Revert "can't directly access sockets anymore", was supposed to be on branch

This reverts commit 1046c572b4e49608137f687263d443eab6c430f8.

old-commit-hash: acb25751b7

cereal

@@ -1 +1 @@
-Subproject commit 32300930f65425bbba136461446149af8f8b42d9
+Subproject commit 29099e87a1372694fb81b426faaa57e832bbe87a

selfdrive/controls/controlsd.py

@@ -61,9 +61,7 @@ class Controls:
       self.can_sock = messaging.sub_sock('can', timeout=can_timeout)
 
     # wait for one health and one CAN packet
-    while not sm.updated['health']:
-      sm.update()
-    hw_type = sm['health'].hwType
+    hw_type = messaging.recv_one(self.sm.sock['health']).health.hwType
     has_relay = hw_type in [HwType.blackPanda, HwType.uno, HwType.dos]
     print("Waiting for CAN messages...")
     messaging.get_one_can(self.can_sock)

selfdrive/test/process_replay/camera_replay.py

@@ -27,7 +27,7 @@ def camera_replay(lr, fr):
   spinner = Spinner()
 
   pm = messaging.PubMaster(['frame', 'liveCalibration'])
-  model_sock = messaging.sub_sock("model", conflate=False)
+  sm = messaging.SubMaster(['model'])
 
   # TODO: add dmonitoringmodeld
   print("preparing procs")
@@ -56,7 +56,7 @@ def camera_replay(lr, fr):
         frame_idx += 1
 
         pm.send(msg.which(), f)
-        log_msgs.append(messaging.recv_one(model_sock))
+        log_msgs.append(messaging.recv_one(sm.sock['model']))
 
         spinner.update("modeld replay %d/%d" % (frame_idx, fr.frame_count))