同步KDL工程源码到云仓库

kdl-wasm/web/tests/post/postProcessor.test.ts

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+import { describe, expect, it } from "vitest";
+import { postProcessAllBrands } from "../../src/grl/post/index.js";
+import { parseGrl } from "../../src/grl/parser/index.js";
+import { compileSemanticProgram } from "../../src/grl/semantic/index.js";
+
+const PROGRAM = `language grl 0.1
+module PostDemo
+  post_hint abb
+  const speed vj = joint(50 %)
+  const speed vl = linear(200 mm/s)
+  const zone z10 = z(10 mm)
+  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 mid = pose_target { pose: pose(550 mm, 50 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) }
+  proc main()
+    set_speed vl
+    set_zone z10
+    movej home speed vj zone fine
+    movel pick speed vl zone z10
+    movec via mid target place speed vl zone fine
+    io.do[1] = true
+    wait io.di[1] == true timeout 1 s
+    pulse io.do[2] duration 100 ms
+    alarm DONE "done"
+  end
+end
+`;
+
+function postAll() {
+  const ir = compileSemanticProgram(parseGrl(PROGRAM), {
+    startJoints: [0],
+    sampleTime: 0.004
+  });
+  return postProcessAllBrands(ir);
+}
+
+describe("GRL multi-brand postprocessor", () => {
+  it("emits stable ABB, FANUC, and KUKA golden text", () => {
+    const result = postAll();
+
+    expect(result.outputs.abb.text).toBe(`MODULE PostDemo
+  PROC main()
+    MoveJ home,v50,fine,tool0;
+    MoveL pick,v200,z10,tool0;
+    MoveC mid,place,v200,fine,tool0;
+    SetDO io.do[1],TRUE;
+    WaitUntil io . di [ 1 ] == true;
+    PulseDO io.do[2],0.100;
+    ! unsupported ALARM
+  ENDPROC
+ENDMODULE`);
+    expect(result.outputs.fanuc.text).toBe(`/PROG MAIN
+/MN
+  1: J home 50% FINE ;
+  2: L pick 200mm/sec CNT10 ;
+  3: C mid place 200mm/sec FINE ;
+  4: DO[1]=TRUE ;
+  5: WAIT (io . di [ 1 ] == true) ;
+  6: PULSE DO[2] 100ms ;
+  7: ! unsupported ALARM ;
+/END`);
+    expect(result.outputs.kuka.text).toBe(`DEF Main()
+  PTP home Vel=50%
+  LIN pick Vel=0.200m/s C_DIS
+  CIRC mid, place Vel=0.200m/s
+  $OUT[1] = TRUE
+  WAIT FOR io . di [ 1 ] == true
+  PULSE $OUT[2] 0.100
+  ! unsupported ALARM
+END`);
+  });
+
+  it("reports unsupported semantics and ignored brand hints", () => {
+    const result = postAll();
+
+    expect(result.outputs.abb.filename).toBe("PostDemo.mod");
+    expect(result.outputs.fanuc.filename).toBe("PostDemo.ls");
+    expect(result.outputs.kuka.filename).toBe("PostDemo.src");
+    expect(result.report).toEqual([
+      expect.objectContaining({ brand: "abb", code: "GRL_POST_UNSUPPORTED", message: expect.stringContaining("ALARM") }),
+      expect.objectContaining({ brand: "fanuc", code: "GRL_POST_HINT_IGNORED" }),
+      expect.objectContaining({ brand: "fanuc", code: "GRL_POST_UNSUPPORTED", message: expect.stringContaining("ALARM") }),
+      expect.objectContaining({ brand: "kuka", code: "GRL_POST_HINT_IGNORED" }),
+      expect.objectContaining({ brand: "kuka", code: "GRL_POST_UNSUPPORTED", message: expect.stringContaining("ALARM") })
+    ]);
+  });
+});