From 8904300565b74e775df5ec00b95ca73a71488046 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 20 Dec 2025 22:40:40 -0500
Subject: [PATCH] Toyota: Enforce Factory Longitudinal Control (#1596)

* Toyota: enforce factory longitudinal control support

* sunnylink!

* bump

* bruh
---
 common/params_keys.h                          |  1 +
 opendbc_repo                                  |  2 +-
 .../layouts/settings/vehicle/brands/toyota.py | 44 +++++++++++++++++++
 sunnypilot/selfdrive/car/interfaces.py        |  7 ++-
 sunnypilot/sunnylink/params_metadata.json     |  4 ++
 5 files changed, 56 insertions(+), 2 deletions(-)

diff --git a/common/params_keys.h b/common/params_keys.h
index 1b06711a95..7cfdf75406 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -213,6 +213,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"SubaruStopAndGo", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"SubaruStopAndGoManualParkingBrake", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"TeslaCoopSteering", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"ToyotaEnforceStockLongitudinal", {PERSISTENT | BACKUP, BOOL, "0"}},
 
     {"DynamicExperimentalControl", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"BlindSpot", {PERSISTENT | BACKUP, BOOL, "0"}},
diff --git a/opendbc_repo b/opendbc_repo
index a76d28a231..74ac678501 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit a76d28a231dd8a3de11ed47db2d185d3852c6925
+Subproject commit 74ac6785011b2861b822651f51d0cd2f01ce79d2
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/toyota.py b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/toyota.py
index e061a8a22a..ac3d04f367 100644
--- a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/toyota.py
+++ b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/toyota.py
@@ -5,11 +5,55 @@ This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
 from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.base import BrandSettings
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.lib.multilang import tr, tr_noop
+from openpilot.system.ui.widgets import DialogResult
+from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog
+from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp
+
+
+DESCRIPTIONS = {
+  'enforce_stock_longitudinal': tr_noop(
+    'sunnypilot will not take over control of gas and brakes. Factory Toyota longitudinal control will be used.'
+  ),
+}
 
 
 class ToyotaSettings(BrandSettings):
   def __init__(self):
     super().__init__()
 
+    self.enforce_stock_longitudinal = toggle_item_sp(
+      lambda: tr("Enforce Factory Longitudinal Control"),
+      description=lambda: tr(DESCRIPTIONS["enforce_stock_longitudinal"]),
+      initial_state=ui_state.params.get_bool("ToyotaEnforceStockLongitudinal"),
+      callback=self._on_enable_enforce_stock_longitudinal,
+      enabled=lambda: not ui_state.engaged,
+    )
+
+    self.items = [self.enforce_stock_longitudinal, ]
+
+  def _on_enable_enforce_stock_longitudinal(self, state: bool):
+    if state:
+      def confirm_callback(result: int):
+        if result == DialogResult.CONFIRM:
+          ui_state.params.put_bool("ToyotaEnforceStockLongitudinal", True)
+          if ui_state.params.get_bool("AlphaLongitudinalEnabled"):
+            ui_state.params.put_bool("AlphaLongitudinalEnabled", False)
+          ui_state.params.put_bool("OnroadCycleRequested", True)
+        else:
+          self.enforce_stock_longitudinal.action_item.set_state(False)
+
+      content = (f"<h1>{self.enforce_stock_longitudinal.title}</h1><br>" +
+                 f"<p>{self.enforce_stock_longitudinal.description}</p>")
+
+      dlg = ConfirmDialog(content, tr("Enable"), rich=True)
+      gui_app.set_modal_overlay(dlg, callback=confirm_callback)
+
+    else:
+      ui_state.params.put_bool("ToyotaEnforceStockLongitudinal", False)
+      ui_state.params.put_bool("OnroadCycleRequested", True)
+
   def update_settings(self):
     pass
diff --git a/sunnypilot/selfdrive/car/interfaces.py b/sunnypilot/selfdrive/car/interfaces.py
index 83114ac551..a93f5724b5 100644
--- a/sunnypilot/selfdrive/car/interfaces.py
+++ b/sunnypilot/selfdrive/car/interfaces.py
@@ -114,7 +114,7 @@ def initialize_params(params) -> list[dict[str, Any]]:
 
   # hyundai
   keys.extend([
-    "HyundaiLongitudinalTuning"
+    "HyundaiLongitudinalTuning",
   ])
 
   # subaru
@@ -128,4 +128,9 @@ def initialize_params(params) -> list[dict[str, Any]]:
     "TeslaCoopSteering",
   ])
 
+  # toyota
+  keys.extend([
+    "ToyotaEnforceStockLongitudinal",
+  ])
+
   return [{k: params.get(k, return_default=True)} for k in keys]
diff --git a/sunnypilot/sunnylink/params_metadata.json b/sunnypilot/sunnylink/params_metadata.json
index 707e0620f9..bbefc3d0c8 100644
--- a/sunnypilot/sunnylink/params_metadata.json
+++ b/sunnypilot/sunnylink/params_metadata.json
@@ -1037,6 +1037,10 @@
     "max": 5.0,
     "step": 0.1
   },
+  "ToyotaEnforceStockLongitudinal": {
+    "title": "Toyota: Enforce Factory Longitudinal Control",
+    "description": "When enabled, sunnypilot will not take over control of gas and brakes. Factory Toyota longitudinal control will be used."
+  },
   "TrainingVersion": {
     "title": "Training Version",
     "description": ""