59 lines
1.4 KiB
Plaintext
59 lines
1.4 KiB
Plaintext
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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