    int size = snprintf(s, sizeof(s), "%f", param);
    return Params(persistent_param).write_db_value(param_name, s, size < sizeof(s) ? size : sizeof(s));
  }
  
  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);
  }
  
  static void ui_init_vision(UIState *s) {
    // Invisible until we receive a calibration message.
    s->scene.world_objects_visible = false;
  
 
</s> remove   for (int i = 0; i < UI_BUF_COUNT; i++) {
 </s> add   for (int i = 0; i < s->vipc_client->num_buffers; i++) { </s> remove   return;
 </s> add   s->last_frame = nullptr;
  s->vipc_client = new VisionIpcClient("camerad", VISION_STREAM_RGB_BACK, true); </s> remove GLuint visionimg_to_gl(const VisionImg *img, EGLImageKHR *pkhr, void **pph) {
  unsigned int texture;
  glGenTextures(1, &texture);
  glBindTexture(GL_TEXTURE_2D, texture);
  glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, img->width, img->height, 0, GL_RGB, GL_UNSIGNED_BYTE, *pph);
  glGenerateMipmap(GL_TEXTURE_2D);
  *pkhr = (EGLImageKHR)1; // not NULL
  return texture;
}

void visionimg_destroy_gl(EGLImageKHR khr, void *ph) {
  // empty
}
 </s> add  </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   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);
    int size = snprintf(s, sizeof(s), "%f", param);
    return Params(persistent_param).write_db_value(param_name, s, size < sizeof(s) ? size : sizeof(s));
  }
  













  
  static void ui_init_vision(UIState *s) {
    // Invisible until we receive a calibration message.
    s->scene.world_objects_visible = false;
  
keep keep keep keep replace replace replace replace replace replace replace replace replace replace replace 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/ui/ui.cc