duckdb 0.8.2-dev2700.0 → 0.8.2-dev2809.0

package/src/duckdb/src/optimizer/join_order/plan_enumerator.cpp

@@ -0,0 +1,552 @@
+#include "duckdb/optimizer/join_order/join_node.hpp"
+#include "duckdb/optimizer/join_order/plan_enumerator.hpp"
+#include "duckdb/optimizer/join_order/query_graph_manager.hpp"
+#include "duckdb/main/client_context.hpp"
+
+namespace duckdb {
+
+bool PlanEnumerator::NodeInFullPlan(JoinNode &node) {
+	return join_nodes_in_full_plan.find(node.set.ToString()) != join_nodes_in_full_plan.end();
+}
+
+void PlanEnumerator::UpdateJoinNodesInFullPlan(JoinNode &node) {
+	if (node.set.count == query_graph_manager.relation_manager.NumRelations()) {
+		join_nodes_in_full_plan.clear();
+	}
+	if (node.set.count < query_graph_manager.relation_manager.NumRelations()) {
+		join_nodes_in_full_plan.insert(node.set.ToString());
+	}
+	if (node.left) {
+		UpdateJoinNodesInFullPlan(*node.left);
+	}
+	if (node.right) {
+		UpdateJoinNodesInFullPlan(*node.right);
+	}
+}
+
+static vector<unordered_set<idx_t>> AddSuperSets(const vector<unordered_set<idx_t>> &current,
+                                                 const vector<idx_t> &all_neighbors) {
+	vector<unordered_set<idx_t>> ret;
+
+	for (const auto &neighbor_set : current) {
+		auto max_val = std::max_element(neighbor_set.begin(), neighbor_set.end());
+		for (const auto &neighbor : all_neighbors) {
+			if (*max_val >= neighbor) {
+				continue;
+			}
+			if (neighbor_set.count(neighbor) == 0) {
+				unordered_set<idx_t> new_set;
+				for (auto &n : neighbor_set) {
+					new_set.insert(n);
+				}
+				new_set.insert(neighbor);
+				ret.push_back(new_set);
+			}
+		}
+	}
+
+	return ret;
+}
+
+//! Update the exclusion set with all entries in the subgraph
+static void UpdateExclusionSet(optional_ptr<JoinRelationSet> node, unordered_set<idx_t> &exclusion_set) {
+	for (idx_t i = 0; i < node->count; i++) {
+		exclusion_set.insert(node->relations[i]);
+	}
+}
+
+// works by first creating all sets with cardinality 1
+// then iterates over each previously created group of subsets and will only add a neighbor if the neighbor
+// is greater than all relations in the set.
+static vector<unordered_set<idx_t>> GetAllNeighborSets(vector<idx_t> neighbors) {
+	vector<unordered_set<idx_t>> ret;
+	sort(neighbors.begin(), neighbors.end());
+	vector<unordered_set<idx_t>> added;
+	for (auto &neighbor : neighbors) {
+		added.push_back(unordered_set<idx_t>({neighbor}));
+		ret.push_back(unordered_set<idx_t>({neighbor}));
+	}
+	do {
+		added = AddSuperSets(added, neighbors);
+		for (auto &d : added) {
+			ret.push_back(d);
+		}
+	} while (!added.empty());
+#if DEBUG
+	// drive by test to make sure we have an accurate amount of
+	// subsets, and that each neighbor is in a correct amount
+	// of those subsets.
+	D_ASSERT(ret.size() == pow(2, neighbors.size()) - 1);
+	for (auto &n : neighbors) {
+		idx_t count = 0;
+		for (auto &set : ret) {
+			if (set.count(n) >= 1) {
+				count += 1;
+			}
+		}
+		D_ASSERT(count == pow(2, neighbors.size() - 1));
+	}
+#endif
+	return ret;
+}
+
+void PlanEnumerator::GenerateCrossProducts() {
+	// generate a set of cross products to combine the currently available plans into a full join plan
+	// we create edges between every relation with a high cost
+	for (idx_t i = 0; i < query_graph_manager.relation_manager.NumRelations(); i++) {
+		auto &left = query_graph_manager.set_manager.GetJoinRelation(i);
+		for (idx_t j = 0; j < query_graph_manager.relation_manager.NumRelations(); j++) {
+			if (i != j) {
+				auto &right = query_graph_manager.set_manager.GetJoinRelation(j);
+				query_graph_manager.CreateQueryGraphCrossProduct(left, right);
+			}
+		}
+	}
+	// Now that the query graph has new edges, we need to re-initialize our query graph.
+	// TODO: do we need to initialize our qyery graph again?
+	// query_graph = query_graph_manager.GetQueryGraph();
+}
+
+//! Create a new JoinTree node by joining together two previous JoinTree nodes
+unique_ptr<JoinNode> PlanEnumerator::CreateJoinTree(JoinRelationSet &set,
+                                                    const vector<reference<NeighborInfo>> &possible_connections,
+                                                    JoinNode &left, JoinNode &right) {
+	// for the hash join we want the right side (build side) to have the smallest cardinality
+	// also just a heuristic but for now...
+	// FIXME: we should probably actually benchmark that as well
+	// FIXME: should consider different join algorithms, should we pick a join algorithm here as well? (probably)
+	optional_ptr<NeighborInfo> best_connection = nullptr;
+
+	// cross products are techincally still connections, but the filter expression is a null_ptr
+	if (!possible_connections.empty()) {
+		best_connection = &possible_connections.back().get();
+	}
+
+	auto cost = cost_model.ComputeCost(left, right);
+	auto result = make_uniq<JoinNode>(set, best_connection, left, right, cost);
+	result->cardinality = cost_model.cardinality_estimator.EstimateCardinalityWithSet<idx_t>(set);
+	return result;
+}
+
+JoinNode &PlanEnumerator::EmitPair(JoinRelationSet &left, JoinRelationSet &right,
+                                   const vector<reference<NeighborInfo>> &info) {
+	// get the left and right join plans
+	auto left_plan = plans.find(left);
+	auto right_plan = plans.find(right);
+	if (left_plan == plans.end() || right_plan == plans.end()) {
+		throw InternalException("No left or right plan: internal error in join order optimizer");
+	}
+	auto &new_set = query_graph_manager.set_manager.Union(left, right);
+	// create the join tree based on combining the two plans
+	auto new_plan = CreateJoinTree(new_set, info, *left_plan->second, *right_plan->second);
+	// check if this plan is the optimal plan we found for this set of relations
+	auto entry = plans.find(new_set);
+	auto new_cost = new_plan->cost;
+	double old_cost = NumericLimits<double>::Maximum();
+	if (entry != plans.end()) {
+		old_cost = entry->second->cost;
+	}
+	if (entry == plans.end() || new_cost < old_cost) {
+		// the new plan costs less than the old plan. Update our DP tree and cost tree
+		auto &result = *new_plan;
+
+		if (full_plan_found &&
+		    join_nodes_in_full_plan.find(new_plan->set.ToString()) != join_nodes_in_full_plan.end()) {
+			must_update_full_plan = true;
+		}
+		if (new_set.count == query_graph_manager.relation_manager.NumRelations()) {
+			full_plan_found = true;
+			// If we find a full plan, we need to keep track of which nodes are in the full plan.
+			// It's possible the DP algorithm updates a node in the current full plan, then moves on
+			// to the SolveApproximately. SolveApproximately may find a full plan with a higher cost than
+			// what SolveExactly found. In this case, we revert to the SolveExactly plan, but it is
+			// possible to get use-after-free errors if the SolveApproximately algorithm updated some (but not all)
+			// nodes in the SolveExactly plan
+			// If we know a node in the full plan is updated, we can prevent ourselves from exiting the
+			// DP algorithm until the last plan updated is a full plan
+			UpdateJoinNodesInFullPlan(result);
+			if (must_update_full_plan) {
+				must_update_full_plan = false;
+			}
+		}
+
+		D_ASSERT(new_plan);
+		plans[new_set] = std::move(new_plan);
+		return result;
+	}
+	return *entry->second;
+}
+
+bool PlanEnumerator::TryEmitPair(JoinRelationSet &left, JoinRelationSet &right,
+                                 const vector<reference<NeighborInfo>> &info) {
+	pairs++;
+	// If a full plan is created, it's possible a node in the plan gets updated. When this happens, make sure you keep
+	// emitting pairs until you emit another final plan. Another final plan is guaranteed to be produced because of
+	// our symmetry guarantees.
+	if (pairs >= 10000 && !must_update_full_plan) {
+		// when the amount of pairs gets too large we exit the dynamic programming and resort to a greedy algorithm
+		// FIXME: simple heuristic currently
+		// at 10K pairs stop searching exactly and switch to heuristic
+		return false;
+	}
+	EmitPair(left, right, info);
+	return true;
+}
+
+bool PlanEnumerator::EmitCSG(JoinRelationSet &node) {
+	if (node.count == query_graph_manager.relation_manager.NumRelations()) {
+		return true;
+	}
+	// create the exclusion set as everything inside the subgraph AND anything with members BELOW it
+	unordered_set<idx_t> exclusion_set;
+	for (idx_t i = 0; i < node.relations[0]; i++) {
+		exclusion_set.insert(i);
+	}
+	UpdateExclusionSet(&node, exclusion_set);
+	// find the neighbors given this exclusion set
+	auto neighbors = query_graph.GetNeighbors(node, exclusion_set);
+	if (neighbors.empty()) {
+		return true;
+	}
+
+	//! Neighbors should be reversed when iterating over them.
+	std::sort(neighbors.begin(), neighbors.end(), std::greater_equal<idx_t>());
+	for (idx_t i = 0; i < neighbors.size() - 1; i++) {
+		D_ASSERT(neighbors[i] > neighbors[i + 1]);
+	}
+
+	// Dphyp paper missiing this.
+	// Because we are traversing in reverse order, we need to add neighbors whose number is smaller than the current
+	// node to exclusion_set
+	// This avoids duplicated enumeration
+	unordered_set<idx_t> new_exclusion_set = exclusion_set;
+	for (idx_t i = 0; i < neighbors.size(); ++i) {
+		D_ASSERT(new_exclusion_set.find(neighbors[i]) == new_exclusion_set.end());
+		new_exclusion_set.insert(neighbors[i]);
+	}
+
+	for (auto neighbor : neighbors) {
+		// since the GetNeighbors only returns the smallest element in a list, the entry might not be connected to
+		// (only!) this neighbor,  hence we have to do a connectedness check before we can emit it
+		auto &neighbor_relation = query_graph_manager.set_manager.GetJoinRelation(neighbor);
+		auto connections = query_graph.GetConnections(node, neighbor_relation);
+		if (!connections.empty()) {
+			if (!TryEmitPair(node, neighbor_relation, connections)) {
+				return false;
+			}
+		}
+
+		if (!EnumerateCmpRecursive(node, neighbor_relation, new_exclusion_set)) {
+			return false;
+		}
+
+		new_exclusion_set.erase(neighbor);
+	}
+	return true;
+}
+
+bool PlanEnumerator::EnumerateCmpRecursive(JoinRelationSet &left, JoinRelationSet &right,
+                                           unordered_set<idx_t> &exclusion_set) {
+	// get the neighbors of the second relation under the exclusion set
+	auto neighbors = query_graph.GetNeighbors(right, exclusion_set);
+	if (neighbors.empty()) {
+		return true;
+	}
+
+	auto all_subset = GetAllNeighborSets(neighbors);
+	vector<reference<JoinRelationSet>> union_sets;
+	union_sets.reserve(all_subset.size());
+	for (const auto &rel_set : all_subset) {
+		auto &neighbor = query_graph_manager.set_manager.GetJoinRelation(rel_set);
+		// emit the combinations of this node and its neighbors
+		auto &combined_set = query_graph_manager.set_manager.Union(right, neighbor);
+		// If combined_set.count == right.count, This means we found a neighbor that has been present before
+		// This means we didn't set exclusion_set correctly.
+		D_ASSERT(combined_set.count > right.count);
+		if (plans.find(combined_set) != plans.end()) {
+			auto connections = query_graph.GetConnections(left, combined_set);
+			if (!connections.empty()) {
+				if (!TryEmitPair(left, combined_set, connections)) {
+					return false;
+				}
+			}
+		}
+		union_sets.push_back(combined_set);
+	}
+
+	unordered_set<idx_t> new_exclusion_set = exclusion_set;
+	for (const auto &neighbor : neighbors) {
+		new_exclusion_set.insert(neighbor);
+	}
+
+	// recursively enumerate the sets
+	for (idx_t i = 0; i < union_sets.size(); i++) {
+		// updated the set of excluded entries with this neighbor
+		if (!EnumerateCmpRecursive(left, union_sets[i], new_exclusion_set)) {
+			return false;
+		}
+	}
+	return true;
+}
+
+bool PlanEnumerator::EnumerateCSGRecursive(JoinRelationSet &node, unordered_set<idx_t> &exclusion_set) {
+	// find neighbors of S under the exclusion set
+	auto neighbors = query_graph.GetNeighbors(node, exclusion_set);
+	if (neighbors.empty()) {
+		return true;
+	}
+
+	auto all_subset = GetAllNeighborSets(neighbors);
+	vector<reference<JoinRelationSet>> union_sets;
+	union_sets.reserve(all_subset.size());
+	for (const auto &rel_set : all_subset) {
+		auto &neighbor = query_graph_manager.set_manager.GetJoinRelation(rel_set);
+		// emit the combinations of this node and its neighbors
+		auto &new_set = query_graph_manager.set_manager.Union(node, neighbor);
+		D_ASSERT(new_set.count > node.count);
+		if (plans.find(new_set) != plans.end()) {
+			if (!EmitCSG(new_set)) {
+				return false;
+			}
+		}
+		union_sets.push_back(new_set);
+	}
+
+	unordered_set<idx_t> new_exclusion_set = exclusion_set;
+	for (const auto &neighbor : neighbors) {
+		new_exclusion_set.insert(neighbor);
+	}
+
+	// recursively enumerate the sets
+	for (idx_t i = 0; i < union_sets.size(); i++) {
+		// updated the set of excluded entries with this neighbor
+		if (!EnumerateCSGRecursive(union_sets[i], new_exclusion_set)) {
+			return false;
+		}
+	}
+	return true;
+}
+
+bool PlanEnumerator::SolveJoinOrderExactly() {
+	// now we perform the actual dynamic programming to compute the final result
+	// we enumerate over all the possible pairs in the neighborhood
+	for (idx_t i = query_graph_manager.relation_manager.NumRelations(); i > 0; i--) {
+		// for every node in the set, we consider it as the start node once
+		auto &start_node = query_graph_manager.set_manager.GetJoinRelation(i - 1);
+		// emit the start node
+		if (!EmitCSG(start_node)) {
+			return false;
+		}
+		// initialize the set of exclusion_set as all the nodes with a number below this
+		unordered_set<idx_t> exclusion_set;
+		for (idx_t j = 0; j < i; j++) {
+			exclusion_set.insert(j);
+		}
+		// then we recursively search for neighbors that do not belong to the banned entries
+		if (!EnumerateCSGRecursive(start_node, exclusion_set)) {
+			return false;
+		}
+	}
+	return true;
+}
+
+void PlanEnumerator::UpdateDPTree(JoinNode &new_plan) {
+	if (!NodeInFullPlan(new_plan)) {
+		// if the new node is not in the full plan, feel free to return
+		// because you won't be updating the full plan.
+		return;
+	}
+	auto &new_set = new_plan.set;
+	// now update every plan that uses this plan
+	unordered_set<idx_t> exclusion_set;
+	for (idx_t i = 0; i < new_set.count; i++) {
+		exclusion_set.insert(new_set.relations[i]);
+	}
+	auto neighbors = query_graph.GetNeighbors(new_set, exclusion_set);
+	auto all_neighbors = GetAllNeighborSets(neighbors);
+	for (const auto &neighbor : all_neighbors) {
+		auto &neighbor_relation = query_graph_manager.set_manager.GetJoinRelation(neighbor);
+		auto &combined_set = query_graph_manager.set_manager.Union(new_set, neighbor_relation);
+
+		auto combined_set_plan = plans.find(combined_set);
+		if (combined_set_plan == plans.end()) {
+			continue;
+		}
+
+		double combined_set_plan_cost = combined_set_plan->second->cost; // combined_set_plan->second->GetCost();
+		auto connections = query_graph.GetConnections(new_set, neighbor_relation);
+		// recurse and update up the tree if the combined set produces a plan with a lower cost
+		// only recurse on neighbor relations that have plans.
+		auto right_plan = plans.find(neighbor_relation);
+		if (right_plan == plans.end()) {
+			continue;
+		}
+		auto &updated_plan = EmitPair(new_set, neighbor_relation, connections);
+		// <= because the child node has already been replaced. You need to
+		// replace the parent node as well in this case
+		if (updated_plan.cost < combined_set_plan_cost) {
+			UpdateDPTree(updated_plan);
+		}
+	}
+}
+
+void PlanEnumerator::SolveJoinOrderApproximately() {
+	// at this point, we exited the dynamic programming but did not compute the final join order because it took too
+	// long instead, we use a greedy heuristic to obtain a join ordering now we use Greedy Operator Ordering to
+	// construct the result tree first we start out with all the base relations (the to-be-joined relations)
+	vector<reference<JoinRelationSet>> join_relations; // T in the paper
+	for (idx_t i = 0; i < query_graph_manager.relation_manager.NumRelations(); i++) {
+		join_relations.push_back(query_graph_manager.set_manager.GetJoinRelation(i));
+	}
+	while (join_relations.size() > 1) {
+		// now in every step of the algorithm, we greedily pick the join between the to-be-joined relations that has the
+		// smallest cost. This is O(r^2) per step, and every step will reduce the total amount of relations to-be-joined
+		// by 1, so the total cost is O(r^3) in the amount of relations
+		idx_t best_left = 0, best_right = 0;
+		optional_ptr<JoinNode> best_connection;
+		for (idx_t i = 0; i < join_relations.size(); i++) {
+			auto left = join_relations[i];
+			for (idx_t j = i + 1; j < join_relations.size(); j++) {
+				auto right = join_relations[j];
+				// check if we can connect these two relations
+				auto connection = query_graph.GetConnections(left, right);
+				if (!connection.empty()) {
+					// we can check the cost of this connection
+					auto &node = EmitPair(left, right, connection);
+
+					// update the DP tree in case a plan created by the DP algorithm uses the node
+					// that was potentially just updated by EmitPair. You will get a use-after-free
+					// error if future plans rely on the old node that was just replaced.
+					// if node in FullPath, then updateDP tree.
+					UpdateDPTree(node);
+
+					if (!best_connection || node.cost < best_connection->cost) {
+						// best pair found so far
+						best_connection = &node;
+						best_left = i;
+						best_right = j;
+					}
+				}
+			}
+		}
+		if (!best_connection) {
+			// could not find a connection, but we were not done with finding a completed plan
+			// we have to add a cross product; we add it between the two smallest relations
+			optional_ptr<JoinNode> smallest_plans[2];
+			idx_t smallest_index[2];
+			D_ASSERT(join_relations.size() >= 2);
+
+			// first just add the first two join relations. It doesn't matter the cost as the JOO
+			// will swap them on estimated cardinality anyway.
+			for (idx_t i = 0; i < 2; i++) {
+				auto current_plan = plans[join_relations[i]].get();
+				smallest_plans[i] = current_plan;
+				smallest_index[i] = i;
+			}
+
+			// if there are any other join relations that don't have connections
+			// add them if they have lower estimated cardinality.
+			for (idx_t i = 2; i < join_relations.size(); i++) {
+				// get the plan for this relation
+				auto current_plan = plans[join_relations[i].get()].get();
+				// check if the cardinality is smaller than the smallest two found so far
+				for (idx_t j = 0; j < 2; j++) {
+					if (!smallest_plans[j] || smallest_plans[j]->cost > current_plan->cost) {
+						smallest_plans[j] = current_plan;
+						smallest_index[j] = i;
+						break;
+					}
+				}
+			}
+			if (!smallest_plans[0] || !smallest_plans[1]) {
+				throw InternalException("Internal error in join order optimizer");
+			}
+			D_ASSERT(smallest_plans[0] && smallest_plans[1]);
+			D_ASSERT(smallest_index[0] != smallest_index[1]);
+			auto &left = smallest_plans[0]->set;
+			auto &right = smallest_plans[1]->set;
+			// create a cross product edge (i.e. edge with empty filter) between these two sets in the query graph
+			query_graph_manager.CreateQueryGraphCrossProduct(left, right);
+			// now emit the pair and continue with the algorithm
+			auto connections = query_graph.GetConnections(left, right);
+			D_ASSERT(!connections.empty());
+
+			best_connection = &EmitPair(left, right, connections);
+			best_left = smallest_index[0];
+			best_right = smallest_index[1];
+
+			UpdateDPTree(*best_connection);
+			// the code below assumes best_right > best_left
+			if (best_left > best_right) {
+				std::swap(best_left, best_right);
+			}
+		}
+		// now update the to-be-checked pairs
+		// remove left and right, and add the combination
+
+		// important to erase the biggest element first
+		// if we erase the smallest element first the index of the biggest element changes
+		D_ASSERT(best_right > best_left);
+		join_relations.erase(join_relations.begin() + best_right);
+		join_relations.erase(join_relations.begin() + best_left);
+		join_relations.push_back(best_connection->set);
+	}
+}
+
+void PlanEnumerator::InitLeafPlans() {
+	// First we initialize each of the single-node plans with themselves and with their cardinalities these are the leaf
+	// nodes of the join tree NOTE: we can just use pointers to JoinRelationSet* here because the GetJoinRelation
+	// function ensures that a unique combination of relations will have a unique JoinRelationSet object.
+	// first initialize equivalent relations based on the filters
+	auto relation_stats = query_graph_manager.relation_manager.GetRelationStats();
+
+	cost_model.cardinality_estimator.InitEquivalentRelations(query_graph_manager.GetFilterBindings());
+	cost_model.cardinality_estimator.AddRelationNamesToTdoms(relation_stats);
+
+	// then update the total domains based on the cardinalities of each relation.
+	for (idx_t i = 0; i < relation_stats.size(); i++) {
+		auto stats = relation_stats.at(i);
+		auto &relation_set = query_graph_manager.set_manager.GetJoinRelation(i);
+		auto join_node = make_uniq<JoinNode>(relation_set);
+		join_node->cost = 0;
+		join_node->cardinality = stats.cardinality;
+		plans[relation_set] = std::move(join_node);
+		cost_model.cardinality_estimator.InitCardinalityEstimatorProps(&relation_set, stats);
+	}
+}
+
+// the plan enumeration is a straight implementation of the paper "Dynamic Programming Strikes Back" by Guido
+// Moerkotte and Thomas Neumannn, see that paper for additional info/documentation bonus slides:
+// https://db.in.tum.de/teaching/ws1415/queryopt/chapter3.pdf?lang=de
+unique_ptr<JoinNode> PlanEnumerator::SolveJoinOrder() {
+	bool force_no_cross_product = query_graph_manager.context.config.force_no_cross_product;
+	// first try to solve the join order exactly
+	if (!SolveJoinOrderExactly()) {
+		// otherwise, if that times out we resort to a greedy algorithm
+		SolveJoinOrderApproximately();
+	}
+
+	// now the optimal join path should have been found
+	// get it from the node
+	unordered_set<idx_t> bindings;
+	for (idx_t i = 0; i < query_graph_manager.relation_manager.NumRelations(); i++) {
+		bindings.insert(i);
+	}
+	auto &total_relation = query_graph_manager.set_manager.GetJoinRelation(bindings);
+	auto final_plan = plans.find(total_relation);
+	if (final_plan == plans.end()) {
+		// could not find the final plan
+		// this should only happen in case the sets are actually disjunct
+		// in this case we need to generate cross product to connect the disjoint sets
+		if (force_no_cross_product) {
+			throw InvalidInputException(
+			    "Query requires a cross-product, but 'force_no_cross_product' PRAGMA is enabled");
+		}
+		GenerateCrossProducts();
+		//! solve the join order again, returning the final plan
+		return SolveJoinOrder();
+	}
+	return std::move(final_plan->second);
+}
+
+} // namespace duckdb