From ee0bb61cc788decec6e4ac00a203ce12951e6293 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 31 Aug 2023 21:50:45 -0700
Subject: [PATCH] Toyota: fix missing message check with radar disabled
 (#29747)

* add test route for radar-disabled toyota chr hybrid tss 2

* fix bug
old-commit-hash: a18e97e954f4cafec46f186df635a91576479cc1
---
 selfdrive/car/tests/routes.py    | 1 +
 selfdrive/car/toyota/carstate.py | 2 +-
 2 files changed, 2 insertions(+), 1 deletion(-)

diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py
index b5fe615200..aaf5b48915 100644
--- a/selfdrive/car/tests/routes.py
+++ b/selfdrive/car/tests/routes.py
@@ -206,6 +206,7 @@ routes = [
   CarTestRoute("ea8fbe72b96a185c|2023-02-22--09-20-34", TOYOTA.CHR_TSS2),  # openpilot longitudinal, with smartDSU
   CarTestRoute("57858ede0369a261|2021-05-18--20-34-20", TOYOTA.CHRH),
   CarTestRoute("6719965b0e1d1737|2023-02-09--22-44-05", TOYOTA.CHRH_TSS2),
+  # CarTestRoute("6719965b0e1d1737|2023-08-29--06-40-05", TOYOTA.CHRH_TSS2),  # openpilot longitudinal, radar disabled
   CarTestRoute("14623aae37e549f3|2021-10-24--01-20-49", TOYOTA.PRIUS_V),
 
   CarTestRoute("202c40641158a6e5|2021-09-21--09-43-24", VOLKSWAGEN.ARTEON_MK1),
diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index c96df6f10f..076668fffb 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -210,7 +210,7 @@ class CarState(CarStateBase):
         ("PCS_HUD", 1),
       ]
 
-    if CP.carFingerprint not in (TSS2_CAR - RADAR_ACC_CAR) and not CP.enableDsu:
+    if CP.carFingerprint not in (TSS2_CAR - RADAR_ACC_CAR) and not CP.enableDsu and not CP.flags & ToyotaFlags.DISABLE_RADAR.value:
       messages += [
         ("PRE_COLLISION", 33),
       ]