Qualify queued Ioniq 6 blind-spot warnings

.github/bsm-qualification.py

@@ -0,0 +1,133 @@
+from pathlib import Path
+import hashlib
+import json
+import os
+import subprocess
+import sys
+import xml.etree.ElementTree as ET
+
+BASE = '1d30dc343469e93967d2de3afdc966901009ed5d'
+OUT = Path('bsm-results')
+OUT.mkdir(exist_ok=True)
+HOST = 'opendbc_repo/opendbc/car/hyundai/tests/test_ioniq6_bsm.py'
+NATIVE = 'opendbc_repo/opendbc/safety/tests/test_hyundai_ioniq6_long.py'
+
+def run(*args):
+  subprocess.run(args, check=True)
+
+def qualify():
+  controller = Path('opendbc_repo/opendbc/car/hyundai/carcontroller.py')
+  shipping = controller.read_bytes()
+  try:
+    controller.write_bytes(subprocess.check_output(['git', 'show', BASE + ':' + str(controller)]))
+    result = subprocess.run([sys.executable, '-m', 'pytest', '-q', HOST, '-k',
+                             'requires_a_matching_queued', '--junitxml=bsm-results/baseline.xml'])
+    cases = list(ET.parse(OUT / 'baseline.xml').getroot().iter('testcase'))
+    failures = [case for case in cases if case.find('failure') is not None]
+    assert result.returncode == 1 and failures and not list(ET.parse(OUT / 'baseline.xml').iter('error'))
+    assert all('UNQUEUED_BLINDSPOT_WARNING' in ''.join(case.find('failure').itertext()) for case in failures)
+    (OUT / 'baseline.json').write_text(json.dumps({'expectedFailingCases': len(failures), 'confirmed': True}))
+  finally:
+    controller.write_bytes(shipping)
+  assert controller.read_bytes() == shipping
+  suites = [HOST, *map(str, sorted(Path('opendbc_repo/opendbc/car/hyundai/tests').glob('test_ioniq6_*.py'))),
+            'openpilot/starpilot/lateral/tests/test_auto_lane_change.py',
+            'openpilot/starpilot/lateral/tests/test_lane_change_defaults.py',
+            'openpilot/starpilot/lateral/tests/test_lane_change_floor.py']
+  run(sys.executable, '-m', 'pytest', '-q', '--junitxml=bsm-results/host.xml', *dict.fromkeys(suites))
+  from tools.ci.run_vehicle_tests import build_safety_library
+  native = [NATIVE,
+            'opendbc_repo/opendbc/safety/tests/test_hyundai_canfd.py',
+            'opendbc_repo/opendbc/safety/tests/test_hyundai_canfd_carnival.py',
+            'opendbc_repo/opendbc/safety/tests/test_hyundai_canfd_torque_envelope.py',
+            'opendbc_repo/opendbc/safety/tests/test_hyundai_ioniq6_stock_aol.py']
+  for release in (False, True):
+    variant = 'release' if release else 'debug'
+    provenance = build_safety_library(release, OUT)
+    (OUT / f'native-{variant}.json').write_text(json.dumps(provenance, indent=2))
+    # A fresh interpreter avoids mixing the two C global-state libraries.
+    loader = ('from opendbc.safety.tests.libsafety import libsafety_py; '
+              f'libsafety_py.load({str((OUT / ("libsafety-" + variant + ".so")).resolve())!r}); '
+              'import pytest,sys; sys.exit(pytest.main(sys.argv[1:]))')
+    run(sys.executable, '-c', loader, '-q', f'--junitxml=bsm-results/native-{variant}.xml', *native)
+  paths = [str(controller), HOST, NATIVE]
+  run('.venv/bin/ruff', 'check', *paths)
+  run('.venv/bin/ty', 'check', *paths)
+  (OUT / 'source.json').write_text(json.dumps({str(p): hashlib.sha256(p.read_bytes()).hexdigest()
+    for p in [controller, Path(HOST), Path(NATIVE), Path('opendbc_repo/opendbc/safety/modes/hyundai_canfd.h')]}, indent=2))
+
+def firmware():
+  variant = os.environ['BSM_VARIANT']
+  names = subprocess.check_output(['git', 'ls-tree', '-r', '--name-only', 'HEAD', 'panda/board/obj'], text=True).splitlines()
+  targets = [name for name in names if name.endswith(('.bin.signed', '.bin'))]
+  targets += ['panda/board/obj/version', 'panda/board/obj/gitversion.h', 'panda/board/obj/cert.h']
+  assert sum(name.endswith('.bin.signed') for name in targets) == 17
+  with (OUT / 'firmware-build.log').open('w') as log:
+    result = subprocess.run(['.venv/bin/scons', '-j2', '--verbose', *targets], stdout=log, stderr=subprocess.STDOUT)
+  print((OUT / 'firmware-build.log').read_text()[-18000:])
+  assert result.returncode == 0
+  run(sys.executable, 'tools/ci/record_firmware.py', '--variant', variant, '--build-log',
+      str(OUT / 'firmware-build.log'), '--output', str(OUT / 'firmware-provenance.json'))
+  import base64
+  import zlib
+  key = base64.b64decode(Path('panda/board/crypto/certs/debug.pub').read_bytes().split()[1])
+  fields = []
+  for _ in range(3):
+    size = int.from_bytes(key[:4], 'big')
+    fields.append(key[4:4 + size])
+    key = key[4 + size:]
+  exponent, modulus = map(lambda value: int.from_bytes(value, 'big'), fields[1:])
+  checks = {}
+  for name in targets:
+    data = Path(name).read_bytes()
+    if name.endswith('.bin.signed'):
+      payload, signature = data[:-128], data[-128:]
+      expected = b'\x00\x01' + b'\xff' * 0x69 + b'\x00' + hashlib.sha1(payload[4:]).digest()
+      assert pow(int.from_bytes(signature, 'big'), exponent, modulus).to_bytes(128, 'big') == expected
+      assert int.from_bytes(payload[:4], 'little') == len(payload)
+      assert int.from_bytes(payload[-12:-8], 'little') == zlib.crc32(payload[:-12])
+      assert payload[-8:-4] == b'VERS'
+      elf = name.removesuffix('.bin.signed') + '/main.elf'
+      symbols = subprocess.check_output(['arm-none-eabi-nm', elf], text=True)
+      if variant == 'debug' and not name.endswith('/body_h7.bin.signed'):
+        assert 'hyundai_canfd_ioniq6_bsm_wheel_valid' in symbols
+    if '/bootstub.' in name:
+      project = Path(name).name.removeprefix('bootstub.').removesuffix('.bin')
+      symbols = subprocess.check_output(['arm-none-eabi-nm', f'panda/board/obj/{project}/bootstub.elf'], text=True)
+      assert ' RSA_verify' in symbols
+    checks[name] = {'sha256': hashlib.sha256(data).hexdigest(), 'bytes': len(data), 'mode': Path(name).stat().st_mode & 511}
+  (OUT / 'all-firmware.json').write_text(json.dumps({'variant': variant, 'artifacts': checks}, indent=2))
+  if variant == 'debug':
+    import tarfile
+    with tarfile.open(OUT / 'shipping-firmware.tar', 'w') as archive:
+      for name in targets:
+        archive.add(name, arcname=name)
+
+def helper():
+  import ctypes
+  import struct
+  target = Path('panda/tests/libpanda/libpanda.so')
+  original = OUT / 'parent-libpanda.so'
+  original.write_bytes(target.read_bytes())
+  run('cc', '-fPIC', '-nostdlib', '-fno-builtin', '-std=gnu11', '-Wfatal-errors', '-Wno-pointer-to-int-cast',
+      '-Ipanda/tests/libpanda', '-Ipanda', '-Ipanda/board', '-Iopendbc_repo', '-c',
+      'panda/tests/libpanda/panda.c', '-o', str(OUT / 'panda.os'))
+  run('cc', '-shared', str(OUT / 'panda.os'), '-o', str(target))
+  for path in (original, target):
+    assert struct.unpack_from('<H', path.read_bytes(), 18)[0] == 183
+    ctypes.CDLL(str(path.resolve()))
+  def exports(path):
+    return {line.split()[-1] for line in subprocess.check_output(['nm', '-D', '--defined-only', str(path)], text=True).splitlines()}
+  assert exports(original) == exports(target)
+  deps = subprocess.check_output(['cc', '-MM', '-Ipanda/tests/libpanda', '-Ipanda', '-Ipanda/board', '-Iopendbc_repo',
+                                  'panda/tests/libpanda/panda.c'], text=True)
+  assert 'opendbc/safety/modes/hyundai_canfd.h' in deps
+  (OUT / 'helper.json').write_text(json.dumps({'sha256': hashlib.sha256(target.read_bytes()).hexdigest(),
+       'arch': 'AArch64', 'exportsEqual': True, 'dlopen': True, 'includesChangedHeader': True,
+       'compiler': subprocess.check_output(['cc', '--version'], text=True), 'dependencies': deps}, indent=2))
+  import tarfile
+  with tarfile.open(OUT / 'shipping-helper.tar', 'w') as archive:
+    archive.add(target, arcname=str(target))
+
+if __name__ == '__main__':
+  {'qualify': qualify, 'firmware': firmware, 'helper': helper}[sys.argv[1]]()

.github/workflows/ioniq6-bsm-check.yaml

@@ -0,0 +1,85 @@
+name: Ioniq 6 queued BSM qualification
+on:
+  push:
+    branches: [codex/ioniq6-bsm-queued-20261107]
+permissions:
+  contents: read
+jobs:
+  host-native:
+    runs-on: ubuntu-24.04
+    timeout-minutes: 35
+    env:
+      PYTHONPATH: ${{ github.workspace }}
+      SCALE: '1'
+      RAYLIB_BACKEND: headless
+    steps:
+      - uses: actions/checkout@v7
+      - run: git -c gc.auto=0 -c maintenance.auto=false fetch --no-tags --depth=1 --filter=blob:none origin 1d30dc343469e93967d2de3afdc966901009ed5d
+      - uses: actions/setup-go@v7
+        with:
+          go-version: '1.25.1'
+          cache-dependency-path: mapd_repo/go.sum
+      - working-directory: mapd_repo
+        env:
+          GOTOOLCHAIN: local
+        run: go mod download
+      - run: ./tools/op.sh setup
+      - name: Build matching Linux dependencies
+        run: >-
+          .venv/bin/scons -j2
+          openpilot/starpilot/ui/native/_raylib_extra.so
+          openpilot/common/libparams_c.so
+          msgq_repo/msgq/_ipc.so
+          msgq_repo/msgq/visionipc/_visionipc.so
+          opendbc_repo/opendbc/can/_raw_value.so
+          opendbc_repo/opendbc/dbc
+          openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so
+          openpilot/selfdrive/locationd/models/generated/libcar.so
+      - run: .venv/bin/python .github/bsm-qualification.py qualify
+      - uses: actions/upload-artifact@v4
+        if: always()
+        with:
+          name: bsm-host-native
+          path: bsm-results/
+          if-no-files-found: error
+  firmware:
+    strategy:
+      fail-fast: false
+      matrix:
+        variant: [debug, release]
+    runs-on: ubuntu-24.04
+    timeout-minutes: 30
+    env:
+      PYTHONPATH: ${{ github.workspace }}
+      BSM_VARIANT: ${{ matrix.variant }}
+    steps:
+      - uses: actions/checkout@v7
+      - run: ./tools/op.sh setup
+      - name: Build and verify all firmware variants
+        shell: bash
+        run: |
+          if [[ "$BSM_VARIANT" == release ]]; then
+            export RELEASE=1
+            export CERT="$PWD/panda/board/crypto/certs/debug"
+          else
+            unset RELEASE
+          fi
+          .venv/bin/python .github/bsm-qualification.py firmware
+      - uses: actions/upload-artifact@v4
+        if: always()
+        with:
+          name: bsm-firmware-${{ matrix.variant }}
+          path: bsm-results/
+          if-no-files-found: error
+  arm64-helper:
+    runs-on: ubuntu-24.04-arm
+    timeout-minutes: 15
+    steps:
+      - uses: actions/checkout@v7
+      - run: python3 .github/bsm-qualification.py helper
+      - uses: actions/upload-artifact@v4
+        if: always()
+        with:
+          name: bsm-arm64-helper
+          path: bsm-results/
+          if-no-files-found: error

opendbc_repo/opendbc/car/hyundai/carcontroller.py

@@ -597,8 +597,10 @@ class CarController(CarControllerBase):
           can_now_ns = getattr(CS, "ioniq6_bsm_now_ns", 0)
           status = (sources.status(can_now_ns) if sources is not None and can_now_ns > self.ioniq6_bsm_last_can_ns else None)
           if status is not None:
-            # Neutralize only the injected dashboard indication below 5 mph.
-            if CS.out.vEgoRaw < 5 * CV.MPH_TO_MS:
+            left_queued = CC.leftBlinker and not CC.rightBlinker
+            right_queued = CC.rightBlinker and not CC.leftBlinker
+            if (CS.out.vEgoRaw < 5 * CV.MPH_TO_MS or
+                status.left == 2 and not left_queued or status.right == 2 and not right_queued):
               status = BlindspotStatus(0, 0)
             can_sends.extend(hyundaicanfd.create_ioniq6_blindspot_status(self.ioniq6_bsm_counter, status))
             self.ioniq6_bsm_counter = (self.ioniq6_bsm_counter + 1) & 0xff

opendbc_repo/opendbc/car/hyundai/tests/test_ioniq6_bsm.py

@@ -168,10 +168,12 @@ class TestIoniq6BlindspotStatus(unittest.TestCase):
                             lamp_source_ns=t, left_lamp=left_lamp, right_lamp=right_lamp)
             ci.CS.ioniq6_bsm_sources = sources
             source_status = sources.status(t)
+            assert source_status is not None
             counter = controller.ioniq6_bsm_counter
             _, frames = controller.update(control.as_reader(), ci.CS, t)
             status_frames = [(addr, payload, bus) for addr, payload, bus in frames if addr in (0x1BA, 0x1E5)]
-            expected = BlindspotStatus(0, 0) if speed < threshold else source_status
+            expected = (BlindspotStatus(0, 0) if speed < threshold or 2 in (source_status.left, source_status.right)
+                        else source_status)
             self.assertEqual(status_frames, create_ioniq6_blindspot_status(counter, expected))
             self.assertEqual(sources.status(t), source_status)
             for addr, payload, _ in status_frames:
@@ -182,3 +184,91 @@ class TestIoniq6BlindspotStatus(unittest.TestCase):
               _, skipped = controller.update(control.as_reader(), ci.CS, t + i * 10_000_000)
               self.assertFalse(any(addr in (0x1BA, 0x1E5) for addr, _, _ in skipped))
             ci.CS.out = out
+
+
+  def test_controller_requires_a_matching_queued_lane_change_for_escalation(self):
+    cp = long_params()
+    ci = CarInterface(cp)
+    controller = CarController(DBC[cp.carFingerprint], cp)
+    packer = CANPacker(DBC[cp.carFingerprint][Bus.pt])
+    control = structs.CarControl()
+    controller.ioniq6_bsm_counter = 250
+    for physical_left in (True, False):
+      for request in ('matching', 'none', 'opposite', 'hazards', 'matching', 'none'):
+        with self.subTest(left=physical_left, request=request):
+          t = 10_000_000_000 + controller.frame * 10_000_000
+          ci.update([(t, [packer.make_can_msg('BLINDSPOTS_FRONT_CORNER_2', 1,
+                                             {'SIDE_DETECT_STATE': 0x10 if physical_left else 0x08}),
+                          packer.make_can_msg('BLINKERS', 1, {})])])
+          ci.CS.out.vEgoRaw = 10.0
+          sources = Ioniq6BlindspotSources()
+          sources.observe(corner_source_ns=t, corner_state=0x10 if physical_left else 0x08,
+                          lamp_source_ns=t, left_lamp=physical_left, right_lamp=not physical_left)
+          ci.CS.ioniq6_bsm_sources = sources
+          control.leftBlinker = request == 'hazards' or request == ('matching' if physical_left else 'opposite')
+          control.rightBlinker = request == 'hazards' or request == ('opposite' if physical_left else 'matching')
+          counter = controller.ioniq6_bsm_counter
+          _, frames = controller.update(control.as_reader(), ci.CS, t)
+          actual = [(addr, payload, bus) for addr, payload, bus in frames if addr in (0x1BA, 0x1E5)]
+          source_status = sources.status(t)
+          assert source_status is not None
+          expected = source_status if request == 'matching' else BlindspotStatus(0, 0)
+          self.assertEqual(actual, create_ioniq6_blindspot_status(counter, expected), 'UNQUEUED_BLINDSPOT_WARNING')
+          self.assertEqual(sources.status(t), BlindspotStatus(2, 0) if physical_left else BlindspotStatus(0, 2))
+          for offset in range(1, 5):
+            _, skipped = controller.update(control.as_reader(), ci.CS, t + offset * 10_000_000)
+            self.assertFalse(any(addr in (0x1BA, 0x1E5) for addr, _, _ in skipped))
+
+  def test_actual_lane_change_request_completion_and_turn_with_held_stalk(self):
+    from openpilot.cereal import log
+    from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
+    from openpilot.starpilot.lateral.lane_change_preferences import LaneChangePolicy
+
+    for left in (True, False):
+      cp = long_params()
+      ci = CarInterface(cp)
+      controller = CarController(DBC[cp.carFingerprint], cp)
+      state = structs.CarState(vEgo=20.0, leftBlinker=left, rightBlinker=not left)
+      helper = DesireHelper(LaneChangePolicy(auto_lane_change=True))
+      control = structs.CarControl()
+
+      def check(expected):
+        t = 10_000_000_000 + controller.frame * 10_000_000
+        ci.CS.ioniq6_bsm_now_ns = t
+        ci.CS.out.vEgoRaw = 20.0
+        sources = Ioniq6BlindspotSources()
+        sources.observe(corner_source_ns=t, corner_state=0x10 if left else 0x08,
+                        lamp_source_ns=t, left_lamp=left, right_lamp=not left)
+        ci.CS.ioniq6_bsm_sources = sources
+        queued = helper.lane_change_state != log.LaneChangeState.off
+        control.leftBlinker = queued and helper.lane_change_direction == log.LaneChangeDirection.left
+        control.rightBlinker = queued and helper.lane_change_direction == log.LaneChangeDirection.right
+        counter = controller.ioniq6_bsm_counter
+        _, frames = controller.update(control.as_reader(), ci.CS, t)
+        self.assertEqual([frame for frame in frames if frame[0] in (0x1BA, 0x1E5)],
+                         create_ioniq6_blindspot_status(counter, expected))
+        for offset in range(1, 5):
+          controller.update(control.as_reader(), ci.CS, t + offset * 10_000_000)
+
+      # Missing automatic-lane evidence does not cancel a manual pending request.
+      helper.update(state, True, 1.0, auto_evidence=False, engaged=True)
+      helper.update(state, True, 1.0, auto_evidence=False, engaged=True)
+      self.assertEqual(helper.auto_status, 'laneUnavailable')
+      self.assertEqual(helper.lane_change_state, log.LaneChangeState.preLaneChange)
+      check(BlindspotStatus(2, 0) if left else BlindspotStatus(0, 2))
+      state.steeringPressed = True
+      state.steeringTorque = 1.0 if left else -1.0
+      helper.update(state, True, 1.0, engaged=True)
+      self.assertEqual(helper.lane_change_state, log.LaneChangeState.laneChangeStarting)
+      check(BlindspotStatus(2, 0) if left else BlindspotStatus(0, 2))
+      state.steeringPressed = False
+      for _ in range(12):
+        helper.update(state, True, 0.0, engaged=True)
+      self.assertEqual(helper.lane_change_state, log.LaneChangeState.off)
+      check(BlindspotStatus(0, 0))
+      helper.update(state, True, 0.0, engaged=True)
+      check(BlindspotStatus(0, 0))
+      helper = DesireHelper()
+      helper.update(state, True, 1.0, navigation_turn=True)
+      self.assertEqual(helper.lane_change_state, log.LaneChangeState.off)
+      check(BlindspotStatus(0, 0))

opendbc_repo/opendbc/safety/modes/hyundai_canfd.h

@@ -225,7 +225,7 @@ static bool hyundai_canfd_gv60_heartbeat_seen = false;
 static uint8_t hyundai_canfd_gv60_heartbeat_counter = 0U;
 static bool hyundai_canfd_ioniq6_heartbeat_seen = false;
 static uint8_t hyundai_canfd_ioniq6_heartbeat_counter = 0U;
-static bool hyundai_canfd_ioniq6_bsm_low_speed = false;
+static bool hyundai_canfd_ioniq6_bsm_wheel_valid = false;
 static bool hyundai_canfd_ioniq6_bsm_wheel_seen = false;
 static uint8_t hyundai_canfd_ioniq6_bsm_wheel_counter = 0U;
 static uint32_t hyundai_canfd_ioniq6_bsm_wheel_ts = 0U;
@@ -763,11 +763,10 @@ static void hyundai_canfd_rx_hook(const CANPacket_t *msg) {
     // average of all 4 wheel speeds. Conversion: raw * 0.03125 / 3.6 = m/s
     UPDATE_VEHICLE_SPEED((fr + rr + rl + fl) / 4.0 * 0.03125 * KPH_TO_MS);
     if (hyundai_canfd_ioniq6_long) {
-      // Mean wheel speed < 5 mph: raw sum < 2.2352 * 4 * 3.6 / 0.03125.
       // This hook runs only for valid required RX; TX also checks its freshness.
       const bool fresh_counter = !hyundai_canfd_ioniq6_bsm_wheel_seen ||
                                  (msg->data[2] == (uint8_t)(hyundai_canfd_ioniq6_bsm_wheel_counter + 1U));
-      hyundai_canfd_ioniq6_bsm_low_speed = fresh_counter && ((fr + rr + rl + fl) < 1030U);
+      hyundai_canfd_ioniq6_bsm_wheel_valid = fresh_counter;
       if (fresh_counter) {
         hyundai_canfd_ioniq6_bsm_wheel_ts = microsecond_timer_get();
       }
@@ -1037,7 +1036,7 @@ static bool hyundai_canfd_tx_hook_valid(const CANPacket_t *msg) {
     body[7] = 0x80U | (SAFETY_MAX(left, right) << 3U);
     body[16] = left | (right << 2U);
     bool physical_body = true;
-    bool neutral_body = hyundai_canfd_ioniq6_bsm_low_speed &&
+    bool neutral_body = hyundai_canfd_ioniq6_bsm_wheel_valid &&
                         (safety_get_ts_elapsed(now, hyundai_canfd_ioniq6_bsm_wheel_ts) <= 100000U);
     for (int i = 3; i < 24; i++) {
       physical_body &= msg->data[i] == body[i];
@@ -1314,7 +1313,7 @@ static void hyundai_canfd_reset_ioniq6_state(void) {
   hyundai_canfd_gv60_heartbeat_counter = 0U;
   hyundai_canfd_ioniq6_heartbeat_seen = false;
   hyundai_canfd_ioniq6_heartbeat_counter = 0U;
-  hyundai_canfd_ioniq6_bsm_low_speed = false;
+  hyundai_canfd_ioniq6_bsm_wheel_valid = false;
   hyundai_canfd_ioniq6_bsm_wheel_seen = false;
   hyundai_canfd_ioniq6_bsm_wheel_counter = 0U;
   hyundai_canfd_ioniq6_bsm_wheel_ts = 0U;

opendbc_repo/opendbc/safety/tests/test_hyundai_ioniq6_long.py

@@ -351,11 +351,11 @@ class TestHyundaiIoniq6Long(unittest.TestCase):
       ("WHL_SpdFLVal", "WHL_SpdFRVal", "WHL_SpdRLVal", "WHL_SpdRRVal"), raw_speeds, strict=True)}
     return packer.make_can_msg("WHEEL_SPEEDS", 1, {**values, "COUNTER": counter})
 
-  def test_bsm_neutral_only_below_physical_speed_boundary(self):
+  def test_bsm_neutral_advisory_requires_fresh_wheels_at_all_speeds(self):
     if self.release:
       self.skipTest("RELEASE denies the Ioniq 6 LONG profiles")
-    # 5 mph is between representable sums 1029 and 1030; test unequal wheels too.
-    samples = ((0, 0, 0, 0), (257, 257, 257, 258), (257, 257, 258, 258), (258, 258, 258, 258))
+    # Keep the old speed boundary and highway speeds in the advisory matrix.
+    samples = ((0, 0, 0, 0), (257, 257, 257, 258), (257, 257, 258, 258), (258, 258, 258, 258), (4000, 4000, 4000, 4000))
     for raw in (*RAW_LONG.values(), *RAW_AOL.values()):
       _, cp = params("lkas_alt" if raw & 0x80 else "lkas")
       packer = CANPacker(DBC[cp.carFingerprint][Bus.pt])
@@ -365,9 +365,8 @@ class TestHyundaiIoniq6Long(unittest.TestCase):
         with self.subTest(profile=hex(raw), speeds=speeds):
           self.assertTrue(self.safety.safety_rx_hook(self.packet(self.bsm_wheel_frame(packer, speeds, counter))))
           rear, front = create_ioniq6_blindspot_status(counter, BlindspotStatus(0, 0))
-          permitted = sum(speeds) < 1030
-          self.assertEqual(self.safety.safety_tx_hook(self.packet(rear)), permitted)
-          self.assertEqual(self.safety.safety_tx_hook(self.packet(front)), permitted)
+          self.assertTrue(self.safety.safety_tx_hook(self.packet(rear)))
+          self.assertTrue(self.safety.safety_tx_hook(self.packet(front)))
           # Original physical indications remain valid, independently of speed.
           for frame in create_ioniq6_blindspot_status(counter + 30, BlindspotStatus(2, 2)):
             self.assertTrue(self.safety.safety_tx_hook(self.packet(frame)))
@@ -429,10 +428,10 @@ class TestHyundaiIoniq6Long(unittest.TestCase):
         self.assertTrue(self.safety.safety_tx_hook(self.packet(rear)))
         self.safety.set_timer(1_200_002)
         self.assertFalse(self.safety.safety_tx_hook(self.packet(front)))
-        # A low-speed packet on the wrong route or with the wrong length cannot
-        # replace a valid above-threshold physical wheel observation.
+        # Wrong-route and short packets cannot refresh expired wheel evidence.
         other_sources(5, 1_210_000)
         self.assertTrue(self.safety.safety_rx_hook(self.packet(self.bsm_wheel_frame(packer, (300, 300, 300, 300), 5))))
+        other_sources(6, 1_310_001)
         low = self.bsm_wheel_frame(packer, (0, 0, 0, 0), 6)
         for invalid in ((low[0], low[1], 0), (low[0], low[1][:8], 1)):
           self.safety.safety_rx_hook(self.packet(invalid))
@@ -478,36 +477,38 @@ class TestHyundaiIoniq6Long(unittest.TestCase):
     for topology in ("lkas", "lkas_alt"):
       for aol in (False, True):
         for raw_speeds in ((0, 0, 0, 0), (257, 257, 257, 258), (257, 257, 258, 258), (300, 300, 300, 300)):
-          with self.subTest(topology=topology, aol=aol, speeds=raw_speeds):
-            _, cp = params(topology)
-            raw = (RAW_AOL if aol else RAW_LONG)[topology]
-            cp.safetyConfigs[-1].safetyParam = raw
-            ci = CarInterface(cp)
-            controller = CarController(DBC[cp.carFingerprint], cp)
-            packer = CANPacker(DBC[cp.carFingerprint][Bus.pt])
-            bus = CanBus(cp)
-            inputs = [packer.make_can_msg(name, bus.ECAN, values) for name, values in (
-              ("ACCELERATOR", {"GEAR": 5, "COUNTER": 1}), ("TCS", {"COUNTER": 1}),
-              ("WHEEL_SPEEDS", {"COUNTER": 1}), ("MDPS", {"COUNTER": 1}),
-              ("CRUISE_BUTTONS", {"COUNTER": 1}),
-              ("BLINDSPOTS_FRONT_CORNER_2", {"COUNTER": 1, "SIDE_DETECT_STATE": 0x18}),
-              ("BLINKERS", {"LEFT_LAMP": 1}),
-            )]
-            inputs = [frame for frame in inputs if frame[0] != 0xA0]
-            inputs.append(self.bsm_wheel_frame(packer, raw_speeds, 1))
-            inputs.append(packer.make_can_msg("CAM_0x362" if topology == "lkas_alt" else "CAM_0x2a4", bus.CAM, {}))
-            ci.update([(1_000_000_000, inputs)])
-            self.mode(raw)
-            for frame in inputs:
-              if frame[2] == bus.ECAN:
-                self.assertTrue(self.safety.safety_rx_hook(self.packet(frame)), hex(frame[0]))
-            control = structs.CarControl()
-            _, sent = controller.update(control.as_reader(), ci.CS, 1_000_000_000)
-            pair = [frame for frame in sent if frame[0] in (0x1BA, 0x1E5)]
-            expected = BlindspotStatus(0, 0) if sum(raw_speeds) < 1030 else BlindspotStatus(2, 1)
-            self.assertEqual(pair, create_ioniq6_blindspot_status(0, expected))
-            for frame in pair:
-              self.assertTrue(self.safety.safety_tx_hook(self.packet(frame)), (topology, aol, hex(frame[0])))
+          for queued in (False, True):
+            with self.subTest(topology=topology, aol=aol, speeds=raw_speeds, queued=queued):
+              _, cp = params(topology)
+              raw = (RAW_AOL if aol else RAW_LONG)[topology]
+              cp.safetyConfigs[-1].safetyParam = raw
+              ci = CarInterface(cp)
+              controller = CarController(DBC[cp.carFingerprint], cp)
+              packer = CANPacker(DBC[cp.carFingerprint][Bus.pt])
+              bus = CanBus(cp)
+              inputs = [packer.make_can_msg(name, bus.ECAN, values) for name, values in (
+                ("ACCELERATOR", {"GEAR": 5, "COUNTER": 1}), ("TCS", {"COUNTER": 1}),
+                ("WHEEL_SPEEDS", {"COUNTER": 1}), ("MDPS", {"COUNTER": 1}),
+                ("CRUISE_BUTTONS", {"COUNTER": 1}),
+                ("BLINDSPOTS_FRONT_CORNER_2", {"COUNTER": 1, "SIDE_DETECT_STATE": 0x18}),
+                ("BLINKERS", {"LEFT_LAMP": 1}),
+              )]
+              inputs = [frame for frame in inputs if frame[0] != 0xA0]
+              inputs.append(self.bsm_wheel_frame(packer, raw_speeds, 1))
+              inputs.append(packer.make_can_msg("CAM_0x362" if topology == "lkas_alt" else "CAM_0x2a4", bus.CAM, {}))
+              ci.update([(1_000_000_000, inputs)])
+              self.mode(raw)
+              for frame in inputs:
+                if frame[2] == bus.ECAN:
+                  self.assertTrue(self.safety.safety_rx_hook(self.packet(frame)), hex(frame[0]))
+              control = structs.CarControl()
+              control.leftBlinker = queued
+              _, sent = controller.update(control.as_reader(), ci.CS, 1_000_000_000)
+              pair = [frame for frame in sent if frame[0] in (0x1BA, 0x1E5)]
+              expected = BlindspotStatus(0, 0) if not queued or sum(raw_speeds) < 1030 else BlindspotStatus(2, 1)
+              self.assertEqual(pair, create_ioniq6_blindspot_status(0, expected))
+              for frame in pair:
+                self.assertTrue(self.safety.safety_tx_hook(self.packet(frame)), (topology, aol, hex(frame[0])))
 
   def test_exhaustive_angle_bit_namespace_and_release_denial(self):
     for low in range(0x8000):