Compile FrogPilot

selfdrive/manager/manager.py

@@ -31,10 +31,6 @@ from openpilot.selfdrive.frogpilot.functions.frogpilot_functions import DEFAULT_
 def manager_init() -> None:
   save_bootlog()
 
-  # Clear the error log on boot to prevent old errors from hanging around
-  if os.path.isfile(os.path.join(sentry.CRASHES_DIR, 'error.txt')):
-    os.remove(os.path.join(sentry.CRASHES_DIR, 'error.txt'))
-
   params = Params()
   params_storage = Params("/persist/comma/params")
   params.clear_all(ParamKeyType.CLEAR_ON_MANAGER_START)
@@ -389,14 +385,15 @@ def manager_thread() -> None:
 
     if started and not started_prev:
       params.clear_all(ParamKeyType.CLEAR_ON_ONROAD_TRANSITION)
-    elif not started and started_prev:
-      params.clear_all(ParamKeyType.CLEAR_ON_OFFROAD_TRANSITION)
-      params_memory.clear_all(ParamKeyType.CLEAR_ON_OFFROAD_TRANSITION)
 
       # Clear the error log on offroad transition to prevent old errors from hanging around
       if os.path.isfile(os.path.join(sentry.CRASHES_DIR, 'error.txt')):
         os.remove(os.path.join(sentry.CRASHES_DIR, 'error.txt'))
 
+    elif not started and started_prev:
+      params.clear_all(ParamKeyType.CLEAR_ON_OFFROAD_TRANSITION)
+      params_memory.clear_all(ParamKeyType.CLEAR_ON_OFFROAD_TRANSITION)
+
     # update onroad params, which drives boardd's safety setter thread
     if started != started_prev:
       write_onroad_params(started, params)
@@ -417,7 +414,7 @@ def manager_thread() -> None:
 
     # Exit main loop when uninstall/shutdown/reboot is needed
     shutdown = False
-    for param in ("DoUninstall", "DoShutdown", "DoReboot", "DoSoftReboot"):
+    for param in ("DoUninstall", "DoShutdown", "DoReboot"):
       if params.get_bool(param):
         shutdown = True
         params.put("LastManagerExitReason", f"{param} {datetime.datetime.now()}")
@@ -493,9 +490,6 @@ def main() -> None:
   if params.get_bool("DoUninstall"):
     cloudlog.warning("uninstalling")
     HARDWARE.uninstall()
-  elif params.get_bool("DoSoftReboot"):
-    cloudlog.warning("softreboot")
-    HARDWARE.soft_reboot()
   elif params.get_bool("DoReboot"):
     cloudlog.warning("reboot")
     HARDWARE.reboot()

selfdrive/manager/test/test_manager.py

@@ -1,82 +0,0 @@
-#!/usr/bin/env python3
-import os
-import pytest
-import signal
-import time
-import unittest
-
-from parameterized import parameterized
-
-from cereal import car
-from openpilot.common.params import Params
-import openpilot.selfdrive.manager.manager as manager
-from openpilot.selfdrive.manager.process import ensure_running
-from openpilot.selfdrive.manager.process_config import managed_processes
-from openpilot.system.hardware import HARDWARE
-
-os.environ['FAKEUPLOAD'] = "1"
-
-MAX_STARTUP_TIME = 3
-BLACKLIST_PROCS = ['manage_athenad', 'pandad', 'pigeond']
-
-
-@pytest.mark.tici
-class TestManager(unittest.TestCase):
-  def setUp(self):
-    HARDWARE.set_power_save(False)
-
-    # ensure clean CarParams
-    params = Params()
-    params.clear_all()
-
-  def tearDown(self):
-    manager.manager_cleanup()
-
-  def test_manager_prepare(self):
-    os.environ['PREPAREONLY'] = '1'
-    manager.main()
-
-  def test_blacklisted_procs(self):
-    # TODO: ensure there are blacklisted procs until we have a dedicated test
-    self.assertTrue(len(BLACKLIST_PROCS), "No blacklisted procs to test not_run")
-
-  @parameterized.expand([(i,) for i in range(10)])
-  def test_startup_time(self, index):
-    start = time.monotonic()
-    os.environ['PREPAREONLY'] = '1'
-    manager.main()
-    t = time.monotonic() - start
-    assert t < MAX_STARTUP_TIME, f"startup took {t}s, expected <{MAX_STARTUP_TIME}s"
-
-  @unittest.skip("this test is flaky the way it's currently written, should be moved to test_onroad")
-  def test_clean_exit(self):
-    """
-      Ensure all processes exit cleanly when stopped.
-    """
-    HARDWARE.set_power_save(False)
-    manager.manager_init()
-
-    CP = car.CarParams.new_message()
-    procs = ensure_running(managed_processes.values(), True, Params(), CP, not_run=BLACKLIST_PROCS)
-
-    time.sleep(10)
-
-    for p in procs:
-      with self.subTest(proc=p.name):
-        state = p.get_process_state_msg()
-        self.assertTrue(state.running, f"{p.name} not running")
-        exit_code = p.stop(retry=False)
-
-        self.assertNotIn(p.name, BLACKLIST_PROCS, f"{p.name} was started")
-
-        self.assertTrue(exit_code is not None, f"{p.name} failed to exit")
-
-        # TODO: interrupted blocking read exits with 1 in cereal. use a more unique return code
-        exit_codes = [0, 1]
-        if p.sigkill:
-          exit_codes = [-signal.SIGKILL]
-        self.assertIn(exit_code, exit_codes, f"{p.name} died with {exit_code}")
-
-
-if __name__ == "__main__":
-  unittest.main()