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]