sensing: add host and container setup for the SENSING SG8A SIPL rig - #1077
sensing: add host and container setup for the SENSING SG8A SIPL rig#1077jiwenc-nv wants to merge 1 commit into
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📝 WalkthroughWalkthroughAdded a SENSING SG8A provisioning workflow for Jetson AGX Orin. Shared shell helpers manage configuration, downloads, prerequisite discovery, permissions, and prompts. Host setup installs and validates vendor drivers, overlays, permissions, performance settings, and optional camera streaming. Container setup validates runtime dependencies and retrieves SDK artifacts. A dispatcher selects host or container execution. A read-only verification script reports rig readiness. The README documents installation, container use, diagnostics, display setup, and smoke testing. Estimated code review effort: 4 (Complex) | ~45 minutes Merge Risk: 🟡 Moderate · up to Provisioning can install incompatible SDK headers, prevent device-access repair on installed rigs, provide an unusable overlay command, and report healthy host rigs as unready. Resolve these setup-path defects before merging. Sequence Diagram(s)sequenceDiagram
participant Operator
participant setup.sh
participant setup_host.sh
participant setup_container.sh
participant verify.sh
Operator->>setup.sh: select setup mode
alt Host setup
setup.sh->>setup_host.sh: forward arguments
setup_host.sh->>verify.sh: validate installation
else Container setup
setup.sh->>setup_container.sh: forward arguments
setup_container.sh->>verify.sh: validate container environment
end
verify.sh-->>Operator: return readiness status
🚥 Pre-merge checks | ✅ 4 | ❌ 1❌ Failed checks (1 warning)
✅ Passed checks (4 passed)
Full details: Docstring CoverageExplanation Docstring coverage is 33.33% which is insufficient. The required threshold is 80.00%. Docstring coverage is scoped to functions touched by this diff. Analyzed 27 functions across 5 files. (2 skipped: 2 unsupported.) ✨ Finishing Touches 💡 2📝 Generate docstrings 💡
🛠️ Fix failing CI checks 💡
🧪 Generate unit tests (beta)
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Inline comments:
In `@src/plugins/sensing/README.md`:
- Line 77: Update the Jetson setup command in the README to use
/opt/nvidia/jetson-io/jetson-io.py, matching the path invoked by setup_host.sh
and available in JetPack 7.2.
In `@src/plugins/sensing/setup_container.sh`:
- Line 187: Update the fallback archive URL filter in the setup logic around
find_sipl_api to match only Jetson_SIPL_API_R${rel}_aarch64.tbz2 for the
detected L4T release, rather than any SIPL_API archive; preserve the existing
unique sorting and final URL selection before fetch_cached and extraction.
In `@src/plugins/sensing/setup_host.sh`:
- Around line 61-62: Update setup_host.sh so PKG_DIR discovery and install.sh
validation run only when --install-drivers or --smoke-test is requested. Keep
artifact checks and --groups access repair independent of vendor package
availability, and rely on verify.sh to require the package for the vendor
smoke-test path.
In `@src/plugins/sensing/verify.sh`:
- Around line 109-112: Update the multimedia API and SIPL API checks around
find_mmapi and find_sipl_api so missing SDKs set FAIL only during container
verification; on host verification, report them informationally without marking
the host unready. Preserve the existing success messages and container failure
behavior.
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Fix all unresolved CodeRabbit comments on this PR:
- Push a commit to this branch (recommended)
- Create a new PR with the fixes
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📒 Files selected for processing (7)
src/plugins/sensing/.gitignoresrc/plugins/sensing/README.mdsrc/plugins/sensing/_common.shsrc/plugins/sensing/setup.shsrc/plugins/sensing/setup_container.shsrc/plugins/sensing/setup_host.shsrc/plugins/sensing/verify.sh
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✅ Preview deployed: https://NVIDIA.github.io/IsaacTeleop/preview/pr-1077/ |
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✅ Preview deployed: https://NVIDIA.github.io/IsaacTeleop/preview/pr-1077/ |
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✅ Preview deployed: https://NVIDIA.github.io/IsaacTeleop/preview/pr-1077/ |
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Provisioning for the SENSING SG8A-AGON-G2Y-A1 carrier with two Astra SHW5G modules on JetPack 7.2.1 / L4T R39.2.1. setup.sh dispatches to a host half (fetch and install the vendor package, overlay, groups) and a container half (device access, build SDKs); verify.sh reports on either side. SENSING publishes driver packages as directories in a git repo with no releases, so the host half takes a blobless, shallow, sparse clone of just this board's tree -- 3.6 MB of a ~700 MB repo -- into a gitignored .cache/. That package is what puts nvsipl_camera on PATH. It defines no SHW5G_2 platform config, only mixed populations, so configs/shw5g.json vendors the one SENSING ships for a 2x SHW5G rig and setup drops it in. Two container facts the scripts exist to make discoverable, since SIPL reports both as a bare "SetPlatformConfig ... status: 10": - Access needs groups, not root: every node SIPL opens is 0660 root:<group>, so --group-add AND the matching gids in the image are both required -- docker exec reads the container's own /etc/group and ignores HostConfig.GroupAdd. - The NVIDIA container runtime mounts a fixed CSV file list, so files the vendor installer adds stay invisible until their directories are bind-mounted. docker/ carries both halves, importable by another Dockerfile. Signed-off-by: Jiwen Cai <jiwenc@nvidia.com>
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Description
Stack 1/3 — setup only, nothing builds or links here. Follow-ups: #1078 (CUDA IPC transport), then #998 (the SIPL plugin).
Host and container provisioning for the SENSING SG8A-AGON-G2Y-A1 GMSL carrier on a Jetson AGX Orin (JetPack 7.2.1 / L4T R39.2.1). Checkout,
setup.sh, andnvsipl_camerastreams — no vendor package to source by hand:setup_host.shsparse-clones SENSING's driver repo, which publishes packages as directories rather than releases (3.6 MB of a ~700 MB tree).docs/source/device/sensing.rstis the device page, includingnvsipl_camerausage.Two gaps in what SENSING publishes, both closed here. The public package defines no
SHW5G_2platform config, soconfigs/shw5g.jsonvendors the one SENSING ships to 2× SHW5G customers. And the NVIDIA container runtime's CSV mount list omits vendor-added files — without them every SIPL client dies atSetPlatformCfgwith a barestatus: 10— sodocker/runtime_args.shderives the needed mounts and--group-addflags from the host, alongside an image-sideRUNanother Dockerfile can import.Type of change
Testing
AGX Orin, JetPack 7.2.1 / L4T R39.2.1, two Astra SHW5G:
setup_host.sh --install-drivers --groups --smoke-test: both sensors at 60 fps.libnvuddf_*andSHW5G.nitobuilds and noshw5g.json.docker/: both import paths built for real, plus the absent-context fallback.verify.shnames the missing artifact when a mount or group is removed.SKIP=check-copyright-year pre-commit run --all-filespasses.Checklist
SKIP=check-copyright-year pre-commit run --all-filesgit commit -s) per the DCO