From ac8511b211b3115633b00efe06beb160d6a4cf2d Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Mon, 8 Jun 2026 20:10:33 -0500
Subject: [PATCH] bsm

---
 selfdrive/selfdrived/selfdrived.py               | 12 +++++++++---
 .../selfdrived/tests/test_blindspot_alerts.py    | 16 +++++++++++++---
 2 files changed, 22 insertions(+), 6 deletions(-)

diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index 0d1da39df..f9799d336 100644
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -57,15 +57,21 @@ def should_loud_blindspot_alert_without_lateral(CS, sm, starpilot_toggles) -> bo
           getattr(starpilot_toggles, "loud_blindspot_alert_when_disengaged", False)):
     return False
 
-  if sm['modelV2'].meta.laneChangeState == LaneChangeState.preLaneChange:
-    return False
-
   left_signal_blocked = bool(CS.leftBlinker and CS.leftBlindspot)
   right_signal_blocked = bool(CS.rightBlinker and CS.rightBlindspot)
   one_blinker = bool(CS.leftBlinker) != bool(CS.rightBlinker)
   if not (one_blinker and (left_signal_blocked or right_signal_blocked)):
     return False
 
+  if sm['modelV2'].meta.laneChangeState == LaneChangeState.preLaneChange:
+    direction = sm['modelV2'].meta.laneChangeDirection
+    normal_lane_change_alert = (
+      (left_signal_blocked and direction == LaneChangeDirection.left) or
+      (right_signal_blocked and direction == LaneChangeDirection.right)
+    )
+    if normal_lane_change_alert:
+      return False
+
   return (
     not sm['carControl'].latActive or
     not sm['starpilotPlan'].lateralCheck or
diff --git a/selfdrive/selfdrived/tests/test_blindspot_alerts.py b/selfdrive/selfdrived/tests/test_blindspot_alerts.py
index c9456754e..e2876fcde 100644
--- a/selfdrive/selfdrived/tests/test_blindspot_alerts.py
+++ b/selfdrive/selfdrived/tests/test_blindspot_alerts.py
@@ -5,6 +5,7 @@ from openpilot.selfdrive.selfdrived.selfdrived import should_loud_blindspot_aler
 
 
 LaneChangeState = log.LaneChangeState
+LaneChangeDirection = log.LaneChangeDirection
 
 
 def _car_state(left_blinker=False, right_blinker=False, left_blindspot=False, right_blindspot=False):
@@ -16,9 +17,10 @@ def _car_state(left_blinker=False, right_blinker=False, left_blindspot=False, ri
   )
 
 
-def _sm(lane_change_state=LaneChangeState.off, lat_active=False, lateral_check=False, pause_lateral=False):
+def _sm(lane_change_state=LaneChangeState.off, lane_change_direction=LaneChangeDirection.none,
+        lat_active=False, lateral_check=False, pause_lateral=False):
   return {
-    "modelV2": SimpleNamespace(meta=SimpleNamespace(laneChangeState=lane_change_state)),
+    "modelV2": SimpleNamespace(meta=SimpleNamespace(laneChangeState=lane_change_state, laneChangeDirection=lane_change_direction)),
     "carControl": SimpleNamespace(latActive=lat_active),
     "starpilotPlan": SimpleNamespace(lateralCheck=lateral_check),
     "starpilotCarState": SimpleNamespace(pauseLateral=pause_lateral),
@@ -55,4 +57,12 @@ def test_loud_blindspot_alert_without_lateral_requires_matching_side_and_toggle(
 def test_loud_blindspot_alert_without_lateral_skips_normal_lane_change_alert_path():
   CS = _car_state(left_blinker=True, left_blindspot=True)
 
-  assert not should_loud_blindspot_alert_without_lateral(CS, _sm(lane_change_state=LaneChangeState.preLaneChange), _toggles())
+  assert not should_loud_blindspot_alert_without_lateral(CS, _sm(lane_change_state=LaneChangeState.preLaneChange,
+                                                                 lane_change_direction=LaneChangeDirection.left), _toggles())
+
+
+def test_loud_blindspot_alert_without_lateral_handles_paused_pre_lane_change_without_direction():
+  CS = _car_state(left_blinker=True, left_blindspot=True)
+  sm = _sm(lane_change_state=LaneChangeState.preLaneChange, lat_active=True, lateral_check=True, pause_lateral=True)
+
+  assert should_loud_blindspot_alert_without_lateral(CS, sm, _toggles())