  
  from common.timeout import Timeout
  import selfdrive.manager as manager
  
  from common.spinner import Spinner
  import cereal.messaging as messaging
  from tools.lib.framereader import FrameReader
  from tools.lib.logreader import LogReader
  from selfdrive.test.openpilotci import BASE_URL, get_url
  from selfdrive.test.process_replay.compare_logs import compare_logs, save_log
 
</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     upload_file(log_fn, os.path.basename(log_fn))
 </s> add     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)) </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 
from cereal import log
  
  from common.timeout import Timeout
  import selfdrive.manager as manager
  
from cereal import log
  import cereal.messaging as messaging
  from tools.lib.framereader import FrameReader
  from tools.lib.logreader import LogReader
  from selfdrive.test.openpilotci import BASE_URL, get_url
  from selfdrive.test.process_replay.compare_logs import compare_logs, save_log
keep keep keep keep replace keep 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