      s->scene.viz_rect.w -= sbr_w;
    }
  
    const bool draw_vision = s->started && s->status != STATUS_OFFROAD &&
                             s->active_app == cereal::UiLayoutState::App::NONE;
  
    // GL drawing functions
    ui_draw_background(s);
    if (draw_vision && s->vision_connected) {
      ui_draw_vision_frame(s);
 
</s> remove   if (draw_vision && s->vision_connected) {
 </s> add   if (draw_vision) { </s> remove   if (draw_vision && s->vision_connected) {
 </s> add   if (draw_vision) { </s> remove       VIPCBuf *buf;
      VIPCBufExtra extra;
      buf = visionstream_get(&stream, &extra);
      if (buf == NULL) {
        LOGW("visionstream get failed");
        break;
 </s> add       VisionIpcBufExtra extra;
      VisionBuf *buf = vipc_client.recv(&extra);
      if (buf == nullptr){
        continue; </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   for (int i = 0; i < UI_BUF_COUNT; i++) {
 </s> add   for (int i = 0; i < s->vipc_client->num_buffers; i++) {
    s->active_app == cereal::UiLayoutState::App::NONE && s->vipc_client->connected;
      s->scene.viz_rect.w -= sbr_w;
    }
  
    const bool draw_vision = s->started && s->status != STATUS_OFFROAD &&
    s->active_app == cereal::UiLayoutState::App::NONE && s->vipc_client->connected;
  
    // GL drawing functions
    ui_draw_background(s);
    if (draw_vision && s->vision_connected) {
      ui_draw_vision_frame(s);
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/paint.cc