Chrysler non-ACC Fix - Only allow openpilot in ACC mode (#19581)

* initial try, needs to be tested

* Chrysler: Add to CAN parser

* Chrysler: move cruise state by other dash message

* fix messed up force push

* whitespace

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 937aa829a3

selfdrive/car/chrysler/carstate.py

@@ -49,6 +49,8 @@ class CarState(CarStateBase):
     ret.cruiseState.enabled = cp.vl["ACC_2"]['ACC_STATUS_2'] == 7  # ACC is green.
     ret.cruiseState.available = ret.cruiseState.enabled  # FIXME: for now same as enabled
     ret.cruiseState.speed = cp.vl["DASHBOARD"]['ACC_SPEED_CONFIG_KPH'] * CV.KPH_TO_MS
+    # CRUISE_STATE is a three bit msg, 0 is off, 1 and 2 are Non-ACC mode, 3 and 4 are ACC mode, find if there are other states too
+    ret.cruiseState.nonAdaptive = cp.vl["DASHBOARD"]['CRUISE_STATE'] in [1, 2]
 
     ret.steeringTorque = cp.vl["EPS_STATUS"]["TORQUE_DRIVER"]
     ret.steeringTorqueEps = cp.vl["EPS_STATUS"]["TORQUE_MOTOR"]
@@ -87,6 +89,7 @@ class CarState(CarStateBase):
       ("ACC_STATUS_2", "ACC_2", 0),
       ("HIGH_BEAM_FLASH", "STEERING_LEVERS", 0),
       ("ACC_SPEED_CONFIG_KPH", "DASHBOARD", 0),
+      ("CRUISE_STATE", "DASHBOARD", 0),
       ("TORQUE_DRIVER", "EPS_STATUS", 0),
       ("TORQUE_MOTOR", "EPS_STATUS", 0),
       ("LKAS_STATE", "EPS_STATUS", 1),