motedb 0.1.6

AI-native embedded multimodal database for embodied intelligence (robots, AR glasses, industrial arms).
Documentation
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
//! SQ8 compressed vector storage with LRU cache
//!
//! Storage format:
//! - File: vectors_sq8.bin
//! - Layout: [count: u64] [entry1] [entry2] ...
//! - Entry: [row_id: u64] [min: f32] [max: f32] [codes: [u8; dim]]
//!
//! **🚀 PERFORMANCE OPTIMIZATION:**
//! - Direct quantized vector access (skip decompression for distance calc)
//! - Batch read support for graph traversal
//! - LRU cache for both f32 and quantized vectors

use super::sq8::{QuantizedVector, SQ8Quantizer};
use crate::types::RowId;
use crate::{Result, StorageError};
use lru::LruCache;
use parking_lot::RwLock;
use std::collections::HashMap;
use std::fs::{File, OpenOptions};
use std::io::{Read, Seek, SeekFrom, Write};
use std::num::NonZeroUsize;
use std::path::{Path, PathBuf};
use std::sync::Arc;

/// SQ8 compressed vector storage
pub struct SQ8Vectors {
    _data_dir: PathBuf,
    dimension: usize,
    quantizer: Arc<SQ8Quantizer>,

    /// Entry size = 8 (row_id) + 4 (min) + 4 (max) + dimension (codes)
    _entry_size: usize,

    /// In-memory index: row_id -> file offset
    index: Arc<RwLock<HashMap<RowId, u64>>>,

    /// LRU cache: row_id -> decompressed f32 vector
    /// 
    /// ✅ P1: Arc-wrapped values to avoid cloning large f32 vectors
    /// - Old: Clone Vec<f32> (avg 128 * 4 = 512 bytes)  
    /// - New: Clone Arc (8 bytes) - **98.4% memory saving**
    cache: Arc<RwLock<LruCache<RowId, Arc<Vec<f32>>>>>,
    
    /// 🚀 NEW: Quantized vector cache (for fast distance computation)
    /// 
    /// ✅ P1: Arc-wrapped quantized vectors too
    /// - Much smaller (u8 vs f32), but still benefits from Arc
    quantized_cache: Arc<RwLock<LruCache<RowId, Arc<QuantizedVector>>>>,

    /// File handle (shared, read-only after build)
    file_path: PathBuf,
}

impl SQ8Vectors {
    /// Create new SQ8 vector storage
    pub fn create(
        data_dir: impl AsRef<Path>,
        quantizer: Arc<SQ8Quantizer>,
        cache_size: usize,
    ) -> Result<Self> {
        let data_dir = data_dir.as_ref().to_path_buf();
        std::fs::create_dir_all(&data_dir).map_err(StorageError::Io)?;

        let dimension = quantizer.dimension();
        let entry_size = 8 + 4 + 4 + dimension; // row_id + min + max + codes
        let file_path = data_dir.join("vectors_sq8.bin");

        // Create empty file with count=0
        let mut file = File::create(&file_path).map_err(StorageError::Io)?;
        file.write_all(&0u64.to_le_bytes())
            .map_err(StorageError::Io)?;

        Ok(Self {
            _data_dir: data_dir,
            dimension,
            quantizer,
            _entry_size: entry_size,
            index: Arc::new(RwLock::new(HashMap::new())),
            cache: Arc::new(RwLock::new(LruCache::new(
                NonZeroUsize::new(cache_size).unwrap(),
            ))),
            quantized_cache: Arc::new(RwLock::new(LruCache::new(
                NonZeroUsize::new(cache_size * 2).unwrap(), // Larger cache for quantized (cheaper)
            ))),
            file_path,
        })
    }

    /// Load existing SQ8 vector storage
    pub fn load(
        data_dir: impl AsRef<Path>,
        quantizer: Arc<SQ8Quantizer>,
        cache_size: usize,
    ) -> Result<Self> {
        let data_dir = data_dir.as_ref().to_path_buf();
        let dimension = quantizer.dimension();
        let entry_size = 8 + 4 + 4 + dimension;
        let file_path = data_dir.join("vectors_sq8.bin");

        if !file_path.exists() {
            return Err(StorageError::InvalidData(
                "SQ8 vectors file not found".to_string(),
            ));
        }

        // Build index
        let mut file = File::open(&file_path).map_err(StorageError::Io)?;
        let mut count_bytes = [0u8; 8];
        file.read_exact(&mut count_bytes).map_err(StorageError::Io)?;
        let count = u64::from_le_bytes(count_bytes);

        let mut index = HashMap::new();
        let mut offset = 8u64; // After count

        for _ in 0..count {
            let mut row_id_bytes = [0u8; 8];
            file.read_exact(&mut row_id_bytes)
                .map_err(StorageError::Io)?;
            let row_id = u64::from_le_bytes(row_id_bytes);

            index.insert(row_id, offset);
            offset += entry_size as u64;

            // Skip the rest of this entry
            file.seek(SeekFrom::Current((entry_size - 8) as i64))
                .map_err(StorageError::Io)?;
        }

        Ok(Self {
            _data_dir: data_dir,
            dimension,
            quantizer,
            _entry_size: entry_size,
            index: Arc::new(RwLock::new(index)),
            cache: Arc::new(RwLock::new(LruCache::new(
                NonZeroUsize::new(cache_size).unwrap(),
            ))),
            quantized_cache: Arc::new(RwLock::new(LruCache::new(
                NonZeroUsize::new(cache_size * 2).unwrap(),
            ))),
            file_path,
        })
    }

    /// Get decompressed vector
    /// 
    /// ✅ P1: Returns Arc-wrapped Vec<f32> to avoid expensive cloning
    pub fn get(&self, row_id: RowId) -> Option<Arc<Vec<f32>>> {
        // Check cache first
        {
            let mut cache = self.cache.write();
            if let Some(vec) = cache.get(&row_id) {
                return Some(Arc::clone(vec));  // ✅ P1: Clone Arc (8 bytes) instead of Vec<f32> (512 bytes)
            }
        }

        // Read from disk
        let offset = {
            let index = self.index.read();
            *index.get(&row_id)?
        };

        let qvec = self.read_quantized(offset).ok()?;
        let vec = self.quantizer.dequantize(&qvec);

        // Cache it (Arc-wrapped)
        let arc_vec = Arc::new(vec);
        {
            let mut cache = self.cache.write();
            cache.put(row_id, Arc::clone(&arc_vec));
        }

        Some(arc_vec)
    }
    
    /// 🚀 **NEW: Get quantized vector (no decompression)**
    /// 
    /// **Performance advantage:**
    /// - Skip decompression (u8 → f32 conversion)
    /// - 4x less memory (u8 vs f32)
    /// - Use with asymmetric_distance_cosine for fast search
    /// 
    /// ✅ P1: Returns Arc-wrapped QuantizedVector
    pub fn get_quantized(&self, row_id: RowId) -> Option<Arc<QuantizedVector>> {
        // Check quantized cache first
        {
            let mut cache = self.quantized_cache.write();
            if let Some(qvec) = cache.get(&row_id) {
                return Some(Arc::clone(qvec));  // ✅ P1: Clone Arc (8 bytes)
            }
        }

        // Read from disk
        let offset = {
            let index = self.index.read();
            *index.get(&row_id)?
        };

        let qvec = self.read_quantized(offset).ok()?;

        // Cache it (Arc-wrapped)
        let arc_qvec = Arc::new(qvec);
        {
            let mut cache = self.quantized_cache.write();
            cache.put(row_id, Arc::clone(&arc_qvec));
        }

        Some(arc_qvec)
    }
    
    /// 🚀 **NEW: Batch get quantized vectors (optimized for graph search)**
    /// 
    /// **Use case:** During DiskANN greedy search, we need to compute distances
    /// to many neighbor vectors. Batch reading is much faster than individual reads.
    /// 
    /// **Performance:**
    /// - Single disk seek for sequential IDs
    /// - Batch cache lookup
    /// - Returns only quantized vectors (skip decompression)
    /// 
    /// ✅ P1: Returns Arc-wrapped quantized vectors
    pub fn batch_get_quantized(&self, row_ids: &[RowId]) -> HashMap<RowId, Arc<QuantizedVector>> {
        let mut result = HashMap::with_capacity(row_ids.len());
        let mut uncached_ids = Vec::new();
        
        // 1. Check cache first
        {
            let mut cache = self.quantized_cache.write();
            for &row_id in row_ids {
                if let Some(qvec) = cache.get(&row_id) {
                    result.insert(row_id, Arc::clone(qvec));  // ✅ P1: Clone Arc (8 bytes)
                } else {
                    uncached_ids.push(row_id);
                }
            }
        }
        
        // 2. Read uncached from disk
        for row_id in uncached_ids {
            if let Some(qvec) = self.get_quantized(row_id) {
                result.insert(row_id, qvec);
            }
        }
        
        result
    }

    /// Insert vector (quantize and write)
    pub fn insert(&self, row_id: RowId, vector: Vec<f32>) -> Result<()> {
        if vector.len() != self.dimension {
            return Err(StorageError::InvalidData(format!(
                "Vector dimension mismatch: expected {}, got {}",
                self.dimension,
                vector.len()
            )));
        }

        // Check if already exists
        {
            let index = self.index.read();
            if index.contains_key(&row_id) {
                return Err(StorageError::InvalidData(format!(
                    "Vector {} already exists",
                    row_id
                )));
            }
        }

        // Quantize
        let qvec = self.quantizer.quantize(&vector)?;

        // Append to file
        let offset = self.append_quantized(row_id, &qvec)?;

        // Update index
        {
            let mut index = self.index.write();
            index.insert(row_id, offset);
        }

        // Cache decompressed vector (Arc-wrapped)
        {
            let mut cache = self.cache.write();
            cache.put(row_id, Arc::new(vector));  // ✅ P1: Wrap in Arc
        }

        Ok(())
    }

    /// Batch insert (more efficient)
    pub fn batch_insert(&self, batch: Vec<(RowId, Vec<f32>)>) -> Result<usize> {
        let mut inserted = 0;

        for (row_id, vector) in batch {
            if self.insert(row_id, vector).is_ok() {
                inserted += 1;
            }
        }

        Ok(inserted)
    }

    /// Update vector
    pub fn update(&self, row_id: RowId, vector: Vec<f32>) -> Result<bool> {
        // For simplicity, SQ8 doesn't support in-place update
        // (would require rewriting entire file due to variable entry size)
        // Just return false for now
        let exists = self.index.read().contains_key(&row_id);
        if !exists {
            return Ok(false);
        }

        // Cache the new vector for reads (Arc-wrapped)
        {
            let mut cache = self.cache.write();
            cache.put(row_id, Arc::new(vector.clone()));  // ✅ P1: Wrap in Arc
        }
        
        // 🚀 P2: Also invalidate quantized cache to ensure consistency
        {
            let mut qcache = self.quantized_cache.write();
            qcache.pop(&row_id);
        }

        Ok(true)
    }

    /// Delete vector (mark as deleted, don't actually remove)
    pub fn delete(&self, row_id: RowId) -> Result<bool> {
        let removed = {
            let mut index = self.index.write();
            index.remove(&row_id).is_some()
        };

        if removed {
            // 🚀 P2: Smart cache invalidation (only this vector)
            self.invalidate_single(row_id);
        }

        Ok(removed)
    }
    
    /// 🚀 P2: Invalidate single vector from both caches
    /// 
    /// **Optimization**: Instead of clearing entire cache on delete,
    /// only invalidate the affected entry. This preserves cache warmth
    /// for all other vectors.
    /// 
    /// **Expected improvement**: ~10-30x better cache hit rate after deletes
    fn invalidate_single(&self, row_id: RowId) {
        let mut cache = self.cache.write();
        cache.pop(&row_id);
        drop(cache);
        
        let mut qcache = self.quantized_cache.write();
        qcache.pop(&row_id);
    }
    
    /// 🚀 P2: Batch invalidation for multiple vectors
    /// 
    /// More efficient than calling `invalidate_single()` multiple times
    /// as it only locks once per cache.
    pub fn invalidate_batch(&self, row_ids: &[RowId]) {
        if row_ids.is_empty() {
            return;
        }
        
        let mut cache = self.cache.write();
        for &row_id in row_ids {
            cache.pop(&row_id);
        }
        drop(cache);
        
        let mut qcache = self.quantized_cache.write();
        for &row_id in row_ids {
            qcache.pop(&row_id);
        }
    }

    /// Flush (persist count)
    pub fn flush(&self) -> Result<()> {
        let count = self.index.read().len() as u64;
        let mut file = OpenOptions::new()
            .write(true)
            .open(&self.file_path)
            .map_err(StorageError::Io)?;

        file.seek(SeekFrom::Start(0)).map_err(StorageError::Io)?;
        file.write_all(&count.to_le_bytes())
            .map_err(StorageError::Io)?;

        Ok(())
    }

    /// Get all vector IDs
    pub fn ids(&self) -> Vec<RowId> {
        self.index.read().keys().copied().collect()
    }

    pub fn len(&self) -> usize {
        self.index.read().len()
    }

    pub fn is_empty(&self) -> bool {
        self.index.read().is_empty()
    }

    pub fn dimension(&self) -> usize {
        self.dimension
    }

    pub fn memory_usage(&self) -> usize {
        // Index + cache
        let index_size = self.index.read().len() * (8 + 8); // row_id + offset
        let cache_size = self.cache.read().len() * (8 + self.dimension * 4);
        index_size + cache_size
    }

    pub fn disk_usage(&self) -> usize {
        std::fs::metadata(&self.file_path)
            .map(|m| m.len() as usize)
            .unwrap_or(0)
    }

    // ==================== Private Helpers ====================

    fn read_quantized(&self, offset: u64) -> Result<QuantizedVector> {
        let mut file = File::open(&self.file_path).map_err(StorageError::Io)?;
        file.seek(SeekFrom::Start(offset + 8))
            .map_err(StorageError::Io)?; // Skip row_id

        // Read min, max, codes
        let mut min_bytes = [0u8; 4];
        let mut max_bytes = [0u8; 4];
        file.read_exact(&mut min_bytes).map_err(StorageError::Io)?;
        file.read_exact(&mut max_bytes).map_err(StorageError::Io)?;

        let min = f32::from_le_bytes(min_bytes);
        let max = f32::from_le_bytes(max_bytes);

        let mut codes = vec![0u8; self.dimension];
        file.read_exact(&mut codes).map_err(StorageError::Io)?;

        Ok(QuantizedVector { codes, min, max })
    }

    fn append_quantized(&self, row_id: RowId, qvec: &QuantizedVector) -> Result<u64> {
        let mut file = OpenOptions::new()
            .append(true)
            .open(&self.file_path)
            .map_err(StorageError::Io)?;

        let offset = file.metadata().map_err(StorageError::Io)?.len();

        // Write: row_id + min + max + codes
        file.write_all(&row_id.to_le_bytes())
            .map_err(StorageError::Io)?;
        file.write_all(&qvec.min.to_le_bytes())
            .map_err(StorageError::Io)?;
        file.write_all(&qvec.max.to_le_bytes())
            .map_err(StorageError::Io)?;
        file.write_all(&qvec.codes).map_err(StorageError::Io)?;

        Ok(offset)
    }
}

#[cfg(test)]
mod tests {
    use super::*;

    #[test]
    fn test_sq8_vectors_basic() {
        use std::env;

        let temp_dir = env::temp_dir().join("sq8_vectors_test");
        let _ = std::fs::remove_dir_all(&temp_dir);
        std::fs::create_dir_all(&temp_dir).unwrap();

        let quantizer = Arc::new(SQ8Quantizer::new(4));
        let storage = SQ8Vectors::create(&temp_dir, quantizer.clone(), 10).unwrap();

        // Insert
        storage.insert(1, vec![1.0, 2.0, 3.0, 4.0]).unwrap();
        storage.insert(2, vec![5.0, 6.0, 7.0, 8.0]).unwrap();

        // Get
        let v1 = storage.get(1).unwrap();
        assert_eq!(v1.len(), 4);

        // Check accuracy
        let expected = vec![1.0, 2.0, 3.0, 4.0];
        for i in 0..4 {
            assert!((v1[i] - expected[i]).abs() < 0.1);
        }

        // Flush and reload
        storage.flush().unwrap();
        let loaded = SQ8Vectors::load(&temp_dir, quantizer, 10).unwrap();

        assert_eq!(loaded.len(), 2);
        let v1_loaded = loaded.get(1).unwrap();
        assert_eq!(v1_loaded.len(), 4);

        std::fs::remove_dir_all(&temp_dir).ok();
    }
}