simplify and cleanup fault logic

commaai · Oct 14, 2024 · dcd00b6 · dcd00b6
1 parent 3fc9bdb
commit dcd00b6
Show file tree

Hide file tree

Showing 2 changed files with 4 additions and 7 deletions.
diff --git a/opendbc/car/tesla/carcontroller.py b/opendbc/car/tesla/carcontroller.py
@@ -20,7 +20,7 @@ def update(self, CC, CS, now_nanos):
  can_sends = []
 
  # Disengage and allow for user override
- hands_on_fault = CS.steer_warning == "EAC_ERROR_HANDS_ON" and CS.hands_on_level >= 3
+ hands_on_fault = CS.hands_on_level >= 3
  lkas_enabled = CC.latActive and not hands_on_fault
 
  if self.frame % 2 == 0:

diff --git a/opendbc/car/tesla/carstate.py b/opendbc/car/tesla/carstate.py
@@ -14,7 +14,6 @@ def __init__(self, CP):
  self.can_define = CANDefine(DBC[CP.carFingerprint]['pt'])
 
  self.hands_on_level = 0
- self.steer_warning = None
  self.das_control = None
 
  def update(self, cp, cp_cam, *_) -> structs.CarState:
@@ -37,22 +36,20 @@ def update(self, cp, cp_cam, *_) -> structs.CarState:
  # Steering wheel
  epas_status = cp.vl["EPAS3S_sysStatus"]
  self.hands_on_level = epas_status["EPAS3S_handsOnLevel"]
- self.steer_warning = self.can_define.dv["EPAS3S_sysStatus"]["EPAS3S_eacErrorCode"].get(int(epas_status["EPAS3S_eacErrorCode"]), None)
  ret.steeringAngleDeg = -epas_status["EPAS3S_internalSAS"]
  ret.steeringRateDeg = -cp_cam.vl["SCCM_steeringAngleSensor"]["SCCM_steeringAngleSpeed"]
  ret.steeringTorque = -epas_status["EPAS3S_torsionBarTorque"]
 
  ret.steeringPressed = self.hands_on_level > 0
  eac_status = self.can_define.dv["EPAS3S_sysStatus"]["EPAS3S_eacStatus"].get(int(epas_status["EPAS3S_eacStatus"]), None)
- ret.steerFaultPermanent = eac_status in ["EAC_FAULT"]
- ret.steerFaultTemporary = self.steer_warning not in ["EAC_ERROR_IDLE", "EAC_ERROR_HANDS_ON"] and eac_status not in ["EAC_ACTIVE", "EAC_AVAILABLE"]
+ ret.steerFaultPermanent = eac_status == "EAC_FAULT"
+ ret.steerFaultTemporary = eac_status == "EAC_INHIBITED"
 
  # Cruise state
  cruise_state = self.can_define.dv["DI_state"]["DI_cruiseState"].get(int(cp.vl["DI_state"]["DI_cruiseState"]), None)
  speed_units = self.can_define.dv["DI_state"]["DI_speedUnits"].get(int(cp.vl["DI_state"]["DI_speedUnits"]), None)
 
- self.acc_enabled = cruise_state in ("ENABLED", "STANDSTILL", "OVERRIDE", "PRE_FAULT", "PRE_CANCEL")
- ret.cruiseState.enabled = self.acc_enabled
+ ret.cruiseState.enabled = cruise_state in ("ENABLED", "STANDSTILL", "OVERRIDE", "PRE_FAULT", "PRE_CANCEL")
  if speed_units == "KPH":
  ret.cruiseState.speed = cp.vl["DI_state"]["DI_digitalSpeed"] * CV.KPH_TO_MS
  elif speed_units == "MPH":