test out bsm

selfdrive/controls/controlsd.py

@@ -303,6 +303,11 @@ class Controls:
     elif self.sm['lateralPlan'].laneChangeState in (LaneChangeState.laneChangeStarting,
                                                     LaneChangeState.laneChangeFinishing):
       self.events.add(EventName.laneChange)
+    else:
+      if CS.leftBlindspot:
+        self.events.add(EventName.joystickDebug)
+      if CS.rightBlindspot:
+        self.events.add(EventName.controlsInitializing)
 
     for i, pandaState in enumerate(self.sm['pandaStates']):
       # All pandas must match the list of safetyConfigs, and if outside this list, must be silent or noOutput

selfdrive/controls/lib/events.py

@@ -341,12 +341,12 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
   # ********** events only containing alerts displayed in all states **********
 
   EventName.joystickDebug: {
-    ET.WARNING: joystick_alert,
+    # ET.WARNING: joystick_alert,
-    ET.PERMANENT: NormalPermanentAlert("Joystick Mode"),
+    ET.PERMANENT: NormalPermanentAlert("Car Detected in Left Blindspot"),
   },
 
   EventName.controlsInitializing: {
-    ET.NO_ENTRY: NoEntryAlert("System Initializing"),
+    ET.PERMANENT: NoEntryAlert("Car Detected in Right Blindspot"),
   },
 
   EventName.startup: {