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Database: added "parameters" field in Statistics table. GUI: detecting if parameters in database are different from the Preferences, if so ask user to update them.

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This commit is contained in:
matlabbe
2016-06-13 17:34:17 -04:00
parent 3edb133727
commit 38a7993a9b
14 changed files with 294 additions and 47 deletions
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42
corelib/src/DBDriver.cpp
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@@ -188,6 +188,14 @@ int DBDriver::getTotalDictionarySize() const
_dbSafeAccessMutex.unlock();
return words;
}
ParametersMap DBDriver::getLastParameters() const
{
ParametersMap parameters;
_dbSafeAccessMutex.lock();
parameters = getLastParametersQuery();
_dbSafeAccessMutex.unlock();
return parameters;
}
std::string DBDriver::getDatabaseVersion() const
{
@@ -834,18 +842,38 @@ void DBDriver::getAllLabels(std::map<int, std::string> & labels) const
_dbSafeAccessMutex.unlock();
}
void DBDriver::addStatisticsAfterRun(int stMemSize, int lastSignAdded, int processMemUsed, int databaseMemUsed, int dictionarySize) const
void DBDriver::addStatisticsAfterRun(
int stMemSize,
int lastSignAdded,
int processMemUsed,
int databaseMemUsed,
int dictionarySize,
const ParametersMap & parameters) 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 << ");";
if(uStrNumCmp(this->getDatabaseVersion(), "0.11.8") >= 0)
{
std::string param = Parameters::serialize(parameters);
query << "INSERT INTO Statistics(STM_size,last_sign_added,process_mem_used,database_mem_used,dictionary_size,parameters) values("
<< stMemSize << ","
<< lastSignAdded << ","
<< processMemUsed << ","
<< databaseMemUsed << ","
<< dictionarySize << ","
"\"" << param.c_str() << "\");";
}
else
{
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());
}

36
corelib/src/DBDriverSqlite3.cpp
View File

@@ -699,6 +699,42 @@ int DBDriverSqlite3::getTotalDictionarySizeQuery() const
return size;
}
ParametersMap DBDriverSqlite3::getLastParametersQuery() const
{
UDEBUG("");
ParametersMap parameters;
if(_ppDb)
{
if(uStrNumCmp(_version, "0.11.8") >= 0)
{
std::string query = "SELECT parameters "
"FROM Statistics "
"WHERE time_enter >= (SELECT MAX(time_enter) FROM Statistics);";
int rc = SQLITE_OK;
sqlite3_stmt * ppStmt = 0;
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());
rc = sqlite3_step(ppStmt);
if(rc == SQLITE_ROW)
{
std::string text((const char *)sqlite3_column_text(ppStmt, 0));
if(text.size())
{
parameters = Parameters::deserialize(text);
}
rc = sqlite3_step(ppStmt);
}
UASSERT_MSG(rc == SQLITE_DONE, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
rc = sqlite3_finalize(ppStmt);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
}
}
return parameters;
}
void DBDriverSqlite3::loadNodeDataQuery(std::list<Signature *> & signatures) const
{
UDEBUG("load data for %d signatures", (int)signatures.size());

1
corelib/src/DBDriverSqlite3.h
View File

@@ -62,6 +62,7 @@ private:
virtual int getLastDictionarySizeQuery() const;
virtual int getTotalNodesSizeQuery() const;
virtual int getTotalDictionarySizeQuery() const;
virtual ParametersMap getLastParametersQuery() const;
virtual void executeNoResultQuery(const std::string & sql) const;

3
corelib/src/Memory.cpp
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@@ -1275,7 +1275,8 @@ void Memory::clear()
_lastSignature?_lastSignature->id():0,
UProcessInfo::getMemoryUsage(),
_dbDriver->getMemoryUsed(),
(int)_vwd->getVisualWords().size());
(int)_vwd->getVisualWords().size(),
parameters_);
}
}
UDEBUG("");

62
corelib/src/Parameters.cpp
View File

@@ -82,6 +82,68 @@ std::string Parameters::getDefaultDatabaseName()
return "rtabmap.db";
}
std::string Parameters::serialize(const ParametersMap & parameters)
{
std::stringstream output;
for(ParametersMap::const_iterator iter=parameters.begin(); iter!=parameters.end(); ++iter)
{
if(iter != parameters.begin())
{
output << ";";
}
// make sure there are no commas instead of dots
output << iter->first << ":" << uReplaceChar(iter->second, ',', '.');
}
return output.str();
}
ParametersMap Parameters::deserialize(const std::string & parameters)
{
ParametersMap output;
std::list<std::string> tuplets = uSplit(parameters, ';');
for(std::list<std::string>::iterator iter=tuplets.begin(); iter!=tuplets.end(); ++iter)
{
std::list<std::string> p = uSplit(*iter, ':');
if(p.size() == 2)
{
std::string key = p.front();
std::string value = p.back();
// look for old parameter name
bool addParameter = true;
std::map<std::string, std::pair<bool, std::string> >::const_iterator oldIter = Parameters::getRemovedParameters().find(key);
if(oldIter!=Parameters::getRemovedParameters().end())
{
addParameter = oldIter->second.first;
if(addParameter)
{
key = oldIter->second.second;
UWARN("Parameter migration from \"%s\" to \"%s\" (value=%s).",
oldIter->first.c_str(), oldIter->second.second.c_str(), value.c_str());
}
else if(oldIter->second.second.empty())
{
UWARN("Parameter \"%s\" doesn't exist anymore.",
oldIter->first.c_str());
}
else
{
UWARN("Parameter \"%s\" doesn't exist anymore, you may want to use this similar parameter \"%s\":\"%s\".",
oldIter->first.c_str(), oldIter->second.second.c_str(), Parameters::getDescription(oldIter->second.second).c_str());
}
}
if(Parameters::getDefaultParameters().find(key) == Parameters::getDefaultParameters().end())
{
UWARN("Unknown parameter \"%s\"=\"%s\"! The parameter is still added to output map.", key.c_str(), value.c_str());
}
uInsert(output, ParametersPair(key, value));
}
}
return output;
}
bool Parameters::isFeatureParameter(const std::string & parameter)
{
std::string group = uSplit(parameter, '/').front();

5
corelib/src/RtabmapThread.cpp
View File

@@ -205,6 +205,7 @@ void RtabmapThread::mainLoop()
int id = 0;
cv::Mat userData;
UTimer timer;
std::string str;
switch(state)
{
case kStateDetecting:
@@ -212,12 +213,14 @@ void RtabmapThread::mainLoop()
break;
case kStateInit:
UASSERT(!parameters.at("RtabmapThread/DatabasePath").empty());
str = parameters.at("RtabmapThread/DatabasePath");
parameters.erase("RtabmapThread/DatabasePath");
Parameters::parse(parameters, Parameters::kRtabmapImageBufferSize(), _dataBufferMaxSize);
Parameters::parse(parameters, Parameters::kRtabmapDetectionRate(), _rate);
Parameters::parse(parameters, Parameters::kRtabmapCreateIntermediateNodes(), _createIntermediateNodes);
UASSERT(_dataBufferMaxSize >= 0);
UASSERT(_rate >= 0.0f);
_rtabmap->init(parameters, parameters.at("RtabmapThread/DatabasePath"));
_rtabmap->init(parameters, str);
break;
case kStateChangingParameters:
Parameters::parse(parameters, Parameters::kRtabmapImageBufferSize(), _dataBufferMaxSize);

1
corelib/src/resources/DatabaseSchema.sql.in
View File

@@ -82,6 +82,7 @@ CREATE TABLE Statistics (
process_mem_used INTEGER,
database_mem_used INTEGER,
dictionary_size INTEGER,
parameters TEXT,
time_enter DATE
);