From 36e0e370866e35b19d9937bbae97a1dc82aa06ae Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Sun, 1 Nov 2026 16:54:44 -0600
Subject: [PATCH] Keep driving independent of UI restarts

---
 openpilot/selfdrive/selfdrived/selfdrived.py  |  2 +-
 .../selfdrived/tests/test_process_health.py   | 21 ++++++++++++++++++-
 prebuilt.json                                 |  2 +-
 3 files changed, 22 insertions(+), 3 deletions(-)

diff --git a/openpilot/selfdrive/selfdrived/selfdrived.py b/openpilot/selfdrive/selfdrived/selfdrived.py
index 64ff6bd0f8..36bf943049 100755
--- a/openpilot/selfdrive/selfdrived/selfdrived.py
+++ b/openpilot/selfdrive/selfdrived/selfdrived.py
@@ -260,7 +260,7 @@ class SelfdriveD:
       self.events.add(EventName.dashcamMode, static=True)
 
   def update_process_health(self) -> bool:
-    not_running = driving_process_failures(self.sm['managerState'].processes)
+    not_running = driving_process_failures(self.sm['managerState'].processes) - {'ui'}
     if self.sm.recv_frame['managerState'] and not_running:
       if not_running != self.not_running_prev:
         cloudlog.event("process_not_running", not_running=not_running, error=True)
diff --git a/openpilot/selfdrive/selfdrived/tests/test_process_health.py b/openpilot/selfdrive/selfdrived/tests/test_process_health.py
index f4d67f2145..26a3550ca8 100644
--- a/openpilot/selfdrive/selfdrived/tests/test_process_health.py
+++ b/openpilot/selfdrive/selfdrived/tests/test_process_health.py
@@ -25,7 +25,7 @@ def process_health(processes):
   return drive
 
 
-@pytest.mark.parametrize('name', ['starportd', 'galaxy_hotspot', 'jetlinkd'])
+@pytest.mark.parametrize('name', ['starportd', 'galaxy_hotspot', 'jetlinkd', 'ui'])
 @pytest.mark.parametrize('running,requested', [(False, False), (False, True), (True, True)])
 def test_optional_lifecycle_does_not_block_engagement(name, running, requested):
   drive = process_health([(name, running, requested)])
@@ -69,3 +69,22 @@ def test_missing_starport_service_does_not_block_engagement():
   state = StateMachine()
   state.update(drive.events)
   assert state.state == log.SelfdriveState.OpenpilotState.enabled
+
+
+@pytest.mark.parametrize('critical', ['controlsd', 'selfdrived', 'pandad', 'modeld', 'card', 'camerad', 'soundd', 'unknown_service'])
+def test_ui_restart_does_not_hide_driving_failure(critical):
+  drive = process_health([('ui', False, True), (critical, False, True)])
+  assert drive.update_process_health()
+  assert drive.not_running_prev == {critical}
+  assert drive.events.contains(ET.SOFT_DISABLE)
+
+
+def test_ui_restart_preserves_enabled_state_without_warning():
+  drive = process_health([('ui', False, True), ('controlsd', True, True), ('selfdrived', True, True)])
+  assert not drive.update_process_health()
+  state = StateMachine()
+  state.state = log.SelfdriveState.OpenpilotState.enabled
+  state.update(drive.events)
+  assert state.state == log.SelfdriveState.OpenpilotState.enabled
+  assert not drive.events.contains(ET.SOFT_DISABLE)
+  assert not drive.events.contains(ET.IMMEDIATE_DISABLE)
diff --git a/prebuilt.json b/prebuilt.json
index d36e0c962e..bd0848bb53 100644
--- a/prebuilt.json
+++ b/prebuilt.json
@@ -1 +1 @@
-{"protected_inventory_sha256": "c11fbe2409cae4ba5c1fc311a5715d93588886e26625717f7bc2997a0557d680", "schema_version": 1}
+{"protected_inventory_sha256": "76719de784909665231700c43e3485008e4c0e0f8361b273ffac4e9c09d262bd", "schema_version": 1}