74 lines
3.9 KiB
MySQL
74 lines
3.9 KiB
MySQL
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-- Visual hand-eye and tool TCP calibration profiles. Apply once before using the management page.
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CREATE TABLE IF NOT EXISTS `te_vision_calibration_profile` (
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`id` varchar(32) NOT NULL,
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`profile_type` varchar(20) NOT NULL COMMENT 'HAND_EYE or TOOL_TCP',
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`profile_key` varchar(100) NOT NULL COMMENT 'Stable logical key used by workflows',
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`profile_name` varchar(100) NOT NULL,
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`version_no` int NOT NULL DEFAULT 1,
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`robot_id` varchar(128) NOT NULL,
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`arm_device_id` varchar(128) NOT NULL,
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`camera_device_id` varchar(128) DEFAULT NULL,
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`tool_code` varchar(100) DEFAULT NULL,
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`status` varchar(20) NOT NULL DEFAULT 'DRAFT' COMMENT 'DRAFT, ACTIVE, INVALID',
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`forced_enabled` tinyint(1) NOT NULL DEFAULT 0,
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`raw_matrix_json` text NOT NULL,
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`correction_json` varchar(500) DEFAULT NULL COMMENT 'x/y/z mm and rx/ry/rz degree correction',
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`effective_matrix_json` text NOT NULL,
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`mean_error_mm` decimal(10,4) DEFAULT NULL,
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`max_error_mm` decimal(10,4) DEFAULT NULL,
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`sample_count` int NOT NULL DEFAULT 0,
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`metadata_json` text DEFAULT NULL,
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`verified_time` datetime DEFAULT NULL,
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`create_by` varchar(64) DEFAULT NULL,
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`create_time` datetime DEFAULT NULL,
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`update_by` varchar(64) DEFAULT NULL,
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`update_time` datetime DEFAULT NULL,
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`remark` varchar(500) DEFAULT NULL,
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PRIMARY KEY (`id`),
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UNIQUE KEY `uk_vision_profile_version` (`profile_key`, `version_no`),
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KEY `idx_vision_profile_devices` (`profile_type`, `robot_id`, `arm_device_id`, `camera_device_id`),
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KEY `idx_vision_profile_tool` (`profile_type`, `robot_id`, `arm_device_id`, `tool_code`),
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KEY `idx_vision_profile_active` (`profile_key`, `status`)
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) ENGINE=InnoDB DEFAULT CHARSET=utf8mb4 COMMENT='Visual calibration profile versions';
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CREATE TABLE IF NOT EXISTS `te_vision_calibration_record` (
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`id` varchar(32) NOT NULL,
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`profile_id` varchar(32) DEFAULT NULL,
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`session_type` varchar(30) NOT NULL COMMENT 'HAND_EYE, HAND_EYE_VERIFY, TOOL_TCP',
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`robot_id` varchar(128) NOT NULL,
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`arm_device_id` varchar(128) NOT NULL,
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`camera_device_id` varchar(128) DEFAULT NULL,
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`tool_code` varchar(100) DEFAULT NULL,
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`status` varchar(20) NOT NULL COMMENT 'RUNNING, COMPLETED, FAILED, CANCELLED',
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`progress_step` int NOT NULL DEFAULT 0,
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`total_steps` int NOT NULL DEFAULT 0,
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`samples_json` longtext DEFAULT NULL,
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`result_json` longtext DEFAULT NULL,
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`error_message` varchar(1000) DEFAULT NULL,
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`started_time` datetime DEFAULT NULL,
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`finished_time` datetime DEFAULT NULL,
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`create_by` varchar(64) DEFAULT NULL,
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`create_time` datetime DEFAULT NULL,
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`update_by` varchar(64) DEFAULT NULL,
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`update_time` datetime DEFAULT NULL,
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`remark` varchar(500) DEFAULT NULL,
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PRIMARY KEY (`id`),
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KEY `idx_vision_record_profile` (`profile_id`),
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KEY `idx_vision_record_devices` (`robot_id`, `arm_device_id`, `camera_device_id`),
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KEY `idx_vision_record_status` (`status`, `started_time`)
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) ENGINE=InnoDB DEFAULT CHARSET=utf8mb4 COMMENT='Visual calibration execution and verification records';
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INSERT INTO sys_menu(menu_id, menu_name, parent_id, order_num, path, component, query, route_name,
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is_frame, is_cache, menu_type, visible, status, perms, icon,
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create_by, create_time, update_by, update_time, remark)
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VALUES
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(2205, '视觉标定管理', 2200, 5, 'vision-calibration', 'resource/visionCalibration/index', '', 'VisionCalibration',
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1, 0, 'C', '0', '0', '', 'aim', 'admin', NOW(), '', NULL, '机器人手眼标定与工具TCP管理')
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ON DUPLICATE KEY UPDATE menu_name=VALUES(menu_name), parent_id=VALUES(parent_id), order_num=VALUES(order_num),
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path=VALUES(path), component=VALUES(component), route_name=VALUES(route_name), visible=VALUES(visible),
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status=VALUES(status), perms=VALUES(perms), update_by='admin', update_time=NOW(), remark=VALUES(remark);
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-- Calibration management is available to every application role by product requirement.
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INSERT IGNORE INTO sys_role_menu(role_id, menu_id)
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SELECT role_id, 2205 FROM sys_role;
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