diff --git a/selfdrive/ui/replay/camera.cc b/selfdrive/ui/replay/camera.cc
index 92f11989e7..91eb91add1 100644
--- a/selfdrive/ui/replay/camera.cc
+++ b/selfdrive/ui/replay/camera.cc
@@ -60,5 +60,12 @@ void CameraServer::thread() {
     } else {
       std::cout << "camera[" << type << "] failed to get frame:" << eidx.getSegmentId() << std::endl;
     }
+
+    --publishing_;
   }
 }
+
+void CameraServer::pushFrame(CameraType type, FrameReader *fr, const cereal::EncodeIndex::Reader &eidx) {
+  ++publishing_;
+  queue_.push({type, fr, eidx});
+}
diff --git a/selfdrive/ui/replay/camera.h b/selfdrive/ui/replay/camera.h
index 1125db5066..457b842140 100644
--- a/selfdrive/ui/replay/camera.h
+++ b/selfdrive/ui/replay/camera.h
@@ -10,11 +10,9 @@ class CameraServer {
 public:
   CameraServer();
   ~CameraServer();
-  inline void pushFrame(CameraType type, FrameReader* fr, const cereal::EncodeIndex::Reader& eidx) {
-    queue_.push({type, fr, eidx});
-  }
+  void pushFrame(CameraType type, FrameReader* fr, const cereal::EncodeIndex::Reader& eidx);
   inline void waitFinish() {
-    while (!queue_.empty()) usleep(0);
+    while (publishing_ > 0) usleep(0);
   }
 
 protected:
@@ -33,6 +31,8 @@ protected:
       {.rgb_type = VISION_STREAM_RGB_FRONT, .yuv_type = VISION_STREAM_YUV_FRONT},
       {.rgb_type = VISION_STREAM_RGB_WIDE, .yuv_type = VISION_STREAM_YUV_WIDE},
   };
+
+  std::atomic<int> publishing_ = 0;
   std::thread camera_thread_;
   std::unique_ptr<VisionIpcServer> vipc_server_;
   SafeQueue<std::tuple<CameraType, FrameReader*, const cereal::EncodeIndex::Reader>> queue_;