manager.py broadcast process states (#19880)

* broadcast managerstate

* Remove boardd

* show alert

* only trigger on actually receiving a manager state

* add managerstate to simulation exclude for longitudinal test

* broadcast managerState in process replay

* update alert text

* bump cereal

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: b6a220a133640c24fc596f6c3b181f5d0dd921a2

selfdrive/controls/controlsd.py

@@ -29,6 +29,7 @@ STEER_ANGLE_SATURATION_THRESHOLD = 2.5  # Degrees
 
 SIMULATION = "SIMULATION" in os.environ
 NOSENSOR = "NOSENSOR" in os.environ
+IGNORE_PROCESSES = set(["rtshield", "uploader", "deleter", "loggerd", "logmessaged", "tombstoned", "logcatd", "proclogd", "clocksd", "gpsd", "updated"])
 
 ThermalStatus = log.ThermalData.ThermalStatus
 State = log.ControlsState.OpenpilotState
@@ -52,10 +53,10 @@ class Controls:
 
     self.sm = sm
     if self.sm is None:
-      ignore = ['ubloxRaw', 'frontFrame'] if SIMULATION else None
+      ignore = ['ubloxRaw', 'frontFrame', 'managerState'] if SIMULATION else None
       self.sm = messaging.SubMaster(['thermal', 'health', 'modelV2', 'liveCalibration', 'ubloxRaw',
                                      'dMonitoringState', 'plan', 'pathPlan', 'liveLocationKalman',
-                                     'frame', 'frontFrame'], ignore_alive=ignore)
+                                     'frame', 'frontFrame', 'managerState'], ignore_alive=ignore)
 
     self.can_sock = can_sock
     if can_sock is None:
@@ -166,6 +167,11 @@ class Controls:
     if self.sm['thermal'].memUsedPercent > 90:
       self.events.add(EventName.lowMemory)
 
+    # Check if all manager processes are running
+    not_running = set(p.name for p in self.sm['managerState'].processes if not p.running)
+    if self.sm.rcv_frame['managerState'] and (not_running - IGNORE_PROCESSES):
+      self.events.add(EventName.processNotRunning)
+
     # Alert if fan isn't spinning for 5 seconds
     if self.sm['health'].hwType in [HwType.uno, HwType.dos]:
       if self.sm['health'].fanSpeedRpm == 0 and self.sm['thermal'].fanSpeed > 50:

selfdrive/controls/lib/events.py

@@ -615,6 +615,11 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
                               audible_alert=AudibleAlert.chimeDisengage),
   },
 
+  EventName.processNotRunning: {
+    ET.NO_ENTRY: NoEntryAlert("System Malfunction: Reboot Your Device",
+                              audible_alert=AudibleAlert.chimeDisengage),
+  },
+
   EventName.radarCommIssue: {
     ET.SOFT_DISABLE: SoftDisableAlert("Radar Communication Issue"),
     ET.NO_ENTRY: NoEntryAlert("Radar Communication Issue",

selfdrive/manager.py

@@ -143,6 +143,7 @@ if __name__ == "__main__" and not PREBUILT:
   build()
 
 import cereal.messaging as messaging
+from cereal import log
 
 from common.params import Params
 from selfdrive.registration import register
@@ -165,7 +166,6 @@ managed_processes = {
   "tombstoned": "selfdrive.tombstoned",
   "logcatd": ("selfdrive/logcatd", ["./logcatd"]),
   "proclogd": ("selfdrive/proclogd", ["./proclogd"]),
-  "boardd": ("selfdrive/boardd", ["./boardd"]),   # not used directly
   "pandad": "selfdrive.pandad",
   "ui": ("selfdrive/ui", ["./ui"]),
   "calibrationd": "selfdrive.locationd.calibrationd",
@@ -462,6 +462,7 @@ def manager_thread():
   logger_dead = False
   params = Params()
   thermal_sock = messaging.sub_sock('thermal')
+  pm = messaging.PubMaster(['managerState'])
 
   while 1:
     msg = messaging.recv_sock(thermal_sock, wait=True)
@@ -501,6 +502,20 @@ def manager_thread():
     running_list = ["%s%s\u001b[0m" % ("\u001b[32m" if running[p].is_alive() else "\u001b[31m", p) for p in running]
     cloudlog.debug(' '.join(running_list))
 
+    # send managerState
+    states = []
+    for p in managed_processes:
+      state = log.ManagerState.ProcessState.new_message()
+      state.name = p
+      if p in running:
+        state.running = running[p].is_alive()
+        state.pid = running[p].pid
+        state.exitCode = running[p].exitcode or 0
+      states.append(state)
+    msg = messaging.new_message('managerState')
+    msg.managerState.processes = states
+    pm.send('managerState', msg)
+
     # Exit main loop when uninstall is needed
     if params.get("DoUninstall", encoding='utf8') == "1":
       break

selfdrive/test/process_replay/process_replay.py

@@ -222,7 +222,7 @@ CONFIGS = [
     pub_sub={
       "can": ["controlsState", "carState", "carControl", "sendcan", "carEvents", "carParams"],
       "thermal": [], "health": [], "liveCalibration": [], "dMonitoringState": [], "plan": [], "pathPlan": [], "gpsLocation": [], "liveLocationKalman": [],
-      "modelV2": [], "frontFrame": [], "frame": [], "ubloxRaw": [],
+      "modelV2": [], "frontFrame": [], "frame": [], "ubloxRaw": [], "managerState": [],
     },
     ignore=["logMonoTime", "valid", "controlsState.startMonoTime", "controlsState.cumLagMs"],
     init_callback=fingerprint,