comments

selfdrive/athena/athenad.py

@@ -746,6 +746,9 @@ def ws_manage(ws: WebSocket, end_event: threading.Event) -> None:
       onroad_prev = onroad
 
       if sock is not None:
+        # While not sending data, onroad, we can expect to time out in 7 + (7 * 2) = 21s
+        # While sending data, offroad, we can expect to time out in 30 + (10 * 3) = 60s
+        # FIXME: TCP_USER_TIMEOUT is effectively 2x for some reason (32s)
         sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_USER_TIMEOUT, 16000 if onroad else 0)
         sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPIDLE, 7 if onroad else 30)
         sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPINTVL, 7 if onroad else 10)