cereal: SubMaster refactor, update is now void (#20730)

* cereal: SubMaster refactor, update is now void

* bump cereal

* mistake

* update void

* checks

* semicolon

* Update selfdrive/camerad/cameras/camera_frame_stream.cc

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* check sensorEvent

* update cereal

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

cereal

@@ -1 +1 @@
-Subproject commit 9c56c531c6b1c6dbf6d22377fbb2eb75309d1e91
+Subproject commit 8e5eb3ba4db9975e3370f3e4f5e60c0e7b73d078

selfdrive/camerad/cameras/camera_frame_stream.cc

@@ -49,8 +49,8 @@ void run_frame_stream(CameraState &camera, const char* frame_pkt) {
 
   size_t buf_idx = 0;
   while (!do_exit) {
-    if (sm.update(1000) == 0) continue;
+    sm.update(1000);
-
+    if(sm.updated(frame_pkt)){
       auto msg = static_cast<capnp::DynamicStruct::Reader>(sm[frame_pkt]);
       auto frame = msg.get(frame_pkt).as<capnp::DynamicStruct>();
       camera.buf.camera_bufs_metadata[buf_idx] = {
@@ -70,6 +70,7 @@ void run_frame_stream(CameraState &camera, const char* frame_pkt) {
       buf_idx = (buf_idx + 1) % FRAME_BUF_COUNT;
     }
   }
+}
 
 }  // namespace
 

selfdrive/camerad/cameras/camera_qcom.cc

@@ -850,7 +850,8 @@ static void parse_autofocus(CameraState *s, uint8_t *d) {
 }
 
 static std::optional<float> get_accel_z(SubMaster *sm) {
-  if (sm->update(0) > 0) {
+  sm->update(0);
+  if(sm->updated("sensorEvents")){
     for (auto event : (*sm)["sensorEvents"].getSensorEvents()) {
       if (event.which() == cereal::SensorEventData::ACCELERATION) {
         if (auto v = event.getAcceleration().getV(); v.size() >= 3)

selfdrive/modeld/modeld.cc

@@ -40,8 +40,8 @@ void calibration_thread(bool wide_camera) {
   const mat3 yuv_transform = get_model_yuv_transform();
 
   while (!do_exit) {
-    if (sm.update(100) > 0){
+    sm.update(100);
-
+    if(sm.updated("liveCalibration")){
       auto extrinsic_matrix = sm["liveCalibration"].getLiveCalibration().getExtrinsicMatrix();
       Eigen::Matrix<float, 3, 4> extrinsic_matrix_eigen;
       for (int i = 0; i < 4*3; i++){
@@ -90,11 +90,10 @@ void run_model(ModelState &model, VisionIpcClient &vipc_client) {
     const bool run_model_this_iter = live_calib_seen;
     transform_lock.unlock();
 
-    if (sm.update(0) > 0) {
     // TODO: path planner timeout?
+    sm.update(0);
     desire = ((int)sm["lateralPlan"].getLateralPlan().getDesire());
     frame_id = sm["roadCameraState"].getRoadCameraState().getFrameId();
-    }
 
     if (run_model_this_iter) {
       run_count++;

selfdrive/sensord/sensors_qcom.cc

@@ -197,7 +197,8 @@ void sensor_loop() {
       }
 
       // Check whether to go into low power mode at 5Hz
-      if (frame % 20 == 0 && sm.update(0) > 0) {
+      if (frame % 20 == 0) {
+        sm.update(0);
         bool offroad = !sm["deviceState"].getDeviceState().getStarted();
         if (low_power_mode != offroad) {
           for (auto &s : sensors) {