CDAR-756: Carla Ambassador correct detection timestamp (#197)

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# PR Details
## Description
This PR updates incoming CARLA detections, which have Carla time stamps,
to have cdasim time stamps since all components in this system use
cdasim time. This fix is necessary because prior to establishing
connection to cdasim, carla spins for some time, creating a random
static time offset between carla game-time and cda sim simulation time.

**NOTE**: This PR also includes necessary fixes to use java 17 for sonar
scanner CI process
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## Related GitHub Issue

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issues or Jira Keys -->
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issue first -->
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specific to this fix -->
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## Related Jira Key
CDAR-756
<!-- e.g. CAR-123 -->

## Motivation and Context
Gives detection data a simulation time step that should be accurate to
sim time.
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## How Has This Been Tested?
CDASim deployment
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## Types of changes

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the boxes that apply: -->

- [x] Defect fix (non-breaking change that fixes an issue)
- [ ] New feature (non-breaking change that adds functionality)
- [ ] Breaking change (fix or feature that cause existing functionality
to change)

## Checklist:

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that apply. -->
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here to help! -->

- [ ] I have added any new packages to the sonar-scanner.properties file
- [ ] My change requires a change to the documentation.
- [ ] I have updated the documentation accordingly.
- [ ] I have read the
[**CONTRIBUTING**](https://github.com/usdot-fhwa-stol/carma-platform/blob/develop/Contributing.md)
document.
- [ ] I have added tests to cover my changes.
- [ ] All new and existing tests passed.

.github/workflows/ci.yml

@@ -9,16 +9,23 @@ jobs:
     runs-on: ubuntu-latest  
     steps:
       - uses: actions/checkout@v3
-      - name: Set up JDK 11
+      - name: Set up JDK 11 (Default) and 17 (Sonar)
         uses: actions/setup-java@v3 # The setup-java action provides the functionality for GitHub Actions runners for Downloading and setting up a requested version of Java
         with:
-          java-version: 11
+          # Last java version is default and set for JAVA_HOME
+          java-version: |
+            17
+            11
           distribution: "temurin"        
       - name: Build and analyze
         env:
           GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} # Needed to get PR information, if any
           SONAR_TOKEN: ${{ secrets.SONAR_TOKEN }} 
-        # TODO Update pom.xml to use java 17 and sonar-maven-plugin
+        # Build and package application using Java 8
+        # Run sonar plugin using Java 17
         run: |
           cd co-simulation
-          mvn -e -X clean org.jacoco:jacoco-maven-plugin:prepare-agent package sonar:sonar -Dlicense.skip -Dmaven.test.failure.ignore=false  -Pcoverage jacoco:report -Dsonar.projectKey=usdot-fhwa-stol_carma-simulation -Dsonar.projectName=carma-simulation -Dsonar.organization=usdot-fhwa-stol -Dsonar.host.url=https://sonarcloud.io -Dsonar.scanner.force-deprecated-java-version=true     
+          export JAVA_HOME=$JAVA_HOME_11_X64
+          mvn -e -X clean org.jacoco:jacoco-maven-plugin:prepare-agent package -Dlicense.skip -Dmaven.test.failure.ignore=false  -Pcoverage jacoco:report 
+          export JAVA_HOME=$JAVA_HOME_17_X64
+          mvn sonar:sonar -Dsonar.java.jdkHome=${JAVA_17_X64} -Dsonar.projectKey=usdot-fhwa-stol_carma-simulation -Dsonar.projectName=carma-simulation -Dsonar.organization=usdot-fhwa-stol -Dsonar.host.url=https://sonarcloud.io 

co-simulation/fed/mosaic-carla/src/main/java/org/eclipse/mosaic/fed/carla/ambassador/CarlaAmbassador.java

@@ -361,7 +361,10 @@ public synchronized void processTimeAdvanceGrant(long time) throws InternalFeder
                 for (DetectorRegistration registration: registeredDetectors ) {
                     DetectedObject[] detections = carlaXmlRpcClient.getDetectedObjects( registration.getInfrastructureId() , registration.getDetector().getSensorId());
                     for (DetectedObject detected: detections) {
-                        detectedObjectInteractions.add(new DetectedObjectInteraction(time, detected));
+                        DetectedObjectInteraction interaction = new DetectedObjectInteraction(time, detected);
+                        // Convert nanosecond timestamp to millisecond timestamp
+                        interaction.getDetectedObject().setTimestamp((int)(time/1e6));
+                        detectedObjectInteractions.add(interaction);
                     }
                 }
                 // trigger all detection interactions

co-simulation/pom.xml

@@ -85,15 +85,17 @@
 
     <properties>
         <java.version>11</java.version>
+        <!-- Sonar Properties Properties -->
+
         <sonar.organization>usdot-fhwa-stol</sonar.organization>
         <sonar.host.url>https://sonarcloud.io</sonar.host.url>
-
-        <!-- JaCoCo Properties -->
-        <jacoco.version>0.8.8</jacoco.version>
+        <sonar.java.jdkHome>${env.JAVA_HOME_17_X64}</sonar.java.jdkHome>
         <sonar.java.coveragePlugin>jacoco</sonar.java.coveragePlugin>
         <sonar.dynamicAnalysis>reuseReports</sonar.dynamicAnalysis>
         <sonar.coverage.jacoco.xmlReportPaths>${project.basedir}/target/site/jacoco/jacoco.xml</sonar.coverage.jacoco.xmlReportPaths>
-        <sonar.language>java</sonar.language>	    
+        <sonar.language>java</sonar.language>	  
+        <!-- JaCoCo Properties -->
+        <jacoco.version>0.8.8</jacoco.version>
         <mosaic.version>22.1-SNAPSHOT</mosaic.version>
         <parent.dir>.</parent.dir>
         <project.build.sourceEncoding>UTF-8</project.build.sourceEncoding>