      if (!cs->buf.acquire()) continue;
  
      callback(cameras, cs, cnt);
  
      if (cs == &(cameras->rear) && cameras->pm && cnt % 100 == 3) {
        // this takes 10ms???
        publish_thumbnail(cameras->pm, &(cs->buf));
      }
      cs->buf.release();
    }
 
</s> remove void *processing_thread(MultiCameraState *cameras, const char *tname,
                        CameraState *cs, process_thread_cb callback) {
  set_thread_name(tname);
 </s> add void *processing_thread(MultiCameraState *cameras, CameraState *cs, process_thread_cb callback) {
  const char *thread_name = nullptr;
  if (cs == &cameras->road_cam) {
    thread_name = "RoadCamera";
  } else if (cs == &cameras->driver_cam) {
    thread_name = "DriverCamera";
  } else {
    thread_name = "WideRoadCamera";
  }
  set_thread_name(thread_name); </s> remove   if (c == &s->rear) {
 </s> add   if (c == &s->road_cam) { </s> remove   if ((c == &s->rear && env_send_rear) || (c == &s->wide && env_send_wide)) {
 </s> add   if ((c == &s->road_cam && env_send_road) || (c == &s->wide_road_cam && env_send_wide_road)) { </s> remove   framed.setFocusVal(s->rear.focus);
  framed.setFocusConf(s->rear.confidence);
  framed.setRecoverState(s->rear.self_recover);
 </s> add   framed.setFocusVal(s->road_cam.focus);
  framed.setFocusConf(s->road_cam.confidence);
  framed.setRecoverState(s->road_cam.self_recover); </s> remove   if (rear && s->device != DEVICE_LP3) {
 </s> add   if (is_road_cam && s->device != DEVICE_LP3) {
    if (cs == &(cameras->road_cam) && cameras->pm && cnt % 100 == 3) {
      if (!cs->buf.acquire()) continue;
  
      callback(cameras, cs, cnt);
  
    if (cs == &(cameras->road_cam) && cameras->pm && cnt % 100 == 3) {
        // this takes 10ms???
        publish_thumbnail(cameras->pm, &(cs->buf));
      }
      cs->buf.release();
    }
keep keep keep keep replace keep keep keep keep keep
 camerad: rename variables&functions to follow new convention (#20096)

* rename CameraState variables to follow new convention

* continue

* rename camera_process functions

* qcom:rename exposure related variables

* continue

* update commments

* bool real -> bool is_road_cam

* rename sm_front -> sm

* remove paramater tname from start_process_thread

* rename rhd_front to is_rhd

* remove unused varialble name from struct CameraInfo

* rename env_send_xxx

* rename cap_front to cap_driver,cap_rear to cap_road

* rename xxx_camera_process to process_xxx_camera

* update snapshot.py 
selfdrive/camerad/cameras/camera_common.cc