cluster: use systemd cgroup driver for cgroupv2

* Detect if image is using cgroupv2
* Configure both kubelet and containerd to use systemd cgroup driver
  when running under cgroupv2

Systemd cgroup driver is recommended to be used when running on
cgroupv2. It is also the default in moby
https://github.com/moby/moby/pull/40846

Signed-off-by: David Porter <david@porter.me>

cluster/gce/gci/configure-helper.sh

@@ -1621,7 +1621,13 @@ function start-kubelet {
   echo "Using kubelet binary at ${kubelet_bin}"
 
   local -r kubelet_env_file="/etc/default/kubelet"
-  local kubelet_opts="${KUBELET_ARGS} ${KUBELET_CONFIG_FILE_ARG:-}"
+
+  local kubelet_cgroup_driver=""
+  if [[ "${CGROUP_CONFIG-}" == "cgroup2fs" ]]; then
+    kubelet_cgroup_driver="--cgroup-driver=systemd"
+  fi
+
+  local kubelet_opts="${KUBELET_ARGS} ${KUBELET_CONFIG_FILE_ARG:-} ${kubelet_cgroup_driver:-}"
   echo "KUBELET_OPTS=\"${kubelet_opts}\"" > "${kubelet_env_file}"
   echo "KUBE_COVERAGE_FILE=\"/var/log/kubelet.cov\"" >> "${kubelet_env_file}"
 
@@ -2967,6 +2973,11 @@ function override-kubectl {
     fi
 }
 
+function detect-cgroup-config {
+  CGROUP_CONFIG=$(stat -fc %T /sys/fs/cgroup/)
+  echo "Detected cgroup config as ${CGROUP_CONFIG}"
+}
+
 function override-pv-recycler {
   if [[ -z "${PV_RECYCLER_OVERRIDE_TEMPLATE:-}" ]]; then
     echo "PV_RECYCLER_OVERRIDE_TEMPLATE is not set"
@@ -3060,6 +3071,13 @@ EOF
       cni_template_path=""
     fi
   fi
+
+   # Use systemd cgroup driver when running on cgroupv2
+  local systemdCgroup="false"
+  if [[ "${CGROUP_CONFIG-}" == "cgroup2fs" ]]; then
+    systemdCgroup="true"
+  fi
+
   cat > "${config_path}" <<EOF
 version = 2
 # Kubernetes requires the cri plugin.
@@ -3089,6 +3107,8 @@ oom_score = -999
 # See: https://github.com/kubernetes/k8s.io/issues/3411
 [plugins."io.containerd.grpc.v1.cri".registry.mirrors."k8s.gcr.io"]
   endpoint = ["https://registry.k8s.io", "https://k8s.gcr.io",]
+[plugins."io.containerd.grpc.v1.cri".containerd.runtimes.runc.options]
+  SystemdCgroup = ${systemdCgroup}
 EOF
 
   if [[ "${CONTAINER_RUNTIME_TEST_HANDLER:-}" == "true" ]]; then
@@ -3398,6 +3418,7 @@ function main() {
     fi
   fi
 
+  log-wrap 'DetectCgroupConfig' detect-cgroup-config
   log-wrap 'OverrideKubectl' override-kubectl
   if docker-installed; then
     # We still need to configure docker so it wouldn't reserver the 172.17.0/16 subnet