同步KDL工程源码到云仓库

kdl-wasm/web/tests/grl/lexer.test.ts

@@ -0,0 +1,94 @@
+import { describe, expect, it } from "vitest";
+import { GRL_KEYWORDS, lexGrl, normalizeUnitLiteral, normalizeUnitValue } from "../../src/grl/lexer/index.js";
+import type { GrlNumberToken } from "../../src/grl/lexer/index.js";
+
+function numbers(source: string): GrlNumberToken[] {
+  return lexGrl(source).filter((token): token is GrlNumberToken => token.kind === "number");
+}
+
+describe("GRL lexer", () => {
+  it("recognizes comments, keywords, identifiers, and source positions", () => {
+    const tokens = lexGrl(`// generated\nlanguage grl 0.1\nmodule Main\n  proc main()\n  end\nend\n`);
+
+    expect(tokens[0]).toMatchObject({
+      kind: "comment",
+      style: "line",
+      value: " generated",
+      range: {
+        start: { line: 1, column: 1 },
+        end: { line: 1, column: 13 }
+      }
+    });
+    expect(tokens.filter((token) => token.kind === "keyword").map((token) => token.raw)).toEqual([
+      "language",
+      "module",
+      "proc",
+      "end",
+      "end"
+    ]);
+    expect(tokens.find((token) => token.raw === "Main")).toMatchObject({
+      kind: "identifier",
+      range: {
+        start: { line: 3, column: 8 }
+      }
+    });
+    expect(tokens.at(-1)).toMatchObject({ kind: "eof" });
+  });
+
+  it("normalizes numeric literals with GRL units into SI values", () => {
+    const found = numbers("100 mm 0.25 m 180 deg 3.14159 rad 300 mm/s 50 % 200 ms 2.5 kg 500 mm/s2");
+
+    expect(found.map((token) => token.unit?.raw)).toEqual([
+      "mm",
+      "m",
+      "deg",
+      "rad",
+      "mm/s",
+      "%",
+      "ms",
+      "kg",
+      "mm/s2"
+    ]);
+    expect(found[0]?.unit?.normalizedValue).toBeCloseTo(0.1);
+    expect(found[1]?.unit?.normalizedValue).toBeCloseTo(0.25);
+    expect(found[2]?.unit?.normalizedValue).toBeCloseTo(Math.PI);
+    expect(found[3]?.unit?.normalizedValue).toBeCloseTo(3.14159);
+    expect(found[4]?.unit?.normalizedValue).toBeCloseTo(0.3);
+    expect(found[5]?.unit?.normalizedValue).toBeCloseTo(0.5);
+    expect(found[6]?.unit?.normalizedValue).toBeCloseTo(0.2);
+    expect(found[7]?.unit?.normalizedValue).toBeCloseTo(2.5);
+    expect(found[8]?.unit?.normalizedValue).toBeCloseTo(0.5);
+  });
+
+  it("keeps unit raw text on number tokens", () => {
+    const [token] = numbers("linear(300 mm/s)");
+
+    expect(token).toMatchObject({
+      kind: "number",
+      raw: "300 mm/s",
+      value: 300,
+      unit: {
+        raw: "mm/s",
+        kind: "linear_velocity",
+        siUnit: "m/s"
+      }
+    });
+  });
+
+  it("exposes the full reserved keyword set from the specification", () => {
+    expect(GRL_KEYWORDS).toContain("movej");
+    expect(GRL_KEYWORDS).toContain("run_operation");
+    expect(GRL_KEYWORDS).toContain("post_hint");
+    expect(GRL_KEYWORDS).toContain("continuous");
+    expect(GRL_KEYWORDS).toHaveLength(85);
+  });
+
+  it("provides direct unit helpers for parser and semantic layers", () => {
+    expect(normalizeUnitLiteral("deg/s")).toMatchObject({
+      kind: "angular_velocity",
+      siUnit: "rad/s"
+    });
+    expect(normalizeUnitValue(90, "deg/s")).toBeCloseTo(Math.PI / 2);
+    expect(() => normalizeUnitLiteral("inch")).toThrow("Unknown GRL unit");
+  });
+});