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kdl-wasm/web/tests/importers/brandImport.test.ts

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+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");
+  });
+});