Don't be frustrated with Dad. He won't always be here. Just try to understand what you can do for/with him. My father and I always had a rough relationship, it wasn't until I was an adult we really related. Now I wonder what I will do without him one day. We live nearly 500 miles apart but we talk every Saturday morning. One of the smartest and most honest men I know, even though I know my talkativeness annoys him a bit I try to get him to talk as much as I can. I just think the more we speak the longer I'll remember his voice when he's gone.
So don't be frustrated, instead be committed to doing more together.