Louder blindspot alert

Added toggle to enable a louder alert when a vehicle is detected in your blindspot when changing lanes.

cereal/car.capnp

@@ -122,6 +122,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     goatSteerSaturated @125;
     greenLight @126;
     holidayActive @127;
+    laneChangeBlockedLoud @128;
     leadDeparting @129;
 
     radarCanErrorDEPRECATED @15;

common/params.cc

@@ -297,6 +297,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"LockDoors", PERSISTENT},
     {"LongitudinalTune", PERSISTENT},
     {"LongPitch", PERSISTENT},
+    {"LoudBlindspotAlert", PERSISTENT},
     {"LowVoltageShutdown", PERSISTENT},
     {"ManualUpdateInitiated", PERSISTENT},
     {"ModelUI", PERSISTENT},

selfdrive/controls/controlsd.py

@@ -292,7 +292,10 @@ 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.loud_blindspot_alert:
+          self.events.add(EventName.laneChangeBlockedLoud)
+        else:
+          self.events.add(EventName.laneChangeBlocked)
       else:
         if direction == LaneChangeDirection.left:
           self.events.add(EventName.preLaneChangeLeft)
@@ -967,6 +970,7 @@ class Controls:
     custom_alerts = self.params.get_bool("CustomAlerts")
     self.green_light_alert = custom_alerts and self.params.get_bool("GreenLightAlert")
     self.lead_departing_alert = custom_alerts and self.params.get_bool("LeadDepartingAlert")
+    self.loud_blindspot_alert = custom_alerts and self.params.get_bool("LoudBlindspotAlert")
 
     custom_theme = self.params.get_bool("CustomTheme")
     custom_sounds = self.params.get_int("CustomSounds") if custom_theme else 0

selfdrive/controls/lib/events.py

@@ -1011,6 +1011,14 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
     ET.PERMANENT: holiday_alert,
   },
 
+  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",

selfdrive/frogpilot/ui/qt/offroad/visual_settings.cc

@@ -17,6 +17,7 @@ FrogPilotVisualsPanel::FrogPilotVisualsPanel(SettingsWindow *parent) : FrogPilot
     {"CustomAlerts", tr("Custom Alerts"), tr("Enable custom alerts for openpilot events."), "../frogpilot/assets/toggle_icons/icon_green_light.png"},
     {"GreenLightAlert", tr("Green Light Alert"), tr("Get an alert when a traffic light changes from red to green."), ""},
     {"LeadDepartingAlert", tr("Lead Departing Alert"), tr("Get an alert when the lead vehicle starts departing when at a standstill."), ""},
+    {"LoudBlindspotAlert", tr("Loud Blindspot Alert"), tr("Enable a louder alert for when a vehicle is detected in the blindspot when attempting to change lanes."), ""},
 
     {"CustomUI", tr("Custom Onroad UI"), tr("Customize the Onroad UI."), "../assets/offroad/icon_road.png"},
     {"DeveloperUI", tr("Developer UI"), tr("Get various detailed information of what openpilot is doing behind the scenes."), ""},
@@ -73,6 +74,10 @@ FrogPilotVisualsPanel::FrogPilotVisualsPanel(SettingsWindow *parent) : FrogPilot
         for (auto &[key, toggle] : toggles) {
           std::set<QString> modifiedCustomAlertsKeys = customAlertsKeys;
 
+          if (!hasBSM) {
+            modifiedCustomAlertsKeys.erase("LoudBlindspotAlert");
+          }
+
           toggle->setVisible(modifiedCustomAlertsKeys.find(key.c_str()) != modifiedCustomAlertsKeys.end());
         }
       });

selfdrive/frogpilot/ui/qt/offroad/visual_settings.h

@@ -24,7 +24,7 @@ private:
   void updateToggles();
 
   std::set<QString> alertVolumeControlKeys = {"DisengageVolume", "EngageVolume", "PromptDistractedVolume", "PromptVolume", "RefuseVolume", "WarningImmediateVolume", "WarningSoftVolume"};
-  std::set<QString> customAlertsKeys = {"GreenLightAlert", "LeadDepartingAlert"};
+  std::set<QString> customAlertsKeys = {"GreenLightAlert", "LeadDepartingAlert", "LoudBlindspotAlert"};
   std::set<QString> customOnroadUIKeys = {"CustomPaths", "DeveloperUI", "FPSCounter", "LeadInfo"};
   std::set<QString> customThemeKeys = {"CustomColors", "CustomIcons", "CustomSignals", "CustomSounds", "HolidayThemes"};
   std::set<QString> modelUIKeys = {"DynamicPathWidth", "HideLeadMarker", "LaneLinesWidth", "PathEdgeWidth", "PathWidth", "RoadEdgesWidth", "UnlimitedLength"};