Subaru cleanup (#1809)

old-commit-hash: 30d6d77e26

selfdrive/car/subaru/carcontroller.py

@@ -24,8 +24,6 @@ class CarController():
     self.es_lkas_cnt = -1
     self.steer_rate_limited = False
 
-    # Setup detection helper. Routes commands to
-    # an appropriate CAN bus number.
     self.params = CarControllerParams()
     self.packer = CANPacker(DBC[CP.carFingerprint]['pt'])
 
@@ -50,9 +48,7 @@ class CarController():
       apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, P)
       self.steer_rate_limited = new_steer != apply_steer
 
-      lkas_enabled = enabled
-
-      if not lkas_enabled:
+      if not enabled:
         apply_steer = 0
 
       can_sends.append(subarucan.create_steering_control(self.packer, apply_steer, frame, P.STEER_STEP))

selfdrive/car/subaru/carstate.py

@@ -57,9 +57,9 @@ class CarState(CarStateBase):
 
     ret.seatbeltUnlatched = cp.vl["Dashlights"]['SEATBELT_FL'] == 1
     ret.doorOpen = any([cp.vl["BodyInfo"]['DOOR_OPEN_RR'],
-      cp.vl["BodyInfo"]['DOOR_OPEN_RL'],
-      cp.vl["BodyInfo"]['DOOR_OPEN_FR'],
-      cp.vl["BodyInfo"]['DOOR_OPEN_FL']])
+                        cp.vl["BodyInfo"]['DOOR_OPEN_RL'],
+                        cp.vl["BodyInfo"]['DOOR_OPEN_FR'],
+                        cp.vl["BodyInfo"]['DOOR_OPEN_FL']])
 
     self.es_distance_msg = copy.copy(cp_cam.vl["ES_Distance"])
     self.es_lkas_msg = copy.copy(cp_cam.vl["ES_LKAS_State"])
@@ -137,7 +137,6 @@ class CarState(CarStateBase):
       ("Traffic_light_Ahead", "ES_LKAS_State", 0),
       ("Right_Depart", "ES_LKAS_State", 0),
       ("Signal5", "ES_LKAS_State", 0),
-
     ]
 
     checks = [

selfdrive/car/subaru/interface.py

@@ -78,11 +78,6 @@ class CarInterface(CarInterfaceBase):
     ret.canValid = self.cp.can_valid and self.cp_cam.can_valid
     ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False
 
-    buttonEvents = []
-    be = car.CarState.ButtonEvent.new_message()
-    be.type = car.CarState.ButtonEvent.Type.accelCruise
-    buttonEvents.append(be)
-
     ret.events = self.create_common_events(ret).to_msg()
 
     self.CS.out = ret.as_reader()