Merge branch 'develop' into hotfix/mergemaster

documentation20/webdocs/markdowndocs/Evaluation-ch.md

@@ -15,6 +15,9 @@ TDengine的模块之一是时序数据库。但除此之外，为减少研发的
 
 采用TDengine，可将典型的物联网、车联网、工业互联网大数据平台的总拥有成本大幅降低。但需要指出的是，因充分利用了物联网时序数据的特点，它无法用来处理网络爬虫、微博、微信、电商、ERP、CRM等通用型数据。
 
+<center> <img src="../assets/EcoSystem.png"> </center>
+<center>图 1. TDengine技术生态图</center>
+
 ## TDengine 总体适用场景
 
 作为一个IOT大数据平台，TDengine的典型适用场景是在IOT范畴，而且用户有一定的数据量。本文后续的介绍主要针对这个范畴里面的系统。范畴之外的系统，比如CRM，ERP等，不在本文讨论范围内。

documentation20/webdocs/markdowndocs/Queries-ch.md

@@ -12,7 +12,7 @@ TDengine 采用 SQL 作为查询语言。应用程序可以通过 C/C++, Java, G
 - 标签和数值的多种过滤条件：\>, \<,  =, \<>, like 等
 - 聚合结果的分组（Group by）、排序（Order by）、约束输出（Limit/Offset）
 - 数值列及聚合结果的四则运算
-- 时间戳对齐的连接查询（Join Query）操作
+- 时间戳对齐的连接查询（Join Query: 隐式连接）操作
 - 多种聚合/计算函数: count, max, min, avg, sum, twa, stddev, leastsquares, top, bottom, first, last, percentile, apercentile, last_row, spread, diff等
 
 例如：在TAOS Shell中，从表d1001中查询出vlotage > 215的记录，按时间降序排列，仅仅输出2条。

snap/gui/t-dengine.svg

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\ No newline at end of file

snap/hooks/install

+#!/bin/sh
+
+if [ ! -d /var/lib/taos ]; then
+  mkdir -p /var/lib/taos
+fi
+
+if [ ! -d /var/log/taos ]; then
+  mkdir -p -m777 /var/log/taos
+fi
+
+if [ ! -d /etc/taos ]; then
+  mkdir -p /etc/taos
+fi
+
+if [ ! -f /etc/taos/taos.cfg ]; then
+  cp $SNAP/etc/taos/taos.cfg /etc/taos/taos.cfg
+fi

snap/local/launcher.sh

+#!/bin/sh
+# Wrapper to check for custom config in $SNAP_USER_COMMON or $SNAP_COMMON and
+# use it otherwise fall back to the included basic config which will at least
+# allow mosquitto to run and do something.
+# This script will also copy the full example config in to SNAP_USER_COMMON or
+# SNAP_COMMON so that people can refer to it.
+#
+# The decision about whether to use SNAP_USER_COMMON or SNAP_COMMON is taken
+# based on the user that runs the command. If the user is root, it is assumed
+# that mosquitto is being run as a system daemon, and SNAP_COMMON will be used.
+# If a non-root user runs the command, then SNAP_USER_COMMON will be used.
+
+case "$SNAP_USER_COMMON" in
+	*/root/snap/tdengine/common*) COMMON=$SNAP_COMMON ;;
+	*)                             COMMON=$SNAP_USER_COMMON ;;
+esac
+
+if [ -d /etc/taos ]; then
+    CONFIG_FILE="/etc/taos"
+else
+    CONFIG_FILE="$SNAP/etc/taos"
+fi
+
+# Launch the snap
+$SNAP/usr/bin/taosd -c $CONFIG_FILE $@

snap/local/taoswrapper.sh

+#!/bin/sh
+# Wrapper to check for custom config in $SNAP_USER_COMMON or $SNAP_COMMON and
+# use it otherwise fall back to the included basic config which will at least
+# allow mosquitto to run and do something.
+# This script will also copy the full example config in to SNAP_USER_COMMON or
+# SNAP_COMMON so that people can refer to it.
+#
+# The decision about whether to use SNAP_USER_COMMON or SNAP_COMMON is taken
+# based on the user that runs the command. If the user is root, it is assumed
+# that mosquitto is being run as a system daemon, and SNAP_COMMON will be used.
+# If a non-root user runs the command, then SNAP_USER_COMMON will be used.
+
+case "$SNAP_USER_COMMON" in
+	*/root/snap/tdengine/common*) COMMON=$SNAP_COMMON ;;
+	*)                             COMMON=$SNAP_USER_COMMON ;;
+esac
+
+if [ -d /etc/taos ]; then
+    CONFIG_FILE="/etc/taos"
+else
+    CONFIG_FILE="$SNAP/etc/taos"
+fi
+
+# Launch the snap
+$SNAP/usr/bin/taos -c $CONFIG_FILE $@

snap/snapcraft.yaml

+name: tdengine
+base: core18 # the base snap is the execution environment for this snap
+version: '2.0.0.6' # just for humans, typically '1.2+git' or '1.3.2'
+icon: snap/gui/t-dengine.svg
+summary: an open-source big data platform designed and optimized for IoT. 
+description: |
+  TDengine is an open-source big data platform designed and optimized for Internet of Things (IoT), Connected Vehicles, and Industrial IoT. Besides the 10x faster time-series database, it provides caching, stream computing, message queuing and other functionalities to reduce the complexity and costs of development and operations.
+
+grade: stable
+confinement: classic
+
+apps:
+  tdengine:
+    command: launcher.sh
+    daemon: simple
+    restart-condition: always
+    plugs:
+      - network
+      - network-bind
+      - system-observe
+      - systemfiles
+
+  taos:
+    command: taoswrapper.sh
+    plugs:
+      - network
+      - systemfiles
+
+  taosdemo:
+    command: usr/bin/taosdemo
+    plugs:
+      - network
+
+plugs:
+  systemfiles:
+    interface: system-files
+    read:
+      - /etc/taos
+      - /var/lib/taos
+      - /tmp
+    write:
+      - /var/log/taos
+      - /var/lib/taos
+      - /tmp
+
+parts:
+  script:
+    plugin: dump
+    source: snap/local/
+    prime:
+      - launcher.sh
+      - taoswrapper.sh
+
+  tdengine:
+    source: .
+    source-type: local
+    plugin: cmake
+    build-packages:
+      - gcc
+      - g++
+      - make
+      - cmake
+    override-build: |
+      snapcraftctl build
+      if [ ! -d $SNAPCRAFT_STAGE/usr ]; then
+        mkdir $SNAPCRAFT_STAGE/usr
+      fi
+
+      if [ ! -d $SNAPCRAFT_STAGE/etc/taos ]; then
+        mkdir -p $SNAPCRAFT_STAGE/etc/taos
+      fi
+
+      cp $SNAPCRAFT_PART_BUILD/build/* -rf $SNAPCRAFT_STAGE/usr/
+      cp $SNAPCRAFT_PART_SRC/packaging/cfg/taos.cfg -rf $SNAPCRAFT_STAGE/etc/taos/
+
+      if [ ! -d $SNAPCRAFT_STAGE/var/lib/taos ]; then
+        mkdir -p $SNAPCRAFT_STAGE/var/lib/taos
+      fi
+      if [ ! -d $SNAPCRAFT_STAGE/var/log/taos ]; then
+        mkdir -p $SNAPCRAFT_STAGE/var/log/taos
+      fi
+
+    prime:
+      - etc/taos/taos.cfg
+      - usr/bin/taosd
+      - usr/bin/taos
+      - usr/bin/taosdemo
+      - usr/lib/libtaos.so.2.0.0.6
+      - usr/lib/libtaos.so.1
+      - usr/lib/libtaos.so
+
+    override-prime: |
+      snapcraftctl prime
+      if [ ! -d $SNAPCRAFT_STAGE/var/lib/taos ]; then
+        cp -rf $SNAPCRAFT_STAGE/var/lib/taos $SNAPCRAFT_PRIME
+      fi
+      if [ ! -d $SNAPCRAFT_STAGE/var/log/taos ]; then
+        cp -rf  $SNAPCRAFT_STAGE/var/log/taos $SNAPCRAFT_PRIME
+      fi
+
+layout:
+  /var/lib/taos:
+    bind: $SNAP_DATA/var/lib/taos
+  /var/log/taos:
+    bind: $SNAP_DATA/var/log/taos
+  /etc/taos/taos.cfg:
+    bind-file: $SNAP_DATA/etc/taos/taos.cfg
+
+
+hooks:
+  install:
+    plugs: [systemfiles]
+

src/client/src/tscParseInsert.c

@@ -904,6 +904,11 @@ static int32_t tscCheckIfCreateTable(char **sqlstr, SSqlObj *pSql) {
       sToken = tStrGetToken(sql, &index, true, numOfIgnoreToken, &ignoreTokenTypes);
       sql += index;
 
+      if (TK_ILLEGAL == sToken.type) {
+        tdDestroyKVRowBuilder(&kvRowBuilder);
+        return TSDB_CODE_TSC_INVALID_SQL;
+      }
+
       if (sToken.n == 0 || sToken.type == TK_RP) {
         break;
       }

src/client/src/tscSQLParser.c

@@ -1158,8 +1158,9 @@ static int32_t handleArithmeticExpr(SSqlCmd* pCmd, int32_t clauseIndex, int32_t
 
     int32_t ret = exprTreeFromSqlExpr(pCmd, &pNode, pItem->pNode, pQueryInfo->exprList, pQueryInfo, colList);
     if (ret != TSDB_CODE_SUCCESS) {
-      tExprTreeDestroy(&pNode, NULL);
       taosTFree(arithmeticExprStr);
+      taosArrayDestroy(colList);
+      tExprTreeDestroy(&pNode, NULL);
       return invalidSqlErrMsg(tscGetErrorMsgPayload(pCmd), msg2);
     }
 
@@ -1168,6 +1169,8 @@ static int32_t handleArithmeticExpr(SSqlCmd* pCmd, int32_t clauseIndex, int32_t
       SColIndex* pIndex = taosArrayGet(colList, k);
       if (pIndex->flag == 1) {
         taosTFree(arithmeticExprStr);
+        taosArrayDestroy(colList);
+        tExprTreeDestroy(&pNode, NULL);
         return invalidSqlErrMsg(tscGetErrorMsgPayload(pCmd), msg3);
       }
     }
@@ -1649,10 +1652,12 @@ int32_t addExprAndResultField(SSqlCmd* pCmd, SQueryInfo* pQueryInfo, int32_t col
       }
 
       SColumnIndex index = COLUMN_INDEX_INITIALIZER;
-      if ((getColumnIndexByName(pCmd, &pParamElem->pNode->colInfo, pQueryInfo, &index) != TSDB_CODE_SUCCESS) ||
-          index.columnIndex == TSDB_TBNAME_COLUMN_INDEX) {
+      if ((getColumnIndexByName(pCmd, &pParamElem->pNode->colInfo, pQueryInfo, &index) != TSDB_CODE_SUCCESS)) {
         return invalidSqlErrMsg(tscGetErrorMsgPayload(pCmd), msg3);
       }
+      if (index.columnIndex == TSDB_TBNAME_COLUMN_INDEX) {
+        return invalidSqlErrMsg(tscGetErrorMsgPayload(pCmd), msg6);
+      }
 
       // 2. check if sql function can be applied on this column data type
       pTableMetaInfo = tscGetMetaInfo(pQueryInfo, index.tableIndex);
@@ -1861,7 +1866,10 @@ int32_t addExprAndResultField(SSqlCmd* pCmd, SQueryInfo* pQueryInfo, int32_t col
       if (getColumnIndexByName(pCmd, &pParamElem->pNode->colInfo, pQueryInfo, &index) != TSDB_CODE_SUCCESS) {
         return invalidSqlErrMsg(tscGetErrorMsgPayload(pCmd), msg3);
       }
-
+      if (index.columnIndex == TSDB_TBNAME_COLUMN_INDEX) {
+        return invalidSqlErrMsg(tscGetErrorMsgPayload(pCmd), msg6);
+      }
+      
       pTableMetaInfo = tscGetMetaInfo(pQueryInfo, index.tableIndex);
       SSchema* pSchema = tscGetTableSchema(pTableMetaInfo->pTableMeta);
 

src/client/src/tscServer.c

@@ -100,7 +100,7 @@ static void tscDumpEpSetFromVgroupInfo(SCMCorVgroupInfo *pVgroupInfo, SRpcEpSet
   pEpSet->inUse = (inUse >= 0 && inUse < TSDB_MAX_REPLICA) ? inUse: 0; 
   pEpSet->numOfEps = pVgroupInfo->numOfEps;  
   for (int32_t i = 0; i < pVgroupInfo->numOfEps; ++i) {
-    strncpy(pEpSet->fqdn[i], pVgroupInfo->epAddr[i].fqdn, TSDB_FQDN_LEN);
+    tstrncpy(pEpSet->fqdn[i], pVgroupInfo->epAddr[i].fqdn, sizeof(pEpSet->fqdn[i]));
     pEpSet->port[i] = pVgroupInfo->epAddr[i].port;
   }
   taosCorEndRead(&pVgroupInfo->version);
@@ -117,7 +117,7 @@ static void tscUpdateVgroupInfo(SSqlObj *pObj, SRpcEpSet *pEpSet) {
   pVgroupInfo->inUse = pEpSet->inUse;
   pVgroupInfo->numOfEps = pEpSet->numOfEps;
   for (int32_t i = 0; i < pVgroupInfo->numOfEps; i++) {
-    strncpy(pVgroupInfo->epAddr[i].fqdn, pEpSet->fqdn[i], TSDB_FQDN_LEN);
+    tstrncpy(pVgroupInfo->epAddr[i].fqdn, pEpSet->fqdn[i], sizeof(pEpSet->fqdn[i]));
     pVgroupInfo->epAddr[i].port = pEpSet->port[i];
   }
   tscDebug("after: EndPoint in use: %d", pVgroupInfo->inUse);
@@ -158,6 +158,7 @@ void tscProcessHeartBeatRsp(void *param, TAOS_RES *tres, int code) {
 
     if (pRsp->killConnection) {
       tscKillConnection(pObj);
+      return;
     } else {
       if (pRsp->queryId) tscKillQuery(pObj, htonl(pRsp->queryId));
       if (pRsp->streamId) tscKillStream(pObj, htonl(pRsp->streamId));

src/client/src/tscSubquery.c

@@ -684,6 +684,8 @@ static void tidTagRetrieveCallback(void* param, TAOS_RES* tres, int32_t numOfRow
     freeJoinSubqueryObj(pParentSql);
     pParentSql->res.code = code;
     tscQueueAsyncRes(pParentSql);
+    taosArrayDestroy(s1);
+    taosArrayDestroy(s2);
     return;
   }
 
@@ -1296,7 +1298,9 @@ int32_t tscHandleMasterJoinQuery(SSqlObj* pSql) {
       tscError("%p tableIndex:%d, failed to allocate join support object, abort further query", pSql, i);
       pState->numOfRemain = i;
       pSql->res.code = TSDB_CODE_TSC_OUT_OF_MEMORY;
-      
+      if (0 == i) {
+        taosTFree(pState);
+      } 
       return pSql->res.code;
     }
     
@@ -1304,7 +1308,9 @@ int32_t tscHandleMasterJoinQuery(SSqlObj* pSql) {
     if (code != TSDB_CODE_SUCCESS) {  // failed to create subquery object, quit query
       tscDestroyJoinSupporter(pSupporter);
       pSql->res.code = TSDB_CODE_TSC_OUT_OF_MEMORY;
-      
+      if (0 == i) {
+        taosTFree(pState);
+      }
       break;
     }
   }
@@ -2091,17 +2097,17 @@ void tscBuildResFromSubqueries(SSqlObj *pSql) {
 //      return;
 //    }
 
-    tscFetchDatablockFromSubquery(pSql);
-    if (pRes->code != TSDB_CODE_SUCCESS) {
-      return;
-    }
+//    tscFetchDatablockFromSubquery(pSql);
+//    if (pRes->code != TSDB_CODE_SUCCESS) {
+//      return;
+//    }
   }
 
-  if (pSql->res.code == TSDB_CODE_SUCCESS) {
-    (*pSql->fp)(pSql->param, pSql, pRes->numOfRows);
-  } else {
-    tscQueueAsyncRes(pSql);
-  }
+//  if (pSql->res.code == TSDB_CODE_SUCCESS) {
+//    (*pSql->fp)(pSql->param, pSql, pRes->numOfRows);
+//  } else {
+//    tscQueueAsyncRes(pSql);
+//  }
 }
 
 static void transferNcharData(SSqlObj *pSql, int32_t columnIndex, TAOS_FIELD *pField) {

src/query/src/qExecutor.c

@@ -5242,7 +5242,6 @@ static int32_t getColumnIndexInSource(SQueryTableMsg *pQueryMsg, SSqlFuncMsg *pE
       j += 1;
     }
   }
-
   assert(0);
 }
 
@@ -5933,6 +5932,7 @@ static SQInfo *createQInfoImpl(SQueryTableMsg *pQueryMsg, SArray* pTableIdList,
     if (p1 == NULL) {
       goto _cleanup;
     }
+    taosArrayPush(pQInfo->tableqinfoGroupInfo.pGroupList, &p1);
 
     for(int32_t j = 0; j < s; ++j) {
       STableKeyInfo* info = taosArrayGet(pa, j);
@@ -5956,8 +5956,6 @@ static SQInfo *createQInfoImpl(SQueryTableMsg *pQueryMsg, SArray* pTableIdList,
       taosHashPut(pQInfo->tableqinfoGroupInfo.map, &id->tid, sizeof(id->tid), &item, POINTER_BYTES);
       index += 1;
     }
-
-    taosArrayPush(pQInfo->tableqinfoGroupInfo.pGroupList, &p1);
   }
 
   pQInfo->arrTableIdInfo = taosArrayInit(tableIndex, sizeof(STableIdInfo));

tests/perftest-scripts/tdengineTestWriteLoop.sh

 #!/bin/bash
 
 DATA_DIR=/mnt/root/testdata
-NUM_LOOP=1
+NUM_LOOP=5
 NUM_OF_FILES=100
 
 rowsPerRequest=(1 100 500 1000 2000)
@@ -13,20 +13,19 @@ function printTo {
 }
 
 function runTest {
-  printf "R/R, "
-  for c in `seq 1 $clients`; do
-    if [ "$c" == "1" ]; then
-      printf "$c client, "
-    else
-      printf "$c clients, "
-    fi
+  declare -A avgRPR
+
+  for r in ${!rowsPerRequest[@]}; do
+    for c in `seq 1 $clients`; do
+      avgRPR[$r,$c]=0
+    done
   done
-  printf "\n"
 
-  for r in ${rowsPerRequest[@]}; do
-    printf "$r, "
+  for r in ${!rowsPerRequest[@]}; do
     for c in `seq 1 $clients`; do
       totalRPR=0
+      OUTPUT_FILE=tdengineTestWrite-RPR${rowsPerRequest[$r]}-clients$c.out
+
       for i in `seq 1 $NUM_LOOP`; do
 	restartTaosd
         $TAOSD_DIR/taos -s "drop database db" > /dev/null 2>&1
@@ -34,18 +33,36 @@ function runTest {
 	      -dataDir $DATA_DIR \
 	      -numOfFiles $NUM_OF_FILES \
 	      -w -clients $c \
-	      -rowsPerRequest $r"
-        RPR=`$TDTEST_DIR/tdengineTest \
+	      -rowsPerRequest ${rowsPerRequest[$r]}"
+        $TDTEST_DIR/tdengineTest \
           -dataDir $DATA_DIR \
           -numOfFiles $NUM_OF_FILES \
           -w -clients $c \
-          -rowsPerRequest $r \
-          | grep speed | awk '{print $(NF-1)}'`
+          -rowsPerRequest ${rowsPerRequest[$r]} \
+	  | tee $OUTPUT_FILE
+        RPR=`cat $OUTPUT_FILE  | grep speed | awk '{print $(NF-1)}'`
         totalRPR=`echo "scale=4; $totalRPR + $RPR" | bc`
-        printTo "rows:$r, clients:$c, i:$i RPR:$RPR"
+        printTo "rows:${rowsPerRequest[$r]}, clients:$c, i:$i RPR:$RPR"
       done
-      avgRPR=`echo "scale=4; $totalRPR / $NUM_LOOP" | bc`
-      printf "$avgRPR, "
+      avgRPR[$r,$c]=`echo "scale=4; $totalRPR / $NUM_LOOP" | bc`
+      printTo "r:${rowsPerRequest[$r]} c:$c avgRPR:${avgRPR[$r,$c]}"
+    done
+  done
+
+  printf "R/R, "
+  for c in `seq 1 $clients`; do
+    if [ "$c" == "1" ]; then
+      printf "$c client, "
+    else
+      printf "$c clients, "
+    fi
+  done
+  printf "\n"
+
+  for r in ${!rowsPerRequest[@]}; do
+    printf "${rowsPerRequest[$r]}, "
+    for c in `seq 1 $clients`; do
+      printf "${avgRPR[$r,$c]}, "
     done
     printf "\n"
   done
@@ -80,10 +97,6 @@ while : ; do
       verbose=true
       shift ;;
 
-    -n)
-      NUM_LOOP=$2
-      shift 2;;
-
     master)
       master=true
       develop=false
@@ -98,18 +111,22 @@ while : ; do
       clients=$2
       shift 2;;
 
+    -n)
+      NUM_LOOP=$2
+      shift 2;;
+
     *)
       break ;;
   esac
 done
 
 if $master ; then
-  printTo "Test master branch.."
+  echo "Test master branch.."
   cp /mnt/root/cfg/master/taos.cfg /etc/taos/taos.cfg
   WORK_DIR=/mnt/root/TDengine.master
 else
-  printTo "Test develop branch.."
-  cp /mnt/root/cfg/perftest/taos.cfg /etc/taos/taos.cfg
+  echo "Test develop branch.."
+  cp /mnt/root/cfg/develop/taos.cfg /etc/taos/taos.cfg
   WORK_DIR=/mnt/root/TDengine
 fi
 
@@ -118,4 +135,4 @@ TDTEST_DIR=$WORK_DIR/tests/comparisonTest/tdengine
 
 runTest
 
-printTo "Test done!"
+echo "Test done!"

tests/pytest/client/version.py

@@ -25,11 +25,23 @@ class TDTestCase:
     def run(self):
         tdSql.prepare()
 
-        ret = tdSql.query('select server_version()')
-        tdSql.checkData(0, 0, "2.0.0.6")
-
-        ret = tdSql.query('select client_version()')
-        tdSql.checkData(0, 0, "2.0.0.6")
+        sql = "select server_version()"
+        ret = tdSql.query(sql)
+        version = tdSql.getData(0, 0)[0:3]        
+        expectedVersion = "2.0"
+        if(version == expectedVersion):
+            tdLog.info("sql:%s, row:%d col:%d data:%s == expect:%s" % (sql, 0, 0, version, expectedVersion))
+        else:
+            tdLog.exit("sql:%s, row:%d col:%d data:%s != expect:%s" % (sql, 0, 0, version, expectedVersion))
+
+        sql = "select client_version()"
+        ret = tdSql.query(sql)
+        version = tdSql.getData(0, 0)[0:3]        
+        expectedVersion = "2.0"
+        if(version == expectedVersion):
+            tdLog.info("sql:%s, row:%d col:%d data:%s == expect:%s" % (sql, 0, 0, version, expectedVersion))
+        else:
+            tdLog.exit("sql:%s, row:%d col:%d data:%s != expect:%s" % (sql, 0, 0, version, expectedVersion))
       
 
     def stop(self):

tests/pytest/functions/function_operations.py

@@ -49,11 +49,7 @@ class TDTestCase:
 
         tdSql.query("select col1 + col2 from test1")
         tdSql.checkRows(10)
-        tdSql.checkData(0, 0, 2.0)
-        
-        tdSql.query("select col1 + col2 * col3 from test1")
-        tdSql.checkRows(10)
-        tdSql.checkData(1, 0, 6.0)
+        tdSql.checkData(0, 0, 2.0)        
 
         tdSql.query("select col1 + col2 * col3 + col3 / col4 + col5 + col6 from test1")
         tdSql.checkRows(10)

tests/pytest/query/queryNormal.py

@@ -36,7 +36,8 @@ class TDTestCase:
             "insert into tb2 using stb1 tags(2,'tb2', '表2') values ('2020-04-18 15:00:02.000', 3, 2.1), ('2020-04-18 15:00:03.000', 4, 2.2)")
 
         # inner join --- bug
-        tdSql.error("select * from tb1 a, tb2 b where a.ts = b.ts")        
+        tdSql.query("select * from tb1 a, tb2 b where a.ts = b.ts")
+        tdSql.checkRows(0)
 
         # join 3 tables -- bug exists
         tdSql.error("select stb_t.ts, stb_t.dscrption, stb_t.temperature, stb_p.id, stb_p.dscrption, stb_p.pressure,stb_v.velocity from stb_p, stb_t, stb_v where stb_p.ts=stb_t.ts and stb_p.ts=stb_v.ts and stb_p.id = stb_t.id")