reproduction, manager gets SIGTERM from python_process

old-commit-hash: b90402bd776c3933bfe3dd60998f9913b4bd0068

cpp_process.py

@@ -0,0 +1,6 @@
+import time
+
+if __name__ == "__main__":
+  print('python process!')
+  while True:
+    time.sleep(1)

python_process.py

@@ -0,0 +1,12 @@
+import os
+import subprocess
+
+from openpilot.common.basedir import BASEDIR
+
+
+def main():
+  print('pandad!')
+
+  while True:
+    os.chdir(os.path.join(BASEDIR))
+    subprocess.run(["python", "cpp_process.py"], check=True)

system/manager/manager.py

@@ -180,8 +180,13 @@ def main() -> None:
   if os.getenv("PREPAREONLY") is not None:
     return
 
+  def here(sig, frame):
+    print('manager got signal', sig)
+    sys.exit()
+
   # SystemExit on sigterm
-  signal.signal(signal.SIGTERM, lambda signum, frame: sys.exit(1))
+  # signal.signal(signal.SIGTERM, lambda signum, frame: sys.exit(1))
+  signal.signal(signal.SIGTERM, here)
 
   try:
     manager_thread()

system/manager/process_config.py

@@ -42,50 +42,51 @@ def only_offroad(started, params, CP: car.CarParams) -> bool:
   return not started
 
 procs = [
-  DaemonProcess("manage_athenad", "system.athena.manage_athenad", "AthenadPid"),
+  # DaemonProcess("manage_athenad", "system.athena.manage_athenad", "AthenadPid"),
-
+  #
-  NativeProcess("camerad", "system/camerad", ["./camerad"], driverview),
+  # NativeProcess("camerad", "system/camerad", ["./camerad"], driverview),
-  NativeProcess("logcatd", "system/logcatd", ["./logcatd"], only_onroad),
+  # NativeProcess("logcatd", "system/logcatd", ["./logcatd"], only_onroad),
-  NativeProcess("proclogd", "system/proclogd", ["./proclogd"], only_onroad),
+  # NativeProcess("proclogd", "system/proclogd", ["./proclogd"], only_onroad),
-  PythonProcess("logmessaged", "system.logmessaged", always_run),
+  # PythonProcess("logmessaged", "system.logmessaged", always_run),
-  PythonProcess("micd", "system.micd", iscar),
+  # PythonProcess("micd", "system.micd", iscar),
-  PythonProcess("timed", "system.timed", always_run, enabled=not PC),
+  # PythonProcess("timed", "system.timed", always_run, enabled=not PC),
-
+  #
-  PythonProcess("dmonitoringmodeld", "selfdrive.modeld.dmonitoringmodeld", driverview, enabled=(not PC or WEBCAM)),
+  # PythonProcess("dmonitoringmodeld", "selfdrive.modeld.dmonitoringmodeld", driverview, enabled=(not PC or WEBCAM)),
-  NativeProcess("encoderd", "system/loggerd", ["./encoderd"], only_onroad),
+  # NativeProcess("encoderd", "system/loggerd", ["./encoderd"], only_onroad),
-  NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], notcar),
+  # NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], notcar),
-  NativeProcess("loggerd", "system/loggerd", ["./loggerd"], logging),
+  # NativeProcess("loggerd", "system/loggerd", ["./loggerd"], logging),
-  NativeProcess("modeld", "selfdrive/modeld", ["./modeld"], only_onroad),
+  # NativeProcess("modeld", "selfdrive/modeld", ["./modeld"], only_onroad),
-  NativeProcess("sensord", "system/sensord", ["./sensord"], only_onroad, enabled=not PC),
+  # NativeProcess("sensord", "system/sensord", ["./sensord"], only_onroad, enabled=not PC),
-  NativeProcess("ui", "selfdrive/ui", ["./ui"], always_run, watchdog_max_dt=(5 if not PC else None)),
+  # NativeProcess("ui", "selfdrive/ui", ["./ui"], always_run, watchdog_max_dt=(5 if not PC else None)),
-  PythonProcess("soundd", "selfdrive.ui.soundd", only_onroad),
+  # PythonProcess("soundd", "selfdrive.ui.soundd", only_onroad),
-  NativeProcess("locationd", "selfdrive/locationd", ["./locationd"], only_onroad),
+  # NativeProcess("locationd", "selfdrive/locationd", ["./locationd"], only_onroad),
-  NativeProcess("pandad", "selfdrive/pandad", ["./pandad"], always_run, enabled=False),
+  # NativeProcess("pandad", "selfdrive/pandad", ["./pandad"], always_run, enabled=False),
-  PythonProcess("calibrationd", "selfdrive.locationd.calibrationd", only_onroad),
+  # PythonProcess("calibrationd", "selfdrive.locationd.calibrationd", only_onroad),
-  PythonProcess("torqued", "selfdrive.locationd.torqued", only_onroad),
+  # PythonProcess("torqued", "selfdrive.locationd.torqued", only_onroad),
-  PythonProcess("controlsd", "selfdrive.controls.controlsd", only_onroad),
+  # PythonProcess("controlsd", "selfdrive.controls.controlsd", only_onroad),
-  PythonProcess("card", "selfdrive.car.card", only_onroad),
+  # PythonProcess("card", "selfdrive.car.card", only_onroad),
-  PythonProcess("deleter", "system.loggerd.deleter", always_run),
+  # PythonProcess("deleter", "system.loggerd.deleter", always_run),
-  PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", driverview, enabled=(not PC or WEBCAM)),
+  # PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", driverview, enabled=(not PC or WEBCAM)),
-  PythonProcess("qcomgpsd", "system.qcomgpsd.qcomgpsd", qcomgps, enabled=TICI),
+  # PythonProcess("qcomgpsd", "system.qcomgpsd.qcomgpsd", qcomgps, enabled=TICI),
-  #PythonProcess("ugpsd", "system.ugpsd", only_onroad, enabled=TICI),
+  # #PythonProcess("ugpsd", "system.ugpsd", only_onroad, enabled=TICI),
-  PythonProcess("navd", "selfdrive.navd.navd", only_onroad),
+  # PythonProcess("navd", "selfdrive.navd.navd", only_onroad),
-  PythonProcess("pandad", "selfdrive.pandad.pandad", always_run),
+  # PythonProcess("pandad", "selfdrive.pandad.pandad", always_run),
-  PythonProcess("paramsd", "selfdrive.locationd.paramsd", only_onroad),
+  # PythonProcess("paramsd", "selfdrive.locationd.paramsd", only_onroad),
-  NativeProcess("ubloxd", "system/ubloxd", ["./ubloxd"], ublox, enabled=TICI),
+  # NativeProcess("ubloxd", "system/ubloxd", ["./ubloxd"], ublox, enabled=TICI),
-  PythonProcess("pigeond", "system.ubloxd.pigeond", ublox, enabled=TICI),
+  # PythonProcess("pigeond", "system.ubloxd.pigeond", ublox, enabled=TICI),
-  PythonProcess("plannerd", "selfdrive.controls.plannerd", only_onroad),
+  # PythonProcess("plannerd", "selfdrive.controls.plannerd", only_onroad),
-  PythonProcess("radard", "selfdrive.controls.radard", only_onroad),
+  # PythonProcess("radard", "selfdrive.controls.radard", only_onroad),
-  PythonProcess("hardwared", "system.hardware.hardwared", always_run),
+  # PythonProcess("hardwared", "system.hardware.hardwared", always_run),
-  PythonProcess("tombstoned", "system.tombstoned", always_run, enabled=not PC),
+  # PythonProcess("tombstoned", "system.tombstoned", always_run, enabled=not PC),
-  PythonProcess("updated", "system.updated.updated", only_offroad, enabled=not PC),
+  # PythonProcess("updated", "system.updated.updated", only_offroad, enabled=not PC),
-  PythonProcess("uploader", "system.loggerd.uploader", always_run),
+  # PythonProcess("uploader", "system.loggerd.uploader", always_run),
-  PythonProcess("statsd", "system.statsd", always_run),
+  # PythonProcess("statsd", "system.statsd", always_run),
+  PythonProcess("python_process", "python_process", always_run),
 
   # debug procs
-  NativeProcess("bridge", "cereal/messaging", ["./bridge"], notcar),
+  # NativeProcess("bridge", "cereal/messaging", ["./bridge"], notcar),
-  PythonProcess("webrtcd", "system.webrtc.webrtcd", notcar),
+  # PythonProcess("webrtcd", "system.webrtc.webrtcd", notcar),
-  PythonProcess("webjoystick", "tools.bodyteleop.web", notcar),
+  # PythonProcess("webjoystick", "tools.bodyteleop.web", notcar),
 ]
 
 managed_processes = {p.name: p for p in procs}