SNG hack

Added toggle to force stop and go for Toyota vehicles.

common/params.cc

@@ -317,6 +317,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"Sidebar", PERSISTENT},
     {"SilentMode", PERSISTENT},
     {"SmoothBraking", PERSISTENT},
+    {"SNGHack", PERSISTENT},
     {"StandardFollow", PERSISTENT},
     {"StandardJerk", PERSISTENT},
     {"StoppingDistance", PERSISTENT},

selfdrive/car/toyota/carcontroller.py

@@ -49,6 +49,7 @@ class CarController:
     # FrogPilot variables
     self.lock_doors = False
     self.reverse_cruise_increase = False
+    self.sng_hack = False
 
     self.doors_locked = False
     self.doors_unlocked = True
@@ -56,6 +57,7 @@ class CarController:
   def update_frogpilot_variables(self, params):
     self.lock_doors = params.get_bool("LockDoors")
     self.reverse_cruise_increase = params.get_bool("ReverseCruise")
+    self.sng_hack = params.get_bool("SNGHack")
 
   def update(self, CC, CS, now_nanos, sport_plus):
     actuators = CC.actuators
@@ -141,7 +143,7 @@ class CarController:
       pcm_cancel_cmd = 1
 
     # on entering standstill, send standstill request
-    if CS.out.standstill and not self.last_standstill and (self.CP.carFingerprint not in NO_STOP_TIMER_CAR or self.CP.enableGasInterceptor):
+    if CS.out.standstill and not self.last_standstill and (self.CP.carFingerprint not in NO_STOP_TIMER_CAR or self.CP.enableGasInterceptor) and not self.sng_hack:
       self.standstill_req = True
     if CS.pcm_acc_status != 8:
       # pcm entered standstill or it's disabled

selfdrive/frogpilot/ui/vehicle_settings.cc

@@ -104,6 +104,7 @@ FrogPilotVehiclesPanel::FrogPilotVehiclesPanel(SettingsWindow *parent) : FrogPil
     {"LowerVolt", "Lower Volt Enable Speed", "Lower the Volt's minimum enable speed to enable openpilot at any speed.", ""},
 
     {"LockDoors", "Lock Doors In Drive", "Automatically lock the doors when in drive and unlock when in park.", ""},
+    {"SNGHack", "Stop and Go Hack", "Enable the 'Stop and Go' hack for vehicles without stock stop and go functionality.", ""},
   };
 
   for (auto &[param, title, desc, icon] : vehicleToggles) {