fix for microsoft#617 by @valtsblukis

kevindehecker · Nov 18, 2017 · 65d917d · 65d917d
1 parent 8e4f275
commit 65d917d
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/AirLib/include/common/common_utils/ScheduledExecutor.hpp b/AirLib/include/common/common_utils/ScheduledExecutor.hpp
@@ -139,7 +139,8 @@ class ScheduledExecutor {
             call_end = nanos();
 
             TTimeDelta elapsed_period = nanos() - period_start;
-            TTimeDelta delay_nanos = period_nanos_ - elapsed_period;
+            //prevent underflow: https://github.com/Microsoft/AirSim/issues/617
+            TTimeDelta delay_nanos = period_nanos_ > elapsed_period ? period_nanos_ - elapsed_period : 0;
             //moving average of how much we are sleeping
             sleep_time_avg_ = 0.25f * sleep_time_avg_ + 0.75f * delay_nanos;
             ++period_count_;