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-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