    int self_recover = c->self_recover.load();
    if (self_recover < 2 && (lens_true_pos < (dac_down + 1) || lens_true_pos > (dac_up - 1)) && is_blur(lapres, lapres_size)) {
      // truly stuck, needs help
      if (--self_recover < -FOCUS_RECOVER_PATIENCE) {
        LOGD("rear camera bad state detected. attempting recovery from %.1f, recover state is %d", lens_true_pos, self_recover);
        // parity determined by which end is stuck at
        self_recover = FOCUS_RECOVER_STEPS + (lens_true_pos < dac_m ? 1 : 0);
      }
    } else if (self_recover < 2 && (lens_true_pos < (dac_m - dac_3sig) || lens_true_pos > (dac_m + dac_3sig))) {
      // in suboptimal position with high prob, but may still recover by itself
 
</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   for (int i = 0; i < (rear ? 3 : 1); i++) {
 </s> add   for (int i = 0; i < (is_road_cam ? 3 : 1); i++) { </s> remove   if (c == &s->rear) {
 </s> add   if (c == &s->road_cam) { </s> remove   s->stream_cfg.num_streams = rear ? 3 : 1;
 </s> add   s->stream_cfg.num_streams = is_road_cam ? 3 : 1; </s> remove   static const bool rhd_front = Params().read_db_bool("IsRHD");
 </s> add   static const bool is_rhd = Params().read_db_bool("IsRHD");
      LOGD("road camera bad state detected. attempting recovery from %.1f, recover state is %d", lens_true_pos, self_recover);
    int self_recover = c->self_recover.load();
    if (self_recover < 2 && (lens_true_pos < (dac_down + 1) || lens_true_pos > (dac_up - 1)) && is_blur(lapres, lapres_size)) {
      // truly stuck, needs help
      if (--self_recover < -FOCUS_RECOVER_PATIENCE) {
      LOGD("road camera bad state detected. attempting recovery from %.1f, recover state is %d", lens_true_pos, self_recover);
        // parity determined by which end is stuck at
        self_recover = FOCUS_RECOVER_STEPS + (lens_true_pos < dac_m ? 1 : 0);
      }
    } else if (self_recover < 2 && (lens_true_pos < (dac_m - dac_3sig) || lens_true_pos > (dac_m + dac_3sig))) {
      // in suboptimal position with high prob, but may still recover by itself
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_qcom.cc