pandad: reset safety mode on exit

common/util.h

@@ -106,6 +106,7 @@ class ExitHandler {
   ExitHandler() {
     std::signal(SIGINT, (sighandler_t)set_do_exit);
     std::signal(SIGTERM, (sighandler_t)set_do_exit);
+    std::signal(SIGHUP, (sighandler_t)set_do_exit);
 
 #ifndef __APPLE__
     std::signal(SIGPWR, (sighandler_t)set_do_exit);

selfdrive/pandad/pandad.cc

@@ -412,6 +412,7 @@ void panda_state_thread(std::vector<Panda *> pandas, bool spoofing_started) {
   PubMaster pm({"pandaStates", "peripheralState"});
 
   Panda *peripheral_panda = pandas[0];
+  bool engaged = false;
   bool is_onroad = false;
   bool is_onroad_last = false;
   std::future<bool> safety_future;
@@ -483,14 +484,20 @@ void panda_state_thread(std::vector<Panda *> pandas, bool spoofing_started) {
     is_onroad_last = is_onroad;
 
     sm.update(0);
-    const bool engaged = sm.allAliveAndValid({"controlsState"}) && sm["controlsState"].getControlsState().getEnabled();
+    engaged = sm.allAliveAndValid({"controlsState"}) && sm["controlsState"].getControlsState().getEnabled();
 
     for (const auto &panda : pandas) {
       panda->send_heartbeat(engaged);
     }
 
     rk.keepTime();
   }
+
+  if (is_onroad && !engaged) {
+    for (auto &p : pandas) {
+      p->set_safety_model(cereal::CarParams::SafetyModel::NO_OUTPUT);
+    }
+  }
 }
 
 

selfdrive/pandad/pandad.py

@@ -3,7 +3,9 @@
 import os
 import usb1
 import time
+import signal
 import subprocess
+import sys
 from typing import NoReturn
 
 from panda import Panda, PandaDFU, PandaProtocolMismatch, FW_PATH
@@ -62,6 +64,17 @@ def flash_panda(panda_serial: str) -> Panda:
 
 
 def main() -> NoReturn:
+  # signal pandad to close the relay and exit
+  def signal_handler(signum, frame):
+    cloudlog.info(f"Caught signal {signum}, exiting")
+    if process is not None and process.poll() is None:
+      process.terminate()
+      process.wait()
+    sys.exit(1)
+
+  process = None
+  signal.signal(signal.SIGTERM, signal_handler)
+
   count = 0
   first_run = True
   params = Params()
@@ -159,8 +172,10 @@ def main() -> NoReturn:
 
     # run pandad with all connected serials as arguments
     os.environ['MANAGER_DAEMON'] = 'pandad'
-    os.chdir(os.path.join(BASEDIR, "selfdrive/pandad"))
-    subprocess.run(["./pandad", *panda_serials], check=True)
+    process = subprocess.Popen(["./pandad", *panda_serials], cwd=os.path.join(BASEDIR, "selfdrive/pandad"))
+    process.wait()
+
+  sys.exit(1)
 
 if __name__ == "__main__":
   main()

system/manager/manager.py

@@ -3,6 +3,7 @@
 import os
 import signal
 import sys
+import time
 import traceback
 
 from cereal import log
@@ -172,6 +173,10 @@ def manager_thread() -> None:
         cloudlog.warning(f"Shutting down manager - {param} set")
 
     if shutdown:
+      # Signal processes to shut down with a small grace period
+      for p in managed_processes.values():
+        p.signal(signal.SIGTERM)
+      time.sleep(1)
       break