rm watchdog (#36425)

common/SConscript

@@ -4,7 +4,6 @@ common_libs = [
   'params.cc',
   'swaglog.cc',
   'util.cc',
-  'watchdog.cc',
   'ratekeeper.cc',
   'clutil.cc',
 ]

common/watchdog.cc

@@ -1,12 +0,0 @@
-#include <string>
-
-#include "common/watchdog.h"
-#include "common/util.h"
-#include "system/hardware/hw.h"
-
-const std::string watchdog_fn_prefix = Path::shm_path() + "/wd_";  // + <pid>
-
-bool watchdog_kick(uint64_t ts) {
-  static std::string fn = watchdog_fn_prefix + std::to_string(getpid());
-  return util::write_file(fn.c_str(), &ts, sizeof(ts), O_WRONLY | O_CREAT) > 0;
-}

common/watchdog.h

@@ -1,5 +0,0 @@
-#pragma once
-
-#include <cstdint>
-
-bool watchdog_kick(uint64_t ts);

common/watchdog.py

@@ -1,22 +0,0 @@
-import os
-import time
-import struct
-from openpilot.system.hardware.hw import Paths
-
-WATCHDOG_FN = f"{Paths.shm_path()}/wd_"
-_LAST_KICK = 0.0
-
-def kick_watchdog():
-  global _LAST_KICK
-  current_time = time.monotonic()
-
-  if current_time - _LAST_KICK < 1.0:
-    return
-
-  try:
-    with open(f"{WATCHDOG_FN}{os.getpid()}", 'wb') as f:
-      f.write(struct.pack('<Q', int(current_time * 1e9)))
-      f.flush()
-    _LAST_KICK = current_time
-  except OSError:
-    pass

selfdrive/ui/qt/offroad/settings.cc

@@ -6,7 +6,6 @@
 
 #include <QDebug>
 
-#include "common/watchdog.h"
 #include "common/util.h"
 #include "selfdrive/ui/qt/network/networking.h"
 #include "selfdrive/ui/qt/offroad/settings.h"
@@ -270,7 +269,6 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
       // put language setting, exit Qt UI, and trigger fast restart
       params.put("LanguageSetting", langs[selection].toStdString());
       qApp->exit(18);
-      watchdog_kick(0);
     }
   });
   addItem(translateBtn);

selfdrive/ui/ui.cc

@@ -8,7 +8,6 @@
 #include "common/transformations/orientation.hpp"
 #include "common/swaglog.h"
 #include "common/util.h"
-#include "common/watchdog.h"
 #include "system/hardware/hw.h"
 
 #define BACKLIGHT_DT 0.05
@@ -116,9 +115,6 @@ void UIState::update() {
   update_state(this);
   updateStatus();
 
-  if (sm->frame % UI_FREQ == 0) {
-    watchdog_kick(nanos_since_boot());
-  }
   emit uiUpdate(*this);
 }
 

system/manager/process.py

@@ -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()
 

system/manager/process_config.py

@@ -80,7 +80,7 @@ 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, enabled=False, watchdog_max_dt=(5 if not PC else None)),
+  # NativeProcess("ui", "selfdrive/ui", ["./ui"], always_run, enabled=False),
   PythonProcess("ui", "selfdrive.ui.ui", always_run),
   PythonProcess("soundd", "selfdrive.ui.soundd", only_onroad),
   PythonProcess("locationd", "selfdrive.locationd.locationd", only_onroad),