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

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)