    cl_device_type device_type = CL_DEVICE_TYPE_CPU;
  #endif
  
    // cl init
    cl_device_id device_id = cl_get_device_id(device_type);
    cl_context context = CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err));
    cl_command_queue q = CL_CHECK_ERR(clCreateCommandQueue(context, device_id, 0, &err));
  
    // init the models
    ModelState model;
 
</s> remove #if defined(QCOM) || defined(QCOM2)
  cl_device_type device_type = CL_DEVICE_TYPE_DEFAULT;
#else
  cl_device_type device_type = CL_DEVICE_TYPE_CPU;
#endif

 </s> add  </s> remove     ref_commit = open("model_replay_ref_commit").read().strip()
 </s> add     ref_commit = open(ref_commit_fn).read().strip() </s> remove def camera_replay(lr, fr):
 </s> add def replace_calib(msg, calib):
  msg = msg.as_builder()
  if calib is not None:
    msg.liveCalibration.extrinsicMatrix = get_view_frame_from_road_frame(*calib, 1.22).flatten().tolist()
  return msg

def camera_replay(lr, fr, desire=None, calib=None):
  cl_device_id device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT);
    cl_device_type device_type = CL_DEVICE_TYPE_CPU;
  #endif
  
    // cl init
  cl_device_id device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT);
    cl_context context = CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err));
    cl_command_queue q = CL_CHECK_ERR(clCreateCommandQueue(context, device_id, 0, &err));
  
    // init the models
    ModelState model;
keep keep keep keep replace keep keep keep keep keep
 Added model_replay and fixed some bugs in camera_replay (#2679)

* Added model_replay and fixed some bugs in camera_replay

* Unpack capnp logs on device

* add sync to device

* GPU now also works on PC

* update model ref

* update refs

* dont change this one

* Use pipeline calib instead of rlog calib

* remove that

* update refs

Co-authored-by: Willem Melching <willem.melching@gmail.com>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> 
selfdrive/modeld/modeld.cc