cyber_start.sh: setup_device for aarch64

docker/scripts/cyber_start.sh

@@ -269,7 +269,25 @@ function geo_specific_config() {
     fi
 }
 
-function determine_gpu_use() {
+function determine_gpu_use_aarch64() {
+    local use_gpu=0
+    if  lsmod | grep -q nvgpu ; then
+        use_gpu=1
+    fi
+    if [[ "${use_gpu}" -eq 1 ]]; then
+        local docker_version
+        docker_version="$(docker version --format '{{.Server.Version}}')"
+        if dpkg --compare-versions "${docker_version}" "ge" "19.03"; then
+            DOCKER_RUN_CMD="docker run --gpus all"
+        else
+            warning "You must upgrade to docker-ce 19.03+ to access GPU from container!"
+            use_gpu=0
+        fi
+    fi
+    USE_GPU="${use_gpu}"
+}
+
+function determine_gpu_use_amd64() {
     # Check nvidia-driver and GPU device
     local nv_driver="nvidia-smi"
     if [ ! -x "$(command -v ${nv_driver} )" ]; then
@@ -306,6 +324,14 @@ function determine_gpu_use() {
     fi
 }
 
+function determine_gpu_use() {
+    if [[ "${HOST_ARCH}" == "x86_64" ]]; then
+        determine_gpu_use_amd64
+    else
+        determine_gpu_use_aarch64
+    fi
+
+}
 function setup_devices_and_mount_volumes() {
     local __retval="$1"
 

scripts/apollo_base.sh

@@ -18,6 +18,8 @@
 TOP_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )/.." && pwd -P)"
 source ${TOP_DIR}/scripts/apollo.bashrc
 
+HOST_ARCH="$(uname -m)"
+
 function set_lib_path() {
   local CYBER_SETUP="${APOLLO_ROOT_DIR}/cyber/setup.bash"
   [[ -e "${CYBER_SETUP}" ]] && . "${CYBER_SETUP}"
@@ -84,15 +86,20 @@ function find_device() {
   fi
 }
 
-function setup_device() {
-  if [ $(uname -s) != "Linux" ]; then
-    echo "Not on Linux, skip mapping devices."
-    return
+function setup_device_for_aarch64() {
+  local can_dev="/dev/can0"
+  if [ ! -e "${can_dev}" ]; then
+      warning "No CAN device named ${can_dev}. "
+      return
   fi
 
+  sudo ip link set can0 type can bitrate 500000
+  sudo ip link set can0 up
+}
+
+function setup_device_for_amd64() {
   # setup CAN device
-  for INDEX in `seq 0 3`
-  do
+  for INDEX in $(seq 0 3) ; do
     # soft link if sensorbox exist
     if [ -e /dev/zynq_can${INDEX} ] &&  [ ! -e /dev/can${INDEX} ]; then
       sudo ln -s /dev/zynq_can${INDEX} /dev/can${INDEX}
@@ -102,28 +109,39 @@ function setup_device() {
     fi
   done
 
-  if [ "$(uname -m)" == 'aarch64' ]; then
-    sudo ip link set can0 type can bitrate 500000
-    sudo ip link set can0 up
-  fi
-
   # setup nvidia device
   sudo /sbin/modprobe nvidia
   sudo /sbin/modprobe nvidia-uvm
   if [ ! -e /dev/nvidia0 ];then
+    info "mknod /dev/nvidia0"
     sudo mknod -m 666 /dev/nvidia0 c 195 0
   fi
   if [ ! -e /dev/nvidiactl ];then
+    info "mknod /dev/nvidiactl"
     sudo mknod -m 666 /dev/nvidiactl c 195 255
   fi
   if [ ! -e /dev/nvidia-uvm ];then
+    info "mknod /dev/nvidia-uvm"
     sudo mknod -m 666 /dev/nvidia-uvm c 243 0
   fi
   if [ ! -e /dev/nvidia-uvm-tools ];then
+    info "mknod /dev/nvidia-uvm-tools"
     sudo mknod -m 666 /dev/nvidia-uvm-tools c 243 1
   fi
 }
 
+function setup_device() {
+  if [ "$(uname -s)" != "Linux" ]; then
+    info "Not on Linux, skip mapping devices."
+    return
+  fi
+  if [[ "${HOST_ARCH}" == "x86_64" ]]; then
+      setup_device_for_amd64
+  else
+      setup_device_for_aarch64
+  fi
+}
+
 function decide_task_dir() {
   # Try to find largest NVMe drive.
   DISK="$(df | grep "^/dev/nvme" | sort -nr -k 4 | \