Merge pull request #569 from Hyperloop-UPV/backend/revive-tcp

Backend: small fixes

Author: JavierRibaldelRio

backend/cmd/config.toml

@@ -10,7 +10,7 @@
 
 # Vehicle Configuration
 [vehicle]
-boards = ["BCU", "BMSL", "HVSCU", "HVSCU-Cabinet", "LCU", "PCU", "VCU", "BLCU"]
+boards = ["HVBMS","LCU", "PCU", "VCU", "BLCU"]
 
 # ADJ (Architecture Description JSON) Configuration
 [adj]
@@ -28,7 +28,7 @@ backoff_min_ms = 100         # Minimum backoff duration in milliseconds
 backoff_max_ms = 5000        # Maximum backoff duration in milliseconds
 backoff_multiplier = 1.5     # Exponential backoff multiplier (e.g., 1.5 means each retry waits 1.5x longer)
 max_retries = 0              # Maximum retries before cycling (0 = infinite retries, recommended for persistent reconnection)
-connection_timeout_ms = 1000 # Connection timeout in milliseconds
+connection_timeout_ms = 3000 # Connection timeout in milliseconds
 keep_alive_ms = 1000         # Keep-alive interval in milliseconds
 
 # UDP Configuration

backend/cmd/setup_transport.go

@@ -140,6 +140,16 @@ func configureUDPServerTransport(
 
 ) {
 	trace.Info().Msg("Starting UDP server")
+
+	onKeepAliveTimeout := func(ip string) {
+		transp.SendFault()
+		board, ok := transp.TargetFromIp(ip)
+		if !ok {
+			board = "unknown"
+		}
+		transp.ReportError(fmt.Errorf("UDP keep-alive timeout: no packets received from board %s (%s) for %dms, fault sent", board, ip, config.UDP.KeepAliveTimeoutMs))
+	}
+
 	udpServer := udp.NewServer(
 		adj.Info.Addresses[BACKEND],
 		adj.Info.Ports[UDP],
@@ -148,7 +158,7 @@ func configureUDPServerTransport(
 		config.UDP.PacketChanSize,
 		time.Duration(config.UDP.KeepAliveCheckIntervalMs)*time.Millisecond,
 		time.Duration(config.UDP.KeepAliveTimeoutMs)*time.Millisecond,
-		transp.SendFault,
+		onKeepAliveTimeout,
 	)
 	err := udpServer.Start()
 	if err != nil {