From c04519899148652772f41fdb70e0151df5394924 Mon Sep 17 00:00:00 2001
From: TinyO <tinysilk@hotmail.com>
Date: Tue, 22 Oct 2019 11:15:47 +0800
Subject: [PATCH] fix(*): ubuntu 18.04 complie.

---
 src/mynteye/device/channel/channels.cc | 8 +++++++-
 src/mynteye/device/streams.cc          | 8 +++++++-
 2 files changed, 14 insertions(+), 2 deletions(-)

diff --git a/src/mynteye/device/channel/channels.cc b/src/mynteye/device/channel/channels.cc
index 783e78e..127cb10 100644
--- a/src/mynteye/device/channel/channels.cc
+++ b/src/mynteye/device/channel/channels.cc
@@ -533,7 +533,13 @@ void Channels::CheckTimeStampLimmit(mynteye::ImuPacket2 &packet) {
     }
     if (is_nearly_before_timestamp_limmit_ > 0) {
       is_nearly_before_timestamp_limmit_--;
-      if (std::abs(current_datum_ - segment2.timestamp) > (uint64_t)(42949672960/2)) {  // NOLINT
+      uint64_t abs_tmp = 0;
+      if (current_datum_ > segment2.timestamp) {
+        abs_tmp = current_datum_ - segment2.timestamp;
+      } else {
+        abs_tmp = segment2.timestamp - current_datum_;
+      }
+      if (abs_tmp > (uint64_t)(42949672960/2)) {  // NOLINT
         segment2.timestamp -= 42949672960;
       }
     }
diff --git a/src/mynteye/device/streams.cc b/src/mynteye/device/streams.cc
index 99484e4..a4e35df 100644
--- a/src/mynteye/device/streams.cc
+++ b/src/mynteye/device/streams.cc
@@ -59,7 +59,13 @@ void Streams::CheckTimeStampLimmit(std::shared_ptr<ImgData> img) {
   }
   if (is_nearly_before_timestamp_limmit_ > 0) {
     is_nearly_before_timestamp_limmit_--;
-    if (std::abs(current_datum_ - img->timestamp) > (uint64_t)(42949672960/2)) {  // NOLINT
+    uint64_t abs_tmp = 0;
+    if (current_datum_ > img->timestamp) {
+      abs_tmp = current_datum_ - img->timestamp;
+    } else {
+      abs_tmp = img->timestamp - current_datum_;
+    }
+    if (abs_tmp > (uint64_t)(42949672960/2)) {  // NOLINT
       img->timestamp -= 42949672960;
     }
   }