From bc0aa1c59865645ea40f8b26fd2fc2cc58a7eb92 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 1 Aug 2023 22:18:58 -0700
Subject: [PATCH] manager: remove old unkillable process handling (#29209)

---
 selfdrive/manager/process.py        | 21 ++++-----------------
 selfdrive/manager/process_config.py |  3 +--
 2 files changed, 5 insertions(+), 19 deletions(-)

diff --git a/selfdrive/manager/process.py b/selfdrive/manager/process.py
index b5f1e7a71a..76a49eda5b 100644
--- a/selfdrive/manager/process.py
+++ b/selfdrive/manager/process.py
@@ -17,7 +17,6 @@ from common.basedir import BASEDIR
 from common.params import Params
 from common.realtime import sec_since_boot
 from system.swaglog import cloudlog
-from system.hardware import HARDWARE
 from cereal import log
 
 WATCHDOG_FN = "/dev/shm/wd_"
@@ -67,7 +66,6 @@ def join_process(process: Process, timeout: float) -> None:
 
 
 class ManagerProcess(ABC):
-  unkillable = False
   daemon = False
   sigkill = False
   onroad = True
@@ -132,22 +130,11 @@ class ManagerProcess(ABC):
 
       join_process(self.proc, 5)
 
-      # If process failed to die send SIGKILL or reboot
+      # If process failed to die send SIGKILL
       if self.proc.exitcode is None and retry:
-        if self.unkillable:
-          cloudlog.critical(f"unkillable process {self.name} failed to exit! rebooting in 15 if it doesn't die")
-          join_process(self.proc, 15)
-
-          if self.proc.exitcode is None:
-            cloudlog.critical(f"unkillable process {self.name} failed to die!")
-            os.system("date >> /data/unkillable_reboot")
-            os.sync()
-            HARDWARE.reboot()
-            raise RuntimeError
-        else:
-          cloudlog.info(f"killing {self.name} with SIGKILL")
-          self.signal(signal.SIGKILL)
-          self.proc.join()
+        cloudlog.info(f"killing {self.name} with SIGKILL")
+        self.signal(signal.SIGKILL)
+        self.proc.join()
 
     ret = self.proc.exitcode
     cloudlog.info(f"{self.name} is dead with {ret}")
diff --git a/selfdrive/manager/process_config.py b/selfdrive/manager/process_config.py
index 71f63175fa..f151a51d10 100644
--- a/selfdrive/manager/process_config.py
+++ b/selfdrive/manager/process_config.py
@@ -30,8 +30,7 @@ def qcomgps(started, params, CP: car.CarParams) -> bool:
   return started and not ublox_available()
 
 procs = [
-  # due to qualcomm kernel bugs SIGKILLing camerad sometimes causes page table corruption
-  NativeProcess("camerad", "system/camerad", ["./camerad"], unkillable=True, callback=driverview),
+  NativeProcess("camerad", "system/camerad", ["./camerad"], callback=driverview),
   NativeProcess("clocksd", "system/clocksd", ["./clocksd"]),
   NativeProcess("logcatd", "system/logcatd", ["./logcatd"]),
   NativeProcess("proclogd", "system/proclogd", ["./proclogd"]),