diff --git a/jsk_database_scripts/CMakeLists.txt b/jsk_database_scripts/CMakeLists.txt new file mode 100644 index 000000000..cf33448a7 --- /dev/null +++ b/jsk_database_scripts/CMakeLists.txt @@ -0,0 +1,8 @@ +cmake_minimum_required(VERSION 3.0.2) +project(jsk_database_scripts) + +find_package(catkin REQUIRED) + +catkin_package() + +include_directories() diff --git a/jsk_database_scripts/README.md b/jsk_database_scripts/README.md new file mode 100644 index 000000000..e593bf11d --- /dev/null +++ b/jsk_database_scripts/README.md @@ -0,0 +1,54 @@ +# jsk_database_scripts + +## mongodb + +JSK mongodb database server config + +This project is originally created by Yuki Furuta (@furushchev) and modified by Shingo Kitagawa (@knorth55) + +This project is moved from [knorth55/toolbox](https://github.com/knorth55/toolbox.git) + +### Installation + +Please see [./mongodb/docker](./mongodb/docker) for more information. + +### Backup mongodb to QNAP + +```bash +cd ./mongodb +sudo bash ./backup_to_qnap.sh +``` + +## influxdb + +JSK influxdb database server config + +### Systemctl service installation + +```bash +sudo cp ./influxdb/systemd/* /etc/systemd/system +sudo systemctl daemon-reload +# enable your service +sudo systemctl enable jsk-pr1040-influxdb.service +``` + +## gdrive + +JSK gdrive server config + +### Systemctl service installation + +```bash +sudo cp ./gdrive/systemd/* /etc/systemd/system +sudo systemctl daemon-reload +# enable your service +sudo systemctl enable jsk-pr1040-gdrive.service +``` + +## grafana + +JSK grafana server config + +### Grafana models for InfluxDB + +You can find models JSON file in [./grafana/models](./grafana/models). diff --git a/jsk_database_scripts/grafana/models/baxter_grafana_config.json b/jsk_database_scripts/grafana/models/baxter_grafana_config.json new file mode 100644 index 000000000..bdac5fdf5 --- /dev/null +++ b/jsk_database_scripts/grafana/models/baxter_grafana_config.json @@ -0,0 +1,2494 @@ +{ + "annotations": { + 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"value": "base_footprint" + }, + { + "condition": "AND", + "key": "type", + "operator": "=", + "value": "translation" + }, + { + "condition": "AND", + "key": "field", + "operator": "=", + "value": "z" + } + ] + } + ], + "thresholds": [], + "timeFrom": null, + "timeRegions": [], + "timeShift": null, + "title": "EE Translation", + "tooltip": { + "shared": true, + "sort": 0, + "value_type": "individual" + }, + "type": "graph", + "xaxis": { + "buckets": null, + "mode": "time", + "name": null, + "show": true, + "values": [] + }, + "yaxes": [ + { + "format": "lengthm", + "label": null, + "logBase": 1, + "max": null, + "min": null, + "show": true + }, + { + "decimals": null, + "format": "short", + "label": "", + "logBase": 1, + "max": null, + "min": null, + "show": true + } + ], + "yaxis": { + "align": false, + "alignLevel": null + } + } + ], + "refresh": "1m", + "schemaVersion": 26, + "style": "dark", + "tags": [], + "templating": { + "list": [] + }, + "time": { + "from": "now-6h", + "to": "now" + }, + "timepicker": { + "refresh_intervals": [ + "5s", + "10s", + "30s", + "1m", + "5m", + "15m", + "30m", + "1h", + "2h", + "1d" + ] + }, + "timezone": "", + "title": "PR1040", + "uid": "SEFNJK7Gk", + "version": 52 +} diff --git a/jsk_database_scripts/influxdb/backup_hdd3_to_qnap.sh b/jsk_database_scripts/influxdb/backup_hdd3_to_qnap.sh new file mode 100755 index 000000000..47393f3ea --- /dev/null +++ b/jsk_database_scripts/influxdb/backup_hdd3_to_qnap.sh @@ -0,0 +1,58 @@ +#!/bin/bash + +# lock by pid +# PIDFILE=/var/run/mongodump_backup_to_qnap.pid + +if [ "$1" == "" ]; then + echo "Please specify the date (i.e. 20221116)"; + exit 1; +else + DATE=$1; + ORIG_DIR="/mnt/hdd3/data/${DATE}_influxdb_backup"; +fi + +if [ ! -d "$ORIG_DIR" ]; then + echo "Dir not exists: $ORIG_DIR"; + exit 1; +else + echo "copying from $ORIG_DIR to /mnt/qnap" +fi + +if mount | awk '{if ($3 == "/mnt/qnap") {exit 0}} ENDFILE{exit -1}'; then + echo "/mnt/qnap is mounted" +else + echo "/mnt/qnap is not mounted" + exit 1 +fi + + +PIDFILE=/var/run/rsync_backup_hdd3_to_qnap.pid +if [ -f $PIDFILE ]; then + PID=$(cat $PIDFILE) + ps -p $PID > /dev/null 2>&1 + if [ $? -eq 0 ]; then + echo "Process already running" + exit 1 + else + # forgot to remove PIDFILE? + echo $$ > $PIDFILE + if [ $? -ne 0 ]; then + echo "Could not create PID file at $PIDFILE" + exit 1 + fi + fi +else + # no running process + echo $$ > $PIDFILE + if [ $? -ne 0 ]; then + echo "Could not create PID file at $PIDFILE" + exit 1 + fi +fi + +date +echo "backup starts." +exec rsync --inplace -auvhP $ORIG_DIR /mnt/qnap +date +echo "backup ends." +rm -f $PIDFILE diff --git a/jsk_database_scripts/influxdb/backup_to_hdd3.sh b/jsk_database_scripts/influxdb/backup_to_hdd3.sh new file mode 100755 index 000000000..b1c9750fe --- /dev/null +++ b/jsk_database_scripts/influxdb/backup_to_hdd3.sh @@ -0,0 +1,34 @@ +#!/bin/bash + +# lock by pid +# PIDFILE=/var/run/mongodump_backup_to_qnap.pid +PIDFILE=/var/run/rsync_backup_to_hdd3.pid +if [ -f $PIDFILE ]; then + PID=$(cat $PIDFILE) + ps -p $PID > /dev/null 2>&1 + if [ $? -eq 0 ]; then + echo "Process already running" + exit 1 + else + # forgot to remove PIDFILE? + echo $$ > $PIDFILE + if [ $? -ne 0 ]; then + echo "Could not create PID file at $PIDFILE" + exit 1 + fi + fi +else + # no running process + echo $$ > $PIDFILE + if [ $? -ne 0 ]; then + echo "Could not create PID file at $PIDFILE" + exit 1 + fi +fi + +date +echo "backup starts." +exec rsync --inplace -auvhP /mnt/hdd2/data/influxdb /mnt/hdd3/data/current_influxdb_backup +date +echo "backup ends." +rm -f $PIDFILE diff --git a/jsk_database_scripts/influxdb/backup_to_qnap.sh b/jsk_database_scripts/influxdb/backup_to_qnap.sh new file mode 100755 index 000000000..5996c38ac --- /dev/null +++ b/jsk_database_scripts/influxdb/backup_to_qnap.sh @@ -0,0 +1,42 @@ +#!/bin/bash + +# lock by pid +# PIDFILE=/var/run/mongodump_backup_to_qnap.pid + +if mount | awk '{if ($3 == "/mnt/qnap") {exit 0}} ENDFILE{exit -1}'; then + echo "/mnt/qnap is mounted" +else + echo "/mnt/qnap is not mounted" + exit 1 +fi + +PIDFILE=/var/run/rsync_backup_to_qnap.pid +if [ -f $PIDFILE ]; then + PID=$(cat $PIDFILE) + ps -p $PID > /dev/null 2>&1 + if [ $? -eq 0 ]; then + echo "Process already running" + exit 1 + else + # forgot to remove PIDFILE? + echo $$ > $PIDFILE + if [ $? -ne 0 ]; then + echo "Could not create PID file at $PIDFILE" + exit 1 + fi + fi +else + # no running process + echo $$ > $PIDFILE + if [ $? -ne 0 ]; then + echo "Could not create PID file at $PIDFILE" + exit 1 + fi +fi + +date +echo "backup starts." +exec rsync --inplace -auvhP /mnt/hdd2/data/influxdb /mnt/qnap/current_influxdb_backup +date +echo "backup ends." +rm -f $PIDFILE diff --git a/jsk_database_scripts/influxdb/scripts/reload_all_services.bash b/jsk_database_scripts/influxdb/scripts/reload_all_services.bash new file mode 100755 index 000000000..3e9ba75ff --- /dev/null +++ b/jsk_database_scripts/influxdb/scripts/reload_all_services.bash @@ -0,0 +1,13 @@ +#!/usr/bin/env bash + +set -x +sudo systemctl stop jsk-pr1040-influxdb.service +sudo systemctl stop jsk-fetch15-influxdb.service +sudo systemctl stop jsk-fetch1075-influxdb.service + +sudo systemctl daemon-reload + +sudo systemctl start jsk-pr1040-influxdb.service +sudo systemctl start jsk-fetch15-influxdb.service +sudo systemctl start jsk-fetch1075-influxdb.service +set +x diff --git a/jsk_database_scripts/influxdb/scripts/restart_all_services.bash b/jsk_database_scripts/influxdb/scripts/restart_all_services.bash new file mode 100755 index 000000000..bc0a07c97 --- /dev/null +++ b/jsk_database_scripts/influxdb/scripts/restart_all_services.bash @@ -0,0 +1,7 @@ +#!/usr/bin/env bash + +set -x +sudo systemctl restart jsk-pr1040-influxdb.service +sudo systemctl restart jsk-fetch15-influxdb.service +sudo systemctl restart jsk-fetch1075-influxdb.service +set +x diff --git a/jsk_database_scripts/influxdb/scripts/start_all_services.bash b/jsk_database_scripts/influxdb/scripts/start_all_services.bash new file mode 100755 index 000000000..191e118bb --- /dev/null +++ b/jsk_database_scripts/influxdb/scripts/start_all_services.bash @@ -0,0 +1,7 @@ +#!/usr/bin/env bash + +set -x +sudo systemctl start jsk-pr1040-influxdb.service +sudo systemctl start jsk-fetch15-influxdb.service +sudo systemctl start jsk-fetch1075-influxdb.service +set +x diff --git a/jsk_database_scripts/influxdb/scripts/stop_all_services.bash b/jsk_database_scripts/influxdb/scripts/stop_all_services.bash new file mode 100755 index 000000000..057c8b54e --- /dev/null +++ b/jsk_database_scripts/influxdb/scripts/stop_all_services.bash @@ -0,0 +1,7 @@ +#!/usr/bin/env bash + +set -x +sudo systemctl stop jsk-pr1040-influxdb.service +sudo systemctl stop jsk-fetch15-influxdb.service +sudo systemctl stop jsk-fetch1075-influxdb.service +set +x diff --git a/jsk_database_scripts/influxdb/systemd/jsk-baxter-influxdb.service b/jsk_database_scripts/influxdb/systemd/jsk-baxter-influxdb.service new file mode 100644 index 000000000..cbf191d47 --- /dev/null +++ b/jsk_database_scripts/influxdb/systemd/jsk-baxter-influxdb.service @@ -0,0 +1,12 @@ +[Unit] +Description=Baxter influxdb logger +After=network-online.target influxdb.service +Wants=network-online.target influxdb.service + +[Service] +User=applications +Group=applications +ExecStart=/bin/bash -c "source /home/applications/ros/melodic/devel/setup.bash && rossetip && rossetmaster baxter && rosrun jsk_tools roscore_regardless.py --respawn --timeout 3 --ping-trials 1 --sigint-timeout 5 --sigterm-timeout 5 roslaunch influxdb_store baxter_influxdb_logger.launch robot_name:=baxter" + +[Install] +WantedBy=multi-user.target diff --git a/jsk_database_scripts/influxdb/systemd/jsk-fetch1075-influxdb.service b/jsk_database_scripts/influxdb/systemd/jsk-fetch1075-influxdb.service new file mode 100644 index 000000000..48f555a45 --- /dev/null +++ b/jsk_database_scripts/influxdb/systemd/jsk-fetch1075-influxdb.service @@ -0,0 +1,12 @@ +[Unit] +Description=Fetch1075 influxdb logger +After=network-online.target influxdb.service +Wants=network-online.target influxdb.service + +[Service] +User=shingo +Group=shingo +ExecStart=/bin/bash -c "source /home/shingo/ros/fetch_melodic_ws/devel/setup.bash && rossetip && rossetmaster fetch1075 && rosrun jsk_tools roscore_regardless.py --respawn --timeout 3 --ping-trials 1 --sigint-timeout 5 --sigterm-timeout 5 roslaunch influxdb_store fetch_influxdb_logger.launch robot_name:=fetch1075" + +[Install] +WantedBy=multi-user.target diff --git a/jsk_database_scripts/influxdb/systemd/jsk-fetch15-influxdb.service b/jsk_database_scripts/influxdb/systemd/jsk-fetch15-influxdb.service new file mode 100644 index 000000000..6197d26b3 --- /dev/null +++ b/jsk_database_scripts/influxdb/systemd/jsk-fetch15-influxdb.service @@ -0,0 +1,12 @@ +[Unit] +Description=Fetch15 influxdb logger +After=network-online.target influxdb.service +Wants=network-online.target influxdb.service + +[Service] +User=shingo +Group=shingo +ExecStart=/bin/bash -c "source /home/shingo/ros/fetch_melodic_ws/devel/setup.bash && rossetip && rossetmaster fetch15 && rosrun jsk_tools roscore_regardless.py --respawn --timeout 3 --ping-trials 1 --sigint-timeout 5 --sigterm-timeout 5 roslaunch influxdb_store fetch_influxdb_logger.launch robot_name:=fetch15" + +[Install] +WantedBy=multi-user.target diff --git a/jsk_database_scripts/influxdb/systemd/jsk-pr1012-influxdb.service b/jsk_database_scripts/influxdb/systemd/jsk-pr1012-influxdb.service new file mode 100644 index 000000000..a39de11e7 --- /dev/null +++ b/jsk_database_scripts/influxdb/systemd/jsk-pr1012-influxdb.service @@ -0,0 +1,12 @@ +[Unit] +Description=PR1012 influxdb logger +After=network-online.target influxdb.service +Wants=network-online.target influxdb.service + +[Service] +User=shingo +Group=shingo +ExecStart=/bin/bash -c "source /home/shingo/ros/kinetic/devel/setup.bash && rossetip && rossetmaster pr1012 && rosrun jsk_tools roscore_regardless.py --respawn --timeout 1 --ping-trials 1 --sigint-timeout 5 --sigterm-timeout 5 roslaunch influxdb_store pr2_influxdb_logger.launch robot_name:=pr1012" + +[Install] +WantedBy=multi-user.target diff --git a/jsk_database_scripts/influxdb/systemd/jsk-pr1040-influxdb.service b/jsk_database_scripts/influxdb/systemd/jsk-pr1040-influxdb.service new file mode 100644 index 000000000..358b4d32c --- /dev/null +++ b/jsk_database_scripts/influxdb/systemd/jsk-pr1040-influxdb.service @@ -0,0 +1,12 @@ +[Unit] +Description=PR1040 influxdb logger +After=network-online.target influxdb.service +Wants=network-online.target influxdb.service + +[Service] +User=shingo +Group=shingo +ExecStart=/bin/bash -c "source /home/shingo/ros/kinetic/devel/setup.bash && rossetip && rossetmaster pr1040 && rosrun jsk_tools roscore_regardless.py --respawn --timeout 1 --ping-trials 1 --sigint-timeout 5 --sigterm-timeout 5 roslaunch influxdb_store pr2_influxdb_logger.launch robot_name:=pr1040" + +[Install] +WantedBy=multi-user.target diff --git a/jsk_database_scripts/mongodb/README.md b/jsk_database_scripts/mongodb/README.md new file mode 100644 index 000000000..258fc74cb --- /dev/null +++ b/jsk_database_scripts/mongodb/README.md @@ -0,0 +1,13 @@ +# mongo docker + +## start all containers + +```bash +docker-compose up +``` + +## get log of all containers + +```bash +docker-compose logs -f --tail="100" +``` diff --git a/jsk_database_scripts/mongodb/backup_to_qnap.sh b/jsk_database_scripts/mongodb/backup_to_qnap.sh new file mode 100755 index 000000000..06aae84f1 --- /dev/null +++ b/jsk_database_scripts/mongodb/backup_to_qnap.sh @@ -0,0 +1,42 @@ +#!/bin/bash + +# lock by pid +# PIDFILE=/var/run/mongodump_backup_to_qnap.pid +# +if mount | awk '{if ($3 == "/media/qnap") {exit 0}} ENDFILE{exit -1}'; then + echo "/media/qnap is mounted" +else + echo "/media/qnap is not mounted" + exit 1 +fi + +PIDFILE=/var/run/rsync_backup_to_qnap.pid +if [ -f $PIDFILE ]; then + PID=$(cat $PIDFILE) + ps -p $PID > /dev/null 2>&1 + if [ $? -eq 0 ]; then + echo "Process already running" + exit 1 + else + # forgot to remove PIDFILE? + echo $$ > $PIDFILE + if [ $? -ne 0 ]; then + echo "Could not create PID file at $PIDFILE" + exit 1 + fi + fi +else + # no running process + echo $$ > $PIDFILE + if [ $? -ne 0 ]; then + echo "Could not create PID file at $PIDFILE" + exit 1 + fi +fi + +date +echo "backup starts." +exec rsync --inplace -auvhP /media/mongo2/mongodb_store /media/qnap/mongodb_store_dump/ +date +echo "backup ends." +rm -f $PIDFILE diff --git a/jsk_database_scripts/mongodb/docker-compose.yml b/jsk_database_scripts/mongodb/docker-compose.yml new file mode 100644 index 000000000..883fd3510 --- /dev/null +++ b/jsk_database_scripts/mongodb/docker-compose.yml @@ -0,0 +1,41 @@ +version: '2.3' + +x-default-container-settings: + &default-settings + restart: always + stop_signal: SIGINT + stop_grace_period: 5m + healthcheck: + test: ["CMD-SHELL", "$$(mongo --quiet --eval \"db.adminCommand({ping: 1}).ok === 1\")"] + interval: 20s + timeout: 10s + retries: 2 + start_period: 5m + +services: + mongo-primary: + << : *default-settings + image: "mongo:${MONGO_VERSION}" + command: "--config /etc/mongod.conf" + ports: + - "${MONGO_PRIMARY_PORT}:27017" + volumes: + - "${MONGO_PRIMARY_DB_PATH}:/data/db" + - "${MONGO_PRIMARY_CONF_PATH}:/etc/mongod.conf:ro" + mongo-secondary: + << : *default-settings + image: "mongo:${MONGO_VERSION}" + command: "--config /etc/mongod.conf" + depends_on: + - "mongo-primary" + ports: + - "${MONGO_SECONDARY_PORT}:27017" + volumes: + - "${MONGO_SECONDARY_DB_PATH}:/data/db" + - "${MONGO_SECONDARY_CONF_PATH}:/etc/mongod.conf:ro" + mongo-arbiter: + << : *default-settings + image: "mongo:${MONGO_VERSION}" + ports: + - "${MONGO_ARBITER_PORT}:27017" + command: "mongod --syslog --replSet ${MONGO_REPLSET}" diff --git a/jsk_database_scripts/package.xml b/jsk_database_scripts/package.xml new file mode 100644 index 000000000..182b5a8bb --- /dev/null +++ b/jsk_database_scripts/package.xml @@ -0,0 +1,18 @@ + + + jsk_database_scripts + 2.1.24 + ROS package for JSK database utility scripts + + Shingo Kitagawa + Shingo Kitagawa + + BSD + + catkin + gdrive_ros + influxdb_store + + + +