From 891cd9f12b715e838660068fb945c352a8e03bfb Mon Sep 17 00:00:00 2001
From: Irene <12470297+cydia2020@users.noreply.github.com>
Date: Fri, 6 Sep 2024 20:00:52 +1000
Subject: [PATCH] Reapply "Move radar delay to carParams (#1224)"

This reverts commit 10a4df2c7d27e5e0ee886a157700e112aa9eeca4.
---
 opendbc/car/honda/interface.py       | 1 +
 opendbc/car/honda/radar_interface.py | 2 --
 opendbc/car/interfaces.py            | 1 -
 opendbc/car/structs.py               | 1 +
 4 files changed, 2 insertions(+), 3 deletions(-)

diff --git a/opendbc/car/honda/interface.py b/opendbc/car/honda/interface.py
index a13fb67db8..e54d804280 100755
--- a/opendbc/car/honda/interface.py
+++ b/opendbc/car/honda/interface.py
@@ -207,6 +207,7 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
 
     ret.steerActuatorDelay = 0.1
     ret.steerLimitTimer = 0.8
+    ret.radarDelay = 0.1
 
     return ret
 
diff --git a/opendbc/car/honda/radar_interface.py b/opendbc/car/honda/radar_interface.py
index a47cc70e7f..316838aa5d 100755
--- a/opendbc/car/honda/radar_interface.py
+++ b/opendbc/car/honda/radar_interface.py
@@ -20,8 +20,6 @@ def __init__(self, CP):
     self.radar_off_can = CP.radarUnavailable
     self.radar_ts = CP.radarTimeStep
 
-    self.delay = int(round(0.1 / CP.radarTimeStep))   # 0.1s delay of radar
-
     # Nidec
     if self.radar_off_can:
       self.rcp = None
diff --git a/opendbc/car/interfaces.py b/opendbc/car/interfaces.py
index 2f0a47909f..39819e511c 100644
--- a/opendbc/car/interfaces.py
+++ b/opendbc/car/interfaces.py
@@ -261,7 +261,6 @@ def __init__(self, CP: structs.CarParams):
     self.CP = CP
     self.rcp = None
     self.pts: dict[int, structs.RadarData.RadarPoint] = {}
-    self.delay = 0
     self.radar_ts = CP.radarTimeStep
     self.frame = 0
 
diff --git a/opendbc/car/structs.py b/opendbc/car/structs.py
index bba40251ad..425b60c620 100644
--- a/opendbc/car/structs.py
+++ b/opendbc/car/structs.py
@@ -390,6 +390,7 @@ class LateralTorqueTuning:
   carFw: list['CarParams.CarFw'] = auto_field()
 
   radarTimeStep: float = 0.05  # time delta between radar updates, 20Hz is very standard
+  radarDelay: float = auto_field()
   fingerprintSource: 'CarParams.FingerprintSource' = field(default_factory=lambda: CarParams.FingerprintSource.can)
   # Where Panda/C2 is integrated into the car's CAN network
   networkLocation: 'CarParams.NetworkLocation' = field(default_factory=lambda: CarParams.NetworkLocation.fwdCamera)