Screenrecorder

Credit goes to Neokii!

https: //github.com/neokii
Co-Authored-By: neokii <3665951+neokii@users.noreply.github.com>

selfdrive/manager/process.py

@@ -103,7 +103,7 @@ class ManagerProcess(ABC):
     dt = time.monotonic() - self.last_watchdog_time / 1e9
 
     if dt > self.watchdog_max_dt:
-      if self.watchdog_seen and ENABLE_WATCHDOG:
+      if (self.watchdog_seen or self.always_watchdog and self.proc.exitcode is not None) and ENABLE_WATCHDOG:
         cloudlog.error(f"Watchdog timeout for {self.name} (exitcode {self.proc.exitcode}) restarting ({started=})")
         self.restart()
     else:
@@ -168,7 +168,7 @@ class ManagerProcess(ABC):
 
 
 class NativeProcess(ManagerProcess):
-  def __init__(self, name, cwd, cmdline, should_run, enabled=True, sigkill=False, watchdog_max_dt=None):
+  def __init__(self, name, cwd, cmdline, should_run, enabled=True, sigkill=False, watchdog_max_dt=None, always_watchdog=False):
     self.name = name
     self.cwd = cwd
     self.cmdline = cmdline
@@ -177,6 +177,7 @@ class NativeProcess(ManagerProcess):
     self.sigkill = sigkill
     self.watchdog_max_dt = watchdog_max_dt
     self.launcher = nativelauncher
+    self.always_watchdog = always_watchdog
 
   def prepare(self) -> None:
     pass

selfdrive/manager/process_config.py

@@ -76,7 +76,7 @@ procs = [
   NativeProcess("mapsd", "selfdrive/navd", ["./mapsd"], only_onroad),
   PythonProcess("navmodeld", "selfdrive.modeld.navmodeld", only_onroad),
   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), always_watchdog=only_offroad),
   PythonProcess("soundd", "selfdrive.ui.soundd", only_onroad),
   NativeProcess("locationd", "selfdrive/locationd", ["./locationd"], only_onroad),
   NativeProcess("boardd", "selfdrive/boardd", ["./boardd"], always_run, enabled=False),