Door unlatch controls (Android + iOS) and per-door / trunk status for dashboards

bridge/bridge_ios.cpp

@@ -55,6 +55,13 @@ static void carStateToBridge(const CarState& cs, BridgeCarState* out) {
     out->tpmsBattFR = cs.tpmsBattFR;
     out->tpmsBattRL = cs.tpmsBattRL;
     out->tpmsBattRR = cs.tpmsBattRR;
+    out->doorOpenFL = cs.doorOpenFL;
+    out->doorOpenFR = cs.doorOpenFR;
+    out->doorOpenRL = cs.doorOpenRL;
+    out->doorOpenRR = cs.doorOpenRR;
+    out->trunkOpen = cs.trunkOpen;
+    out->trunkPosition = cs.trunkPosition;
+    out->frunkOpen = cs.frunkOpen;
 }
 
 static std::atomic<bool> receiveLoopRunning{false};

bridge/bridge_ios.h

@@ -64,6 +64,15 @@ typedef struct {
     double tpmsBattFR;
     double tpmsBattRL;
     double tpmsBattRR;
+
+    // Closures: doors/trunk 0/1 (1 = latch not closed), trunk angle in degrees.
+    double doorOpenFL;
+    double doorOpenFR;
+    double doorOpenRL;
+    double doorOpenRR;
+    double trunkOpen;
+    double trunkPosition;
+    double frunkOpen;
 } BridgeCarState;
 
 // Context

bridge/car/car_state.h

@@ -61,6 +61,19 @@ struct CarState {
     double tpmsBattRL = -1;
     double tpmsBattRR = -1;
 
+    // Closures from VCLEFT_doorStatus / VCRIGHT_doorStatus latch state: 1 while
+    // the latch is anything but closed (opened, opening, ajar, closing), else 0.
+    double doorOpenFL = 0;
+    double doorOpenFR = 0;
+    double doorOpenRL = 0;
+    double doorOpenRR = 0;
+    double trunkOpen = 0;
+    // Powered liftgate angle in degrees from VCLEFT_liftgateStatus (mux 1);
+    // 0 when closed or when the car has no powered liftgate.
+    double trunkPosition = 0;
+    // Frunk latch from VCFRONT_status (mux 0), same rule as the doors; it has no position.
+    double frunkOpen = 0;
+
     // Vehicle VIN, empty until fully assembled by the mapper.
     static constexpr size_t VIN_LENGTH = 17;
     char vin[VIN_LENGTH + 1] = {};
@@ -69,7 +82,9 @@ struct CarState {
     static constexpr size_t VIN_OFFSET = 36;
     static constexpr size_t TPMS_OFFSET = VIN_OFFSET + VIN_DOUBLE_COUNT;
     static constexpr size_t TPMS_COUNT = 12;
-    static constexpr size_t FIELD_COUNT = TPMS_OFFSET + TPMS_COUNT;
+    static constexpr size_t DOOR_OFFSET = TPMS_OFFSET + TPMS_COUNT;
+    static constexpr size_t DOOR_COUNT = 7;
+    static constexpr size_t FIELD_COUNT = DOOR_OFFSET + DOOR_COUNT;
 
     void toArray(double* out) const {
         // Party bus
@@ -134,5 +149,14 @@ struct CarState {
         out[TPMS_OFFSET + 9] = tpmsBattFR;
         out[TPMS_OFFSET + 10] = tpmsBattRL;
         out[TPMS_OFFSET + 11] = tpmsBattRR;
+
+        // Closures (after TPMS): doors FL FR RL RR, trunk open, trunk position, frunk open.
+        out[DOOR_OFFSET + 0] = doorOpenFL;
+        out[DOOR_OFFSET + 1] = doorOpenFR;
+        out[DOOR_OFFSET + 2] = doorOpenRL;
+        out[DOOR_OFFSET + 3] = doorOpenRR;
+        out[DOOR_OFFSET + 4] = trunkOpen;
+        out[DOOR_OFFSET + 5] = trunkPosition;
+        out[DOOR_OFFSET + 6] = frunkOpen;
     }
 };

bridge/car/cars/tesla.h

@@ -89,6 +89,33 @@ static inline double powerLevel(const CarState& cs) {
     return std::clamp(kw / limit, -1.0, 1.0) * 100.0;
 }
 
+// VCLEFT/VCRIGHT_*LatchStatus: 0 SNA, 1 OPENED, 2 CLOSED, 3 CLOSING, 4 OPENING,
+// 5 AJAR, 6 TIMEOUT, 7 DEFAULT, 8 FAULT. Open until the latch reports closed;
+// unknown/fault states read as closed so a stale bus doesn't light a warning.
+static inline double latchOpen(double latchStatus) {
+    int s = static_cast<int>(latchStatus);
+    return (s == 1 || s == 3 || s == 4 || s == 5) ? 1.0 : 0.0;
+}
+
+// Per-door, trunk and frunk latch state plus the powered-liftgate angle, from
+// the vehicle bus (DashKit forwards 0x102, 0x103, 0x142 and 0x2E1).
+static inline void updateClosures(const CANParsers& cp, CarState& cs) {
+    cs.doorOpenFL = latchOpen(cp.get(1, "VCLEFT_doorStatus", "VCLEFT_frontLatchStatus"));
+    cs.doorOpenRL = latchOpen(cp.get(1, "VCLEFT_doorStatus", "VCLEFT_rearLatchStatus"));
+    cs.doorOpenFR = latchOpen(cp.get(1, "VCRIGHT_doorStatus", "VCRIGHT_frontLatchStatus"));
+    cs.doorOpenRR = latchOpen(cp.get(1, "VCRIGHT_doorStatus", "VCRIGHT_rearLatchStatus"));
+    cs.trunkOpen = latchOpen(cp.get(1, "VCRIGHT_doorStatus", "VCRIGHT_trunkLatchStatus"));
+    // VCLEFT_liftgateStatus is multiplexed: the angle lives on mux 1. Keep the
+    // last angle across mux-0 frames. Closed reads slightly negative on some cars.
+    if (static_cast<int>(cp.get(1, "VCLEFT_liftgateStatus", "VCLEFT_liftgateStatusIndex")) == 1) {
+        cs.trunkPosition = std::max(0.0, cp.get(1, "VCLEFT_liftgateStatus", "VCLEFT_liftgatePosition"));
+    }
+    // VCFRONT_status is multiplexed: the frunk latch lives on mux 0.
+    if (static_cast<int>(cp.get(1, "VCFRONT_status", "VCFRONT_statusIndex")) == 0) {
+        cs.frunkOpen = latchOpen(cp.get(1, "VCFRONT_status", "VCFRONT_frunkLatchStatus"));
+    }
+}
+
 static inline void updateVehicleBus(const CANParsers& cp, CarState& cs) {
     // Vehicle bus specific signals
     // BMS_energyStatus is multiplexed: mux 0 has pack/remaining energy, mux 1 has energyBuffer
@@ -175,6 +202,8 @@ class TeslaDashKitMapper : public CarStateMapper {
             cs.buckleStatus = cp.get(1, "VCLEFT_switchStatus", "VCLEFT_frontBuckleSwitch") == 2.0 ? 1.0 : 0.0;
         }
 
+        updateClosures(cp, cs);
+
         // Climate setpoint temperature (degC) from the vehicle bus.
         cs.acTemp = cp.get(1, "UI_hvacRequest", "UI_hvacReqTempSetpointLeft");
         cs.acTempRight = cp.get(1, "UI_hvacRequest", "UI_hvacReqTempSetpointRight");

dash-apps/README.md

@@ -67,6 +67,10 @@ Values not received yet are `0` / `false`. For speed limit, stop line and energy
 | `egoSteeringAngle` | degrees | steering wheel angle, negative = left |
 | `leftBlinker`, `rightBlinker` | 0–2 | 0 off, 1 blinking (lamp dark), 2 blinking (lamp lit) |
 | `anyDoorOpen` | 0/1 | |
+| `doorOpenFL`, `doorOpenFR`, `doorOpenRL`, `doorOpenRR` | 0/1 | per door, 1 until the latch reports closed. **DashKit only** |
+| `trunkOpen` | 0/1 | rear trunk latch. **DashKit only** |
+| `trunkPosition` | degrees | powered liftgate angle, 0 when closed or not powered. **DashKit only** |
+| `frunkOpen` | 0/1 | frunk latch, same rule as the doors (no position). **DashKit only** |
 | `buckleStatus` | 0/1 | 1 = driver buckled |
 | `odometer` | number | km, or miles when `isImperial` |
 

dash-apps/web-compose/core/host.js

@@ -23,6 +23,13 @@
     stopLineDist: "getStopLineDist",
     trafficLightColor: "getTrafficLightColor",
     anyDoorOpen: "getAnyDoorOpen",
+    doorOpenFL: "getDoorOpenFL",
+    doorOpenFR: "getDoorOpenFR",
+    doorOpenRL: "getDoorOpenRL",
+    doorOpenRR: "getDoorOpenRR",
+    trunkOpen: "getTrunkOpen",
+    trunkPosition: "getTrunkPosition",
+    frunkOpen: "getFrunkOpen",
     buckleStatus: "getBuckleStatus",
     accSetSpeed: "getAccSetSpeed",
     fullPackEnergy: "getFullPackEnergy",

dash-apps/web-compose/core/i18n.js

@@ -35,6 +35,13 @@
       "signal.leftBlindSpot": "Left blind spot",
       "signal.rightBlindSpot": "Right blind spot",
       "signal.anyDoorOpen": "Door open",
+      "signal.doorOpenFL": "Driver door",
+      "signal.doorOpenFR": "Passenger door",
+      "signal.doorOpenRL": "Rear left door",
+      "signal.doorOpenRR": "Rear right door",
+      "signal.trunkOpen": "Trunk open",
+      "signal.trunkPosition": "Trunk angle",
+      "signal.frunkOpen": "Frunk open",
       "signal.seatbeltUnbuckled": "Seatbelt",
       "widget.unknown": "Unavailable widget",
       "editor.title": "Edit dashboard",
@@ -100,6 +107,13 @@
       "signal.leftBlindSpot": "Bal holttér",
       "signal.rightBlindSpot": "Jobb holttér",
       "signal.anyDoorOpen": "Nyitott ajtó",
+      "signal.doorOpenFL": "Vezetőajtó",
+      "signal.doorOpenFR": "Utasajtó",
+      "signal.doorOpenRL": "Bal hátsó ajtó",
+      "signal.doorOpenRR": "Jobb hátsó ajtó",
+      "signal.trunkOpen": "Csomagtartó nyitva",
+      "signal.trunkPosition": "Csomagtartó szöge",
+      "signal.frunkOpen": "Frunk nyitva",
       "signal.seatbeltUnbuckled": "Biztonsági öv",
       "widget.unknown": "Nem elérhető elem",
       "editor.title": "Műszerfal szerkesztése",
@@ -161,6 +175,13 @@
       "signal.leftBlindSpot": "Toter Winkel links",
       "signal.rightBlindSpot": "Toter Winkel rechts",
       "signal.anyDoorOpen": "Tür offen",
+      "signal.doorOpenFL": "Fahrertür",
+      "signal.doorOpenFR": "Beifahrertür",
+      "signal.doorOpenRL": "Tür hinten links",
+      "signal.doorOpenRR": "Tür hinten rechts",
+      "signal.trunkOpen": "Kofferraum offen",
+      "signal.trunkPosition": "Kofferraumwinkel",
+      "signal.frunkOpen": "Frunk offen",
       "signal.seatbeltUnbuckled": "Sicherheitsgurt",
       "widget.unknown": "Element nicht verfügbar",
       "editor.title": "Dashboard bearbeiten",

dash-apps/web-compose/core/signals.js

@@ -94,6 +94,8 @@
       read: (r) => num(r.maxDischargePower) || undefined },
     { id: "odometer", kind: "number", unit: "dist", precision: 0, category: "vehicle", bus: "vehicle",
       read: (r) => num(r.odometer) || undefined },
+    { id: "trunkPosition", kind: "number", unit: "deg", precision: 0, range: () => [0, 95], category: "vehicle", bus: "vehicle",
+      read: (r) => num(r.trunkPosition) },
 
     // surroundings
     { id: "stopLineDist", kind: "number", unit: "meter", precision: 0, range: () => [0, 200], category: "assist", bus: "any",
@@ -116,6 +118,12 @@
     { id: "leftBlindSpot", kind: "bool", unit: "none", category: "signals", bus: "any", read: (r) => flag(r.leftBlindSpot) },
     { id: "rightBlindSpot", kind: "bool", unit: "none", category: "signals", bus: "any", read: (r) => flag(r.rightBlindSpot) },
     { id: "anyDoorOpen", kind: "bool", unit: "none", category: "warnings", bus: "any", read: (r) => flag(r.anyDoorOpen) },
+    { id: "doorOpenFL", kind: "bool", unit: "none", category: "warnings", bus: "vehicle", read: (r) => flag(r.doorOpenFL) },
+    { id: "doorOpenFR", kind: "bool", unit: "none", category: "warnings", bus: "vehicle", read: (r) => flag(r.doorOpenFR) },
+    { id: "doorOpenRL", kind: "bool", unit: "none", category: "warnings", bus: "vehicle", read: (r) => flag(r.doorOpenRL) },
+    { id: "doorOpenRR", kind: "bool", unit: "none", category: "warnings", bus: "vehicle", read: (r) => flag(r.doorOpenRR) },
+    { id: "trunkOpen", kind: "bool", unit: "none", category: "warnings", bus: "vehicle", read: (r) => flag(r.trunkOpen) },
+    { id: "frunkOpen", kind: "bool", unit: "none", category: "warnings", bus: "vehicle", read: (r) => flag(r.frunkOpen) },
     { id: "seatbeltUnbuckled", kind: "bool", unit: "none", category: "warnings", bus: "any",
       read: (r) => (r.buckleStatus === undefined ? undefined : Number(r.buckleStatus) === 0) },
   ];

dashpilot-android/app/src/main/java/com/softwiredtech/dashpilot/ble/VehicleControl.kt

@@ -97,6 +97,13 @@ object VehicleControl {
     const val CMD_AC_SWING_INTENSITY: Int = 0x4D
     const val CMD_AC_SWING_TOGGLE: Int = 0x4E
 
+    // --- Door unlatch (VCSEC_requests 0x1F9); value = door index ---
+    const val CMD_DOOR_UNLATCH: Int = 0x50
+    const val DOOR_FRONT_LEFT: Int = 0
+    const val DOOR_FRONT_RIGHT: Int = 1
+    const val DOOR_REAR_LEFT: Int = 2
+    const val DOOR_REAR_RIGHT: Int = 3
+
     /** Bind (or clear, with actionValue 0) an N-finger tap to a control action. */
     fun sendFingerAction(manager: DashKitBleManager, fingers: Int, actionValue: Int): Boolean =
         send(manager, CMD_MULTI_FINGER_ACTION, (fingers shl 8) or (actionValue and 0xFF))
@@ -119,6 +126,10 @@ object VehicleControl {
     fun sendSportKickdownThreshold(manager: DashKitBleManager, percent: Int): Boolean =
         send(manager, CMD_SPORT_KICKDOWN_THRESHOLD, percent)
 
+    /** Pop one door latch (firmware refuses it in R/N/D or while moving). */
+    fun sendDoorUnlatch(manager: DashKitBleManager, door: Int): Boolean =
+        send(manager, CMD_DOOR_UNLATCH, door)
+
     fun sendAcSwingToggle(manager: DashKitBleManager): Boolean =
         send(manager, CMD_AC_SWING_TOGGLE, 0)
 

dashpilot-android/app/src/main/java/com/softwiredtech/dashpilot/datamodel/dash/CarState.kt

@@ -57,6 +57,16 @@ data class CarState(
     val tpmsBattRL: Float = -1f,
     val tpmsBattRR: Float = -1f,
 
+    // Closures: 1 while the door/trunk latch is not closed, else 0. Trunk angle
+    // in degrees from the powered liftgate (0 when closed or not powered).
+    val doorOpenFL: Float = 0f,
+    val doorOpenFR: Float = 0f,
+    val doorOpenRL: Float = 0f,
+    val doorOpenRR: Float = 0f,
+    val trunkOpen: Float = 0f,
+    val trunkPosition: Float = 0f,
+    val frunkOpen: Float = 0f,
+
     // Empty until fully assembled from the CAN stream by the native mapper.
     val vin: String = ""
 ) {
@@ -70,7 +80,7 @@ data class CarState(
     )
 
     companion object {
-        const val FIELD_COUNT = 51
+        const val FIELD_COUNT = 58
         private const val KM_TO_MILES = 0.621371f
 
         private val MILES_COUNTRIES = setOf("US", "GB", "MM", "LR")

dashpilot-android/app/src/main/java/com/softwiredtech/dashpilot/datamodel/dash/DashValues.kt

@@ -13,6 +13,13 @@ fun DashState.dashValues(systemDarkMode: Boolean? = null): Map<String, Any> {
         "leftBlinker" to c.leftBlinker,
         "rightBlinker" to c.rightBlinker,
         "anyDoorOpen" to c.anyDoorOpen,
+        "doorOpenFL" to c.doorOpenFL,
+        "doorOpenFR" to c.doorOpenFR,
+        "doorOpenRL" to c.doorOpenRL,
+        "doorOpenRR" to c.doorOpenRR,
+        "trunkOpen" to c.trunkOpen,
+        "trunkPosition" to c.trunkPosition,
+        "frunkOpen" to c.frunkOpen,
         "buckleStatus" to c.buckleStatus,
         "odometer" to c.odometer,
         "adasOn" to c.adasOn,

dashpilot-android/app/src/main/java/com/softwiredtech/dashpilot/js/CarStateBridge.kt

@@ -25,6 +25,13 @@ class CarStateBridge(
     @Volatile private var trafficLightColor: Float = 0f
     @Volatile private var buckleStatus: Float = 0f
     @Volatile private var anyDoorOpen: Float = 0f
+    @Volatile private var doorOpenFL: Float = 0f
+    @Volatile private var doorOpenFR: Float = 0f
+    @Volatile private var doorOpenRL: Float = 0f
+    @Volatile private var doorOpenRR: Float = 0f
+    @Volatile private var trunkOpen: Float = 0f
+    @Volatile private var trunkPosition: Float = 0f
+    @Volatile private var frunkOpen: Float = 0f
     @Volatile private var accSetSpeed: Float = 0f
     @Volatile private var fullPackEnergy: Float = 0f
     @Volatile private var nominalEnergyRemaining: Float = 0f
@@ -79,6 +86,13 @@ class CarStateBridge(
         trafficLightColor = state.trafficLightColor
         buckleStatus = state.buckleStatus
         anyDoorOpen = state.anyDoorOpen
+        doorOpenFL = state.doorOpenFL
+        doorOpenFR = state.doorOpenFR
+        doorOpenRL = state.doorOpenRL
+        doorOpenRR = state.doorOpenRR
+        trunkOpen = state.trunkOpen
+        trunkPosition = state.trunkPosition
+        frunkOpen = state.frunkOpen
         accSetSpeed = state.accSetSpeed
         fullPackEnergy = state.fullPackEnergy
         nominalEnergyRemaining = state.nominalEnergyRemaining
@@ -121,6 +135,13 @@ class CarStateBridge(
     @JavascriptInterface fun getTrafficLightColor(): Float = trafficLightColor
     @JavascriptInterface fun getBuckleStatus(): Float = buckleStatus
     @JavascriptInterface fun getAnyDoorOpen(): Float = anyDoorOpen
+    @JavascriptInterface fun getDoorOpenFL(): Float = doorOpenFL
+    @JavascriptInterface fun getDoorOpenFR(): Float = doorOpenFR
+    @JavascriptInterface fun getDoorOpenRL(): Float = doorOpenRL
+    @JavascriptInterface fun getDoorOpenRR(): Float = doorOpenRR
+    @JavascriptInterface fun getTrunkOpen(): Float = trunkOpen
+    @JavascriptInterface fun getTrunkPosition(): Float = trunkPosition
+    @JavascriptInterface fun getFrunkOpen(): Float = frunkOpen
     @JavascriptInterface fun getAccSetSpeed(): Float = accSetSpeed
     @JavascriptInterface fun getFullPackEnergy(): Float = fullPackEnergy
     @JavascriptInterface fun getNominalEnergyRemaining(): Float = nominalEnergyRemaining

dashpilot-android/app/src/main/java/com/softwiredtech/dashpilot/ui/controls/VehicleControls.kt

@@ -17,6 +17,7 @@ import androidx.compose.material.icons.rounded.SouthEast
 import androidx.compose.material.icons.rounded.EvStation
 import androidx.compose.material.icons.rounded.Flip
 import androidx.compose.material.icons.rounded.Inbox
+import androidx.compose.material.icons.rounded.MeetingRoom
 import androidx.compose.material.icons.rounded.PushPin
 import androidx.compose.material.icons.rounded.SwapHoriz
 import androidx.compose.material.icons.rounded.Thermostat
@@ -175,6 +176,48 @@ val vehicleControls: List<ControlAction> = listOf(
             manager?.let { VehicleControl.sendMirrorDipToggle(it) }
         }
     ),
+    // Door unlatch: a momentary latch release per door, like the Tesla app's
+    // "Unlatch Door". The firmware refuses it in R/N/D or while moving.
+    ControlAction(
+        id = "unlatch_front_left",
+        icon = Icons.Rounded.MeetingRoom,
+        labelRes = { R.string.control_unlatch_front_left },
+        active = { false },
+        gestureValue = 10,
+        perform = { manager ->
+            manager?.let { VehicleControl.sendDoorUnlatch(it, VehicleControl.DOOR_FRONT_LEFT) }
+        }
+    ),
+    ControlAction(
+        id = "unlatch_front_right",
+        icon = Icons.Rounded.MeetingRoom,
+        labelRes = { R.string.control_unlatch_front_right },
+        active = { false },
+        gestureValue = 11,
+        perform = { manager ->
+            manager?.let { VehicleControl.sendDoorUnlatch(it, VehicleControl.DOOR_FRONT_RIGHT) }
+        }
+    ),
+    ControlAction(
+        id = "unlatch_rear_left",
+        icon = Icons.Rounded.MeetingRoom,
+        labelRes = { R.string.control_unlatch_rear_left },
+        active = { false },
+        gestureValue = 12,
+        perform = { manager ->
+            manager?.let { VehicleControl.sendDoorUnlatch(it, VehicleControl.DOOR_REAR_LEFT) }
+        }
+    ),
+    ControlAction(
+        id = "unlatch_rear_right",
+        icon = Icons.Rounded.MeetingRoom,
+        labelRes = { R.string.control_unlatch_rear_right },
+        active = { false },
+        gestureValue = 13,
+        perform = { manager ->
+            manager?.let { VehicleControl.sendDoorUnlatch(it, VehicleControl.DOOR_REAR_RIGHT) }
+        }
+    ),
     // Glovebox is an electronic latch release: open only (closed by hand).
     ControlAction(
         id = "glovebox",

dashpilot-android/app/src/main/java/com/softwiredtech/dashpilot/vehicle/CanFrameDecoder.kt

@@ -78,7 +78,15 @@ class CanFrameDecoder(
                 tpmsBattFL = values[47].toFloat(),
                 tpmsBattFR = values[48].toFloat(),
                 tpmsBattRL = values[49].toFloat(),
-                tpmsBattRR = values[50].toFloat()
+                tpmsBattRR = values[50].toFloat(),
+                // Closures after TPMS (see CarState::DOOR_OFFSET): doors FL FR RL RR, trunk open, trunk angle, frunk open.
+                doorOpenFL = values[51].toFloat(),
+                doorOpenFR = values[52].toFloat(),
+                doorOpenRL = values[53].toFloat(),
+                doorOpenRR = values[54].toFloat(),
+                trunkOpen = values[55].toFloat(),
+                trunkPosition = values[56].toFloat(),
+                frunkOpen = values[57].toFloat()
             )
         }
 

dashpilot-android/app/src/main/res/values-de/strings.xml

@@ -247,6 +247,10 @@
     <string name="control_mirror_dip">Spiegelabsenkung umschalten</string>
     <string name="control_ac_swing">Klima-Schwenkmodus umschalten</string>
     <string name="control_glovebox">Handschuhfach öffnen</string>
+    <string name="control_unlatch_front_left">Fahrertür entriegeln</string>
+    <string name="control_unlatch_front_right">Beifahrertür entriegeln</string>
+    <string name="control_unlatch_rear_left">Tür hinten links entriegeln</string>
+    <string name="control_unlatch_rear_right">Tür hinten rechts entriegeln</string>
 
     <!-- Automations -->
     <string name="automations_title">Automatisierungen</string>