Merge branch 'upstream/openpilot/master' into sync-20251114

# Conflicts: # .github/workflows/ci_weekly_run.yaml # .github/workflows/raylib_ui_preview.yaml # .github/workflows/tests.yaml # .gitmodules # README.md # SConstruct # common/api.py # common/params_keys.h # docs/CARS.md # msgq_repo # opendbc_repo # panda # selfdrive/car/tests/test_car_interfaces.py # selfdrive/controls/controlsd.py # selfdrive/controls/lib/latcontrol.py # selfdrive/controls/lib/latcontrol_angle.py # selfdrive/controls/lib/latcontrol_pid.py # selfdrive/controls/lib/latcontrol_torque.py # selfdrive/controls/tests/test_latcontrol.py # selfdrive/monitoring/helpers.py # selfdrive/ui/SConscript # selfdrive/ui/main.cc # selfdrive/ui/qt/body.h # selfdrive/ui/qt/home.cc # selfdrive/ui/qt/home.h # selfdrive/ui/qt/network/networking.cc # selfdrive/ui/qt/network/networking.h # selfdrive/ui/qt/network/wifi_manager.cc # selfdrive/ui/qt/offroad/developer_panel.cc # selfdrive/ui/qt/offroad/developer_panel.h # selfdrive/ui/qt/offroad/experimental_mode.cc # selfdrive/ui/qt/offroad/firehose.cc # selfdrive/ui/qt/offroad/firehose.h # selfdrive/ui/qt/offroad/onboarding.cc # selfdrive/ui/qt/offroad/onboarding.h # selfdrive/ui/qt/offroad/settings.cc # selfdrive/ui/qt/offroad/settings.h # selfdrive/ui/qt/offroad/software_settings.cc # selfdrive/ui/qt/onroad/alerts.cc # selfdrive/ui/qt/onroad/annotated_camera.h # selfdrive/ui/qt/onroad/buttons.cc # selfdrive/ui/qt/onroad/buttons.h # selfdrive/ui/qt/onroad/driver_monitoring.cc # selfdrive/ui/qt/onroad/hud.cc # selfdrive/ui/qt/onroad/hud.h # selfdrive/ui/qt/onroad/model.cc # selfdrive/ui/qt/onroad/model.h # selfdrive/ui/qt/onroad/onroad_home.cc # selfdrive/ui/qt/onroad/onroad_home.h # selfdrive/ui/qt/request_repeater.h # selfdrive/ui/qt/sidebar.cc # selfdrive/ui/qt/sidebar.h # selfdrive/ui/qt/util.cc # selfdrive/ui/qt/widgets/cameraview.h # selfdrive/ui/qt/widgets/controls.cc # selfdrive/ui/qt/widgets/controls.h # selfdrive/ui/qt/widgets/input.cc # selfdrive/ui/qt/widgets/input.h # selfdrive/ui/qt/widgets/prime.cc # selfdrive/ui/qt/widgets/prime.h # selfdrive/ui/qt/widgets/ssh_keys.h # selfdrive/ui/qt/widgets/toggle.h # selfdrive/ui/qt/widgets/wifi.cc # selfdrive/ui/qt/widgets/wifi.h # selfdrive/ui/qt/window.cc # selfdrive/ui/qt/window.h # selfdrive/ui/tests/cycle_offroad_alerts.py # selfdrive/ui/tests/test_ui/run.py # selfdrive/ui/translations/main_ar.ts # selfdrive/ui/translations/main_de.ts # selfdrive/ui/translations/main_es.ts # selfdrive/ui/translations/main_fr.ts # selfdrive/ui/translations/main_ja.ts # selfdrive/ui/translations/main_ko.ts # selfdrive/ui/translations/main_nl.ts # selfdrive/ui/translations/main_pl.ts # selfdrive/ui/translations/main_pt-BR.ts # selfdrive/ui/translations/main_th.ts # selfdrive/ui/translations/main_tr.ts # selfdrive/ui/translations/main_zh-CHS.ts # selfdrive/ui/translations/main_zh-CHT.ts # selfdrive/ui/ui.cc # selfdrive/ui/ui.h # system/manager/build.py # system/version.py
2026-08-06 00:36:29 +08:00 · 2025-11-16 02:00:29 -05:00
parent cb03d08397 9c19ec8409
commit 08e85808c5
496 changed files with 22367 additions and 59319 deletions
@@ -14,7 +14,7 @@ from openpilot.system.version import get_build_metadata
 MAX_CACHE_SIZE = 4e9 if "CI" in os.environ else 2e9
 CACHE_DIR = Path("/data/scons_cache" if AGNOS else "/tmp/scons_cache")

-TOTAL_SCONS_NODES = 3800
+TOTAL_SCONS_NODES = 2280
 MAX_BUILD_PROGRESS = 100

 def build(spinner: Spinner, dirty: bool = False, minimal: bool = False) -> None:
@@ -1,7 +1,6 @@
 import importlib
 import os
 import signal
-import struct
 import time
 import subprocess
 from collections.abc import Callable, ValuesView
@@ -16,9 +15,6 @@ import openpilot.system.sentry as sentry
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
-from openpilot.common.watchdog import WATCHDOG_FN
-
-ENABLE_WATCHDOG = os.getenv("NO_WATCHDOG") is None


 def launcher(proc: str, name: str) -> None:
@@ -70,10 +66,6 @@ class ManagerProcess(ABC):
  proc: Process | None = None
  enabled = True
  name = ""
-
-  last_watchdog_time = 0
-  watchdog_max_dt: int | None = None
-  watchdog_seen = False
  shutting_down = False

  @abstractmethod
@@ -88,26 +80,6 @@ class ManagerProcess(ABC):
    self.stop(sig=signal.SIGKILL)
    self.start()

-  def check_watchdog(self, started: bool) -> None:
-    if self.watchdog_max_dt is None or self.proc is None:
-      return
-
-    try:
-      fn = WATCHDOG_FN + str(self.proc.pid)
-      with open(fn, "rb") as f:
-        self.last_watchdog_time = struct.unpack('Q', f.read())[0]
-    except Exception:
-      pass
-
-    dt = time.monotonic() - self.last_watchdog_time / 1e9
-
-    if dt > self.watchdog_max_dt:
-      if self.watchdog_seen and ENABLE_WATCHDOG:
-        cloudlog.error(f"Watchdog timeout for {self.name} (exitcode {self.proc.exitcode}) restarting ({started=})")
-        self.restart()
-    else:
-      self.watchdog_seen = True
-
  def stop(self, retry: bool = True, block: bool = True, sig: signal.Signals = None) -> int | None:
    if self.proc is None:
      return None
@@ -167,14 +139,13 @@ class ManagerProcess(ABC):


 class NativeProcess(ManagerProcess):
-  def __init__(self, name, cwd, cmdline, should_run, enabled=True, sigkill=False, watchdog_max_dt=None):
+  def __init__(self, name, cwd, cmdline, should_run, enabled=True, sigkill=False):
    self.name = name
    self.cwd = cwd
    self.cmdline = cmdline
    self.should_run = should_run
    self.enabled = enabled
    self.sigkill = sigkill
-    self.watchdog_max_dt = watchdog_max_dt
    self.launcher = nativelauncher

  def prepare(self) -> None:
@@ -192,18 +163,16 @@ class NativeProcess(ManagerProcess):
    cloudlog.info(f"starting process {self.name}")
    self.proc = Process(name=self.name, target=self.launcher, args=(self.cmdline, cwd, self.name))
    self.proc.start()
-    self.watchdog_seen = False
    self.shutting_down = False


 class PythonProcess(ManagerProcess):
-  def __init__(self, name, module, should_run, enabled=True, sigkill=False, watchdog_max_dt=None):
+  def __init__(self, name, module, should_run, enabled=True, sigkill=False):
    self.name = name
    self.module = module
    self.should_run = should_run
    self.enabled = enabled
    self.sigkill = sigkill
-    self.watchdog_max_dt = watchdog_max_dt
    self.launcher = launcher

  def prepare(self) -> None:
@@ -226,7 +195,6 @@ class PythonProcess(ManagerProcess):
    cloudlog.info(f"starting python {self.module}")
    self.proc = Process(name=name, target=self.launcher, args=(self.module, self.name))
    self.proc.start()
-    self.watchdog_seen = False
    self.shutting_down = False


@@ -288,8 +256,6 @@ def ensure_running(procs: ValuesView[ManagerProcess], started: bool, params=None
    else:
      p.stop(block=False)

-    p.check_watchdog(started)
-
  for p in running:
    p.start()

@@ -10,8 +10,8 @@ from openpilot.system.hardware.hw import Paths

 from openpilot.sunnypilot.mapd.mapd_manager import MAPD_PATH

-from sunnypilot.models.helpers import get_active_model_runner
-from sunnypilot.sunnylink.utils import sunnylink_need_register, sunnylink_ready, use_sunnylink_uploader
+from openpilot.sunnypilot.models.helpers import get_active_model_runner
+from openpilot.sunnypilot.sunnylink.utils import sunnylink_need_register, sunnylink_ready, use_sunnylink_uploader

 WEBCAM = os.getenv("USE_WEBCAM") is not None

@@ -126,8 +126,7 @@ procs = [
  PythonProcess("dmonitoringmodeld", "selfdrive.modeld.dmonitoringmodeld", driverview, enabled=(WEBCAM or not PC)),

  PythonProcess("sensord", "system.sensord.sensord", only_onroad, enabled=not PC),
-  NativeProcess("ui", "selfdrive/ui", ["./ui"], always_run, watchdog_max_dt=(5 if not PC else None)),
-  PythonProcess("raylib_ui", "selfdrive.ui.ui", always_run, enabled=False, watchdog_max_dt=(5 if not PC else None)),
+  PythonProcess("ui", "selfdrive.ui.ui", always_run),
  PythonProcess("soundd", "selfdrive.ui.soundd", only_onroad),
  PythonProcess("locationd", "selfdrive.locationd.locationd", only_onroad),
  NativeProcess("_pandad", "selfdrive/pandad", ["./pandad"], always_run, enabled=False),