同步KDL工程源码到云仓库

kdl-wasm/web/tests/grl/generator/roundtrip.test.ts

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+import { describe, expect, it } from "vitest";
+import { generateGrlProgram, type GrlProgramGenerationSpec } from "../../../src/grl/generator/index.js";
+import { postProcessAllBrands } from "../../../src/grl/post/index.js";
+import type { GrlOperationDeclaration, GrlPathDeclaration, GrlTargetDeclaration } from "../../../src/grl/ast/index.js";
+import { parseGrl } from "../../../src/grl/parser/index.js";
+import { compileSemanticProgram } from "../../../src/grl/semantic/index.js";
+
+const SPEC: GrlProgramGenerationSpec = {
+  moduleName: "GeneratedCell",
+  speeds: {
+    v_linear: "linear(200 mm/s)",
+    v_joint: "joint(50 %)"
+  },
+  zones: {
+    z10: "z(10 mm)",
+    zf: "fine"
+  },
+  targets: [
+    { name: "pick", kind: "pose", values: [500, 0, 0, 0, 0, 0] },
+    { name: "home", kind: "joint", values: [0] },
+    { name: "place", kind: "pose", values: [600, 0, 0, 0, 0, 0] }
+  ],
+  path: {
+    name: "generated_path",
+    source: {
+      type: "cad_curve",
+      id: "edge_001",
+      sample_distance: 5
+    },
+    defaults: {
+      speed: "v_linear",
+      zone: "z10"
+    },
+    points: [
+      { motion: "movej", target: "home", speed: "v_joint", zone: "zf" },
+      { motion: "movel", target: "pick" },
+      { id: "place_point", motion: "movel", target: "place", zone: "zf" }
+    ]
+  },
+  operation: {
+    name: "generated_op",
+    kind: "handling",
+    path: "generated_path",
+    startAction: "io.do[1] = true",
+    endAction: "io.do[1] = false"
+  }
+};
+
+describe("GRL generator and roundtrip", () => {
+  it("generates stable expanded GRL with target/path/operation first", () => {
+    const first = generateGrlProgram(SPEC, "expanded");
+    const second = generateGrlProgram(SPEC, "expanded");
+
+    expect(first).toEqual(second);
+    expect(first.stableIds).toEqual({
+      targets: ["home", "pick", "place"],
+      points: ["p00", "p01", "place_point"],
+      path: "generated_path",
+      operation: "generated_op"
+    });
+    expect(first.text).toBe(`language grl 0.1
+module GeneratedCell
+  const speed v_joint = joint(50 %)
+  const speed v_linear = linear(200 mm/s)
+  const zone z10 = z(10 mm)
+  const zone zf = fine
+  target home = joint_target {
+    joints: [0 deg]
+  }
+  target pick = pose_target {
+    pose: pose(500 mm, 0 mm, 0 mm, 0 deg, 0 deg, 0 deg)
+  }
+  target place = pose_target {
+    pose: pose(600 mm, 0 mm, 0 mm, 0 deg, 0 deg, 0 deg)
+  }
+  path generated_path {
+    source {
+      id: "edge_001"
+      sample_distance: 5
+      type: cad_curve
+    }
+    defaults {
+      speed: v_linear
+      zone: z10
+    }
+    point p00 movej home speed v_joint zone zf
+    point p01 movel pick
+    point place_point movel place zone zf
+  }
+  operation generated_op {
+    kind: handling
+    path: generated_path
+    start_action:
+      io.do[1] = true
+    end_action:
+      io.do[1] = false
+  }
+  proc main()
+    run_operation generated_op
+  end
+end`);
+  });
+
+  it("supports compact output that remains parseable", () => {
+    const compact = generateGrlProgram(SPEC, "compact");
+
+    expect(compact.text).toContain("path generated_path { source { id: \"edge_001\"");
+    expect(parseGrl(compact.text).module.name).toBe("GeneratedCell");
+  });
+
+  it("roundtrips through parser, semantic IR, and postprocessors", () => {
+    const generated = generateGrlProgram(SPEC, "expanded");
+    const ast = parseGrl(generated.text);
+    const declarations = ast.module.declarations;
+    const targets = declarations.filter((decl): decl is GrlTargetDeclaration => decl.kind === "TargetDeclaration");
+    const path = declarations.find((decl): decl is GrlPathDeclaration => decl.kind === "PathDeclaration")!;
+    const operation = declarations.find((decl): decl is GrlOperationDeclaration => decl.kind === "OperationDeclaration")!;
+    const ir = compileSemanticProgram(ast, {
+      startJoints: [0],
+      sampleTime: 0.004
+    });
+    const post = postProcessAllBrands(ir);
+
+    expect(targets.map((target) => target.name)).toEqual(["home", "pick", "place"]);
+    expect(path.items).toEqual(
+      expect.arrayContaining([
+        expect.objectContaining({ kind: "PathSourceBlock" }),
+        expect.objectContaining({ kind: "PathDefaultsBlock" }),
+        expect.objectContaining({ kind: "PathPoint", id: "p00" }),
+        expect.objectContaining({ kind: "PathPoint", id: "p01" }),
+        expect.objectContaining({ kind: "PathPoint", id: "place_point" })
+      ])
+    );
+    expect(operation).toMatchObject({
+      name: "generated_op",
+      operationKind: "handling",
+      pathName: "generated_path"
+    });
+    expect(ir.symbols).toEqual(
+      expect.arrayContaining([
+        expect.objectContaining({ kind: "path", name: "generated_path" }),
+        expect.objectContaining({ kind: "operation", name: "generated_op" })
+      ])
+    );
+    expect(post.outputs.abb.text).toContain("MODULE GeneratedCell");
+    expect(post.outputs.fanuc.text).toContain("/PROG MAIN");
+    expect(post.outputs.kuka.text).toContain("DEF Main()");
+  });
+});