card: vcruise all in one place (#34387)

* no reason to not be here

* oh this was off by a frame!

* ref

selfdrive/car/card.py

@@ -180,8 +180,11 @@ class Car:
     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 @@ class Car:
   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

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-f74fe264ab57d6698a4eb550a5769c46f3d03021
+9758f1868c1c07d5a8d294f19bf6bf7b8b1beeda