同步KDL工程源码到云仓库

work/doc/通用机器人项目功能与数据流程图-png/flow-01.mmd

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+flowchart TD
+  A[项目资源] --> A1[robots/robot.urdf]
+  A --> A2[targets/*.json]
+  A --> A3[paths/*.json]
+  A --> A4[operations/*.json]
+  A --> A5[programs/*.grl]
+  A --> A6[io/io_map.json]
+  A --> A7[post/*.profile.json]
+
+  A5 --> B[GRL Lexer]
+  B --> C[GRL Parser]
+  C --> D[GRL AST]
+  D --> E[Symbol Table]
+  E --> F[Semantic Analyzer]
+
+  A1 --> G[URDF Parser]
+  G --> H[NormalizedRobotModel]
+  H --> I[KDL createRobotFromModel]
+  I --> J[RobotHandle]
+
+  F --> K[Executable IR]
+  K --> L{IR 指令类型}
+
+  L -->|MotionInstruction| M[生成 MotionSegmentRequest]
+  L -->|run_path| N[展开 Path points/events]
+  L -->|run_operation| O[展开 start_action + path + end_action]
+  L -->|IO / wait / pulse| P[虚拟控制器 IO Service]
+  L -->|if/for/switch/call/return| Q[虚拟控制器流程执行]
+  L -->|alarm / raise / try/catch| R[虚拟控制器报警与异常处理]
+
+  N --> M
+  O --> N
+
+  M --> S[KdlWorkerClient]
+  S --> T[kdl.worker.ts]
+  T --> U[KDL WASM API]
+
+  U --> U1[planMoveJ]
+  U --> U2[planMoveL]
+  U --> U3[planMoveC]
+  U --> U4[planPath]
+  U --> U5[validatePath]
+
+  U1 --> V[TrajectoryResult]
+  U2 --> V
+  U3 --> V
+  U4 --> W[PathPlanResult]
+  U5 --> X[PathValidationResult]
+
+  V --> Y[Motion Queue / 轨迹回放]
+  W --> Y
+  X --> Z[可达性与诊断报告]
+
+  K --> AA[Post Processor]
+  AA --> AA1[ABB RAPID]
+  AA --> AA2[FANUC LS/TP 风格文本]
+  AA --> AA3[KUKA KRL]
+  AA --> AA4[转换报告]

work/doc/通用机器人项目功能与数据流程图-png/flow-02.mmd

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+flowchart TD
+  A[GRL Source .grl] --> B[Lexer]
+  B --> C[Tokens]
+  C --> D[Parser]
+  D --> E[AST]
+  E --> F[Symbol Table]
+  F --> G[Semantic Analyzer]
+
+  G --> G1[名称解析]
+  G --> G2[类型检查]
+  G --> G3[单位规范化]
+  G --> G4[tool/frame/speed/zone 解析]
+  G --> G5[Path/Operation 引用检查]
+  G --> G6[IO 地址检查]
+  G --> G7[运动目标可达性检查]
+  G --> G8[后处理能力检查]
+
+  G1 --> H[Executable IR]
+  G2 --> H
+  G3 --> H
+  G4 --> H
+  G5 --> H
+  G6 --> H
+  G7 --> H
+  G8 --> H
+
+  H --> I{IR}
+  I -->|MotionInstruction| J[Motion Request Builder]
+  I -->|WaitInstruction| K[Wait Registry]
+  I -->|IoInstruction| L[IO Image]
+  I -->|BranchInstruction| M[Program Counter]
+  I -->|CallInstruction| N[Call Stack]
+  I -->|AlarmInstruction| O[Alarm Queue]
+  I -->|ReturnInstruction| P[Scope/Call Stack]
+
+  J --> Q[KDL WASM]
+  Q --> R[TrajectoryResult / Diagnostics]
+  R --> S[Motion Queue]
+
+  H --> T[Post Processor]
+  T --> U[品牌程序]
+  T --> V[转换报告]

work/doc/通用机器人项目功能与数据流程图-png/flow-03.mmd

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+flowchart TD
+  A[NormalizedRobotModel] --> B[createRobotFromModel]
+  B --> C[RobotHandle]
+  C --> D[KDL Chain / Solvers Cache]
+
+  E[Motion Request] --> F{motion}
+  F -->|MOVEJ| G[planMoveJ]
+  F -->|MOVEL| H[planMoveL]
+  F -->|MOVEC| I[planMoveC]
+  F -->|PATH| J[planPath / validatePath]
+
+  G --> G1[校验 startJoints 和限位]
+  G1 --> G2{target 类型}
+  G2 -->|joint_target| G3[qEnd = target.joints]
+  G2 -->|pose_target| G4[IK 求 qEnd]
+  G3 --> G5[关节差分]
+  G4 --> G5
+  G5 --> G6[梯形速度曲线]
+  G6 --> G7[采样关节位置/速度/加速度]
+  G7 --> G8[FK 输出 TCP]
+  G8 --> R[TrajectoryResult]
+
+  H --> H1[FK 得到起点 TCP]
+  H1 --> H2[applyToolAndFrame / applyOffset]
+  H2 --> H3[直线位置和姿态插补]
+  H3 --> H4[梯形速度曲线]
+  H4 --> H5[逐点 IK]
+  H5 --> H6[限位/速度/奇异性检查]
+  H6 --> R
+
+  I --> I1[FK 得到起点 TCP]
+  I1 --> I2[via/target 位姿变换]
+  I2 --> I3[三点退化检查]
+  I3 --> I4[圆心/半径/法向/弧长]
+  I4 --> I5[圆弧采样]
+  I5 --> I6[逐点 IK]
+  I6 --> I7[圆弧误差和限位检查]
+  I7 --> R
+
+  J --> J1[按 segment 顺序规划]
+  J1 --> J2[上一段终点关节作为下一段起点]
+  J2 --> J3[合并轨迹点和诊断]
+  J3 --> J4[保留 sourceMap]
+  J4 --> P[PathPlanResult / PathValidationResult]
+
+  R --> D1[MotionDiagnostic]
+  P --> D1
+  D1 --> D2[error / warning / info]

work/doc/通用机器人项目功能与数据流程图-png/flow-04.mmd

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+flowchart LR
+  subgraph Project[项目输入数据]
+    A1[robot.urdf]
+    A2[main.grl]
+    A3[targets / paths / operations]
+    A4[io_map.json]
+    A5[post profile]
+  end
+
+  subgraph Compile[TypeScript 编译层]
+    B1[URDF Parser]
+    B2[GRL Lexer/Parser]
+    B3[AST]
+    B4[Symbol Table]
+    B5[Semantic Analyzer]
+    B6[Executable IR]
+    B7[Motion Request Builder]
+  end
+
+  subgraph KDL[KDL Worker / WASM]
+    C1[KdlRpcRequest]
+    C2[RobotHandle]
+    C3[KDL Solvers]
+    C4[FK / IK / Jacobian]
+    C5[Trap Profile]
+    C6[Motion Planner]
+    C7[KdlRpcResponse]
+  end
+
+  subgraph Runtime[虚拟控制器运行层]
+    D1[Program Counter]
+    D2[Call Stack]
+    D3[Scope Stack]
+    D4[Motion Queue]
+    D5[IO Image]
+    D6[Wait Registry]
+    D7[Alarm Queue]
+    D8[Trace Buffer]
+  end
+
+  subgraph Output[输出数据]
+    E1[TrajectoryResult]
+    E2[PathPlanResult]
+    E3[PathValidationResult]
+    E4[MotionDiagnostic]
+    E5[CycleTimeResult]
+    E6[ABB/FANUC/KUKA 程序]
+    E7[转换报告]
+  end
+
+  A1 --> B1
+  B1 -->|NormalizedRobotModel| C1
+  C1 --> C2
+  C2 --> C3
+
+  A2 --> B2
+  A3 --> B5
+  A4 --> B5
+  B2 --> B3
+  B3 --> B4
+  B4 --> B5
+  B5 --> B6
+
+  B6 -->|MotionInstruction| B7
+  B7 -->|MoveJRequest / MoveLRequest / MoveCRequest / PathPlanRequest| C1
+  C1 --> C4
+  C1 --> C5
+  C4 --> C6
+  C5 --> C6
+  C6 --> C7
+
+  C7 --> E1
+  C7 --> E2
+  C7 --> E3
+  C7 --> E4
+  C7 --> E5
+
+  B6 --> D1
+  B6 --> D2
+  B6 --> D3
+  E1 --> D4
+  E2 --> D4
+  B6 -->|IO / wait / pulse| D5
+  B6 -->|wait| D6
+  E4 --> D7
+  D4 --> D8
+  D5 --> D8
+  D6 --> D8
+
+  B6 -->|IR + post profile| A5
+  A5 --> E6
+  A5 --> E7

work/doc/通用机器人项目功能与数据流程图-png/flow-05.mmd

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+flowchart TD
+  A[GRL Parser] -->|语法错误| D[Diagnostic]
+  B[Semantic Analyzer] -->|类型/单位/引用/IO/后处理错误| D
+  C[KDL WASM] -->|IK/限位/奇异/轨迹错误| D
+  E[Post Processor] -->|不支持或近似转换| D
+
+  D --> F{severity}
+  F -->|error| G[阻止编译或进入 alarm/hold]
+  F -->|warning| H[允许继续但写入报告]
+  F -->|info| I[写入 trace 或调试信息]
+
+  D --> J[sourceMap]
+  J --> J1[GRL file/line/column]
+  J --> J2[pathId/pathPointId]
+  J --> J3[operationId]
+  J --> J4[brandSource]