Merge branch 'brand/toyota/stock-lon' into pre-toyota

common/params_keys.h

@@ -142,4 +142,5 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"dp_ui_radar_tracks", PERSISTENT},
     {"dp_toyota_door_auto_lock_unlock", PERSISTENT},
     {"dp_toyota_tss1_sng", PERSISTENT},
+    {"dp_toyota_stock_lon", PERSISTENT},
 };

opendbc_repo/opendbc/car/structs.py

@@ -24,4 +24,5 @@ class DPFlags:
   ExtRadar = 2
   ToyotaDoorAutoLockUnlock = 2 ** 2
   ToyotaTSS1SnG = 2 ** 3
+  ToyotaStockLon = 2 ** 4
   pass

opendbc_repo/opendbc/car/toyota/interface.py

@@ -165,6 +165,10 @@ class CarInterface(CarInterfaceBase):
         bool(ret.flags & ToyotaFlags.DISABLE_RADAR.value) or \
         sdsu_active
 
+    if dp_params & structs.DPFlags.ToyotaStockLon:
+      ret.openpilotLongitudinalControl = False
+      ret.experimentalLongitudinalAvailable = False
+
     ret.autoResumeSng = ret.openpilotLongitudinalControl and candidate in NO_STOP_TIMER_CAR
 
     if not ret.openpilotLongitudinalControl:

selfdrive/car/card.py

@@ -108,6 +108,9 @@ class Car:
       if self.params.get_bool("dp_toyota_tss1_sng"):
         dp_params |= structs.DPFlags.ToyotaTSS1SnG
 
+      if self.params.get_bool("dp_toyota_stock_lon"):
+        dp_params |= structs.DPFlags.ToyotaStockLon
+
       self.CI = get_car(*self.can_callbacks, obd_callback(self.params), experimental_long_allowed, num_pandas, dp_params, cached_params)
       self.RI = interfaces[self.CI.CP.carFingerprint].RadarInterface(self.CI.CP)
       self.CP = self.CI.CP

selfdrive/ui/qt/offroad/dp_panel.cc

@@ -17,6 +17,11 @@ void DPPanel::add_toyota_toggles() {
       tr("Enable TSS1 SnG Mod"),
       "",
     },
+    {
+      "dp_toyota_stock_lon",
+      tr("Use Stock Longitudinal Control"),
+      "",
+    },
   };
 
   QWidget *label = nullptr;

system/manager/manager.py

@@ -64,6 +64,7 @@ def manager_init() -> None:
     ("dp_ui_radar_tracks", "0"),
     ("dp_toyota_door_auto_lock_unlock", "0"),
     ("dp_toyota_tss1_sng", "0"),
+    ("dp_toyota_stock_lon", "0"),
   ]
 
   if params.get_bool("RecordFrontLock"):