DBDriver: added getDatabaseVersion() method

corelib/include/rtabmap/core/DBDriver.h

@@ -85,6 +85,7 @@ public:
 	void closeConnection();
 	bool isConnected() const;
 	long getMemoryUsed() const; // In bytes
+	std::string getDatabaseVersion() const;
 
 	void executeNoResult(const std::string & sql) const;
 
@@ -116,6 +117,7 @@ private:
 	virtual void disconnectDatabaseQuery() = 0;
 	virtual bool isConnectedQuery() const = 0;
 	virtual long getMemoryUsedQuery() const = 0; // In bytes
+	virtual bool getDatabaseVersionQuery(std::string & version) const = 0;
 
 	virtual void executeNoResultQuery(const std::string & sql) const = 0;
 

corelib/include/rtabmap/core/Memory.h

@@ -130,6 +130,7 @@ public:
 	std::map<int, std::string> getAllLabels() const;
 	bool setUserData(int id, const cv::Mat & data);
 	int getDatabaseMemoryUsed() const; // in bytes
+	std::string getDatabaseVersion() const;
 	double getDbSavingTime() const;
 	Transform getOdomPose(int signatureId, bool lookInDatabase = false) const;
 	bool getNodeInfo(int signatureId,

corelib/src/DBDriver.cpp

@@ -99,6 +99,15 @@ long DBDriver::getMemoryUsed() const
 	return bytes;
 }
 
+std::string DBDriver::getDatabaseVersion() const
+{
+	std::string version = "0.0.0";
+	_dbSafeAccessMutex.lock();
+	getDatabaseVersionQuery(version);
+	_dbSafeAccessMutex.unlock();
+	return version;
+}
+
 void DBDriver::mainLoop()
 {
 	this->emptyTrashes();

corelib/src/DBDriverSqlite3.cpp

@@ -269,7 +269,7 @@ int DBDriverSqlite3::loadOrSaveDb(sqlite3 *pInMemory, const std::string & fileNa
   return rc;
 }
 
-bool DBDriverSqlite3::getVersion(std::string & version) const
+bool DBDriverSqlite3::getDatabaseVersionQuery(std::string & version) const
 {
 	version = "0.0.0";
 	if(_ppDb)
@@ -370,7 +370,7 @@ bool DBDriverSqlite3::connectDatabaseQuery(const std::string & url, bool overwri
 		schema = uHex2Str(schema);
 		this->executeNoResultQuery(schema.c_str());
 	}
-	UASSERT(this->getVersion(_version)); // must be true!
+	UASSERT(this->getDatabaseVersionQuery(_version)); // must be true!
 	UINFO("Database version = %s", _version.c_str());
 
 	//Set database optimizations

corelib/src/DBDriverSqlite3.h

@@ -53,6 +53,7 @@ private:
 	virtual void disconnectDatabaseQuery();
 	virtual bool isConnectedQuery() const;
 	virtual long getMemoryUsedQuery() const; // In bytes
+	virtual bool getDatabaseVersionQuery(std::string & version) const;
 
 	virtual void executeNoResultQuery(const std::string & sql) const;
 
@@ -101,7 +102,6 @@ private:
 private:
 	void loadLinksQuery(std::list<Signature *> & signatures) const;
 	int loadOrSaveDb(sqlite3 *pInMemory, const std::string & fileName, int isSave) const;
-	bool getVersion(std::string &) const;
 
 private:
 	sqlite3 * _ppDb;

corelib/src/Memory.cpp

@@ -1170,6 +1170,16 @@ int Memory::getDatabaseMemoryUsed() const
 	return memoryUsed;
 }
 
+std::string Memory::getDatabaseVersion() const
+{
+	std::string version = "0.0.0";
+	if(_dbDriver)
+	{
+		version = _dbDriver->getDatabaseVersion();
+	}
+	return version;
+}
+
 double Memory::getDbSavingTime() const
 {
 	return _dbDriver?_dbDriver->getEmptyTrashesTime():0;