make soundd exit cleanly (#22794)

selfdrive/manager/test/test_manager.py

@@ -49,7 +49,7 @@ class TestManager(unittest.TestCase):
       self.assertTrue(state.running, f"{p} not running")
 
       exit_code = managed_processes[p].stop(retry=False)
-      if (p == 'ui') or (EON and p == 'logcatd') or (p == 'soundd'):
+      if (p == 'ui') or (EON and p == 'logcatd'):
         # TODO: make Qt UI exit gracefully
         continue
 

selfdrive/ui/SConscript

@@ -44,7 +44,7 @@ qt_env.Depends(assets, Glob('#selfdrive/assets/*', exclude=[assets, assets_src,
 asset_obj = qt_env.Object("assets", assets)
 
 # build soundd
-qt_env.Program("_soundd", "soundd.cc", LIBS=base_libs)
+qt_env.Program("_soundd", "soundd.cc", LIBS=qt_libs)
 if GetOption('test'):
   qt_env.Program("tests/playsound", "tests/playsound.cc", LIBS=base_libs)
 

selfdrive/ui/soundd.cc

@@ -6,6 +6,7 @@
 #include <QString>
 #include <QSoundEffect>
 
+#include "selfdrive/ui/qt/util.h"
 #include "cereal/messaging/messaging.h"
 #include "selfdrive/common/util.h"
 #include "selfdrive/hardware/hw.h"
@@ -14,6 +15,10 @@
 // TODO: detect when we can't play sounds
 // TODO: detect when we can't display the UI
 
+void sigHandler(int s) {
+  qApp->quit();
+}
+
 class Sound : public QObject {
 public:
   explicit Sound(QObject *parent = 0) {
@@ -100,9 +105,13 @@ private:
 };
 
 int main(int argc, char **argv) {
+  qInstallMessageHandler(swagLogMessageHandler);
   setpriority(PRIO_PROCESS, 0, -20);
 
   QApplication a(argc, argv);
+  std::signal(SIGINT, sigHandler);
+  std::signal(SIGTERM, sigHandler);
+
   Sound sound;
   return a.exec();
 }