Tesla: simplify the logic for handling steering-related status codes (c…

…ommaai#1367)

simplify and cleanup fault logic

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:

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":