    camera_init(s, v, &s->driver_cam, CAMERA_ID_AR0231, 2, 20, device_id, ctx,
                VISION_STREAM_RGB_FRONT, VISION_STREAM_DRIVER);
    printf("driver camera initted \n");
  
    s->sm = new SubMaster({"driverState"});
    s->pm = new PubMaster({"roadCameraState", "driverCameraState", "wideRoadCameraState", "thumbnail"});
  }
  
  void cameras_open(MultiCameraState *s) {
 
</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  </s> remove   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");
 </s> add   LOGD("opened sensor for %d", s->camera_num); </s> remove   camera_close(&s->road_cam);
  camera_close(&s->wide_road_cam);
 </s> add 
  if (!env_only_driver) {
    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");
  }
    camera_init(s, v, &s->driver_cam, CAMERA_ID_AR0231, 2, 20, device_id, ctx,
                VISION_STREAM_RGB_FRONT, VISION_STREAM_DRIVER);
    printf("driver camera initted \n");
  if (!env_only_driver) {
    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->sm = new SubMaster({"driverState"});
    s->pm = new PubMaster({"roadCameraState", "driverCameraState", "wideRoadCameraState", "thumbnail"});
  }
  
  void cameras_open(MultiCameraState *s) {
keep keep add keep 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