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Body: bodyteleop changes for V2 #36936

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Body: bodyteleop changes for V2 #36936

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bb0d3e3
fix driving direction
Dec 19, 2025
4292e5a
update opendbc
Dec 20, 2025
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2 changes: 1 addition & 1 deletion opendbc_repo
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Submodule opendbc_repo updated 57 files
+3 −3 README.md
+5 −6 docs/CARS.md
+8 −7 opendbc/can/dbc.py
+1 −1 opendbc/car/body/bodycan.py
+75 −25 opendbc/car/body/carcontroller.py
+1 −7 opendbc/car/body/carstate.py
+6 −1 opendbc/car/body/interface.py
+1 −1 opendbc/car/car.capnp
+18 −7 opendbc/car/docs_definitions.py
+6 −2 opendbc/car/ford/values.py
+1 −1 opendbc/car/gm/values.py
+0 −6 opendbc/car/honda/fingerprints.py
+8 −6 opendbc/car/honda/values.py
+0 −1 opendbc/car/hyundai/fingerprints.py
+2 −2 opendbc/car/hyundai/values.py
+1 −1 opendbc/car/lateral.py
+1 −0 opendbc/car/mazda/values.py
+2 −2 opendbc/car/rivian/values.py
+7 −16 opendbc/car/tests/routes.py
+1 −1 opendbc/car/tests/test_docs.py
+0 −1 opendbc/car/torque_data/override.toml
+15 −21 opendbc/car/toyota/carcontroller.py
+1 −1 opendbc/car/toyota/carstate.py
+0 −1 opendbc/car/toyota/fingerprints.py
+11 −4 opendbc/car/toyota/interface.py
+37 −7 opendbc/car/toyota/values.py
+2 −8 opendbc/car/volkswagen/carcontroller.py
+13 −77 opendbc/car/volkswagen/carstate.py
+0 −31 opendbc/car/volkswagen/fingerprints.py
+1 −13 opendbc/car/volkswagen/interface.py
+0 −71 opendbc/car/volkswagen/mlbcan.py
+2 −2 opendbc/car/volkswagen/mqbcan.py
+21 −54 opendbc/car/volkswagen/values.py
+0 −1 opendbc/dbc/comma_body.dbc
+0 −2 opendbc/dbc/generator/chrysler/_stellantis_common.dbc
+2 −2 opendbc/dbc/generator/chrysler/chrysler_pacifica_2017_hybrid.dbc
+0 −2,761 opendbc/dbc/vw_mlb.dbc
+2 −3 opendbc/safety/declarations.h
+0 −4 opendbc/safety/helpers.h
+15 −3 opendbc/safety/modes/body.h
+2 −2 opendbc/safety/modes/hyundai_canfd.h
+8 −8 opendbc/safety/modes/hyundai_common.h
+1 −1 opendbc/safety/modes/nissan.h
+1 −1 opendbc/safety/modes/subaru_preglobal.h
+1 −1 opendbc/safety/modes/tesla.h
+0 −41 opendbc/safety/modes/volkswagen_common.h
+0 −134 opendbc/safety/modes/volkswagen_mlb.h
+28 −9 opendbc/safety/modes/volkswagen_mqb.h
+4 −3 opendbc/safety/modes/volkswagen_pq.h
+0 −2 opendbc/safety/safety.h
+1 −2 opendbc/safety/tests/common.py
+1 −1 opendbc/safety/tests/misra/install.sh
+0 −2 opendbc/safety/tests/misra/main.c
+1 −1 opendbc/safety/tests/misra/test_misra.sh
+8 −9 opendbc/safety/tests/test_body.py
+0 −141 opendbc/safety/tests/test_volkswagen_mlb.py
+2 −3 pyproject.toml
2 changes: 1 addition & 1 deletion panda
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Submodule panda updated 24 files
+0 −3 SConscript
+0 −3 __init__.py
+1 −1 board/boards/cuatro.h
+1 −1 board/boards/tres.h
+0 −42 board/body/__init__.py
+0 −21 board/body/boards/board_body.h
+0 −21 board/body/boards/board_declarations.h
+0 −76 board/body/can.h
+0 −49 board/body/flash.py
+0 −81 board/body/main.c
+0 −105 board/body/main_comms.h
+0 −15 board/body/motor_common.h
+0 −251 board/body/motor_control.h
+0 −170 board/body/motor_encoder.h
+0 −9 board/body/stm32h7/board.h
+7 −1 board/drivers/can_common.h
+32 −63 board/drivers/fake_siren.h
+1 −1 board/stm32h7/board.h
+21 −48 board/stm32h7/sound.h
+0 −2 board/stm32h7/stm32h7_config.h
+1 −2 python/__init__.py
+23 −50 python/socketpanda.py
+5 −8 scripts/check_fw_size.py
+0 −1 tests/misra/test_mutation.py
6 changes: 3 additions & 3 deletions tools/bodyteleop/static/js/controls.js
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Original file line number Diff line number Diff line change
@@ -1,8 +1,8 @@
const keyVals = {w: 0, a: 0, s: 0, d: 0}

export function getXY() {
let x = -keyVals.w + keyVals.s
let y = -keyVals.d + keyVals.a
let x = keyVals.w - keyVals.s
let y = keyVals.d - keyVals.a
return {x, y}
}

Expand Down Expand Up @@ -51,4 +51,4 @@ export async function executePlan() {
}
}
execute();
}
}
2 changes: 1 addition & 1 deletion tools/bodyteleop/web.py
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Original file line number Diff line number Diff line change
Expand Up @@ -96,7 +96,7 @@ async def sound(request: 'web.Request'):

async def offer(request: 'web.Request'):
params = await request.json()
body = StreamRequestBody(params["sdp"], ["driver"], ["testJoystick"], ["carState"])
body = StreamRequestBody(params["sdp"], ["wideRoad"], ["testJoystick"], ["carState"])
body_json = json.dumps(dataclasses.asdict(body))

logger.info("Sending offer to webrtcd...")
Expand Down
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