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Vehicles - Automatically Lock/Unlock Doors

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Automatically lock the doors when in drive and unlock when in park.

Credit goes to AlexandreSato!

https: //github.com/AlexandreSato/openpilot
Co-Authored-By: Alexandre Nobuharu Sato <66435071+alexandresato@users.noreply.github.com>
This commit is contained in:
FrogAi 2024-05-10 23:52:02 -07:00
parent e521ce1da6
commit a1c4130165
1 changed files with 21 additions and 0 deletions
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21
selfdrive/car/toyota/carcontroller.py
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@ -26,6 +26,11 @@ MAX_USER_TORQUE = 500
MAX_LTA_ANGLE = 94.9461 # deg MAX_LTA_ANGLE = 94.9461 # deg
MAX_LTA_DRIVER_TORQUE_ALLOWANCE = 150 # slightly above steering pressed allows some resistance when changing lanes MAX_LTA_DRIVER_TORQUE_ALLOWANCE = 150 # slightly above steering pressed allows some resistance when changing lanes
# Lock / unlock door commands - Credit goes to AlexandreSato!
LOCK_CMD = b'\x40\x05\x30\x11\x00\x80\x00\x00'
UNLOCK_CMD = b'\x40\x05\x30\x11\x00\x40\x00\x00'
PARK = car.CarState.GearShifter.park
class CarController(CarControllerBase): class CarController(CarControllerBase):
def __init__(self, dbc_name, CP, VM): def __init__(self, dbc_name, CP, VM):
@ -47,6 +52,9 @@ class CarController(CarControllerBase):
# FrogPilot variables # FrogPilot variables
params = Params() params = Params()
self.doors_locked = False
self.doors_unlocked = True
def update(self, CC, CS, now_nanos, frogpilot_variables): def update(self, CC, CS, now_nanos, frogpilot_variables):
actuators = CC.actuators actuators = CC.actuators
hud_control = CC.hudControl hud_control = CC.hudControl
@ -219,5 +227,18 @@ class CarController(CarControllerBase):
new_actuators.accel = self.accel new_actuators.accel = self.accel
new_actuators.gas = self.gas new_actuators.gas = self.gas
# Lock doors when in drive / unlock doors when in park
if self.doors_unlocked and CS.out.gearShifter != PARK:
if frogpilot_variables.lock_doors:
can_sends.append(make_can_msg(0x750, LOCK_CMD, 0))
self.doors_locked = True
self.doors_unlocked = False
elif self.doors_locked and CS.out.gearShifter == PARK:
if frogpilot_variables.unlock_doors:
can_sends.append(make_can_msg(0x750, UNLOCK_CMD, 0))
self.doors_locked = False
self.doors_unlocked = True
self.frame += 1 self.frame += 1
return new_actuators, can_sends return new_actuators, can_sends