body: we don't rx _torque_cmd_msg

Author: sshane

opendbc/safety/safety/safety_body.h

@@ -30,11 +30,9 @@ static bool body_tx_hook(const CANPacket_t *to_send) {
 }
 
 static safety_config body_init(uint16_t param) {
-  // TODO: double check these
   static RxCheck body_rx_checks[] = {
-    {.msg = {{0x201, 0, 8, .ignore_checksum = true, .ignore_counter = true, .frequency = 100U}, { 0 }, { 0 }}},
-    {.msg = {{0x250, 0, 6, .ignore_checksum = true, .ignore_counter = true, .frequency = 100U}, { 0 }, { 0 }}},
-    {.msg = {{0x350, 0, 6, .ignore_checksum = true, .ignore_counter = true, .frequency = 100U}, { 0 }, { 0 }}},
+    {.msg = {{0x201, 0, 8, .ignore_checksum = true, .ignore_counter = true, .frequency = 100U}, { 0 }, { 0 }}},  // MOTORS_DATA
+    {.msg = {{0x203, 0, 4, .ignore_checksum = true, .ignore_counter = true, .frequency = 1U}, { 0 }, { 0 }}},    // BODY_DATA
   };
 
   static const CanMsg BODY_TX_MSGS[] = {{0x250, 0, 8, false}, {0x250, 0, 6, false}, {0x251, 0, 5, false},  // body

opendbc/safety/tests/test_body.py

@@ -22,6 +22,9 @@ def _motors_data_msg(self, speed_l, speed_r):
     values = {"SPEED_L": speed_l, "SPEED_R": speed_r}
     return self.packer.make_can_msg_panda("MOTORS_DATA", 0, values)
 
+  def _body_data_msg(self):
+    return self.packer.make_can_msg_panda("BODY_DATA", 0, {})
+
   def _torque_cmd_msg(self, torque_l, torque_r):
     values = {"TORQUE_L": torque_l, "TORQUE_R": torque_r}
     return self.packer.make_can_msg_panda("TORQUE_CMD", 0, values)
@@ -39,7 +42,7 @@ def test_rx_hook(self):
     self.assertFalse(self.safety.get_vehicle_moving())
 
     # controls allowed when we get MOTORS_DATA message
-    self.assertTrue(self._rx(self._torque_cmd_msg(0, 0)))
+    self.assertTrue(self._rx(self._body_data_msg()))
     self.assertTrue(self.safety.get_vehicle_moving())  # always moving
     self.assertFalse(self.safety.get_controls_allowed())