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watchdog: always seen if offroad (#205)

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* watchdog: always seen if offroad

* do this instead

* don't set always_watchdog until we have an exitcode
This commit is contained in:
Jason Wen
2023-07-08 22:27:10 -07:00
committed by GitHub
parent 18120d8ee8
commit be7ee80d58
1 changed files with 10 additions and 5 deletions
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selfdrive/manager/process.py
+10 -5
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@@ -79,6 +79,7 @@ class ManagerProcess(ABC):
last_watchdog_time = 0
watchdog_max_dt: Optional[int] = None
always_watchdog = False
watchdog_seen = False
shutting_down = False
@@ -94,7 +95,7 @@ class ManagerProcess(ABC):
self.stop(sig=signal.SIGKILL)
self.start()
def check_watchdog(self, started: bool) -> None:
def check_watchdog(self, started: bool, params: Params) -> None:
if self.watchdog_max_dt is None or self.proc is None:
return
@@ -107,8 +108,10 @@ class ManagerProcess(ABC):
dt = sec_since_boot() - self.last_watchdog_time / 1e9
always_watchdog = self.always_watchdog and params.get_bool("IsOffroad") and self.proc.exitcode is not None
if dt > self.watchdog_max_dt:
if self.watchdog_seen and ENABLE_WATCHDOG:
if (self.watchdog_seen or always_watchdog) and ENABLE_WATCHDOG:
cloudlog.error(f"Watchdog timeout for {self.name} (exitcode {self.proc.exitcode}) restarting ({started=})")
self.restart()
else:
@@ -184,7 +187,7 @@ class ManagerProcess(ABC):
class NativeProcess(ManagerProcess):
def __init__(self, name, cwd, cmdline, enabled=True, onroad=True, offroad=False, callback=None, unkillable=False, sigkill=False, watchdog_max_dt=None):
def __init__(self, name, cwd, cmdline, enabled=True, onroad=True, offroad=False, callback=None, unkillable=False, sigkill=False, watchdog_max_dt=None, always_watchdog=False):
self.name = name
self.cwd = cwd
self.cmdline = cmdline
@@ -195,6 +198,7 @@ class NativeProcess(ManagerProcess):
self.unkillable = unkillable
self.sigkill = sigkill
self.watchdog_max_dt = watchdog_max_dt
self.always_watchdog = always_watchdog
def prepare(self) -> None:
pass
@@ -216,7 +220,7 @@ class NativeProcess(ManagerProcess):
class PythonProcess(ManagerProcess):
def __init__(self, name, module, enabled=True, onroad=True, offroad=False, callback=None, unkillable=False, sigkill=False, watchdog_max_dt=None):
def __init__(self, name, module, enabled=True, onroad=True, offroad=False, callback=None, unkillable=False, sigkill=False, watchdog_max_dt=None, always_watchdog=False):
self.name = name
self.module = module
self.enabled = enabled
@@ -226,6 +230,7 @@ class PythonProcess(ManagerProcess):
self.unkillable = unkillable
self.sigkill = sigkill
self.watchdog_max_dt = watchdog_max_dt
self.always_watchdog = always_watchdog
def prepare(self) -> None:
if self.enabled:
@@ -316,6 +321,6 @@ def ensure_running(procs: ValuesView[ManagerProcess], started: bool, params=None
else:
p.stop(block=False)
p.check_watchdog(started)
p.check_watchdog(started, params)
return running