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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
2024-01-12 22:39:30 -07:00
parent 54c9cc3195
commit 8df01962fa
4 changed files with 25 additions and 1 deletions
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21
selfdrive/car/toyota/carcontroller.py
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@@ -24,6 +24,11 @@ MAX_USER_TORQUE = 500
MAX_LTA_ANGLE = 94.9461 # deg
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:
def __init__(self, dbc_name, CP, VM):
@@ -42,9 +47,14 @@ class CarController:
self.accel = 0
# FrogPilot variables
self.lock_doors = False
self.reverse_cruise_increase = False
self.doors_locked = False
self.doors_unlocked = True
def update_frogpilot_variables(self, params):
self.lock_doors = params.get_bool("LockDoors")
self.reverse_cruise_increase = params.get_bool("ReverseCruise")
def update(self, CC, CS, now_nanos, sport_plus):
@@ -200,5 +210,16 @@ class CarController:
new_actuators.accel = self.accel
new_actuators.gas = self.gas
# Lock doors when in drive / unlock doors when in park
if self.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