Loud blindspot alert

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

cereal/car.capnp

@@ -121,6 +121,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     frogSteerSaturated @122;
     greenLight @123;
     holidayActive @124;
+    laneChangeBlockedLoud @125;
     leadDeparting @126;
 
     radarCanErrorDEPRECATED @15;

common/params.cc

@@ -285,6 +285,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"LockDoors", PERSISTENT},
     {"LongitudinalTune", PERSISTENT},
     {"LongPitch", PERSISTENT},
+    {"LoudBlindspotAlert", PERSISTENT},
     {"ManualUpdateInitiated", CLEAR_ON_MANAGER_START},
     {"ModelUI", PERSISTENT},
     {"MuteOverheated", PERSISTENT},

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",

selfdrive/frogpilot/ui/visual_settings.cc

@@ -23,6 +23,7 @@ FrogPilotVisualsPanel::FrogPilotVisualsPanel(SettingsWindow *parent) : FrogPilot
     {"CustomAlerts", "Custom Alerts", "Enable custom alerts for various logic or situational changes.", "../frogpilot/assets/toggle_icons/icon_green_light.png"},
     {"GreenLightAlert", "Green Light Alert", "Get an alert when a traffic light changes from red to green.", ""},
     {"LeadDepartingAlert", "Lead Departing Alert", "Get an alert when your lead vehicle starts departing when you're at a standstill.", ""},
+    {"LoudBlindspotAlert", "Loud Blindspot Alert", "Enable a louder alert for when a vehicle is detected in your blindspot when attempting to change lanes.", ""},
 
     {"CustomUI", "Custom Onroad UI", "Customize the Onroad UI with some additional visual functions.", "../assets/offroad/icon_road.png"},
     {"AccelerationPath", "Acceleration Path", "Visualize the car's intended acceleration or deceleration with a color-coded path.", ""},

selfdrive/frogpilot/ui/visual_settings.h

@@ -29,7 +29,7 @@ private:
   void updateToggles();
 
   std::set<QString> alertVolumeControlKeys = {"EngageVolume", "DisengageVolume", "RefuseVolume", "PromptVolume", "PromptDistractedVolume", "WarningSoftVolume", "WarningImmediateVolume"};
-  std::set<QString> customAlertsKeys = {"GreenLightAlert", "LeadDepartingAlert"};
+  std::set<QString> customAlertsKeys = {"GreenLightAlert", "LeadDepartingAlert", "LoudBlindspotAlert"};
   std::set<QString> customOnroadUIKeys = {"AccelerationPath", "AdjacentPath", "BlindSpotPath", "FPSCounter", "LeadInfo"};
   std::set<QString> customThemeKeys = {"HolidayThemes", "CustomColors", "CustomIcons", "CustomSignals", "CustomSounds"};
   std::set<QString> modelUIKeys = {"DynamicPathWidth", "LaneLinesWidth", "PathEdgeWidth", "PathWidth", "RoadEdgesWidth", "UnlimitedLength"};