Clean up mayAssociateWithoutPrompt()

Add a comment explaning how whitelisting works.
Add variables more accurate and descriptive names.
Clean up logging.

Bug: 221383206
Test: atest CtsCompanionDeviceManagerCoreTestCases
Change-Id: Ifa08a7409e05a9d0284b7e4cf11e462981bd4483
1 file changed