From f66b3122d5494efdc4eed5759b87b48536e5ccdd Mon Sep 17 00:00:00 2001 From: dev Date: Thu, 1 Feb 2024 11:20:15 -0500 Subject: [PATCH] CDAR-756: Carla Ambassador correct detection timestamp --- .../eclipse/mosaic/fed/carla/ambassador/CarlaAmbassador.java | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/co-simulation/fed/mosaic-carla/src/main/java/org/eclipse/mosaic/fed/carla/ambassador/CarlaAmbassador.java b/co-simulation/fed/mosaic-carla/src/main/java/org/eclipse/mosaic/fed/carla/ambassador/CarlaAmbassador.java index 92fe49d1..49ef13d9 100644 --- a/co-simulation/fed/mosaic-carla/src/main/java/org/eclipse/mosaic/fed/carla/ambassador/CarlaAmbassador.java +++ b/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