  
      if len(self.sm['radarState'].radarErrors):
        self.events.add(EventName.radarFault)
      elif not self.sm.all_alive_and_valid():
        self.events.add(EventName.commIssue)
        if not self.logged_comm_issue:
          cloudlog.error(f"commIssue - valid: {self.sm.valid} - alive: {self.sm.alive}")
 
</s> remove     auto ps = msg.initEvent().initPandaState();
 </s> add     auto evt = msg.initEvent();
    evt.setValid(panda->comms_healthy);

    auto ps = evt.initPandaState(); </s> remove   auto canData = msg.initEvent().initCan(num_msg);
 </s> add   auto evt = msg.initEvent();
  evt.setValid(comms_healthy);
    elif not self.sm.valid["pandaState"]:
      self.events.add(EventName.usbError)
  
      if len(self.sm['radarState'].radarErrors):
        self.events.add(EventName.radarFault)
    elif not self.sm.valid["pandaState"]:
      self.events.add(EventName.usbError)
      elif not self.sm.all_alive_and_valid():
        self.events.add(EventName.commIssue)
        if not self.logged_comm_issue:
          cloudlog.error(f"commIssue - valid: {self.sm.valid} - alive: {self.sm.alive}")
keep keep add keep keep keep keep
 boardd: set can and pandaState valid flags (#20899)

* boardd: set can and pandaState valid flags

* add event

* bump cereal

* consistency 
selfdrive/controls/controlsd.py