From 10bf1c4d2c4c97b5dcfdfabc290dad6644bef008 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Fri, 13 Feb 2026 21:07:18 -0500
Subject: [PATCH] c3x toggle it

---
 .../layouts/settings/vehicle/brands/honda.py  | 41 +++++++++++++++++++
 1 file changed, 41 insertions(+)

diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/honda.py b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/honda.py
index fec68795a6..e6f482888a 100644
--- a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/honda.py
+++ b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/honda.py
@@ -5,11 +5,52 @@ 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 Honda Nidec longitudinal control will be used.'
+  ),
+}
 
 
 class HondaSettings(BrandSettings):
   def __init__(self):
     super().__init__()
 
+    self.enforce_stock_longitudinal = toggle_item_sp(
+      lambda: tr("Nidec: Enforce Factory Longitudinal Control"),
+      description=lambda: tr(DESCRIPTIONS["enforce_stock_longitudinal"]),
+      initial_state=ui_state.params.get_bool("HondaEnforceStockLongitudinal"),
+      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("HondaEnforceStockLongitudinal", True)
+          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("HondaEnforceStockLongitudinal", False)
+      ui_state.params.put_bool("OnroadCycleRequested", True)
+
   def update_settings(self):
     pass