diff --git a/selfdrive/selfdrived/events.py b/selfdrive/selfdrived/events.py index 0d806649..91ef3952 100644 --- a/selfdrive/selfdrived/events.py +++ b/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", diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py index f9619043..a98c4fb3 100644 --- a/selfdrive/selfdrived/selfdrived.py +++ b/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)