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-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]