同步KDL工程源码到云仓库

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

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+import { describe, expect, it } from "vitest";
+import type {
+  GrlOperationDeclaration,
+  GrlPathDeclaration,
+  GrlProcedureDeclaration
+} from "../../src/grl/ast/index.js";
+import { parseGrl } from "../../src/grl/parser/index.js";
+import {
+  compileOperation,
+  expandRunOperation,
+  parseProcedureRunOperationStatements
+} from "../../src/grl/semantic/index.js";
+
+const PROGRAM = `language grl 0.1
+module Main
+  const speed v = joint(50 %)
+  const zone zf = fine
+  target home = joint_target { joints: [0 deg] }
+  path weld_path {
+    defaults { speed: v, zone: zf }
+    point p0 movej home
+  }
+  operation weld_op_01 {
+    kind: arc_welding
+    path: weld_path
+    process {
+      weld_id: "WELD_1"
+      voltage: 24.0
+      current: 180.0
+      weave: none
+    }
+    start_action:
+      io.do[20] = true
+    end_action:
+      io.do[20] = false
+  }
+  proc main()
+    run_operation weld_op_01
+  end
+end
+`;
+
+function declarations() {
+  return parseGrl(PROGRAM).module.declarations;
+}
+
+function pathsByName(paths: GrlPathDeclaration[]) {
+  return new Map(paths.map((path) => [path.name, path]));
+}
+
+describe("GRL operation compilation", () => {
+  it("parses operation kind, path, process, and action blocks", () => {
+    const operation = declarations().find(
+      (decl): decl is GrlOperationDeclaration => decl.kind === "OperationDeclaration"
+    )!;
+
+    expect(operation).toMatchObject({
+      kind: "OperationDeclaration",
+      name: "weld_op_01",
+      operationKind: "arc_welding",
+      pathName: "weld_path",
+      items: [
+        { kind: "OperationProcessBlock" },
+        { kind: "OperationActionBlock", actionKind: "start_action" },
+        { kind: "OperationActionBlock", actionKind: "end_action" }
+      ]
+    });
+  });
+
+  it("compiles operation process metadata and action statements", () => {
+    const decls = declarations();
+    const operation = decls.find((decl): decl is GrlOperationDeclaration => decl.kind === "OperationDeclaration")!;
+    const paths = decls.filter((decl): decl is GrlPathDeclaration => decl.kind === "PathDeclaration");
+    const compiled = compileOperation(operation, pathsByName(paths));
+
+    expect(compiled).toMatchObject({
+      operationId: "weld_op_01",
+      kind: "arc_welding",
+      pathId: "weld_path",
+      process: {
+        weld_id: "WELD_1",
+        voltage: 24,
+        current: 180,
+        weave: "none"
+      },
+      startActions: [
+        {
+          kind: "ACTION",
+          actionKind: "start_action",
+          operationId: "weld_op_01",
+          statement: "io . do [ 20 ] = true"
+        }
+      ],
+      endActions: [
+        {
+          kind: "ACTION",
+          actionKind: "end_action",
+          operationId: "weld_op_01",
+          statement: "io . do [ 20 ] = false"
+        }
+      ]
+    });
+  });
+
+  it("extracts run_operation and expands to start action, path, and end action", () => {
+    const decls = declarations();
+    const procedure = decls.find((decl): decl is GrlProcedureDeclaration => decl.kind === "ProcedureDeclaration")!;
+    const operation = decls.find((decl): decl is GrlOperationDeclaration => decl.kind === "OperationDeclaration")!;
+    const paths = decls.filter((decl): decl is GrlPathDeclaration => decl.kind === "PathDeclaration");
+    const compiled = compileOperation(operation, pathsByName(paths));
+    const [run] = parseProcedureRunOperationStatements(procedure);
+
+    expect(run).toEqual({
+      kind: "RUN_OPERATION",
+      operationId: "weld_op_01",
+      sourceMap: {
+        line: 25,
+        column: 5
+      }
+    });
+    expect(expandRunOperation(run!, new Map([[compiled.operationId, compiled]]))).toEqual([
+      expect.objectContaining({ kind: "ACTION", actionKind: "start_action" }),
+      {
+        kind: "RUN_PATH",
+        pathId: "weld_path",
+        sourceMap: {
+          line: 25,
+          column: 5
+        }
+      },
+      expect.objectContaining({ kind: "ACTION", actionKind: "end_action" })
+    ]);
+  });
+
+  it("reports operations that reference missing paths and missing run_operation targets", () => {
+    const missingPathOperation = parseGrl(`language grl 0.1
+module Main
+  operation bad_op {
+    kind: handling
+    path: missing_path
+  }
+end
+`).module.declarations.find((decl): decl is GrlOperationDeclaration => decl.kind === "OperationDeclaration")!;
+
+    expect(() => compileOperation(missingPathOperation, new Map())).toThrowError(
+      expect.objectContaining({ code: "GRL_OPERATION_PATH_NOT_FOUND" })
+    );
+
+    expect(() =>
+      expandRunOperation({ kind: "RUN_OPERATION", operationId: "missing_op" }, new Map())
+    ).toThrowError(expect.objectContaining({ code: "GRL_OPERATION_NOT_FOUND" }));
+  });
+});