prototyping record hand data (#338)

* prototyping record hand data * prototyping record hand data * testing * move to more appropriate defaults * testing * testing * testing * testing * testing * testing * testing * testing * testing * move bagging to nuc * move bag folder on nuc * add rsync cron job * become yes cron * testing * quote int * rsync options * testing * remove files from source after successful transfer * remove debug, set to false if not true * how did that get there * tidying * testing * testing * tidying * testing * tidying * add to all deployment options for testing * Add remote bag configuration to simulation * Inlcude remote bag recording in server tasks * remove testing * Update main.yml * Update simulation.yml * Update control_machine.yml Co-authored-by: carebare47 <tom@shadowrobot.com> Co-authored-by: Fotios Papadopoulos <fotios@shadowrobot.com> Co-authored-by: mykolasjuraitis <75975027+mykolasjuraitis@users.noreply.github.com> Co-authored-by: Build Tools <build.tools@example.com>
shadow-robot · Apr 19, 2021 · 56adbf8 · 56adbf8
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diff --git a/ansible/inventory/teleop/group_vars/control_machine.yml b/ansible/inventory/teleop/group_vars/control_machine.yml
@@ -24,6 +24,10 @@ arm_ip_left: "" # Specify the IP address of left arm
 arm_ip_right: "" # Specify the IP address of right arm
 ur_robot_type: "ur10e" # Specify ur robot type: ur10, ur10e, ur5, ur5e
 biotacs: true # Whether the hands will have biotac fingertips
+bag_all_data_from: ["shadowrobot_210312", "shadowrobot_210311"]
+remote_bag_user: "shadowop"
+remote_bag_storage_IP: "10.5.10.59"
+remote_bag_storage_location: "/volume1/ros_bags"
 pr_branches: "" # Space-separated list of PRs (https://github.com/shadow-robot/repo/pull/266) or branches (https://github.com/shadow-robot/repo/tree/custom_branch) to check out on NUC and catkin_make
 ansible_become_password: !vault |
           $ANSIBLE_VAULT;1.1;AES256

diff --git a/ansible/inventory/teleop/group_vars/simulation.yml b/ansible/inventory/teleop/group_vars/simulation.yml
@@ -19,6 +19,10 @@ remote_teleop: false # Flag to enable/disable remote_teleop software install
 ur_robot_type: "ur10e" # Specify ur robot type: ur10, ur10e, ur5, ur5e
 arm_ip_left: "" # Specify the IP address of left arm
 arm_ip_right: "" # Specify the IP address of right arm
+bag_all_data_from: ["shadowrobot_210312", "shadowrobot_210311"]
+remote_bag_user: "shadowop"
+remote_bag_storage_IP: "10.5.10.59"
+remote_bag_storage_location: "/volume1/ros_bags"
 pr_branches: "" # Space-separated list in double quotes of PRs and branches like this "https://github.com/shadow-robot/repo/pull/266 https://github.com/shadow-robot/repo/tree/custom_branch" to check out on server and catkin_make
 scene_file: "" # Allows the user to override the scene_file used in GUI launch e.g. scene_file="\$(find sr_description_common)/scenes/custom.scene" (if empty, default in Github will be used)
 haptx_teleop_readthedocs_token: !vault |

diff --git a/ansible/roles/products/common/docker-container/defaults/main.yml b/ansible/roles/products/common/docker-container/defaults/main.yml
@@ -41,3 +41,4 @@ pr_branches: ""
 product: ""
 private_github_ssh_key_base64: ""
 private_ssh_keys_path: "{{ user_folder }}/.ssh/id_rsa_private"
+record_hand_data: "disabled"
diff --git a/.../roles/products/common/docker-container/tasks/create-container/no-setup-no-terminator.yml b/.../roles/products/common/docker-container/tasks/create-container/no-setup-no-terminator.yml
@@ -8,6 +8,11 @@
   set_fact:
     shared_volumes: "{{ common_shared_volumes + container_type_shared_volumes + custom_shared_volumes }}"
 
+- name: Find out if we should record all data from these hands
+  set_fact:
+    record_hand_data: "enabled"
+  when: config_branch in bag_all_data_from
+
 - name: Creating the container with no terminator and no setup
   changed_when: false
   community.docker.docker_container:
@@ -26,6 +31,7 @@
       ROS_MASTER_URI: "http://{{ ros_master }}:11311"
       arm_ips: "{{ arm_ip_right }}_{{ arm_ip_left }}"
       XDG_RUNTIME_DIR: "/run/user/1000"
+      SR_RECORD_HAND_DATA: "{{ record_hand_data }}"
     network_mode: "host"
     pid_mode: "host"
     privileged: yes

diff --git a/...oles/products/common/docker-container/tasks/create-container/no-setup-with-terminator.yml b/...oles/products/common/docker-container/tasks/create-container/no-setup-with-terminator.yml
@@ -21,6 +21,7 @@
       ROS_MASTER_URI: "http://{{ ros_master }}:11311"
       arm_ips: "{{ arm_ip_right }}_{{ arm_ip_left }}"
       XDG_RUNTIME_DIR: "/run/user/1000"
+      SR_RECORD_HAND_DATA: "{{ record_hand_data }}"
     network_mode: "host"
     pid_mode: "host"
     privileged: yes

diff --git a/...ucts/common/docker-container/tasks/create-container/nvidia-with-setup-with-terminator.yml b/...ucts/common/docker-container/tasks/create-container/nvidia-with-setup-with-terminator.yml
@@ -22,6 +22,7 @@
       NVIDIA_DRIVER_CAPABILITIES: "all"
       arm_ips: "{{ arm_ip_right }}_{{ arm_ip_left }}"
       XDG_RUNTIME_DIR: "/run/user/1000"
+      SR_RECORD_HAND_DATA: "{{ record_hand_data }}"
     network_mode: "host"
     pid_mode: "host"
     privileged: yes

diff --git a/...oles/products/common/docker-container/tasks/create-container/with-setup-no-terminator.yml b/...oles/products/common/docker-container/tasks/create-container/with-setup-no-terminator.yml
@@ -4,6 +4,11 @@
     container_type_shared_volumes:
       - "{{ user_folder }}/.Xauthority:/home/user/.Xauthority"
 
+- name: Find out if we should record all data from these hands
+  set_fact:
+    record_hand_data: "enabled"
+  when: config_branch in bag_all_data_from
+
 - name: Set shared volumes
   set_fact:
     shared_volumes: "{{ common_shared_volumes + container_type_shared_volumes + custom_shared_volumes }}"
@@ -26,6 +31,7 @@
       ROS_MASTER_URI: "http://{{ ros_master }}:11311"
       arm_ips: "{{ arm_ip_right }}_{{ arm_ip_left }}"
       XDG_RUNTIME_DIR: "/run/user/1000"
+      SR_RECORD_HAND_DATA: "{{ record_hand_data }}"
     network_mode: "host"
     pid_mode: "host"
     privileged: yes

diff --git a/...es/products/common/docker-container/tasks/create-container/with-setup-with-terminator.yml b/...es/products/common/docker-container/tasks/create-container/with-setup-with-terminator.yml
@@ -21,6 +21,7 @@
       ROS_MASTER_URI: "http://{{ ros_master }}:11311"
       arm_ips: "{{ arm_ip_right }}_{{ arm_ip_left }}"
       XDG_RUNTIME_DIR: "/run/user/1000"
+      SR_RECORD_HAND_DATA: "{{ record_hand_data }}"
     network_mode: "host"
     pid_mode: "host"
     privileged: yes
@@ -33,3 +34,4 @@
     command: "terminator {{ term_args }} -T '{{ container_terminal_title }}' -x bash -c '[[ -e {{ setup_directory }}/{{ setup_script }} ]] && {{ setup_directory }}/{{ setup_script }} && bash || bash'"
     container_default_behavior: compatibility
   become: yes
+
diff --git a/ansible/roles/products/common/record-hand-data/defaults/main.yml b/ansible/roles/products/common/record-hand-data/defaults/main.yml
@@ -0,0 +1,2 @@
+---
+bag_all_data_from: []
diff --git a/ansible/roles/products/common/record-hand-data/tasks/main.yml b/ansible/roles/products/common/record-hand-data/tasks/main.yml
@@ -0,0 +1,27 @@
+---
+- name: Custom shared volume for bag storage
+  block:
+  - name: Set shadow_bag_storage folder names
+    set_fact:
+      shadow_bag_storage_folder: "{{ user_folder }}/shadow_bag_storage"
+      shadow_bag_storage_inside_docker: "/home/user/shadow_bag_storage"
+
+  - name: Ensure {{ shadow_bag_storage_folder }} folder exists
+    file:
+      path: "{{ shadow_bag_storage_folder }}"
+      mode: '755'
+      state: directory
+
+  - name: Set custom shared volumes for docker container
+    set_fact:
+      custom_shared_volumes: 
+        - "{{ shadow_bag_storage_folder }}:{{ shadow_bag_storage_inside_docker }}"
+
+# Creates a cron file under /etc/cron.d
+- cron:
+    name: sync hand data to NAS
+    hour: "20"
+    user: user
+    job: "rsync -azP  --remove-source-files --exclude '*active*' {{ shadow_bag_storage_folder }}/ {{ remote_bag_user }}@{{ remote_bag_storage_IP }}:{{ remote_bag_storage_location }} >> /home/user/hand_cron_log 2>&1"
+    cron_file: sr_sync_hand_data_to_nas
+  become: true
diff --git a/ansible/roles/products/teleop/control_machine/deploy/tasks/main.yml b/ansible/roles/products/teleop/control_machine/deploy/tasks/main.yml
@@ -14,6 +14,11 @@
   include_role:
     name: installation/chrony-client
 
+- name: Include products/common/record-hand-data role
+  include_role:
+    name: products/common/record-hand-data
+  when: config_branch in bag_all_data_from
+
 - name: Include docker/docker-image role
   include_role:
     name: docker/docker-image

diff --git a/ansible/roles/products/teleop/server/deploy/defaults/main.yml b/ansible/roles/products/teleop/server/deploy/defaults/main.yml
@@ -57,3 +57,4 @@ haptx_teleop_readthedocs_token: ""
 shadow_glove_teleop_readthedocs_token: ""
 pr_branches: ""
 polhemus_type: "viper"
+bag_all_data_from: []
diff --git a/ansible/roles/products/teleop/server/deploy/tasks/main.yml b/ansible/roles/products/teleop/server/deploy/tasks/main.yml
@@ -52,6 +52,11 @@
     name: installation/chrony-server
   when: groups['server'] is defined
 
+- name: Include products/common/record-hand-data role
+  include_role:
+    name: products/common/record-hand-data
+  when: config_branch in bag_all_data_from
+
 - name: Include installation/shadow_glove_driver role
   include_role:
     name: installation/shadow_glove_driver