body: set fault state (#24125)

* body: set fault state

* fix that

* update refs
old-commit-hash: 6c5b0685da

selfdrive/car/body/carstate.py

@@ -17,16 +17,13 @@ class CarState(CarStateBase):
     ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
     ret.standstill = False
 
+    ret.steerFaultPermanent = any([cp.vl['VAR_VALUES']['MOTOR_ERR_L'], cp.vl['VAR_VALUES']['MOTOR_ERR_R'],
+                                   cp.vl['VAR_VALUES']['FAULT']])
+
     # irrelevant for non-car
-    ret.doorOpen = False
-    ret.seatbeltUnlatched = False
     ret.gearShifter = car.CarState.GearShifter.drive
-    ret.steeringTorque = 0
-    ret.steeringAngleDeg = 0
-    ret.steeringPressed = False
     ret.cruiseState.enabled = True
     ret.cruiseState.available = True
-    ret.cruiseState.speed = 0
 
     return ret
 

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-5f9efe721de4d947567eae55a8dd331f0bae4ded
+7147228e42963ae7170e142bbacf720508ab83d7

selfdrive/test/process_replay/test_processes.py

@@ -12,7 +12,7 @@ from tools.lib.logreader import LogReader
 
 
 original_segments = [
-  ("BODY", "bd6a637565e91581|2022-04-04--19-14-27--0"),        # COMMA.BODY
+  ("BODY", "bd6a637565e91581|2022-04-04--22-05-08--0"),        # COMMA.BODY
   ("HYUNDAI", "02c45f73a2e5c6e9|2021-01-01--19-08-22--1"),     # HYUNDAI.SONATA
   ("TOYOTA", "0982d79ebb0de295|2021-01-04--17-13-21--13"),     # TOYOTA.PRIUS (INDI)
   ("TOYOTA2", "0982d79ebb0de295|2021-01-03--20-03-36--6"),     # TOYOTA.RAV4  (LQR)
@@ -31,7 +31,7 @@ original_segments = [
 ]
 
 segments = [
-  ("BODY", "bd6a637565e91581|2022-04-04--19-14-27--0"),
+  ("BODY", "bd6a637565e91581|2022-04-04--22-05-08--0"),
   ("HYUNDAI", "fakedata|2022-01-20--17-49-04--0"),
   ("TOYOTA", "fakedata|2022-01-20--17-50-51--0"),
   ("TOYOTA2", "fakedata|2022-01-20--17-52-36--0"),