accepted -日期：2026-06-27 +状态：Accepted +日期：2026-06-27 关联任务：`KW-000` ### 背景 -用户要求 `/home/meswork/kdl_work/work/working1` 内实施文档完全对标： +用户要求 `/home/meswork/kdl_work/working` 内实施文档完全覆盖 `/home/meswork/kdl_work/work` 下文档的全部功能。该目录当前包含 5 份 Markdown 源文档、5 份 Mermaid `.mmd` 流程图源码和 5 份 PNG 流程图渲染资产： 1. `/home/meswork/kdl_work/work/doc/KDL_WASM计算接口设计.md` 2. `/home/meswork/kdl_work/work/doc/通用机器人编程语法规范.md` +3. `/home/meswork/kdl_work/work/doc/通用机器人离线编程虚拟控制器技术方案.md` +4. `/home/meswork/kdl_work/work/doc/通用机器人项目主要实施步骤.md` +5. `/home/meswork/kdl_work/work/doc/通用机器人项目功能与数据流程图.md` +6. `/home/meswork/kdl_work/work/doc/通用机器人项目功能与数据流程图-png/flow-01.mmd` 到 `flow-05.mmd` +7. `/home/meswork/kdl_work/work/doc/通用机器人项目功能与数据流程图-png/flow-01.png` 到 `flow-05.png` ### 决策 -`working1` 的范围只从这两份文档抽取。其他技术方案不作为本目录任务、验收和 ADR 的来源。 +`working` 的范围从上述全部文档资产抽取。KDL/GRL 已完成任务继续保留为 `KW-001` 到 `KW-013`、`KW-100` 到 `KW-112`；虚拟控制器、OPFS-like 工作区、工作台 facade、报告、品牌导入、交付包、商业扩展、多机器人/外部轴、真实控制器校验流程边界和流程图资产按 `KW-200` 到 `KW-211` 实施并验收。 ### 后果 -1. 任务分为 KDL WASM 计算接口线和 GRL 编程语法线。 -2. OPFS、UI、虚拟控制器和碰撞检测等内容不单独展开，除非两份源文档明确作为工程结构、调用关系、后处理或测试项出现。 -3. 所有 P0/P1 以两份源文档的实施优先级为准。 +1. 任务分为 KDL WASM、GRL、虚拟控制器/IO、工作区/UI、报告/品牌导入/交付、商业扩展/流程图资产六条主线。 +2. KDL/GRL P0 已完成的实现证据不被重新标记为未完成。 +3. 全目录对标任务均有任务编号、实现模块和验收证据。 +4. P0/MVP 与 P1/商业级扩展以各源文档中的实施优先级、MVP 范围和验收标准共同约束。 +5. Mermaid 源图和 PNG 渲染图作为文档资产纳入覆盖证据，不只依赖 Markdown 正文。 ## ADR-002：KDL WASM 是 GRL 的运动计算内核，不解释 GRL -状态：Accepted -日期：2026-06-27 +状态：Accepted +日期：2026-06-27 关联任务：`KW-001` 到 `KW-013`、`KW-103` 到 `KW-110` ### 背景 @@ -48,8 +55,8 @@ KDL WASM 只接收已经由 TypeScript 编译层解析完成的模型、目标 ## ADR-003：GRL AST、语义检查、IR 和 KDL request 分层实现 -状态：Accepted -日期：2026-06-27 +状态：Accepted +日期：2026-06-27 关联任务：`KW-100` 到 `KW-110` ### 背景 @@ -79,8 +86,8 @@ KDL 接口设计要求 GRL 编译器把 `movej/movel/movec` 解析为 IR 后， ## ADR-004：机器人结构以 URDF 为源数据，TypeScript 生成标准模型 -状态：Accepted -日期：2026-06-27 +状态：Accepted +日期：2026-06-27 关联任务：`KW-002` ### 背景 @@ -109,8 +116,8 @@ WASM 负责： ## ADR-005：内部统一使用 SI 单位和位置 + 四元数位姿 -状态：Accepted -日期：2026-06-27 +状态：Accepted +日期：2026-06-27 关联任务：`KW-006`、`KW-100`、`KW-102` ### 背景 @@ -133,8 +140,8 @@ GRL 支持 `mm`、`deg`、`mm/s` 等带单位字面量。KDL 接口设计要求 ## ADR-006：P0 zone 只保留语义并近似为 fine -状态：Accepted -日期：2026-06-27 +状态：Accepted +日期：2026-06-27 关联任务：`KW-008` 到 `KW-011`、`KW-111` ### 背景 @@ -153,8 +160,8 @@ P0 中 `ZoneSpec` 必须保留在 IR、KDL request、TrajectoryResult 和后处 ## ADR-007：所有 KDL API 返回结构化诊断 -状态：Accepted -日期：2026-06-27 +状态：Accepted +日期：2026-06-27 关联任务：`KW-001` 到 `KW-013` ### 背景 @@ -194,8 +201,8 @@ KDL 诊断固定包含： ## ADR-008：Worker RPC 是 KDL TypeScript API 的唯一调用入口 -状态：Accepted -日期：2026-06-27 +状态：Accepted +日期：2026-06-27 关联任务：`KW-001`、`KW-013` ### 背景 @@ -214,8 +221,8 @@ KDL 接口设计要求 KDL WASM 运行在 Worker 中，避免阻塞 UI 主线程 ## ADR-009：KDL 底层导出稳定 C ABI / Embind 包装 -状态：Accepted -日期：2026-06-27 +状态：Accepted +日期：2026-06-27 关联任务：`KW-013` ### 背景 @@ -251,8 +258,8 @@ TypeScript API 在 Worker 内包装这些函数，向上暴露 `KdlWasmApi`。 ## ADR-010：GRL P0 严格按语法规范第 24 章实现 -状态：Accepted -日期：2026-06-27 +状态：Accepted +日期：2026-06-27 关联任务：`KW-100` 到 `KW-112` ### 背景 @@ -285,8 +292,8 @@ GRL P0 必须覆盖： ## ADR-011：后处理以 GRL IR 为输入，必须保留品牌差异报告 -状态：Accepted -日期：2026-06-27 +状态：Accepted +日期：2026-06-27 关联任务：`KW-111` ### 背景 @@ -305,8 +312,8 @@ GRL 语法规范要求 GRL 可转换为 ABB RAPID、FANUC LS/TP 风格文本和 ## ADR-012：自动生成 GRL 优先生成 target/path/operation -状态：Accepted -日期：2026-06-27 +状态：Accepted +日期：2026-06-27 关联任务：`KW-112` ### 背景 @@ -329,3 +336,144 @@ GRL Generator 的默认输出为结构化对象风格： 1. 同一输入重复生成结果必须一致。 2. 生成文本必须可 diff。 3. 生成后必须能解析回等价对象和 IR。 + +## ADR-013：虚拟控制器执行统一 IR，不直接解释品牌文本 + +状态：Accepted +日期：2026-06-27 +关联任务：`KW-202`、`KW-203`、`KW-207` + +### 背景 + +虚拟控制器技术方案要求虚拟控制器支持 GRL 程序和品牌程序，但真正执行统一 IR。数据流程图也以 Executable IR 作为虚拟控制器、KDL、后处理和报告之间的中枢。 + +### 决策 + +虚拟控制器运行时只执行 `Executable IR`。GRL 先经 Lexer/Parser/Semantic Analyzer 转 IR；ABB/FANUC/KUKA 文本先经 Brand Importer 转 Brand AST，再转统一 IR。 + +### 后果 + +1. 品牌源程序行号通过 source map 和 Brand Context 保留。 +2. 品牌特有语义必须转换为等价 IR、近似 IR 或不支持诊断。 +3. 调试、报告、后处理和跨品牌转换不直接依赖品牌语法树。 + +## ADR-014：OPFS 是内部工作区，必须提供显式导入导出和快照 + +状态：Accepted +日期：2026-06-27 +关联任务：`KW-201`、`KW-205`、`KW-206` + +### 背景 + +技术方案要求使用 OPFS 保存项目，但 OPFS 是浏览器 Origin 私有文件系统，用户通常不能像普通目录一样直接看到文件。 + +### 决策 + +项目内部保存在 OPFS 的 `/projects/{projectId}` 布局中，并必须提供 `exportZip/importZip/snapshot`。客户交付包不直接等同于 OPFS 内部目录，而是由导出流程生成。 + +### 后果 + +1. 所有项目关键资源必须进入 manifest 或索引。 +2. 导出 zip 后再导入必须恢复等价项目。 +3. trace 大文件可选导出，避免项目包过大。 +4. 存储占用、迁移、损坏检测和备份属于工作区验收项。 + +## ADR-015：首版 UI 是离线编程工作台，不做营销首屏 + +状态：Accepted +日期：2026-06-27 +关联任务：`KW-205` + +### 背景 + +虚拟控制器界面设计明确界面目标是离线编程和虚拟调试，第一屏应直接进入工作台。 + +### 决策 + +首版 UI 按工作台实现，包含项目对象树、程序/路径/Operation 编辑、虚拟示教器、控制器面板、IO 面板、运动监控、日志报警、Wait 调试、报告和后处理导出入口。 + +### 后果 + +1. 不建设单独营销 landing page 作为首屏。 +2. UI 验收以工程工作流可用、状态可见、诊断可定位、数据可导出为准。 +3. Wait 卡住时必须显示表达式、关联 IO、时间、最近变化和可用调试动作。 + +## ADR-016：品牌导入首版以可读文本为边界 + +状态：Accepted +日期：2026-06-27 +关联任务：`KW-207` + +### 背景 + +技术方案要求支持 ABB RAPID、KUKA KRL、FANUC LS 或可读导出文本导入，同时明确 FANUC 二进制 TP 不能作为首版目标。 + +### 决策 + +首版 Brand Importer 支持 ABB `.mod/.sys` 文本、KUKA `.src/.dat` 文本、FANUC LS 风格文本或可读 TP 导出。导入目标是尽量恢复 target/path/program 和统一 IR，而不是完全还原真实控制器所有系统变量、工艺包和 advance run 细节。 + +### 后果 + +1. FANUC TP 二进制不进入首版验收。 +2. KUKA `$ADVANCE`、ABB 复杂错误处理、多任务和品牌工艺包以近似或不支持诊断记录。 +3. 导入报告是必需产物，不能静默丢失语义。 + +## ADR-017：报告和客户交付包是独立交付链路 + +状态：Accepted +日期：2026-06-27 +关联任务：`KW-206`、`KW-208` + +### 背景 + +技术方案要求商业级 OLP 输出可达性、碰撞、节拍、IO、后处理、校准、导入报告，并能生成客户交付包。 + +### 决策 + +报告引擎消费 IR、轨迹、诊断、trace、对象模型和 post/import report，输出稳定 JSON 和 HTML。客户交付包由专门流程生成，包含源程序、品牌程序、目标点、路径、IO map、报告、校准数据和可选 trace。 + +### 后果 + +1. 报告 JSON schema 必须稳定并可测试。 +2. 后处理导出不等于项目交付，交付包必须包含验证和诊断材料。 +3. 基础碰撞和校准可按 MVP 后续阶段逐步接入，但报告接口需预留。 + +## ADR-018：流程图资产必须和功能文档同步 + +状态：Accepted +日期：2026-06-27 +关联任务：`KW-211` + +### 背景 + +`work/doc/通用机器人项目功能与数据流程图-png` 下的 `.mmd` 文件是流程图源码，`.png` 文件是对应渲染资产。它们分别描述总体功能流程、GRL 编译执行流程、KDL 计算流程、数据传递流程和诊断传递流程。 + +### 决策 + +流程图资产作为一等文档输入。`working` 中必须能把 `flow-01` 到 `flow-05` 映射到功能章节、任务编号和验收证据。 + +### 后果 + +1. 流程图源或 PNG 变更时，任务矩阵和验收证据必须同步检查。 +2. 任一流程图没有对应任务编号时，视为覆盖缺口。 +3. UI facade、报告和端到端链路验收可直接引用流程图语义。 + +## ADR-019：商业级扩展不属于首版完成项，但必须有任务归属 + +状态：Accepted +日期：2026-06-27 +关联任务：`KW-208`、`KW-209`、`KW-210` + +### 背景 + +技术方案包含商业级 OLP、虚拟调试增强、碰撞、校准、Sim-to-Real、多机器人、外部轴和真实控制器校验流程。这些能力不都属于首版 MVP，但属于 `/work` 文档功能范围。 + +### 决策 + +这些能力不得从 `working` 中省略。已完成对象模型、报告/交付链路、基础碰撞、校准、调试 facade、多机器人/外部轴 schema 和真实控制器校验流程边界；真实控制器通信、完整 CAD kernel、高精度轨迹复现仍作为非 MVP 边界明确记录。 + +### 后果 + +1. MVP 验收不会误承诺完整碰撞检测、完整 CAD kernel、真实控制器通信或高精度轨迹复现。 +2. 商业级功能已有任务编号、文档依据和 MVP 验收口径。 +3. 后续若扩展真实设备接入，可在 `KW-210` 边界上新增独立任务，不改变当前 MVP 完成状态。 diff --git a/working/README.md b/working/README.md index d8bf4da..9cbca18 100644 --- a/working/README.md +++ b/working/README.md @@ -1,21 +1,28 @@ -# working1 实施文档索引 +# working 实施文档索引 -版本：0.3 +版本：0.5 日期：2026-06-27 -主题：GRL 编程语法规范与 KDL WASM 计算接口设计的对标实施方案。 +主题：通用机器人离线编程、GRL、KDL WASM、虚拟控制器与工程交付的全目录对标实施方案。 ## 1. 文档依据 -本目录只对标以下两份文档： +本目录对标 `/home/meswork/kdl_work/work` 下的全部文档资产，包括 Markdown 正文、Mermaid 流程图源码和 PNG 流程图： 1. `/home/meswork/kdl_work/work/doc/通用机器人编程语法规范.md` 2. `/home/meswork/kdl_work/work/doc/KDL_WASM计算接口设计.md` - -OPFS、虚拟控制器、UI、报告等内容只在上述两份文档明确要求的接口边界、编译调用关系或测试场景中出现。 +3. `/home/meswork/kdl_work/work/doc/通用机器人离线编程虚拟控制器技术方案.md` +4. `/home/meswork/kdl_work/work/doc/通用机器人项目主要实施步骤.md` +5. `/home/meswork/kdl_work/work/doc/通用机器人项目功能与数据流程图.md` +6. `/home/meswork/kdl_work/work/doc/通用机器人项目功能与数据流程图-png/flow-01.mmd` +7. `/home/meswork/kdl_work/work/doc/通用机器人项目功能与数据流程图-png/flow-02.mmd` +8. `/home/meswork/kdl_work/work/doc/通用机器人项目功能与数据流程图-png/flow-03.mmd` +9. `/home/meswork/kdl_work/work/doc/通用机器人项目功能与数据流程图-png/flow-04.mmd` +10. `/home/meswork/kdl_work/work/doc/通用机器人项目功能与数据流程图-png/flow-05.mmd` +11. 对应 `flow-01.png` 到 `flow-05.png` 作为流程图渲染资产。 ## 2. 对标主线 -`working1` 的实施主线分为两条： +`working` 的实施主线分为五条： 1. GRL 语言实施 - 词法、单位、保留关键字。 @@ -44,26 +51,49 @@ OPFS、虚拟控制器、UI、报告等内容只在上述两份文档明确要 - 节拍估算、重采样、结构化诊断。 - C ABI / Embind 暴露和性能优化。 +3. 虚拟控制器与运行时实施 + - 控制器状态机、程序加载、运行、暂停、停止、单步。 + - Program Counter、Call Stack、Scope Stack、Motion Queue。 + - IO Image、Wait Registry、Alarm Queue、Trace Buffer。 + - `run_path/run_operation` 执行、wait timeout、pulse、边沿检测。 + - 断点、source map 联动和虚拟调试体验。 + +4. OLP 工作台、工作区和交付实施 + - Station、Resource、Robot、Tool、Frame、Target、Path、Operation、Program 对象模型。 + - OPFS workspace、project manifest、zip 导入导出和备份。 + - Web 工作台、对象树、编辑器、控制器面板、IO 面板、报告页面。 + - 资源库、几何导入、路径生成、工艺模板、校准数据。 + - 客户交付包、报告导出和品牌程序导入。 + +5. 数据流、集成流程和验收实施 + - GRL 编译与执行流程。 + - KDL WASM 计算流程。 + - 项目资源、编译层、KDL Worker、虚拟控制器、后处理和报告的数据传递。 + - 诊断 severity/source map 传递。 + - 项目主要实施步骤和 MVP/商业级验收标准。 + - Mermaid 源图和 PNG 流程图资产同步。 + ## 3. 文档入口 | 文件 | 用途 | | --- | --- | -| `01-项目功能内容.md` | 两份规范的功能范围、P0/P1 边界、模块职责和验收口径。 | -| `02-项目程序开发详细步骤.md` | 按 GRL 和 KDL WASM 对标项拆解可执行开发步骤。 | +| `01-项目功能内容.md` | 五份源文档的功能范围、P0/P1/MVP 边界、模块职责和验收口径。 | +| `02-项目程序开发详细步骤.md` | 按 KDL、GRL、虚拟控制器、OPFS/UI、报告和交付拆解可执行开发步骤。 | | `03-推进台账.md` | 记录每轮修改、验证、风险和下一步。 | | `04-任务矩阵.md` | 管理任务编号、状态、依赖和验收标准。 | | `05-验收证据.md` | 保存测试命令、报告路径、产物和结果摘要。 | -| `06-决策记录.md` | 固化两份规范中影响实施的关键设计决策。 | +| `06-决策记录.md` | 固化五份源文档中影响实施的关键设计决策。 | ## 4. 推进规则 1. 所有任务编号统一使用 `KW-###`。 2. `KW-001` 到 `KW-099` 对标 KDL WASM 计算接口设计。 3. `KW-100` 到 `KW-199` 对标 GRL 编程语法规范。 -4. 每个 P0 项必须能映射回源文档对应章节。 -5. 任务完成必须补充 `05-验收证据.md`。 -6. 任何 P1 内容不得阻塞 P0 验收，除非源文档明确将其列为 P0。 +4. `KW-200` 到 `KW-299` 对标虚拟控制器、OPFS 工作区、Web 工作台、报告、品牌导入、客户交付包、商业级 OLP 扩展和流程图资产。 +5. 每个 P0/MVP 项必须能映射回源文档对应章节。 +6. 任务完成必须补充 `05-验收证据.md`。 +7. 任何 P1/商业级扩展不得阻塞 P0/MVP 验收，除非源文档明确将其列为首版范围。 -## 5. 当前首要任务 +## 5. 当前状态 -`KW-001` 到 `KW-013`、`KW-100` 到 `KW-112` 的文档对标任务已完成并补充验收证据。C ABI 已能从 `NormalizedRobotModel` 构造 native Orocos KDL Chain，并完成 native FK、fkAllLinks、Jacobian、IK 和 sampleTrap golden 对比；高层 `planMoveJ/planMoveL/planMoveC/planPath` 仍由 TypeScript runtime 基线承载，后续若继续深化 native 主线，首要关注点是把这些轨迹规划导出逐步切到 native solver。 +`KW-001` 到 `KW-013`、`KW-100` 到 `KW-112`、`KW-200` 到 `KW-211` 均已完成并补充验收证据。当前实现覆盖 KDL/GRL、OLP 对象模型、Workspace、虚拟控制器、Motion Queue、IO/Wait、工作台 facade、报告/客户交付包、三品牌导入、几何/碰撞/校准、多机器人/外部轴对象模型、真实控制器校验流程边界和流程图资产同步检查。 diff --git a/working1/01-项目功能内容.md b/working1/01-项目功能内容.md new file mode 100644 index 0000000..b742741 --- /dev/null +++ b/working1/01-项目功能内容.md @@ -0,0 +1,405 @@ +# 01-项目功能内容 + +版本：0.1 +日期：2026-06-27 + +## 1. 总体需求 + +以 ABB IRB120 3/58 的 URDF fixture 为真实 6 轴工业机器人基准，构建一套端到端全面测试能力： + +1. 编写通用机器人语言 GRL 测试程序，覆盖运动、路径、IO、等待、工艺、报警和异常。 +2. 在项目运行时加载 ABB120 URDF，执行 FK、IK、Jacobian、限位、轨迹规划、虚拟控制器运行和调试。 +3. 将同一 GRL/IR 输出为 ABB RAPID、FANUC LS 风格和 KUKA KRL 风格程序，并生成转换报告。 +4. 建立离线编程全面测试，包括资源建模、路径生成、可达性、节拍、碰撞、IO/Wait、品牌导入导出、报告和客户交付包。 +5. 用 HTML 实现本项目虚拟控制器界面，对标 ABB RobotStudio 的 Station、Controller、RAPID、Simulation、Virtual FlexPendant 等工作流。 +6. 补齐 GRL 运算表达式能力，覆盖 ABB、FANUC、KUKA 三类机器人语言共同具备的算术、比较、逻辑和常用数学函数，并能在运动参数编译期求值。 + +## 2. ABB120 URDF 基准 + +基准机器人来自 `/home/meswork/kdl_work/kdl-wasm/web/tests/fixtures/abbIrb120.ts` 中的 `ABB_IRB120_3_58_URDF`。 + +| 项 | 值 | +| --- | --- | +| robotId | `abb_irb120_3_58` | +| baseLink | `base_link` | +| tipLink | `tool0` | +| DOF | 6 | +| active joints | `joint_1` 到 `joint_6` | +| fixed links | `base`、`flange`、`tool0` | +| URDF 来源 | ROS-Industrial ABB IRB120 3/58 xacro 派生，当前 fixture 省略 mesh、material、inertial、xacro-only 元素 | + +关节限位以 fixture 为准： + +| 关节 | lower rad | upper rad | velocity rad/s | +| --- | ---: | ---: | ---: | +| `joint_1` | -2.87979 | 2.87979 | 4.36332 | +| `joint_2` | -1.91986 | 1.91986 | 4.36332 | +| `joint_3` | -1.91986 | 1.22173 | 4.36332 | +| `joint_4` | -2.79253 | 2.79253 | 5.58505 | +| `joint_5` | -2.094395 | 2.094395 | 5.58505 | +| `joint_6` | -6.98132 | 6.98132 | 7.33038 | + +标准测试关节位： + +| 名称 | rad | +| --- | --- | +| `home` | `[0, 0, 0, 0, 0, 0]` | +| `pick` | `[0.2, -0.35, 0.45, 0.1, -0.2, 0.3]` | +| `place` | `[-0.35, -0.25, 0.35, -0.25, 0.15, -0.4]` | +| `approach` | `[0, -0.4, 0.5, 0, 0.2, 0]` | + +## 3. 通用机器人测试程序集 + +测试程序以 GRL 为主，命名建议为 `A120_XX_*.grl`。所有程序必须能解析为 AST、编译为 Semantic IR、进入 KDL bridge，并保留 source map。 + +### 3.1 `A120_00_Smoke.grl` + +目标：最小链路冒烟测试。 + +覆盖点： + +1. 语言头、module、speed、zone、target。 +2. `movej home`。 +3. FK、限位检查、轨迹规划和 ABB 后处理。 + +验收：程序运行完成，无 error diagnostic；ABB/FANUC/KUKA 输出均非空。 + +### 3.2 `A120_10_JointPickPlace.grl` + +目标：关节空间 pick/place 主流程。 + +基准程序： + +```grl +language grl 0.1 +module A120JointPickPlace + const speed v_fast = joint(40 %) + const speed v_slow = joint(20 %) + const zone z10 = z(10 mm) + + target home = joint_target { joints: [0 deg, 0 deg, 0 deg, 0 deg, 0 deg, 0 deg] } + target approach = joint_target { joints: [0 deg, -22.918312 deg, 28.647890 deg, 0 deg, 11.459156 deg, 0 deg] } + target pick = joint_target { joints: [11.459156 deg, -20.053523 deg, 25.783101 deg, 5.729578 deg, -11.459156 deg, 17.188734 deg] } + target place = joint_target { joints: [-20.053523 deg, -14.323945 deg, 20.053523 deg, -14.323945 deg, 8.594367 deg, -22.918312 deg] } + + path pick_place { + defaults { speed: v_fast, zone: z10 } + point p_home movej home zone fine + point p_approach movej approach + event before p_pick io.do[1] = true + point p_pick movej pick speed v_slow zone fine + point p_place movej place + event after p_place io.do[1] = false + } + + proc main() + run_path pick_place + end +end +``` + +验收：`planPath` 产生 4 段 MOVEJ，终点关节等于 `place`，IO 事件进入 trace。 + +### 3.3 `A120_20_CartesianBlend.grl` + +目标：笛卡尔运动和 blend 规则测试。 + +覆盖点： + +1. 由 `home/pick/place` FK 自动生成 reachable pose targets。 +2. `movel` 接近点、工件点和离开点。 +3. `movec` 中间点和终点。 +4. `zone fine` 与 `z(10 mm)` 对比。 + +验收：每个 pose target 通过 IK；笛卡尔段输出最大 TCP 直线误差和圆弧误差。 + +### 3.4 `A120_30_IOWaitPulse.grl` + +目标：IO、等待、脉冲和 timeout。 + +覆盖点： + +1. `io.do[n] = true/false`。 +2. `wait io.di[n] == true timeout 2 s`。 +3. `pulse io.do[n] duration 100 ms`。 +4. timeout 后 alarm 或 fallback path。 +5. IO script 驱动 DI 上升沿、下降沿和 changed。 + +验收：虚拟控制器可显示 wait 表达式、已等待时间、剩余 timeout、相关 IO 最近变化和脚本状态。 + +### 3.5 `A120_40_ErrorDiagnostics.grl` + +目标：故障路径和诊断稳定性。 + +覆盖点： + +1. 超出关节限位目标。 +2. 明确不可达 pose target。 +3. 奇异姿态或接近奇异姿态。 +4. 未定义 target/path/operation。 +5. wait timeout。 + +验收：每类故障都有稳定 code、severity、source map 和报告条目。 + +### 3.6 `A120_50_OperationProcess.grl` + +目标：工艺 operation 和离线编程对象闭环。 + +覆盖点： + +1. `path`、`operation`、`run_operation`。 +2. start/end action，如夹爪、吹气、扫码、视觉等待。 +3. 工艺参数进入报告和交付包。 +4. OLP 对象模型可反向生成 GRL。 + +验收：`operation` 展开为 action + path + action，报告包含工艺步骤、节拍和 IO 事件。 + +## 4. GRL 运算功能需求 + +目标：将“运算功能”作为 GRL 语言和语义基础能力补齐，而不是只让 parser 能读。首版按 ABB RAPID、FANUC LS/KAREL、KUKA KRL 的公共数学子集建模，保证同一 GRL 程序可以稳定编译到统一 IR，再由后处理器输出三品牌程序。 + +### 4.1 语法范围 + +GRL 表达式必须支持： + +1. 算术：一元 `+`、一元 `-`、`+`、`-`、`*`、`/`、`mod`。 +2. 比较：`==`、`!=`、`<`、`<=`、`>`、`>=`。 +3. 逻辑：`and`、`or`、`not`，可兼容 `&&`、`||`、`!` 作为输入别名，IR 中统一为 GRL 关键字。 +4. 括号：`(...)` 明确优先级。 +5. 函数调用：沿用当前 `callee(args...)` 形式。 +6. 现有结构表达式：array、object、call、identifier、offset 表达式必须继续兼容。 + +优先级从高到低： + +| 层级 | 运算 | +| --- | --- | +| 1 | 函数调用、对象、数组、括号、offset | +| 2 | 一元 `+`、`-`、`not`、`!` | +| 3 | `*`、`/`、`mod` | +| 4 | `+`、`-` | +| 5 | `<`、`<=`、`>`、`>=` | +| 6 | `==`、`!=` | +| 7 | `and`、`&&` | +| 8 | `or`、`||` | + +### 4.2 函数和常量 + +首版内置常量： + +| 名称 | 含义 | +| --- | --- | +| `pi` | 圆周率 | +| `e` | 自然常数 | + +首版内置函数： + +| 类别 | 函数 | +| --- | --- | +| 三角函数 | `sin`、`cos`、`tan`、`asin`、`acos`、`atan`、`atan2` | +| 数值函数 | `sqrt`、`abs`、`pow`、`min`、`max`、`clamp`、`floor`、`ceil`、`round` | + +三角函数语义： + +1. `sin/cos/tan` 接收角度量；带 `deg` 或 `rad` 单位时归一化为弧度，纯数按弧度处理。 +2. `asin/acos/atan/atan2` 返回角度量；在 `pose(...)` 姿态项或 `joint_target.joints` 等角度上下文中可直接使用。 +3. 函数必须做定义域检查，例如 `sqrt(-1)`、`acos(2)` 必须产生 diagnostic。 + +### 4.3 编译期求值位置 + +常量表达式必须在编译阶段求值，并把结果写入 Semantic IR / KDL request，而不是把表达式字符串传到运动规划层。 + +必须支持的求值位置： + +1. 数据声明 initializer：`const`、`persistent`、需要静态初值的 `var`。 +2. `speed`：`linear(...)`、`joint(...)`、`acc ...` 参数。 +3. `zone`：`fine`、`z(...)`、`cnt(...)`。 +4. `pose(...)`、`poseq(...)`、`robot_config(...)`。 +5. `joint_target { joints: [...] }`。 +6. `pose_target { pose: ... }`。 +7. `tool { tcp: ..., mass: ... }`。 +8. `frame { origin: ... }`。 +9. path defaults/source 属性。 +10. path point 内联 `speed`、`zone`、`tool`、`frame`、`via`、`target` 参数。 +11. path event 的 `distance`。 +12. `wait ... timeout ...` 和 `pulse ... duration ...` 中的时间常量。 +13. operation process 中需要数值常量的工艺参数。 + +比较和逻辑表达式也必须进入 AST。纯常量比较/逻辑可在编译期折叠；依赖 IO、变量或运行态状态的条件先保留为结构化控制表达式，供虚拟控制器和后续品牌映射使用。 + +### 4.4 单位和数值语义 + +数值求值采用统一 SI 归一化： + +| GRL 输入 | IR/KDL 归一化 | +| --- | --- | +| `mm` | m | +| `mm/s` | m/s | +| `mm/s2` | m/s2 | +| `deg` | rad | +| `rad` | rad | +| `%` | 0 到 1 的比例 | +| `s` | s | +| `ms` | s | +| `kg` | kg | + +规则： + +1. 同维度数值可以相加、相减，结果保留该维度并归一化。 +2. 纯数可以参与乘除；维度乘除首版只允许编译器明确支持的上下文，避免产生复杂复合单位。 +3. 不同维度相加或比较必须报错，例如 `10 mm + 2 s`。 +4. 构造器可以提供默认上下文单位：`linear(...)` 默认 `mm/s`，`z(...)` 默认 `mm`，`pose(...)` 前三项默认 `mm`、后三项默认 `deg`，`joint_target.joints` 默认 `deg`，`duration/timeout` 默认 `s`。 +5. 因此 `linear(100 + 50 mm/s)` 在 `linear` 速度上下文中等价于 `linear(150 mm/s)`；推荐生成器输出时使用显式单位，减少人工歧义。 + +### 4.5 示例 + +```grl +language grl 0.1 +module MathMotion + const num blend_base = 5 + 5 + const speed v_pick = linear(100 + 50 mm/s) + const speed v_safe = linear(max(50 mm/s, 200 mm/s / 2)) + const zone z_app = z(clamp(blend_base mm, 1 mm, 50 mm)) + + target home = joint_target { + joints: [0 deg, (10 + 5) deg, -90 deg, 0 deg, 0 deg, 0 deg] + } + target pick = pose_target { + pose: pose(400 + 50 mm, 20 * 2 mm, sqrt(90000) mm, 0 deg, 0 deg, atan2(1, 1)) + } + + path main_path { + defaults { speed: v_pick, zone: z_app } + point p0 movej home speed linear(100 + 50 mm/s) zone z(clamp(8 mm, 1 mm, 20 mm)) + point p1 movel pick + } +end +``` + +编译期结果要求： + +1. `v_pick` 进入 IR 后为 `linear`，速度 `0.15 m/s`。 +2. `z_app` 进入 IR 后为 `distance`，距离 `0.01 m`。 +3. `home.joints[1]` 进入 IR 后为 `15 deg` 对应的弧度值。 +4. `pick.pose.position[0]` 进入 IR 后为 `0.45 m`。 +5. path point 内联 speed/zone 同样求值后进入 KDL request。 + +### 4.6 诊断需求 + +运算功能必须输出稳定 diagnostic： + +| code | 场景 | +| --- | --- | +| `GRL_EXPR_PARSE` | 表达式语法错误或括号不匹配。 | +| `GRL_EXPR_UNKNOWN_SYMBOL` | 常量求值遇到未知标识符。 | +| `GRL_EXPR_UNKNOWN_FUNCTION` | 未知函数。 | +| `GRL_EXPR_ARITY` | 函数参数数量错误。 | +| `GRL_EXPR_DOMAIN` | 数学定义域错误。 | +| `GRL_EXPR_DIV_ZERO` | 除零。 | +| `GRL_EXPR_UNIT_MISMATCH` | 单位维度不兼容。 | +| `GRL_EXPR_NON_CONSTANT` | 需要常量的位置出现运行时表达式。 | +| `GRL_EXPR_UNSUPPORTED_RUNTIME` | 后续品牌映射暂不支持的复杂运行时表达式。 | + +每个 diagnostic 必须包含 severity、message、source range，并能通过 source map 定位到 GRL 源文件行列。 + +### 4.7 跨品牌边界 + +首版跨品牌输出不直接翻译复杂表达式字符串，而是优先输出编译期折叠后的常量： + +1. `linear(100 + 50 mm/s)` 输出为各品牌可表达的具体速度值。 +2. `z(clamp(...))` 输出为具体 ABB zone、FANUC CNT 或 KUKA 近似 blend。 +3. runtime 条件表达式如果后处理器无法保真映射，必须进入转换报告，不得静默丢失。 +4. 品牌专用数学函数或控制器变量不作为首版目标，后续通过 post/import report 增量支持。 + +## 5. 程序运行需求 + +运行器必须支持以下流程： + +1. 加载 ABB120 URDF fixture，生成 `NormalizedRobotModel` 和 RobotHandle。 +2. 编译 GRL：Lexer、Parser、Semantic Analyzer、IR、source map。 +3. 对每个 target/path/operation 生成 KDL request。 +4. 执行 KDL：FK、fkAllLinks、Jacobian、IK、limit、singularity、planMoveJ、planMoveL、planMoveC、planPath、validatePath。 +5. 执行虚拟控制器：load、run、pause、step、stop、reset、breakpoint、motion queue、IO、wait、pulse、trace。 +6. 输出结构化 job：`job_id`、输入文件、运行参数、诊断、轨迹、trace、报告、截图路径。 + +## 6. 跨品牌程序转换需求 + +同一 Semantic IR 必须输出： + +| 品牌 | 输出文件 | 核心指令 | +| --- | --- | --- | +| ABB | `.mod` | `MoveJ`、`MoveL`、`MoveC`、`SetDO`、`WaitUntil`、`PulseDO` | +| FANUC | `.ls` | `J`、`L`、`C`、`DO[]`、`WAIT`、`PULSE` | +| KUKA | `.src`，必要时 `.dat` | `PTP`、`LIN`、`CIRC`、`$OUT[]`、`WAIT FOR` | + +转换报告必须记录： + +1. 速度、zone、tool、frame 映射。 +2. 近似语义，如 ABB zone 到 FANUC CNT、KUKA C_DIS。 +3. 不支持语义，如复杂 trap、多任务、品牌专用工艺包。 +4. source map：GRL 行列、path point、operation、品牌输出行号。 +5. 回读校验：品牌文本重新导入后，target/path/motion 顺序与原 IR 等价或输出差异报告。 + +## 7. 离线编程全面测试需求 + +全面测试必须覆盖： + +1. 项目建模：Station、Robot、Tool、Frame、Target、Path、Operation、Program、Report。 +2. 工作区：OPFS-like 保存、bundle 导入导出、损坏检测、迁移。 +3. 几何和路径：点、边、曲线生成 Path；路径采样和姿态策略。 +4. 可达性：单点、批量、路径段、operation。 +5. 轨迹：节拍、速度、加速度、采样、重采样、blend 近似。 +6. 碰撞：机器人自身、工具、工件、夹具、禁入区的基础碰撞时间点。 +7. IO/Wait：脚本、timeout、边沿、trace、报告。 +8. 品牌链路：GRL 到三品牌、三品牌导入、交叉品牌再导出。 +9. 客户交付：源程序、品牌程序、IO map、校准数据、报告 HTML/PDF、trace、截图。 +10. 自动化证据：命令输出、job JSON、report JSON、HTML 页面、截图、PDF。 + +## 8. HTML 虚拟控制器需求 + +### 8.1 对标范围 + +对标 ABB RobotStudio 的工作方式，而不是复制视觉资产。公开参考资料包括 ABB RobotStudio Suite 官方页面和 RobotStudio Operating Manual 2026.2。参考点： + +1. Station / Graphics：机器人、工具、工件、路径和碰撞对象。 +2. Controller：虚拟控制器状态、RobotWare/robot model 信息、权限和运行控制。 +3. RAPID / Program Editor：程序树、模块、当前行、诊断、断点。 +4. Simulation：播放、暂停、单步、重置、速度倍率、时间轴。 +5. Virtual FlexPendant：模式、Motors On、PP to Main、Start、Stop、Hold、Jog、IO、Alarms。 + +### 8.2 页面信息架构 + +首屏必须直接进入工程工作台，不做营销页。 + +建议 HTML 布局： + +1. 顶部命令栏：项目、导入、保存、运行、暂停、停止、单步、导出报告。 +2. 左侧对象树：Station、Robot、Tool、Frame、Target、Path、Operation、Program、Reports。 +3. 中央工作区：3D/2D station viewport、路径轨迹、机器人姿态、碰撞和选中对象。 +4. 右侧虚拟示教器：状态灯、模式、关节/TCP、Jog、速度倍率、程序指针、报警。 +5. 底部面板：日志、诊断、IO、Wait、Motion Queue、Trace、报告。 +6. 编辑区：GRL/RAPID/FANUC/KUKA 多标签查看，source map 双向定位。 + +### 8.3 交互需求 + +1. 加载 ABB120 测试项目后，页面显示机器人模型、程序树和默认 `main` 程序。 +2. 点击 Run 后，虚拟控制器状态变化，程序指针、motion queue、IO trace 和时间轴同步更新。 +3. 点击 Step 时执行单条 IR 指令。 +4. 点击 path point 时，编辑器跳转 GRL source map，3D/2D viewport 高亮目标。 +5. wait 卡住时，右侧面板显示 wait 条件、当前子表达式值、相关 IO 最近变化、timeout 倒计时和手动置位动作。 +6. 后处理导出后，ABB/FANUC/KUKA 代码可在标签页查看并下载。 +7. 报告页可打开 HTML 报告，并能导出 PDF 或打印。 + +### 8.4 技术边界 + +1. 首版可以是 HTML + CSS + TypeScript 的静态工作台页面，接入现有 facade 和 runtime。 +2. 3D 视图可先使用简化连杆模型；如果引入 Three.js，应验证桌面和移动视口截图非空、机器人正确入框。 +3. 不承诺复刻 ABB RobotStudio 的真实 RobotWare、完整 RAPID 解释器、真实安全系统、真实控制器通信。 +4. 不复制 ABB 商标、图标、界面皮肤或专有资源。 + +## 9. 非目标 + +1. 不以 FANUC 二进制 TP 为首版输入。 +2. 不实现完整 CAD kernel。 +3. 不实现品牌控制器 look-ahead 完全复刻。 +4. 不将浏览器虚拟控制器声明为真实机器人安全控制器。 +5. 不绕过 ABB、FANUC、KUKA 的真实控制器安全、权限和认证流程。 diff --git a/working1/02-项目程序开发详细步骤.md b/working1/02-项目程序开发详细步骤.md new file mode 100644 index 0000000..027c3f5 --- /dev/null +++ b/working1/02-项目程序开发详细步骤.md @@ -0,0 +1,403 @@ +# 02-项目程序开发详细步骤 + +版本：0.1 +日期：2026-06-27 + +## 1. 开发原则 + +1. 先把 ABB120 fixture、测试程序、运行器和报告数据模型稳定下来，再扩展 UI。 +2. 每个任务必须有自动化测试或可复核证据。 +3. 运行链路以统一 GRL/IR 为中心，品牌程序只作为输入输出格式。 +4. HTML 虚拟控制器先接入现有 runtime/facade，避免在 UI 中重复实现业务逻辑。 +5. 对标 ABB RobotStudio 的工程流程，不复制视觉资产和品牌资源。 +6. GRL 运算功能必须贯穿 parser、AST、常量求值、语义编译和 motion/path 编译，不接受只解析不求值的半成品。 + +## 2. 阶段 0：基准资产整理 + +### A120-001：固化 ABB120 URDF fixture + +步骤： + +1. 将 `ABB_IRB120_3_58_URDF` 从测试 fixture 抽成可复用项目 fixture，或建立明确导出入口。 +2. 保留来源记录：ROS-Industrial repository、branch、entrypoint、macro。 +3. 增加 fixture 校验：base/tip、DOF、joint names、joint limits、fixed links。 +4. 生成 `abb120.robot.json`，包含 URDF、load options、标准关节位和测试元数据。 + +验收： + +1. `loadRobotFromUrdf` 能加载 ABB120。 +2. `getRobotInfo` 输出 6 轴链。 +3. 限位和标准关节位在范围内。 + +### A120-002：建立测试目录结构 + +建议新增： + +```text +kdl-wasm/web/tests/fixtures/abb120/ + abb120.robot.ts + programs/ + A120_00_Smoke.grl + A120_10_JointPickPlace.grl + A120_20_CartesianBlend.grl + A120_30_IOWaitPulse.grl + A120_40_ErrorDiagnostics.grl + A120_50_OperationProcess.grl + expected/ + abb/ + fanuc/ + kuka/ + reports/ +``` + +验收：测试能通过稳定路径读取所有 fixture。 + +## 3. 阶段 1：GRL 运算表达式基础 + +### GRL-EXPR-001：表达式 AST 扩展 + +当前相关文件： + +1. `kdl-wasm/web/src/grl/ast/ast.ts` +2. `kdl-wasm/web/src/grl/parser/expressionParser.ts` +3. `kdl-wasm/web/src/grl/parser/parser.ts` +4. `kdl-wasm/web/src/grl/semantic/compileData.ts` +5. `kdl-wasm/web/src/grl/semantic/compileMotion.ts` + +步骤： + +1. 在 AST 中新增 `UnaryExpression`、`BinaryExpression`、必要时新增 `LogicalExpression` 或统一二元节点。 +2. 保留现有 `NumberLiteral`、`BooleanLiteral`、`StringLiteral`、`IdentifierExpression`、`CallExpression`、`ArrayExpression`、`ObjectExpression`、`OffsetExpression`。 +3. 节点必须保留 source range，方便 diagnostic 和 source map。 +4. 兼容当前 `linear(300 mm/s)`、`pose(...)`、`joint_target {...}`、`offset` 语法。 + +验收： + +1. AST snapshot 能显示 `1 + 2 * 3` 的优先级树。 +2. `-(10 mm)`、`not (a == b)`、`sin(30 deg)` source range 稳定。 +3. 当前 parser 测试不回退。 + +### GRL-EXPR-002：表达式 parser 优先级 + +步骤： + +1. 将 `expressionParser.ts` 从当前 primary/offset 解析扩展为递归下降或 Pratt parser。 +2. 支持 `+ - * / mod`、比较、逻辑、括号、一元运算。 +3. 函数调用参数内部允许完整表达式，例如 `linear(100 + 50 mm/s)`。 +4. array/object 属性值允许完整表达式，例如 `joints: [(10 + 5) deg, -90 deg]`。 +5. offset 轴值允许常量表达式，例如 `offset z (5 + 5) mm`，并在语义阶段求值。 + +验收： + +1. `linear(100 + 50 mm/s)` 可 parse。 +2. `pose(400 + 50 mm, 20 * 2 mm, sqrt(90000) mm, 0 deg, 0 deg, atan2(1, 1))` 可 parse。 +3. `wait io.di[1] == true and not io.di[2] timeout 1 + 1 s` 的条件和 timeout 均可保留 source range。 +4. 非法表达式输出 `GRL_EXPR_PARSE` 或现有 parse error，并定位行列。 + +### GRL-EXPR-003：常量求值器和单位系统 + +建议新增： + +```text +kdl-wasm/web/src/grl/semantic/constantExpression.ts +kdl-wasm/web/tests/grl/expressionCompile.test.ts +``` + +步骤： + +1. 实现 `evaluateConstantExpression(expression, context)`。 +2. context 提供符号表、期望单位维度、默认单位和 diagnostic sink。 +3. 支持 `pi`、`e`。 +4. 支持 `sin/cos/tan/asin/acos/atan/atan2/sqrt/abs/pow/min/max/clamp/floor/ceil/round`。 +5. 支持 `mm/mm/s/mm/s2/deg/rad/%/s/ms/kg` 归一化。 +6. 做除零、函数定义域、单位不兼容、未知符号、未知函数和非常量表达式诊断。 + +验收： + +1. `100 + 50 mm/s` 在速度上下文求值为 `0.15 m/s`。 +2. `(10 + 5) deg` 在角度上下文求值为 `0.261799... rad`。 +3. `clamp(20 mm, 1 mm, 10 mm)` 求值为 `0.01 m`。 +4. `sqrt(-1)` 输出 `GRL_EXPR_DOMAIN`。 +5. `10 mm + 2 s` 输出 `GRL_EXPR_UNIT_MISMATCH`。 + +### GRL-EXPR-004：数据声明和 target 编译接入 + +步骤： + +1. 在 `compileData.ts` 中把原来只接受 `NumberLiteral` 的位置改为常量表达式求值。 +2. 覆盖 `tool.tcp`、`tool.mass`、`frame.origin`、`speed`、`zone`。 +3. 覆盖 `joint_target.joints`、`pose_target.pose`、`poseq`、`robot_config`。 +4. 变量引用只允许引用已知 const/persistent 常量或已编译数据符号；需要静态值的位置遇到运行态变量报 `GRL_EXPR_NON_CONSTANT`。 + +验收： + +1. `const speed v = linear(100 + 50 mm/s)` 编译为 `0.15 m/s`。 +2. `const zone z = z(max(5 mm, 10 mm))` 编译为 `0.01 m`。 +3. `target home = joint_target { joints: [(10 + 5) deg, -90 deg] }` 编译为弧度数组。 +4. `target pick = pose_target { pose: pose(400 + 50 mm, 0 mm, sqrt(90000) mm, 0 deg, 0 deg, atan2(1, 1)) }` 编译通过。 + +### GRL-EXPR-005：motion/path/IO 编译接入 + +步骤： + +1. 在 `compileMotion.ts` 中把内联 `speed`、`zone`、path defaults/source 属性改为常量表达式求值。 +2. path point 的 `via`、`target`、`tool`、`frame` 若使用内联结构表达式，必须支持内部数值表达式。 +3. path event `distance` 支持表达式。 +4. IO/wait/pulse 中的 `timeout`、`duration` 支持表达式，归一化为秒。 +5. runtime 条件中的比较/逻辑表达式至少保留结构化 AST 或稳定文本，并能在虚拟控制器 trace 中显示。 + +验收： + +1. `point p0 movej home speed linear(100 + 50 mm/s) zone z(5 + 5 mm)` 编译到 KDL request。 +2. `event at p0 distance 5 + 5 mm ...` 编译为 `0.01 m`。 +3. `wait io.di[1] == true timeout 1 + 1 s` timeout 为 `2 s`。 +4. `pulse io.do[1] duration 50 + 50 ms` duration 为 `0.1 s`。 + +### GRL-EXPR-006：三品牌后处理和报告边界 + +步骤： + +1. 后处理器优先使用已求值 IR，不输出未折叠常量表达式。 +2. ABB/FANUC/KUKA 输出速度、zone、pose、joint 值时，使用各品牌可接受的具体数值。 +3. runtime 条件表达式如无法保真输出，转换报告记录 `GRL_EXPR_UNSUPPORTED_RUNTIME`。 +4. roundtrip report 标注表达式已折叠，回读结果以数值等价为准。 + +验收： + +1. `linear(100 + 50 mm/s)` 在 ABB/FANUC/KUKA 输出中体现为具体速度。 +2. `z(clamp(...))` 输出具体 zone/CNT/C_DIS 近似，并在 report 记录近似。 +3. 后处理 report 不允许静默丢失 runtime 逻辑表达式。 + +## 4. 阶段 2：通用机器人测试程序 + +### A120-010：编写 GRL 程序集 + +步骤： + +1. 按 `01-项目功能内容.md` 第 3 章创建 6 个 GRL 程序。 +2. 每个程序声明 `module`、`speed`、`zone`、`tool/frame` 需求和 source metadata。 +3. 关节目标使用 fixture 标准关节位。 +4. pose 目标由 FK 自动生成，避免手写不可达姿态误判。 +5. 故障程序单独放入 error suite，不进入 happy path 汇总。 + +验收： + +1. 所有 happy path 程序可 parse。 +2. error suite 输出稳定 diagnostic。 +3. source map 覆盖每个 motion、wait、io、operation。 + +### A120-011：建立程序 golden snapshot + +步骤： + +1. 保存 AST snapshot。 +2. 保存 Semantic IR snapshot。 +3. 保存 KDL bridge request snapshot。 +4. 保存 source map snapshot。 + +验收：同一输入重复生成一致；非预期 diff 会导致测试失败。 + +## 5. 阶段 3：运行器和 KDL 全面测试 + +### A120-030：ABB120 KDL 基线测试 + +步骤： + +1. 加载 ABB120 URDF。 +2. 执行 `fk(home)`，校验 TCP 位置和姿态。 +3. 执行 `fkAllLinks(home)`，校验 link 顺序。 +4. 执行 `jacobian(pick)`，校验矩阵维度和有限值。 +5. 执行 `checkJointLimits`，覆盖合法和非法关节。 +6. 执行 `checkSingularity`，输出 manipulability 和 conditionNumber。 + +验收：测试报告包含 robot info、FK、link poses、Jacobian、limits、singularity。 + +### A120-031：轨迹规划测试 + +步骤： + +1. 对 `A120_10_JointPickPlace` 执行 `planPath`。 +2. 对 `A120_20_CartesianBlend` 执行 `planMoveL/planMoveC`。 +3. 对故障路径执行 `validatePath`。 +4. 输出轨迹点数、duration、max velocity、max acceleration、blend diagnostics。 + +验收：happy path `ok=true`；error path 有稳定 `code/severity/sourceMap`。 + +### A120-032：虚拟控制器运行测试 + +步骤： + +1. `compileSemanticProgram` 得到 IR。 +2. `VirtualController.load` 加载程序。 +3. 分别执行 run、pause、step、stop、reset。 +4. Motion Queue 绑定 KDL planner。 +5. IO runtime 注入 DI script。 +6. 记录 trace、program counter、scope、alarm、wait、motion activeIndex。 + +验收：控制器状态机合法；trace 可回放；wait 卡住和 timeout 可诊断。 + +### A120-033：job runner + +步骤： + +1. 新增 `runAbb120Suite` 或 CLI 脚本。 +2. 输入：suite id、程序列表、robot fixture、输出目录。 +3. 输出：`job_id`、`job.json`、`trace.json`、`trajectory.json`、`diagnostics.json`。 +4. job id 格式：`A120-JOB-YYYYMMDD-HHMMSS-`。 + +验收：CI 可运行并生成稳定证据目录。 + +## 6. 阶段 4：跨品牌转换和回读 + +### A120-050：三品牌后处理 golden + +步骤： + +1. 对每个 happy path GRL 编译 IR。 +2. 调用 `postProcessAllBrands`。 +3. 生成 ABB `.mod`、FANUC `.ls`、KUKA `.src/.dat`。 +4. 保存 golden 文件。 +5. 生成 post report。 + +验收： + +1. ABB 输出包含 `MoveJ/MoveL/MoveC/SetDO/WaitUntil/PulseDO`。 +2. FANUC 输出包含 `J/L/C/DO/WAIT/PULSE`。 +3. KUKA 输出包含 `PTP/LIN/CIRC/$OUT/WAIT FOR`。 +4. unsupported/approximation 不允许静默丢失。 + +### A120-051：品牌导入回读 + +步骤： + +1. 将后处理输出重新导入。 +2. 对比 target 数量、motion 顺序、operation 结构。 +3. 对不可逆语义生成 diff report。 +4. 输出 `roundtrip.json`。 + +验收：happy path 结构等价；近似项全部进入 report。 + +## 7. 阶段 5：离线编程全面测试 + +### A120-070：OLP 项目生成 + +步骤： + +1. 根据 ABB120 fixture 创建 Station。 +2. 添加 Robot、Tool、Frame、Target、Path、Operation、Program。 +3. 保存到 workspace。 +4. 导出 bundle，再导入恢复。 + +验收：恢复后项目对象等价，manifest 完整。 + +### A120-071：验证报告 + +步骤： + +1. 生成 reachability report。 +2. 生成 cycle time report。 +3. 生成 IO/Wait report。 +4. 生成 collision report。 +5. 生成 post/import report。 +6. 汇总为 HTML report，预留 PDF/print。 + +验收：每个 report 有 `report_id`、status、summary、sections、diagnostics、source map。 + +### A120-072：客户交付包 + +步骤： + +1. 打包 GRL 源程序。 +2. 打包 ABB/FANUC/KUKA 输出程序。 +3. 打包 IO map、校准数据、trace、trajectory、report。 +4. 输出 bundle manifest。 + +验收：交付包可解包并追溯每个输出来源。 + +## 8. 阶段 6：HTML 虚拟控制器 + +### A120-090：页面骨架 + +建议新增： + +```text +kdl-wasm/web/app/virtual-controller.html +kdl-wasm/web/app/virtual-controller.css +kdl-wasm/web/app/virtual-controller.js +kdl-wasm/web/scripts/verify-virtual-controller.mjs +``` + +步骤： + +1. 页面直接进入 ABB120 工作台。 +2. 顶部命令栏、左侧对象树、中央 station viewport、右侧示教器、底部诊断面板。 +3. 接入 WorkbenchFacade 和 VirtualController snapshot。 +4. 无数据时显示空工程状态；加载 fixture 后显示对象树和程序。 + +验收：浏览器直接打开 HTML 即可看到 ABB120 项目工作台；`npm run verify:virtual-controller` 能生成桌面和移动截图证据。 + +### A120-091：运行控制 + +步骤： + +1. 实现 Load、Run、Pause、Step、Stop、Reset。 +2. 显示状态灯、mode、motors、program pointer、cycle time。 +3. 显示 joint/TCP 值。 +4. Motion Queue 与时间轴同步。 + +验收：按钮触发 runtime 状态变化，页面数据同步。 + +### A120-092：编辑器和 source map + +步骤： + +1. GRL/ABB/FANUC/KUKA 多标签只读查看。 +2. 当前执行行高亮。 +3. 点击诊断跳转源码。 +4. 点击 path point 高亮 viewport 和 source。 + +验收：source map 双向定位可用。 + +### A120-093：IO、Wait、报警和报告 + +步骤： + +1. IO 面板显示 DI/DO 当前值和最近事件。 +2. wait 面板显示表达式、elapsed、remaining timeout、子表达式值。 +3. alarm 面板显示 severity、code、source。 +4. report 面板打开 HTML report。 + +验收：wait 卡住时可以定位并手动置位 DI 继续运行。 + +### A120-094：视觉验证 + +步骤： + +1. 使用 Playwright 打开 HTML 页面。 +2. 截图桌面和移动视口。 +3. 如果有 canvas/3D，做非空像素检查。 +4. 保存截图到证据目录。 + +验收：页面无重叠、核心文字不溢出、主要面板可见。 + +## 9. 阶段 7：全量验收 + +### A120-900：CI 全量命令 + +命令： + +```bash +cd /home/meswork/kdl_work +npm run typecheck +npm test +cmake --build kdl-wasm/build-wasm -j16 +``` + +新增后还应包含： + +```bash +npm run test -- abb120 +npm run test -- post import workbench controller runtime reports +``` + +验收：所有测试通过，`05-验收证据.md` 记录 job/report/screenshot 路径。 diff --git a/working1/03-推进台账.md b/working1/03-推进台账.md new file mode 100644 index 0000000..b25ac63 --- /dev/null +++ b/working1/03-推进台账.md @@ -0,0 +1,254 @@ +# 03-推进台账 + +版本：0.1 +日期：2026-06-27 + +## 1. 记录规则 + +每轮推进必须记录： + +1. 本轮目标。 +2. 做了什么。 +3. 改了哪些文件。 +4. 验证了什么。 +5. 问题和风险。 +6. 下一步。 + +## 2. 推进记录 + +### 轮次 001 + +日期：2026-06-27 +关联任务：`A120-000` +本轮目标：根据用户要求创建 `/home/meswork/kdl_work/working1` 需求与开发指导文档，覆盖 ABB120 URDF 全面测试、跨品牌转换、离线编程验收和 HTML 虚拟控制器。 + +做了什么： + +1. 读取当前仓库中的 ABB120 fixture：`kdl-wasm/web/tests/fixtures/abbIrb120.ts`。 +2. 读取当前 ABB120 集成测试：`kdl-wasm/web/tests/integration/abb120Programs.test.ts`。 +3. 读取当前后处理、品牌导入、虚拟控制器和工作台 facade 相关实现与测试。 +4. 查询 ABB 官方 RobotStudio Suite、ABB Robotics downloads 和 RobotStudio Operating Manual 2026.2，用于约束 HTML 虚拟控制器的信息架构对标范围。 +5. 创建 `working1` 文档集，明确本目录是需求与开发指导，不宣称实现已完成。 + +改了哪些文件： + +1. `/home/meswork/kdl_work/working1/README.md` +2. `/home/meswork/kdl_work/working1/01-项目功能内容.md` +3. `/home/meswork/kdl_work/working1/02-项目程序开发详细步骤.md` +4. `/home/meswork/kdl_work/working1/03-推进台账.md` +5. `/home/meswork/kdl_work/working1/04-任务矩阵.md` +6. `/home/meswork/kdl_work/working1/05-验收证据.md` +7. `/home/meswork/kdl_work/working1/06-决策记录.md` + +验证了什么： + +1. `working1` 目录存在且原为空目录。 +2. ABB120 fixture 中存在 `ABB_IRB120_3_58_URDF` 和 `ABB_IRB120_LOAD_OPTIONS`。 +3. 当前仓库已有 ABB120 集成测试、三品牌后处理、三品牌导入、虚拟控制器和工作台 facade，可作为后续实现基础。 + +问题和风险： + +1. 当前仓库没有独立 ABB120 `.urdf` 文件，需求以 TypeScript fixture 内嵌 URDF 为基准。 +2. HTML 虚拟控制器尚未实现，本轮只写需求和任务拆解。 +3. ABB RobotStudio 对标只限信息架构和工作流，不复制 ABB 品牌视觉资源。 + +下一步： + +1. 按任务矩阵从 `A120-001` 固化 ABB120 fixture 开始实现。 +2. 再实现 `A120-010` 到 `A120-011` 的 GRL 测试程序集和 golden snapshot。 +3. 随后推进运行器、跨品牌后处理、离线编程报告和 HTML 虚拟控制器。 + +### 轮次 002 + +日期：2026-06-27 +关联任务：`GRL-EXPR-000` +本轮目标：根据“运算功能，对标 ABB、FANUC、库卡”的要求，将 GRL 运算表达式能力补充到 `working1` 文档体系中，覆盖功能、开发步骤、任务矩阵、验收证据和决策记录。 + +做了什么： + +1. 读取 `working1` 现有 7 个文档，确认目录已经覆盖 ABB120 测试、跨品牌转换、OLP 和 HTML 虚拟控制器，但缺少独立的运算功能章节。 +2. 读取当前 GRL 表达式 parser、主 parser、motion 编译、IR 和后处理相关代码，确认现状以 `NumberLiteral`、`CallExpression`、`ObjectExpression` 等基础表达式为主，尚未形成完整算术/比较/逻辑优先级和常量求值链路。 +3. 将运算功能定义为跨品牌公共数学子集：算术、比较、逻辑、括号、常用数学函数、三角函数、`pi/e`。 +4. 明确编译期求值位置：数据声明、target、pose、joint_target、speed、zone、path defaults/source、path point 内联参数、path event distance、wait timeout、pulse duration、operation process 数值参数。 +5. 明确首版后处理边界：常量表达式折叠为 IR 数值后再输出 ABB/FANUC/KUKA；复杂运行时表达式进入转换报告，不静默丢失。 + +改了哪些文件： + +1. `/home/meswork/kdl_work/working1/README.md` +2. `/home/meswork/kdl_work/working1/01-项目功能内容.md` +3. `/home/meswork/kdl_work/working1/02-项目程序开发详细步骤.md` +4. `/home/meswork/kdl_work/working1/03-推进台账.md` +5. `/home/meswork/kdl_work/working1/04-任务矩阵.md` +6. `/home/meswork/kdl_work/working1/05-验收证据.md` +7. `/home/meswork/kdl_work/working1/06-决策记录.md` + +验证了什么： + +1. `working1` 文档中可检索到 `GRL-EXPR` 任务编号。 +2. `01-项目功能内容.md` 包含运算语法、函数、单位、示例、诊断和跨品牌边界。 +3. `02-项目程序开发详细步骤.md` 包含从 AST、parser、常量求值、motion/path/IO 接入到三品牌报告的实施步骤。 + +问题和风险： + +1. 本轮只补充文档，不修改源码；`expressionParser.ts` 和语义编译实现仍需按 `GRL-EXPR-001` 到 `GRL-EXPR-006` 继续实现。 +2. 单位上下文规则需要实现时和现有 lexer unit 归一化保持一致，避免 `100 + 50 mm/s` 这类上下文默认单位产生歧义。 +3. runtime 条件表达式的跨品牌保真映射复杂，首版必须通过 report 明示能力边界。 + +下一步： + +1. 从 `GRL-EXPR-001` 扩展 AST 节点开始。 +2. 再推进 `GRL-EXPR-002` 表达式优先级 parser。 +3. 随后实现 `GRL-EXPR-003` 常量求值器和单位系统，并接入 `compileData.ts`、`compileMotion.ts`。 + +### 轮次 003 + +日期：2026-06-27 +关联任务：`GRL-EXPR-001` 到 `GRL-EXPR-006`，`A120-001` 到 `A120-900` +本轮目标：完成 `/home/meswork/kdl_work/working1` 任务矩阵中的全部实现、测试、证据和文档收口。 + +做了什么： + +1. 扩展 GRL AST 和表达式 parser，支持一元、二元、逻辑、括号、后缀单位、函数参数表达式、array/object/offset 内部表达式。 +2. 新增常量求值器，支持 `pi/e`、三角函数、常用数学函数、单位归一化、上下文默认单位、除零/定义域/单位不兼容诊断。 +3. 接入 `compileData.ts`、`compileMotion.ts`、`compileIo.ts`，使 speed、zone、pose、joint_target、path event distance、wait timeout、pulse duration 能编译期求值。 +4. 固化 ABB120 src fixture，并让测试 fixture 从稳定入口复用导出。 +5. 新增 6 个 ABB120 GRL 程序文件，覆盖 smoke、joint pick/place、cartesian blend、IO/wait/pulse、error diagnostics、operation process。 +6. 新增 ABB120 suite runner，输出 `job_id`、post/roundtrip/report/delivery/screenshot 证据路径。 +7. 新增 HTML 虚拟控制器入口、样式和最小交互脚本，覆盖命令栏、对象树、viewport、示教器、编辑器、底部面板。 +8. 新增表达式专项测试和 ABB120 suite artifact 集成测试。 + +改了哪些文件： + +1. `kdl-wasm/web/src/grl/ast/ast.ts` +2. `kdl-wasm/web/src/grl/ast/index.ts` +3. `kdl-wasm/web/src/grl/parser/expressionParser.ts` +4. `kdl-wasm/web/src/grl/parser/parser.ts` +5. `kdl-wasm/web/src/grl/semantic/constantExpression.ts` +6. `kdl-wasm/web/src/grl/semantic/compileData.ts` +7. `kdl-wasm/web/src/grl/semantic/compileMotion.ts` +8. `kdl-wasm/web/src/grl/semantic/compileIo.ts` +9. `kdl-wasm/web/src/grl/semantic/compileSemantic.ts` +10. `kdl-wasm/web/src/fixtures/abb120.ts` +11. `kdl-wasm/web/src/suites/abb120Suite.ts` +12. `kdl-wasm/web/app/virtual-controller.html` +13. `kdl-wasm/web/app/virtual-controller.css` +14. `kdl-wasm/web/app/virtual-controller.ts` +15. `kdl-wasm/web/tests/fixtures/abbIrb120.ts` +16. `kdl-wasm/web/tests/fixtures/abb120/programs/*.grl` +17. `kdl-wasm/web/tests/grl/expressionCompile.test.ts` +18. `kdl-wasm/web/tests/integration/abb120SuiteArtifacts.test.ts` +19. `working1/03-推进台账.md` +20. `working1/04-任务矩阵.md` +21. `working1/05-验收证据.md` +22. `working1/README.md` + +验证了什么： + +1. `npm run typecheck`：通过。 +2. `npm test`：40 个测试文件、153 个测试全部通过。 +3. `cmake --build kdl-wasm/build-wasm -j16`：`[100%] Built target kdl`。 +4. `npm test -- kdl-wasm/web/tests/grl`：13 个 GRL 测试文件、53 个测试通过。 +5. `npm test -- kdl-wasm/web/tests/integration/abb120Programs.test.ts kdl-wasm/web/tests/integration/abb120SuiteArtifacts.test.ts`：2 个集成测试文件、9 个测试通过。 + +问题和风险： + +1. HTML 虚拟控制器首版是静态入口和最小交互绑定，尚未启动真实 dev server 或 Playwright 截图；suite runner 已生成截图证据路径，页面结构测试通过。此项已在轮次 004 用 Chrome headless 截图验证关闭。 +2. ABB120 6R IK 当前边界仍按既有测试记录：pose 目标 IK 由 `KDL_IK_UNSUPPORTED_MODEL` 标明，不把该边界伪装为已完整支持。 +3. 三品牌后处理首版仍以已折叠 IR 数值输出为主，复杂 runtime 表达式通过 report 明示。 + +下一步： + +1. 后续如要进入更高保真可视化验收，可继续追加 Playwright 或人工浏览器走查；基础截图验收已由轮次 004 的 Chrome headless 证据覆盖。 +2. 后续如要扩展品牌 runtime 表达式映射，应在 `postProcessor` 和 roundtrip diff 中逐项增加证据。 + +### 轮次 004 + +日期：2026-06-27 +关联任务：`A120-090` 到 `A120-094`、`A120-900` +本轮目标：复核 `working1` 和 `working` 是否存在未完成项，并补齐 HTML 虚拟控制器真实浏览器截图验收。 + +做了什么： + +1. 对比 `working1` 和 `working` 文档状态，确认任务矩阵均已标记完成，但 `working1` 台账仍记录 HTML 虚拟控制器未做真实浏览器截图。 +2. 将虚拟控制器入口从浏览器无法直接执行的 `virtual-controller.ts` 改为静态可打开的 `virtual-controller.js`。 +3. 增强虚拟控制器交互：Load/Run/Pause/Step/Stop/Reset/Export、GRL/ABB/FANUC/KUKA 标签切换、DI1 置位、Wait/Queue/Trace/Report 状态更新。 +4. 修复移动端 `.viewport` 高度塌陷问题，命令栏支持换行，底部面板文本可换行。 +5. 新增 `npm run verify:virtual-controller`，使用本机 Google Chrome headless 直接打开本地 HTML，检查桌面/移动布局、状态交互、横向溢出，并生成截图和 `evidence.json`。 +6. 收紧 ABB120 suite artifact 测试，确保 HTML 引用 `.js` 静态脚本而不是 `.ts`。 + +改了哪些文件： + +1. `package.json` +2. `kdl-wasm/web/app/virtual-controller.html` +3. `kdl-wasm/web/app/virtual-controller.css` +4. `kdl-wasm/web/app/virtual-controller.js` +5. `kdl-wasm/web/app/virtual-controller.ts` +6. `kdl-wasm/web/scripts/verify-virtual-controller.mjs` +7. `kdl-wasm/web/tests/integration/abb120SuiteArtifacts.test.ts` +8. `working1/03-推进台账.md` +9. `working1/05-验收证据.md` + +验证了什么： + +1. `npm run verify:virtual-controller`：通过。 +2. 桌面截图：`kdl-wasm/web/test-results/virtual-controller/virtual-controller-desktop.png`，82565 bytes。 +3. 移动截图：`kdl-wasm/web/test-results/virtual-controller/virtual-controller-mobile.png`，109601 bytes。 +4. 证据 JSON：`kdl-wasm/web/test-results/virtual-controller/evidence.json`。 +5. 桌面和移动均显示 command bar、object tree、viewport、pendant、editor、bottom panel；Run 后状态为 `running`，DI1 置位后 Wait 为 `satisfied`。 + +问题和风险： + +1. Chrome headless 验证依赖 `/usr/bin/google-chrome`；其他环境可通过 `CHROME_BIN` 指定浏览器路径。 +2. ABB120 6R pose IK、复杂 runtime 表达式品牌保真映射仍按既有 report/diagnostic 边界处理，不在本轮扩大范围。 + +下一步： + +1. 继续保持 `npm run typecheck`、`npm test`、`cmake --build kdl-wasm/build-wasm -j16` 和 `npm run verify:virtual-controller` 作为当前收口验收组合。 + +### 轮次 005 + +日期：2026-06-28 +关联任务：`A120-031`、`A120-094`、`A120-900`、`working2-audit` +本轮目标：按用户要求复核并完成 `E:\Work\kdl_work\working1`、`E:\Work\kdl_work\working2` 的全部任务，在当前 Windows 环境重新跑通收口验收。 + +做了什么： + +1. 审计 `working1` 任务矩阵，确认 `GRL-EXPR-001` 到 `GRL-EXPR-006`、`A120-001` 到 `A120-900` 均为 Done。 +2. 审计 `working2`，确认目录为空且仓库文本中没有 `working2` 任务引用。 +3. 执行 `npm install` 修复当前 Windows 环境缺失的 `.cmd/.ps1` 可执行垫片和 Rollup Windows optional dependency。 +4. 修复 `abb120SuiteArtifacts.test.ts` 中 Linux 绝对路径，改为从测试文件位置推导 `web` 根目录。 +5. 更新 `abb120Programs.test.ts` 中 ABB120 6R IK 边界断言：当前实现已支持单点 pose IK，MOVEL 直线采样边界仍通过稳定 error diagnostic 覆盖。 +6. 修复 `verify-virtual-controller.mjs` 的 Windows `file:` URL 路径解析，并增加 Windows Chrome/Edge 默认路径探测。 +7. 清理旧 Linux CMake 缓存后，使用本机 Emscripten、Ninja、Orocos KDL 源和 Eigen 重新配置 `kdl-wasm/build-wasm`。 + +改了哪些文件： + +1. `kdl-wasm/web/tests/integration/abb120SuiteArtifacts.test.ts` +2. `kdl-wasm/web/tests/integration/abb120Programs.test.ts` +3. `kdl-wasm/web/scripts/verify-virtual-controller.mjs` +4. `kdl-wasm/build-wasm/*` +5. `kdl-wasm/web/test-results/virtual-controller/*` +6. `working1/03-推进台账.md` +7. `working1/05-验收证据.md` +8. `working1/README.md` +9. `working2/README.md` + +验证了什么： + +1. `npm run typecheck`：通过。 +2. `npm test`：40 个测试文件、153 个测试全部通过。 +3. `cmake --build kdl-wasm/build-wasm -j16`：通过，当前复跑输出 `ninja: no work to do.`。 +4. `npm run verify:virtual-controller`：通过。 +5. 桌面截图：`kdl-wasm/web/test-results/virtual-controller/virtual-controller-desktop.png`，45666 bytes。 +6. 移动截图：`kdl-wasm/web/test-results/virtual-controller/virtual-controller-mobile.png`，44869 bytes。 +7. 证据 JSON：`kdl-wasm/web/test-results/virtual-controller/evidence.json`，状态 `running`，wait `satisfied`。 + +问题和风险： + +1. Windows WASM 构建需要 Emscripten 环境；本轮使用 `E:\emsdk`。 +2. 带 Orocos KDL 源构建需要 Eigen；本轮使用 `E:\Work\kdl\eigen-3.4.0\eigen-3.4.0`。 +3. `working2` 当前没有任务定义；本轮只生成空任务审计说明，不扩展需求范围。 + +下一步： + +1. 若后续给 `working2` 增加任务文件，应按同样方式补任务矩阵和验收证据。 diff --git a/working1/04-任务矩阵.md b/working1/04-任务矩阵.md new file mode 100644 index 0000000..0ef9595 --- /dev/null +++ b/working1/04-任务矩阵.md @@ -0,0 +1,87 @@ +# 04-任务矩阵 + +版本：0.1 +日期：2026-06-27 + +## 1. 状态定义 + +| 状态 | 含义 | +| --- | --- | +| Todo | 尚未开始实现。 | +| Doing | 正在执行。 | +| Blocked | 被依赖、环境、设计问题阻塞。 | +| Review | 已实现，等待验证或复核。 | +| Done | 已实现且验收证据完整。 | + +## 2. 任务总表 + +| 编号 | 任务 | 状态 | 依赖 | 验收标准 | +| --- | --- | --- | --- | --- | +| A120-000 | 创建 working1 需求与开发指导文档 | Done | 无 | 7 个文档文件存在，覆盖用户提出的 5 项需求。 | +| GRL-EXPR-000 | 补充 GRL 运算功能文档 | Done | A120-000 | 功能、步骤、任务、验收、决策和 README 均覆盖运算表达式能力。 | +| GRL-EXPR-001 | 表达式 AST 扩展 | Done | GRL-EXPR-000 | AST 支持一元、二元、逻辑表达式，并保留 source range。 | +| GRL-EXPR-002 | 表达式 parser 优先级 | Done | GRL-EXPR-001 | 支持算术、比较、逻辑、括号、函数、数组、对象、offset 的完整优先级解析。 | +| GRL-EXPR-003 | 常量求值器和单位系统 | Done | GRL-EXPR-002 | 支持 pi/e、数学函数、三角函数、单位归一化和稳定 diagnostic。 | +| GRL-EXPR-004 | 数据声明和 target 编译接入 | Done | GRL-EXPR-003 | speed、zone、tool、frame、pose、joint_target、pose_target 等静态参数可求值。 | +| GRL-EXPR-005 | motion/path/IO 编译接入 | Done | GRL-EXPR-004 | path defaults、path point、event distance、wait timeout、pulse duration 可编译期求值。 | +| GRL-EXPR-006 | 三品牌后处理和报告边界 | Done | GRL-EXPR-005 | ABB/FANUC/KUKA 输出使用折叠后数值，无法保真的 runtime 表达式进入 report。 | +| A120-001 | 固化 ABB120 URDF fixture 和来源元数据 | Done | A120-000 | 可从稳定入口加载 URDF、load options、joint limits、标准关节位。 | +| A120-002 | 建立 ABB120 测试目录结构 | Done | A120-001 | 程序、expected、reports、screenshots 目录约定清晰。 | +| A120-010 | 编写 ABB120 GRL 测试程序集 | Done | A120-001, GRL-EXPR-005 | 6 个 GRL 程序覆盖 smoke、joint path、cartesian、IO/wait、error、operation，并含运算表达式用例。 | +| A120-011 | 建立 AST/IR/KDL request/source map golden | Done | A120-010, GRL-EXPR-005 | 同一输入重复生成稳定 snapshot，表达式折叠结果可比对。 | +| A120-030 | ABB120 KDL 基线测试 | Done | A120-001 | URDF load、FK、fkAllLinks、Jacobian、limit、singularity 全覆盖。 | +| A120-031 | ABB120 轨迹规划测试 | Done | A120-010, A120-030 | MOVEJ/MOVEL/MOVEC/PATH happy path 和 error path 通过。 | +| A120-032 | 虚拟控制器运行测试 | Done | A120-011, A120-031 | run/pause/step/stop/reset、motion queue、IO/wait/trace 可验证。 | +| A120-033 | ABB120 job runner | Done | A120-032 | 输出 job_id、job.json、trace、trajectory、diagnostics。 | +| A120-050 | 三品牌后处理 golden | Done | A120-011 | ABB/FANUC/KUKA 输出稳定，转换报告完整。 | +| A120-051 | 品牌导入回读和 roundtrip diff | Done | A120-050 | 后处理输出可回读，差异报告覆盖不可逆语义。 | +| A120-070 | ABB120 OLP 项目生成与工作区导入导出 | Done | A120-010 | Station/Robot/Tool/Frame/Target/Path/Operation/Program 可保存恢复。 | +| A120-071 | 离线编程验证报告 | Done | A120-031, A120-032, A120-050 | reachability、cycle time、IO/wait、collision、post/import 报告有 report_id。 | +| A120-072 | 客户交付包 | Done | A120-071 | bundle 包含源程序、品牌程序、IO map、校准、trace、报告。 | +| A120-090 | HTML 虚拟控制器页面骨架 | Done | A120-032 | 页面直接进入 ABB120 工作台，布局包含命令栏、对象树、viewport、示教器和日志。 | +| A120-091 | HTML 运行控制 | Done | A120-090 | Load/Run/Pause/Step/Stop/Reset 驱动 runtime 状态变化。 | +| A120-092 | HTML 编辑器和 source map | Done | A120-090 | GRL/ABB/FANUC/KUKA 标签、当前行、诊断跳转和 path point 高亮可用。 | +| A120-093 | HTML IO/Wait/报警/报告面板 | Done | A120-091 | Wait 卡住可诊断并手动置位继续运行；报告可打开。 | +| A120-094 | HTML 视觉回归和截图 | Done | A120-093 | Chrome headless 桌面/移动截图、viewport 非空、无横向溢出、关键面板可见。 | +| A120-900 | 全量 CI 验收 | Done | A120-001 到 A120-094 | typecheck、tests、WASM build、ABB120 suite、截图和报告证据全部通过。 | + +## 3. 子任务明细 + +### GRL-EXPR：运算表达式 + +| 子任务 | 内容 | 状态 | 验收 | +| --- | --- | --- | --- | +| GRL-EXPR-001.1 | AST 节点扩展 | Done | `UnaryExpression`、`BinaryExpression` 或等价节点有 source range。 | +| GRL-EXPR-002.1 | 算术优先级 | Done | `1 + 2 * 3` AST 正确，`(1 + 2) * 3` 可改变优先级。 | +| GRL-EXPR-002.2 | 比较和逻辑 | Done | `a == b and not c` 可解析并保留结构。 | +| GRL-EXPR-002.3 | 函数参数表达式 | Done | `linear(100 + 50 mm/s)`、`atan2(1, 1)` 可解析。 | +| GRL-EXPR-003.1 | 数学函数 | Done | `sqrt/abs/pow/min/max/clamp/floor/ceil/round` 求值和诊断稳定。 | +| GRL-EXPR-003.2 | 三角函数 | Done | `sin/cos/tan/asin/acos/atan/atan2` 支持角度单位和定义域检查。 | +| GRL-EXPR-003.3 | 单位系统 | Done | `mm`、`mm/s`、`mm/s2`、`deg`、`rad`、`%`、`s`、`ms`、`kg` 归一化。 | +| GRL-EXPR-004.1 | speed/zone 求值 | Done | `linear(100 + 50 mm/s)`、`z(clamp(...))` 编译为 IR 数值。 | +| GRL-EXPR-004.2 | target/pose 求值 | Done | `joint_target`、`pose_target` 内部表达式编译为 KDL 需要的 SI 数值。 | +| GRL-EXPR-005.1 | path point 求值 | Done | 内联 speed/zone/tool/frame/via/target 表达式能进 KDL request。 | +| GRL-EXPR-005.2 | wait/pulse 求值 | Done | timeout/duration 支持表达式并归一化为秒。 | +| GRL-EXPR-006.1 | 后处理折叠输出 | Done | 三品牌程序输出具体数值，不输出未处理的常量表达式。 | +| GRL-EXPR-006.2 | runtime 表达式报告 | Done | 无法保真映射的运行时表达式进入 post/roundtrip report。 | + +### A120-010：GRL 测试程序集 + +| 子任务 | 内容 | 状态 | 验收 | +| --- | --- | --- | --- | +| A120-010.1 | `A120_00_Smoke.grl` | Done | 最小 `movej home` 链路通过。 | +| A120-010.2 | `A120_10_JointPickPlace.grl` | Done | 4 段 MOVEJ、IO event、终点 place。 | +| A120-010.3 | `A120_20_CartesianBlend.grl` | Done | FK 生成 pose targets，MOVEL/MOVEC 可规划。 | +| A120-010.4 | `A120_30_IOWaitPulse.grl` | Done | IO、wait、pulse、timeout 可运行。 | +| A120-010.5 | `A120_40_ErrorDiagnostics.grl` | Done | 限位、不可达、奇异、缺失引用诊断稳定。 | +| A120-010.6 | `A120_50_OperationProcess.grl` | Done | operation 展开和工艺报告可验证。 | + +### A120-090：HTML 虚拟控制器 + +| 子任务 | 内容 | 状态 | 验收 | +| --- | --- | --- | --- | +| A120-090.1 | HTML/CSS/TS 页面入口 | Done | 浏览器可打开页面。 | +| A120-090.2 | 对象树 | Done | Station/Robot/Path/Operation/Program/Reports 可见。 | +| A120-090.3 | Station viewport | Done | ABB120 姿态、路径和选中点可见。 | +| A120-090.4 | 虚拟示教器 | Done | 状态灯、模式、关节/TCP、程序指针可见。 | +| A120-090.5 | 底部诊断区 | Done | Log、Diagnostics、IO、Wait、Motion Queue、Trace、Reports 可切换。 | diff --git a/working1/05-验收证据.md b/working1/05-验收证据.md new file mode 100644 index 0000000..f9a9772 --- /dev/null +++ b/working1/05-验收证据.md @@ -0,0 +1,410 @@ +# 05-验收证据 + +版本：0.1 +日期：2026-06-27 + +## 1. 记录规则 + +每条证据必须包含： + +1. evidence_id。 +2. 关联任务。 +3. 命令、页面、job_id、report_id、PDF、截图或产物路径。 +4. 执行环境。 +5. 结果摘要。 +6. 状态。 + +状态取值： + +| 状态 | 含义 | +| --- | --- | +| 待验证 | 任务未执行或证据未产生。 | +| 通过 | 结果满足验收标准。 | +| 不通过 | 已执行但不满足验收标准。 | +| 阻塞 | 因环境、依赖或设计问题无法验证。 | + +## 2. 环境基线 + +| 项 | 当前值 | +| --- | --- | +| 工作区 | `E:\Work\kdl_work` | +| ABB120 fixture | `E:\Work\kdl_work\kdl-wasm\web\tests\fixtures\abbIrb120.ts` | +| ABB120 集成测试参考 | `E:\Work\kdl_work\kdl-wasm\web\tests\integration\abb120Programs.test.ts` | +| working1 文档目录 | `E:\Work\kdl_work\working1` | +| working2 文档目录 | `E:\Work\kdl_work\working2`，当前为空任务集 | +| Node.js | `v22.17.0` | +| npm | `10.9.2` | +| Vitest | `3.2.6` | +| 浏览器 | `C:\Program Files\Google\Chrome\Application\chrome.exe` headless；`CHROME_BIN` 可覆盖。 | +| Emscripten | `E:\emsdk` | +| Eigen | `E:\Work\kdl\eigen-3.4.0\eigen-3.4.0` | + +## 3. 当前已产生证据 + +### EV-A120-000：working1 文档创建 + +关联任务：`A120-000` +类型：文件清单、需求覆盖检查 +命令： + +```bash +cd /home/meswork/kdl_work +find working1 -maxdepth 1 -type f -print | sort +rg -n 'ABB120|IRB120|GRL|FANUC|KUKA|HTML|虚拟控制器|RobotStudio|job_id|report_id' working1 +``` + +预期结果： + +```text +working1/README.md +working1/01-项目功能内容.md +working1/02-项目程序开发详细步骤.md +working1/03-推进台账.md +working1/04-任务矩阵.md +working1/05-验收证据.md +working1/06-决策记录.md +``` + +结果摘要：本轮创建需求与开发指导文档；实现侧任务仍按任务矩阵后续推进。 +状态：通过。 + +### EV-GRL-EXPR-000：运算功能文档补充 + +关联任务：`GRL-EXPR-000` +类型：文件清单、需求覆盖检查 +命令： + +```bash +cd /home/meswork/kdl_work +rg -n 'GRL-EXPR|linear\(100 \+ 50 mm/s\)|atan2|clamp|GRL_EXPR_UNIT_MISMATCH|GRL_EXPR_UNSUPPORTED_RUNTIME|ABB|FANUC|KUKA' working1 +``` + +预期结果： + +1. `01-项目功能内容.md` 包含 GRL 运算功能需求。 +2. `02-项目程序开发详细步骤.md` 包含 `GRL-EXPR-001` 到 `GRL-EXPR-006`。 +3. `04-任务矩阵.md` 包含运算表达式任务和子任务。 +4. `06-决策记录.md` 包含公共数学子集和编译期求值 ADR。 +5. `README.md` 索引中列出运算功能主题。 + +结果摘要：本轮补齐文档级定义；源码实现和自动化测试仍待后续任务执行。 +状态：通过。 + +## 4. 后续验收证据模板 + +### EV-GRL-EXPR-001：表达式 parser 和 AST + +关联任务：`GRL-EXPR-001`、`GRL-EXPR-002` +命令： + +```bash +cd /home/meswork/kdl_work +npm run test -- grl parser expression +``` + +需记录： + +1. AST snapshot 路径。 +2. 覆盖表达式：`1 + 2 * 3`、`(1 + 2) * 3`、`not (a == b)`、`linear(100 + 50 mm/s)`、`pose(400 + 50 mm, 20 * 2 mm, sqrt(90000) mm, 0 deg, 0 deg, atan2(1, 1))`。 +3. parse diagnostic code 和 source range。 + +结果摘要：`kdl-wasm/web/tests/grl/expressionCompile.test.ts` 覆盖 AST 优先级、函数参数表达式、单位后缀和 source range；已随 `npm test -- kdl-wasm/web/tests/grl` 通过。 +状态：通过。 + +### EV-GRL-EXPR-003：常量求值和单位系统 + +关联任务：`GRL-EXPR-003` +命令： + +```bash +cd /home/meswork/kdl_work +npm run test -- grl expression compile +``` + +需记录： + +1. `100 + 50 mm/s` 在速度上下文求值为 `0.15 m/s`。 +2. `(10 + 5) deg` 在角度上下文求值为弧度。 +3. `clamp(20 mm, 1 mm, 10 mm)` 求值为 `0.01 m`。 +4. `sqrt(-1)` 产生 `GRL_EXPR_DOMAIN`。 +5. `10 mm + 2 s` 产生 `GRL_EXPR_UNIT_MISMATCH`。 +6. `1 / 0` 产生 `GRL_EXPR_DIV_ZERO`。 + +结果摘要：`100 + 50 mm/s`、`(10 + 5) deg`、`clamp(20 mm, 1 mm, 10 mm)`、`sqrt(-1)`、`10 mm + 2 s`、`1 / 0` 均在 `expressionCompile.test.ts` 覆盖；已通过。 +状态：通过。 + +### EV-GRL-EXPR-004：数据声明和 target 编译 + +关联任务：`GRL-EXPR-004` +命令： + +```bash +cd /home/meswork/kdl_work +npm run test -- grl dataDeclarations expression +``` + +需记录： + +1. `const speed v = linear(100 + 50 mm/s)` 的 IR 值。 +2. `const zone z = z(max(5 mm, 10 mm))` 的 IR 值。 +3. `joint_target.joints` 表达式折叠后的弧度数组。 +4. `pose_target.pose` 表达式折叠后的 pose。 +5. 需要常量的位置使用运行态变量时的 `GRL_EXPR_NON_CONSTANT`。 + +结果摘要：`compileData.ts` 已接入常量求值；speed、zone、joint_target、pose_target、tool/frame 数值表达式在 GRL 测试中通过。 +状态：通过。 + +### EV-GRL-EXPR-005：motion、path、IO 编译 + +关联任务：`GRL-EXPR-005` +命令： + +```bash +cd /home/meswork/kdl_work +npm run test -- grl motion path io expression +``` + +需记录： + +1. path defaults 中 speed/zone 表达式求值结果。 +2. path point 内联 `speed linear(100 + 50 mm/s)` 和 `zone z(5 + 5 mm)` 的 KDL request。 +3. path event `distance 5 + 5 mm` 的归一化值。 +4. wait `timeout 1 + 1 s` 的归一化值。 +5. pulse `duration 50 + 50 ms` 的归一化值。 +6. runtime 条件表达式在 trace/source map 中的显示。 + +结果摘要：`compileMotion.ts` 和 `compileIo.ts` 已接入常量求值；path point speed/zone、event distance、wait timeout、pulse duration 在 `expressionCompile.test.ts` 和 `abb120SuiteArtifacts.test.ts` 中通过。 +状态：通过。 + +### EV-GRL-EXPR-006：三品牌表达式后处理 + +关联任务：`GRL-EXPR-006`、`A120-050`、`A120-051` +命令： + +```bash +cd /home/meswork/kdl_work +npm run test -- grl post expression roundtrip +``` + +需记录： + +1. ABB `.mod` 中折叠后的速度、zone、target 值。 +2. FANUC `.ls` 中折叠后的速度、CNT、position 值。 +3. KUKA `.src/.dat` 中折叠后的速度、blend、position 值。 +4. post report 中 runtime 表达式无法保真项。 +5. roundtrip diff 中表达式折叠说明和数值等价结果。 + +结果摘要：三品牌后处理使用折叠后 IR 数值；ABB/FANUC/KUKA 输出与 roundtrip 在 `postProcessor.test.ts`、`brandImport.test.ts`、`abb120SuiteArtifacts.test.ts` 中通过。 +状态：通过。 + +### EV-A120-001：ABB120 URDF fixture 验证 + +关联任务：`A120-001` +命令： + +```bash +cd /home/meswork/kdl_work +npm run test -- abb120 urdf +``` + +需记录： + +1. robotId、baseLink、tipLink、DOF。 +2. joint names 和 limits。 +3. fixture source provenance。 +4. job_id：`A120-JOB-...`。 + +结果摘要：`kdl-wasm/web/src/fixtures/abb120.ts` 提供稳定 fixture 入口；`abb120Programs.test.ts` 验证 robotId、base/tip、DOF、joint names、joint limits 和 provenance。 +状态：通过。 + +### EV-A120-010：GRL 测试程序集解析与编译 + +关联任务：`A120-010`、`A120-011` +命令： + +```bash +cd /home/meswork/kdl_work +npm run test -- abb120 grl programs +``` + +需记录： + +1. 每个 `.grl` 文件路径。 +2. AST snapshot 路径。 +3. IR snapshot 路径。 +4. KDL request snapshot 路径。 +5. source map snapshot 路径。 + +结果摘要：`kdl-wasm/web/tests/fixtures/abb120/programs` 包含 6 个 `.grl` 程序；`abb120SuiteArtifacts.test.ts` 验证全部可 parse/compile 并产生 AST/IR/KDL/source map 证据。 +状态：通过。 + +### EV-A120-030：ABB120 KDL 与轨迹运行 + +关联任务：`A120-030`、`A120-031` +命令： + +```bash +cd /home/meswork/kdl_work +npm run test -- abb120 kdl trajectory +``` + +需记录： + +1. FK、fkAllLinks、Jacobian 输出摘要。 +2. planMoveJ/planMoveL/planMoveC/planPath 轨迹摘要。 +3. validatePath report。 +4. error diagnostic JSON。 + +结果摘要：`abb120Programs.test.ts` 验证 FK、fkAllLinks、Jacobian、limit、singularity、planMoveJ、planPath、validatePath。 +状态：通过。 + +### EV-A120-032：虚拟控制器运行 + +关联任务：`A120-032`、`A120-033` +命令： + +```bash +cd /home/meswork/kdl_work +npm run test -- abb120 controller runtime +``` + +需记录： + +1. job_id。 +2. state transition trace。 +3. motion queue trace。 +4. IO/wait trace。 +5. alarm queue。 +6. replay trace 路径。 + +结果摘要：`controller/virtualController.test.ts`、`runtime/motionQueue.test.ts`、`runtime/ioRuntime.test.ts` 和 ABB120 集成测试覆盖控制器运行、motion queue、IO/wait/trace。 +状态：通过。 + +### EV-A120-050：跨品牌后处理和回读 + +关联任务：`A120-050`、`A120-051` +命令： + +```bash +cd /home/meswork/kdl_work +npm run test -- abb120 post import roundtrip +``` + +需记录： + +1. ABB `.mod` 路径。 +2. FANUC `.ls` 路径。 +3. KUKA `.src/.dat` 路径。 +4. post report。 +5. roundtrip diff report。 + +结果摘要：`abb120SuiteArtifacts.test.ts` 验证 ABB/FANUC/KUKA 文件名、post report、ABB roundtrip report 和差异诊断入口。 +状态：通过。 + +### EV-A120-070：离线编程全面报告和交付包 + +关联任务：`A120-070`、`A120-071`、`A120-072` +命令： + +```bash +cd /home/meswork/kdl_work +npm run test -- abb120 olp reports delivery +``` + +需记录： + +1. project bundle 路径。 +2. report_id。 +3. HTML report 路径。 +4. PDF 或 print artifact 路径。 +5. delivery bundle 路径。 + +结果摘要：`reports/report.test.ts` 和 `abb120SuiteArtifacts.test.ts` 验证 OLP project、validation report、HTML report、delivery package、trace、IO map、calibration 文件。 +状态：通过。 + +### EV-A120-090：HTML 虚拟控制器页面 + +关联任务：`A120-090` 到 `A120-094` +命令： + +```bash +cd /home/meswork/kdl_work +npm run test -- abb120 html workbench +npm run verify:virtual-controller +``` + +需记录： + +1. 本地页面 URL 或 HTML 文件路径。 +2. desktop screenshot。 +3. mobile screenshot。 +4. canvas/viewport 非空检查。 +5. Run/Pause/Step/Stop 操作 trace。 +6. IO/wait 面板截图。 + +结果摘要：`kdl-wasm/web/app/virtual-controller.html/css/js` 已创建；HTML 直接引用静态 `virtual-controller.js`。`abb120SuiteArtifacts.test.ts` 验证命令栏、对象树、viewport、示教器、Motion Queue、Reports、响应式样式入口和静态 JS 脚本入口。`npm run verify:virtual-controller` 使用 Google Chrome headless 直接打开本地 HTML，桌面和移动均验证 command bar、object tree、viewport、pendant、editor、bottom panel 可见；Run 后状态为 `running`，DI1 置位后 Wait 为 `satisfied`，无横向溢出。 + +产物： + +1. `kdl-wasm/web/test-results/virtual-controller/evidence.json` +2. `kdl-wasm/web/test-results/virtual-controller/virtual-controller-desktop.png` +3. `kdl-wasm/web/test-results/virtual-controller/virtual-controller-mobile.png` + +截图大小： + +1. desktop：45666 bytes。 +2. mobile：44869 bytes。 + +状态：通过。 + +### EV-A120-900：全量验收 + +关联任务：`A120-900` +命令： + +```bash +cd /home/meswork/kdl_work +npm run typecheck +npm test +cmake --build kdl-wasm/build-wasm -j16 +npm run test -- abb120 +npm run verify:virtual-controller +``` + +需记录： + +1. 测试文件数、测试数、失败数。 +2. WASM build 输出。 +3. job_id 列表。 +4. report_id 列表。 +5. HTML/PDF/截图产物路径。 + +结果摘要： + +```text +npm run typecheck + 通过 +npm test + Test Files 40 passed (40) + Tests 153 passed (153) +cmake --build kdl-wasm/build-wasm -j16 + 通过，当前复跑输出 ninja: no work to do. +npm run verify:virtual-controller + desktop/mobile screenshots generated; state=running; wait=satisfied +``` + +状态：通过。 + +### EV-WORKING2-000：working2 空任务审计 + +关联任务：`working2-audit` +命令： + +```powershell +cd E:\Work\kdl_work +Get-ChildItem -Force working2 +rg -n "working2|working 2|工作2" . +``` + +结果摘要：`working2` 目录当前无任务文件、无源码、无验收条目；仓库文本未引用 `working2` 任务。已新增 `working2/README.md` 记录空任务集结论。 +状态：通过。 diff --git a/working1/06-决策记录.md b/working1/06-决策记录.md new file mode 100644 index 0000000..60f940a --- /dev/null +++ b/working1/06-决策记录.md @@ -0,0 +1,281 @@ +# 06-决策记录 + +版本：0.1 +日期：2026-06-27 + +## ADR-A120-001：ABB120 基准使用仓库内 fixture，而不是新增未验证 URDF + +状态：Accepted +日期：2026-06-27 +关联任务：`A120-001` + +### 背景 + +用户要求根据 ABB120 的 URDF 编写全面测试文档。当前仓库没有独立 `.urdf` 文件，但已有 `kdl-wasm/web/tests/fixtures/abbIrb120.ts`，其中包含 `ABB_IRB120_3_58_URDF`、load options、来源记录和标准关节位。 + +### 决策 + +`working1` 以当前 fixture 内嵌 URDF 作为 ABB120 基准。后续如需要独立文件，可从 fixture 导出到稳定测试资产目录，但不得引入未验证 URDF 替换基准。 + +### 后果 + +1. 文档和测试能立即对齐当前代码。 +2. 后续 fixture 抽取不会改变机器人基准。 +3. 如果未来引入完整 mesh/inertial URDF，需要作为独立任务评审。 + +## ADR-A120-002：全面测试以 GRL/IR 为中心，品牌程序是输入输出格式 + +状态：Accepted +日期：2026-06-27 +关联任务：`A120-010`、`A120-050`、`A120-051` + +### 背景 + +需求要求编写通用机器人程序、运行程序、转换为其他品牌程序，并做离线编程全面测试。如果直接围绕 ABB RAPID 或其他品牌语法构建运行链路，会导致虚拟控制器和报告被品牌细节绑定。 + +### 决策 + +标准链路为： + +```text +GRL -> AST -> Semantic IR -> KDL / Virtual Controller / Reports -> ABB/FANUC/KUKA post +``` + +品牌导入链路为： + +```text +ABB/FANUC/KUKA text -> importer -> OLP patch + GRL + Semantic IR -> reports +``` + +### 后果 + +1. 同一测试程序可跨品牌输出。 +2. 虚拟控制器只执行统一 IR。 +3. 品牌差异通过 post/import report 解释。 + +## ADR-A120-003：pose target 优先由 ABB120 FK 生成 + +状态：Accepted +日期：2026-06-27 +关联任务：`A120-010`、`A120-031` + +### 背景 + +ABB120 是 6 轴机械臂。手写笛卡尔 pose 可能因为姿态、工具、base 或 IK 初值导致不可达，从而让 happy path 测试不稳定。 + +### 决策 + +happy path 的 pose target 优先由标准关节位 FK 生成。不可达点、限位点和奇异点只放入 error diagnostic suite。 + +### 后果 + +1. MOVEL/MOVEC happy path 更稳定。 +2. 诊断测试不会污染主流程。 +3. FK 结果变化会通过 snapshot 明确暴露。 + +## ADR-A120-004：跨品牌输出必须配套转换报告和回读差异 + +状态：Accepted +日期：2026-06-27 +关联任务：`A120-050`、`A120-051` + +### 背景 + +ABB RAPID、FANUC LS 和 KUKA KRL 的速度、zone、工具、frame、等待和工艺语义不完全一致。 + +### 决策 + +每次后处理必须输出品牌程序和转换报告；每次品牌导入或回读必须输出 roundtrip diff。 + +### 后果 + +1. 近似语义不会静默丢失。 +2. 用户能判断程序是否适合现场控制器复核。 +3. 后续新增品牌时必须遵守同样报告格式。 + +## ADR-A120-005：HTML 虚拟控制器对标 RobotStudio 工作流，不复制 ABB 视觉资产 + +状态：Accepted +日期：2026-06-27 +关联任务：`A120-090` 到 `A120-094` + +### 背景 + +用户要求对标 ABB 既有仿真器界面，并使用 HTML 编写本项目虚拟控制器。ABB RobotStudio 是 ABB 的离线编程与仿真平台，公开资料包括 RobotStudio Suite 官方页面、RobotStudio Operating Manual 2026.2 和 ABB Robotics downloads。需求参考 Virtual Controller、RAPID 编辑、Station 图形窗口、Simulation 和 Virtual FlexPendant 等工作流。 + +### 决策 + +本项目 HTML 界面对标信息架构和操作流程： + +1. Station 对象树。 +2. 机器人/路径 viewport。 +3. 程序编辑器和 source map。 +4. 控制器状态和运行控制。 +5. Virtual FlexPendant 风格的状态、Jog、IO 和报警面板。 +6. 报告和后处理出口。 + +不复制 ABB 商标、图标、配色、截图或专有资源。 + +### 后果 + +1. UI 满足用户熟悉的离线编程工作流。 +2. 降低品牌侵权和误导风险。 +3. 视觉语言可按本项目设计系统独立演进。 + +## ADR-A120-006：HTML UI 必须消费 runtime/facade snapshot，不重写运行时 + +状态：Accepted +日期：2026-06-27 +关联任务：`A120-090` 到 `A120-093` + +### 背景 + +当前仓库已有 `VirtualController`、`MotionQueue`、`IoImageRuntime`、`WorkbenchFacade` 和 `DebugFacade`。如果 UI 中重复实现程序运行、IO、Wait 或 source map，会造成行为分叉。 + +### 决策 + +HTML UI 只负责展示和触发命令，业务状态来自 runtime/facade snapshot。 + +### 后果 + +1. UI 与测试共用同一运行时行为。 +2. 自动化测试可以先验证 facade，再验证页面绑定。 +3. 后续替换 UI 框架时不影响核心运行逻辑。 + +## ADR-A120-007：证据优先使用 job_id 和 report_id 串联 + +状态：Accepted +日期：2026-06-27 +关联任务：`A120-033`、`A120-071`、`A120-900` + +### 背景 + +全面测试会产生多种证据：轨迹、trace、诊断、品牌程序、报告、截图、PDF 和交付包。如果只靠文件名追踪，后续很难定位一次完整运行。 + +### 决策 + +每次 ABB120 suite 运行生成 `job_id`；每份报告生成 `report_id`。所有产物 manifest 必须包含这两个字段或其中一个字段。 + +### 后果 + +1. 验收证据可追溯。 +2. CI、人工页面验收和交付包能关联到同一次运行。 +3. 历史证据可以长期归档和比对。 + +## ADR-GRL-EXPR-001：运算功能采用跨品牌公共数学子集 + +状态：Accepted +日期：2026-06-27 +关联任务：`GRL-EXPR-001` 到 `GRL-EXPR-006` + +### 背景 + +用户要求“运算功能，对标 ABB、FANUC、库卡”。ABB RAPID、FANUC LS/KAREL、KUKA KRL 都具备数值计算、比较、逻辑和常用数学函数，但语法细节、系统变量和控制器运行时能力不完全一致。如果首版照搬某一家品牌语法，会破坏 GRL 作为统一语言和统一 IR 的定位。 + +### 决策 + +GRL 首版运算功能采用公共数学子集： + +1. 算术：`+ - * / mod`。 +2. 比较：`== != < <= > >=`。 +3. 逻辑：`and or not`，兼容 `&& || !` 输入别名。 +4. 括号和函数调用。 +5. 函数：`sin/cos/tan/asin/acos/atan/atan2/sqrt/abs/pow/min/max/clamp/floor/ceil/round`。 +6. 常量：`pi/e`。 + +品牌专用函数、控制器系统变量和复杂运行时表达式不作为首版公共能力。 + +### 后果 + +1. GRL 语义保持跨品牌一致。 +2. ABB/FANUC/KUKA 后处理器可以优先消费折叠后的 IR 数值。 +3. 品牌专用能力后续通过 post_hint、import report 或品牌扩展包增量支持。 + +## ADR-GRL-EXPR-002：运动参数中的表达式必须编译期求值 + +状态：Accepted +日期：2026-06-27 +关联任务：`GRL-EXPR-003`、`GRL-EXPR-004`、`GRL-EXPR-005` + +### 背景 + +运算功能如果只停在 parser 层，真实机器人程序参数仍无法工作。例如 `speed linear(100 + 50 mm/s)`、`pose(400 + 50 mm, ...)`、`joint_target { joints: [(10 + 5) deg] }` 都必须进入 KDL planner 和品牌后处理。KDL request 和后处理器需要的是确定的数值，而不是未求值的表达式文本。 + +### 决策 + +以下位置必须在编译期求值并写入 Semantic IR / KDL request： + +1. 数据声明。 +2. speed、zone。 +3. pose、poseq、robot_config。 +4. joint_target、pose_target。 +5. tool、frame。 +6. path defaults/source。 +7. path point 内联 motion 参数。 +8. path event distance。 +9. wait timeout、pulse duration。 +10. operation process 中的数值常量。 + +需要常量的位置如果出现运行时变量或无法确定的表达式，输出 `GRL_EXPR_NON_CONSTANT`。 + +### 后果 + +1. 真实 motion/path 参数可以编译并进入规划。 +2. 后处理输出为具体 ABB/FANUC/KUKA 数值，便于现场复核。 +3. runtime 条件表达式需要单独建模，不能混入常量求值器。 + +## ADR-GRL-EXPR-003：单位采用上下文默认值加 SI 归一化 + +状态：Accepted +日期：2026-06-27 +关联任务：`GRL-EXPR-003` + +### 背景 + +GRL 已经支持带单位的 number token，例如 `300 mm/s`、`10 mm`、`90 deg`。用户要求支持 `linear(100 + 50 mm/s)` 这类表达式，其中 `100` 的单位依赖 `linear` 速度上下文。如果完全禁止无单位数，会让 GRL 编写繁琐；如果完全允许无单位数，会造成歧义。 + +### 决策 + +采用上下文默认单位加 SI 归一化： + +1. `linear(...)` 默认 `mm/s`。 +2. `z(...)` 默认 `mm`。 +3. `joint(...)` 的 `%` 默认比例上下文。 +4. `pose(...)` 前三项默认 `mm`，后三项默认 `deg`。 +5. `joint_target.joints` 默认 `deg`。 +6. `timeout/duration` 默认 `s`。 +7. 明确单位的数值优先使用自身单位。 +8. 同维度才能相加、相减、比较；不兼容维度报 `GRL_EXPR_UNIT_MISMATCH`。 + +所有进入 IR/KDL 的数值归一化为 SI：长度 m、速度 m/s、加速度 m/s2、角度 rad、时间 s、质量 kg、百分比 0 到 1。 + +### 后果 + +1. `linear(100 + 50 mm/s)` 可按用户预期编译为 `0.15 m/s`。 +2. 生成器和文档示例仍推荐输出显式单位，减少人工阅读歧义。 +3. 实现时必须把期望单位上下文传入常量求值器，不能只在 lexer 层处理。 + +## ADR-GRL-EXPR-004：复杂运行时表达式先进入报告，不强行后处理映射 + +状态：Accepted +日期：2026-06-27 +关联任务：`GRL-EXPR-006`、`A120-050`、`A120-051` + +### 背景 + +ABB、FANUC、KUKA 对运行时表达式、IO 条件、函数调用和控制器变量的支持差异较大。强行把所有 GRL 表达式映射到三品牌文本，容易产生看似可运行但语义不一致的程序。 + +### 决策 + +首版后处理策略： + +1. 需要常量的位置全部在 GRL 编译阶段折叠为 IR 数值。 +2. 后处理器只输出折叠后的具体数值。 +3. wait/if/while 等运行时条件表达式如果可以保真映射，则输出品牌表达式。 +4. 如果不能保真映射，输出转换报告项 `GRL_EXPR_UNSUPPORTED_RUNTIME`，必要时在品牌程序中输出注释或 unsupported 占位。 + +### 后果 + +1. 避免静默改变机器人程序行为。 +2. 用户能通过 post report 判断是否需要人工调整或品牌专用扩展。 +3. 后续每新增一个品牌表达式映射，都必须补 roundtrip diff 证据。 diff --git a/working1/README.md b/working1/README.md new file mode 100644 index 0000000..7f4d076 --- /dev/null +++ b/working1/README.md @@ -0,0 +1,72 @@ +# working1 ABB120 全面测试与虚拟控制器需求索引 + +版本：0.1 +日期：2026-06-27 +主题：基于 ABB IRB120 3/58 URDF 的通用机器人程序全面测试、跨品牌后处理、离线编程验收和 HTML 虚拟控制器需求拆解。 + +## 1. 文档目标 + +本目录用于指导后续开发，不宣称产品代码已按本轮需求完成。它把用户提出的 5 项目标拆成可执行任务、验收证据和设计决策： + +1. 根据 ABB120 URDF 编写通用机器人测试程序。 +2. 运行这些测试程序，覆盖 KDL、GRL、虚拟控制器、IO/Wait 和报告链路。 +3. 将通用机器人程序转换为 ABB RAPID、FANUC LS 风格、KUKA KRL 风格程序。 +4. 形成离线编程全面测试，包括可达性、节拍、轨迹、碰撞、IO、导入导出、交付包和报告。 +5. 对标 ABB RobotStudio / Virtual Controller / FlexPendant 的信息架构，用 HTML 编写本项目虚拟控制器界面。 +6. 补齐 GRL 运算表达式能力，对标 ABB、FANUC、KUKA 公共数学子集，并确保 `speed`、`zone`、`pose`、`joint_target`、path、wait/pulse 等真实机器人程序参数能编译。 + +## 2. 基准资产 + +当前仓库没有独立 `.urdf` 文件；ABB120 基准来自： + +| 项 | 路径或来源 | +| --- | --- | +| ABB120 URDF fixture | `/home/meswork/kdl_work/kdl-wasm/web/tests/fixtures/abbIrb120.ts` | +| URDF 来源记录 | ROS-Industrial `abb_irb120_support/urdf/irb120_3_58.xacro` | +| 当前集成测试参考 | `/home/meswork/kdl_work/kdl-wasm/web/tests/integration/abb120Programs.test.ts` | +| 虚拟控制器现有实现 | `/home/meswork/kdl_work/kdl-wasm/web/src/controller` | +| 工作台 facade 现有实现 | `/home/meswork/kdl_work/kdl-wasm/web/src/workbench` | +| 后处理现有实现 | `/home/meswork/kdl_work/kdl-wasm/web/src/grl/post` | + +ABB RobotStudio 对标依据使用 ABB 官方公开资料。需求只对标信息架构和工程工作流，不复制 ABB 商标、图标、配色或专有视觉。 + +| 对标资料 | 链接 | +| --- | --- | +| RobotStudio Suite 官方页面 | `https://new.abb.com/products/robotics/software-a-digital/robotstudio` | +| RobotStudio Operating Manual 2026.2 | `https://search.abb.com/library/Download.aspx?Action=Launch&DocumentID=3HAC032104-001&DocumentPartId=&LanguageCode=en` | +| ABB Robotics downloads | `https://www.abb.com/global/en/areas/robotics/downloads` | + +## 3. 文档入口 + +| 文件 | 用途 | +| --- | --- | +| `01-项目功能内容.md` | 需求范围、ABB120 测试程序集、运行链路、跨品牌输出、离线编程测试和 HTML 虚拟控制器功能。 | +| `02-项目程序开发详细步骤.md` | 从运算表达式、fixture、测试程序、运行器、后处理、报告到 HTML UI 的实施步骤。 | +| `03-推进台账.md` | 记录每轮做了什么、改了哪些文件、验证了什么、下一步是什么。 | +| `04-任务矩阵.md` | 所有任务编号、状态、依赖、验收标准，防止重复做。 | +| `05-验收证据.md` | 命令、页面、job_id、report_id、PDF、截图、日志和产物路径。 | +| `06-决策记录.md` | 固化关键设计取舍，避免后续反复争论同一问题。 | + +## 4. 任务编号 + +`A120-###` 是本目录的任务编号前缀： + +| 编号范围 | 主题 | +| --- | --- | +| `GRL-EXPR-000` 到 `GRL-EXPR-099` | GRL 运算表达式、常量求值、单位系统、motion/path/IO 接入和三品牌表达式报告。 | +| `A120-000` 到 `A120-009` | 文档、基准资产、测试数据规范。 | +| `A120-010` 到 `A120-029` | ABB120 通用机器人测试程序。 | +| `A120-030` 到 `A120-049` | 程序运行、KDL、虚拟控制器和调试。 | +| `A120-050` 到 `A120-069` | 跨品牌后处理、导入回读和差异报告。 | +| `A120-070` 到 `A120-089` | 离线编程全面测试、报告、交付包。 | +| `A120-090` 到 `A120-109` | HTML 虚拟控制器界面。 | +| `A120-900` 到 `A120-999` | 全量验收、CI、证据归档。 | + +## 5. 当前状态 + +当前 `working1` 任务矩阵已全部完成： + +1. `GRL-EXPR-001` 到 `GRL-EXPR-006` 已实现并通过测试。 +2. `A120-001` 到 `A120-900` 已实现或用自动化证据覆盖。 +3. 全量验证命令 `npm run typecheck`、`npm test`、`cmake --build kdl-wasm/build-wasm -j16`、`npm run verify:virtual-controller` 均通过。 +4. `working2` 当前为空任务集，已在 `working2/README.md` 记录审计结论。 diff --git a/working2/README.md b/working2/README.md new file mode 100644 index 0000000..9617f12 --- /dev/null +++ b/working2/README.md @@ -0,0 +1,10 @@ +# working2 任务审计 + +日期：2026-06-28 + +本目录当前没有任务文件、源码、验收矩阵或外部引用。已检查： + +1. `Get-ChildItem -Force E:\Work\kdl_work\working2`：无文件。 +2. `rg -n "working2|working 2|工作2" E:\Work\kdl_work`：未发现任务说明引用。 + +结论：`working2` 当前为空任务集，无待实现项。