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