From 4e7c605a7948ec4928f79beb37fb6dc0638e7bf2 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 14 Mar 2025 21:08:30 -0700
Subject: [PATCH] Ford: radar is invalid while in reverse (#34866)

* temp unavailable

* fix

* replay multiple

* clean up

* bump

* rename

* reason is in liveTracks

* more rename

* bump

* fix

* bump

* fix

* need to totally ignore it, or it will throw commIssues for radarErrors or not alive

* this is just simpler -- good thing kept struct

* rm
---
 cereal/log.capnp                   | 2 ++
 opendbc_repo                       | 2 +-
 selfdrive/controls/radard.py       | 1 +
 selfdrive/selfdrived/events.py     | 5 +++++
 selfdrive/selfdrived/selfdrived.py | 4 ++++
 5 files changed, 13 insertions(+), 1 deletion(-)

diff --git a/cereal/log.capnp b/cereal/log.capnp
index 1cc37cf642..7b6076311f 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -59,6 +59,7 @@ struct OnroadEvent @0xc4fa6047f024e718 {
     pcmEnable @23;
     pcmDisable @24;
     radarFault @25;
+    radarTempUnavailable @93;
     brakeHold @26;
     parkBrake @27;
     manualRestart @28;
@@ -728,6 +729,7 @@ struct PeripheralState {
 struct RadarState @0x9a185389d6fdd05f {
   mdMonoTime @6 :UInt64;
   carStateMonoTime @11 :UInt64;
+  radarErrors @13 :Car.RadarData.Error;
 
   leadOne @3 :LeadData;
   leadTwo @4 :LeadData;
diff --git a/opendbc_repo b/opendbc_repo
index 5d74dd6e73..96896d3509 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 5d74dd6e7344900805c58eb2fb2b5a8d52e83050
+Subproject commit 96896d35098464661de5c96f075bf5053eeefede
diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py
index f91c53431d..84420e3584 100755
--- a/selfdrive/controls/radard.py
+++ b/selfdrive/controls/radard.py
@@ -234,6 +234,7 @@ class RadarD:
     self.radar_state_valid = sm.all_checks()
     self.radar_state = log.RadarState.new_message()
     self.radar_state.mdMonoTime = sm.logMonoTime['modelV2']
+    self.radar_state.radarErrors = rr.errors
     self.radar_state.carStateMonoTime = sm.logMonoTime['carState']
 
     if len(sm['modelV2'].velocity.x):
diff --git a/selfdrive/selfdrived/events.py b/selfdrive/selfdrived/events.py
index d89418e177..ee2c418b6e 100755
--- a/selfdrive/selfdrived/events.py
+++ b/selfdrive/selfdrived/events.py
@@ -832,6 +832,11 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
     ET.NO_ENTRY: NoEntryAlert("Radar Error: Restart the Car"),
   },
 
+  EventName.radarTempUnavailable: {
+    ET.SOFT_DISABLE: soft_disable_alert("Radar Temporarily Unavailable"),
+    ET.NO_ENTRY: NoEntryAlert("Radar Temporarily Unavailable"),
+  },
+
   # Every frame from the camera should be processed by the model. If modeld
   # is not processing frames fast enough they have to be dropped. This alert is
   # thrown when over 20% of frames are dropped.
diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index 93f8f59133..fdf1b77871 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -270,6 +270,10 @@ class SelfdriveD:
     if not REPLAY and self.rk.lagging:
       self.events.add(EventName.selfdrivedLagging)
     if not self.sm.valid['radarState']:
+      if self.sm['radarState'].radarErrors.radarUnavailableTemporary:
+        self.events.add(EventName.radarTempUnavailable)
+      else:
+        self.events.add(EventName.radarFault)
       self.events.add(EventName.radarFault)
     if not self.sm.valid['pandaStates']:
       self.events.add(EventName.usbError)