cleanup old sm pm args (#30241)

* cleanup sm pm

* fix controlsd

* fix

selfdrive/locationd/laikad.py

@@ -440,7 +440,7 @@ def clear_tmp_cache():
   os.mkdir(Paths.download_cache_root())
 
 
-def main(sm=None, pm=None):
+def main():
   #clear_tmp_cache()
 
   use_qcom = not Params().get_bool("UbloxAvailable")
@@ -449,8 +449,7 @@ def main(sm=None, pm=None):
   else:
     raw_name = "ubloxGnss"
   raw_gnss_sock = messaging.sub_sock(raw_name, conflate=False)
-  if pm is None:
-    pm = messaging.PubMaster(['gnssMeasurements'])
+  pm = messaging.PubMaster(['gnssMeasurements'])
 
   # disable until set as main gps source, to better analyze startup time
   # TODO ensure low CPU usage before enabling

selfdrive/locationd/paramsd.py

@@ -117,16 +117,14 @@ def check_valid_with_hysteresis(current_valid: bool, val: float, threshold: floa
   return current_valid
 
 
-def main(sm=None, pm=None):
+def main():
   config_realtime_process([0, 1, 2, 3], 5)
 
   DEBUG = bool(int(os.getenv("DEBUG", "0")))
   REPLAY = bool(int(os.getenv("REPLAY", "0")))
 
-  if sm is None:
-    sm = messaging.SubMaster(['liveLocationKalman', 'carState'], poll=['liveLocationKalman'])
-  if pm is None:
-    pm = messaging.PubMaster(['liveParameters'])
+  pm = messaging.PubMaster(['liveParameters'])
+  sm = messaging.SubMaster(['liveLocationKalman', 'carState'], poll=['liveLocationKalman'])
 
   params_reader = Params()
   # wait for stats about the car to come in from controls

selfdrive/locationd/torqued.py

@@ -218,14 +218,11 @@ class TorqueEstimator:
     return msg
 
 
-def main(sm=None, pm=None):
+def main():
   config_realtime_process([0, 1, 2, 3], 5)
 
-  if sm is None:
-    sm = messaging.SubMaster(['carControl', 'carState', 'liveLocationKalman'], poll=['liveLocationKalman'])
-
-  if pm is None:
-    pm = messaging.PubMaster(['liveTorqueParameters'])
+  pm = messaging.PubMaster(['liveTorqueParameters'])
+  sm = messaging.SubMaster(['carControl', 'carState', 'liveLocationKalman'], poll=['liveLocationKalman'])
 
   params = Params()
   with car.CarParams.from_bytes(params.get("CarParams", block=True)) as CP: