Fix up `radarFault` handling (#35880)

* fixup radarFault handling

* catch all

---------

Co-authored-by: Comma Device <device@comma.ai>

selfdrive/controls/lib/longitudinal_planner.py

@@ -178,7 +178,7 @@ class LongitudinalPlanner:
   def publish(self, sm, pm):
     plan_send = messaging.new_message('longitudinalPlan')
 
-    plan_send.valid = sm.all_checks(service_list=['carState', 'controlsState', 'selfdriveState'])
+    plan_send.valid = sm.all_checks(service_list=['carState', 'controlsState', 'selfdriveState', 'radarState'])
 
     longitudinalPlan = plan_send.longitudinalPlan
     longitudinalPlan.modelMonoTime = sm.logMonoTime['modelV2']

selfdrive/selfdrived/selfdrived.py

@@ -312,13 +312,12 @@ class SelfdriveD:
           self.events.add(EventName.cameraFrameRate)
     if not REPLAY and self.rk.lagging:
       self.events.add(EventName.selfdrivedLagging)
-    if not self.sm.valid['radarState']:
+    if self.sm['radarState'].radarErrors.canError:
-      if self.sm['radarState'].radarErrors.canError:
+      self.events.add(EventName.canError)
-        self.events.add(EventName.canError)
+    elif self.sm['radarState'].radarErrors.radarUnavailableTemporary:
-      elif self.sm['radarState'].radarErrors.radarUnavailableTemporary:
+      self.events.add(EventName.radarTempUnavailable)
-        self.events.add(EventName.radarTempUnavailable)
+    elif any(getattr(self.sm['radarState'].radarErrors, f) for f in self.sm['radarState'].radarErrors.schema.fields):
-      else:
+      self.events.add(EventName.radarFault)
-        self.events.add(EventName.radarFault)
     if not self.sm.valid['pandaStates']:
       self.events.add(EventName.usbError)
     if CS.canTimeout:

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-c289a0359d1b1f26cf4d9e73a2c04b2bbfec840f
+7ecabd09f1f07c784806639114881fb6341be06c