[radio-spinel] always be ready to ready from socket (#3319)

This commit changes the logic in `RadioSpinel` such that the HDLC
socket is always added to read fd set in `UpdateFdSet()` replacing
the existing code where read was not allowed during an ongoing 15.4
frame transmission. Note that during a frame transmission, radio can
potentially receive a frame (e.g. during CSMA backoffs). Also other
spinel frames such as logs can be received during tx.
diff --git a/src/posix/platform/radio_spinel.cpp b/src/posix/platform/radio_spinel.cpp
index f7102a6..8cd57df 100644
--- a/src/posix/platform/radio_spinel.cpp
+++ b/src/posix/platform/radio_spinel.cpp
@@ -680,24 +680,16 @@
 {
     int sockFd = mHdlcInterface.GetSocket();
 
-    if ((mState != kStateTransmitPending) && (mState != kStateTransmitDone))
-    {
-        FD_SET(sockFd, &aReadFdSet);
+    FD_SET(sockFd, &aReadFdSet);
 
-        if (aMaxFd < sockFd)
-        {
-            aMaxFd = sockFd;
-        }
+    if (aMaxFd < sockFd)
+    {
+        aMaxFd = sockFd;
     }
 
     if (mState == kStateTransmitPending)
     {
         FD_SET(sockFd, &aWriteFdSet);
-
-        if (aMaxFd < sockFd)
-        {
-            aMaxFd = sockFd;
-        }
     }
 
     if (!mFrameQueue.IsEmpty() || (mState == kStateTransmitDone))