Try to minimize the work done in the postmaster process for each
accepted connection, so that postmaster can quickly proceed with its
duties. These function calls are very fast so this doesn't make any
measurable performance difference in practice, but it's nice to have
all the socket options initialization code in one place for sake of
readability too. This also paves the way for an upcoming commit that
will move the initialization of the Port struct to the child process.
Discussion: https://www.postgresql.org/message-id/7a59b073-5b5b-151e-7ed3-8b01ff7ce9ef@iki.fi
Commit 387da18874 moved the code to put socket into non-blocking mode
from socket_set_nonblocking() into the one-time initialization
function, pq_init(). In socket_set_nonblocking(), there indeed was a
risk of recursion on failure like the comment said, but in pq_init(),
ERROR or FATAL is fine. There's even another elog(FATAL) just after
this, if setting FD_CLOEXEC fails.
Note that COMMERROR merely logged the error, it did not close the
connection, so if putting the socket to non-blocking mode failed we
would use the connection anyway. You might not immediately notice,
because most socket operations in a regular backend wait for the
socket to become readable/writable anyway. But e.g. replication will
be quite broken.
Backpatch to all supported versions.
Discussion: https://www.postgresql.org/message-id/d40a5cd0-2722-40c5-8755-12e9e811fa3c@iki.fi
The code path in charge of invalidating a replication slot includes a
call to pgstat_drop_replslot(), which would result in removing the
statistics of the slot once invalidated. However, there is no need to
remove the statistics of an invalidated slot as one could still be
interested in looking at them to understand the activity of the slot
until its actual removal.
The initial design of the feature committed in be87200efd used the
approach to drop the slots, which is likely why the statistics were
still removed during the invalidation.
Another problem with this operation is that it was done without holding
ReplicationSlotAllocationLock, leaving it unprotected on concurrent
activity. This part is arguably a bug, but that's a limited problem in
practice so no backpatch is done.
In passing, this commit adds a test to check this behavior. The only
remaining code path where slot statistics are dropped now related to the
slot getting dropped.
Author: Bertrand Drouvot
Discussion: https://postgr.es/m/ZermH08Eq6YydHpO@ip-10-97-1-34.eu-west-3.compute.internal
In WalSndWaitForWal(), we fetch a recent flush pointer both outside the
loop and inside the loop. But we start using RecentFlushPtr only after we
fetch it inside the loop. So we can remove one outside the loop.
Author: Shveta Malik
Reviewed-by: Bertrand Drouvot, Matthias van de Meent, Amit Kapila
Discussion: https://postgr.es/m/CAJpy0uBSCQz1yMD-WiEthzEe23dti2-Kr_pitVb7vAPFbFKm=A@mail.gmail.com
Most callers of strerror() are removed from the backend code. The
remaining callers require special handling with a saved errno from a
previous system call. The frontend code still needs strerror() where
error states need to be handled outside of fprintf.
Note that pg_regress is not changed to use %m as the TAP output may
clobber errno, since those functions call fprintf() and friends before
evaluating the format string.
Support for %m in src/port/snprintf.c has been added in d6c55de1f9,
hence all the stable branches currently supported include it.
Author: Dagfinn Ilmari Mannsåker
Discussion: https://postgr.es/m/87sf13jhuw.fsf@wibble.ilmari.org
Commit f696c0cd5f caused a test failure in 002_pg_upgrade.pl, because
an earlier s/// operator caused qr// to no longer match the empty
string. Use qr/^$/ instead, which is a better test anyway, because we
expect the stderr to be empty.
Initially this appeared to be a perl bug, but per discussion, it seems
that it was a misunderstanding of how perl works: an empty pattern
uses the last successful pattern. Given how surprising that behavior
is to perl non-experts, we will need to look for similar problems
elsewhere and eliminate the use of empty patterns throughout the
code. For now, address this one instance to fix the buildfarm.
Discussion: https://postgr.es/m/0ef325fa06e7a1605c4e119c4ecb637c67e5fb4e.camel@j-davis.com
Reviewed-by: Tom Lane
Presently, reindexdb's --table, --schema, --index, and --system
options cannot be used together with --all, i.e., you cannot
specify objects to process in all databases. This commit removes
this unnecessary restriction. Furthermore, it removes the
restriction that --system cannot be used with --table, --schema,
and --index. There is no such restriction for the latter options,
and there is no technical reason to disallow these combinations.
Reviewed-by: Kyotaro Horiguchi, Dean Rasheed
Discussion: https://postgr.es/m/20230628232402.GA1954626%40nathanxps13
heap_vac_scan_get_next_block() does relatively little work, so there
is no need to call vacuum_delay_point(). A future commit will call
heap_vac_scan_get_next_block() from a callback, and we would like to
avoid calling vacuum_delay_point() in that callback.
Author: Melanie Plageman
Discussion: https://postgr.es/m/CAAKRu_Yf3gvXGcCnqqfoq0Q8LX8UM-e-qbm_B1LeZh60f8WhWA%40mail.gmail.com
Rename lazy_scan_skip() to heap_vac_scan_next_block() and move more
code into the function, so that the caller doesn't need to know about
ranges or skipping anymore. heap_vac_scan_next_block() returns the
next block to process, and the logic for determining that block is all
within the function. This makes the skipping logic easier to
understand, as it's all in the same function, and makes the calling
code easier to understand as it's less cluttered. The state variables
needed to manage the skipping logic are moved to LVRelState.
heap_vac_scan_next_block() now manages its own VM buffer separately
from the caller's vmbuffer variable. The caller's vmbuffer holds the
VM page for the current block its processing, while
heap_vac_scan_next_block() keeps a pin on the VM page for the next
unskippable block. Most of the time they are the same, so we hold two
pins on the same buffer, but it's more convenient to manage them
separately.
For readability inside heap_vac_scan_next_block(), move the logic of
finding the next unskippable block to separate function, and add some
comments.
This refactoring will also help future patches to switch to using a
streaming read interface, and eventually AIO
(https://postgr.es/m/CA%2BhUKGJkOiOCa%2Bmag4BF%2BzHo7qo%3Do9CFheB8%3Dg6uT5TUm2gkvA%40mail.gmail.com)
Author: Melanie Plageman, Heikki Linnakangas
Reviewed-by: Andres Freund (older version)
Discussion: https://postgr.es/m/CAAKRu_Yf3gvXGcCnqqfoq0Q8LX8UM-e-qbm_B1LeZh60f8WhWA%40mail.gmail.com
Presently, clusterdb's --table option cannot be used together with
--all, i.e., you cannot specify tables to process in all databases.
This commit removes this unnecessary restriction. In passing,
change the synopsis in the documentation to use "[option...]"
instead of "[--verbose | -v]". There are other general-purpose
options (e.g., --quiet and --echo), but the synopsis currently only
lists --verbose.
Reviewed-by: Kyotaro Horiguchi, Dean Rasheed
Discussion: https://postgr.es/m/20230628232402.GA1954626%40nathanxps13
The list of connection statuses that PQstatus might return during an
asynchronous connection attempt was outdated:
1. CONNECTION_SETENV is never returned anymore and is only part of the
enum for backwards compatibility, so remove it from the docs.
2. CONNECTION_CHECK_STANDBY and CONNECTION_GSS_STARTUP were not listed,
so add them.
CONNECTION_NEEDED and CONNECTION_CHECK_TARGET are not listed in the docs
on purpose, since these are internal states that can never be observed
by a caller of PQstatus.
Author: Jelte Fennema-Nio <postgres@jeltef.nl>
Discussion: https://postgr.es/m/CAGECzQRb21spiiykQ48rzz8w+Hcykz+mB2_hxR65D9Qk6nnw=w@mail.gmail.com
Presently, vacuumdb's --table, --schema, and --exclude-schema
options cannot be used together with --all, i.e., you cannot
specify tables or schemas to process in all databases. This commit
removes this unnecessary restriction, thus enabling potentially
useful commands like "vacuumdb --all --schema pg_catalog".
Reviewed-by: Kyotaro Horiguchi, Dean Rasheed
Discussion: https://postgr.es/m/20230628232402.GA1954626%40nathanxps13
It's important for 'all_visible_according_to_vm' to correctly reflect
whether the VM bit is set or not, even when we are not trusting the VM
to skip pages, because contrary to what the comment said,
lazy_scan_prune() relies on it.
If it's incorrectly set to 'false', when the VM bit is in fact set,
lazy_scan_prune() will try to set the VM bit again and dirty the page
unnecessarily. As a result, if you used DISABLE_PAGE_SKIPPING, all
heap pages were dirtied, even if there were no changes. We would also
fail to clear any VM bits that were set incorrectly.
This was broken in commit 980ae17310, so backpatch to v16.
Backpatch-through: 16
Reviewed-by: Melanie Plageman, Peter Geoghegan
Discussion: https://www.postgresql.org/message-id/3df2b582-dc1c-46b6-99b6-38eddd1b2784@iki.fi
With commit 21d9c3ee4e, SMgrRelations remain valid until end of
transaction (or longer if they're "pinned"). Relcache invalidation can
happen in the middle of a transaction, so we must not destroy them at
relcache invalidation anymore.
This was revealed by failures in the 'constraints' test in buildfarm
animals using -DCLOBBER_CACHE_ALWAYS. That started failing with commit
8af2565248, which was the first commit that started to rely on an
SMgrRelation living until end of transaction.
Diagnosed-by: Tomas Vondra, Thomas Munro
Reviewed-by: Thomas Munro
Discussion: https://www.postgresql.org/message-id/CA%2BhUKGK%2B5DOmLaBp3Z7C4S-Yv6yoROvr1UncjH2S1ZbPT8D%2BZg%40mail.gmail.com
For pass-by-reference types, the code added in 0b053e78b, which aimed to
resolve a memory leak, was overly aggressive in resetting the per-tuple
memory context which could result in pfree'd memory being accessed
resulting in failing to find previously cached results in the hash
table.
What was happening was prepare_probe_slot() was switching to the
per-tuple memory context and calling ExecEvalExpr(). ExecEvalExpr() may
have required a memory allocation. Both MemoizeHash_hash() and
MemoizeHash_equal() were aggressively resetting the per-tuple context
and after determining the hash value, the context would have gotten reset
before MemoizeHash_equal() was called. This could have resulted in
MemoizeHash_equal() looking at pfree'd memory.
This is less likely to have caused issues on a production build as some
other allocation would have had to have reused the pfree'd memory to
overwrite it. Otherwise, the original contents would have been intact.
However, this clearly caused issues on MEMORY_CONTEXT_CHECKING builds.
Author: Tender Wang, Andrei Lepikhov
Reported-by: Tender Wang (using SQLancer)
Reviewed-by: Andrei Lepikhov, Richard Guo, David Rowley
Discussion: https://postgr.es/m/CAHewXNnT6N6UJkya0z-jLFzVxcwGfeRQSfhiwA+NyLg-x8iGew@mail.gmail.com
Backpatch-through: 14, where Memoize was added
We expect the 'two_phase' and 'failover' properties to match between the
slot on the publisher and a subscription option on the subscriber.
Otherwise, the slot on the publisher may behave differently from what the
subscription's failover option says.
Author: Bertrand Drouvot
Reviewed-by: Peter Smith, Tristen Raab, Amit Kapila
Discussion: https://postgr.es/m/ZbkYrLPhH+RxpZlW@ip-10-97-1-34.eu-west-3.compute.internal
The replication slot stats stored in shared memory rely on an internal
index number. Both pgstat_reset_replslot() and pgstat_fetch_replslot()
lacked some LWLock protections with ReplicationSlotControlLock while
operating on these index numbers. This issue could cause these two
functions to potentially operate on incorrect slots when taken in
isolation in the event of slots dropped and/or re-created concurrently.
Note that pg_stat_get_replication_slot() is called once per slot when
querying pg_stat_replication_slots, meaning that the stats are retrieved
across multiple ReplicationSlotControlLock acquisitions. So, while this
commit improves more consistency, it may still be possible that
statistics are not completely consistent for a single scan of
pg_stat_replication_slots under concurrent replication slot drop or
creation activity.
The issue should unlikely be a problem in practice, causing the report
of inconsistent stats or or the stats reset of an incorrect slot, so no
backpatch is done.
Author: Bertrand Drouvot
Reviewed-by: Heikki Linnakangas, Shveta Malik, Michael Paquier
Discussion: https://postgr.es/m/ZeGq1HDWFfLkjh4o@ip-10-97-1-34.eu-west-3.compute.internal
Two FATALs and one PANIC gain details about the LSNs they fail at:
- When restoring from a backup_label, the FATAL log generated when not
finding the checkpoint record now reports its LSN.
- When restoring from a backup_label, the FATAL log generated when not
finding the redo record referenced by a checkpoint record now shows both
the redo and checkpoint record LSNs.
- When not restoring from a backup_label, the PANIC error generated when
not finding the checkpoint record now reports its LSN.
This information is useful when debugging corruption issues, and these
LSNs may not show up in the logs depending on the level of logging
configured in the backend.
Author: David Steele
Discussion: https://postgr.es/m/0e90da89-77ca-4ccf-872c-9626d755e288@pgmasters.net
There is a hook called ExplainOneQuery_hook that gives modules the
possibility to plug into this code path, but, like utility.c for utility
statement execution, there is no corresponding "standard" routine in
the case of EXPLAIN executed for one Query.
This commit adds a new standard_ExplainOneQuery() in explain.c, which is
able to run explain on a non-utility Query without calling its hook.
Per the feedback received from a couple of hackers, this change gives
the possibility to cut a few hundred lines of code in some of the
popular out-of-core modules as these maintained a copy of
ExplainOneQuery(), adding custom extra information at the beginning or
the end of the EXPLAIN output.
Author: Mats Kindahl
Reviewed-by: Aleksander Alekseev, Jelte Fennema-Nio, Andrei Lepikhov
Discussion: https://postgr.es/m/CA+14427V_B4EAoC_o-iYYucRdMSOTfpuH9k-QbexffY1HYJBiA@mail.gmail.com
For UNION ALL queries where a union child query contained a foreign
table, if the targetlist of that query contained a constant, and the
top-level query performed an ORDER BY which contained the column for the
constant value, then postgres_fdw would find the EquivalenceMember with
the Const and then try to produce an ORDER BY containing that Const.
This caused problems with INT typed Consts as these could appear to be
requests to order by an ordinal column position rather than the constant
value. This could lead to either an error such as:
ERROR: ORDER BY position <int const> is not in select list
or worse, if the constant value is a valid column, then we could just
sort by the wrong column altogether.
Here we fix this issue by just not including these Consts in the ORDER
BY clause.
In passing, add a new section for testing ORDER BY in the postgres_fdw
tests and move two existing tests which were misplaced in the WHERE
clause testing section into it.
Reported-by: Michał Kłeczek
Reviewed-by: Ashutosh Bapat, Richard Guo
Bug: #18381
Discussion: https://postgr.es/m/0714C8B8-8D82-4ABB-9F8D-A0C3657E7B6E%40kleczek.org
Discussion: https://postgr.es/m/18381-137456acd168bf93%40postgresql.org
Backpatch-through: 12, oldest supported version
They are mostly the same, and it is tedious to maintain two copies of
essentially the same exclude list. headerscheck now has a new option
--cplusplus to select the cpluspluscheck functionality. The top-level
make targets are still the same.
Reviewed-by: Thomas Munro <thomas.munro@gmail.com>
Reviewed-by: Michael Paquier <michael@paquier.xyz>
Discussion: https://www.postgresql.org/message-id/flat/4754a5b0-a32b-4036-a99a-6de14cf9fd72@eisentraut.org
Rename pg_collation.colliculocale to colllocale, and
pg_database.daticulocale to datlocale. These names reflects that the
fields will be useful for the upcoming builtin provider as well, not
just for ICU.
This is purely a rename; no changes to the meaning of the fields.
Discussion: https://postgr.es/m/ff4c2f2f9c8fc7ca27c1c24ae37ecaeaeaff6b53.camel%40j-davis.com
Reviewed-by: Peter Eisentraut
contrib/tablefunc connectby() checks both type OID and typmod for
its output columns while crosstab() only checks type OID. Fix that
by makeing the crosstab() check look more like the connectby() check.
Reported-by: Tom Lane
Reviewed-by: Tom Lane
Discussion: https://postgr.es/m/flat/18937.1709676295%40sss.pgh.pa.us
In be7800674 and followups, we failed to notice that there was
already a better way to do it: instead of using DROP DATABASE
IF EXISTS, we can check the list of existing DBs. Also, there
seems no reason not to merge this into the pre-existing code
for getting rid of unwanted module databases.
Discussion: https://postgr.es/m/1066872.1710006597@sss.pgh.pa.us
These messages were fairly confusing, and didn't match the
column names used in the SGML docs. Try to improve that.
Also use error codes more specific than ERRCODE_SYNTAX_ERROR.
Patch by me, reviewed by Joe Conway
Discussion: https://postgr.es/m/18937.1709676295@sss.pgh.pa.us
When reading a line from a pipe failed on no data being read, the
errorhandling was erroneously logging with %m even thoug no error
description is available for %m to print. This flaw accidentally
introduced in 5c7038d70b.
Reported-by: Peter Eisentraut <peter@eisentraut.org>
Discussion: https://postgr.es/m/baa34329-f431-46af-bf74-1a78fdc90e4f@eisentraut.org
perror() is not used in postgres anymore out of policy, this replaces
the final callsites with the custom postgres logging framework.
Reviewed-by: Tom Lane <tgl@sss.pgh.pa.us>
Reviewed-by: Peter Eisentraut <peter@eisentraut.org>
Discussion: https://postgr.es/m/89B00F63-40F7-4D82-8353-DC9CABBAC1D1@yesql.se
do_watch had some leftover logic for enabling siglongjmp out of
waiting for input. That's never done anything on Windows (cf.
psql_cancel_callback), and do_watch no longer relies on it for
non-Windows, so let's drop it.
Also, when the user cancels \watch by pressing ^C, the Windows
code would run the query one more time before exiting. That doesn't
seem very desirable, and it's not what happens on other platforms.
Use the "done" flag similarly to non-Windows to avoid the extra query
execution.
Yugo Nagata (with minor fixes by me)
Discussion: https://postgr.es/m/20240305220552.85fd4afd6b6b8103bf4fe3d0@sraoss.co.jp
... and in particular don't return them as replica identity.
The motivation for this change is letting the primary keys be seen by
code that derives NOT NULL constraints from them, when creating
inheritance children; before this change, if you had a deferrable PK,
pg_dump would not recreate the attnotnull marking properly, because the
column would not be considered as having anything to back said marking
after dropping the throwaway NOT NULL constraint.
The reason we don't want these PKs as replica identities is that
replication can corrupt data, if the uniqueness constraint is
transiently broken.
Reported-by: Amul Sul <sulamul@gmail.com>
Reviewed-by: Dean Rasheed <dean.a.rasheed@gmail.com>
Discussion: https://postgr.es/m/CAAJ_b94QonkgsbDXofakHDnORQNgafd1y3Oa5QXfpQNJyXyQ7A@mail.gmail.com
You might run out of stack space with recursion, which is not nice in
functions that might be used e.g. at cleanup after transaction
abort. MemoryContext contains pointer to parent and siblings, so we
can traverse a tree of contexts iteratively, without using
stack. Refactor the functions to do that.
MemoryContextStats() still recurses, but it now has a limit to how
deep it recurses. Once the limit is reached, it prints just a summary
of the rest of the hierarchy, similar to how it summarizes contexts
with lots of children. That seems good anyway, because a context dump
with hundreds of nested contexts isn't very readable.
Report by Egor Chindyaskin and Alexander Lakhin.
Discussion: https://postgr.es/m/1672760457.940462079%40f306.i.mail.ru
Author: Heikki Linnakangas
Reviewed-by: Robert Haas, Andres Freund, Alexander Korotkov, Tom Lane
The function recurses, but didn't perform stack-depth checks. It's
just a debugging aid, so instead of the usual check_stack_depth()
call, stop the printing if we'd risk stack overflow.
Here's an example of how to test this:
(n=1000000; printf "BEGIN;"; for ((i=1;i<=$n;i++)); do printf "SAVEPOINT s$i;"; done; printf "SET log_min_messages = 'DEBUG5'; SAVEPOINT sp;") | psql >/dev/null
In the passing, swap building the list of child XIDs and recursing to
parent. That saves memory while recursing, reducing the risk of out of
memory errors with lots of subtransactions. The saving is not very
significant in practice, but this order seems more logical anyway.
Report by Egor Chindyaskin and Alexander Lakhin.
Discussion: https://www.postgresql.org/message-id/1672760457.940462079%40f306.i.mail.ru
Author: Heikki Linnakangas
Reviewed-by: Robert Haas, Andres Freund, Alexander Korotkov
Usually the compiler will optimize away the tail recursion anyway, but
if it doesn't, you can drive the function into stack overflow. For
example:
(n=1000000; printf "BEGIN;"; for ((i=1;i<=$n;i++)); do printf "SAVEPOINT s$i;"; done; printf "ERROR; COMMIT;") | psql >/dev/null
In order to get better readability and less changes to the existing code the
recursion-replacing loop is implemented as a wrapper function.
Report by Egor Chindyaskin and Alexander Lakhin.
Discussion: https://postgr.es/m/1672760457.940462079%40f306.i.mail.ru
Author: Alexander Korotkov, Heikki Linnakangas
This patch provides a way to ensure that physical standbys that are
potential failover candidates have received and flushed changes before
the primary server making them visible to subscribers. Doing so guarantees
that the promoted standby server is not lagging behind the subscribers
when a failover is necessary.
The logical walsender now guarantees that all local changes are sent and
flushed to the standby servers corresponding to the replication slots
specified in 'standby_slot_names' before sending those changes to the
subscriber.
Additionally, the SQL functions pg_logical_slot_get_changes,
pg_logical_slot_peek_changes and pg_replication_slot_advance are modified
to ensure that they process changes for failover slots only after physical
slots specified in 'standby_slot_names' have confirmed WAL receipt for those.
Author: Hou Zhijie and Shveta Malik
Reviewed-by: Masahiko Sawada, Peter Smith, Bertrand Drouvot, Ajin Cherian, Nisha Moond, Amit Kapila
Discussion: https://postgr.es/m/514f6f2f-6833-4539-39f1-96cd1e011f23@enterprisedb.com
In OpenSSL 3.0.0 and later, ERR_reason_error_string randomly refuses
to provide a string for error codes representing system errno values
(e.g., "No such file or directory"). There is a poorly-documented way
to extract the errno from the SSL error code in this case, so do that
and apply strerror, rather than falling back to reporting the error
code's numeric value as we were previously doing.
Problem reported by David Zhang, although this is not his proposed
patch; it's instead based on a suggestion from Heikki Linnakangas.
Back-patch to all supported branches, since any of them are likely
to be used with recent OpenSSL.
Discussion: https://postgr.es/m/b6fb018b-f05c-4afd-abd3-318c649faf18@highgo.ca
This option can be used to switch a relation to use the access method
set by default_table_access_method when running the command.
This has come up when discussing the possibility to support setting
pg_class.relam for partitioned tables (left out here as future work),
while being useful on its own for relations with physical storage as
these must have an access method set.
Per suggestion from Justin Pryzby.
Author: Michael Paquier
Reviewed-by: Justin Pryzby
Discussion: https://postgr.es/m/ZeCZ89xAVFeOmrQC@pryzbyj2023
Since b0483263dd, this field can be used to store an access method
name for ALTER TABLE, but access methods were not mentioned in the
field's description.
Issue noticed while working on the area.
Discussion: https://postgr.es/m/ZeWKgCtk6xiAsDsc@paquier.xyz
Implements Unicode simple case mapping, in which all code points map
to exactly one other code point unconditionally.
These tables are generated from UnicodeData.txt, which is already
being used by other infrastructure in src/common/unicode. The tables
are checked into the source tree, so they only need to be regenerated
when we update the Unicode version.
In preparation for the builtin collation provider, and possibly useful
for other callers.
Discussion: https://postgr.es/m/ff4c2f2f9c8fc7ca27c1c24ae37ecaeaeaff6b53.camel%40j-davis.com
Reviewed-by: Peter Eisentraut, Daniel Verite, Jeremy Schneider
The inh field of RangeTblEntry was doubly confusingly documented.
Some parts of the code insisted that it was only valid for
RTE_RELATION entries, other parts said the field was valid for all
entries. Neither was quite correct. More correctly, the field is
valid for RTE_RELATION entries but is also used in the planner for
RTE_SUBQUERY entries. So it makes more sense to group it with other
fields that are primarily for RTE_RELATION but borrowed by
RTE_SUBQUERY. (The exact position was chosen so that it is next to
relkind for better struct packing, and next to relid, since relid and
inh are sort of the input fields and the others are filled in later.)
Also add documentation for the planner's use at the struct definition.
Discussion: https://www.postgresql.org/message-id/6c1fbccc-85c8-40d3-b08b-4f47f2093711@eisentraut.org
Heikki Linnakangas