move the body events to card (#33262)

* move the body events to card

* rm import
old-commit-hash: 093c09a7373868a77d8f9e56f7f26304601855dc

selfdrive/car/body/interface.py

@@ -1,6 +1,6 @@
 import math
 from cereal import car
-from openpilot.selfdrive.car import DT_CTRL, get_safety_config
+from openpilot.selfdrive.car import get_safety_config
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.car.body.values import SPEED_FROM_RPM
 
@@ -27,12 +27,4 @@ class CarInterface(CarInterfaceBase):
   def _update(self, c):
     ret = self.CS.update(self.cp)
 
-    # wait for everything to init first
-    if self.frame > int(5. / DT_CTRL):
-      # body always wants to enable
-      ret.init('events', 1)
-      ret.events[0].name = car.CarEvent.EventName.pcmEnable
-      ret.events[0].enable = True
-    self.frame += 1
-
     return ret

selfdrive/car/card.py

@@ -159,6 +159,12 @@ class Car:
 
     self.events.add_from_msg(CS.events)
 
+    if self.CP.notCar:
+      # wait for everything to init first
+      if self.sm.frame > int(5. / DT_CTRL) and self.initialized_prev:
+        # body always wants to enable
+        self.events.add(EventName.pcmEnable)
+
     # Disable on rising edge of accelerator or brake. Also disable on brake when speed > 0
     if (CS.gasPressed and not self.CS_prev.gasPressed and self.disengage_on_accelerator) or \
       (CS.brakePressed and (not self.CS_prev.brakePressed or not CS.standstill)) or \