From e16d422cf4499c57efdb546eeda33dbd3d60304f Mon Sep 17 00:00:00 2001
From: stef <19478336+stefpi@users.noreply.github.com>
Date: Tue, 14 Apr 2026 19:13:57 -0700
Subject: [PATCH] body quality of life (#37803)

* turn off ir leds on notCar

* reduce startup time on notCar

* fix: check notCar once after onroad is true

* save a disk read by using existing is_onroad
---
 selfdrive/pandad/pandad.cc         | 25 +++++++++++++++++++++----
 selfdrive/selfdrived/selfdrived.py |  2 +-
 2 files changed, 22 insertions(+), 5 deletions(-)

diff --git a/selfdrive/pandad/pandad.cc b/selfdrive/pandad/pandad.cc
index 28d459f458..f0f13d32e7 100644
--- a/selfdrive/pandad/pandad.cc
+++ b/selfdrive/pandad/pandad.cc
@@ -285,7 +285,7 @@ void process_panda_state(Panda *panda, PubMaster *pm, bool engaged, bool is_onro
   panda->send_heartbeat(engaged);
 }
 
-void process_peripheral_state(Panda *panda, PubMaster *pm, bool no_fan_control) {
+void process_peripheral_state(Panda *panda, PubMaster *pm, bool no_fan_control, bool is_onroad) {
   static Params params;
   static SubMaster sm({"deviceState", "driverCameraState"});
 
@@ -295,6 +295,8 @@ void process_peripheral_state(Panda *panda, PubMaster *pm, bool no_fan_control)
   static int prev_ir_pwr = 999;
   static uint32_t prev_frame_id = UINT32_MAX;
   static bool driver_view = false;
+  static bool not_car = false;
+  static bool not_car_checked = false;
 
   // TODO: can we merge these?
   static FirstOrderFilter integ_lines_filter(0, 30.0, 0.05);
@@ -340,10 +342,25 @@ void process_peripheral_state(Panda *panda, PubMaster *pm, bool no_fan_control)
       ir_pwr = 0;
     }
 
+    // turn off IR leds if body
+    if (!not_car_checked && is_onroad) {
+      std::string cp_bytes = params.get("CarParams");
+      if (cp_bytes.size() > 0) {
+        AlignedBuffer aligned_buf;
+        capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
+        cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
+        not_car = CP.getNotCar();
+        not_car_checked = true;
+      }
+    }
+    if (not_car) {
+      ir_pwr = 0;
+    }
+
     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;
     }
   }
@@ -371,7 +388,7 @@ void pandad_run(Panda *panda) {
 
     // Process peripheral state at 20 Hz
     if (rk.frame() % 5 == 0) {
-      process_peripheral_state(panda, &pm, no_fan_control);
+      process_peripheral_state(panda, &pm, no_fan_control, is_onroad);
     }
 
     // Process panda state at 10 Hz
diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index 6a294ca8d8..dbc3174af7 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -192,7 +192,7 @@ class SelfdriveD:
 
       if self.CP.notCar:
         # wait for everything to init first
-        if self.sm.frame > int(5. / DT_CTRL) and self.initialized:
+        if self.sm.frame > int(2. / DT_CTRL) and self.initialized:
           # body always wants to enable
           self.events.add(EventName.pcmEnable)