radarState: check average frequency (#34872)

* always check radarState freq since it polls on modelV2 and sends at a fixed rate

* fine

* can just check this since valid is all_checks on liveTracks, and liveTracks.valid is len(errors) as well

full circle

selfdrive/controls/plannerd.py

@@ -20,7 +20,7 @@ def main():
   longitudinal_planner = LongitudinalPlanner(CP)
   pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance'])
   sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'liveParameters', 'radarState', 'modelV2', 'selfdriveState'],
-                           poll='modelV2', ignore_avg_freq=['radarState'])
+                           poll='modelV2')
 
   while True:
     sm.update()

selfdrive/selfdrived/selfdrived.py

@@ -80,7 +80,7 @@ class SelfdriveD:
                                    'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
                                    'controlsState', 'carControl', 'driverAssistance', 'alertDebug'] + \
                                    self.camera_packets + self.sensor_packets + self.gps_packets,
-                                  ignore_alive=ignore, ignore_avg_freq=ignore+['radarState',],
+                                  ignore_alive=ignore, ignore_avg_freq=ignore,
                                   ignore_valid=ignore, frequency=int(1/DT_CTRL))
 
     # read params
@@ -269,7 +269,7 @@ class SelfdriveD:
           self.events.add(EventName.cameraFrameRate)
     if not REPLAY and self.rk.lagging:
       self.events.add(EventName.selfdrivedLagging)
-    if len(self.sm['radarState'].radarErrors) or ((not self.rk.lagging or REPLAY) and not self.sm.all_checks(['radarState'])):
+    if not self.sm.valid['radarState']:
       self.events.add(EventName.radarFault)
     if not self.sm.valid['pandaStates']:
       self.events.add(EventName.usbError)