Block entry on non-adaptive cruise mode (#1708)

* block entry on non-adaptive cruise mode

* user disable

* toyota

selfdrive/car/interfaces.py

@@ -107,6 +107,8 @@ class CarInterfaceBase():
       events.add(EventName.stockAeb)
     if cs_out.vEgo > MAX_CTRL_SPEED:
       events.add(EventName.speedTooHigh)
+    if cs_out.cruiseState.nonAdaptive:
+      events.add(EventName.wrongCruiseMode)
 
     if cs_out.steerError:
       events.add(EventName.steerUnavailable)

selfdrive/car/toyota/carstate.py

@@ -90,6 +90,8 @@ class CarState(CarStateBase):
     else:
       ret.cruiseState.standstill = self.pcm_acc_status == 7
     ret.cruiseState.enabled = bool(cp.vl["PCM_CRUISE"]['CRUISE_ACTIVE'])
+    # TODO: CRUISE_STATE is a 4 bit signal, find any other non-adaptive cruise states
+    ret.cruiseState.nonAdaptive = cp.vl["PCM_CRUISE"]['CRUISE_STATE'] in [5]
 
     if self.CP.carFingerprint == CAR.PRIUS:
       ret.genericToggle = cp.vl["AUTOPARK_STATUS"]['STATE'] != 0

selfdrive/controls/lib/events.py

@@ -189,7 +189,6 @@ EVENTS = {
 
   EventName.gasPressed: {ET.PRE_ENABLE: None},
 
-  EventName.wrongCruiseMode: {},
   EventName.laneChangeBlocked: {},
 
   EventName.focusRecoverActive: {},
@@ -485,6 +484,11 @@ EVENTS = {
                               duration_hud_alert=0.),
   },
 
+  EventName.wrongCruiseMode: {
+    ET.USER_DISABLE: EngagementAlert(AudibleAlert.chimeDisengage),
+    ET.NO_ENTRY: NoEntryAlert("Enable Adaptive Cruise"),
+  },
+
   EventName.steerTempUnavailable: {
     ET.WARNING: Alert(
       "TAKE CONTROL",