Toyota: fix missing message check with radar disabled (#29747)

* add test route for radar-disabled toyota chr hybrid tss 2

* fix bug
old-commit-hash: a18e97e954

selfdrive/car/tests/routes.py

@@ -206,6 +206,7 @@ routes = [
   CarTestRoute("ea8fbe72b96a185c|2023-02-22--09-20-34", TOYOTA.CHR_TSS2),  # openpilot longitudinal, with smartDSU
   CarTestRoute("57858ede0369a261|2021-05-18--20-34-20", TOYOTA.CHRH),
   CarTestRoute("6719965b0e1d1737|2023-02-09--22-44-05", TOYOTA.CHRH_TSS2),
+  # CarTestRoute("6719965b0e1d1737|2023-08-29--06-40-05", TOYOTA.CHRH_TSS2),  # openpilot longitudinal, radar disabled
   CarTestRoute("14623aae37e549f3|2021-10-24--01-20-49", TOYOTA.PRIUS_V),
 
   CarTestRoute("202c40641158a6e5|2021-09-21--09-43-24", VOLKSWAGEN.ARTEON_MK1),

selfdrive/car/toyota/carstate.py

@@ -210,7 +210,7 @@ class CarState(CarStateBase):
         ("PCS_HUD", 1),
       ]
 
-    if CP.carFingerprint not in (TSS2_CAR - RADAR_ACC_CAR) and not CP.enableDsu:
+    if CP.carFingerprint not in (TSS2_CAR - RADAR_ACC_CAR) and not CP.enableDsu and not CP.flags & ToyotaFlags.DISABLE_RADAR.value:
       messages += [
         ("PRE_COLLISION", 33),
       ]