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Lock doors when car is off (WIP) 

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 a53ebfb052
commit 6656daff64
1 changed files with 39 additions and 0 deletions
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39
selfdrive/frogpilot/controls/lib/lock_doors.py Normal file
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#!/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.reboot()
main()