sunnypilot v2026.002.000

version: sunnypilot v2026.002.000 (staging)
date: 2026-07-21T07:44:02
master commit: 2c334ede443d7391d27575af8c854a095ba702a8

openpilot/sunnypilot/livedelay/lagd_toggle.py

@@ -0,0 +1,38 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from openpilot.cereal import log
+
+from opendbc.car import structs
+from openpilot.common.params import Params
+
+
+class LagdToggle:
+  def __init__(self, CP: structs.CarParams):
+    self.CP = CP
+    self.params = Params()
+    self.lag = 0.0
+
+    self.lagd_toggle = self.params.get_bool("LagdToggle")
+    self.software_delay = self.params.get("LagdToggleDelay", return_default=True)
+
+  def read_params(self) -> None:
+    self.lagd_toggle = self.params.get_bool("LagdToggle")
+    self.software_delay = self.params.get("LagdToggleDelay", return_default=True)
+
+  def update(self, lag_msg: log.LiveDelayData) -> None:
+    self.read_params()
+
+    if not self.lagd_toggle:
+      steer_actuator_delay = self.CP.steerActuatorDelay
+      delay = self.software_delay
+      self.lag = (steer_actuator_delay + delay)
+      self.params.put("LagdValueCache", self.lag)
+      return
+
+    lateral_delay = lag_msg.liveDelay.lateralDelay
+    self.lag = lateral_delay
+    self.params.put("LagdValueCache", self.lag)