pandad: reset safety mode on exit #32103
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selfdrive/pandad/pandad.py
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| count = 0 | ||
| first_run = True | ||
| params = Params() | ||
| no_internal_panda_count = 0 | ||
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| while True: | ||
| while not do_exit: |
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This behavior matches pandad.cc's of looping until it gets a SIGTERM signal and then gracefully exiting.
selfdrive/pandad/pandad.py
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| # override manager's immediate SystemExit to allow pandad to exit gracefully | ||
| def signal_handler(signum, frame): | ||
| nonlocal do_exit | ||
| do_exit = True | ||
| cloudlog.warning(f"caught signal {signum}, exiting") | ||
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| do_exit = False | ||
| signal.signal(signal.SIGTERM, signal_handler) | ||
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When creating a new Python process with multiprocessing.Process, it inherits the parent's signal handler. For manager, that is to cause a SystemExit immediately, which SIGKILLs pandad.cc before it has a chance to react to the SIGTERM and close the relay.
openpilot/system/manager/manager.py
Lines 183 to 184 in e8857a6
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@adeebshihadeh we have two options:
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allows for restarting the device while onroad without faulting the car