      const float ts = 10.0;  // filter time constant (s)
      const float frame_filter_k = (dt / ts) / (1. + dt / ts);
      float frames_dropped = 0;
  
      // one frame in memory
      VisionBuf yuv_ion = visionbuf_allocate_cl(buf_info.buf_len, device_id, context);
  
      uint32_t frame_id = 0, last_vipc_frame_id = 0;
      double last = 0;
      int desire = -1;
      uint32_t run_count = 0;
      while (!do_exit) {
 
</s> remove     LOGW("connected with buffer size: %d", buf_info.buf_len);
 </s> add     break;
  }

  // loop
  while (!do_exit) {
    VisionBuf *b = &vipc_client.buffers[0];
    LOGW("connected with buffer size: %d (%d x %d)", b->len, b->width, b->height); </s> remove       VIPCBuf *buf;
      VIPCBufExtra extra;
      buf = visionstream_get(&stream, &extra);
      if (buf == NULL) {
        LOGW("visionstream get failed");
        break;
 </s> add       VisionIpcBufExtra extra;
      VisionBuf *buf = vipc_client.recv(&extra);
      if (buf == nullptr){
        continue; </s> remove   frame_size = ci->frame_height * ci->frame_stride;
 </s> add  </s> remove         // TODO: don't make copies!
        memcpy(yuv_ion.addr, buf->addr, buf_info.buf_len);
        visionbuf_sync(&yuv_ion, VISIONBUF_SYNC_TO_DEVICE);

 </s> add  </s> remove     camera_bufs[i] = visionbuf_allocate_cl(frame_size, device_id, context);
 </s> add     camera_bufs[i].allocate(frame_size);
    camera_bufs[i].init_cl(device_id, context);
      const float ts = 10.0;  // filter time constant (s)
      const float frame_filter_k = (dt / ts) / (1. + dt / ts);
      float frames_dropped = 0;
  



      uint32_t frame_id = 0, last_vipc_frame_id = 0;
      double last = 0;
      int desire = -1;
      uint32_t run_count = 0;
      while (!do_exit) {
keep keep keep keep replace replace replace keep keep keep keep keep
 VisionIPC 2.0 (#19641)

* Squashed vipc

* Update release files

* Remove else

* add visionipc to release files

* use poller in vipc receive

* opencl framework instead of lib on macos

* Fix camera webcam

* Fix opencl on mac in ui

* more webcam fixes

* typo in ui sconsfile

* Use cur_yuv_buf

* visionbuf c++ class

* Camera qcom was still using visionbuf_allocate

* Turn loggerd back on

* fix snapshot

* No build needed

* update test camerad

* no more release callback

* make encoder c++

* Revert "no more release callback"

This reverts commit e5707b07002fee665d0483d90713154efc2d70d4.

* fix exit handlers

* No need to check errno

* move release callback call

* s/VIPCBufExtra/VisionIpcBufExtra/g

* use non blocking connect

* ui use non blocking connect

* Lower condition variable wait time

* Snapshot cleanup

* bump cereal

* bump cereal 
selfdrive/modeld/modeld.cc