make android logcat exit cleanly (#19666)

* make android logcat exit cleanly

* clean up cpu usage script

Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: a399ec530d

selfdrive/debug/cpu_usage_stat.py

@@ -24,23 +24,19 @@ import argparse
 import re
 from collections import defaultdict
 
+import selfdrive.manager as manager
 
 # Do statistics every 5 seconds
 PRINT_INTERVAL = 5
 SLEEP_INTERVAL = 0.2
 
 monitored_proc_names = [
-  # openpilot procs
-  'controlsd', 'locationd', 'loggerd','plannerd',
-  'ubloxd', 'thermald', 'uploader', 'deleter', 'radard', 'logmessaged', 'tombstoned',
-  'logcatd', 'proclogd', 'boardd', 'pandad', './ui', 'ui', 'calibrationd', 'params_learner', 'modeld', 'dmonitoringd',
-  'dmonitoringmodeld', 'camerad', 'sensord', 'updated', 'gpsd', 'athena', 'locationd', 'paramsd',
-
+  # offroad APK
   'ai.comma.plus.offroad',
 
   # android procs
   'SurfaceFlinger', 'sensors.qcom'
-]
+] + manager.car_started_processes + manager.persistent_processes
 
 cpu_time_names = ['user', 'system', 'children_user', 'children_system']
 
@@ -48,9 +44,7 @@ timer = getattr(time, 'monotonic', time.time)
 
 
 def get_arg_parser():
-  parser = argparse.ArgumentParser(
-    description="Unlogger and UI",
-    formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+  parser = argparse.ArgumentParser(formatter_class=argparse.ArgumentDefaultsHelpFormatter)
 
   parser.add_argument("proc_names", nargs="?", default='',
                       help="Process names to be monitored, comma seperated")

selfdrive/logcatd/logcatd_android.cc

@@ -1,7 +1,9 @@
+#include <unistd.h>
 #include <cstdio>
 #include <cstdlib>
 #include <cassert>
 #include <csignal>
+#include <cerrno>
 #include <android/log.h>
 
 //#include <log/log.h>
@@ -23,7 +25,7 @@ int main() {
   signal(SIGINT, (sighandler_t)set_do_exit);
   signal(SIGTERM, (sighandler_t)set_do_exit);
 
-  struct logger_list *logger_list = android_logger_list_alloc(ANDROID_LOG_RDONLY, 0, 0);
+  struct logger_list *logger_list = android_logger_list_alloc(ANDROID_LOG_RDONLY | ANDROID_LOG_NONBLOCK, 0, 0);
   assert(logger_list);
   struct logger *main_logger = android_logger_open(logger_list, LOG_ID_MAIN);
   assert(main_logger);
@@ -40,7 +42,11 @@ int main() {
   while (!do_exit) {
     log_msg log_msg;
     err = android_logger_list_read(logger_list, &log_msg);
-    if (err <= 0) {
+
+    if (err == -EAGAIN) {
+      usleep(500 * 1000);
+      continue;
+    } else if (err <= 0) {
       break;
     }
 
@@ -64,5 +70,6 @@ int main() {
   }
 
   android_logger_list_close(logger_list);
+  android_logger_list_free(logger_list);
   return 0;
 }