  
    rgb_width = ci->frame_width;
    rgb_height = ci->frame_height;
  
    if (!Hardware::TICI() && ci->bayer) {
      // debayering does a 2x downscale
      rgb_width = ci->frame_width / 2;
      rgb_height = ci->frame_height / 2;
    }
  
    yuv_transform = get_model_yuv_transform(ci->bayer);
  
    vipc_server->create_buffers(rgb_type, UI_BUF_COUNT, true, rgb_width, rgb_height);
    rgb_stride = vipc_server->get_buffer(rgb_type)->stride;
    LOGD("created %d UI vipc buffers with size %dx%d", UI_BUF_COUNT, rgb_width, rgb_height);
 
</s> remove   if (Hardware::TICI()) {
 </s> add   if (!Hardware::PC()) { </s> remove if arch == "aarch64" and TICI:
 </s> add if arch == "aarch64" and AGNOS: </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});
  
    rgb_width = ci->frame_width;
    rgb_height = ci->frame_height;
  






    yuv_transform = get_model_yuv_transform(ci->bayer);
  
    vipc_server->create_buffers(rgb_type, UI_BUF_COUNT, true, rgb_width, rgb_height);
    rgb_stride = vipc_server->get_buffer(rgb_type)->stride;
    LOGD("created %d UI vipc buffers with size %dx%d", UI_BUF_COUNT, rgb_width, rgb_height);
keep keep keep keep replace replace replace replace replace 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/camerad/cameras/camera_common.cc