Loud blindspot alert

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

selfdrive/controls/controlsd.py

@@ -412,7 +412,10 @@ 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)
@@ -1059,6 +1062,7 @@ 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

@@ -1003,6 +1003,14 @@ EVENTS: Dict[int, Dict[str, Union[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",