If I understood you correctly, you want your command to work something like:
$ radio <tab><tab>
bar baz foo
If so, just get rid of the dashes.
Here is your script modified, think it should work:
# /etc/bash_completion.d/radio
_radio()
{
local cur prev opts
COMPREPLY=()
cur="${COMP_WORDS[COMP_CWORD]}"
prev="${COMP_WORDS[COMP_CWORD-1]}"
opts="foo bar baz"
COMPREPLY=( $(compgen -W "${opts}" -- ${cur}) )
return 0
}
complete -F _radio radio