Add watchdog check to manager (#20277)

* this should work but doesnt

* Only offroad

* works

* make it work offorad

* reduce diff

* cleanup

* need util

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

release/files_common

@@ -196,6 +196,8 @@ selfdrive/common/clutil.cc
 selfdrive/common/clutil.h
 selfdrive/common/params.h
 selfdrive/common/params.cc
+selfdrive/common/watchdog.cc
+selfdrive/common/watchdog.h
 
 selfdrive/common/modeldata.h
 selfdrive/common/mat.h

selfdrive/common/SConscript

@@ -5,7 +5,14 @@ if SHARED:
 else:
   fxn = env.Library
 
-common_libs = ['params.cc', 'swaglog.cc', 'util.cc', 'gpio.cc', 'i2c.cc']
+common_libs = [
+  'params.cc',
+  'swaglog.cc',
+  'util.cc',
+  'gpio.cc',
+  'i2c.cc',
+  'watchdog.cc',
+]
 
 _common = fxn('common', common_libs, LIBS="json11")
 

selfdrive/common/util.cc

@@ -1,11 +1,7 @@
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <assert.h>
-#include <unistd.h>
-#include <fcntl.h>
 #include <errno.h>
 
+#include "common/util.h"
+
 #ifdef __linux__
 #include <sys/prctl.h>
 #include <sys/syscall.h>
@@ -45,8 +41,8 @@ void* read_file(const char* path, size_t* out_len) {
   return buf;
 }
 
-int write_file(const char* path, const void* data, size_t size) {
-  int fd = open(path, O_WRONLY);
+int write_file(const char* path, const void* data, size_t size, int flags, mode_t mode) {
+  int fd = open(path, flags, mode);
   if (fd == -1) {
     return -1;
   }

selfdrive/common/util.h

@@ -1,8 +1,9 @@
 #pragma once
 
-#include <stdio.h>
-#include <unistd.h>
+#include <cstdio>
 #include <csignal>
+#include <cstring>
+#include <cstdlib>
 #include <string>
 #include <memory>
 #include <atomic>
@@ -10,6 +11,9 @@
 #include <fstream>
 #include <thread>
 #include <chrono>
+#include <cassert>
+#include <unistd.h>
+#include <fcntl.h>
 
 #ifndef sighandler_t
 typedef void (*sighandler_t)(int sig);
@@ -25,7 +29,7 @@ typedef void (*sighandler_t)(int sig);
 // Returns NULL on failure, otherwise the NULL-terminated file contents.
 // The result must be freed by the caller.
 void* read_file(const char* path, size_t* out_len);
-int write_file(const char* path, const void* data, size_t size);
+int write_file(const char* path, const void* data, size_t size, int flags=O_WRONLY, mode_t mode=0777);
 
 void set_thread_name(const char* name);
 

selfdrive/common/watchdog.cc

@@ -0,0 +1,17 @@
+#include <string>
+#include <cstdint>
+#include <unistd.h>
+
+#include "common/timing.h"
+#include "common/util.h"
+#include "common/watchdog.h"
+
+const std::string watchdog_fn_prefix = "/dev/shm/wd_";  // + <pid>
+
+bool watchdog_kick(){
+  std::string fn = watchdog_fn_prefix + std::to_string(getpid());
+  std::string cur_t = std::to_string(nanos_since_boot());
+
+  int r = write_file(fn.c_str(), cur_t.data(), cur_t.length(), O_WRONLY | O_CREAT);
+  return r == 0;
+}

selfdrive/common/watchdog.h

@@ -0,0 +1,3 @@
+#pragma once
+
+bool watchdog_kick();

selfdrive/manager/process.py

@@ -12,10 +12,14 @@ import cereal.messaging as messaging
 import selfdrive.crash as crash
 from common.basedir import BASEDIR
 from common.params import Params
+from common.realtime import sec_since_boot
 from selfdrive.swaglog import cloudlog
 from selfdrive.hardware import HARDWARE
 from cereal import log
 
+WATCHDOG_FN = "/dev/shm/wd_"
+ENABLE_WATCHDOG = os.getenv("NO_WATCHDOG") is None
+
 
 def launcher(proc):
   try:
@@ -61,6 +65,10 @@ class ManagerProcess(ABC):
   enabled = True
   name = ""
 
+  last_watchdog_time = 0
+  watchdog_max_dt = None
+  watchdog_seen = False
+
   @abstractmethod
   def prepare(self):
     pass
@@ -69,6 +77,30 @@ class ManagerProcess(ABC):
   def start(self):
     pass
 
+  def restart(self):
+    self.stop()
+    self.start()
+
+  def check_watchdog(self, started):
+    if self.watchdog_max_dt is None or self.proc is None:
+      return
+
+    try:
+      fn = WATCHDOG_FN + str(self.proc.pid)
+      self.last_watchdog_time = int(open(fn).read())
+    except Exception:
+      pass
+
+    dt = sec_since_boot() - self.last_watchdog_time / 1e9
+
+    if dt > self.watchdog_max_dt:
+      # Only restart while offroad for now
+      if self.watchdog_seen and ENABLE_WATCHDOG and (not started):
+        cloudlog.error(f"Watchdog timeout for {self.name}, restarting")
+        self.restart()
+    else:
+      self.watchdog_seen = True
+
   def stop(self, retry=True):
     if self.proc is None:
       return
@@ -128,7 +160,7 @@ class ManagerProcess(ABC):
 
 
 class NativeProcess(ManagerProcess):
-  def __init__(self, name, cwd, cmdline, enabled=True, persistent=False, driverview=False, unkillable=False, sigkill=False):
+  def __init__(self, name, cwd, cmdline, enabled=True, persistent=False, driverview=False, unkillable=False, sigkill=False, watchdog_max_dt=None):
     self.name = name
     self.cwd = cwd
     self.cmdline = cmdline
@@ -137,6 +169,7 @@ class NativeProcess(ManagerProcess):
     self.driverview = driverview
     self.unkillable = unkillable
     self.sigkill = sigkill
+    self.watchdog_max_dt = watchdog_max_dt
 
   def prepare(self):
     pass
@@ -149,10 +182,11 @@ class NativeProcess(ManagerProcess):
     cloudlog.info("starting process %s" % self.name)
     self.proc = Process(name=self.name, target=nativelauncher, args=(self.cmdline, cwd))
     self.proc.start()
+    self.watchdog_seen = False
 
 
 class PythonProcess(ManagerProcess):
-  def __init__(self, name, module, enabled=True, persistent=False, driverview=False, unkillable=False, sigkill=False):
+  def __init__(self, name, module, enabled=True, persistent=False, driverview=False, unkillable=False, sigkill=False, watchdog_max_dt=None):
     self.name = name
     self.module = module
     self.enabled = enabled
@@ -160,6 +194,7 @@ class PythonProcess(ManagerProcess):
     self.driverview = driverview
     self.unkillable = unkillable
     self.sigkill = sigkill
+    self.watchdog_max_dt = watchdog_max_dt
 
   def prepare(self):
     if self.enabled:
@@ -173,6 +208,7 @@ class PythonProcess(ManagerProcess):
     cloudlog.info("starting python %s" % self.module)
     self.proc = Process(name=self.name, target=launcher, args=(self.module,))
     self.proc.start()
+    self.watchdog_seen = False
 
 
 class DaemonProcess(ManagerProcess):
@@ -234,3 +270,6 @@ def ensure_running(procs, started, driverview=False, not_run=None):
       p.start()
     else:
       p.stop()
+
+    p.check_watchdog(started)
+

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),
+  NativeProcess("ui", "selfdrive/ui", ["./ui"], persistent=True, watchdog_max_dt=10),
   PythonProcess("calibrationd", "selfdrive.locationd.calibrationd"),
   PythonProcess("controlsd", "selfdrive.controls.controlsd"),
   PythonProcess("deleter", "selfdrive.loggerd.deleter", persistent=True),

selfdrive/ui/android/ui.cc

@@ -9,6 +9,7 @@
 #include "common/params.h"
 #include "common/touch.h"
 #include "common/swaglog.h"
+#include "common/watchdog.h"
 
 #include "ui.hpp"
 #include "paint.hpp"
@@ -139,6 +140,7 @@ int main(int argc, char* argv[]) {
   s->sound->setVolume(MIN_VOLUME);
 
   while (!do_exit) {
+    watchdog_kick();
     if (!s->scene.started) {
       util::sleep_for(50);
     }

selfdrive/ui/qt/home.cc

@@ -16,6 +16,7 @@
 #include "common/params.h"
 #include "common/timing.h"
 #include "common/swaglog.h"
+#include "common/watchdog.h"
 
 #include "home.hpp"
 #include "paint.hpp"
@@ -276,6 +277,7 @@ void GLWindow::timerUpdate() {
 
   ui_update(&ui_state);
   repaint();
+  watchdog_kick();
 }
 
 void GLWindow::resizeGL(int w, int h) {