fix(robosense): use correct field to check time sync status (#106)

* fix(robosense): use correct field to check time sync status * chore(.cspell.json): add new word for robosense
tier4 · Dec 14, 2023 · 73a1e1b · 73a1e1b
1 parent 810849e
commit 73a1e1b
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Showing 4 changed files with 17 additions and 22 deletions.
diff --git a/.cspell.json b/.cspell.json
@@ -38,6 +38,7 @@
     "Difop",
     "gptp",
     "Idat",
-    "Vdat"
+    "Vdat",
+    "manc"
   ]
 }
diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_robosense/decoders/bpearl_v3.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_robosense/decoders/bpearl_v3.hpp
@@ -269,14 +269,12 @@ class BpearlV3 : public RobosenseSensor<
 
   bool getSyncStatus(const robosense_packet::bpearl_v3::InfoPacket & info_packet)
   {
-    switch (info_packet.time_sync_mode.value()) {
-      case SYNC_MODE_GPS_FLAG:
-        return true;
-      case SYNC_MODE_E2E_FLAG:
-        return true;
-      case SYNC_MODE_P2P_FLAG:
+    switch (info_packet.sync_status.value()) {
+      case SYNC_STATUS_INVALID_FLAG:
+        return false;
+      case SYNC_STATUS_GPS_SUCCESS_FLAG:
         return true;
-      case SYNC_MODE_GPTP_FLAG:
+      case SYNC_STATUS_PTP_SUCCESS_FLAG:
         return true;
       default:
         return false;

diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_robosense/decoders/bpearl_v4.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_robosense/decoders/bpearl_v4.hpp
@@ -241,14 +241,12 @@ class BpearlV4 : public RobosenseSensor<
 
   bool getSyncStatus(const robosense_packet::bpearl_v4::InfoPacket & info_packet)
   {
-    switch (info_packet.time_sync_mode.value()) {
-      case SYNC_MODE_GPS_FLAG:
-        return true;
-      case SYNC_MODE_E2E_FLAG:
-        return true;
-      case SYNC_MODE_P2P_FLAG:
+    switch (info_packet.time_sync_state.value()) {
+      case SYNC_STATUS_INVALID_FLAG:
+        return false;
+      case SYNC_STATUS_GPS_SUCCESS_FLAG:
         return true;
-      case SYNC_MODE_GPTP_FLAG:
+      case SYNC_STATUS_PTP_SUCCESS_FLAG:
         return true;
       default:
         return false;

diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_robosense/decoders/helios.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_robosense/decoders/helios.hpp
@@ -280,14 +280,12 @@ class Helios
 
   bool getSyncStatus(const robosense_packet::helios::InfoPacket & info_packet)
   {
-    switch (info_packet.time_sync_mode.value()) {
-      case SYNC_MODE_GPS_FLAG:
-        return true;
-      case SYNC_MODE_E2E_FLAG:
-        return true;
-      case SYNC_MODE_P2P_FLAG:
+    switch (info_packet.sync_status.value()) {
+      case SYNC_STATUS_INVALID_FLAG:
+        return false;
+      case SYNC_STATUS_GPS_SUCCESS_FLAG:
         return true;
-      case SYNC_MODE_GPTP_FLAG:
+      case SYNC_STATUS_PTP_SUCCESS_FLAG:
         return true;
       default:
         return false;