card: vcruise all in one place (#34387)

* no reason to not be here * oh this was off by a frame! * ref
commaai · Jan 15, 2025 · 3d38b13 · 3d38b13
1 parent a1d81e6
commit 3d38b13
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Showing 2 changed files with 5 additions and 5 deletions.
diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
@@ -180,8 +180,11 @@ def state_update(self) -> tuple[car.CarState, structs.RadarDataT | None]:
     if can_rcv_valid and REPLAY:
       self.can_log_mono_time = messaging.log_from_bytes(can_strs[0]).logMonoTime
 
-    # TODO: mirror the carState.cruiseState struct?
     self.v_cruise_helper.update_v_cruise(CS, self.sm['carControl'].enabled, self.is_metric)
+    if self.sm['carControl'].enabled and not self.CC_prev.enabled:
+      self.v_cruise_helper.initialize_v_cruise(CS, self.experimental_mode)
+
+    # TODO: mirror the carState.cruiseState struct?
     CS.vCruise = float(self.v_cruise_helper.v_cruise_kph)
     CS.vCruiseCluster = float(self.v_cruise_helper.v_cruise_cluster_kph)
 
@@ -238,9 +241,6 @@ def controls_update(self, CS: car.CarState, CC: car.CarControl):
   def step(self):
     CS, RD = self.state_update()
 
-    if self.sm['carControl'].enabled and not self.CC_prev.enabled:
-      self.v_cruise_helper.initialize_v_cruise(CS, self.experimental_mode)
-
     self.state_publish(CS, RD)
 
     initialized = (not any(e.name == EventName.selfdriveInitializing for e in self.sm['onroadEvents']) and

diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-f74fe264ab57d6698a4eb550a5769c46f3d03021
+9758f1868c1c07d5a8d294f19bf6bf7b8b1beeda
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		f74fe264ab57d6698a4eb550a5769c46f3d03021
		9758f1868c1c07d5a8d294f19bf6bf7b8b1beeda