use start of frame time if set

commaai · Sep 28, 2021 · 0b53929 · 0b53929
1 parent 7d628bf
commit 0b53929
Showing 1 changed file with 7 additions and 0 deletions.
diff --git a/selfdrive/ui/replay/replay.cc b/selfdrive/ui/replay/replay.cc
@@ -194,6 +194,13 @@ void Replay::stream() {
       cur_which = evt->which;
       cur_mono_time_ = evt->mono_time;
 
+      if (evt->which == cereal::Event::ROAD_ENCODE_IDX) {
+        uint64_t sof = evt->event.getRoadEncodeIdx().getTimestampSof();
+        if (sof > 0) {
+          cur_mono_time_ = sof;
+        }
+      }
+
       std::string type;
       KJ_IF_MAYBE(e_, static_cast<capnp::DynamicStruct::Reader>(evt->event).which()) {
         type = e_->getProto().getName();