  
      new_commit = get_git_commit()
      log_fn = "%s_%s_%s.bz2" % (TEST_ROUTE, "model", new_commit)
      save_log(log_fn, log_msgs)
      upload_file(log_fn, os.path.basename(log_fn))
  
      print("\n\nNew ref commit: ", new_commit)
  
    sys.exit(int(failed))
 
</s> remove     ref_commit = open("model_replay_ref_commit").read().strip()
 </s> add     ref_commit = open(ref_commit_fn).read().strip() </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 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): </s> remove   pm = messaging.PubMaster(['frame', 'liveCalibration'])
 </s> add   pm = messaging.PubMaster(['frame', 'liveCalibration', 'pathPlan'])
    try:
      upload_file(log_fn, os.path.basename(log_fn))
    except Exception as e:
      print("failed to upload", e)

    with open(ref_commit_fn, 'w') as f:
      f.write(str(new_commit))
  
      new_commit = get_git_commit()
      log_fn = "%s_%s_%s.bz2" % (TEST_ROUTE, "model", new_commit)
      save_log(log_fn, log_msgs)
    try:
      upload_file(log_fn, os.path.basename(log_fn))
    except Exception as e:
      print("failed to upload", e)

    with open(ref_commit_fn, 'w') as f:
      f.write(str(new_commit))
  
      print("\n\nNew ref commit: ", new_commit)
  
    sys.exit(int(failed))
keep keep keep keep replace 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/test/process_replay/camera_replay.py