  static void ui_init_vision(UIState *s) {
    // Invisible until we receive a calibration message.
    s->scene.world_objects_visible = false;
  
    for (int i = 0; i < UI_BUF_COUNT; i++) {
      if (s->khr[i] != 0) {
        visionimg_destroy_gl(s->khr[i], s->priv_hnds[i]);
        glDeleteTextures(1, &s->frame_texs[i]);
      }
  
 
</s> remove void ui_init(UIState *s) {
  s->sm = new SubMaster({"modelV2", "controlsState", "uiLayoutState", "liveCalibration", "radarState", "thermal", "frame",
                         "health", "carParams", "ubloxGnss", "driverState", "dMonitoringState", "sensorEvents"});

  s->started = false;
  s->status = STATUS_OFFROAD;
  s->scene.satelliteCount = -1;

  s->fb = framebuffer_init("ui", 0, true, &s->fb_w, &s->fb_h);
  assert(s->fb);

  ui_nvg_init(s);
}
 </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); </s> remove   frame_size = ci->frame_height * ci->frame_stride;
 </s> add  </s> remove   s->buf.init(device_id, ctx, s, FRAME_BUF_COUNT, "frame");
 </s> add   s->buf.init(device_id, ctx, s, v, FRAME_BUF_COUNT, rgb_type, yuv_type);
  for (int i = 0; i < s->vipc_client->num_buffers; i++) {
  static void ui_init_vision(UIState *s) {
    // Invisible until we receive a calibration message.
    s->scene.world_objects_visible = false;
  
  for (int i = 0; i < s->vipc_client->num_buffers; i++) {
      if (s->khr[i] != 0) {
        visionimg_destroy_gl(s->khr[i], s->priv_hnds[i]);
        glDeleteTextures(1, &s->frame_texs[i]);
      }
  
keep keep keep keep 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/ui/ui.cc