fix(backend): on interval break log board

Author: JavierRibaldelRio

backend/cmd/config.toml

@@ -10,17 +10,17 @@
 
 # Vehicle Configuration
 [vehicle]
-boards = ["BCU", "BMSL", "HVSCU", "HVSCU-Cabinet", "LCU", "PCU", "VCU", "BLCU"]
+boards = ["TEST"]
 
 # ADJ (Architecture Description JSON) Configuration
 [adj]
-branch = "main" # Leave blank when using ADJ as a submodule (like this: "")
+branch = "mensajes-test" # Leave blank when using ADJ as a submodule (like this: "")
 validate = true # Execute ADJ validator before starting backend
 
 # Transport Configuration
 [transport]
 propagate_fault = true
-max_packet_interval_us = 100000 # Max interval (us) between two UDP packets of the same id before propagating a fault (0 disables the check)
+max_packet_interval_us = 100000 # Max interval (us) between two UDP packets of the same id before propagating a fault (omitted/0 = default 100ms, negative disables the check)
 
 # TCP Configuration
 # These settings control how the backend reconnects to boards when connections are lost

backend/cmd/dev-config.toml

@@ -22,7 +22,7 @@ validate = true # Execute ADJ validator before starting backend
 # Transport Configuration
 [transport]
 propagate_fault = false
-max_packet_interval_us = 100 # Max interval (us) between two UDP packets of the same id before propagating a fault (0 disables the check)
+max_packet_interval_us = 100000 # Max interval (us) between two UDP packets of the same id before propagating a fault (omitted/0 = default 100ms, negative disables the check)
 
 # TCP Configuration
 # These settings control how the backend reconnects to boards when connections are lost

backend/cmd/main.go

@@ -98,7 +98,11 @@ func main() {
 	// <--- transport --->
 	transp := transport.NewTransport(trace.Logger)
 	transp.SetpropagateFault(config.Transport.PropagateFault)
-	transp.SetMaxPacketInterval(time.Duration(config.Transport.MaxPacketIntervalUs) * time.Microsecond)
+	// Keep the transport default (100ms) when the setting is omitted; a
+	// negative value disables the check.
+	if config.Transport.MaxPacketIntervalUs != 0 {
+		transp.SetMaxPacketInterval(time.Duration(config.Transport.MaxPacketIntervalUs) * time.Microsecond)
+	}
 
 	// <--- vehicle --->
 	err = configureVehicle(

backend/pkg/transport/constructor.go

@@ -10,14 +10,19 @@ import (
 	"github.com/rs/zerolog"
 )
 
+// defaultMaxPacketInterval is the maximum interval allowed between two UDP
+// packets of the same id when no value is provided in the configuration.
+const defaultMaxPacketInterval = 100 * time.Millisecond
+
 func NewTransport(baseLogger zerolog.Logger) *Transport {
 	transport := &Transport{
 		connectionsMx: &sync.RWMutex{},
 		connections:   make(map[abstraction.TransportTarget]net.Conn),
 		idToTarget:    make(map[abstraction.PacketId]abstraction.TransportTarget),
 		ipToTarget:    make(map[string]abstraction.TransportTarget),
 
-		lastPacketTime: make(map[abstraction.PacketId]time.Time),
+		lastPacketTime:    make(map[abstraction.PacketId]time.Time),
+		maxPacketInterval: defaultMaxPacketInterval,
 
 		logger:  baseLogger,
 		errChan: make(chan error, 100),

backend/pkg/transport/transport.go

@@ -445,10 +445,17 @@ func (transport *Transport) checkPacketInterval(id abstraction.PacketId, timesta
 		return
 	}
 
+	board := "unknown"
+	if target, ok := transport.idToTarget[id]; ok {
+		board = string(target)
+	}
+
 	transport.logger.Warn().
 		Uint16("id", uint16(id)).
-		Dur("interval", interval).
-		Dur("threshold", transport.maxPacketInterval).
+		Str("board", board).
+		Int64("intervalUs", interval.Microseconds()).
+		Int64("thresholdUs", transport.maxPacketInterval.Microseconds()).
+		Int64("exceededByUs", (interval - transport.maxPacketInterval).Microseconds()).
 		Msg("packet interval exceeded, propagating fault")
 	transport.SendFault()
 }