mjolnir-cli 0.2.0__py3-none-any.whl

mjolnir_cli/bundled/scripts/hw/setup-thor.sh

@@ -0,0 +1,1287 @@
+#!/usr/bin/env bash
+#
+# setup-thor.sh — Jetson AGX Thor (sm_110a) host pre-configuration.
+#
+# Ported from the ~/thor repo's scripts/setup.sh + utils.sh, made
+# self-contained and Thor-only (SoM=thor, 128 GB, NVIDIA carrier — the
+# constants setup.sh hardcoded): no external ROOT/scripts dependency, no
+# CI branches. This is for a physical box and needs sudo. Every step is
+# idempotent — re-running where already configured is a no-op.
+#
+# The fan step also installs the two tuned performance fan profiles
+# (`recommended` + `max`, per-profile gated, with the .bck rollback point)
+# and selects the default — see the FAN section below.
+#
+# Preferred entry point: `mjolnir hw setup` (maps CLI flags to the options
+# below):
+#
+#   -y, --yes              don't prompt before starting
+#   --no-upgrade           skip apt update + full-upgrade (default: run)
+#   --keep-gui             don't switch the boot target to multi-user
+#   --fan-profile <p>      recommended (default) | max | cool | quiet
+#   --swap-size <GB>       swap file size (default: 32)
+#   --skip <a,b,c>         skip steps: gui,upgrade,pip,docker,jtop,
+#                          memory,fan,host,clocks,power
+#   --reboot               reboot at the end if a step required one
+#   --dry-run              print the plan, change nothing
+
+set -euo pipefail
+
+# ── Thor constants (from setup.sh's hardcoded block) ─────────────────────────
+SOC_TYPE="thor"
+SOC_MEMORY=128
+IS_NVIDIA_CARRIER=true
+
+REBOOT_REQUIRED=0
+
+ASSUME_YES=0
+UPGRADE=1
+KEEP_GUI=0
+FAN_PROFILE="recommended"
+SWAP_SIZE=32
+SKIP=""
+DO_REBOOT=0
+DRY_RUN=0
+
+usage() {
+  grep '^#   ' "$0" | sed 's/^#   //'
+}
+
+while [[ $# -gt 0 ]]; do
+  case "$1" in
+    -y|--yes) ASSUME_YES=1; shift ;;
+    --no-upgrade) UPGRADE=0; shift ;;
+    --keep-gui) KEEP_GUI=1; shift ;;
+    --fan-profile) FAN_PROFILE="${2:?}"; shift 2 ;;
+    --swap-size) SWAP_SIZE="${2:?}"; shift 2 ;;
+    --skip) SKIP="${2:?}"; shift 2 ;;
+    --reboot) DO_REBOOT=1; shift ;;
+    --dry-run) DRY_RUN=1; shift ;;
+    -h|--help) usage; exit 0 ;;
+    *) echo "❌ unknown option: $1" >&2; usage >&2; exit 2 ;;
+  esac
+done
+
+# ================================================================================
+# UTILITIES
+# ================================================================================
+
+is_true() {
+    [[ "${1,,}" =~ ^(true|1|yes|enabled|y)$ ]]
+}
+
+file_exists() {
+    local file=${1:-}
+    [[ -n "$file" && -f "$file" ]]
+}
+
+is_command_available() {
+    local command=$1
+    if command -v "${command}" &> /dev/null; then
+        return 0
+    else
+        return 1
+    fi
+}
+
+is_user_in_group() {
+    getent group "$1" | grep -qw "$USER"
+}
+
+# Convert size string to bytes (e.g., "4G" to bytes)
+convert_to_bytes() {
+    local size=$1
+    local value=${size%[GM]}
+    local unit=${size#$value}
+
+    case $unit in
+        G)
+            echo $((value * 1024 * 1024 * 1024))
+            ;;
+        M)
+            echo $((value * 1024 * 1024))
+            ;;
+        *)
+            echo "Error: Invalid size unit. Use M for MB or G for GB"
+            exit 1
+            ;;
+    esac
+}
+
+is_skipped() {
+    case ",${SKIP}," in *",${1},"*) return 0 ;; esac
+    return 1
+}
+
+ask_yes_no() {
+    while true; do
+        read -p "❔ ${1} (y/n): " yn
+        case $yn in
+            [Yy]* ) return 0;;
+            [Nn]* ) return 1;;
+            * ) echo "Please answer Y or y for YES or N or n for NO.";;
+        esac
+    done
+}
+
+ask_should_proceed() {
+    echo
+    while true; do
+        read -p "❔ Do you want to continue? (Press ENTER for Yes, 'q' to Quit) " input
+        if [ -z "$input" ] || is_true "$input"; then
+            echo "✅ Continuing..."
+            echo
+            return 0
+        elif [[ "$input" == "q" ]]; then
+            echo "❌ Exiting..."
+            exit 0
+        else
+            echo "❌ Invalid input: ${input}. Please press ENTER to continue or 'q' to quit."
+        fi
+    done
+}
+
+check_systemd() {
+    if ! is_command_available systemctl; then
+        echo "Error: This script requires systemd"
+        exit 1
+    fi
+}
+
+systemctl_stop_service() {
+  check_systemd
+  sudo systemctl stop "$1"
+}
+
+systemctl_enable_service() {
+  check_systemd
+  sudo systemctl enable --now "$1"
+}
+
+systemctl_start_service() {
+  check_systemd
+  sudo systemctl start "$1"
+}
+
+systemctl_restart_service() {
+  check_systemd
+  sudo systemctl restart "$1"
+}
+
+systemctl_service_exists() {
+  check_systemd
+
+  # status exit code 4 = unit not found
+  systemctl status "$1" &>/dev/null
+  [[ $? -ne 4 ]]
+}
+
+# Return 0 if the unit is active (running), 1 otherwise
+systemctl_service_is_active() {
+  check_systemd
+  systemctl is-active --quiet "$1"
+}
+
+# Return 0 if the unit is enabled, 1 otherwise
+systemctl_service_is_enabled() {
+  check_systemd
+  systemctl is-enabled --quiet "$1"
+}
+
+systemctl_disable_service() {
+    if ! systemctl_service_exists "$1"; then
+        return 0
+    fi
+
+    if systemctl_service_is_active "$1"; then
+        echo "ℹ️  Stopping the $1 service..."
+        systemctl_stop_service "$1"
+    fi
+
+    if systemctl_service_is_enabled "$1"; then
+        echo "ℹ️  Disabling the $1 service..."
+        sudo systemctl disable "$1"
+    fi
+}
+
+ensure_installed() {
+    # Usage: ensure_installed <command> <package>
+    local cmd="$1" pkg="${2:-$1}"
+
+    if ! command -v "$cmd" >/dev/null 2>&1; then
+        echo "📦 Installing $pkg..."
+        sudo apt update
+        sudo apt install -y "$pkg"
+    else
+        echo "✅ $pkg is already installed at $(command -v "$cmd")"
+    fi
+}
+
+l4t_root_device() {
+    local root_device
+    root_device=$(findmnt -n -o SOURCE /)
+
+    if [[ $root_device == *"nvme"* ]]; then
+        echo "nvme"
+    elif [[ $root_device == *"mmcblk"* ]]; then
+        # eMMC devices have mmcblk0boot0 and mmcblk0boot1 partitions
+        if [[ -b /dev/mmcblk0boot0 ]] && [[ -b /dev/mmcblk0boot1 ]]; then
+            echo "emmc"
+        else
+            echo "sdcard"
+        fi
+    elif [[ $root_device == *"/dev/sd"* ]]; then
+        echo "usb_sata"
+    else
+        echo "unknown"
+    fi
+}
+
+is_l4t_installed_on_sdcard() { [[ "$(l4t_root_device)" == "sdcard" ]]; }
+
+# ================================================================================
+# SYSTEM / HOST
+# ================================================================================
+
+upgrade_system() {
+    if is_true "$UPGRADE"; then
+        echo "📥 Updating package lists..."
+        sudo apt update &> /dev/null
+
+        echo "📥 Upgrading system..."
+        sudo apt full-upgrade -y &> /dev/null
+        echo "✅ System upgraded."
+
+        ensure_installed nvidia-jetpack &> /dev/null
+    else
+        echo "ℹ️  Skipping system upgrade (--no-upgrade)."
+    fi
+
+    ensure_installed curl curl
+    ensure_installed wget wget
+}
+
+# ================================================================================
+# INSTALLERS
+# ================================================================================
+
+install_pip() {
+    # If pip already on PATH, we're done
+    if is_command_available pip; then
+        echo "✅ pip is already installed."
+        return
+    fi
+
+    echo "ℹ️  Installing pip and supporting tools..."
+    if ! sudo apt install -y python3-pip python3-setuptools python3-pkg-resources; then
+        echo "⚠️ Attempting to fix broken packages..."
+        sudo apt --fix-broken install -y
+        if ! sudo apt install -y python3-pip python3-setuptools python3-pkg-resources; then
+            echo "🚨 Falling back to get-pip.py bootstrap..."
+
+            ensure_installed curl curl
+
+            curl -sSL https://bootstrap.pypa.io/get-pip.py -o /tmp/get-pip.py
+            sudo python3 /tmp/get-pip.py
+            rm -f /tmp/get-pip.py
+        fi
+    fi
+
+    echo "ℹ️  Checking for pip3 in standard paths..."
+    if ! is_command_available pip3; then
+        echo "⚠️ pip3 not found in PATH — checking ~/.local/bin..."
+        export PATH="$HOME/.local/bin:$PATH"
+        if ! is_command_available pip3; then
+            echo "❌ pip3 still not found. Check your installation manually."
+            return 1
+        else
+            echo "✅ Found pip3 in ~/.local/bin — added to PATH for this session."
+        fi
+    fi
+
+    echo "ℹ️  Verifying pip3 version..."
+    pip3 --version
+
+    echo "ℹ️  Upgrading pip and tools..."
+    python3 -m pip install --upgrade --user pip setuptools wheel
+
+    echo "ℹ️  Ensuring ~/.local/bin is in PATH..."
+    if ! echo "$PATH" | grep -q "$HOME/.local/bin"; then
+        echo 'export PATH="$HOME/.local/bin:$PATH"' >> ~/.bashrc
+        echo '✅ Added ~/.local/bin to ~/.bashrc for future sessions.'
+    fi
+
+    echo "✅ pip3 installation complete and usable in this session."
+}
+
+install_jtop() {
+    # https://github.com/rbonghi/jetson_stats
+    if ! command -v jtop &> /dev/null; then
+        echo "📦 Installing jtop..."
+        pip3 install -U "setuptools<71.0.0"
+        sudo env "PATH=$HOME/.local/bin:$PATH" pip3 install -U jetson-stats
+        systemctl_restart_service jtop.service
+        echo "✅ jtop was installed successfully."
+    else
+        echo "✅ jtop is already installed."
+    fi
+}
+
+# ================================================================================
+# DOCKER
+# ================================================================================
+
+ensure_docker_repo() {
+    local docker_keyring_path="/etc/apt/keyrings/docker.asc"
+
+    if ! file_exists "${docker_keyring_path}"; then
+        echo "🔑 Adding Docker GPG key and repository..."
+
+        sudo apt update
+        sudo apt install ca-certificates curl
+        sudo install -m 0755 -d /etc/apt/keyrings
+        sudo curl -fsSL https://download.docker.com/linux/ubuntu/gpg -o /etc/apt/keyrings/docker.asc
+        sudo chmod a+r /etc/apt/keyrings/docker.asc
+
+        # Add the repository to Apt sources:
+        echo \
+        "deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/docker.asc] https://download.docker.com/linux/ubuntu \
+        $(. /etc/os-release && echo "${UBUNTU_CODENAME:-$VERSION_CODENAME}") stable" | \
+        sudo tee /etc/apt/sources.list.d/docker.list > /dev/null
+        sudo apt update
+    fi
+}
+
+install_docker() {
+    ensure_docker_repo
+
+    if ! is_command_available docker; then
+        echo "📦 Installing docker..."
+
+        sudo apt update
+        sudo apt install -y docker-ce docker-ce-cli containerd.io docker-buildx-plugin nvidia-container-toolkit
+
+        echo "✅ docker was installed successfully."
+    else
+        echo "✅ docker is already installed."
+    fi
+
+    if ! docker compose version &> /dev/null; then
+        echo "📦 Installing docker-compose..."
+        sudo apt install -y docker-compose-plugin
+        echo "✅ docker-compose was installed successfully."
+    else
+        echo "✅ docker-compose is already installed."
+    fi
+}
+
+# Add user to docker group
+setup_docker_group() {
+    # Check if user is in docker group
+    if is_user_in_group docker; then
+        echo "✅ User '$USER' is already in the docker group."
+    else
+        echo "Adding $USER to the docker group..."
+        sudo usermod -aG docker "$USER"
+
+        # Group membership takes effect at next login; the live socket may
+        # stay unwritable until then.
+        if [[ -S /var/run/docker.sock && ! -w /var/run/docker.sock ]]; then
+            echo "ℹ️  The docker socket stays unwritable until you log in again."
+        fi
+    fi
+}
+
+# Function to check Docker runtime configuration
+check_docker_runtime() {
+    local daemon_config="/etc/docker/daemon.json"
+
+    if ! is_command_available docker; then
+        return 1
+    fi
+
+    if ! file_exists $daemon_config; then
+        return 1
+    fi
+
+    if grep -q '"default-runtime": "nvidia"' $daemon_config 2>/dev/null; then
+        return 0
+    else
+        return 1
+    fi
+}
+
+# Configure Docker with NVIDIA runtime as default
+configure_docker_runtime() {
+    local daemon_config="/etc/docker/daemon.json"
+
+    # THOR:
+    # -----
+    # sudo nvidia-ctk runtime configure --runtime=docker
+    # to configure it to following state:
+    # {
+    #     "runtimes": {
+    #         "nvidia": {
+    #             "args": [],
+    #             "path": "nvidia-container-runtime"
+    #         }
+    #     }
+    # }
+    # and always use --runtime=nvidia when running docker docntainers with GPU
+    # -----
+
+    if check_docker_runtime; then
+        echo "✅ NVIDIA runtime is already set as default in Docker: ${daemon_config}"
+    else
+        echo "❌ NVIDIA runtime is NOT set as default - configuring now..."
+
+        # Check if jq is installed
+        ensure_installed jq jq
+
+        # Configure NVIDIA runtime as default
+        local tmp
+        tmp=$(mktemp)
+        if file_exists $daemon_config; then
+            sudo jq '.
+                | .runtimes += {
+                    "nvidia": {
+                        "path": "nvidia-container-runtime",
+                        "runtimeArgs": []
+                    }
+                    }
+                | .["default-runtime"] = "nvidia"
+                ' "$daemon_config" > "$tmp"
+            sudo mv "$tmp" "$daemon_config"
+        else
+            cat > "$tmp" <<'EOF'
+{
+"runtimes": {
+    "nvidia": {
+    "path": "nvidia-container-runtime",
+    "runtimeArgs": []
+    }
+},
+"default-runtime": "nvidia"
+}
+EOF
+            sudo mv "$tmp" "$daemon_config"
+        fi
+
+        # The tmp file is user-owned; daemon.json must be root:root 644.
+        sudo chown root:root "$daemon_config"
+        sudo chmod 644 "$daemon_config"
+
+        # Restart Docker to apply changes
+        echo "ℹ️  Restarting Docker service to apply changes..."
+        systemctl_restart_service docker
+        echo "✅ NVIDIA runtime is now set as default."
+    fi
+}
+
+ensure_docker_running_and_enabled() {
+    # 1. Does the unit exist?
+    if ! systemctl_service_exists docker; then
+        echo "❌ Docker service is not installed. Please install Docker first."
+        return 1
+    fi
+
+    # 2. Start it if it's not running
+    if ! systemctl_service_is_active docker; then
+        echo "▶️ Starting Docker service..."
+        systemctl_start_service docker
+
+        if systemctl_service_is_active docker; then
+            echo "✅ Docker service started."
+        else
+            echo "❌ Failed to start Docker service."
+            return 1
+        fi
+    else
+        echo "✅ Docker service is already running."
+    fi
+
+    # 3. Enable it at boot if it's not enabled
+    if ! systemctl_service_is_enabled docker; then
+        echo "⚙️ Enabling Docker service at boot..."
+        systemctl_enable_service docker
+
+        if systemctl_service_is_enabled docker; then
+            echo "✅ Docker service is now enabled at boot."
+        else
+            echo "❌ Failed to enable Docker service at boot."
+            return 1
+        fi
+    else
+        echo "✅ Docker service is already enabled at boot."
+    fi
+}
+
+# ================================================================================
+# SWAP
+# ================================================================================
+
+check_swap_exists() {
+    local swap_file="${1:-}"
+
+    # non-empty and regular file
+    file_exists "${swap_file}" || return 1
+
+    # check if it's active
+    if swapon --noheadings --raw --show=NAME | grep -Fqx "${swap_file}"; then
+        return 0
+    else
+        return 1
+    fi
+}
+
+# Check if swap file exists and is active
+check_swap_file_status() {
+    local swap_file="${1:-}"
+
+    if file_exists "$swap_file"; then
+        if check_swap_exists "$swap_file"; then
+            echo "active"
+        else
+            echo "inactive"
+        fi
+    else
+        echo "missing"
+    fi
+}
+
+# Helper function for robust swap file cleanup
+cleanup_swap_file() {
+    local swap_file="$1"
+
+    [[ -z "${swap_file}" ]] && return 0
+
+    sync 2>/dev/null || true
+    sudo swapoff "${swap_file}" 2>/dev/null || true
+    sudo rm -f "${swap_file}" 2>/dev/null || true
+}
+
+# Create and enable swap file with safety checks
+setup_swap_file() {
+    local swap_size=$SWAP_SIZE
+    local swap_file_path="/mnt/${swap_size}GB.swap"
+    local swap_state
+    local size_bytes
+    swap_state=$(check_swap_file_status "${swap_file_path}")
+    size_bytes=$(convert_to_bytes "${swap_size}G")
+
+    # Validate inputs
+    if [[ -z "${swap_file_path}" ]]; then
+        echo "❌ Error: swap_file_path is not set"
+        return 1
+    fi
+
+    if [[ -z "${size_bytes}" ]] || [[ "${size_bytes}" -le 0 ]]; then
+        echo "❌ Error: Invalid swap size: ${swap_size}"
+        return 1
+    fi
+
+    # Validate swap file path (should be absolute and in safe location)
+    if [[ "${swap_file_path}" != /* ]]; then
+        echo "❌ Error: swap_file_path must be absolute: ${swap_file_path}"
+        return 1
+    fi
+
+    # Ensure path is in a safe location (not root, boot, etc.)
+    case "${swap_file_path}" in
+        /boot/*|/proc/*|/sys/*|/dev/*|/run/*)
+            echo "❌ Error: Unsafe swap file location: ${swap_file_path}"
+            return 1
+            ;;
+    esac
+
+    # Get directory and check if it exists
+    local swap_dir=$(dirname "${swap_file_path}")
+    if [[ ! -d "${swap_dir}" ]]; then
+        echo "❌ Error: Directory does not exist: ${swap_dir}"
+        return 1
+    fi
+
+    # Check write permissions on directory
+    if [[ ! -w "${swap_dir}" ]] && ! sudo test -w "${swap_dir}"; then
+        echo "❌ Error: No write permission for directory: ${swap_dir}"
+        return 1
+    fi
+
+    # Check available space (add 10% buffer)
+    local available_space
+    available_space=$(df --output=avail -B1 "${swap_dir}" | tail -n1)
+    if [[ "${size_bytes}" -gt "${available_space}" ]]; then
+        echo "❌ Error: Insufficient disk space"
+        echo "   Requested: $(numfmt --to=iec "${size_bytes}" 2>/dev/null || echo "${size_bytes} bytes")"
+        echo "   Available: $(numfmt --to=iec "${available_space}" 2>/dev/null || echo "${available_space} bytes")"
+        return 1
+    fi
+
+    # If swap file exists, disable and remove it first
+    if [ "${swap_state}" != "missing" ]; then
+        cleanup_swap_file "${swap_file_path}"
+        # Remove from fstab if present
+        sudo sed -i "\\#^${swap_file_path}#d" /etc/fstab
+    fi
+
+    # Create swap only when not installed on sdcard
+    if ! is_l4t_installed_on_sdcard; then
+        # Calculate count more safely
+        local count_mb=$((size_bytes/1024/1024))
+        if [[ $((count_mb * 1024 * 1024)) -ne "${size_bytes}" ]]; then
+            echo "❌ Error: Size calculation overflow or precision loss"
+            return 1
+        fi
+
+        # Use fallocate if available (faster and safer than dd)
+        if command -v fallocate >/dev/null 2>&1; then
+            if ! sudo fallocate -l "${size_bytes}" "${swap_file_path}"; then
+                echo "❌ Error: Failed to create swap file with fallocate"
+                return 1
+            fi
+        else
+            # Fallback to dd with additional safety
+            if ! sudo dd if=/dev/zero of="${swap_file_path}" bs=1M count="${count_mb}" status=progress conv=fsync 2>/dev/null; then
+                echo "❌ Error: Failed to create swap file with dd"
+                # Clean up partial file
+                cleanup_swap_file "${swap_file_path}"
+                return 1
+            fi
+        fi
+
+        # Set proper permissions
+        if ! sudo chmod 600 "${swap_file_path}"; then
+            echo "❌ Error: Failed to set swap file permissions"
+            cleanup_swap_file "${swap_file_path}"
+            return 1
+        fi
+
+        # Initialize swap
+        if ! sudo mkswap "${swap_file_path}" >/dev/null; then
+            echo "❌ Error: Failed to initialize swap file"
+            cleanup_swap_file "${swap_file_path}"
+            return 1
+        fi
+
+        # Enable swap
+        if ! sudo swapon "${swap_file_path}"; then
+            echo "❌ Error: Failed to enable swap file"
+            cleanup_swap_file "${swap_file_path}"
+            return 1
+        fi
+
+        # Add to fstab if not already present (using awk for precise matching)
+        if ! awk -v path="${swap_file_path}" '$1 == path && $3 == "swap" {found=1} END {exit !found}' /etc/fstab 2>/dev/null; then
+            if ! echo "${swap_file_path} none swap sw,pri=1 0 0" | sudo tee -a /etc/fstab >/dev/null; then
+                echo "⚠️  Warning: Failed to add swap to fstab (swap is still active)"
+            fi
+        fi
+
+        # Final verification
+        if check_swap_exists "${swap_file_path}"; then
+            echo "✅ Swap file setup complete ($(numfmt --to=iec ${size_bytes}))"
+            return 0
+        else
+            echo "❌ Failed to verify swap file setup"
+            return 1
+        fi
+    else
+        echo "✅ Skipping swap file creation (L4T installed on SD card)"
+        return 0
+    fi
+}
+
+# ================================================================================
+# zRAM
+# ================================================================================
+
+check_zram_state() {
+    if swapon --noheadings --raw --show=NAME | grep -q 'zram'; then
+        echo "active"
+    elif file_exists /etc/modules-load.d/zram.conf; then
+        echo "configured"
+    else
+        echo "disabled"
+    fi
+}
+
+# Disable zRAM (the Thor setup uses a file-backed swap instead)
+setup_zram() {
+    local zram_enabled=${1:-"no"}
+
+    # If zRAM should be enabled
+    if is_true "${zram_enabled}"; then
+        echo "❌ zRAM is not enabled by the mjolnir Thor setup (file-backed swap instead)."
+        return 1
+    fi
+
+    local zram_state
+    zram_state=$(check_zram_state)
+    # Disable zRAM if it's enabled
+    if [ "${zram_state}" != "disabled" ]; then
+        # Stop and disable the zram service
+        systemctl_disable_service zram
+        systemctl_disable_service nvzramconfig
+
+        local d
+        for d in /dev/zram*; do
+            [[ -e "$d" ]] || continue
+            sudo swapoff "$d" 2>/dev/null || true
+            echo 1 | sudo tee /sys/block/"$(basename "$d")"/reset >/dev/null || true
+            echo "✅ Disabled $d..."
+        done
+
+        # Unload the zram module
+        sudo rmmod zram 2>/dev/null || true
+
+        sudo rm -f /etc/modules-load.d/zram.conf /etc/modprobe.d/zram.conf \
+                  /etc/udev/rules.d/99-zram.rules /etc/systemd/system/zram.service
+        sudo systemctl daemon-reload
+
+        echo "✅ zRAM has been disabled"
+    else
+        echo "✅ zRAM is already disabled"
+    fi
+}
+
+# Configure memory settings
+configure_jetson_memory() {
+    # Setup swap file
+    setup_swap_file
+
+    # Configure zRAM (the Thor setup keeps it off)
+    setup_zram "false"
+
+    # Display current memory configuration
+    echo -e "\n=== Current Memory Configuration ==="
+    free -h
+
+    # Display swap configuration if supported
+    if ! is_l4t_installed_on_sdcard; then
+        echo -e "\nSwap configuration:"
+        swapon -s
+    fi
+
+    echo
+    echo "✅ Memory setup complete"
+}
+
+# ================================================================================
+# GUI
+# ================================================================================
+
+# Function to get current GUI state
+get_gui_state() {
+    if systemctl get-default | grep -q "graphical.target"; then
+        echo "enabled"
+    else
+        echo "disabled"
+    fi
+}
+
+# Function to enable GUI
+enable_gui() {
+    sudo systemctl set-default graphical.target
+
+    if is_true "$(get_gui_state)"; then
+        echo "✅ GUI has been enabled on boot"
+        return 0
+    else
+        echo "❌ Failed to enable GUI"
+        return 1
+    fi
+}
+
+# Function to disable GUI
+disable_gui() {
+    sudo systemctl set-default multi-user.target
+
+    if ! is_true "$(get_gui_state)"; then
+        echo "✅ GUI has been disabled on boot"
+        return 0
+    else
+        echo "❌ Failed to disable GUI"
+        return 1
+    fi
+}
+
+configure_gui() {
+    local gui_enabled=${1-"no"}
+    local current_state
+    current_state=$(get_gui_state)
+
+    if is_true "$gui_enabled"; then
+        if [ "$current_state" = "disabled" ]; then
+            enable_gui
+        else
+            echo "✅ GUI is already enabled"
+        fi
+    else
+        if [ "$current_state" = "enabled" ]; then
+            disable_gui
+        else
+            echo "✅ GUI is already disabled"
+        fi
+    fi
+}
+
+# ================================================================================
+# FAN (merged from scripts/hw/fan-profiles.sh — one process with the rest)
+#
+# 1. BACKUP (first run only): untouched $CONF is dumped to $CONF.bck.
+#    The .bck ALWAYS holds the original — the clean rollback point.
+# 2. INJECT (per-profile gated): the two performance fan profiles
+#    (tuned on the AGX Thor) are inserted before the THERMAL_GROUP
+#    section — each ONLY if its block is not already present:
+#      FAN_PROFILE recommended  — balanced warmth/acoustics
+#      FAN_PROFILE max          — sustained full-load cooling (bench)
+# 3. FAN MODE SELECTION: FAN_DEFAULT_PROFILE <--fan-profile> (default
+#    "recommended", not the stock "cool").
+# 4. Restart nvfancontrol and print the daemon's active state.
+# ================================================================================
+
+FAN_CONF="${MJOLNIR_NVFANCONF:-/etc/nvfancontrol.conf}"
+
+write_fan_profile_blocks() {
+  local dir="$1"
+  cat > "$dir/profile_recommended.conf" <<'EOF'
+	FAN_PROFILE recommended {
+		#TEMP	  HYST	PWM	RPM
+		0	   0	255	5371
+		10	   0	220	4700
+		20	   0	180	3900
+		30	   0	140	3000
+		40	   0	102	2400
+		55	   0	90	2100
+		70	   0	80	1800
+		115	   0	80	1800
+	}
+EOF
+
+  cat > "$dir/profile_max.conf" <<'EOF'
+	FAN_PROFILE max {
+		#TEMP	  HYST	PWM	RPM
+		0	   0	255	5371
+		15	   0	240	5000
+		25	   0	220	4700
+		35	   0	195	4200
+		50	   0	170	3700
+		70	   0	120	2700
+		115	   0	120	2700
+	}
+EOF
+}
+
+# $1=src $2=dst — inserts the missing profile block(s) before the
+# THERMAL_GROUP anchor and selects the fan mode (FAN_DEFAULT_PROFILE).
+fan_transform() {
+  awk -v do_rec="$DO_REC" -v do_max="$DO_MAX" -v sel="$FAN_PROFILE" \
+      -v src="$1" \
+      -v f_rec="$FAN_TMP/profile_recommended.conf" \
+      -v f_max="$FAN_TMP/profile_max.conf" '
+    /^[[:space:]]*FAN_DEFAULT_PROFILE/ { sub(/FAN_DEFAULT_PROFILE.*/, "FAN_DEFAULT_PROFILE " sel) }
+    !done && $0 ~ /^[[:space:]]*THERMAL_GROUP[[:space:]]0/ {
+      done=1
+      if (do_rec) while ((getline l < f_rec) > 0) print l
+      if (do_max) while ((getline l < f_max) > 0) print l
+    }
+    { print }
+    END {
+      if (!done) {
+        print "setup-thor: no THERMAL_GROUP anchor in " src " — refusing to guess" > "/dev/stderr"
+        exit 3
+      }
+    }
+  ' "$1" > "$2"
+}
+
+do_fan() {
+  local conf="$FAN_CONF"
+  local bck="$conf.bck"
+
+  if ! file_exists "$conf"; then
+    echo "ℹ️  No nvfancontrol conf at $conf — skipping fan."
+    return 0
+  fi
+
+  if ! is_command_available nvfancontrol; then
+    echo "ℹ️  nvfancontrol not available — skipping fan."
+    return 0
+  fi
+
+  local have_rec have_max cur_default
+  have_rec=$(grep -cE "FAN_PROFILE recommended[[:space:]]*\{" "$conf" || true)
+  have_max=$(grep -cE "FAN_PROFILE max[[:space:]]*\{" "$conf" || true)
+  cur_default="$(awk '/^[[:space:]]*FAN_DEFAULT_PROFILE/ {print $2; exit}' "$conf")"
+  cur_default="${cur_default:-<unset>}"
+
+  local do_rec=0 do_max=0
+  [ "$have_rec" -eq 0 ] && do_rec=1
+  [ "$have_max" -eq 0 ] && do_max=1
+  DO_REC=$do_rec
+  DO_MAX=$do_max
+
+  # Stock profiles ship with the L4T conf; recommended/max are installed here.
+  case "$FAN_PROFILE" in
+    cool|quiet)
+      if ! grep -qE "FAN_PROFILE ${FAN_PROFILE}[[:space:]]*\{" "$conf"; then
+        echo "❌ fan profile '$FAN_PROFILE' not in $conf" >&2
+        return 1
+      fi
+      ;;
+  esac
+
+  local pending=0
+  [ -e "$bck" ] || pending=1
+  [ "$do_rec" = 1 ] && pending=1
+  [ "$do_max" = 1 ] && pending=1
+  [ "$cur_default" != "$FAN_PROFILE" ] && pending=1
+
+  echo "fan profiles: $conf"
+  if [ -e "$bck" ]; then
+    echo "  backup:      $bck (exists — original preserved)"
+  else
+    echo "  backup:      $conf -> $bck (first run — will be created)"
+  fi
+  if [ "$do_rec" = 1 ]; then
+    echo "  inject:      FAN_PROFILE recommended (not present — will be added)"
+  else
+    echo "  inject:      FAN_PROFILE recommended (already present — skipped)"
+  fi
+  if [ "$do_max" = 1 ]; then
+    echo "  inject:      FAN_PROFILE max (not present — will be added)"
+  else
+    echo "  inject:      FAN_PROFILE max (already present — skipped)"
+  fi
+  if [ "$cur_default" != "$FAN_PROFILE" ]; then
+    echo "  fan mode:    FAN_DEFAULT_PROFILE $cur_default -> $FAN_PROFILE"
+  else
+    echo "  fan mode:    FAN_DEFAULT_PROFILE $FAN_PROFILE (already selected)"
+  fi
+
+  if [ "$pending" = 0 ]; then
+    echo "✅ Fan already configured (profile: $FAN_PROFILE)."
+    return 0
+  fi
+
+  FAN_TMP="$(mktemp -d)"
+  trap 'rm -rf "$FAN_TMP"' EXIT
+  write_fan_profile_blocks "$FAN_TMP"
+
+  # First run only: the .bck always holds the untouched original.
+  [ -e "$bck" ] || sudo cp -a -- "$conf" "$bck"
+  fan_transform "$conf" "$FAN_TMP/new.conf"
+  sudo cp -- "$FAN_TMP/new.conf" "$conf"
+
+  # Remove the old status so the daemon reloads fresh, then restart.
+  sudo rm -f /var/lib/nvfancontrol/status
+  systemctl_restart_service nvfancontrol
+
+  echo "✅ Fan profile installed; default: $FAN_PROFILE."
+  echo "  active state:"
+  sudo nvfancontrol -q 2>&1 | grep -iE 'profile|governor' | sed 's/^/    /' || true
+}
+
+# ================================================================================
+# HOST / SYSTEM CONFIGURATION
+# ================================================================================
+
+host_optimizations() {
+    systemctl_disable_service nvargus-daemon.service
+    systemctl_disable_service cups
+    systemctl_disable_service ModemManager
+}
+
+check_jetson_clocks() {
+    local state
+    state=$(sudo jetson_clocks --show | grep -oP '(?<=FreqOverride=)\d+')
+
+    is_true "$state"
+}
+
+start_jetson_clocks_service() {
+  local service_name="jetson_clocks.service"
+  local service_path="/etc/systemd/system/${service_name}"
+
+  # 1) Ensure the unit file exists
+  if ! systemctl_service_exists "$service_name"; then
+    echo "ℹ️  $service_name not found; creating at $service_path"
+    sudo tee "$service_path" >/dev/null <<'EOF'
+[Unit]
+Description=Jetson Clocks Service
+After=multi-user.target
+
+[Service]
+Type=oneshot
+ExecStart=/usr/bin/jetson_clocks
+RemainAfterExit=true
+
+[Install]
+WantedBy=multi-user.target
+EOF
+
+    echo "ℹ️  Reloading systemd daemon"
+    sudo systemctl daemon-reload
+
+    echo "ℹ️  Enabling $service_name to start on boot"
+    systemctl_enable_service "$service_name"
+  fi
+
+  # 2) Check if the service is active
+  if ! systemctl_service_is_active "$service_name"; then
+    echo "ℹ️  Starting $service_name"
+    systemctl_start_service "$service_name"
+    echo "✅ $service_name started."
+    echo "ℹ️  Current clock settings:"
+    sudo jetson_clocks --show
+  fi
+
+  # 3) Final health check
+  if check_jetson_clocks; then
+    echo "✅ Jetson Clocks is enabled and running."
+  else
+    echo "❌ Failed to enable Jetson Clocks lock."
+    return 1
+  fi
+}
+
+# ================================================================================
+# POWER MODE
+# ================================================================================
+
+check_nvpmodel_installed() {
+    if ! is_command_available nvpmodel; then
+        echo "❌ Error: Missing required dependency: nvpmodel"
+        echo "   Please check your Jetson system installation"
+        exit 1
+    fi
+}
+
+get_power_mode() {
+    check_nvpmodel_installed
+
+    nvpmodel -q | grep "NV Power Mode" | cut -d':' -f2 | xargs
+}
+
+get_power_modes() {
+    local file="${1:-/etc/nvpmodel.conf}"
+    # declare global associative array
+    declare -gA JETSON_POWER_MODES=()
+
+    local line id name
+    while IFS= read -r line; do
+        if [[ $line =~ \<[[:space:]]*POWER_MODEL[[:space:]]+ID=([0-9]+)[[:space:]]+NAME=([^[:space:]>]+) ]]; then
+            id="${BASH_REMATCH[1]}"
+            name="${BASH_REMATCH[2]}"
+            JETSON_POWER_MODES[$id]="$name"
+        fi
+    done < "$file"
+}
+
+get_power_mode_index_by_name() {
+  local substr="$1"
+  local id
+
+  for id in "${!JETSON_POWER_MODES[@]}"; do
+    if [[ "${JETSON_POWER_MODES[$id]}" == *"$substr"* ]]; then
+      printf '%s\n' "$id"
+      return 0
+    fi
+  done
+  return 1
+}
+
+get_power_mode_config_file() {
+    check_nvpmodel_installed
+
+    nvpmodel -q --verbose 2>&1 | grep -m1 'Config file:' | awk -F': ' '{print $NF}'
+}
+
+# Configure power mode
+setup_power_mode() {
+    local current_mode
+    local power_config_path
+    current_mode="$(get_power_mode)"
+    power_config_path="$(get_power_mode_config_file)"
+
+    get_power_modes
+
+    # First try "SUPER", then "MAXN"
+    if MAXN_POWER_MODE_ID=$(get_power_mode_index_by_name SUPER); then
+        :
+    elif MAXN_POWER_MODE_ID=$(get_power_mode_index_by_name MAXN); then
+        :
+    else
+        echo "❌ No matching MAXN or MAXN_SUPER power mode!"
+        exit 1
+    fi
+
+    if [ "$current_mode" = "${JETSON_POWER_MODES[$MAXN_POWER_MODE_ID]}" ]; then
+        echo "✅ Power mode already set to $current_mode, skipping..."
+        return 0
+    fi
+
+    echo "ℹ️  Setting power mode to mode ${JETSON_POWER_MODES[$MAXN_POWER_MODE_ID]} (this will be applied after reboot)..."
+
+    # Use -f flag to suppress the interactive reboot prompt
+    if sudo nvpmodel -m "$MAXN_POWER_MODE_ID" -f "$power_config_path" > /dev/null; then
+        echo "✅ Power mode change scheduled. A reboot will be required to apply this change."
+        REBOOT_REQUIRED=1
+        return 0
+    else
+        echo "❌ Failed to set power mode"
+        return 1
+    fi
+}
+
+# ================================================================================
+# MAIN
+# ================================================================================
+
+print_plan() {
+    echo
+    echo "Plan (dry-run — nothing will change):"
+
+    local i=0
+    _plan() {
+        local name="$1" label="$2"
+        i=$((i + 1))
+        if is_skipped "$name"; then
+            printf '  %2d  ·  %-8s  %s\n' "$i" "$name" "$label (skipped)"
+        else
+            printf '  %2d  →  %-8s  %s\n' "$i" "$name" "$label"
+        fi
+    }
+    _plan gui      "$( [ "$KEEP_GUI" = "1" ] && echo 'keep GUI (boot target unchanged)' || echo 'disable GUI on boot (multi-user.target)')"
+    _plan upgrade  "$( [ "$UPGRADE" = "1" ] && echo 'apt update + full-upgrade (+ nvidia-jetpack, curl, wget)' || echo 'skip the system upgrade')"
+    _plan pip      "pip + setuptools + wheel (get-pip.py fallback)"
+    _plan docker   "docker-ce + nvidia-container-toolkit, user in docker group, nvidia default runtime, service up + enabled"
+    _plan jtop     "jetson-stats (jtop)"
+    _plan memory   "${SWAP_SIZE} GB swap file at /mnt (zRAM off)"
+    _plan fan      "install recommended+max fan profiles (gated, .bck backup), FAN_DEFAULT_PROFILE: ${FAN_PROFILE}"
+    _plan host     "disable nvargus-daemon / cups / ModemManager"
+    _plan clocks   "jetson_clocks.service (lock max CPU/GPU/EMC clocks)"
+    _plan power    "nvpmodel → MAXN/SUPER (reboot to apply)"
+    echo
+}
+
+# Bail early if not running on a Jetson (no device-tree)
+if [ ! -r /proc/device-tree/compatible ]; then
+    echo "❌ /proc/device-tree/compatible not found; not a Jetson platform."
+    exit 1
+fi
+
+# Prepare a "table" with spaces or tabs
+cat <<EOF | column -t
+  ✅ User    ${USER}
+  ✅ SoM     ${SOC_TYPE}
+  ✅ Memory  ${SOC_MEMORY}GB
+  ✅ DevKit  ${IS_NVIDIA_CARRIER}
+EOF
+
+echo
+if is_command_available nvidia-smi; then
+    nvidia-smi
+fi
+
+if [ "$DRY_RUN" = "1" ]; then
+    print_plan
+    exit 0
+fi
+
+if [ "$ASSUME_YES" != "1" ]; then
+    ask_should_proceed
+fi
+
+# 1. Boot target: headless server (multi-user), GUI off by default
+if is_skipped gui; then
+    echo "ℹ️  Skipping: gui"
+elif [ "$KEEP_GUI" = "1" ]; then
+    echo "ℹ️  Keeping the GUI boot target (--keep-gui)."
+else
+    configure_gui "no"
+fi
+
+# 2. System upgrade (apt), JetPack + curl + wget
+if is_skipped upgrade; then
+    echo "ℹ️  Skipping: upgrade"
+else
+    upgrade_system
+fi
+
+# 3. Python tooling
+if is_skipped pip; then
+    echo "ℹ️  Skipping: pip"
+else
+    install_pip
+fi
+
+# 4. Docker + NVIDIA runtime
+if is_skipped docker; then
+    echo "ℹ️  Skipping: docker"
+else
+    install_docker
+    setup_docker_group
+    configure_docker_runtime
+    ensure_docker_running_and_enabled
+fi
+
+# 5. Monitor
+if is_skipped jtop; then
+    echo "ℹ️  Skipping: jtop"
+else
+    install_jtop
+fi
+
+# 6. Memory: swap file + zRAM off
+if is_skipped memory; then
+    echo "ℹ️  Skipping: memory"
+else
+    configure_jetson_memory
+fi
+
+# 7. Fan profile
+if is_skipped fan; then
+    echo "ℹ️  Skipping: fan"
+else
+    do_fan
+fi
+
+# 8. Host service cleanup
+if is_skipped host; then
+    echo "ℹ️  Skipping: host"
+else
+    host_optimizations
+fi
+
+# 9. Max clocks (jetson_clocks)
+if is_skipped clocks; then
+    echo "ℹ️  Skipping: clocks"
+else
+    start_jetson_clocks_service
+fi
+
+# 10. Power mode (MAXN/SUPER)
+if is_skipped power; then
+    echo "ℹ️  Skipping: power"
+else
+    setup_power_mode
+fi
+
+echo "✅ Jetson Thor configuration completed."
+
+if [ "$REBOOT_REQUIRED" = "1" ]; then
+    if [ "$DO_REBOOT" = "1" ]; then
+        echo "Rebooting, please wait..."
+        sudo reboot
+    elif [ -t 0 ]; then
+        if ask_yes_no "A reboot is required to apply the power-mode change — reboot now?"; then
+            echo "Rebooting, please wait..."
+            sudo reboot
+        else
+            echo "ℹ️  Reboot whenever convenient (the power mode is already scheduled)."
+        fi
+    else
+        echo "ℹ️  Reboot required to apply the power-mode change (rerun with --reboot, or reboot manually)."
+    fi
+fi