liveTracks: bool error fields (#34869)

* bool fields

* liveTracks.valid is already set using errors

* fix

* clean up

* same but diff

* fix

* fix

* fix test

* clean up

* rm radarErrors

* whoops

* no struct

* Revert "no struct"

This reverts commit ed8ec02493.

* bump

* update

cereal/log.capnp

@@ -728,7 +728,6 @@ struct PeripheralState {
 struct RadarState @0x9a185389d6fdd05f {
   mdMonoTime @6 :UInt64;
   carStateMonoTime @11 :UInt64;
-  radarErrors @12 :List(Car.RadarData.Error);
 
   leadOne @3 :LeadData;
   leadTwo @4 :LeadData;
@@ -762,6 +761,7 @@ struct RadarState @0x9a185389d6fdd05f {
   calPercDEPRECATED @9 :Int8;
   canMonoTimesDEPRECATED @10 :List(UInt64);
   cumLagMsDEPRECATED @5 :Float32;
+  radarErrorsDEPRECATED @12 :List(Car.RadarData.ErrorDEPRECATED);
 }
 
 struct LiveCalibrationData {

opendbc_repo

@@ -1 +1 @@
-Subproject commit de96aaf51b60be02b4978b15fbf3b6dd0d829cfd
+Subproject commit 5d74dd6e7344900805c58eb2fb2b5a8d52e83050

selfdrive/car/card.py

@@ -227,7 +227,7 @@ class Car:
 
     if RD is not None:
       tracks_msg = messaging.new_message('liveTracks')
-      tracks_msg.valid = len(RD.errors) == 0
+      tracks_msg.valid = not any(RD.errors.to_dict().values())
       tracks_msg.liveTracks = RD
       self.pm.send('liveTracks', tracks_msg)
 

selfdrive/car/tests/test_models.py

@@ -219,7 +219,7 @@ class TestCarModelBase(unittest.TestCase):
     for i, msg in enumerate(self.can_msgs[self.elm_frame:]):
       rr: structs.RadarData | None = RI.update(msg)
       if rr is not None and i > 50:
-        error_cnt += structs.RadarData.Error.canError in rr.errors
+        error_cnt += rr.errors.canError
     self.assertEqual(error_cnt, 0)
 
   def test_panda_safety_rx_checks(self):

selfdrive/controls/radard.py

@@ -234,7 +234,6 @@ 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 = list(rr.errors)
     self.radar_state.carStateMonoTime = sm.logMonoTime['carState']
 
     if len(sm['modelV2'].velocity.x):

selfdrive/controls/tests/test_leads.py

@@ -26,6 +26,6 @@ class TestLeads:
     msgs = [m for _ in range(3) for m in single_iter_pkg()]
     out = replay_process_with_name("card", msgs, fingerprint=TOYOTA.TOYOTA_COROLLA_TSS2)
     states = [m for m in out if m.which() == "liveTracks"]
-    failures = [not state.valid and len(state.liveTracks.errors) for state in states]
+    failures = [not state.valid for state in states]
 
     assert len(states) == 0 or all(failures)

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-98672ccf23dc08fcd08b53cae3ec305c04219fe8
+e9d57157494480637a8ffb52257d2b660a48be67