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

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merged 2 commits into from
Dec 14, 2023
Merged

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

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3578a9b
fix(robosense): use correct field to check time sync status
mebasoglu Dec 13, 2023
a3da6b8
chore(.cspell.json): add new word for robosense
mebasoglu Dec 14, 2023
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3 changes: 2 additions & 1 deletion .cspell.json
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Original file line number Diff line number Diff line change
Expand Up @@ -38,6 +38,7 @@
"Difop",
"gptp",
"Idat",
"Vdat"
"Vdat",
"manc"
]
}
12 changes: 5 additions & 7 deletions nebula_decoders/include/nebula_decoders/nebula_decoders_robosense/decoders/bpearl_v3.hpp
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Expand Up @@ -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;
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12 changes: 5 additions & 7 deletions nebula_decoders/include/nebula_decoders/nebula_decoders_robosense/decoders/bpearl_v4.hpp
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Expand Up @@ -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;
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12 changes: 5 additions & 7 deletions nebula_decoders/include/nebula_decoders/nebula_decoders_robosense/decoders/helios.hpp
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Expand Up @@ -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;
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