Join cardinality computation for cost-based nested join optimizations (…

…#3787)

* Join cardinality computation for enabling cost-based nested join optimizations

* Addressing review feedback

* Give up when we don't know the selectivity factor (no distinct count)

datafusion/core/src/physical_optimizer/hash_build_probe_order.rs

@@ -196,14 +196,17 @@ impl PhysicalOptimizerRule for HashBuildProbeOrder {
 #[cfg(test)]
 mod tests {
     use crate::{
-        physical_plan::{hash_join::PartitionMode, Statistics},
+        physical_plan::{
+            displayable, hash_join::PartitionMode, ColumnStatistics, Statistics,
+        },
         test::exec::StatisticsExec,
     };
 
     use super::*;
     use std::sync::Arc;
 
     use arrow::datatypes::{DataType, Field, Schema};
+    use datafusion_common::ScalarValue;
 
     fn create_big_and_small() -> (Arc<dyn ExecutionPlan>, Arc<dyn ExecutionPlan>) {
         let big = Arc::new(StatisticsExec::new(
@@ -226,6 +229,75 @@ mod tests {
         (big, small)
     }
 
+    /// Create a column statistics vector for a single column
+    /// that has the given min/max/distinct_count properties.
+    ///
+    /// Given min/max will be mapped to a [`ScalarValue`] if
+    /// they are not `None`.
+    fn create_column_stats(
+        min: Option<u64>,
+        max: Option<u64>,
+        distinct_count: Option<usize>,
+    ) -> Option<Vec<ColumnStatistics>> {
+        Some(vec![ColumnStatistics {
+            distinct_count,
+            min_value: min.map(|size| ScalarValue::UInt64(Some(size))),
+            max_value: max.map(|size| ScalarValue::UInt64(Some(size))),
+            ..Default::default()
+        }])
+    }
+
+    /// Returns three plans with statistics of (min, max, distinct_count)
+    /// * big 100K rows @ (0, 50k, 50k)
+    /// * medium 10K rows @ (1k, 5k, 1k)
+    /// * small 1K rows @ (0, 100k, 1k)
+    fn create_nested_with_min_max() -> (
+        Arc<dyn ExecutionPlan>,
+        Arc<dyn ExecutionPlan>,
+        Arc<dyn ExecutionPlan>,
+    ) {
+        let big = Arc::new(StatisticsExec::new(
+            Statistics {
+                num_rows: Some(100_000),
+                column_statistics: create_column_stats(
+                    Some(0),
+                    Some(50_000),
+                    Some(50_000),
+                ),
+                ..Default::default()
+            },
+            Schema::new(vec![Field::new("big_col", DataType::Int32, false)]),
+        ));
+
+        let medium = Arc::new(StatisticsExec::new(
+            Statistics {
+                num_rows: Some(10_000),
+                column_statistics: create_column_stats(
+                    Some(1000),
+                    Some(5000),
+                    Some(1000),
+                ),
+                ..Default::default()
+            },
+            Schema::new(vec![Field::new("medium_col", DataType::Int32, false)]),
+        ));
+
+        let small = Arc::new(StatisticsExec::new(
+            Statistics {
+                num_rows: Some(1000),
+                column_statistics: create_column_stats(
+                    Some(0),
+                    Some(100_000),
+                    Some(1000),
+                ),
+                ..Default::default()
+            },
+            Schema::new(vec![Field::new("small_col", DataType::Int32, false)]),
+        ));
+
+        (big, medium, small)
+    }
+
     #[tokio::test]
     async fn test_join_with_swap() {
         let (big, small) = create_big_and_small();
@@ -274,6 +346,82 @@ mod tests {
         );
     }
 
+    /// Compare the input plan with the plan after running the probe order optimizer.
+    macro_rules! assert_optimized {
+        ($EXPECTED_LINES: expr, $PLAN: expr) => {
+            let expected_lines =
+                $EXPECTED_LINES.iter().map(|s| *s).collect::<Vec<&str>>();
+
+            let optimized = HashBuildProbeOrder::new()
+                .optimize(Arc::new($PLAN), &SessionConfig::new())
+                .unwrap();
+
+            let plan = displayable(optimized.as_ref()).indent().to_string();
+            let actual_lines = plan.split("\n").collect::<Vec<&str>>();
+
+            assert_eq!(
+                &expected_lines, &actual_lines,
+                "\n\nexpected:\n\n{:#?}\nactual:\n\n{:#?}\n\n",
+                expected_lines, actual_lines
+            );
+        };
+    }
+
+    #[tokio::test]
+    async fn test_nested_join_swap() {
+        let (big, medium, small) = create_nested_with_min_max();
+
+        // Form the inner join: big JOIN small
+        let child_join = HashJoinExec::try_new(
+            Arc::clone(&big),
+            Arc::clone(&small),
+            vec![(
+                Column::new_with_schema("big_col", &big.schema()).unwrap(),
+                Column::new_with_schema("small_col", &small.schema()).unwrap(),
+            )],
+            None,
+            &JoinType::Inner,
+            PartitionMode::CollectLeft,
+            &false,
+        )
+        .unwrap();
+        let child_schema = child_join.schema();
+
+        // Form join tree `medium LEFT JOIN (big JOIN small)`
+        let join = HashJoinExec::try_new(
+            Arc::clone(&medium),
+            Arc::new(child_join),
+            vec![(
+                Column::new_with_schema("medium_col", &medium.schema()).unwrap(),
+                Column::new_with_schema("small_col", &child_schema).unwrap(),
+            )],
+            None,
+            &JoinType::Left,
+            PartitionMode::CollectLeft,
+            &false,
+        )
+        .unwrap();
+
+        // Hash join uses the left side to build the hash table, and right side to probe it. We want
+        // to keep left as small as possible, so if we can estimate (with a reasonable margin of error)
+        // that the left side is smaller than the right side, we should swap the sides.
+        //
+        // The first hash join's left is 'small' table (with 1000 rows), and the second hash join's
+        // left is the F(small IJ big) which has an estimated cardinality of 2000 rows (vs medium which
+        // has an exact cardinality of 10_000 rows).
+        let expected = [
+            "ProjectionExec: expr=[medium_col@2 as medium_col, big_col@0 as big_col, small_col@1 as small_col]",
+            "  HashJoinExec: mode=CollectLeft, join_type=Right, on=[(Column { name: \"small_col\", index: 1 }, Column { name: \"medium_col\", index: 0 })]",
+            "    ProjectionExec: expr=[big_col@1 as big_col, small_col@0 as small_col]",
+            "      HashJoinExec: mode=CollectLeft, join_type=Inner, on=[(Column { name: \"small_col\", index: 0 }, Column { name: \"big_col\", index: 0 })]",
+            "        StatisticsExec: col_count=1, row_count=Some(1000)",
+            "        StatisticsExec: col_count=1, row_count=Some(100000)",
+            "    StatisticsExec: col_count=1, row_count=Some(10000)",
+            ""
+        ];
+        assert_optimized!(expected, join);
+    }
+
     #[tokio::test]
     async fn test_join_no_swap() {
         let (big, small) = create_big_and_small();

datafusion/core/src/physical_plan/hash_join.rs

@@ -59,7 +59,8 @@ use super::{
     coalesce_partitions::CoalescePartitionsExec,
     expressions::PhysicalSortExpr,
     join_utils::{
-        build_join_schema, check_join_is_valid, ColumnIndex, JoinFilter, JoinOn, JoinSide,
+        build_join_schema, check_join_is_valid, estimate_join_statistics, ColumnIndex,
+        JoinFilter, JoinOn, JoinSide,
     },
 };
 use super::{
@@ -385,7 +386,12 @@ impl ExecutionPlan for HashJoinExec {
         // TODO stats: it is not possible in general to know the output size of joins
         // There are some special cases though, for example:
         // - `A LEFT JOIN B ON A.col=B.col` with `COUNT_DISTINCT(B.col)=COUNT(B.col)`
-        Statistics::default()
+        estimate_join_statistics(
+            self.left.clone(),
+            self.right.clone(),
+            self.on.clone(),
+            &self.join_type,
+        )
     }
 }