Drop unused variables, cleanup handsoff tracking

Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com>

selfdrive/car/mazda/carcontroller.py

@@ -5,7 +5,6 @@ from selfdrive.car import apply_std_steer_torque_limits
 
 class CarController():
   def __init__(self, dbc_name, CP, VM):
-    self.steer_idx = 0
     self.apply_steer_last = 0
     self.packer = CANPacker(dbc_name)
     self.steer_rate_limited = False

selfdrive/car/mazda/carstate.py

@@ -6,17 +6,10 @@ from selfdrive.car.mazda.values import DBC, LKAS_LIMITS, CAR
 
 GearShifter = car.CarState.GearShifter
 
-class STEER_LKAS():
-  def __init__(self):
-    self.block = 1
-    self.track = 1
-    self.handsoff = 0
-
 class CarState(CarStateBase):
   def __init__(self, CP):
     super().__init__(CP)
 
-    self.steer_lkas = STEER_LKAS()
     self.cruise_speed = 0
     self.acc_active_last = False
     self.speed_kph = 0
@@ -58,7 +51,7 @@ class CarState(CarStateBase):
     ret.steeringTorque = cp.vl["STEER_TORQUE"]['STEER_TORQUE_SENSOR']
     ret.steeringPressed = abs(ret.steeringTorque) > LKAS_LIMITS.STEER_THRESHOLD
 
-    self.steer_torque_motor = cp.vl["STEER_TORQUE"]['STEER_TORQUE_MOTOR']
+    ret.steeringTorqueEps = cp.vl["STEER_TORQUE"]['STEER_TORQUE_MOTOR']
     self.angle_steers_rate = cp.vl["STEER_RATE"]['STEER_ANGLE_RATE']
 
     ret.brakePressed = cp.vl["PEDALS"]['BRAKE_ON'] == 1
@@ -73,11 +66,10 @@ class CarState(CarStateBase):
     ret.gasPressed = ret.gas > 1e-3
 
     # No steer if block signal is on
-    self.steer_lkas.block = cp.vl["STEER_RATE"]['LKAS_BLOCK']
-    # track driver torque, on if torque is not detected
-    self.steer_lkas.track = cp.vl["STEER_RATE"]['LKAS_TRACK_STATE']
+    block = cp.vl["STEER_RATE"]['LKAS_BLOCK'] == 1
+
     # On if no driver torque the last 5 seconds
-    self.steer_lkas.handsoff = cp.vl["STEER_RATE"]['HANDS_OFF_5_SECONDS']
+    handsoff = cp.vl["STEER_RATE"]['HANDS_OFF_5_SECONDS'] == 1
 
     # LKAS is enabled at 50kph going up and disabled at 45kph going down
     if self.speed_kph > LKAS_LIMITS.ENABLE_SPEED and self.low_speed_lockout:
@@ -85,7 +77,7 @@ class CarState(CarStateBase):
     elif self.speed_kph < LKAS_LIMITS.DISABLE_SPEED and not self.low_speed_lockout:
       self.low_speed_lockout = True
 
-    if (self.low_speed_lockout or self.steer_lkas.block) and self.speed_kph < LKAS_LIMITS.DISABLE_SPEED:
+    if (self.low_speed_lockout or block) and self.speed_kph < LKAS_LIMITS.DISABLE_SPEED:
         if not self.lkas_speed_lock:
           self.lkas_speed_lock = True
     elif self.lkas_speed_lock:
@@ -114,14 +106,12 @@ class CarState(CarStateBase):
 
     if ret.cruiseState.enabled:
       ret.cruiseState.speed = self.cruise_speed
-      if self.lkas_speed_lock:
+      if self.lkas_speed_lock or handsoff:
         ret.steerWarning = True
-    else:
+     else:
       ret.cruiseState.speed = 0
 
 
-    self.brake_error = False
-
     self.low_speed_lockout_last = self.low_speed_lockout
 
     self.cam_lkas = cp_cam.vl["CAM_LKAS"]

selfdrive/car/mazda/interface.py

@@ -7,19 +7,9 @@ from selfdrive.car.mazda.carstate import CarState
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, is_ecu_disconnected
 from selfdrive.car.interfaces import CarInterfaceBase
 
-class CanBus():
-  def __init__(self):
-    self.powertrain = 0
-    self.obstacle = 1
-    self.cam = 2
-
 ButtonType = car.CarState.ButtonEvent.Type
 
 class CarInterface(CarInterfaceBase):
-  def __init__(self, CP, CarController, CarState):
-    super().__init__(CP, CarController, CarState)
-
-    self.low_speed_alert = False
 
   @staticmethod
   def compute_gb(accel, speed):
@@ -82,11 +72,6 @@ class CarInterface(CarInterfaceBase):
     # TODO: button presses
     ret.buttonEvents = []
 
-    if ret.cruiseState.enabled and self.CS.lkas_speed_lock:
-      self.low_speed_alert = True
-    else:
-      self.low_speed_alert = False
-
     # events
     events = self.create_common_events(ret)
 
@@ -95,9 +80,6 @@ class CarInterface(CarInterfaceBase):
       if ret.cruiseState.enabled:
         ret.cruiseState.enabled = False
 
-    if self.CS.steer_lkas.handsoff:
-      events.append(create_event('steerTempUnavailable', [ET.NO_ENTRY, ET.WARNING]))
-
     ret.events = events
 
     self.CS.out = ret.as_reader()