From 73a1e1b9daacab4dc16774f63420e0e9be630bc6 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Mehmet=20Emin=20BA=C5=9EO=C4=9ELU?=
 <mehmeteminbasoglu@hotmail.com>
Date: Thu, 14 Dec 2023 18:16:44 +0300
Subject: [PATCH] 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
---
 .cspell.json                                         |  3 ++-
 .../nebula_decoders_robosense/decoders/bpearl_v3.hpp | 12 +++++-------
 .../nebula_decoders_robosense/decoders/bpearl_v4.hpp | 12 +++++-------
 .../nebula_decoders_robosense/decoders/helios.hpp    | 12 +++++-------
 4 files changed, 17 insertions(+), 22 deletions(-)

diff --git a/.cspell.json b/.cspell.json
index e2b0768d9..3574bbfd3 100644
--- 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
index a54c52bd6..92e58e304 100644
--- 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
index 80b0c35ec..681ad2ba2 100644
--- 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
index 8ade0f893..0780e3c24 100644
--- 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;