From 2cc2a2f1c931a85aa032a118c589ca2a95de09b4 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 17 May 2022 01:14:06 -0700
Subject: [PATCH] frame_id is a uint32_t

---
 selfdrive/ui/qt/widgets/cameraview.cc | 8 ++++----
 selfdrive/ui/qt/widgets/cameraview.h  | 8 ++++----
 2 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc
index 2d3b2d7c84..43282dd765 100644
--- a/selfdrive/ui/qt/widgets/cameraview.cc
+++ b/selfdrive/ui/qt/widgets/cameraview.cc
@@ -103,6 +103,7 @@ mat4 get_fit_view_transform(float widget_aspect_ratio, float frame_aspect_ratio)
 CameraViewWidget::CameraViewWidget(std::string stream_name, VisionStreamType type, bool zoom, QWidget* parent) :
                                    stream_name(stream_name), stream_type(type), zoomed_view(zoom), QOpenGLWidget(parent) {
   setAttribute(Qt::WA_OpaquePaintEvent);
+  qRegisterMetaType<uint8_t>("uint32_t");
   connect(this, &CameraViewWidget::vipcThreadConnected, this, &CameraViewWidget::vipcConnected, Qt::BlockingQueuedConnection);
   connect(this, &CameraViewWidget::vipcThreadFrameReceived, this, &CameraViewWidget::vipcFrameReceived);
 }
@@ -221,12 +222,11 @@ void CameraViewWidget::paintGL() {
   if (frames.size() == 0) return;
 
   VisionBuf *latest_frame;
-  std::deque<int>::iterator it = std::find(frame_ids.begin(), frame_ids.end(), draw_frame_id);
+  std::deque<uint32_t>::iterator it = std::find(frame_ids.begin(), frame_ids.end(), draw_frame_id);
   if (it == frame_ids.end()) {
     latest_frame = frames[frames.size() - 1];
   } else {
-    int frame_id = it - frame_ids.begin();
-    latest_frame = frames[frame_id];
+    latest_frame = frames[it - frame_ids.begin()];
   }
 
   glPixelStorei(GL_UNPACK_ALIGNMENT, 1);
@@ -277,7 +277,7 @@ void CameraViewWidget::vipcConnected(VisionIpcClient *vipc_client) {
   updateFrameMat(width(), height());
 }
 
-void CameraViewWidget::vipcFrameReceived(VisionBuf *buf, int frame_id) {
+void CameraViewWidget::vipcFrameReceived(VisionBuf *buf, uint32_t frame_id) {
   frames.push_back(buf);
   frame_ids.push_back(frame_id);
   while (frames.size() > FRAME_BUFFER_LEN) {
diff --git a/selfdrive/ui/qt/widgets/cameraview.h b/selfdrive/ui/qt/widgets/cameraview.h
index 7811b98683..9f093ce20c 100644
--- a/selfdrive/ui/qt/widgets/cameraview.h
+++ b/selfdrive/ui/qt/widgets/cameraview.h
@@ -19,12 +19,12 @@ public:
   ~CameraViewWidget();
   void setStreamType(VisionStreamType type) { stream_type = type; }
   void setBackgroundColor(const QColor &color) { bg = color; }
-  int draw_frame_id;
+  uint32_t draw_frame_id;
 
 signals:
   void clicked();
   void vipcThreadConnected(VisionIpcClient *);
-  void vipcThreadFrameReceived(VisionBuf *, int);
+  void vipcThreadFrameReceived(VisionBuf *, uint32_t);
 
 protected:
   void paintGL() override;
@@ -38,7 +38,7 @@ protected:
 
   bool zoomed_view;
   std::deque<VisionBuf*> frames;
-  std::deque<int> frame_ids;
+  std::deque<uint32_t> frame_ids;
   GLuint frame_vao, frame_vbo, frame_ibo;
   mat4 frame_mat;
   std::unique_ptr<QOpenGLShaderProgram> program;
@@ -54,5 +54,5 @@ protected:
 
 protected slots:
   void vipcConnected(VisionIpcClient *vipc_client);
-  void vipcFrameReceived(VisionBuf *vipc_client, int frame_id);
+  void vipcFrameReceived(VisionBuf *vipc_client, uint32_t frame_id);
 };