Visuals - Custom Alerts - Loud Blindspot Alert

Enable a louder alert for when a vehicle is detected in the blindspot when attempting to change lanes.

selfdrive/controls/controlsd.py

@@ -297,7 +297,10 @@ class Controls:
       direction = self.sm['modelV2'].meta.laneChangeDirection
       if (CS.leftBlindspot and direction == LaneChangeDirection.left) or \
          (CS.rightBlindspot and direction == LaneChangeDirection.right):
-        self.events.add(EventName.laneChangeBlocked)
+        if self.frogpilot_toggles.loud_blindspot_alert:
+          self.events.add(EventName.laneChangeBlockedLoud)
+        else:
+          self.events.add(EventName.laneChangeBlocked)
       else:
         if direction == LaneChangeDirection.left:
           if self.sm['frogpilotPlan'].laneWidthLeft >= self.frogpilot_toggles.lane_detection_width:

selfdrive/controls/lib/events.py

@@ -1002,6 +1002,14 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
       Priority.MID, VisualAlert.none, AudibleAlert.prompt, 3.),
   },
 
+  EventName.laneChangeBlockedLoud: {
+    ET.WARNING: Alert(
+      "Car detected in blindspot",
+      "",
+      AlertStatus.userPrompt, AlertSize.small,
+      Priority.LOW, VisualAlert.none, AudibleAlert.warningSoft, .1),
+  },
+
   EventName.leadDeparting: {
     ET.PERMANENT: Alert(
       "Lead departed",