poll modelV2 in UI

selfdrive/ui/qt/onroad.cc

@@ -41,24 +41,19 @@ OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent) {
 }
 
 void OnroadWindow::updateState(const UIState &s) {
-  QColor bgColor = bg_colors[s.status];
+  bg = bg_colors[s.status];
   Alert alert = Alert::get(*(s.sm), s.scene.started_frame);
   if (s.sm->updated("controlsState") || !alert.equal({})) {
     if (alert.type == "controlsUnresponsive") {
-      bgColor = bg_colors[STATUS_ALERT];
+      bg = bg_colors[STATUS_ALERT];
     } else if (alert.type == "controlsUnresponsivePermanent") {
-      bgColor = bg_colors[STATUS_DISENGAGED];
+      bg = bg_colors[STATUS_DISENGAGED];
     }
-    alerts->updateAlert(alert, bgColor);
+    alerts->updateAlert(alert, bg);
   }
 
   nvg->updateState(s);
-
-  if (bg != bgColor) {
-    // repaint border
-    bg = bgColor;
-    update();
-  }
+  nvg->update();
 }
 
 void OnroadWindow::mousePressEvent(QMouseEvent* e) {

selfdrive/ui/qt/widgets/cameraview.cc

@@ -265,7 +265,6 @@ void CameraViewWidget::vipcConnected(VisionIpcClient *vipc_client) {
 
 void CameraViewWidget::vipcFrameReceived(VisionBuf *buf) {
   latest_frame = buf;
-  update();
 }
 
 void CameraViewWidget::vipcThread() {

selfdrive/ui/ui.cc

@@ -118,7 +118,7 @@ static void update_model(UIState *s, const cereal::ModelDataV2::Reader &model) {
 }
 
 static void update_sockets(UIState *s) {
-  s->sm->update(0);
+  s->sm->update(1000 / UI_FREQ);
 }
 
 static void update_state(UIState *s) {
@@ -230,11 +230,11 @@ void UIState::updateStatus() {
 }
 
 UIState::UIState(QObject *parent) : QObject(parent) {
-  sm = std::make_unique<SubMaster, const std::initializer_list<const char *>>({
+  sm = std::make_unique<SubMaster, const std::initializer_list<const char *>, const std::initializer_list<const char *>>({
     "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState", "roadCameraState",
     "pandaStates", "carParams", "driverMonitoringState", "sensorEvents", "carState", "liveLocationKalman",
     "wideRoadCameraState", "managerState",
-  });
+  }, {"modelV2"});
 
   Params params;
   wide_camera = Hardware::TICI() ? params.getBool("EnableWideCamera") : false;
@@ -243,7 +243,7 @@ UIState::UIState(QObject *parent) : QObject(parent) {
   // update timer
   timer = new QTimer(this);
   QObject::connect(timer, &QTimer::timeout, this, &UIState::update);
-  timer->start(1000 / UI_FREQ);
+  timer->start(0);
 }
 
 void UIState::update() {