feat: 自动化标定车间v1.0.....

2026-03-29 17:04:15 +08:00
parent efc644a77d
commit 672c77726d
441 changed files with 20272 additions and 3759 deletions
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+# 标定系统分层架构图
+
+```mermaid
+flowchart TB
+  UI[UI / 上层系统] --> ORCH[workshop_orchestrator_v2\n总控编排器]
+
+  ORCH -->|create_session| PLAN[PlanBuilder\n生成阶段计划]
+  ORCH -->|execute_session| PRECHECK[PrecheckRunner\n执行前检查]
+  ORCH -->|stage dispatch| GW[各专项 Gateway Client]
+  ORCH -->|report| RPT[ReportBuilder\n生成最终报告]
+
+  GW --> EXT[external_localization_service]
+  GW --> CHA[chassis_calibration_service]
+  GW --> CON[control_calibration_service]
+  GW --> SEN[sensor_calibration_service]
+  GW --> VPM[vehicle_profile_manager]
+
+  subgraph SERVICE[专项包：ROS 接口层]
+    EXT1[action/service/readiness]
+    CHA1[action/service/readiness]
+    CON1[action/service/readiness]
+    SEN1[action/service/readiness]
+    VPM1[profile query / update / applicability]
+  end
+
+  EXT --> EXT1
+  CHA --> CHA1
+  CON --> CON1
+  SEN --> SEN1
+  VPM --> VPM1
+
+  subgraph ALG[专项包：算法执行层]
+    EXTALG[外部真值校核算法]
+    CHAALG[底盘标定算法]
+    CONALG[运控评估算法]
+    SENALG[传感器标定算法]
+  end
+
+  EXT1 --> EXTALG
+  CHA1 --> CHAALG
+  CON1 --> CONALG
+  SEN1 --> SENALG
+
+  EXTALG -->|结果翻译| EXT1
+  CHAALG -->|结果翻译| CHA1
+  CONALG -->|结果翻译| CON1
+  SENALG -->|结果翻译| SEN1
+
+  classDef core fill:#dbeafe,stroke:#2563eb,color:#1e3a8a;
+  classDef service fill:#fef3c7,stroke:#d97706,color:#92400e;
+  classDef algo fill:#d1fae5,stroke:#059669,color:#064e3b;
+
+  class ORCH,PLAN,PRECHECK,RPT,GW core;
+  class EXT,CHA,CON,SEN,VPM,EXT1,CHA1,CON1,SEN1,VPM1 service;
+  class EXTALG,CHAALG,CONALG,SENALG algo;
+```
+
+## 说明
+
+- **总控编排器** 只管流程，不直接承载专项算法。
+- **专项包** 对外暴露固定 ROS 接口，内部再挂算法执行层。
+- **算法层** 可以独立替换，只要输入/输出协议不变。
+- **topic / service / action** 用来解耦流程和算法实现。