Update host.py

openpilot/tools/wgpu/host.py

@@ -1,5 +1,7 @@
 #!/usr/bin/env python3
 import argparse
+import os
+import signal
 import subprocess
 import sys
 import time
@@ -11,11 +13,15 @@ CAMERASTREAM = ROOT / "openpilot/tools/camerastream/compressed_vipc.py"
 
 
 def stop_process(proc: subprocess.Popen) -> None:
-  proc.terminate()
+  try:
+    os.killpg(proc.pid, signal.SIGTERM)
+  except ProcessLookupError:
+    proc.wait()
+    return
   try:
     proc.wait(timeout=5)
   except subprocess.TimeoutExpired:
-    proc.kill()
+    os.killpg(proc.pid, signal.SIGKILL)
     proc.wait()
 
 
@@ -25,11 +31,11 @@ def main() -> None:
   parser.add_argument("--big-model", action="store_true", help="use the locally compiled big driving model")
   args = parser.parse_args()
 
-  camera = subprocess.Popen([sys.executable, str(CAMERASTREAM), args.device, "--cams", "0,2"])
+  camera = subprocess.Popen([sys.executable, str(CAMERASTREAM), args.device, "--cams", "0,2"], start_new_session=True)
   model_args = [sys.executable, "-m", "openpilot.selfdrive.modeld.modeld", "--remote", args.device]
   if args.big_model:
     model_args.append("--big-model")
-  model = subprocess.Popen(model_args, cwd=ROOT)
+  model = subprocess.Popen(model_args, cwd=ROOT, start_new_session=True)
 
   procs = [camera, model]
   try:
@@ -41,6 +47,7 @@ def main() -> None:
     for proc in procs:
       if proc.poll() is None:
         stop_process(proc)
+    print("wgpu host stopped")
 
 
 if __name__ == "__main__":