        self.park_brake = 0  # TODO
        self.main_on = cp.vl["SCM_BUTTONS"]['MAIN_ON']
  
      can_gear_shifter = int(cp.vl["GEARBOX"]['GEAR_SHIFTER'])
      self.gear_shifter = parse_gear_shifter(can_gear_shifter, self.shifter_values)
  
      self.pedal_gas = cp.vl["POWERTRAIN_DATA"]['PEDAL_GAS']
      # crv doesn't include cruise control
      if self.CP.carFingerprint in (CAR.CRV, CAR.ODYSSEY, CAR.ACURA_RDX, CAR.RIDGELINE, CAR.PILOT_2019, CAR.ODYSSEY_CHN):
        self.car_gas = self.pedal_gas
 
</s> remove     self.gear_shifter = parse_gear_shifter(can_gear, self.shifter_values)
 </s> add     self.gear_shifter = parse_gear_shifter(self.shifter_values.get(can_gear, None)) </s> remove     ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, ECU.CAM) or has_relay
 </s> add     ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.fwdCamera) or has_relay </s> remove       ret.enableCamera = is_ecu_disconnected(fingerprint[rdr_bus], FINGERPRINTS, ECU_FINGERPRINT, candidate, ECU.CAM) or has_relay
 </s> add       ret.enableCamera = is_ecu_disconnected(fingerprint[rdr_bus], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.fwdCamera) or has_relay </s> remove     ret.enableDsu = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, ECU.DSU) and candidate not in TSS2_CAR
    ret.enableApgs = False  # is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, ECU.APGS)
 </s> add     ret.enableDsu = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.dsu) and candidate not in TSS2_CAR
    ret.enableApgs = False  # is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.apgs) </s> remove class ECU:
  CAM = 0

 </s> add 
    self.gear_shifter = parse_gear_shifter(self.shifter_values.get(can_gear_shifter, None))
        self.park_brake = 0  # TODO
        self.main_on = cp.vl["SCM_BUTTONS"]['MAIN_ON']
  
      can_gear_shifter = int(cp.vl["GEARBOX"]['GEAR_SHIFTER'])
    self.gear_shifter = parse_gear_shifter(self.shifter_values.get(can_gear_shifter, None))
  
      self.pedal_gas = cp.vl["POWERTRAIN_DATA"]['PEDAL_GAS']
      # crv doesn't include cruise control
      if self.CP.carFingerprint in (CAR.CRV, CAR.ODYSSEY, CAR.ACURA_RDX, CAR.RIDGELINE, CAR.PILOT_2019, CAR.ODYSSEY_CHN):
        self.car_gas = self.pedal_gas
keep keep keep keep replace keep keep keep keep keep
 Clean up ECU redundancy in selfdrive/car/* (#963)

* clean up ecu redundancy in selfdrive/car

* clean up gear parsing 
selfdrive/car/honda/carstate.py