50 lines
1.9 KiB
Markdown
50 lines
1.9 KiB
Markdown
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# 标定系统架构对照图
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```mermaid
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flowchart LR
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subgraph NOW[当前实现]
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UI1[UI / 上层系统] --> ORCH1[workshop_orchestrator_v2\n总控编排器]
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ORCH1 --> PLAN1[PlanBuilder / PrecheckRunner / ReportBuilder]
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ORCH1 --> GW1[Gateway Clients]
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GW1 --> EXT1[external_localization_service\n最小 stub]
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GW1 --> CHA1[chassis_calibration_service\n最小 stub]
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GW1 --> CON1[control_calibration_service\n最小 stub]
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GW1 --> SEN1[sensor_calibration_service\n最小 stub]
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ORCH1 --> REP1[get_report]
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end
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subgraph FUTURE[未来算法接入]
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UI2[UI / 上层系统] --> ORCH2[workshop_orchestrator_v2\n总控编排器]
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ORCH2 --> PLAN2[PlanBuilder / PrecheckRunner / ReportBuilder]
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ORCH2 --> GW2[Gateway Clients]
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GW2 --> EXT2[external_localization_service\nROS 接口层]
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GW2 --> CHA2[chassis_calibration_service\nROS 接口层]
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GW2 --> CON2[control_calibration_service\nROS 接口层]
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GW2 --> SEN2[sensor_calibration_service\nROS 接口层]
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EXT2 --> EXTALG[外部真值校核算法]
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CHA2 --> CHAALG[底盘标定算法]
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CON2 --> CONALG[运控评估算法]
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SEN2 --> SENALG[传感器标定算法]
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EXTALG --> EXT2
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CHAALG --> CHA2
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CONALG --> CON2
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SENALG --> SEN2
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ORCH2 --> REP2[get_report]
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end
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classDef core fill:#dbeafe,stroke:#2563eb,color:#1e3a8a;
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classDef stub fill:#fef3c7,stroke:#d97706,color:#92400e;
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classDef algo fill:#d1fae5,stroke:#059669,color:#064e3b;
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class ORCH1,PLAN1,GW1,REP1,ORCH2,PLAN2,GW2,REP2 core;
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class EXT1,CHA1,CON1,SEN1 stub;
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class EXT2,CHA2,CON2,SEN2 algo;
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class EXTALG,CHAALG,CONALG,SENALG algo;
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```
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## 读图方式
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- **左边当前实现**：专项包先用最小 stub 跑通流程。
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- **右边未来接入**：专项包保留 ROS 接口，内部替换成真实算法。
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- **总控不变**：orchestrator 始终只负责编排，不直接承载算法。
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