From c0119c6bf7cae0c33853cf196983544291b33629 Mon Sep 17 00:00:00 2001
From: Rick Lan <ricklan@gmail.com>
Date: Tue, 1 Apr 2025 12:18:17 +0800
Subject: [PATCH] Toyota Stock Lon Mode - init

---
 common/params_keys.h                         | 1 +
 opendbc_repo/opendbc/car/structs.py          | 1 +
 opendbc_repo/opendbc/car/toyota/interface.py | 4 ++++
 selfdrive/car/card.py                        | 3 +++
 selfdrive/ui/qt/offroad/dp_panel.cc          | 5 +++++
 system/manager/manager.py                    | 1 +
 6 files changed, 15 insertions(+)

diff --git a/common/params_keys.h b/common/params_keys.h
index 6b11bfea0..baedb97e1 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -140,4 +140,5 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"dp_lon_no_gas_gating", PERSISTENT},
     {"dp_device_auto_shutdown_in", PERSISTENT},
     {"dp_ui_radar_tracks", PERSISTENT},
+    {"dp_toyota_stock_lon", PERSISTENT},
 };
diff --git a/opendbc_repo/opendbc/car/structs.py b/opendbc_repo/opendbc/car/structs.py
index 7389cec8b..f2d11f8d6 100644
--- a/opendbc_repo/opendbc/car/structs.py
+++ b/opendbc_repo/opendbc/car/structs.py
@@ -22,4 +22,5 @@ CarParamsT = capnp.lib.capnp._StructModule
 class DPFlags:
   LateralALKA = 1
   ExtRadar = 2
+  ToyotaStockLon = 2 ** 2
   pass
diff --git a/opendbc_repo/opendbc/car/toyota/interface.py b/opendbc_repo/opendbc/car/toyota/interface.py
index b0f75ef7d..528aad89e 100644
--- a/opendbc_repo/opendbc/car/toyota/interface.py
+++ b/opendbc_repo/opendbc/car/toyota/interface.py
@@ -131,6 +131,10 @@ class CarInterface(CarInterfaceBase):
         candidate in (TSS2_CAR - RADAR_ACC_CAR) or \
         bool(ret.flags & ToyotaFlags.DISABLE_RADAR.value)
 
+    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:
diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index 067108352..d55840b36 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -102,6 +102,9 @@ class Car:
       if self.params.get_bool("dp_lat_alka"):
         dp_params |= structs.DPFlags.LateralALKA
 
+      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
diff --git a/selfdrive/ui/qt/offroad/dp_panel.cc b/selfdrive/ui/qt/offroad/dp_panel.cc
index 8868a6033..5f17f67b0 100644
--- a/selfdrive/ui/qt/offroad/dp_panel.cc
+++ b/selfdrive/ui/qt/offroad/dp_panel.cc
@@ -7,6 +7,11 @@ void DPPanel::add_toyota_toggles() {
       QString::fromUtf8("🐉 ") + tr("Toyota / Lexus"),
       "",
     },
+    {
+      "dp_toyota_stock_lon",
+      tr("Use Stock Longitudinal Control"),
+      "",
+    },
   };
 
   QWidget *label = nullptr;
diff --git a/system/manager/manager.py b/system/manager/manager.py
index da9ed9e2d..ff12b8718 100755
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -62,6 +62,7 @@ def manager_init() -> None:
     ("dp_lon_no_gas_gating", "0"),
     ("dp_device_auto_shutdown_in", "-5"),
     ("dp_ui_radar_tracks", "0"),
+    ("dp_toyota_stock_lon", "0"),
   ]
 
   if params.get_bool("RecordFrontLock"):