CDAR-756: Carla Ambassador correct detection timestamp

usdot-fhwa-stol · Feb 1, 2024 · f66b312 · f66b312
1 parent 6b91fc4
commit f66b312
Showing 1 changed file with 4 additions and 1 deletion.
diff --git a/...d/mosaic-carla/src/main/java/org/eclipse/mosaic/fed/carla/ambassador/CarlaAmbassador.java b/...d/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