    // looks like there's only one of these
    s->isp_fd = open("/dev/v4l-subdev1", O_RDWR | O_NONBLOCK);
    assert(s->isp_fd >= 0);
    LOGD("opened isp");
    s->rear.isp_fd = s->front.isp_fd = s->wide.isp_fd = s->isp_fd;
  
    // query icp for MMU handles
    LOG("-- Query ICP for MMU handles");
    static struct cam_isp_query_cap_cmd isp_query_cap_cmd = {0};
    static struct cam_query_cap_cmd query_cap_cmd = {0};
 
</s> remove   s->rear.video1_fd = s->front.video1_fd = s->wide.video1_fd = s->video1_fd;
 </s> add   s->road_cam.video1_fd = s->driver_cam.video1_fd = s->wide_road_cam.video1_fd = s->video1_fd; </s> remove   s->rear.video0_fd = s->front.video0_fd = s->wide.video0_fd = s->video0_fd;
 </s> add   s->road_cam.video0_fd = s->driver_cam.video0_fd = s->wide_road_cam.video0_fd = s->video0_fd; </s> remove   s->rear.device_iommu = s->front.device_iommu = s->wide.device_iommu = device_iommu;
  s->rear.cdm_iommu = s->front.cdm_iommu = s->wide.cdm_iommu = cdm_iommu;
 </s> add   s->road_cam.device_iommu = s->driver_cam.device_iommu = s->wide_road_cam.device_iommu = device_iommu;
  s->road_cam.cdm_iommu = s->driver_cam.cdm_iommu = s->wide_road_cam.cdm_iommu = cdm_iommu; </s> remove   // init rear sensor
 </s> add   // init road camera sensor </s> remove   if (rear) {
 </s> add   if (is_road_cam) {
  s->road_cam.isp_fd = s->driver_cam.isp_fd = s->wide_road_cam.isp_fd = s->isp_fd;
    // looks like there's only one of these
    s->isp_fd = open("/dev/v4l-subdev1", O_RDWR | O_NONBLOCK);
    assert(s->isp_fd >= 0);
    LOGD("opened isp");
  s->road_cam.isp_fd = s->driver_cam.isp_fd = s->wide_road_cam.isp_fd = s->isp_fd;
  
    // query icp for MMU handles
    LOG("-- Query ICP for MMU handles");
    static struct cam_isp_query_cap_cmd isp_query_cap_cmd = {0};
    static struct cam_query_cap_cmd query_cap_cmd = {0};
keep keep keep keep replace keep keep keep keep keep
 camerad: rename variables&functions to follow new convention (#20096)

* rename CameraState variables to follow new convention

* continue

* rename camera_process functions

* qcom:rename exposure related variables

* continue

* update commments

* bool real -> bool is_road_cam

* rename sm_front -> sm

* remove paramater tname from start_process_thread

* rename rhd_front to is_rhd

* remove unused varialble name from struct CameraInfo

* rename env_send_xxx

* rename cap_front to cap_driver,cap_rear to cap_road

* rename xxx_camera_process to process_xxx_camera

* update snapshot.py 
selfdrive/camerad/cameras/camera_qcom2.cc