athenad: reconnect after not receiving ping (#20974)

* athenad: reconnect after not receiving ping

* make sidebar timeout longer than timeout in athena

* whitespace

selfdrive/athena/athenad.py

@@ -38,6 +38,7 @@ LOCAL_PORT_WHITELIST = set([8022])
 
 LOG_ATTR_NAME = 'user.upload'
 LOG_ATTR_VALUE_MAX_UNIX_TIME = int.to_bytes(2147483647, 4, sys.byteorder)
+RECONNECT_TIMEOUT_S = 70
 
 dispatcher["echo"] = lambda s: s
 recv_queue: Any = queue.Queue()
@@ -385,6 +386,7 @@ def ws_proxy_send(ws, local_sock, signal_sock, end_event):
 
 
 def ws_recv(ws, end_event):
+  last_ping = int(sec_since_boot() * 1e9)
   while not end_event.is_set():
     try:
       opcode, data = ws.recv_data(control_frame=True)
@@ -393,9 +395,13 @@ def ws_recv(ws, end_event):
           data = data.decode("utf-8")
         recv_queue.put_nowait(data)
       elif opcode == ABNF.OPCODE_PING:
-        Params().put("LastAthenaPingTime", str(int(sec_since_boot() * 1e9)))
+        last_ping = int(sec_since_boot() * 1e9)
+        Params().put("LastAthenaPingTime", str(last_ping))
     except WebSocketTimeoutException:
-      pass
+      ns_since_last_ping = int(sec_since_boot() * 1e9) - last_ping
+      if ns_since_last_ping > RECONNECT_TIMEOUT_S * 1e9:
+        cloudlog.exception("athenad.wc_recv.timeout")
+        end_event.set()
     except Exception:
       cloudlog.exception("athenad.ws_recv.exception")
       end_event.set()

selfdrive/ui/qt/sidebar.cc

@@ -54,7 +54,7 @@ void Sidebar::update(const UIState &s) {
     connect_status = warning_color;
     auto last_ping = params.get<float>("LastAthenaPingTime");
     if (last_ping) {
-      bool online = nanos_since_boot() - *last_ping < 70e9;
+      bool online = nanos_since_boot() - *last_ping < 80e9;
       connect_str = online ? "ONLINE" : "ERROR";
       connect_status = online ? good_color : danger_color;
     }