Add ability to delete cache files from tiler

- To allow the system to reset after subsequent runs, it can be useful
to have the system automatically delete cache tiles when starting a new
run.
- This is added as a command line option to allow enabling/disabling of
the behavior
- This is preparation for allowing a job to resume (sans old keypoints)
after a crash

modules/realm_ortho/include/realm_ortho/tile_cache.h

@@ -55,6 +55,9 @@ class TileCache : public WorkerThreadBase
   void flushAll();
   void loadAll();
 
+  void deleteCache();
+  void deleteCache(std::string layer);
+
 private:
 
   bool m_has_init_directories;
@@ -64,6 +67,7 @@ class TileCache : public WorkerThreadBase
 
   std::mutex m_mutex_cache;
   std::map<int, CacheElementGrid> m_cache;
+  std::mutex m_mutex_file_write;
 
   std::mutex m_mutex_do_update;
   bool m_do_update;
@@ -78,10 +82,10 @@ class TileCache : public WorkerThreadBase
 
   void reset() override;
 
-  void load(const CacheElement::Ptr &element) const;
-  void write(const CacheElement::Ptr &element) const;
+  void load(const CacheElement::Ptr &element);
+  void write(const CacheElement::Ptr &element);
 
-  void flush(const CacheElement::Ptr &element) const;
+  void flush(const CacheElement::Ptr &element);
 
   bool isCached(const CacheElement::Ptr &element) const;
 

modules/realm_ortho/src/map_tiler.cpp

@@ -78,11 +78,8 @@ std::map<int, MapTiler::TiledMap> MapTiler::createTiles(const CvGridMap::Ptr &ma
     // Therefore first identify how many tiles we have to split our map into by computing the tile indices
     cv::Rect2i tile_bounds_idx = computeTileBounds(roi, zoom_level);
 
-    LOG_F(INFO, "SENTERA: Tile bounds idx: %d, %d", tile_bounds_idx.x, tile_bounds_idx.y);
-
     // With the tile indices we can compute the exact region of interest in the geographic frame in meters
     cv::Rect2d tile_bounds_meters = computeTileBoundsMeters(tile_bounds_idx, zoom_level);
-    LOG_F(INFO, "SENTERA: Tile bounds meters: %f, %f  %f x %f", tile_bounds_meters.x, tile_bounds_meters.y, tile_bounds_meters.width, tile_bounds_meters.height);
 
     // Because our map is not yet guaranteed to have exactly the size of the tile region, we have to perform padding to
     // to fit exactly the tile map boundaries

modules/realm_ortho/src/tile_cache.cpp

@@ -257,8 +257,30 @@ void TileCache::loadAll()
       }
 }
 
-void TileCache::load(const CacheElement::Ptr &element) const
+void TileCache::deleteCache()
 {
+  std::lock_guard<std::mutex> lock(m_mutex_file_write);
+  // Remove all cache items
+  flushAll();
+  m_has_init_directories = false;
+  auto files = io::getFileList(m_dir_toplevel, "");
+  for (auto & file : files) {
+    if (!file.empty()) io::removeFileOrDirectory(file);
+  }
+}
+
+void TileCache::deleteCache(std::string layer)
+{
+  std::lock_guard<std::mutex> lock(m_mutex_file_write);
+  // Attempt to remove the specific layer name
+  flushAll();
+  m_has_init_directories = false;
+  io::removeFileOrDirectory(m_dir_toplevel + "/" + layer);
+}
+
+void TileCache::load(const CacheElement::Ptr &element)
+{
+  std::lock_guard<std::mutex> lock(m_mutex_file_write);
   for (const auto &meta : element->layer_meta)
   {
     std::string filename = m_dir_toplevel + "/"
@@ -303,8 +325,9 @@ void TileCache::load(const CacheElement::Ptr &element) const
   }
 }
 
-void TileCache::write(const CacheElement::Ptr &element) const
+void TileCache::write(const CacheElement::Ptr &element)
 {
+  std::lock_guard<std::mutex> lock(m_mutex_file_write);
   for (const auto &meta : element->layer_meta)
   {
     cv::Mat data = element->tile->data()->get(meta.name);
@@ -341,7 +364,7 @@ void TileCache::write(const CacheElement::Ptr &element) const
   }
 }
 
-void TileCache::flush(const CacheElement::Ptr &element) const
+void TileCache::flush(const CacheElement::Ptr &element)
 {
   if (!element->was_written)
     write(element);

modules/realm_stages/include/realm_stages/stage_settings.h

@@ -135,6 +135,7 @@ class TileingSettings : public StageSettings
     add("tms_tiles", Parameter_t<int>{1, "Generate output tiles using TMS standard. If false, Google/OSM standard is used."});
     add("min_zoom", Parameter_t<int>{11, "The minimum tile zoom to generate for the output tiles."});
     add("max_zoom", Parameter_t<int>{20, "The maximum tile zoom to generate for the output tiles. (Set to -1 for maximum zoom based on GSD)"});
+    add("delete_cache_on_init", Parameter_t<int>{0, "If there are leftover cache items in the cache folder, delete them before starting the stage."});
   }
 };
 

modules/realm_stages/include/realm_stages/tileing.h

@@ -61,6 +61,9 @@ class Tileing : public StageBase
     bool process() override;
     void saveAll();
 
+    void deleteCache();
+    void deleteCache(std::string layer);
+
   private:
     std::deque<Frame::Ptr> m_buffer;
     std::mutex m_mutex_buffer;
@@ -78,6 +81,9 @@ class Tileing : public StageBase
     /// The maximum zoom to generate.  May not be generated if GSD isn't sufficient
     int m_max_tile_zoom;
 
+    /// Indicates we should wipe the cache directory when starting or resetting the stage
+    bool m_delete_cache_on_init;
+
     /// The directory to store the output map tiles in, defaults to log directory
     std::string m_cache_path;
 

modules/realm_stages/src/tileing.cpp

@@ -30,6 +30,7 @@ Tileing::Tileing(const StageSettings::Ptr &stage_set, double rate)
       m_generate_tms_tiles((*stage_set)["tms_tiles"].toInt() > 0),
       m_min_tile_zoom((*stage_set)["min_zoom"].toInt()),
       m_max_tile_zoom((*stage_set)["max_zoom"].toInt()),
+      m_delete_cache_on_init((*stage_set)["delete_cache_on_init"].toInt() > 0),
       m_utm_reference(nullptr),
       m_map_tiler(nullptr),
       m_tile_cache(nullptr),
@@ -246,6 +247,19 @@ bool Tileing::process()
   return has_processed;
 }
 
+void Tileing::deleteCache() {
+  if (m_tile_cache)
+  {
+    m_tile_cache->deleteCache();
+  }
+}
+
+void Tileing::deleteCache(std::string layer) {
+  if (m_tile_cache) {
+    m_tile_cache->deleteCache(layer);
+  }
+}
+
 Tile::Ptr Tileing::merge(const Tile::Ptr &t1, const Tile::Ptr &t2)
 {
   if (t2->data()->empty())
@@ -390,6 +404,9 @@ void Tileing::initStageCallback()
   {
     m_map_tiler = std::make_shared<MapTiler>(true, m_generate_tms_tiles);
     m_tile_cache = std::make_shared<TileCache>("tile_cache", 500, m_cache_path, false);
+    if (m_delete_cache_on_init) {
+      deleteCache();
+    }
     m_tile_cache->start();
   }
 }