Merge pull request #10 from openMSL/9-object-id-missing-in-trafficupdate-output

* Add object ID and timestamps to outputs

Author: jdsika

src/MyTrafficParticipantModel.cpp

@@ -35,6 +35,8 @@ void MyTrafficParticipantModel::Step(const osi3::SensorView& sensor_view_in,
     double delta_time = time - last_time_step_;
     osi3::Identifier ego_id = sensor_view_in.global_ground_truth().host_vehicle_id();
     traffic_command_update_out.mutable_traffic_participant_id()->set_value(ego_id.value());
+    traffic_command_update_out.mutable_timestamp()->set_nanos(sensor_view_in.timestamp().nanos());
+    traffic_command_update_out.mutable_timestamp()->set_seconds(sensor_view_in.timestamp().seconds());
 
     if (traffic_command_in.action_size() > 0)
     {
@@ -112,12 +114,15 @@ void MyTrafficParticipantModel::Step(const osi3::SensorView& sensor_view_in,
         }
     }
 
+    traffic_update_out.mutable_timestamp()->set_nanos(sensor_view_in.timestamp().nanos());
+    traffic_update_out.mutable_timestamp()->set_seconds(sensor_view_in.timestamp().seconds());
     for (const osi3::MovingObject& obj : sensor_view_in.global_ground_truth().moving_object())
     {
         if (obj.id().value() == ego_id.value())
         {
             // Simple constant acceleration model
             auto* update = traffic_update_out.add_update();
+            update->mutable_id()->set_value(obj.id().value());
             double velocity = obj.base().velocity().x();
             double new_velocity = velocity + acceleration_m_s_ * delta_time;
             if (new_velocity <= target_velocity_)  // check if new velocity is lower than the set maximum