Nudgeless lane change

Added toggles for nudgeless lane changes, lane detection, and one lane change per signal activation with a lane change delay factor.

selfdrive/controls/lib/events.py

@@ -376,6 +376,15 @@ def holiday_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster,
     AlertStatus.normal, AlertSize.small,
     Priority.LOWEST, VisualAlert.none, AudibleAlert.none, 5.)
 
+def no_lane_available_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
+  lane_width = sm['frogpilotPlan'].laneWidthLeft if CS.leftBlinker else sm['frogpilotPlan'].laneWidthRight
+  lane_width_msg = f"{lane_width:.1f} meters" if metric else f"{lane_width * CV.METER_TO_FOOT:.1f} feet"
+  return Alert(
+    "No lane available",
+    f"Detected lane width is only {lane_width_msg}",
+    AlertStatus.normal, AlertSize.mid,
+    Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2)
+
 EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
   # ********** events with no alerts **********
 
@@ -1036,6 +1045,10 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
       Priority.MID, VisualAlert.none, AudibleAlert.prompt, 3.),
   },
 
+  EventName.noLaneAvailable : {
+    ET.PERMANENT: no_lane_available_alert,
+  },
+
   EventName.torqueNNLoad: {
     ET.PERMANENT: torque_nn_load_alert,
   },