common?

selfdrive/car/hyundai/carstate.py

@@ -53,8 +53,15 @@ class CarState(CarStateBase):
 
   def update(self, cp, cp_cam):
     if self.CP.carFingerprint in CANFD_CAR:
-      return self.update_canfd(cp, cp_cam)
+      ret = self.update_canfd(cp, cp_cam)
+    else:
+      ret = self.update_can(cp, cp_cam)
+
+    ret.standstill = ret.wheelSpeeds.fl <= STANDSTILL_THRESHOLD and ret.wheelSpeeds.rr <= STANDSTILL_THRESHOLD
 
+    return ret
+
+  def update_can(self, cp, cp_cam):
     ret = car.CarState.new_message()
     cp_cruise = cp_cam if self.CP.carFingerprint in CAMERA_SCC_CAR else cp
     self.is_metric = cp.vl["CLU11"]["CF_Clu_SPEED_UNIT"] == 0
@@ -73,7 +80,6 @@ class CarState(CarStateBase):
     )
     ret.vEgoRaw = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4.
     ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
-    ret.standstill = ret.wheelSpeeds.fl <= STANDSTILL_THRESHOLD and ret.wheelSpeeds.rr <= STANDSTILL_THRESHOLD
 
     self.cluster_speed_counter += 1
     if self.cluster_speed_counter > CLUSTER_SAMPLE_RATE:
@@ -192,7 +198,6 @@ class CarState(CarStateBase):
     )
     ret.vEgoRaw = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4.
     ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
-    ret.standstill = ret.wheelSpeeds.fl <= STANDSTILL_THRESHOLD and ret.wheelSpeeds.rr <= STANDSTILL_THRESHOLD
 
     ret.steeringRateDeg = cp.vl["STEERING_SENSORS"]["STEERING_RATE"]
     ret.steeringAngleDeg = cp.vl["STEERING_SENSORS"]["STEERING_ANGLE"] * -1