fix(hw_interfaces): fix the lossy nanoseconds extraction

Signed-off-by: M. Fatih Cırıt <[email protected]>
tier4 · Nov 30, 2023 · 1a24da7 · 1a24da7
1 parent c71a157
commit 1a24da7
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Showing 2 changed files with 2 additions and 4 deletions.
diff --git a/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp b/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp
@@ -189,8 +189,7 @@ void HesaiHwInterface::ReceiveCloudPacketCallback(const std::vector<uint8_t> & b
   auto now_nanosecs =
     std::chrono::duration_cast<std::chrono::nanoseconds>(now.time_since_epoch()).count();
   pandar_packet.stamp.sec = static_cast<int>(now_secs);
-  pandar_packet.stamp.nanosec =
-    static_cast<int>((now_nanosecs / 1000000000. - static_cast<double>(now_secs)) * 1000000000);
+  pandar_packet.stamp.nanosec = static_cast<std::uint32_t>(now_nanosecs % 1000000000);
   scan_cloud_ptr_->packets.emplace_back(pandar_packet);
 
   int current_phase = 0;

diff --git a/nebula_hw_interfaces/src/nebula_velodyne_hw_interfaces/velodyne_hw_interface.cpp b/nebula_hw_interfaces/src/nebula_velodyne_hw_interfaces/velodyne_hw_interface.cpp
@@ -72,8 +72,7 @@ void VelodyneHwInterface::ReceiveCloudPacketCallback(const std::vector<uint8_t>
     std::chrono::duration_cast<std::chrono::nanoseconds>(now.time_since_epoch()).count();
   velodyne_packet.data = packet_data;
   velodyne_packet.stamp.sec = static_cast<int>(now_secs);
-  velodyne_packet.stamp.nanosec =
-    static_cast<int>((now_nanosecs / 1000000000. - static_cast<double>(now_secs)) * 1000000000);
+  velodyne_packet.stamp.nanosec = static_cast<std::uint32_t>(now_nanosecs % 1000000000);
   scan_cloud_ptr_->packets.emplace_back(velodyne_packet);
   processed_packets_++;