feat(toyota): make TSS2 longitudinal response configurable

openpilot/common/params_keys.h

@@ -187,6 +187,9 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"StandstillTimer", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"TrueVEgoUI", {PERSISTENT | BACKUP, BOOL, "0"}},
 
+    // toyota specific params
+    {"ToyotaTSS2Long", {PERSISTENT | BACKUP, BOOL, "0"}},
+
     // MADS params
     {"Mads", {PERSISTENT | BACKUP, BOOL, "1"}},
     {"MadsMainCruiseAllowed", {PERSISTENT | BACKUP, BOOL, "1"}},

openpilot/sunnypilot/selfdrive/car/interfaces.py

@@ -136,6 +136,7 @@ def initialize_params(params) -> list[dict[str, Any]]:
   keys.extend([
     "ToyotaEnforceStockLongitudinal",
     "ToyotaStopAndGoHack",
+    "ToyotaTSS2Long",
   ])
 
   return [{k: params.get(k, return_default=True)} for k in keys]

openpilot/sunnypilot/selfdrive/car/tests/test_custom_cruise.py

@@ -2,13 +2,21 @@ from opendbc.car.structs import car
 from openpilot.common.constants import CV
 from openpilot.common.parameterized import parameterized, parameterized_class
 from openpilot.common.params import Params
+from openpilot.common.test import OpenpilotTestCase
 from openpilot.selfdrive.car.cruise import V_CRUISE_INITIAL
 from openpilot.selfdrive.car.tests.test_cruise_speed import TestVCruiseHelper
+from openpilot.sunnypilot.selfdrive.car.interfaces import initialize_params
 
 ButtonEvent = car.CarState.ButtonEvent
 ButtonType = car.CarState.ButtonEvent.Type
 
 
+class TestToyotaParamsHandoff(OpenpilotTestCase):
+  def test_tss2_long_tuning_param_is_forwarded_to_opendbc(self):
+    keys = {next(iter(entry)) for entry in initialize_params(Params())}
+    assert "ToyotaTSS2Long" in keys
+
+
 # TODO: test pcmCruise and pcmCruiseSpeed
 @parameterized_class(('pcm_cruise', 'pcm_cruise_speed'), [(False, True)])
 class TestCustomAccIncrements(TestVCruiseHelper):

openpilot/sunnypilot/sunnylink/settings_ui.json

@@ -2370,6 +2370,17 @@
       "title": "Toyota / Lexus Settings",
       "description": "",
       "items": [
+        {
+          "key": "ToyotaTSS2Long",
+          "widget": "toggle",
+          "needs_onroad_cycle": true,
+          "title": "Toyota: custom longitudinal for TSS2",
+          "enablement": [
+            {
+              "type": "not_engaged"
+            }
+          ]
+        },
         {
           "key": "ToyotaEnforceStockLongitudinal",
           "widget": "toggle",

openpilot/sunnypilot/sunnylink/settings_ui_src/pages/vehicle.yaml

@@ -82,6 +82,12 @@ sections:
   title: Toyota / Lexus Settings
   description: ''
   items:
+  - key: ToyotaTSS2Long
+    widget: toggle
+    needs_onroad_cycle: true
+    title: 'Toyota: custom longitudinal for TSS2'
+    enablement:
+    - $ref: '#/macros/not_engaged'
   - key: ToyotaEnforceStockLongitudinal
     widget: toggle
     needs_onroad_cycle: true