  
  static void camera_open(CameraState *s) {
    s->sensor_fd = open_v4l_by_name_and_index("cam-sensor-driver", s->camera_num);
    assert(s->sensor_fd >= 0);
    LOGD("opened sensor");
  
    s->csiphy_fd = open_v4l_by_name_and_index("cam-csiphy-driver", s->camera_num);
    assert(s->csiphy_fd >= 0);
    LOGD("opened csiphy");
  
    // probe the sensor
    LOGD("-- Probing sensor %d", s->camera_num);
    sensors_init(s->multi_cam_state->video0_fd, s->sensor_fd, s->camera_num);
  
 
</s> remove   camera_close(&s->road_cam);
  camera_close(&s->wide_road_cam);
 </s> add  </s> remove   camera_init(s, v, &s->road_cam, CAMERA_ID_AR0231, 1, 20, device_id, ctx,
              VISION_STREAM_RGB_BACK, VISION_STREAM_ROAD); // swap left/right
  printf("road camera initted \n");
  camera_init(s, v, &s->wide_road_cam, CAMERA_ID_AR0231, 0, 20, device_id, ctx,
              VISION_STREAM_RGB_WIDE, VISION_STREAM_WIDE_ROAD);
  printf("wide road camera initted \n");
 </s> add 
  LOGD("opened sensor for %d", s->camera_num);
  
  static void camera_open(CameraState *s) {
    s->sensor_fd = open_v4l_by_name_and_index("cam-sensor-driver", s->camera_num);
    assert(s->sensor_fd >= 0);
  LOGD("opened sensor for %d", s->camera_num);
  LOGD("opened sensor for %d", s->camera_num);
  LOGD("opened sensor for %d", s->camera_num);
  LOGD("opened sensor for %d", s->camera_num);
  LOGD("opened sensor for %d", s->camera_num);
  
    // probe the sensor
    LOGD("-- Probing sensor %d", s->camera_num);
    sensors_init(s->multi_cam_state->video0_fd, s->sensor_fd, s->camera_num);
  
keep keep keep keep replace replace replace replace replace keep keep keep keep keep
 Prepare for using the ISP (#23621)

* parse out isp packet with structs

* dsp mode

* support only driver / comments for yuv

* minor touchups

* DEBUG_FRAMES

Co-authored-by: Comma Device <device@comma.ai> 
selfdrive/camerad/cameras/camera_qcom2.cc