Clean up canWrapper.cc

[garrettsummerfi3ld]

From upstream:

There are a lot of strange changes in this file, mostly made in commit b0ca096 that doesn't explain why they were made. When you are making big changes like that, please explain your reasoning in the commit message, and don't include changes that are unrelated to the purpose of that commit.
Looking at it more, I see that the strange changes are actually just you accidentally undoing all of the changes made to this file in 2024.