AutoCalib-Workshop/agv_calib_brain/auto_calib_flowchart.md

自动化标定流程图（当前实现状态）

flowchart TD
  A[启动 minimal_workshop_demo.launch.py] --> B[vehicle_profile_manager\n最小画像服务]
  A --> C[external_localization_service\n最小外部真值校核服务]
  A --> D[chassis_calibration_service\n最小底盘 stub]
  A --> E[control_calibration_service\n最小运控 stub]
  A --> F[sensor_calibration_service\n最小传感器 stub]
  A --> G[workshop_orchestrator_v2\n总控编排器]

  B --> H[create_session]
  H --> I[PlanBuilder 生成 stage_plan]
  I --> J[execute_session]
  J --> K[PrecheckRunner 预检]
  K --> L{是否通过预检}
  L -- 否 --> M[生成失败报告\nfinish_session_precheck_failed]
  L -- 是 --> N[按阶段执行]

  N --> O[外部真值校核\nexternal_localization_client]
  N --> P[底盘标定\nchassis_gateway_client]
  N --> Q[运控参数调优\ncontrol_gateway_client]
  N --> R[传感器标定\nsensor_gateway_client]

  O --> O1[external_localization_service\nreadiness + action]
  P --> P1[chassis_calibration_service\nreadiness + action]
  Q --> Q1[control_calibration_service\nreadiness + action]
  R --> R1[sensor_calibration_service\nreadiness + action]

  O1 --> S[收集 StageResultSummary]
  P1 --> S
  Q1 --> S
  R1 --> S

  S --> T[ReportBuilder 生成 WorkshopReport]
  T --> U[get_report 查询最终报告]

  classDef done fill:#d1fae5,stroke:#059669,color:#064e3b;
  classDef stub fill:#fef3c7,stroke:#d97706,color:#92400e;
  classDef core fill:#dbeafe,stroke:#2563eb,color:#1e3a8a;

  class B,C,G,H,I,J,K,L,M,N,O,P,Q,R,S,T,U core;
  class D,E,F,O1,P1,Q1,R1 stub;

说明

• 核心编排已完成：session、plan、precheck、stage dispatch、report。
• 专项执行端目前是最小 stub：能接 readiness / action，主要用于跑通链路。
• 当前可验证闭环：create_session -> execute_session -> get_report。