          last_vipc_frame_id = extra.frame_id;
        }
  
      }
      visionbuf_free(&yuv_ion);
      visionstream_destroy(&stream);
    }
  
    model_free(&model);
  
    LOG("joining live_thread");
 
</s> remove     visionstream_destroy(&stream);
 </s> add  </s> remove         LOGD("model process: %.2fms, from last %.2fms, vipc_frame_id %zu, frame_id, %zu, frame_drop %.3f", mt2-mt1, mt1-last, extra.frame_id, frame_id, frame_drop_ratio);
 </s> add         LOGD("model process: %.2fms, from last %.2fms, vipc_frame_id %u, frame_id, %u, frame_drop %.3f", mt2-mt1, mt1-last, extra.frame_id, frame_id, frame_drop_ratio); </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     camera_bufs[i] = visionbuf_allocate_cl(frame_size, device_id, context);
 </s> add     camera_bufs[i].allocate(frame_size);
    camera_bufs[i].init_cl(device_id, context);
          last_vipc_frame_id = extra.frame_id;
        }
  
      }


    }
  
    model_free(&model);
  
    LOG("joining live_thread");
keep keep keep keep 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/modeld/modeld.cc