one function

selfdrive/controls/lib/desire_helper.py

@@ -40,6 +40,10 @@ class DesireHelper:
     self.prev_one_blinker = False
     self.desire = log.Desire.none
 
+  @staticmethod
+  def set_lane_change_direction(CS):
+    return LaneChangeDirection.left if CS.leftBlinker else LaneChangeDirection.right
+
   def update(self, carstate, lateral_active, lane_change_prob):
     v_ego = carstate.vEgo
     one_blinker = carstate.leftBlinker != carstate.rightBlinker
@@ -53,15 +57,13 @@ class DesireHelper:
       if self.lane_change_state == LaneChangeState.off and one_blinker and not self.prev_one_blinker and not below_lane_change_speed:
         self.lane_change_state = LaneChangeState.preLaneChange
         self.lane_change_ll_prob = 1.0
-        # Initialize lane change direction
-        self.lane_change_direction = LaneChangeDirection.left if \
-          carstate.leftBlinker else LaneChangeDirection.right
+        # Initialize lane change direction to prevent UI alert flicker
+        self.lane_change_direction = self.set_lane_change_direction(carstate)
 
       # LaneChangeState.preLaneChange
       elif self.lane_change_state == LaneChangeState.preLaneChange:
         # Set lane change direction
-        self.lane_change_direction = LaneChangeDirection.left if \
-          carstate.leftBlinker else LaneChangeDirection.right
+        self.lane_change_direction = self.set_lane_change_direction(carstate)
 
         torque_applied = carstate.steeringPressed and \
                          ((carstate.steeringTorque > 0 and self.lane_change_direction == LaneChangeDirection.left) or