Toyota: only send gas interceptor message when openpilot controls longitudinal (#23357)

* Toyota: gate enableGasInterceptor behind openpilotLongitudinalControl

* fix carcontroller typo

* Revert "Toyota: gate enableGasInterceptor behind openpilotLongitudinalControl"

This reverts commit a974e8f8cfb4040d0fe12e285154c6fff4cb9825.

* put condition in carcontroller

* gate building can messages

Co-authored-by: Willem Melching <willem.melching@gmail.com>

selfdrive/car/toyota/carcontroller.py

@@ -89,7 +89,7 @@ class CarController():
 
     # we can spam can to cancel the system even if we are using lat only control
     if (frame % 3 == 0 and CS.CP.openpilotLongitudinalControl) or pcm_cancel_cmd:
-      lead = lead or CS.out.vEgo < 12.    # at low speed we always assume the lead is present do ACC can be engaged
+      lead = lead or CS.out.vEgo < 12.    # at low speed we always assume the lead is present so ACC can be engaged
 
       # Lexus IS uses a different cancellation message
       if pcm_cancel_cmd and CS.CP.carFingerprint in [CAR.LEXUS_IS, CAR.LEXUS_RC]:
@@ -100,7 +100,7 @@ class CarController():
       else:
         can_sends.append(create_accel_command(self.packer, 0, pcm_cancel_cmd, False, lead, CS.acc_type))
 
-    if frame % 2 == 0 and CS.CP.enableGasInterceptor:
+    if frame % 2 == 0 and CS.CP.enableGasInterceptor and CS.CP.openpilotLongitudinalControl:
       # send exactly zero if gas cmd is zero. Interceptor will send the max between read value and gas cmd.
       # This prevents unexpected pedal range rescaling
       can_sends.append(create_gas_interceptor_command(self.packer, interceptor_gas_cmd, frame // 2))