wip

selfdrive/frogpilot/controls/lib/lock_doors.py

@@ -0,0 +1,39 @@
+#!/usr/bin/env python3
+import subprocess
+import sys
+import time
+
+from panda import Panda
+from openpilot.system.hardware import HARDWARE
+
+unlockCommand = [0x40, 0x05, 0x30, 0x11, 0x00, 0x40, 0x00, 0x00]
+lockCommand = [0x40, 0x05, 0x30, 0x11, 0x00, 0x80, 0x00, 0x00]
+p = Panda()
+
+def main():
+  subprocess.run(['pkill', '-f', 'openpilot'], check=True)
+
+  p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
+
+  # args
+  if len(sys.argv) != 2:
+    sys.exit('usage:\n\nroot@localhost:/data/openpilot$ pkill -f openpilot\n\nroot@localhost:/data/openpilot$ doors.py --lock\n\nroot@localhost:/data/openpilot$ doors.py --unlock\n\nroot@localhost:/data/openpilot$ reboot')
+
+  if sys.argv[1]  == '--lock' or sys.argv[1]  == '-l':
+    p.can_send(0x750, bytes(unlockCommand), 0)
+    time.sleep(0.2)
+    p.can_send(0x750, bytes(lockCommand), 0)
+
+  if sys.argv[1] == '--unlock' or sys.argv[1] == '-u':
+    p.can_send(0x750, bytes(lockCommand), 0)
+    time.sleep(0.2)
+    p.can_send(0x750, bytes(unlockCommand), 0)
+
+  time.sleep(0.2)
+  p.set_safety_mode(Panda.SAFETY_TOYOTA)
+  p.send_heartbeat()
+  print('\n\n\nrelay ON again\nkthxbay\n')
+
+  HARDWARE.soft_reboot()
+
+main()