Gap Adjust Cruise: Remove unused variables (#264)

common/params.cc

@@ -247,8 +247,6 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"EnforceTorqueLateral", PERSISTENT},
     {"EnhancedScc", PERSISTENT},
     {"FleetManagerPin", PERSISTENT},
-    {"GapAdjustCruiseMax", PERSISTENT},
-    {"GapAdjustCruiseMin", PERSISTENT},
     {"GmapKey", PERSISTENT},
     {"GpxDeleteAfterUpload", PERSISTENT},
     {"GpxDeleteIfUploaded", PERSISTENT},

selfdrive/car/interfaces.py

@@ -108,8 +108,6 @@ class CarInterfaceBase(ABC):
     self.op_lookup = {"+": operator.add, "-": operator.sub}
     self.prev_gac_button = False
     self.gac_button_counter = 0
-    self.gac_min = -1
-    self.gac_max = -1
     self.reverse_dm_cam = self.param_s.get_bool("ReverseDmCam")
     self.mads_main_toggle = self.param_s.get_bool("MadsCruiseMain")
     self.lkas_toggle = self.param_s.get_bool("LkasToggle")
@@ -481,12 +479,6 @@ class CarInterfaceBase(ABC):
       CS.gac_tr = gac_default
       put_nonblocking("LongitudinalPersonality", self.get_sp_gac_mpc(3))
       return cs_out, CS
-    if self.gac_min != gac_min:
-      self.gac_min = gac_min
-      put_nonblocking("GapAdjustCruiseMin", str(self.gac_min))
-    if self.gac_max != gac_max:
-      self.gac_max = gac_max
-      put_nonblocking("GapAdjustCruiseMax", str(self.gac_max))
     if gac_button:
       self.gac_button_counter += 1
     elif self.prev_gac_button and not gac_button and self.gac_button_counter < 50:

selfdrive/car/toyota/interface.py

@@ -15,7 +15,8 @@ SteerControlType = car.CarParams.SteerControlType
 GearShifter = car.CarState.GearShifter
 
 GAC_DICT = {3: 1, 2: 2, 1: 3}
-
+GAC_MIN = 1
+GAC_MAX = 3
 
 class CarInterface(CarInterfaceBase):
   @staticmethod
@@ -317,19 +318,13 @@ class CarInterface(CarInterfaceBase):
         cluster_gap_display = 3
         put_nonblocking("LongitudinalPersonality", self.get_sp_gac_mpc(3))
       else:
-        if self.gac_min != 1:
-          self.gac_min = 1
-          put_nonblocking("GapAdjustCruiseMin", str(self.gac_min))
-        if self.gac_max != 3:
-          self.gac_max = 3
-          put_nonblocking("GapAdjustCruiseMax", str(self.gac_max))
         gap_dist_button = bool(self.CS.gap_dist_button)
         if gap_dist_button:
           self.gac_button_counter += 1
         elif self.prev_gac_button and not gap_dist_button and self.gac_button_counter < 50:
           self.gac_button_counter = 0
-          follow_distance_converted = self.get_sp_gac_state(self.CS.follow_distance, self.gac_min, self.gac_max, "+")
-          gac_tr = self.get_sp_distance(follow_distance_converted, self.gac_max, gac_dict=GAC_DICT)
+          follow_distance_converted = self.get_sp_gac_state(self.CS.follow_distance, GAC_MIN, GAC_MAX, "+")
+          gac_tr = self.get_sp_distance(follow_distance_converted, GAC_MAX, gac_dict=GAC_DICT)
           if gac_tr != self.CS.gac_tr:
             put_nonblocking("LongitudinalPersonality", self.get_sp_gac_mpc(gac_tr))
             self.CS.gac_tr = gac_tr
@@ -337,7 +332,7 @@ class CarInterface(CarInterfaceBase):
           self.gac_button_counter = 0
         self.prev_gac_button = gap_dist_button
         cluster_gap_display = self.CS.gac_tr
-      gap_distance = self.get_sp_distance(cluster_gap_display, self.gac_max, gac_dict=GAC_DICT)
+      gap_distance = self.get_sp_distance(cluster_gap_display, GAC_MAX, gac_dict=GAC_DICT)
       if self.CS.gac_send_counter < 10 and gap_distance != self.CS.follow_distance:
         self.CS.gac_send_counter += 1
         self.CS.gac_send = 1

selfdrive/manager/manager.py

@@ -73,8 +73,6 @@ def manager_init() -> None:
     ("DynamicLaneProfileToggle", "0"),
     ("EnableMads", "1"),
     ("EnhancedScc", "0"),
-    ("GapAdjustCruiseMax", "0"),
-    ("GapAdjustCruiseMin", "0"),
     ("GpxDeleteAfterUpload", "1"),
     ("GpxDeleteIfUploaded", "1"),
     ("HandsOnWheelMonitoring", "0"),

selfdrive/ui/ui.cc

@@ -246,8 +246,6 @@ void ui_update_params(UIState *s) {
   s->scene.hide_vego_ui = params.getBool("HideVEgoUi");
   s->scene.true_vego_ui = params.getBool("TrueVEgoUi");
   s->scene.chevron_data = std::atoi(params.get("ChevronInfo").c_str());
-  s->scene.gac_min = std::atoi(params.get("GapAdjustCruiseMin").c_str());
-  s->scene.gac_max = std::atoi(params.get("GapAdjustCruiseMax").c_str());
   s->scene.dev_ui_enabled = params.getBool("DevUI");
   s->scene.dev_ui_info = std::atoi(params.get("DevUIInfo").c_str());
   s->scene.button_auto_hide = params.getBool("ButtonAutoHide");

selfdrive/ui/ui.h

@@ -197,7 +197,7 @@ typedef struct UIScene {
   int chevron_data;
 
   bool gac;
-  int longitudinal_personality, gac_min, gac_max;
+  int longitudinal_personality;
 
   bool map_visible;
   bool dev_ui_enabled;