use start of frame time if set

commaai · Sep 28, 2021 · c03dbf7 · c03dbf7
1 parent f09cae6
commit c03dbf7
Showing 1 changed file with 7 additions and 0 deletions.
diff --git a/selfdrive/ui/replay/replay.cc b/selfdrive/ui/replay/replay.cc
@@ -186,6 +186,13 @@ void Replay::stream() {
       const Event *evt = (*eit);
       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;
+        }
+      }
       current_ts = (cur_mono_time - route_start_ts) / 1e9;
 
       std::string type;