Isaiah 35:5

2026-07-18 07:42:08 +08:00 · 2026-07-16 11:25:43 -05:00
parent a1c5b589db
commit 6b21ab83a4
3 changed files with 61 additions and 4 deletions
@@ -23,6 +23,8 @@ MAX_ANGLE = 85
 MAX_ANGLE_FRAMES = 89
 MAX_ANGLE_CONSECUTIVE_FRAMES = 2
 CANFD_BLINDSPOT_STATUS_STALE_NS = 200_000_000
+# fail-open window for the radar-track BSM gate; tracks refresh at 20Hz from card
+IONIQ_6_BLINDSPOT_TRACK_STALE_NS = 1_000_000_000
 CANFD_CAMERA_LEAD_STALE_NS = 300_000_000
 CANFD_LEAD_MIN_DISTANCE = 0.1
 CANFD_FALLBACK_LEAD_DISTANCE = 20.0
@@ -342,6 +344,8 @@ class CarController(CarControllerBase):
    self.long_active_ecu = self.CP.openpilotLongitudinalControl
    self._ioniq_6_lane_change_ui_side = None
    self._ioniq_6_lane_change_ui_frames = 0
+    self._ioniq_6_bsm_gate_left = False
+    self._ioniq_6_bsm_gate_right = False
    self._ioniq_6_long_tuning = Ioniq6LongitudinalTuningState()
    self._genesis_g90_long_tuning = GenesisG90LongitudinalTuningState()
    self._dash_lat_disengage_blink_frame = 0
@@ -761,6 +765,22 @@ class CarController(CarControllerBase):
                                                                            CS.out.gasPressed, self.CP.carFingerprint))
      elif not ccnc_non_hda2:
        can_sends.extend(hyundaicanfd.create_fca_warning_light(self.packer, self.CAN, self.frame))
+      left_blindspot, right_blindspot = CS.left_blindspot_from_radar, CS.right_blindspot_from_radar
+      if self.CP.carFingerprint == CAR.HYUNDAI_IONIQ_6:
+        # The raw SIDE_DETECT_STATE bit also fires on far and two-lanes-over traffic, so gate
+        # the mirror/cluster spoof on a front radar track actually in the adjacent lane, then
+        # latch while side-detect stays asserted so the lamp holds as a passed car slides into
+        # the rear quarter (validated on onelane/twolanes rlogs 2026-07-16). Fails open to the
+        # ungated bit if the track stash goes stale (radar dead / ECU disable failed).
+        tracks_fresh = CS.blindspot_track_update_ts > 0 and \
+          now_nanos - CS.blindspot_track_update_ts < IONIQ_6_BLINDSPOT_TRACK_STALE_NS
+        if tracks_fresh:
+          self._ioniq_6_bsm_gate_left = left_blindspot and (self._ioniq_6_bsm_gate_left or CS.left_blindspot_track_near)
+          self._ioniq_6_bsm_gate_right = right_blindspot and (self._ioniq_6_bsm_gate_right or CS.right_blindspot_track_near)
+          left_blindspot, right_blindspot = self._ioniq_6_bsm_gate_left, self._ioniq_6_bsm_gate_right
+        else:
+          self._ioniq_6_bsm_gate_left = False
+          self._ioniq_6_bsm_gate_right = False
      if self.CP.carFingerprint == CAR.HYUNDAI_IONIQ_6 and self.frame % 5 == 0:
        rear_stale = now_nanos - CS.blindspots_rear_corners_ts > CANFD_BLINDSPOT_STATUS_STALE_NS
        front_stale = now_nanos - CS.blindspots_front_corner_1_ts > CANFD_BLINDSPOT_STATUS_STALE_NS
@@ -768,14 +788,14 @@ class CarController(CarControllerBase):
          can_sends.extend(hyundaicanfd.create_blindspot_status_messages(self.packer, self.CAN,
                                                                         CS.blindspots_rear_corners,
                                                                         CS.blindspots_front_corner_1,
-                                                                         CS.left_blindspot_from_radar,
-                                                                         CS.right_blindspot_from_radar,
+                                                                         left_blindspot,
+                                                                         right_blindspot,
                                                                         CC.leftBlinker,
                                                                         CC.rightBlinker))
      if self.CP.carFingerprint == CAR.HYUNDAI_IONIQ_6 and lane_change_ui_side is None:
        can_sends.extend(hyundaicanfd.create_ioniq_6_cluster_blindspot_messages(self.CAN, self.frame,
-                                                                                 CS.left_blindspot_from_radar,
-                                                                                 CS.right_blindspot_from_radar,
+                                                                                 left_blindspot,
+                                                                                 right_blindspot,
                                                                                 CC.leftBlinker,
                                                                                 CC.rightBlinker))
      if self.frame % 2 == 0:
@@ -136,6 +136,12 @@ class CarState(CarStateBase):
    self.blindspots_front_corner_1_ts = 0
    self.left_blindspot_from_radar = False
    self.right_blindspot_from_radar = False
+    # Radar-track adjacency for the spoofed BSM mirror gate, stashed by card from
+    # RadarData (front radar tracks). ts stays 0 when never updated, which makes
+    # the carcontroller gate fail open to the ungated side-detect bit.
+    self.left_blindspot_track_near = False
+    self.right_blindspot_track_near = False
+    self.blindspot_track_update_ts = 0

    # On some cars, CLU15->CF_Clu_VehicleSpeed can oscillate faster than the dash updates. Sample at 5 Hz
    self.cluster_speed = 0
@@ -36,6 +36,14 @@ REPLAY = "REPLAY" in os.environ
 OPENPILOT_LEAD_MIN_DISTANCE = 0.1
 REDNECK_DECREASE_LOOKAHEAD_POINTS = 10

+# Adjacent-lane zone for the spoofed-BSM mirror gate (Hyundai CAN-FD): a front radar
+# track counts as "car one lane over" only inside this envelope. Lat band excludes
+# own-lane leads (<1.9 m) and two-lanes-over traffic (>5.5 m); thresholds validated
+# on Ioniq 6 onelane/twolanes rlogs 2026-07-16.
+BSM_TRACK_LONG_MAX = 15.0
+BSM_TRACK_LAT_MIN = 1.9
+BSM_TRACK_LAT_MAX = 5.5
+
 EventName = log.OnroadEvent.EventName

 # forward
@@ -230,6 +238,9 @@ class Car:
    if can_rcv_valid and REPLAY:
      self.can_log_mono_time = messaging.log_from_bytes(can_strs[0]).logMonoTime

+    # RD is only non-None on frames with valid CAN, so can_log_mono_time is set by here
+    self._update_blindspot_track_state(RD)
+
    preap_software_cruise = (
      self.CP.brand == "tesla" and self.CP.carFingerprint == "TESLA_MODEL_S_PREAP" and
      self.CP.openpilotLongitudinalControl and not self.CP.pcmCruise
@@ -377,6 +388,26 @@ class Car:
    self.CI.CS.openpilot_lead_distance = lead_distance
    self.CI.CS.openpilot_lead_rel_speed = lead_rel_speed

+  def _update_blindspot_track_state(self, RD: structs.RadarDataT | None) -> None:
+    # Stash radar-track adjacency for the Hyundai CAN-FD spoofed-BSM mirror gate
+    # (yRel > 0 is left). Skipped frames leave the previous stash in place; if the
+    # radar stops updating entirely, the timestamp goes stale and the carcontroller
+    # gate fails open to its ungated side-detect input.
+    if RD is None or any(RD.errors.to_dict().values()):
+      return
+
+    left = right = False
+    for pt in RD.points:
+      if 0.0 < pt.dRel < BSM_TRACK_LONG_MAX and BSM_TRACK_LAT_MIN <= abs(pt.yRel) <= BSM_TRACK_LAT_MAX:
+        if pt.yRel > 0.0:
+          left = True
+        else:
+          right = True
+
+    self.CI.CS.left_blindspot_track_near = left
+    self.CI.CS.right_blindspot_track_near = right
+    self.CI.CS.blindspot_track_update_ts = self.can_log_mono_time if REPLAY else int(time.monotonic() * 1e9)
+
  def _update_redneck_cruise(self, CS: car.CarState, CC: car.CarControl) -> None:
    if self.redneck_cruise is None:
      return