feat: add orin performance and hardware config (#53)

Author: daohu527

docker/setup_host/README.md

@@ -12,3 +12,22 @@ Please use the following command to check the device (_e.g. video0_) attributes:
 
 `udevadm info --attribute-walk --name /dev/video0`
 
+---
+
+## Run `config_system.sh`
+
+#### **Standard Installation (with GUI)**:
+
+This command executes all configurations but skips the step of disabling the graphical user interface (GUI). It is suitable for your development machine or for vehicles that require local debugging with a display.
+
+```bash
+sudo ./config_system.sh
+```
+
+#### **Headless Mode Installation (GUI disabled)**:
+
+This command executes all configurations and sets the system to boot into command-line mode. This frees up maximum system resources for your autonomous driving application and is suitable for final deployment on in-vehicle computing units.
+
+```bash
+sudo SETUP_HEADLESS_MODE=yes ./config_system.sh
+```

docker/setup_host/config_system.sh

@@ -25,6 +25,12 @@ BAZEL_CACHE_DIR="/var/cache/bazel/repo_cache"
 UVCVIDEO_CONF_FILE="/etc/modprobe.d/uvcvideo.conf"
 UDEV_RULES_SRC_DIR="${APOLLO_ROOT_DIR}/docker/setup_host/etc/udev/rules.d"
 UDEV_RULES_DEST_DIR="/etc/udev/rules.d"
+LIMITS_CONF_SRC_DIR="${APOLLO_ROOT_DIR}/docker/setup_host/etc/security/limits.d"
+LIMITS_CONF_DEST_DIR="/etc/security/limits.d"
+NETWORK_CONF_SRC_DIR="${APOLLO_ROOT_DIR}/docker/setup_host/etc/systemd/network"
+NETWORK_CONF_DEST_DIR="/etc/systemd/network"
+SYSTEMD_SRC_DIR="${APOLLO_ROOT_DIR}/docker/setup_host/etc/systemd/system"
+SYSTEMD_DEST_DIR="/etc/systemd/system"
 
 # Source path of the service file within the project
 AUTOSERVICE_SRC_FILE="${APOLLO_ROOT_DIR}/docker/setup_host/etc/systemd/system/autostart.service"
@@ -441,6 +447,92 @@ install_autostart_service() {
   return 0
 }
 
+# Sets the system-wide limits for core dump file size by copying config.
+setup_core_limits() {
+    info "Configuring system-wide core dump size limits..."
+    if [ ! -d "${LIMITS_CONF_SRC_DIR}" ] || [ -z "$(ls -A "${LIMITS_CONF_SRC_DIR}")" ]; then
+        info "Core limits source directory not found or empty. Skipping."
+        return 0
+    fi
+    sudo cp -f "${LIMITS_CONF_SRC_DIR}"/* "${LIMITS_CONF_DEST_DIR}/"
+    if [ $? -ne 0 ]; then error "Failed to copy core limits configuration." && return 1; fi
+    success "Core dump size limits configured."
+    return 0
+}
+
+# Configures CAN bus using systemd-networkd for permanent setup.
+configure_can_bus() {
+    info "Configuring CAN bus interfaces using systemd-networkd..."
+    if [ ! -d "${NETWORK_CONF_SRC_DIR}" ] || [ -z "$(ls -A "${NETWORK_CONF_SRC_DIR}")" ]; then
+        info "systemd-networkd source directory not found or empty. Skipping CAN bus setup."
+        return 0
+    fi
+
+    sudo mkdir -p "${NETWORK_CONF_DEST_DIR}"
+    # This robustly copies any .network files present (e.g., just 10-can0.network)
+    sudo cp -f "${NETWORK_CONF_SRC_DIR}"/*.network "${NETWORK_CONF_DEST_DIR}/"
+    if [ $? -ne 0 ]; then error "Failed to copy systemd-networkd CAN configurations." && return 1; fi
+    info "CAN network configuration files copied."
+
+    info "Enabling and restarting systemd-networkd service..."
+    sudo systemctl enable --now systemd-networkd.service > /dev/null 2>&1
+    sudo systemctl restart systemd-networkd.service
+    if [ $? -ne 0 ]; then error "Failed to restart systemd-networkd. Check its status." && return 1; fi
+    success "CAN bus interfaces configured via systemd-networkd."
+    return 0
+}
+
+# Sets up Jetson performance optimizations (nvpmodel, jetson_clocks).
+setup_jetson_performance() {
+    if ! command -v nvpmodel &> /dev/null; then
+        info "Not a Jetson device. Skipping Jetson performance setup."
+        return 0
+    fi
+
+    info "Configuring Jetson performance services (nvpmodel and jetson_clocks)..."
+    local service_file="jetson-performance.service"
+
+    if [ ! -f "${SYSTEMD_SRC_DIR}/${service_file}" ]; then
+        error "'${service_file}' not found in source directory. Skipping." && return 1
+    fi
+
+    sudo cp -f "${SYSTEMD_SRC_DIR}/${service_file}" "${SYSTEMD_DEST_DIR}/"
+    if [ $? -ne 0 ]; then error "Failed to copy ${service_file}." && return 1; fi
+
+    sudo systemctl daemon-reload
+    sudo systemctl enable --now "${service_file}"
+    if [ $? -ne 0 ]; then error "Failed to enable and start ${service_file}." && return 1; fi
+    success "Jetson performance service enabled and started."
+    return 0
+}
+
+# Switches the system to non-graphical multi-user mode (headless).
+configure_headless_mode() {
+    # This is a significant change, only run if explicitly requested.
+    if [[ "${SETUP_HEADLESS_MODE:-no}" != "yes" ]]; then
+        info "SETUP_HEADLESS_MODE is not 'yes'. Skipping GUI disable."
+        return 0
+    fi
+
+    info "Configuring system for headless operation (disabling GUI)..."
+    # Check if it's already in the desired state (idempotency)
+    if systemctl get-default | grep -q "multi-user.target"; then
+        info "System is already set to multi-user (headless) mode."
+        return 0
+    fi
+
+    sudo systemctl set-default multi-user.target
+    if [ $? -ne 0 ]; then
+        error "Failed to set default target to multi-user.target."
+        return 1
+    fi
+
+    success "System configured for headless mode. GUI will be disabled on next reboot."
+    info "To revert this change, run: sudo systemctl set-default graphical.target"
+    return 0
+}
+
+
 # --- Main Host Setup Orchestration Function ---
 # This is the primary entry point for setting up the host machine.
 setup_host_machine() {
@@ -458,6 +550,11 @@ setup_host_machine() {
     return 1
   fi
 
+  if ! setup_core_limits; then
+    error "Failed to configure core limits."
+    return 1
+  fi
+
   # 3. Setup Bazel cache directory
   if ! setup_bazel_cache_dir; then
     error "Failed to set up Bazel cache directory. Aborting host setup."
@@ -482,6 +579,21 @@ setup_host_machine() {
     return 1
   fi
 
+  if ! configure_can_bus; then
+    error "Failed to configure CAN bus."
+    return 1
+  fi
+
+  if ! setup_jetson_performance; then
+    error "Failed to configure Jetson performance."
+    return 1
+  fi
+
+  if ! configure_headless_mode; then
+    error "Failed to configure headless mode."
+    return 1
+  fi
+
   # 7. Ensure docker permissions are set correctly
   if ! add_user_to_docker_group; then
     error "Failed to add user to Docker group. This may affect Docker permissions."

docker/setup_host/etc/security/limits.d/99-wheelos-core.conf

@@ -0,0 +1,3 @@
+# Allow all users to generate unlimited size core dump files for debugging
+*   soft   core   unlimited
+*   hard   core   unlimited

docker/setup_host/etc/systemd/network/10-can0.network

@@ -0,0 +1,5 @@
+[Match]
+Name=can0
+
+[CAN]
+BitRate=500000

docker/setup_host/etc/systemd/network/10-can1.network

@@ -0,0 +1,5 @@
+[Match]
+Name=can1
+
+[CAN]
+BitRate=500000

docker/setup_host/etc/systemd/system/jetson-performance.service

@@ -0,0 +1,11 @@
+[Unit]
+Description=Set Jetson Performance Mode (MAXN) and Clocks
+
+[Service]
+Type=oneshot
+ExecStartPre=nvpmodel -m 0
+ExecStart=jetson_clocks
+RemainAfterExit=yes
+
+[Install]
+WantedBy=multi-user.target