i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 09:30:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

Recovery: original database is erased/replaced only after successful recovery (in case there is an seg fault during recovery).

Browse Source
This commit is contained in:
matlabbe
2022-02-27 13:50:40 -05:00
parent e7ee025127
commit 51f779628f
1 changed files with 67 additions and 27 deletions
Download Patch File Download Diff File Expand all files Collapse all files

94
corelib/src/Recovery.cpp
View File

@@ -52,7 +52,6 @@ bool databaseRecovery(
return false;
}
std::string backupPath;
if(UFile::getExtension(databasePath).compare("db") != 0)
{
if(errorMsg)
@@ -61,12 +60,17 @@ bool databaseRecovery(
}
std::list<std::string> strList = uSplit(databasePath, '.');
strList.pop_back();
backupPath = uJoin(strList, ".") + ".backup.db";
if(UFile::exists(backupPath))
std::string recoveryPath;
recoveryPath = uJoin(strList, ".") + ".recovery.db";
if(UFile::exists(recoveryPath))
{
if(errorMsg)
*errorMsg = uFormat("Backup file \"%s\" already exists!", backupPath.c_str());
return false;
if(UFile::erase(recoveryPath) != 0)
{
if(errorMsg)
*errorMsg = uFormat("Failed to remove temporary recovery database \"%s\", is it opened by another app?", recoveryPath.c_str());
return false;
}
}
DBDriver * dbDriver = DBDriver::create();
@@ -125,41 +129,42 @@ bool databaseRecovery(
dbDriver->closeConnection(false);
delete dbDriver;
if(progressState)
progressState->callback(uFormat("Renaming \"%s\" to \"%s\"...", UFile::getName(databasePath).c_str(), UFile::getName(backupPath).c_str()));
if(UFile::rename(databasePath, backupPath) != 0)
{
if(errorMsg)
*errorMsg = uFormat("Failed renaming database file from \"%s\" to \"%s\". Is it opened by another app?", UFile::getName(databasePath).c_str(), UFile::getName(backupPath).c_str());
return false;
}
bool incrementalMemory = true;
bool dbInMemory = false;
Parameters::parse(parameters, Parameters::kMemIncrementalMemory(), incrementalMemory);
Parameters::parse(parameters, Parameters::kDbSqlite3InMemory(), dbInMemory);
if(!incrementalMemory)
{
if(progressState)
{
progressState->callback("Database is in localization mode, setting it to mapping mode to recover...");
progressState->callback("Database is in localization mode, setting it to mapping mode to recover.");
}
uInsert(parameters, ParametersPair(Parameters::kMemIncrementalMemory(), "true"));
}
if(dbInMemory)
{
if(progressState)
{
progressState->callback(uFormat("Database has %s=true, setting it to false to avoid RAM problems during recovery.", Parameters::kDbSqlite3InMemory().c_str()));
}
uInsert(parameters, ParametersPair(Parameters::kDbSqlite3InMemory(), "false"));
}
Rtabmap rtabmap;
rtabmap.init(parameters, databasePath);
rtabmap.init(parameters, recoveryPath);
bool rgbdEnabled = Parameters::defaultRGBDEnabled();
Parameters::parse(parameters, Parameters::kRGBDEnabled(), rgbdEnabled);
bool odometryIgnored = !rgbdEnabled;
{
DBReader dbReader(backupPath, 0, odometryIgnored);
DBReader dbReader(databasePath, 0, odometryIgnored);
dbReader.init();
CameraInfo info;
SensorData data = dbReader.takeImage(&info);
int processed = 0;
if (progressState)
progressState->callback(uFormat("Recovering data of \"%s\"...", backupPath.c_str()));
progressState->callback(uFormat("Recovering data of \"%s\"...", databasePath.c_str()));
while (data.isValid() && (progressState == 0 || !progressState->isCanceled()))
{
std::string status;
@@ -198,25 +203,60 @@ bool databaseRecovery(
{
rtabmap.close(false);
if(errorMsg)
*errorMsg = uFormat("Recovery canceled, renaming back \"%s\" to \"%s\".", backupPath.c_str(), databasePath.c_str());
*errorMsg = uFormat("Recovery canceled, removing temporary recovery database \"%s\".", recoveryPath.c_str());
// put back the file as before
UFile::erase(databasePath);
UFile::rename(backupPath, databasePath);
UFile::erase(recoveryPath);
return false;
}
}
if(progressState)
progressState->callback(uFormat("Closing database \"%s\"...", databasePath.c_str()));
progressState->callback(uFormat("Closing database \"%s\"...", recoveryPath.c_str()));
rtabmap.close(true);
if(progressState)
progressState->callback(uFormat("Closing database \"%s\"... done!", databasePath.c_str()));
progressState->callback(uFormat("Closing database \"%s\"... done!", recoveryPath.c_str()));
if(!keepCorruptedDatabase)
if(keepCorruptedDatabase)
{
UFile::erase(backupPath);
std::string backupPath;
backupPath = uJoin(strList, ".") + ".backup.db";
if(!UFile::exists(backupPath))
{
if(progressState)
progressState->callback(uFormat("Renaming \"%s\" to \"%s\"... (keep corrupted database backup option is enabled).", UFile::getName(databasePath).c_str(), UFile::getName(backupPath).c_str()));
if(UFile::rename(databasePath, backupPath) != 0)
{
if(errorMsg)
*errorMsg = uFormat("Failed renaming database file from \"%s\" to \"%s\". Is it opened by another app?", UFile::getName(databasePath).c_str(), UFile::getName(backupPath).c_str());
return false;
}
if(progressState)
progressState->callback(uFormat("Renaming \"%s\" to \"%s\"... done!", UFile::getName(databasePath).c_str(), UFile::getName(backupPath).c_str()));
}
else
{
if(progressState)
progressState->callback(uFormat("Backup \"%s\" already exists, won't copy again.", UFile::getName(backupPath).c_str()));
}
}
else if(UFile::erase(databasePath) != 0)
{
if(errorMsg)
*errorMsg = uFormat("Failed remove original database file \"%s\". Is it opened by another app? The recovered database cannot be copied back to original name.", UFile::getName(databasePath).c_str(), UFile::getName(recoveryPath).c_str());
return false;
}
if(progressState)
progressState->callback(uFormat("Renaming \"%s\" to \"%s\"...", UFile::getName(recoveryPath).c_str(), UFile::getName(databasePath).c_str()));
if(UFile::rename(recoveryPath, databasePath) != 0)
{
if(errorMsg)
*errorMsg = uFormat("Failed renaming database file from \"%s\" to \"%s\". Is it opened by another app?", UFile::getName(recoveryPath).c_str(), UFile::getName(databasePath).c_str());
return false;
}
if(progressState)
progressState->callback(uFormat("Renaming \"%s\" to \"%s\"... done!", UFile::getName(recoveryPath).c_str(), UFile::getName(databasePath).c_str()));
return true;
}