    for (auto &t : encoder_threads) t.join();
  }
  
  int main() {
    if (Hardware::TICI()) {
      int ret;
      ret = util::set_realtime_priority(52);
      assert(ret == 0);
      ret = util::set_core_affinity({3});
      assert(ret == 0);
 
</s> remove   if (Hardware::TICI()) {
 </s> add   if (!Hardware::PC()) { </s> remove     err = util::set_core_affinity({Hardware::TICI() ? 4 : 3});
 </s> add     err = util::set_core_affinity({4}); </s> remove if arch == "aarch64" and TICI:
 </s> add if arch == "aarch64" and AGNOS: </s> remove   if (!Hardware::TICI() && ci->bayer) {
    // debayering does a 2x downscale
    rgb_width = ci->frame_width / 2;
    rgb_height = ci->frame_height / 2;
  }

 </s> add  </s> remove         if TICI and ((modem_version is None) or (modem_nv is None)):
 </s> add         if AGNOS and ((modem_version is None) or (modem_nv is None)):
  if (!Hardware::PC()) {
    for (auto &t : encoder_threads) t.join();
  }
  
  int main() {
  if (!Hardware::PC()) {
      int ret;
      ret = util::set_realtime_priority(52);
      assert(ret == 0);
      ret = util::set_core_affinity({3});
      assert(ret == 0);
keep keep keep keep replace keep keep keep keep keep
 less TICI when not needed (#24698)

* less TICI when not needed

* fix process replay

* move reading voltages into hw abstraction layer

* Update selfdrive/hardware/tici/hardware.h

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* Update selfdrive/hardware/hw.h

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* Update selfdrive/hardware/base.h

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* rename init function

* Update selfdrive/athena/athenad.py

Co-authored-by: Robbe Derks <robbe.derks@gmail.com>

* Update selfdrive/boardd/boardd.cc

* Apply suggestions from code review

* Update selfdrive/thermald/thermald.py

* update ref

* fix alert width if all cameras are bad

* add ecam to test_loggerd

* bump cereal

* bump cereal

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Co-authored-by: Robbe Derks <robbe.derks@gmail.com> 
selfdrive/loggerd/encoderd.cc