153 lines
3.8 KiB
Markdown
153 lines
3.8 KiB
Markdown
# Database Design / Thiết kế Database
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## 📋 Overview / Tổng quan
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MapEditor sử dụng normalized relational schema để lưu trữ map data thay vì JSON blob.
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## 🎯 Design Philosophy / Triết lý Thiết kế
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### ❌ Anti-pattern (Not Used)
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```
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Maps table:
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- id
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- name
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- vdma_lif_json TEXT <-- Store entire JSON blob
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```
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**Problems với JSON blob approach**:
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- Cannot query specific elements
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- No foreign key constraints
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- Poor performance for complex queries
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- Cannot index nested data
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### ✅ Our Approach - Normalized Relational Schema
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**Benefits**:
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- Query any element directly
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- Foreign keys ensure data integrity
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- Efficient indexes
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- Easy to join với robot positions, orders, analytics
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## 📊 Entity Relationship Diagram
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```mermaid
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erDiagram
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Maps ||--o{ Stations : contains
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Maps ||--o{ Edges : contains
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Maps ||--o{ Zones : contains
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Maps ||--o{ VehicleTypes : defines
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Stations ||--o{ InteractionNodes : has
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Stations ||--o{ Edges : "start from"
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Stations ||--o{ Edges : "end at"
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InteractionNodes ||--o{ Actions : contains
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Maps {
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uuid id PK
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string layoutId UK "VDMA LIF layoutId"
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string layoutName
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string layoutVersion
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int layoutLevel "Floor number"
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float referenceX "Origin X"
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float referenceY "Origin Y"
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}
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Stations {
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uuid id PK
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uuid mapId FK
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string stationId UK "VDMA LIF stationId"
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string stationType
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float positionX
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float positionY
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float positionTheta
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}
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InteractionNodes {
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uuid id PK
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uuid stationId FK
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string interactionNodeId UK
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float positionX
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float positionY
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float positionTheta
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string vehicleTypeIds "JSON array"
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}
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Actions {
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uuid id PK
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uuid interactionNodeId FK
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string actionType
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string blockingType
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string actionParameters "JSON"
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}
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Edges {
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uuid id PK
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uuid mapId FK
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string edgeId UK
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string startStationId FK
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string endStationId FK
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string trajectory "JSON NURBS"
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float maxSpeed
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boolean bidirectional
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}
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Zones {
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uuid id PK
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uuid mapId FK
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string zoneId UK
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string zoneType
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string geometry "JSON polygon"
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}
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VehicleTypes {
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uuid id PK
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uuid mapId FK
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string vehicleTypeId UK
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float vehicleLength
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float vehicleWidth
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}
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```
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## 🔑 Key Design Decisions
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**1. Dual ID System**:
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- `id` (UUID): Database primary key
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- `{entity}Id` (String): VDMA LIF identifier, business key
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**2. Position Decomposition**:
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- Store as separate columns: `positionX`, `positionY`, `positionTheta`
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- Enable spatial queries và indexing
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**3. Trajectory as JSON**:
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- Store NURBS trajectory as JSON string
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- Complex structure, rarely queried independently
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**4. Vehicle Type IDs as JSON Array**:
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- Store vehicleTypeIds as JSON array
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- Typically small arrays, loaded together with edge/node
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**5. Actions Hierarchy**:
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- Actions belong to InteractionNodes (not Stations directly)
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- Follows VDMA LIF structure exactly
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## 📈 Indexes for Performance
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**Critical Indexes**:
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- Maps: layoutId (unique)
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- Stations: mapId, stationId, stationType, (positionX, positionY)
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- Edges: mapId, edgeId, startStationId, endStationId
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- InteractionNodes: stationId, interactionNodeId
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## 🔗 Related Documents / Tài liệu Liên quan
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- [MapEditor Overview](README.md) - Tổng quan MapEditor
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- [VDMA LIF Standard](VDMA_LIF_Standard.md) - Chuẩn VDMA LIF
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- [PathFinding](PathFinding.md) - Sử dụng database để pathfinding
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---
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**Last Updated**: 2025-11-13
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