Use C++ version of SubMaster and PubMaster (#1548)

* add PubMaster & SubMaster

remove 'delete msg'

remove headers

* use constructor to initial all submster

* modify drain sockets

* fix typo in ssconscript.remove lines

no checkValid in loggerd

last modify

handle_message:event->&event

fix type

remove heads

event to auto

* new interface

* api changed

* Revert "use constructor to initial all submster"

This reverts commit 73be7ea46250a325ce41d3a0445e34395a2ae692.

* change to new api

* revert loggerd

* dd

* use new PubSub api

* update to new interface

don't modify loggerd

reset panda

reset opendbc

remove empty lines

* switch to new pubMaster

* update to the new inteface

change

remove error code

. to ->

merge paramsd.cc

update panda

fix typo

simplify

fix typo

* Fix build

* always conflate

Co-authored-by: deanlee <deanlee3@gmail.com>
old-commit-hash: ab5af232b2

selfdrive/locationd/SConscript

@@ -1,9 +1,9 @@
-Import('env', 'common', 'messaging')
+Import('env', 'common', 'cereal', 'messaging')
 loc_objs = [
   "locationd_yawrate.cc",
   "params_learner.cc",
   "paramsd.cc"]
-loc_libs = [messaging, 'zmq', common, 'capnp', 'kj', 'json11', 'pthread']
+loc_libs = [cereal, messaging, 'zmq', common, 'capnp', 'kj', 'json11', 'pthread']
 
 env.Program("paramsd", loc_objs, LIBS=loc_libs)
 env.SharedLibrary("locationd", loc_objs, LIBS=loc_libs)