同步KDL工程源码到云仓库

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

@@ -0,0 +1,148 @@
+import { describe, expect, it } from "vitest";
+import { parseGrl } from "../../src/grl/parser/index.js";
+import { compileSemanticProgram } from "../../src/grl/semantic/index.js";
+
+const PROGRAM = `language grl 0.1
+module Main
+  const speed vj = joint(50 %)
+  const speed vl = linear(200 mm/s)
+  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) }
+  path pick_path {
+    defaults { speed: vl, zone: zf }
+    point p0 movej home speed vj zone fine
+    point p1 movel pick
+    event before p1 io.do[1] = true
+  }
+  operation pick_op {
+    kind: handling
+    path: pick_path
+    start_action:
+      io.do[2] = true
+    end_action:
+      io.do[2] = false
+  }
+  proc set_done(out bool done)
+    done = true
+  end
+  proc main(out bool done)
+    set_speed vl
+    set_zone zf
+    movej home speed vj zone fine
+    io.do[3] = true
+    wait io.di[1] == true timeout 1 s
+    if done == false
+      pulse io.do[4] duration 100 ms
+    else
+      alarm DONE "Already done"
+    end
+    call set_done(done)
+    run_path pick_path
+    run_operation pick_op
+    return
+  end
+end
+`;
+
+describe("GRL semantic analyzer, executable IR, and source map", () => {
+  it("compiles a complete program into unified executable IR and KDL bridge requests", () => {
+    const ir = compileSemanticProgram(parseGrl(PROGRAM), {
+      startJoints: [0],
+      sampleTime: 0.004
+    });
+
+    expect(ir.moduleName).toBe("Main");
+    expect(ir.semanticChecks).toHaveLength(22);
+    expect(ir.symbols).toEqual([
+      expect.objectContaining({ kind: "data", name: "vj", typeName: "speed" }),
+      expect.objectContaining({ kind: "data", name: "vl", typeName: "speed" }),
+      expect.objectContaining({ kind: "data", name: "zf", typeName: "zone" }),
+      expect.objectContaining({ kind: "target", name: "home" }),
+      expect.objectContaining({ kind: "target", name: "pick" }),
+      expect.objectContaining({ kind: "path", name: "pick_path" }),
+      expect.objectContaining({ kind: "operation", name: "pick_op" }),
+      expect.objectContaining({ kind: "procedure", name: "set_done" }),
+      expect.objectContaining({ kind: "procedure", name: "main" })
+    ]);
+    expect(ir.paths).toHaveLength(1);
+    expect(ir.operations).toHaveLength(1);
+    expect(ir.kdlBridge.pathRequests).toEqual([
+      expect.objectContaining({
+        pathId: "pick_path",
+        segments: [
+          expect.objectContaining({ id: "p0", motion: "MOVEJ" }),
+          expect.objectContaining({ id: "p1", motion: "MOVEL" })
+        ]
+      })
+    ]);
+    expect(ir.kdlBridge.motionRequests).toEqual([
+      expect.objectContaining({
+        startJoints: [0],
+        speed: { kind: "joint_percent", value: 0.5 },
+        zone: { kind: "fine" },
+        sampleTime: 0.004
+      })
+    ]);
+
+    const main = ir.procedures.find((procedure) => procedure.name === "main")!;
+    expect(main.instructions).toEqual([
+      expect.objectContaining({ kind: "MOVEJ" }),
+      expect.objectContaining({ kind: "IO_WRITE", target: expect.objectContaining({ domain: "do", index: 3 }) }),
+      expect.objectContaining({ kind: "WAIT", timeout: 1 }),
+      expect.objectContaining({
+        kind: "EXEC_IF",
+        branches: [
+          expect.objectContaining({
+            branchKind: "if",
+            body: expect.arrayContaining([expect.objectContaining({ kind: "PULSE", duration: 0.1 })])
+          }),
+          expect.objectContaining({
+            branchKind: "else",
+            body: expect.arrayContaining([expect.objectContaining({ kind: "ALARM", alarmId: "DONE" })])
+          })
+        ]
+      }),
+      expect.objectContaining({ kind: "CALL", target: "set_done" }),
+      expect.objectContaining({ kind: "RUN_PATH", pathId: "pick_path" }),
+      expect.objectContaining({ kind: "RUN_OPERATION", operationId: "pick_op" }),
+      expect.objectContaining({ kind: "RETURN" })
+    ]);
+  });
+
+  it("exposes source map entries for GRL procedure lines, path points, and operation actions", () => {
+    const ir = compileSemanticProgram(parseGrl(PROGRAM), {
+      startJoints: [0],
+      sampleTime: 0.004
+    });
+
+    expect(ir.sourceMap).toEqual(
+      expect.arrayContaining([
+        expect.objectContaining({ kind: "path_point", pathId: "pick_path", pointId: "p0" }),
+        expect.objectContaining({ kind: "path_point", pathId: "pick_path", pointId: "p1" }),
+        expect.objectContaining({ kind: "operation_action", operationId: "pick_op" }),
+        expect.objectContaining({ kind: "MOVEJ", procedureId: "main", sourceMap: expect.objectContaining({ line: 28 }) }),
+        expect.objectContaining({ kind: "EXEC_IF", procedureId: "main" }),
+        expect.objectContaining({ kind: "RUN_OPERATION", procedureId: "main" })
+      ])
+    );
+  });
+
+  it("reports duplicate symbols through semantic diagnostics", () => {
+    const ir = compileSemanticProgram(parseGrl(`language grl 0.1
+module Main
+  const speed v = joint(10 %)
+  const speed v = joint(20 %)
+  proc main()
+  end
+end
+`), {
+      startJoints: [],
+      sampleTime: 0.004
+    });
+
+    expect(ir.diagnostics).toEqual([
+      expect.objectContaining({ severity: "error", code: "GRL_SYMBOL_DUPLICATE" })
+    ]);
+  });
+});