Rename LeadData.status to LeadData.present (#38339)

* rename LeadData.status to LeadData.present

* rename LeadData.status to LeadData.present

* resolve longitudinal MPC merge conflict

openpilot/cereal/log.capnp

@@ -722,7 +722,7 @@ struct RadarState @0x9a185389d6fdd05f {
     vLeadK @8 :Float32;
     aLeadK @9 :Float32;
     fcw @10 :Bool;
-    status @11 :Bool;
+    present @11 :Bool;
     aLeadTau @12 :Float32;
     modelProb @13 :Float32;
     radar @14 :Bool;

openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py

@@ -288,7 +288,7 @@ class LongitudinalMpc:
 
   def process_lead(self, lead):
     v_ego = self.x0[1]
-    if lead is not None and lead.status:
+    if lead is not None and lead.present:
       x_lead = lead.dRel
       v_lead = lead.vLead
       a_lead = lead.aLeadK

openpilot/selfdrive/controls/lib/longitudinal_planner.py

@@ -161,7 +161,7 @@ class LongitudinalPlanner:
     longitudinalPlan.accels = self.a_desired_trajectory.tolist()
     longitudinalPlan.jerks = self.j_desired_trajectory.tolist()
 
-    longitudinalPlan.hasLead = sm['radarState'].leadOne.status
+    longitudinalPlan.hasLead = sm['radarState'].leadOne.present
     longitudinalPlan.longitudinalPlanSource = self.mpc.source
     longitudinalPlan.fcw = self.fcw
 

openpilot/selfdrive/controls/radard.py

@@ -91,7 +91,7 @@ class Track:
       "vLeadK": float(self.vLeadK),
       "aLeadK": float(self.aLeadK),
       "aLeadTau": float(self.aLeadTau.x),
-      "status": True,
+      "present": True,
       "fcw": self.is_potential_fcw(model_prob),
       "modelProb": model_prob,
       "radar": True,
@@ -151,7 +151,7 @@ def get_RadarState_from_vision(lead_msg: capnp._DynamicStructReader, v_ego: floa
     "aLeadTau": 0.3,
     "fcw": False,
     "modelProb": float(lead_prob),
-    "status": True,
+    "present": True,
     "radar": False,
     "radarTrackId": -1,
   }
@@ -165,7 +165,7 @@ def get_lead(v_ego: float, ready: bool, tracks: dict[int, Track], lead_msg: capn
   else:
     track = None
 
-  lead_dict = {'status': False}
+  lead_dict = {'present': False}
   if track is not None:
     lead_dict = track.get_RadarState(lead_prob)
   elif (track is None) and ready and (lead_prob > .5):
@@ -177,7 +177,7 @@ def get_lead(v_ego: float, ready: bool, tracks: dict[int, Track], lead_msg: capn
       closest_track = min(low_speed_tracks, key=lambda c: c.dRel)
 
       # Only choose new track if it is actually closer than the previous one
-      if (not lead_dict['status']) or (closest_track.dRel < lead_dict['dRel']):
+      if (not lead_dict['present']) or (closest_track.dRel < lead_dict['dRel']):
         lead_dict = closest_track.get_RadarState()
 
   return lead_dict

openpilot/selfdrive/test/longitudinal_maneuvers/plant.py

@@ -95,7 +95,7 @@ class Plant:
     lead.aLeadK = float(a_lead)
     # TODO use real radard logic for this
     lead.aLeadTau = float(_LEAD_ACCEL_TAU)
-    lead.status = status
+    lead.present = status
     lead.modelProb = float(prob_lead)
     if not self.only_lead2:
       radar.radarState.leadOne = lead

openpilot/selfdrive/ui/mici/onroad/model_renderer.py

@@ -166,7 +166,7 @@ class ModelRenderer(Widget):
     leads = [radar_state.leadOne, radar_state.leadTwo]
 
     for i, lead_data in enumerate(leads):
-      if lead_data and lead_data.status:
+      if lead_data and lead_data.present:
         d_rel, y_rel, v_rel = lead_data.dRel, lead_data.yRel, lead_data.vRel
         idx = self._get_path_length_idx(path_x_array, d_rel)
 
@@ -195,7 +195,7 @@ class ModelRenderer(Widget):
       road_edge.projected_points = self._map_line_to_polygon(road_edge.raw_points, line_width_factor, 0.0, max_idx)
 
     # Update path using raw points
-    if lead and lead.status:
+    if lead and lead.present:
       lead_d = lead.dRel * 2.0
       max_distance = np.clip(lead_d - min(lead_d * 0.35, 10.0), 0.0, max_distance)
 

openpilot/selfdrive/ui/onroad/model_renderer.py

@@ -150,7 +150,7 @@ class ModelRenderer(Widget):
     leads = [radar_state.leadOne, radar_state.leadTwo]
 
     for i, lead_data in enumerate(leads):
-      if lead_data and lead_data.status:
+      if lead_data and lead_data.present:
         d_rel, y_rel, v_rel = lead_data.dRel, lead_data.yRel, lead_data.vRel
         idx = self._get_path_length_idx(path_x_array, d_rel)
 
@@ -176,7 +176,7 @@ class ModelRenderer(Widget):
       road_edge.projected_points = self._map_line_to_polygon(road_edge.raw_points, 0.025, 0.0, max_idx, max_distance)
 
     # Update path using raw points
-    if lead and lead.status:
+    if lead and lead.present:
       lead_d = lead.dRel * 2.0
       max_distance = np.clip(lead_d - min(lead_d * 0.35, 10.0), 0.0, max_distance)
 

openpilot/tools/replay/lib/ui_helpers.py

@@ -187,7 +187,7 @@ def plot_model(m, img, calibration, top_down):
 
 def plot_lead(rs, top_down):
   for lead in [rs.leadOne, rs.leadTwo]:
-    if not lead.status:
+    if not lead.present:
       continue
 
     x = lead.dRel