watchdog: restart while onroad (#21636)

old-commit-hash: 09291b99bc

selfdrive/manager/process.py

@@ -96,8 +96,8 @@ class ManagerProcess(ABC):
 
     if dt > self.watchdog_max_dt:
       # Only restart while offroad for now
-      if self.watchdog_seen and ENABLE_WATCHDOG and (not started):
+      if self.watchdog_seen and ENABLE_WATCHDOG:
-        cloudlog.error(f"Watchdog timeout for {self.name} (exitcode {self.proc.exitcode}) restarting")
+        cloudlog.error(f"Watchdog timeout for {self.name} (exitcode {self.proc.exitcode}) restarting ({started=})")
         self.restart()
     else:
       self.watchdog_seen = True

selfdrive/manager/process_config.py

@@ -17,7 +17,7 @@ procs = [
   NativeProcess("proclogd", "selfdrive/proclogd", ["./proclogd"]),
   NativeProcess("sensord", "selfdrive/sensord", ["./sensord"], enabled=not PC, persistent=EON, sigkill=EON),
   NativeProcess("ubloxd", "selfdrive/locationd", ["./ubloxd"], enabled=(not PC or WEBCAM)),
-  NativeProcess("ui", "selfdrive/ui", ["./ui"], persistent=True, watchdog_max_dt=(10 if TICI else None)),
+  NativeProcess("ui", "selfdrive/ui", ["./ui"], persistent=True, watchdog_max_dt=(5 if TICI else None)),
   NativeProcess("soundd", "selfdrive/ui", ["./soundd"]),
   NativeProcess("locationd", "selfdrive/locationd", ["./locationd"]),
   PythonProcess("calibrationd", "selfdrive.locationd.calibrationd"),