From ca6f99a85d245d766a48e5aa1e83c8403cd2ccbf Mon Sep 17 00:00:00 2001
From: masaru87 <55574641+masaru87@users.noreply.github.com>
Date: Fri, 14 Aug 2026 10:05:28 +0900
Subject: [PATCH] [fix] Convert PandarXT32 block timestamp offsets to seconds

---
 src/hydra4/decoders/pandar_xt32.py     | 4 +++-
 tests/integration/test_xt32_decoder.py | 9 +++++++++
 2 files changed, 12 insertions(+), 1 deletion(-)

diff --git a/src/hydra4/decoders/pandar_xt32.py b/src/hydra4/decoders/pandar_xt32.py
index 8b99b83..474320d 100644
--- a/src/hydra4/decoders/pandar_xt32.py
+++ b/src/hydra4/decoders/pandar_xt32.py
@@ -128,7 +128,9 @@ def __call__(self, packet: pandar_msgs__msg__PandarPacket) -> Generator[Block, N
                         intensity,
                         ring,
                         azimuth,
-                        timestamp.timestamp() + block_offset[block_id] + self.firing_offset[ring],
+                        timestamp.timestamp()
+                        + block_offset[block_id] * 1e-6
+                        + self.firing_offset[ring],
                     )
                 )
 
diff --git a/tests/integration/test_xt32_decoder.py b/tests/integration/test_xt32_decoder.py
index 4f3f6a7..b514d01 100644
--- a/tests/integration/test_xt32_decoder.py
+++ b/tests/integration/test_xt32_decoder.py
@@ -106,6 +106,15 @@ def test_point_azimuth_matches_block_azimuth(
                 for _, _, _, _, _, pt_az, _ in block.points:
                     assert pt_az == block.azimuth
 
+    def test_point_timestamps_within_packet_are_microseconds_apart(
+        self, decoder: PandarXT32, sample_packets: list
+    ) -> None:
+        """Block and channel firing offsets are measured in microseconds."""
+        points = [point for block in decoder(sample_packets[0]) for point in block.points]
+        stamps = [point[-1] for point in points]
+
+        assert max(stamps) - min(stamps) < 0.001
+
 
 class TestXT32DistanceFilter:
     def test_tighter_min_distance_filters_more(self, pandar_packets_xt32: list) -> None: