chore(aeva): move hardcoded port numbers to constants

Signed-off-by: Max SCHMELLER <[email protected]>
tier4 · Nov 18, 2024 · f5bd7fc · f5bd7fc
1 parent 88823d9
commit f5bd7fc
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Showing 2 changed files with 22 additions and 5 deletions.
diff --git a/...nterfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_aeva/connections/aeva_api.hpp b/...nterfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_aeva/connections/aeva_api.hpp
@@ -37,6 +37,17 @@ namespace nebula::drivers::connections::aeva
 
 static const uint16_t g_aeva_header = 0xAEFA;
 
+static const uint16_t g_port_spherical_point_cloud = 41000;
+static const uint16_t g_port_health = 41001;
+static const uint16_t g_port_config = 41002;
+static const uint16_t g_port_telemetry = 41003;
+static const uint16_t g_port_calibration = 41005;
+static const uint16_t g_port_image = 41006;
+static const uint16_t g_port_reconfig_request = 21901;
+static const uint16_t g_port_reconfig_response = 41007;
+static const uint16_t g_port_log = 41009;
+static const uint16_t g_port_imu = 41010;
+
 enum class AevaStreamType : uint16_t {
   kSphericalPointCloud = 0,
   kHealth = 1,

diff --git a/nebula_hw_interfaces/src/nebula_aeva_hw_interfaces/aeva_hw_interface.cpp b/nebula_hw_interfaces/src/nebula_aeva_hw_interfaces/aeva_hw_interface.cpp
@@ -16,6 +16,8 @@
 
 #include "nebula_hw_interfaces/nebula_hw_interfaces_aeva/aeva_hw_interface.hpp"
 
+#include "nebula_hw_interfaces/nebula_hw_interfaces_aeva/connections/aeva_api.hpp"
+
 namespace nebula::drivers
 {
 
@@ -94,25 +96,29 @@ std::shared_ptr<ReconfigParser> AevaHwInterface::make_reconfig_api(
   const aeva::Aeries2Config & config, const std::shared_ptr<loggers::Logger> & logger)
 {
   return std::make_shared<ReconfigParser>(
-    std::make_shared<TcpStream>(config.sensor_ip, 41007),
-    std::make_shared<TcpSender>(config.sensor_ip, 21901), logger->child("ReconfigApi"));
+    std::make_shared<TcpStream>(config.sensor_ip, connections::aeva::g_port_reconfig_response),
+    std::make_shared<TcpSender>(config.sensor_ip, connections::aeva::g_port_reconfig_request),
+    logger->child("ReconfigApi"));
 }
 
 std::shared_ptr<PointcloudParser> AevaHwInterface::make_pointcloud_api(
   const aeva::Aeries2Config & config)
 {
-  return std::make_shared<PointcloudParser>(std::make_shared<TcpStream>(config.sensor_ip, 41000));
+  return std::make_shared<PointcloudParser>(
+    std::make_shared<TcpStream>(config.sensor_ip, connections::aeva::g_port_spherical_point_cloud));
 }
 
 std::shared_ptr<HealthParser> AevaHwInterface::make_health_api(const aeva::Aeries2Config & config)
 {
-  return std::make_shared<HealthParser>(std::make_shared<TcpStream>(config.sensor_ip, 41001));
+  return std::make_shared<HealthParser>(
+    std::make_shared<TcpStream>(config.sensor_ip, connections::aeva::g_port_health));
 }
 
 std::shared_ptr<TelemetryParser> AevaHwInterface::make_telemetry_api(
   const aeva::Aeries2Config & config)
 {
-  return std::make_shared<TelemetryParser>(std::make_shared<TcpStream>(config.sensor_ip, 41003));
+  return std::make_shared<TelemetryParser>(
+    std::make_shared<TcpStream>(config.sensor_ip, connections::aeva::g_port_telemetry));
 }
 
 }  // namespace nebula::drivers