DBDriver.cpp

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/*
Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.

Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
    * Redistributions of source code must retain the above copyright
      notice, this list of conditions and the following disclaimer.
    * Redistributions in binary form must reproduce the above copyright
      notice, this list of conditions and the following disclaimer in the
      documentation and/or other materials provided with the distribution.
    * Neither the name of the Universite de Sherbrooke nor the
      names of its contributors may be used to endorse or promote products
      derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/

#include "rtabmap/core/DBDriver.h"

#include "rtabmap/core/Signature.h"
#include "VisualWord.h"
#include "rtabmap/utilite/UConversion.h"
#include "rtabmap/utilite/UMath.h"
#include "rtabmap/utilite/ULogger.h"
#include "rtabmap/utilite/UTimer.h"
#include "rtabmap/utilite/UStl.h"

namespace rtabmap {

DBDriver::DBDriver(const ParametersMap & parameters) :
        _emptyTrashesTime(0),
        _timestampUpdate(true)
{
        this->parseParameters(parameters);
}

DBDriver::~DBDriver()
{
        join(true);
        this->emptyTrashes();
}

void DBDriver::parseParameters(const ParametersMap & parameters)
{
}

void DBDriver::closeConnection()
{
        UDEBUG("isRunning=%d", this->isRunning());
        this->join(true);
        UDEBUG("");
        this->emptyTrashes();
        _dbSafeAccessMutex.lock();
        this->disconnectDatabaseQuery();
        _dbSafeAccessMutex.unlock();
        UDEBUG("");
}

bool DBDriver::openConnection(const std::string & url, bool overwritten)
{
        UDEBUG("");
        _url = url;
        _dbSafeAccessMutex.lock();
        if(this->connectDatabaseQuery(url, overwritten))
        {
                _dbSafeAccessMutex.unlock();
                return true;
        }
        _dbSafeAccessMutex.unlock();
        return false;
}

bool DBDriver::isConnected() const
{
        bool r;
        _dbSafeAccessMutex.lock();
        r = isConnectedQuery();
        _dbSafeAccessMutex.unlock();
        return r;
}

// In bytes
long DBDriver::getMemoryUsed() const
{
        long bytes;
        _dbSafeAccessMutex.lock();
        bytes = getMemoryUsedQuery();
        _dbSafeAccessMutex.unlock();
        return bytes;
}

void DBDriver::mainLoop()
{
        this->emptyTrashes();
        this->kill(); // Do it only once
}

void DBDriver::beginTransaction() const
{
        _transactionMutex.lock();
        ULOGGER_DEBUG("");
        this->executeNoResultQuery("BEGIN TRANSACTION;");
}

void DBDriver::commit() const
{
        ULOGGER_DEBUG("");
        this->executeNoResultQuery("COMMIT;");
        _transactionMutex.unlock();
}

void DBDriver::executeNoResult(const std::string & sql) const
{
        _dbSafeAccessMutex.lock();
        this->executeNoResultQuery(sql);
        _dbSafeAccessMutex.unlock();
}

void DBDriver::emptyTrashes(bool async)
{
        if(async)
        {
                ULOGGER_DEBUG("Async emptying, start the trash thread");
                this->start();
                return;
        }

        UTimer totalTime;
        totalTime.start();

        std::map<int, Signature*> signatures;
        std::map<int, VisualWord*> visualWords;
        _trashesMutex.lock();
        {
                ULOGGER_DEBUG("signatures=%d, visualWords=%d", _trashSignatures.size(), _trashVisualWords.size());
                signatures = _trashSignatures;
                visualWords = _trashVisualWords;
                _trashSignatures.clear();
                _trashVisualWords.clear();

                _dbSafeAccessMutex.lock();
        }
        _trashesMutex.unlock();

        if(signatures.size() || visualWords.size())
        {
                this->beginTransaction();
                UTimer timer;
                timer.start();
                if(signatures.size())
                {
                        if(this->isConnected())
                        {
                                //Only one query to the database
                                this->saveOrUpdate(uValues(signatures));
                        }

                        for(std::map<int, Signature *>::iterator iter=signatures.begin(); iter!=signatures.end(); ++iter)
                        {
                                delete iter->second;
                        }
                        signatures.clear();
                        ULOGGER_DEBUG("Time emptying memory signatures trash = %f...", timer.ticks());
                }
                if(visualWords.size())
                {
                        if(this->isConnected())
                        {
                                //Only one query to the database
                                this->saveOrUpdate(uValues(visualWords));
                        }

                        for(std::map<int, VisualWord *>::iterator iter=visualWords.begin(); iter!=visualWords.end(); ++iter)
                        {
                                delete (*iter).second;
                        }
                        visualWords.clear();
                        ULOGGER_DEBUG("Time emptying memory visualWords trash = %f...", timer.ticks());
                }

                this->commit();
        }

        _emptyTrashesTime = totalTime.ticks();
        ULOGGER_DEBUG("Total time emptying trashes = %fs...", _emptyTrashesTime);

        _dbSafeAccessMutex.unlock();
}

void DBDriver::asyncSave(Signature * s)
{
        if(s)
        {
                UDEBUG("s=%d", s->id());
                _trashesMutex.lock();
                {
                        _trashSignatures.insert(std::pair<int, Signature*>(s->id(), s));
                }
                _trashesMutex.unlock();
        }
}

void DBDriver::asyncSave(VisualWord * vw)
{
        if(vw)
        {
                _trashesMutex.lock();
                {
                        _trashVisualWords.insert(std::pair<int, VisualWord*>(vw->id(), vw));
                }
                _trashesMutex.unlock();
        }
}

void DBDriver::saveOrUpdate(const std::vector<Signature *> & signatures) const
{
        ULOGGER_DEBUG("");
        std::list<Signature *> toSave;
        std::list<Signature *> toUpdate;
        if(this->isConnected() && signatures.size())
        {
                for(std::vector<Signature *>::const_iterator i=signatures.begin(); i!=signatures.end();++i)
                {
                        if((*i)->isSaved())
                        {
                                toUpdate.push_back(*i);
                        }
                        else
                        {
                                toSave.push_back(*i);
                        }
                }

                if(toUpdate.size())
                {
                        this->updateQuery(toUpdate, _timestampUpdate);
                }
                if(toSave.size())
                {
                        this->saveQuery(toSave);
                }
        }
}

void DBDriver::saveOrUpdate(const std::vector<VisualWord *> & words) const
{
        ULOGGER_DEBUG("");
        std::list<VisualWord *> toSave;
        std::list<VisualWord *> toUpdate;
        if(this->isConnected() && words.size())
        {
                for(std::vector<VisualWord *>::const_iterator i=words.begin(); i!=words.end();++i)
                {
                        if((*i)->isSaved())
                        {
                                toUpdate.push_back(*i);
                        }
                        else
                        {
                                toSave.push_back(*i);
                        }
                }

                if(toUpdate.size())
                {
                        this->updateQuery(toUpdate, _timestampUpdate);
                }
                if(toSave.size())
                {
                        this->saveQuery(toSave);
                }
        }
}

void DBDriver::load(VWDictionary * dictionary) const
{
        _dbSafeAccessMutex.lock();
        this->loadQuery(dictionary);
        _dbSafeAccessMutex.unlock();
}

void DBDriver::loadLastNodes(std::list<Signature *> & signatures) const
{
        _dbSafeAccessMutex.lock();
        this->loadLastNodesQuery(signatures);
        _dbSafeAccessMutex.unlock();
}

void DBDriver::loadSignatures(const std::list<int> & signIds,
                std::list<Signature *> & signatures,
                std::set<int> * loadedFromTrash)
{
        UDEBUG("");
        // look up in the trash before the database
        std::list<int> ids = signIds;
        std::list<Signature*>::iterator sIter;
        bool valueFound = false;
        _trashesMutex.lock();
        {
                for(std::list<int>::iterator iter = ids.begin(); iter != ids.end();)
                {
                        valueFound = false;
                        for(std::map<int, Signature*>::iterator sIter = _trashSignatures.begin(); sIter!=_trashSignatures.end();)
                        {
                                if(sIter->first == *iter)
                                {
                                        signatures.push_back(sIter->second);
                                        _trashSignatures.erase(sIter++);

                                        valueFound = true;
                                        break;
                                }
                                else
                                {
                                        ++sIter;
                                }
                        }
                        if(valueFound)
                        {
                                if(loadedFromTrash)
                                {
                                        loadedFromTrash->insert(*iter);
                                }
                                iter = ids.erase(iter);
                        }
                        else
                        {
                                ++iter;
                        }
                }
        }
        _trashesMutex.unlock();
        UDEBUG("");
        if(ids.size())
        {
                _dbSafeAccessMutex.lock();
                this->loadSignaturesQuery(ids, signatures);
                _dbSafeAccessMutex.unlock();
        }
}

void DBDriver::loadWords(const std::set<int> & wordIds, std::list<VisualWord *> & vws)
{
        // look up in the trash before the database
        std::set<int> ids = wordIds;
        std::map<int, VisualWord*>::iterator wIter;
        std::list<VisualWord *> puttedBack;
        _trashesMutex.lock();
        {
                if(_trashVisualWords.size())
                {
                        for(std::set<int>::iterator iter = ids.begin(); iter != ids.end();)
                        {
                                wIter = _trashVisualWords.find(*iter);
                                if(wIter != _trashVisualWords.end())
                                {
                                        UDEBUG("put back word %d from trash", *iter);
                                        puttedBack.push_back(wIter->second);
                                        _trashVisualWords.erase(wIter);
                                        ids.erase(iter++);
                                }
                                else
                                {
                                        ++iter;
                                }
                        }
                }
        }
        _trashesMutex.unlock();
        if(ids.size())
        {
                _dbSafeAccessMutex.lock();
                this->loadWordsQuery(ids, vws);
                _dbSafeAccessMutex.unlock();
                uAppend(vws, puttedBack);
        }
        else if(puttedBack.size())
        {
                uAppend(vws, puttedBack);
        }
}

void DBDriver::loadNodeData(std::list<Signature *> & signatures, bool loadMetricData) const
{
        // Don't look in the trash, we assume that if we want to load
        // data of a signature, it is not in thrash! Print an error if so.
        _trashesMutex.lock();
        if(_trashSignatures.size())
        {
                for(std::list<Signature *>::iterator iter=signatures.begin(); iter!=signatures.end(); ++iter)
                {
                        UASSERT(*iter != 0);
                        UASSERT_MSG(!uContains(_trashSignatures, (*iter)->id()), uFormat("Signature %d should not be used when transferred to trash!!!!", (*iter)->id()).c_str());
                }
        }
        _trashesMutex.unlock();

        _dbSafeAccessMutex.lock();
        this->loadNodeDataQuery(signatures, loadMetricData);
        _dbSafeAccessMutex.unlock();
}

void DBDriver::getNodeData(
                int signatureId,
                cv::Mat & imageCompressed,
                cv::Mat & depthCompressed,
                cv::Mat & laserScanCompressed,
                float & fx,
                float & fy,
                float & cx,
                float & cy,
                Transform & localTransform,
                int & laserScanMaxPts) const
{
        bool found = false;
        // look in the trash
        _trashesMutex.lock();
        if(uContains(_trashSignatures, signatureId))
        {
                const Signature * s = _trashSignatures.at(signatureId);
                if(!s->getImageCompressed().empty() || !s->isSaved())
                {
                        imageCompressed = s->getImageCompressed();
                        depthCompressed = s->getDepthCompressed();
                        laserScanCompressed = s->getLaserScanCompressed();
                        fx = s->getFx();
                        fy = s->getFy();
                        cx = s->getCx();
                        cy = s->getCy();
                        localTransform = s->getLocalTransform();
                        laserScanMaxPts = s->getLaserScanMaxPts();
                        found = true;
                }
        }
        _trashesMutex.unlock();

        if(!found)
        {
                _dbSafeAccessMutex.lock();
                this->getNodeDataQuery(signatureId, imageCompressed, depthCompressed, laserScanCompressed, fx, fy, cx, cy, localTransform, laserScanMaxPts);
                _dbSafeAccessMutex.unlock();
        }
}

void DBDriver::getNodeData(int signatureId, cv::Mat & imageCompressed) const
{
        bool found = false;
        // look in the trash
        _trashesMutex.lock();
        if(uContains(_trashSignatures, signatureId))
        {
                const Signature * s = _trashSignatures.at(signatureId);
                if(!s->getImageCompressed().empty() || !s->isSaved())
                {
                        imageCompressed = s->getImageCompressed();
                        found = true;
                }
        }
        _trashesMutex.unlock();

        if(!found)
        {
                _dbSafeAccessMutex.lock();
                this->getNodeDataQuery(signatureId, imageCompressed);
                _dbSafeAccessMutex.unlock();
        }
}

bool DBDriver::getNodeInfo(int signatureId,
                Transform & pose,
                int & mapId,
                int & weight,
                std::string & label,
                double & stamp,
                std::vector<unsigned char> & userData) const
{
        bool found = false;
        // look in the trash
        _trashesMutex.lock();
        if(uContains(_trashSignatures, signatureId))
        {
                pose = _trashSignatures.at(signatureId)->getPose();
                mapId = _trashSignatures.at(signatureId)->mapId();
                weight = _trashSignatures.at(signatureId)->getWeight();
                label = _trashSignatures.at(signatureId)->getLabel();
                stamp = _trashSignatures.at(signatureId)->getStamp();
                userData = _trashSignatures.at(signatureId)->getUserData();
                found = true;
        }
        _trashesMutex.unlock();

        if(!found)
        {
                _dbSafeAccessMutex.lock();
                found = this->getNodeInfoQuery(signatureId, pose, mapId, weight, label, stamp, userData);
                _dbSafeAccessMutex.unlock();
        }
        return found;
}

void DBDriver::loadLinks(int signatureId, std::map<int, Link> & links, Link::Type type) const
{
        bool found = false;
        // look in the trash
        _trashesMutex.lock();
        if(uContains(_trashSignatures, signatureId))
        {
                const Signature * s = _trashSignatures.at(signatureId);
                UASSERT(s != 0);
                for(std::map<int, Link>::const_iterator nIter = s->getLinks().begin();
                                nIter!=s->getLinks().end();
                                ++nIter)
                {
                        if(type == Link::kUndef || nIter->second.type() == type)
                        {
                                links.insert(*nIter);
                        }
                }
                found = true;
        }
        _trashesMutex.unlock();

        if(!found)
        {
                _dbSafeAccessMutex.lock();
                this->loadLinksQuery(signatureId, links, type);
                _dbSafeAccessMutex.unlock();
        }
}

void DBDriver::getWeight(int signatureId, int & weight) const
{
        bool found = false;
        // look in the trash
        _trashesMutex.lock();
        if(uContains(_trashSignatures, signatureId))
        {
                weight = _trashSignatures.at(signatureId)->getWeight();
                found = true;
        }
        _trashesMutex.unlock();

        if(!found)
        {
                _dbSafeAccessMutex.lock();
                this->getWeightQuery(signatureId, weight);
                _dbSafeAccessMutex.unlock();
        }
}

void DBDriver::getAllNodeIds(std::set<int> & ids, bool ignoreChildren) const
{
        // look in the trash
        _trashesMutex.lock();
        if(_trashSignatures.size())
        {
                for(std::map<int, Signature*>::const_iterator sIter = _trashSignatures.begin(); sIter!=_trashSignatures.end(); ++sIter)
                {
                        bool hasNeighbors = !ignoreChildren;
                        if(ignoreChildren)
                        {
                                for(std::map<int, Link>::const_iterator nIter = sIter->second->getLinks().begin();
                                                nIter!=sIter->second->getLinks().end();
                                                ++nIter)
                                {
                                        if(nIter->second.type() == Link::kNeighbor)
                                        {
                                                hasNeighbors = true;
                                                break;
                                        }
                                }
                        }
                        if(hasNeighbors)
                        {
                                ids.insert(sIter->first);
                        }
                }

                std::vector<int> keys = uKeys(_trashSignatures);

        }
        _trashesMutex.unlock();

        _dbSafeAccessMutex.lock();
        this->getAllNodeIdsQuery(ids, ignoreChildren);
        _dbSafeAccessMutex.unlock();
}

void DBDriver::getLastNodeId(int & id) const
{
        // look in the trash
        _trashesMutex.lock();
        if(_trashSignatures.size())
        {
                id = _trashSignatures.rbegin()->first;
        }
        _trashesMutex.unlock();

        _dbSafeAccessMutex.lock();
        this->getLastIdQuery("Node", id);
        _dbSafeAccessMutex.unlock();
}

void DBDriver::getLastWordId(int & id) const
{
        // look in the trash
        _trashesMutex.lock();
        if(_trashVisualWords.size())
        {
                id = _trashVisualWords.rbegin()->first;
        }
        _trashesMutex.unlock();

        _dbSafeAccessMutex.lock();
        this->getLastIdQuery("Word", id);
        _dbSafeAccessMutex.unlock();
}

void DBDriver::getInvertedIndexNi(int signatureId, int & ni) const
{
        bool found = false;
        // look in the trash
        _trashesMutex.lock();
        if(uContains(_trashSignatures, signatureId))
        {
                ni = _trashSignatures.at(signatureId)->getWords().size();
                found = true;
        }
        _trashesMutex.unlock();

        if(!found)
        {
                _dbSafeAccessMutex.lock();
                this->getInvertedIndexNiQuery(signatureId, ni);
                _dbSafeAccessMutex.unlock();
        }
}

void DBDriver::getNodeIdByLabel(const std::string & label, int & id) const
{
        if(!label.empty())
        {
                int idFound = 0;
                // look in the trash
                _trashesMutex.lock();
                for(std::map<int, Signature*>::const_iterator sIter = _trashSignatures.begin(); sIter!=_trashSignatures.end(); ++sIter)
                {
                        if(sIter->second->getLabel().compare(label) == 0)
                        {
                                idFound = sIter->first;
                                break;
                        }
                }
                _trashesMutex.unlock();

                // then look in the database
                if(idFound == 0)
                {
                        _dbSafeAccessMutex.lock();
                        this->getNodeIdByLabelQuery(label, id);
                        _dbSafeAccessMutex.unlock();
                }
                else
                {
                        id = idFound;
                }
        }
        else
        {
                UWARN("Can't search with an empty label!");
        }
}

void DBDriver::getAllLabels(std::map<int, std::string> & labels) const
{
        // look in the trash
        _trashesMutex.lock();
        for(std::map<int, Signature*>::const_iterator sIter = _trashSignatures.begin(); sIter!=_trashSignatures.end(); ++sIter)
        {
                if(!sIter->second->getLabel().empty())
                {
                        labels.insert(std::make_pair(sIter->first, sIter->second->getLabel()));
                }
        }
        _trashesMutex.unlock();

        // then look in the database
        _dbSafeAccessMutex.lock();
        this->getAllLabelsQuery(labels);
        _dbSafeAccessMutex.unlock();
}

void DBDriver::addStatisticsAfterRun(int stMemSize, int lastSignAdded, int processMemUsed, int databaseMemUsed, int dictionarySize) const
{
        ULOGGER_DEBUG("");
        if(this->isConnected())
        {
                std::stringstream query;
                query << "INSERT INTO Statistics(STM_size,last_sign_added,process_mem_used,database_mem_used,dictionary_size) values("
                          << stMemSize << ","
                      << lastSignAdded << ","
                      << processMemUsed << ","
                      << databaseMemUsed << ","
                          << dictionarySize << ");";

                this->executeNoResultQuery(query.str());
        }
}

} // namespace rtabmap