From bfcdf31291b7e51bdfb2b0b372e3904ac0800943 Mon Sep 17 00:00:00 2001
From: Rick Lan <ricklan@gmail.com>
Date: Mon, 1 Jul 2024 15:27:59 +0800
Subject: [PATCH] toyota SNG hack

---
 common/params.cc                      | 1 +
 selfdrive/car/toyota/carcontroller.py | 7 ++++++-
 system/manager/manager.py             | 1 +
 3 files changed, 8 insertions(+), 1 deletion(-)

diff --git a/common/params.cc b/common/params.cc
index db4b2598b..ad8a6ca70 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -236,6 +236,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"dp_toyota_enhanced_bsm", PERSISTENT},
     {"dp_toyota_auto_brake_hold", PERSISTENT},
     {"dp_device_offroad", CLEAR_ON_MANAGER_START},
+    {"dp_toyota_sng", PERSISTENT},
 };
 
 } // namespace
diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py
index eefadd6b6..c7295cad7 100644
--- a/selfdrive/car/toyota/carcontroller.py
+++ b/selfdrive/car/toyota/carcontroller.py
@@ -54,10 +54,12 @@ class CarController(CarControllerBase):
     self.gas = 0
     self.accel = 0
     # dp
+    params = Params()
     self.dlc = DoorLockController()
-    self.pcc = PCMCompensationController(CP, self.params, Params().get_bool("dp_toyota_pcm_compensation"))
+    self.pcc = PCMCompensationController(CP, self.params, params.get_bool("dp_toyota_pcm_compensation"))
     self.bsmc = BSMController(self.CP)
     self.bhc = BrakeHoldController()
+    self._dp_toyota_sng = params.get_bool("dp_toyota_sng")
 
   def update(self, CC, CS, now_nanos):
     actuators = CC.actuators
@@ -140,6 +142,9 @@ class CarController(CarControllerBase):
     if CS.pcm_acc_status != 8:
       # pcm entered standstill or it's disabled
       self.standstill_req = False
+    # dp - sng hack
+    if self.dp_toyota_sng:
+      self.standstill_req = False
 
     self.last_standstill = CS.out.standstill
 
diff --git a/system/manager/manager.py b/system/manager/manager.py
index 081da7345..a3e79a96e 100755
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -74,6 +74,7 @@ def manager_init() -> None:
     ("dp_device_dm_unavailable", "0"),
     ("dp_toyota_enhanced_bsm", "0"),
     ("dp_toyota_auto_brake_hold", "0"),
+    ("dp_toyota_sng", "0"),
   ]
   if not PC:
     default_params.append(("LastUpdateTime", datetime.datetime.now(datetime.UTC).replace(tzinfo=None).isoformat().encode('utf8')))