Toyota: only read gas interceptor if we're using it (#31473)

* we shouldn't be reading from interceptor and not writing/sending gas command

* better

* add a test!

* comment is clear

selfdrive/car/tests/test_car_interfaces.py

@@ -74,6 +74,10 @@ class TestCarInterfaces(unittest.TestCase):
     self.assertEqual(len(car_params.longitudinalTuning.kiV), len(car_params.longitudinalTuning.kiBP))
     self.assertEqual(len(car_params.longitudinalTuning.deadzoneV), len(car_params.longitudinalTuning.deadzoneBP))
 
+    # If we're using the interceptor for gasPressed, we should be commanding gas with it
+    if car_params.enableGasInterceptor:
+      self.assertTrue(car_params.openpilotLongitudinalControl)
+
     # Lateral sanity checks
     if car_params.steerControlType != car.CarParams.SteerControlType.angle:
       tune = car_params.lateralTuning

selfdrive/car/toyota/interface.py

@@ -225,10 +225,6 @@ class CarInterface(CarInterfaceBase):
     found_ecus = [fw.ecu for fw in car_fw]
     ret.enableDsu = len(found_ecus) > 0 and Ecu.dsu not in found_ecus and candidate not in (NO_DSU_CAR | UNSUPPORTED_DSU_CAR) \
                                         and not (ret.flags & ToyotaFlags.SMART_DSU)
-    ret.enableGasInterceptor = 0x201 in fingerprint[0]
-
-    if ret.enableGasInterceptor:
-      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_GAS_INTERCEPTOR
 
     # if the smartDSU is detected, openpilot can send ACC_CONTROL and the smartDSU will block it from the DSU or radar.
     # since we don't yet parse radar on TSS2/TSS-P radar-based ACC cars, gate longitudinal behind experimental toggle
@@ -253,10 +249,14 @@ class CarInterface(CarInterfaceBase):
     #  - TSS-P DSU-less cars w/ CAN filter installed (no radar parser yet)
     ret.openpilotLongitudinalControl = use_sdsu or ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR) or bool(ret.flags & ToyotaFlags.DISABLE_RADAR.value)
     ret.autoResumeSng = ret.openpilotLongitudinalControl and candidate in NO_STOP_TIMER_CAR
+    ret.enableGasInterceptor = 0x201 in fingerprint[0] and ret.openpilotLongitudinalControl
 
     if not ret.openpilotLongitudinalControl:
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL
 
+    if ret.enableGasInterceptor:
+      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_GAS_INTERCEPTOR
+
     # min speed to enable ACC. if car can do stop and go, then set enabling speed
     # to a negative value, so it won't matter.
     ret.minEnableSpeed = -1. if (stop_and_go or ret.enableGasInterceptor) else MIN_ACC_SPEED