  #include <stdlib.h>
  #include <unistd.h>
  #include <eigen3/Eigen/Dense>
  
  #include "common/visionbuf.h"
  #include "common/visionipc.h"
  #include "common/swaglog.h"
  #include "common/clutil.h"
  #include "common/utilpp.h"
  
  #include "models/driving.h"
 
</s> remove   return;
 </s> add   s->last_frame = nullptr;
  s->vipc_client = new VisionIpcClient("camerad", VISION_STREAM_RGB_BACK, true); </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 void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s, int frame_cnt,
                     const char *name, release_cb relase_callback) {
 </s> add void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s, VisionIpcServer * v, int frame_cnt, VisionStreamType rgb_type, VisionStreamType yuv_type, release_cb release_callback) {
  vipc_server = v;
  this->rgb_type = rgb_type;
  this->yuv_type = yuv_type;
  this->release_callback = release_callback;
 </s> remove   frame_size = ci->frame_height * ci->frame_stride;
 </s> add 
#include "visionbuf.h"
#include "visionipc_client.h"
  #include <stdlib.h>
  #include <unistd.h>
  #include <eigen3/Eigen/Dense>
  
#include "visionbuf.h"
#include "visionipc_client.h"
#include "visionbuf.h"
#include "visionipc_client.h"
  #include "common/swaglog.h"
  #include "common/clutil.h"
  #include "common/utilpp.h"
  
  #include "models/driving.h"
keep keep keep keep 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