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Lock doors when in drive for Toyota/Lexus

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Added toggle to automatically lock the doors when in drive for Toyota/Lexus vehicles.

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
2024-02-27 16:34:47 -07:00
parent f4726bf095
commit ae0f095915
5 changed files with 24 additions and 1 deletions
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20
selfdrive/car/toyota/carcontroller.py
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@@ -32,6 +32,12 @@ MAX_LTA_DRIVER_TORQUE_ALLOWANCE = 150 # slightly above steering pressed allows
COMPENSATORY_CALCULATION_THRESHOLD_V = [-0.3, -0.25, 0.] # m/s^2
COMPENSATORY_CALCULATION_THRESHOLD_BP = [0., 11., 23.] # m/s
# 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:
def __init__(self, dbc_name, CP, VM):
self.CP = CP
@@ -55,6 +61,9 @@ class CarController:
self.cydia_tune = params.get_bool("CydiaTune")
self.frogs_go_moo_tune = params.get_bool("FrogsGoMooTune")
self.doors_locked = False
self.doors_unlocked = True
def update(self, CC, CS, now_nanos, frogpilot_variables):
actuators = CC.actuators
hud_control = CC.hudControl
@@ -234,5 +243,16 @@ class CarController:
new_actuators.accel = self.accel
new_actuators.gas = self.gas
# Lock doors when in drive / unlock doors when in park
if frogpilot_variables.lock_doors:
if self.doors_unlocked and CS.out.gearShifter != PARK:
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:
can_sends.append(make_can_msg(0x750, UNLOCK_CMD, 0))
self.doors_locked = False
self.doors_unlocked = True
self.frame += 1
return new_actuators, can_sends