同步KDL工程源码到云仓库

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

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+import { describe, expect, it } from "vitest";
+import { GrlParseError, parseGrl } from "../../src/grl/parser/index.js";
+
+describe("GRL parser", () => {
+  it("parses the minimal language/module/proc skeleton with source ranges", () => {
+    const ast = parseGrl(`language grl 0.1
+
+module Main
+  proc main()
+    // body comment should not affect parser
+  end
+end
+`);
+
+    expect(ast).toMatchObject({
+      kind: "Program",
+      language: {
+        kind: "LanguageDeclaration",
+        language: "grl",
+        version: "0.1",
+        range: {
+          start: { line: 1, column: 1 },
+          end: { line: 1, column: 17 }
+        }
+      },
+      module: {
+        kind: "ModuleDeclaration",
+        name: "Main",
+        declarations: [
+          {
+            kind: "ProcedureDeclaration",
+            name: "main",
+            params: []
+          }
+        ]
+      }
+    });
+    expect(ast.module.range.start).toMatchObject({ line: 3, column: 1 });
+    expect(ast.module.range.end).toMatchObject({ line: 7, column: 4 });
+  });
+
+  it("parses imports, data declarations, targets, and procedure body tokens", () => {
+    const ast = parseGrl(`language grl 0.1
+module Main
+  import CommonTools
+  const speed v_pick = linear(300 mm/s)
+  target home = joint_target {
+    joints: [0 deg, 0 deg]
+  }
+  proc main()
+    movej home
+  end
+end
+`);
+
+    expect(ast.module.declarations.map((decl) => decl.kind)).toEqual([
+      "ImportDeclaration",
+      "DataDeclaration",
+      "TargetDeclaration",
+      "ProcedureDeclaration"
+    ]);
+    expect(ast.module.declarations[0]).toMatchObject({
+      kind: "ImportDeclaration",
+      moduleName: "CommonTools"
+    });
+    expect(ast.module.declarations[1]).toMatchObject({
+      kind: "DataDeclaration",
+      storage: "const",
+      typeName: "speed",
+      name: "v_pick",
+      initializer: {
+        kind: "CallExpression",
+        callee: "linear"
+      }
+    });
+    expect(ast.module.declarations[2]).toMatchObject({
+      kind: "TargetDeclaration",
+      name: "home",
+      target: {
+        kind: "ObjectExpression",
+        typeName: "joint_target"
+      }
+    });
+    expect(ast.module.declarations[3]).toMatchObject({
+      kind: "ProcedureDeclaration",
+      bodyTokens: [
+        {
+          kind: "keyword",
+          raw: "movej"
+        },
+        {
+          kind: "identifier",
+          raw: "home"
+        }
+      ]
+    });
+  });
+
+  it("reports stable line and column on invalid syntax", () => {
+    expect(() => parseGrl("language grl\nmodule Main\nend\n")).toThrow(GrlParseError);
+    expect(() => parseGrl("language grl\nmodule Main\nend\n")).toThrow("Expected GRL language version at 2:1");
+  });
+});