ui update_sockets refactor (#20625)

* separate updates

* update

* no if

* no return

* fix

selfdrive/ui/SConscript

@@ -2,7 +2,7 @@ import os
 Import('qt_env', 'arch', 'common', 'messaging', 'gpucommon', 'visionipc',
        'cereal', 'transformations')
 
-base_libs = [gpucommon, common, cereal, messaging, visionipc, transformations, 'zmq',
+base_libs = [gpucommon, common, messaging, cereal, visionipc, transformations, 'zmq',
              'capnp', 'kj', 'm', 'OpenCL', 'ssl', 'crypto', 'pthread'] + qt_env["LIBS"]
 if arch == 'aarch64':
   base_libs += ['log', 'utils', 'gui', 'ui', 'CB', 'gsl', 'adreno_utils', 'cutils', 'uuid']

selfdrive/ui/ui.cc

@@ -140,9 +140,13 @@ static void update_model(UIState *s, const cereal::ModelDataV2::Reader &model) {
   update_line_data(s, model_position, 0.5, 1.22, &scene.track_vertices, max_idx);
 }
 
-static void update_sockets(UIState *s) {
+static void update_sockets(UIState *s){
+  SubMaster &sm = *(s->sm);
+  sm.update(0);
+}
+
+static void update_state(UIState *s) {
   SubMaster &sm = *(s->sm);
-  if (sm.update(0) == 0) return;
 
   UIScene &scene = s->scene;
   if (scene.started && sm.updated("controlsState")) {
@@ -346,6 +350,7 @@ static void update_status(UIState *s) {
 void ui_update(UIState *s) {
   update_params(s);
   update_sockets(s);
+  update_state(s);
   update_status(s);
   update_alert(s);
   update_vision(s);