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Fix unsigned overflow in modeld frame age computation

albatross
Willem Melching 2020-06-22 19:31:29 -07:00
parent af22b282ff
commit 5e10efead1
1 changed files with 2 additions and 2 deletions
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4
selfdrive/modeld/models/driving.cc
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@ -290,7 +290,7 @@ void model_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id,
auto meta = framed.initMeta();
fill_meta(meta, net_outputs.meta);
event.setValid(frame_id - vipc_frame_id < MAX_FRAME_AGE);
event.setValid(frame_id < vipc_frame_id + MAX_FRAME_AGE);
pm.send("model", msg);
}
@ -326,7 +326,7 @@ void posenet_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id,
posenetd.setTimestampEof(timestamp_eof);
posenetd.setFrameId(vipc_frame_id);
event.setValid(frame_id - vipc_frame_id < MAX_FRAME_AGE);
event.setValid(frame_id < vipc_frame_id + MAX_FRAME_AGE);
pm.send("cameraOdometry", msg);
}