Loud "Car Detected in Blindspot" Alert

selfdrive/selfdrived/events.py

@@ -1114,6 +1114,14 @@ FROGPILOT_EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
     ET.PERMANENT: holiday_alert,
   },
 
+  FrogPilotEventName.laneChangeBlockedLoud: {
+    ET.WARNING: Alert(
+      "Car Detected in Blindspot",
+      "",
+      AlertStatus.userPrompt, AlertSize.small,
+      Priority.LOW, VisualAlert.none, AudibleAlert.warningSoft, .1),
+  },
+
   FrogPilotEventName.leadDeparting: {
     ET.PERMANENT: Alert(
       "Lead Departed",

selfdrive/selfdrived/selfdrived.py

@@ -288,7 +288,10 @@ class SelfdriveD:
       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.frogpilot_events.add(FrogPilotEventName.laneChangeBlockedLoud)
+        else:
+          self.events.add(EventName.laneChangeBlocked)
       else:
         if direction == LaneChangeDirection.left:
           self.events.add(EventName.preLaneChangeLeft)