Backend connections enhancements

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]
@@ -28,14 +28,16 @@ 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
 # These settings control the UDP server's buffer sizes and performance characteristics
 [udp]
 ring_buffer_size = 64      # Size of the ring buffer for incoming packets (number of packets, not bytes)
 packet_chan_size = 16      # Size of the channel buffer
+keep_alive_check_interval_ms = 5   # How often the keep-alive checks last-received times (ms)
+keep_alive_timeout_ms = 100        # Max time without packets from an IP before it is considered disconnected (ms)
 
 
 # Logger Configuration

backend/cmd/dev-config.toml

@@ -38,6 +38,8 @@ keep_alive_ms = 0              # Keep-alive interval in milliseconds (0 to disab
 [udp]
 ring_buffer_size = 64      # Size of the ring buffer for incoming packets (number of packets, not bytes)
 packet_chan_size = 16      # Size of the channel buffer
+keep_alive_check_interval_ms = 5   # How often the keep-alive checks last-received times (ms)
+keep_alive_timeout_ms = 100        # Max time without packets from an IP before it is considered disconnected (ms)
 
 # Server Configuration
 [server.ethernet-view]

backend/cmd/setup_transport.go

@@ -140,7 +140,26 @@ func configureUDPServerTransport(
 
 ) {
 	trace.Info().Msg("Starting UDP server")
-	udpServer := udp.NewServer(adj.Info.Addresses[BACKEND], adj.Info.Ports[UDP], &trace.Logger, config.UDP.RingBufferSize, config.UDP.PacketChanSize)
+
+	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],
+		&trace.Logger,
+		config.UDP.RingBufferSize,
+		config.UDP.PacketChanSize,
+		time.Duration(config.UDP.KeepAliveCheckIntervalMs)*time.Millisecond,
+		time.Duration(config.UDP.KeepAliveTimeoutMs)*time.Millisecond,
+		onKeepAliveTimeout,
+	)
 	err := udpServer.Start()
 	if err != nil {
 		trace.Fatal().Err(err).Msg("failed to start UDP server: " + err.Error())

backend/internal/config/config_types.go

@@ -25,8 +25,10 @@ type TCP struct {
 }
 
 type UDP struct {
-	RingBufferSize int `toml:"ring_buffer_size"`
-	PacketChanSize int `toml:"packet_chan_size"`
+	RingBufferSize           int `toml:"ring_buffer_size"`
+	PacketChanSize           int `toml:"packet_chan_size"`
+	KeepAliveCheckIntervalMs int `toml:"keep_alive_check_interval_ms"`
+	KeepAliveTimeoutMs       int `toml:"keep_alive_timeout_ms"`
 }
 
 type Logging struct {