From 5e10efead11073279f7119f07df2825713f033c4 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Mon, 22 Jun 2020 19:31:29 -0700 Subject: [PATCH] Fix unsigned overflow in modeld frame age computation --- selfdrive/modeld/models/driving.cc | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/modeld/models/driving.cc b/selfdrive/modeld/models/driving.cc index 88674fb60..7156b0973 100644 --- a/selfdrive/modeld/models/driving.cc +++ b/selfdrive/modeld/models/driving.cc @@ -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); }