Move DNT_TEAM_NUMBER to constant crate (#84)

Co-authored-by: Mark Honkoop <[email protected]>

crates/constants/src/lib.rs

@@ -5,3 +5,4 @@ pub const HULA_SOCKET_PATH: &str = "/tmp/hula";
 pub const OS_RELEASE_PATH: &str = "/etc/os-release";
 pub const OS_VERSION: &str = "5.7.1";
 pub const SDK_VERSION: &str = "5.7.0";
+pub const DNT_TEAM_NUMBER: u8 = 8;

crates/spl_network/Cargo.toml

@@ -7,6 +7,7 @@ homepage = "https://github.com/hulks/hulk"
 
 [dependencies]
 color-eyre = { workspace = true }
+constants = { workspace = true }
 context_attribute = { workspace = true }
 framework = { workspace = true }
 log = { workspace = true }

crates/spl_network/src/endpoint.rs

@@ -9,6 +9,10 @@ use thiserror::Error;
 use tokio::{net::UdpSocket, select, sync::Mutex};
 use types::messages::{IncomingMessage, OutgoingMessage};
 
+use constants::DNT_TEAM_NUMBER;
+
+const SPL_PORT: u16 = 10000 + (DNT_TEAM_NUMBER as u16);
+
 pub struct Endpoint {
     ports: Ports,
     game_controller_state_socket: UdpSocket,
@@ -34,7 +38,7 @@ impl Endpoint {
         ))
         .await
         .map_err(Error::CannotBind)?;
-        let spl_socket = UdpSocket::bind(SocketAddrV4::new(Ipv4Addr::UNSPECIFIED, parameters.spl))
+        let spl_socket = UdpSocket::bind(SocketAddrV4::new(Ipv4Addr::UNSPECIFIED, SPL_PORT))
             .await
             .map_err(Error::CannotBind)?;
         spl_socket
@@ -111,7 +115,7 @@ impl Endpoint {
                     .spl_socket
                     .send_to(
                         message.as_slice(),
-                        SocketAddr::new(Ipv4Addr::BROADCAST.into(), self.ports.spl),
+                        SocketAddr::new(Ipv4Addr::BROADCAST.into(), SPL_PORT),
                     )
                     .await
                 {
@@ -126,5 +130,4 @@ impl Endpoint {
 pub struct Ports {
     game_controller_state: u16,
     game_controller_return: u16,
-    spl: u16,
 }

crates/spl_network_messages/Cargo.toml

@@ -13,6 +13,7 @@ approx = { workspace = true }
 bifrost = { workspace = true }
 byteorder = { workspace = true }
 color-eyre = { workspace = true }
+constants = { workspace = true }
 nalgebra = { workspace = true }
 serde = { workspace = true }
 serialize_hierarchy = { workspace = true }

crates/spl_network_messages/src/game_controller_return_message.rs

@@ -1,10 +1,11 @@
 use std::time::Duration;
 
 use color_eyre::{Report, Result};
+use constants::DNT_TEAM_NUMBER;
 use nalgebra::{point, vector, Isometry2};
 use serde::{Deserialize, Serialize};
 
-use crate::{BallPosition, PlayerNumber, DNT_TEAM_NUMBER};
+use crate::{BallPosition, PlayerNumber};
 
 use bifrost::{
     communication::RoboCupGameControlReturnData,

crates/spl_network_messages/src/game_controller_state_conversion.rs

@@ -1,10 +1,9 @@
 use color_eyre::{Report, Result};
+use constants::DNT_TEAM_NUMBER;
 use serde::{Deserialize, Serialize};
 use serialize_hierarchy::SerializeHierarchy;
 use std::time::Duration;
 
-use crate::DNT_TEAM_NUMBER;
-
 use bifrost::{
     communication::{
         CompetitionPhase as BifrostCompetitionPhase, CompetitionType as BifrostCompetitionType,

crates/spl_network_messages/src/game_controller_state_message.rs

@@ -4,12 +4,13 @@ use std::{
 };
 
 use color_eyre::{eyre::bail, Report, Result};
+use constants::DNT_TEAM_NUMBER;
 use serde::{Deserialize, Serialize};
 use serialize_hierarchy::SerializeHierarchy;
 
 use crate::{
     CompetitionPhase, CompetitionType, GamePhase, GameState, Half, PenaltyShoot, Player, SubState,
-    Team, TeamColor, TeamState, DNT_TEAM_NUMBER,
+    Team, TeamColor, TeamState,
 };
 use bifrost::{communication::RoboCupGameControlData, serialization::Decode};
 

crates/spl_network_messages/src/lib.rs

@@ -27,8 +27,6 @@ pub struct BallPosition {
     pub age: Duration,
 }
 
-pub const DNT_TEAM_NUMBER: u8 = 8;
-
 use bifrost::serialization::{Decode, Encode};
 
 #[derive(

crates/spl_network_messages/src/spl_message.rs

@@ -4,11 +4,12 @@ use std::{
 };
 
 use color_eyre::{eyre::bail, Report, Result};
+use constants::DNT_TEAM_NUMBER;
 use nalgebra::{point, vector, Isometry2};
 use serde::{Deserialize, Serialize};
 use serialize_hierarchy::SerializeHierarchy;
 
-use crate::{BallPosition, PlayerNumber, DNT_TEAM_NUMBER};
+use crate::{BallPosition, PlayerNumber};
 
 use bifrost::communication::SPLStandardMessage;
 

etc/configuration/hardware.json

@@ -9,8 +9,7 @@
   },
   "spl_network_ports": {
     "game_controller_state": 3838,
-    "game_controller_return": 3939,
-    "spl": 10024
+    "game_controller_return": 3939
   },
   "camera_top": {
     "width": 640,

tools/pepsi/src/parsers.rs

@@ -8,6 +8,7 @@ use color_eyre::{
     eyre::{bail, eyre, WrapErr},
     Report, Result,
 };
+use constants::DNT_TEAM_NUMBER;
 use regex::Regex;
 
 use nao::{Network, SystemctlAction};
@@ -100,7 +101,7 @@ pub fn number_to_ip(nao_number: u8, connection: Connection) -> Result<Ipv4Addr>
         Connection::Wireless => 0,
         Connection::Wired => 1,
     };
-    Ok(Ipv4Addr::new(10, subnet, 8, nao_number))
+    Ok(Ipv4Addr::new(10, subnet, DNT_TEAM_NUMBER, nao_number))
 }
 
 #[derive(Clone, Copy, Debug, PartialEq, Eq, Hash)]
@@ -130,7 +131,7 @@ impl TryFrom<NaoAddress> for NaoNumber {
     fn try_from(nao_address: NaoAddress) -> Result<Self> {
         if nao_address.ip.octets()[0] != 10
             || (nao_address.ip.octets()[1] != 0 && nao_address.ip.octets()[1] != 1)
-            || nao_address.ip.octets()[2] != 8
+            || nao_address.ip.octets()[2] != DNT_TEAM_NUMBER
         {
             bail!("failed to extract NAO number from IP {nao_address}");
         }

tools/twix/Cargo.toml

@@ -9,6 +9,7 @@ homepage = "https://github.com/hulks/hulk"
 bincode = { workspace = true }
 color-eyre = { workspace = true }
 communication = { workspace = true }
+constants = { workspace = true }
 convert_case = { workspace = true }
 eframe = { workspace = true }
 egui_dock = { workspace = true }

tools/twix/src/completion_edit.rs

@@ -1,6 +1,7 @@
 use std::{iter::once, ops::Range};
 
 use communication::messages::Fields;
+use constants::DNT_TEAM_NUMBER;
 use eframe::egui::{
     text::CCursor, text_edit::CCursorRange, Area, Context, Frame, Id, Key, Modifiers, Order,
     Response, ScrollArea, TextEdit, Ui, Widget,
@@ -41,8 +42,10 @@ impl<'key> CompletionEdit<'key> {
     pub fn addresses(key: &'key mut String, numbers: Range<u8>) -> Self {
         let completion_items = chain!(
             once("localhost".to_string()),
-            numbers.clone().map(|number| format!("10.1.8.{number}")),
-            numbers.map(|number| format!("10.0.8.{number}"))
+            numbers
+                .clone()
+                .map(|number| format!("10.1.{DNT_TEAM_NUMBER}.{number}")),
+            numbers.map(|number| format!("10.0.{DNT_TEAM_NUMBER}.{number}"))
         )
         .collect();