body v1 updater

.gitmodules

@@ -1,9 +1,11 @@
 [submodule "panda"]
   path = panda
   url = ../../commaai/panda.git
+  branch = body-v1-update
 [submodule "opendbc"]
   path = opendbc_repo
   url = ../../commaai/opendbc.git
+  branch = body-v1-update
 [submodule "msgq"]
   path = msgq_repo
   url = ../../commaai/msgq.git

selfdrive/pandad/pandad.cc

@@ -161,6 +161,29 @@ void fill_panda_can_state(cereal::PandaState::PandaCanState::Builder &cs, const
   cs.setCanCoreResetCnt(can_health.can_core_reset_cnt);
 }
 
+static bool is_body_platform(const std::string &params_string) {
+  if (params_string.empty()) {
+    return false;
+  }
+
+  try {
+    AlignedBuffer aligned_buf;
+    capnp::FlatArrayMessageReader cmsg(aligned_buf.align(params_string.data(), params_string.size()));
+    cereal::CarParams::Reader car_params = cmsg.getRoot<cereal::CarParams>();
+    return car_params.getBrand() == "body";
+  } catch (...) {
+    LOGE("Failed to parse CarParams while checking body init state");
+  }
+  return false;
+}
+
+static bool should_keep_body_ignition_high(Params &params, bool is_onroad) {
+  if (!is_onroad || !params.getBool("FirmwareQueryDone") || params.getBool("ControlsReady")) {
+    return false;
+  }
+  return is_body_platform(params.get("CarParams"));
+}
+
 std::optional<bool> send_panda_states(PubMaster *pm, Panda *panda, bool is_onroad, bool spoofing_started) {
   // build msg
   MessageBuilder msg;
@@ -187,6 +210,13 @@ std::optional<bool> send_panda_states(PubMaster *pm, Panda *panda, bool is_onroa
     health.ignition_line_pkt = 1;
   }
 
+  static Params params;
+  if (should_keep_body_ignition_high(params, is_onroad)) {
+    health.ignition_line_pkt = 1;
+    health.safety_mode_pkt = (uint8_t)(cereal::CarParams::SafetyModel::BODY);
+    panda->set_safety_model(cereal::CarParams::SafetyModel::BODY);
+  }
+
   bool ignition_local = ((health.ignition_line_pkt != 0) || (health.ignition_can_pkt != 0));
 
   // Make sure CAN buses are live: safety_setter_thread does not work if Panda CAN are silent and there is only one other CAN node
@@ -341,9 +371,9 @@ void process_peripheral_state(Panda *panda, PubMaster *pm, bool no_fan_control)
     }
 
     if (ir_pwr != prev_ir_pwr || sm.frame % 100 == 0) {
-      int16_t ir_panda = util::map_val(ir_pwr, 0, 100, 0, MAX_IR_PANDA_VAL); 
+      int16_t ir_panda = util::map_val(ir_pwr, 0, 100, 0, MAX_IR_PANDA_VAL);
       panda->set_ir_pwr(ir_panda);
-      Hardware::set_ir_power(ir_pwr); 
+      Hardware::set_ir_power(ir_pwr);
       prev_ir_pwr = ir_pwr;
     }
   }