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matlabbe
2026-04-05 14:20:35 -07:00
parent ffb3be7ba3 8fd701aabe
commit 0405949ff4
103 changed files with 7621 additions and 3191 deletions
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corelib/src/DBDriverSqlite3.cpp
+15 -16
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@@ -320,7 +320,7 @@ bool DBDriverSqlite3::getDatabaseVersionQuery(std::string & version) const
return false;
}
bool DBDriverSqlite3::connectDatabaseQuery(const std::string & url, bool overwritten)
bool DBDriverSqlite3::connectDatabaseQuery(const std::string & url, bool overwritten, bool readOnly)
{
this->disconnectDatabaseQuery();
// Open a database connection
@@ -332,7 +332,7 @@ bool DBDriverSqlite3::connectDatabaseQuery(const std::string & url, bool overwri
if(!url.empty())
{
dbFileExist = UFile::exists(url.c_str());
if(dbFileExist && overwritten)
if(dbFileExist && overwritten && !readOnly)
{
UINFO("Deleting database %s...", url.c_str());
UASSERT(UFile::erase(url.c_str()) == 0);
@@ -354,12 +354,12 @@ bool DBDriverSqlite3::connectDatabaseQuery(const std::string & url, bool overwri
{
ULOGGER_INFO("Using empty database in the memory.");
}
rc = sqlite3_open_v2(":memory:", &_ppDb, SQLITE_OPEN_READWRITE | SQLITE_OPEN_CREATE, 0);
rc = sqlite3_open_v2(":memory:", &_ppDb, readOnly ? SQLITE_OPEN_READONLY : SQLITE_OPEN_READWRITE | SQLITE_OPEN_CREATE, 0);
}
else
{
ULOGGER_INFO("Using database \"%s\" from the hard drive.", url.c_str());
rc = sqlite3_open_v2(url.c_str(), &_ppDb, SQLITE_OPEN_READWRITE | SQLITE_OPEN_CREATE, 0);
rc = sqlite3_open_v2(url.c_str(), &_ppDb, readOnly ? SQLITE_OPEN_READONLY : SQLITE_OPEN_READWRITE | SQLITE_OPEN_CREATE, 0);
}
if(rc != SQLITE_OK)
{
@@ -4350,7 +4350,7 @@ void DBDriverSqlite3::loadLinksQuery(std::list<Signature *> & signatures) const
void DBDriverSqlite3::updateQuery(const std::list<Signature *> & nodes, bool updateTimestamp) const
{
UDEBUG("nodes = %d", nodes.size());
UDEBUG("nodes = %d, updateTimestamp = %s", nodes.size(), updateTimestamp?"true":"false");
if(_ppDb && nodes.size())
{
UTimer timer;
@@ -4389,7 +4389,7 @@ void DBDriverSqlite3::updateQuery(const std::list<Signature *> & nodes, bool upd
{
s = *i;
int index = 1;
if(s)
if(s && (s->isModified() || updateTimestamp))
{
rc = sqlite3_bind_int(ppStmt, index++, s->getWeight());
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
@@ -4413,7 +4413,7 @@ void DBDriverSqlite3::updateQuery(const std::list<Signature *> & nodes, bool upd
//step
rc=sqlite3_step(ppStmt);
UASSERT_MSG(rc == SQLITE_DONE, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
UASSERT_MSG(rc == SQLITE_DONE, uFormat("DB error (%s): %s (node id = %d map=%d)", _version.c_str(), sqlite3_errmsg(_ppDb), s->id(), s->mapId()).c_str());
rc = sqlite3_reset(ppStmt);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
@@ -4426,14 +4426,7 @@ void DBDriverSqlite3::updateQuery(const std::list<Signature *> & nodes, bool upd
ULOGGER_DEBUG("Update Node table, Time=%fs", timer.ticks());
// Update links part1
if(uStrNumCmp(_version, "0.18.3") >= 0)
{
query = uFormat("DELETE FROM Link WHERE from_id=? and type!=%d;", (int)Link::kLandmark);
}
else
{
query = uFormat("DELETE FROM Link WHERE from_id=?;");
}
query = uFormat("DELETE FROM Link WHERE from_id=?;");
rc = sqlite3_prepare_v2(_ppDb, query.c_str(), -1, &ppStmt, 0);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
for(std::list<Signature *>::const_iterator j=nodes.begin(); j!=nodes.end(); ++j)
@@ -4468,6 +4461,12 @@ void DBDriverSqlite3::updateQuery(const std::list<Signature *> & nodes, bool upd
{
stepLink(ppStmt, i->second);
}
// Save landmarks
const std::map<int, Link> & landmarks = (*j)->getLandmarks();
for(std::map<int, Link>::const_iterator i=landmarks.begin(); i!=landmarks.end(); ++i)
{
stepLink(ppStmt, i->second);
}
}
}
// Finalize (delete) the statement
@@ -5758,7 +5757,7 @@ cv::Mat DBDriverSqlite3::loadOptimizedMeshQuery(
void DBDriverSqlite3::saveFlannIndexQuery(const std::vector<unsigned char> & data) const
{
UDEBUG("");
UDEBUG("data size = %ld bytes", data.size());
if(_ppDb && uStrNumCmp(_version, "0.23.0") >= 0)
{
UTimer timer;