feat:增加功能表、指令表、功能指令关联表

sql/demo.sql

@@ -163,3 +163,79 @@ CREATE TABLE IF NOT EXISTS task_steps (
     task_id INTEGER,
     step_description TEXT
 );
+
+-- 创建 Functions 功能记录表
+CREATE TABLE functions (
+   id INTEGER PRIMARY KEY AUTOINCREMENT,
+   name TEXT NOT NULL,
+   command TEXT NOT NULL,
+   create_time TIMESTAMP DEFAULT CURRENT_TIMESTAMP,
+   update_time TIMESTAMP DEFAULT CURRENT_TIMESTAMP
+);
+INSERT INTO functions (name, command) VALUES
+           ('开门', 'openDoor'),
+           ('关门', 'closeDoor'),
+           ('张开夹爪', 'openClaw'),
+           ('收合夹爪', 'closeClaw'),
+           ('移至加热', 'moveToHeatArea'),
+           ('移动单个试管', 'moveTube'),
+           ('移至加液', 'moveToActionArea'),
+           ('拍照', 'takePhoto'),
+           ('开始加热', 'startHeating'),
+           ('停止加热', 'stopHeating'),
+           ('开始摇匀', 'startShaking'),
+           ('结束摇匀', 'stopShaking'),
+           ('加液', 'addLiquid'),
+           ('抬起托盘', 'raiseTray'),
+           ('降下托盘', 'lowerTray');
+
+-- 创建 Commands 指令表
+CREATE TABLE commands (
+      id INTEGER PRIMARY KEY AUTOINCREMENT,
+      name TEXT NOT NULL,
+      command TEXT NOT NULL,
+      create_time TIMESTAMP DEFAULT CURRENT_TIMESTAMP,
+      update_time TIMESTAMP DEFAULT CURRENT_TIMESTAMP
+);
+
+
+INSERT INTO commands (name, command) VALUES
+      ('移动导轨机械臂的导轨', 'moveRailArmRail'),
+      ('移动导轨机械臂的关节', 'moveRailArmJoint'),
+      ('导轨机械臂运动到指定点位', 'moveRailArmToPoint'),
+      ('设置导轨机械臂的速度', 'setRailArmSpeed'),
+      ('轨道机械臂停止移动', 'stopRailArm'),
+      ('移动加液机械臂的关节', 'moveLiquidArmJoint'),
+      ('加液机械臂运动到指定点位', 'moveLiquidArmToPoint'),
+      ('设置加液机械臂的移动速度', 'setLiquidArmSpeed'),
+      ('加液机械臂移动停止', 'stopLiquidArm'),
+      ('张开夹爪', 'openClaw'),
+      ('收合夹爪', 'closeClaw'),
+      ('设置夹爪移动速度', 'setClawParams'),
+      ('加液', 'addLiquid'),
+      ('设置加热位试管架拍子密封状态', 'setSealLid'),
+      ('开门', 'openDoor'),
+      ('关门', 'closeDoor'),
+      ('设置门参数', 'setDoorParams'),
+      ('设置加液泵流量', 'setFlowRate'),
+      ('开始摇匀', 'startShaking'),
+      ('停止摇匀', 'stopShaking'),
+      ('设置摇匀速度', 'setShakingSpeed'),
+      ('抬起托盘', 'raiseTray'),
+      ('放下托盘', 'lowerTray'),
+      ('设置加热区托盘电机参数', 'setTrayParams'),
+      ('调整拍子存放区高度', 'setCapHeight'),
+      ('设定拍子存放区电机参数', 'setCapParams'),
+      ('开始加热', 'startHeating'),
+      ('停止加热', 'stopHeating'),
+      ('拍照', 'takePhoto');
+
+-- 创建 FunctionCommands 功能指令关联表
+CREATE TABLE function_commands (
+      id INTEGER PRIMARY KEY AUTOINCREMENT,
+      functions_id INTEGER NOT NULL,
+      command_id INTEGER NOT NULL,
+      params TEXT,
+      create_time TIMESTAMP DEFAULT CURRENT_TIMESTAMP,
+      update_time TIMESTAMP DEFAULT CURRENT_TIMESTAMP
+);