From 46f2055c8361411c4ae7d5f735258b3a6a120dcd Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 27 Mar 2026 17:23:18 -0700
Subject: [PATCH] fix that

---
 msgq/visionipc/visionipc.pxd       |  2 +-
 msgq/visionipc/visionipc_client.cc |  4 +++-
 msgq/visionipc/visionipc_client.h  |  4 +++-
 msgq/visionipc/visionipc_pyx.pyx   | 12 ++++++++++--
 4 files changed, 17 insertions(+), 5 deletions(-)

diff --git a/msgq/visionipc/visionipc.pxd b/msgq/visionipc/visionipc.pxd
index 8151768..7531bc0 100644
--- a/msgq/visionipc/visionipc.pxd
+++ b/msgq/visionipc/visionipc.pxd
@@ -53,7 +53,7 @@ cdef extern from "msgq/visionipc/visionipc_client.h":
   cdef cppclass VisionIpcClient:
     int num_buffers
     VisionBuf buffers[1]
-    VisionIpcClient(string, VisionStreamType, bool)
+    VisionIpcClient(string, VisionStreamType, bool, cl_device_id, cl_context)
     VisionBuf * recv(VisionIpcBufExtra *, int)
     bool connect(bool)
     bool is_connected()
diff --git a/msgq/visionipc/visionipc_client.cc b/msgq/visionipc/visionipc_client.cc
index 1812b33..467dd62 100644
--- a/msgq/visionipc/visionipc_client.cc
+++ b/msgq/visionipc/visionipc_client.cc
@@ -22,7 +22,7 @@ static int connect_to_vipc_server(const std::string &name, bool blocking) {
   return socket_fd;
 }
 
-VisionIpcClient::VisionIpcClient(std::string name_, VisionStreamType type_, bool conflate) : name(name_), type(type_) {
+VisionIpcClient::VisionIpcClient(std::string name_, VisionStreamType type_, bool conflate, cl_device_id device_id, cl_context ctx) : name(name_), type(type_), device_id(device_id), ctx(ctx) {
   msg_ctx = Context::create();
   sock = SubSocket::create(msg_ctx, get_endpoint_name(name, type), "127.0.0.1", conflate, false);
 
@@ -71,6 +71,8 @@ bool VisionIpcClient::connect(bool blocking) {
     buffers[i].fd = fds[i];
     buffers[i].import();
     buffers[i].init_yuv(buffers[i].width, buffers[i].height, buffers[i].stride, buffers[i].uv_offset);
+
+    if (device_id) buffers[i].init_cl(device_id, ctx);
   }
 
   close(socket_fd);
diff --git a/msgq/visionipc/visionipc_client.h b/msgq/visionipc/visionipc_client.h
index f7ecc74..0d29521 100644
--- a/msgq/visionipc/visionipc_client.h
+++ b/msgq/visionipc/visionipc_client.h
@@ -19,7 +19,9 @@ public:
   VisionStreamType type;
   int num_buffers = 0;
   VisionBuf buffers[VISIONIPC_MAX_FDS];
-  VisionIpcClient(std::string name, VisionStreamType type, bool conflate);
+  cl_device_id device_id = nullptr;
+  cl_context ctx = nullptr;
+  VisionIpcClient(std::string name, VisionStreamType type, bool conflate, cl_device_id device_id=nullptr, cl_context ctx=nullptr);
   ~VisionIpcClient();
   VisionBuf * recv(VisionIpcBufExtra * extra=nullptr, const int timeout_ms=100);
   bool connect(bool blocking=true);
diff --git a/msgq/visionipc/visionipc_pyx.pyx b/msgq/visionipc/visionipc_pyx.pyx
index dbf7bb3..1342a1f 100644
--- a/msgq/visionipc/visionipc_pyx.pyx
+++ b/msgq/visionipc/visionipc_pyx.pyx
@@ -15,6 +15,7 @@ from .visionipc cimport VisionIpcClient as cppVisionIpcClient
 from .visionipc cimport VisionBuf as cppVisionBuf
 from .visionipc cimport VisionIpcBufExtra
 from .visionipc cimport get_endpoint_name as cpp_get_endpoint_name
+from .visionipc cimport cl_device_id, cl_context
 
 
 def get_endpoint_name(string name, VisionStreamType stream):
@@ -64,6 +65,10 @@ cdef class VisionBuf:
     return self.buf.fd
 
 
+cdef class CLContext:
+  pass
+
+
 cdef class VisionIpcServer:
   cdef cppVisionIpcServer * server
 
@@ -102,8 +107,11 @@ cdef class VisionIpcClient:
   cdef cppVisionIpcClient * client
   cdef VisionIpcBufExtra extra
 
-  def __cinit__(self, string name, VisionStreamType stream, bool conflate):
-    self.client = new cppVisionIpcClient(name, stream, conflate)
+  def __cinit__(self, string name, VisionStreamType stream, bool conflate, CLContext context=None):
+    if context is not None:
+      self.client = new cppVisionIpcClient(name, stream, conflate, context.device_id, context.context)
+    else:
+      self.client = new cppVisionIpcClient(name, stream, conflate, NULL, NULL)
 
   def __dealloc__(self):
     del self.client