DBDriver.h

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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.
*/

#ifndef DBDRIVER_H_
#define DBDRIVER_H_

#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines

#include <string>
#include <list>
#include <map>
#include <set>
#include <opencv2/core/core.hpp>
#include "rtabmap/utilite/UMutex.h"
#include "rtabmap/utilite/UThreadNode.h"
#include "rtabmap/core/Parameters.h"

#include <rtabmap/core/Transform.h>
#include <rtabmap/core/Link.h>

namespace rtabmap {

class Signature;
class VWDictionary;
class VisualWord;

// Todo This class needs a refactoring, the _dbSafeAccessMutex problem when the trash is emptying (transaction)
// "Of course, it has always been the case and probably always will be
//that you cannot use the same sqlite3 connection in two or more
//threads at the same time.  You can use different sqlite3 connections
//at the same time in different threads, or you can move the same
//sqlite3 connection across threads (subject to the constraints above)
//but never, never try to use the same connection simultaneously in
//two or more threads."
//
class RTABMAP_EXP DBDriver : public UThreadNode
{
public:
        virtual ~DBDriver();

        virtual void parseParameters(const ParametersMap & parameters);
        const std::string & getUrl() const {return _url;}

        void beginTransaction() const;
        void commit() const;

        void asyncSave(Signature * s); //ownership transferred
        void asyncSave(VisualWord * vw); //ownership transferred
        void emptyTrashes(bool async = false);
        double getEmptyTrashesTime() const {return _emptyTrashesTime;}
        void setTimestampUpdateEnabled(bool enabled) {_timestampUpdate = enabled;} // used on Update Signature and Word queries

public:
        void addStatisticsAfterRun(int stMemSize, int lastSignAdded, int processMemUsed, int databaseMemUsed, int dictionarySize) const;

public:
        // Mutex-protected methods of abstract versions below

        bool openConnection(const std::string & url, bool overwritten = false);
        void closeConnection();
        bool isConnected() const;
        long getMemoryUsed() const; // In bytes

        void executeNoResult(const std::string & sql) const;

        // Load objects
        void load(VWDictionary * dictionary) const;
        void loadLastNodes(std::list<Signature *> & signatures) const;
        void loadSignatures(const std::list<int> & ids, std::list<Signature *> & signatures, std::set<int> * loadedFromTrash = 0);
        void loadWords(const std::set<int> & wordIds, std::list<VisualWord *> & vws);

        // Specific queries...
        void loadNodeData(std::list<Signature *> & signatures, bool loadMetricData) const;
        void 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;
        void getNodeData(int signatureId, cv::Mat & imageCompressed) const;
        bool getNodeInfo(int signatureId, Transform & pose, int & mapId, int & weight, std::string & label, double & stamp, std::vector<unsigned char> & userData) const;
        void loadLinks(int signatureId, std::map<int, Link> & links, Link::Type type = Link::kUndef) const;
        void getWeight(int signatureId, int & weight) const;
        void getAllNodeIds(std::set<int> & ids, bool ignoreChildren = false) const;
        void getLastNodeId(int & id) const;
        void getLastWordId(int & id) const;
        void getInvertedIndexNi(int signatureId, int & ni) const;
        void getNodeIdByLabel(const std::string & label, int & id) const;
        void getAllLabels(std::map<int, std::string> & labels) const;

protected:
        DBDriver(const ParametersMap & parameters = ParametersMap());

private:
        virtual bool connectDatabaseQuery(const std::string & url, bool overwritten = false) = 0;
        virtual void disconnectDatabaseQuery() = 0;
        virtual bool isConnectedQuery() const = 0;
        virtual long getMemoryUsedQuery() const = 0; // In bytes

        virtual void executeNoResultQuery(const std::string & sql) const = 0;

        virtual void getWeightQuery(int signatureId, int & weight) const = 0;

        virtual void saveQuery(const std::list<Signature *> & signatures) const = 0;
        virtual void saveQuery(const std::list<VisualWord *> & words) const = 0;
        virtual void updateQuery(const std::list<Signature *> & signatures, bool updateTimestamp) const = 0;
        virtual void updateQuery(const std::list<VisualWord *> & words, bool updateTimestamp) const = 0;


        // Load objects
        virtual void loadQuery(VWDictionary * dictionary) const = 0;
        virtual void loadLastNodesQuery(std::list<Signature *> & signatures) const = 0;
        virtual void loadSignaturesQuery(const std::list<int> & ids, std::list<Signature *> & signatures) const = 0;
        virtual void loadWordsQuery(const std::set<int> & wordIds, std::list<VisualWord *> & vws) const = 0;
        virtual void loadLinksQuery(int signatureId, std::map<int, Link> & links, Link::Type type = Link::kUndef) const = 0;

        virtual void loadNodeDataQuery(std::list<Signature *> & signatures, bool loadMetricData) const = 0;
        virtual void getNodeDataQuery(int signatureId, cv::Mat & imageCompressed, cv::Mat & depthCompressed, cv::Mat & laserScanCompressed, float & fx, float & fy, float & cx, float & cy, Transform & localTransform, int & laserScanMaxPts) const = 0;
        virtual void getNodeDataQuery(int signatureId, cv::Mat & imageCompressed) const = 0;
        virtual bool getNodeInfoQuery(int signatureId, Transform & pose, int & mapId, int & weight, std::string & label, double & stamp, std::vector<unsigned char> & userData) const = 0;
        virtual void getAllNodeIdsQuery(std::set<int> & ids, bool ignoreChildren) const = 0;
        virtual void getLastIdQuery(const std::string & tableName, int & id) const = 0;
        virtual void getInvertedIndexNiQuery(int signatureId, int & ni) const = 0;
        virtual void getNodeIdByLabelQuery(const std::string & label, int & id) const = 0;
        virtual void getAllLabelsQuery(std::map<int, std::string> & labels) const = 0;

private:
        //non-abstract methods
        void saveOrUpdate(const std::vector<Signature *> & signatures) const;
        void saveOrUpdate(const std::vector<VisualWord *> & words) const;

        //thread stuff
        virtual void mainLoop();

private:
        UMutex _transactionMutex;
        std::map<int, Signature *> _trashSignatures;//<id, Signature*>
        std::map<int, VisualWord *> _trashVisualWords; //<id, VisualWord*>
        UMutex _trashesMutex;
        UMutex _dbSafeAccessMutex;
        USemaphore _addSem;
        double _emptyTrashesTime;
        std::string _url;
        bool _timestampUpdate;
};

}

#endif /* DBDRIVER_H_ */