同步KDL工程源码到云仓库
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work/doc/通用机器人项目功能与数据流程图.md
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work/doc/通用机器人项目功能与数据流程图.md
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# 通用机器人项目功能与数据流程图
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版本：0.1
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日期：2026-06-27
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对标文档：
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1. `通用机器人编程语法规范.md`
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2. `KDL_WASM计算接口设计.md`
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## 1. 范围说明
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本文描述 GRL 通用机器人程序语言和 KDL WASM 计算接口之间的总体功能流程和数据传递流程。
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核心边界：
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1. GRL 层负责程序文本、语法、语义、IR、Path、Operation、IO、wait、后处理。
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2. KDL WASM 层负责机器人模型、位姿变换、FK、IK、Jacobian、梯形速度、MOVEJ、MOVEL、MOVEC、Path 轨迹和诊断。
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3. KDL WASM 不解析 GRL，不执行流程控制、变量、IO、wait、子程序和异常逻辑。
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4. TypeScript 编译器和虚拟控制器把 GRL/IR 转换为 KDL 可执行的运动请求。
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## 2. 总体功能流程图
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```mermaid
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flowchart TD
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A[项目资源] --> A1[robots/robot.urdf]
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A --> A2[targets/*.json]
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A --> A3[paths/*.json]
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A --> A4[operations/*.json]
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A --> A5[programs/*.grl]
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A --> A6[io/io_map.json]
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A --> A7[post/*.profile.json]
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A5 --> B[GRL Lexer]
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B --> C[GRL Parser]
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C --> D[GRL AST]
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D --> E[Symbol Table]
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E --> F[Semantic Analyzer]
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A1 --> G[URDF Parser]
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G --> H[NormalizedRobotModel]
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H --> I[KDL createRobotFromModel]
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I --> J[RobotHandle]
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F --> K[Executable IR]
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K --> L{IR 指令类型}
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L -->|MotionInstruction| M[生成 MotionSegmentRequest]
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L -->|run_path| N[展开 Path points/events]
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L -->|run_operation| O[展开 start_action + path + end_action]
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L -->|IO / wait / pulse| P[虚拟控制器 IO Service]
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L -->|if/for/switch/call/return| Q[虚拟控制器流程执行]
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L -->|alarm / raise / try/catch| R[虚拟控制器报警与异常处理]
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N --> M
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O --> N
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M --> S[KdlWorkerClient]
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S --> T[kdl.worker.ts]
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T --> U[KDL WASM API]
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U --> U1[planMoveJ]
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U --> U2[planMoveL]
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U --> U3[planMoveC]
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U --> U4[planPath]
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U --> U5[validatePath]
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U1 --> V[TrajectoryResult]
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U2 --> V
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U3 --> V
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U4 --> W[PathPlanResult]
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U5 --> X[PathValidationResult]
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V --> Y[Motion Queue / 轨迹回放]
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W --> Y
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X --> Z[可达性与诊断报告]
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K --> AA[Post Processor]
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AA --> AA1[ABB RAPID]
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AA --> AA2[FANUC LS/TP 风格文本]
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AA --> AA3[KUKA KRL]
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AA --> AA4[转换报告]
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```
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## 3. GRL 编译与执行流程图
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```mermaid
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flowchart TD
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A[GRL Source .grl] --> B[Lexer]
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B --> C[Tokens]
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C --> D[Parser]
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D --> E[AST]
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E --> F[Symbol Table]
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F --> G[Semantic Analyzer]
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G --> G1[名称解析]
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G --> G2[类型检查]
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G --> G3[单位规范化]
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G --> G4[tool/frame/speed/zone 解析]
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G --> G5[Path/Operation 引用检查]
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G --> G6[IO 地址检查]
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G --> G7[运动目标可达性检查]
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G --> G8[后处理能力检查]
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G1 --> H[Executable IR]
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G2 --> H
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G3 --> H
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G4 --> H
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G5 --> H
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G6 --> H
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G7 --> H
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G8 --> H
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H --> I{IR}
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I -->|MotionInstruction| J[Motion Request Builder]
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I -->|WaitInstruction| K[Wait Registry]
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I -->|IoInstruction| L[IO Image]
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I -->|BranchInstruction| M[Program Counter]
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I -->|CallInstruction| N[Call Stack]
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I -->|AlarmInstruction| O[Alarm Queue]
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I -->|ReturnInstruction| P[Scope/Call Stack]
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J --> Q[KDL WASM]
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Q --> R[TrajectoryResult / Diagnostics]
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R --> S[Motion Queue]
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H --> T[Post Processor]
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T --> U[品牌程序]
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T --> V[转换报告]
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```
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## 4. KDL WASM 计算流程图
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```mermaid
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flowchart TD
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A[NormalizedRobotModel] --> B[createRobotFromModel]
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B --> C[RobotHandle]
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C --> D[KDL Chain / Solvers Cache]
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E[Motion Request] --> F{motion}
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F -->|MOVEJ| G[planMoveJ]
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F -->|MOVEL| H[planMoveL]
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F -->|MOVEC| I[planMoveC]
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F -->|PATH| J[planPath / validatePath]
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G --> G1[校验 startJoints 和限位]
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G1 --> G2{target 类型}
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G2 -->|joint_target| G3[qEnd = target.joints]
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G2 -->|pose_target| G4[IK 求 qEnd]
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G3 --> G5[关节差分]
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G4 --> G5
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G5 --> G6[梯形速度曲线]
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G6 --> G7[采样关节位置/速度/加速度]
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G7 --> G8[FK 输出 TCP]
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G8 --> R[TrajectoryResult]
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H --> H1[FK 得到起点 TCP]
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H1 --> H2[applyToolAndFrame / applyOffset]
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H2 --> H3[直线位置和姿态插补]
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H3 --> H4[梯形速度曲线]
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H4 --> H5[逐点 IK]
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H5 --> H6[限位/速度/奇异性检查]
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H6 --> R
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I --> I1[FK 得到起点 TCP]
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I1 --> I2[via/target 位姿变换]
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I2 --> I3[三点退化检查]
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I3 --> I4[圆心/半径/法向/弧长]
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I4 --> I5[圆弧采样]
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I5 --> I6[逐点 IK]
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I6 --> I7[圆弧误差和限位检查]
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I7 --> R
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J --> J1[按 segment 顺序规划]
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J1 --> J2[上一段终点关节作为下一段起点]
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J2 --> J3[合并轨迹点和诊断]
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J3 --> J4[保留 sourceMap]
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J4 --> P[PathPlanResult / PathValidationResult]
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R --> D1[MotionDiagnostic]
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P --> D1
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D1 --> D2[error / warning / info]
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```
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## 5. 数据传递流程图
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```mermaid
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flowchart LR
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subgraph Project[项目输入数据]
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A1[robot.urdf]
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A2[main.grl]
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A3[targets / paths / operations]
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A4[io_map.json]
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A5[post profile]
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end
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subgraph Compile[TypeScript 编译层]
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B1[URDF Parser]
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B2[GRL Lexer/Parser]
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B3[AST]
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B4[Symbol Table]
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B5[Semantic Analyzer]
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B6[Executable IR]
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B7[Motion Request Builder]
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end
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subgraph KDL[KDL Worker / WASM]
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C1[KdlRpcRequest]
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C2[RobotHandle]
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C3[KDL Solvers]
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C4[FK / IK / Jacobian]
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C5[Trap Profile]
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C6[Motion Planner]
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C7[KdlRpcResponse]
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end
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subgraph Runtime[虚拟控制器运行层]
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D1[Program Counter]
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D2[Call Stack]
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D3[Scope Stack]
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D4[Motion Queue]
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D5[IO Image]
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D6[Wait Registry]
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D7[Alarm Queue]
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D8[Trace Buffer]
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end
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subgraph Output[输出数据]
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E1[TrajectoryResult]
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E2[PathPlanResult]
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E3[PathValidationResult]
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E4[MotionDiagnostic]
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E5[CycleTimeResult]
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E6[ABB/FANUC/KUKA 程序]
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E7[转换报告]
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end
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A1 --> B1
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B1 -->|NormalizedRobotModel| C1
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C1 --> C2
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C2 --> C3
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A2 --> B2
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A3 --> B5
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A4 --> B5
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B2 --> B3
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B3 --> B4
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B4 --> B5
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B5 --> B6
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B6 -->|MotionInstruction| B7
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B7 -->|MoveJRequest / MoveLRequest / MoveCRequest / PathPlanRequest| C1
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C1 --> C4
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C1 --> C5
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C4 --> C6
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C5 --> C6
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C6 --> C7
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C7 --> E1
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C7 --> E2
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C7 --> E3
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C7 --> E4
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C7 --> E5
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B6 --> D1
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B6 --> D2
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B6 --> D3
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E1 --> D4
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E2 --> D4
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B6 -->|IO / wait / pulse| D5
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B6 -->|wait| D6
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E4 --> D7
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D4 --> D8
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D5 --> D8
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D6 --> D8
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B6 -->|IR + post profile| A5
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A5 --> E6
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A5 --> E7
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```
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## 6. 关键对象数据流
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| 输入对象 | 产生阶段 | 传递到 | 输出对象 |
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| --- | --- | --- | --- |
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| `robot.urdf` | 项目资源 | TypeScript URDF Parser | `NormalizedRobotModel` |
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| `NormalizedRobotModel` | TypeScript 编译层 | `createRobotFromModel` | `RobotHandle` |
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| `tool/frame/target/speed/zone` | GRL Parser + Semantic Analyzer | IR、KDL request builder | `ToolRef`、`FrameRef`、`JointTarget`、`PoseTarget`、`SpeedSpec`、`ZoneSpec` |
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| `movej` | GRL Parser | Semantic Analyzer | `MotionInstruction(joint)` |
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| `movel` | GRL Parser | Semantic Analyzer | `MotionInstruction(linear)` |
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| `movec` | GRL Parser | Semantic Analyzer | `MotionInstruction(circular)` |
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| `path` | GRL Parser | Path compiler | `MotionSegmentRequest[]` |
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| `operation` | GRL Parser | Operation compiler | start action + path + end action |
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| `MotionInstruction` | IR | KDL request builder | `MoveJRequest`、`MoveLRequest`、`MoveCRequest` |
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| `PathPlanRequest` | Path compiler | KDL WASM | `PathPlanResult` |
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| `TrajectoryResult` | KDL WASM | Motion Queue、trace、报告 | 轨迹点、诊断、节拍输入 |
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| `MotionDiagnostic` | GRL 语义检查或 KDL WASM | 编辑器、报警、报告、后处理 | error/warning/info |
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| `Executable IR` | Semantic Analyzer | 虚拟控制器、后处理器 | 执行流、品牌程序 |
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## 7. KDL API 与 GRL 语法映射
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| GRL 语法 | TypeScript 编译结果 | KDL WASM 函数 |
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| --- | --- | --- |
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| `target home = joint_target` | `JointTarget` | `checkJointLimits` |
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| `target pick = pose_target` | `PoseTarget` | `checkReachability` |
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| `pick offset z 100 mm` | `OffsetSpec` | `applyOffset` |
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| `movej home` | `MoveJRequest` | `planMoveJ` |
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| `movel pick` | `MoveLRequest` | `planMoveL` |
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| `movec via mid target end` | `MoveCRequest` | `planMoveC` |
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| `run_path pick_path` | `PathPlanRequest` | `planPath` |
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| Path 可达性检查 | `PathPlanRequest` | `validatePath` |
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| 节拍估算 | `TrajectoryResult/PathPlanResult` | `estimateCycleTime` |
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## 8. 不进入 KDL WASM 的数据流
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以下 GRL 语义由 TypeScript 编译层或虚拟控制器执行，不传入 KDL WASM：
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| GRL 语义 | 执行位置 | 输出 |
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| --- | --- | --- |
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| `if/elseif/else` | Program Counter / BranchInstruction | 分支后的 IR 执行位置 |
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| `while/for/switch` | Program Counter / BranchInstruction | 循环或选择后的 IR 执行位置 |
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| `proc/func/call/return` | Call Stack / Scope Stack | 调用栈和变量作用域 |
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| `io.do/di/ai/ao` | IO Image / IO Service | IO 事件和 trace |
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| `wait/pulse/timer` | Wait Registry / IO Service | wait 状态、timeout、pulse trace |
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| `alarm/raise/try/catch` | Alarm Queue / Exception Handler | 报警和异常处理结果 |
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| `operation.process` | Operation compiler / 后处理器 | 工艺参数、转换报告 |
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## 9. 诊断传递流程
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```mermaid
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flowchart TD
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A[GRL Parser] -->|语法错误| D[Diagnostic]
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B[Semantic Analyzer] -->|类型/单位/引用/IO/后处理错误| D
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C[KDL WASM] -->|IK/限位/奇异/轨迹错误| D
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E[Post Processor] -->|不支持或近似转换| D
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D --> F{severity}
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F -->|error| G[阻止编译或进入 alarm/hold]
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F -->|warning| H[允许继续但写入报告]
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F -->|info| I[写入 trace 或调试信息]
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D --> J[sourceMap]
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J --> J1[GRL file/line/column]
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J --> J2[pathId/pathPointId]
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J --> J3[operationId]
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J --> J4[brandSource]
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```
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## 10. 总结
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项目的数据流以 GRL IR 为中枢：
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1. GRL 文本、Path、Operation、IO 和品牌扩展先进入 TypeScript 编译层。
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2. 编译层完成语法、语义、单位、source map 和后处理能力检查。
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3. 只有运动相关 IR 被转换为 KDL WASM request。
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4. KDL WASM 返回轨迹、节拍和结构化诊断。
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5. 虚拟控制器消费 IR 和轨迹，后处理器消费 IR 和品牌 profile。
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6. 诊断贯穿 Parser、Semantic Analyzer、KDL WASM 和 Post Processor，并通过 source map 回到 GRL、Path、Operation 或品牌源。
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