51 lines
1.8 KiB
Markdown
51 lines
1.8 KiB
Markdown
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# 自动化标定流程图（当前实现状态）
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```mermaid
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flowchart TD
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A[启动 minimal_workshop_demo.launch.py] --> B[vehicle_profile_manager\n最小画像服务]
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A --> C[external_localization_service\n最小外部真值校核服务]
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A --> D[chassis_calibration_service\n最小底盘 stub]
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A --> E[control_calibration_service\n最小运控 stub]
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A --> F[sensor_calibration_service\n最小传感器 stub]
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A --> G[workshop_orchestrator_v2\n总控编排器]
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B --> H[create_session]
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H --> I[PlanBuilder 生成 stage_plan]
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I --> J[execute_session]
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J --> K[PrecheckRunner 预检]
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K --> L{是否通过预检}
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L -- 否 --> M[生成失败报告\nfinish_session_precheck_failed]
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L -- 是 --> N[按阶段执行]
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N --> O[外部真值校核\nexternal_localization_client]
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N --> P[底盘标定\nchassis_gateway_client]
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N --> Q[运控参数调优\ncontrol_gateway_client]
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N --> R[传感器标定\nsensor_gateway_client]
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O --> O1[external_localization_service\nreadiness + action]
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P --> P1[chassis_calibration_service\nreadiness + action]
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Q --> Q1[control_calibration_service\nreadiness + action]
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R --> R1[sensor_calibration_service\nreadiness + action]
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O1 --> S[收集 StageResultSummary]
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P1 --> S
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Q1 --> S
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R1 --> S
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S --> T[ReportBuilder 生成 WorkshopReport]
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T --> U[get_report 查询最终报告]
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classDef done fill:#d1fae5,stroke:#059669,color:#064e3b;
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classDef stub fill:#fef3c7,stroke:#d97706,color:#92400e;
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classDef core fill:#dbeafe,stroke:#2563eb,color:#1e3a8a;
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class B,C,G,H,I,J,K,L,M,N,O,P,Q,R,S,T,U core;
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class D,E,F,O1,P1,Q1,R1 stub;
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```
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## 说明
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- **核心编排已完成**：session、plan、precheck、stage dispatch、report。
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- **专项执行端目前是最小 stub**：能接 readiness / action，主要用于跑通链路。
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- **当前可验证闭环**：`create_session -> execute_session -> get_report`。
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