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

@@ -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;

opendbc_repo

@@ -1 +1 @@
-Subproject commit 5d74dd6e7344900805c58eb2fb2b5a8d52e83050
+Subproject commit 96896d35098464661de5c96f075bf5053eeefede

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):

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.

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)