modeld: make valid variable thread safe (#23228)

selfdrive/modeld/modeld.cc

@@ -87,6 +87,7 @@ void run_model(ModelState &model, VisionIpcClient &vipc_client) {
 
     transform_lock.lock();
     mat3 model_transform = cur_transform;
+    bool valid = live_calib_seen;
     transform_lock.unlock();
 
     // TODO: path planner timeout?
@@ -117,8 +118,8 @@ void run_model(ModelState &model, VisionIpcClient &vipc_client) {
     float frame_drop_ratio = frames_dropped / (1 + frames_dropped);
 
     model_publish(pm, extra.frame_id, frame_id, frame_drop_ratio, *model_output, extra.timestamp_eof, model_execution_time,
-                  kj::ArrayPtr<const float>(model.output.data(), model.output.size()), live_calib_seen);
-    posenet_publish(pm, extra.frame_id, vipc_dropped_frames, *model_output, extra.timestamp_eof, live_calib_seen);
+                  kj::ArrayPtr<const float>(model.output.data(), model.output.size()), valid);
+    posenet_publish(pm, extra.frame_id, vipc_dropped_frames, *model_output, extra.timestamp_eof, valid);
 
     //printf("model process: %.2fms, from last %.2fms, vipc_frame_id %u, frame_id, %u, frame_drop %.3f\n", mt2 - mt1, mt1 - last, extra.frame_id, frame_id, frame_drop_ratio);
     last = mt1;