Use self.MAX_STEER

commaai · May 24, 2021 · a09b0e4 · a09b0e4
1 parent 32957a6
commit a09b0e4
Showing 1 changed file with 11 additions and 11 deletions.
diff --git a/tests/safety/test_subaru.py b/tests/safety/test_subaru.py
@@ -83,7 +83,7 @@ def test_steer_safety_check(self):
       for t in range(-3000, 3000):
         self.safety.set_controls_allowed(enabled)
         self._set_prev_torque(t)
-        block = abs(t) > MAX_STEER or (not enabled and abs(t) > 0)
+        block = abs(t) > self.MAX_STEER or (not enabled and abs(t) > 0)
         self.assertEqual(not block, self._tx(self._torque_msg(t)))
 
   def test_non_realtime_limit_up(self):
@@ -112,19 +112,19 @@ def test_against_torque_driver(self):
       for t in np.arange(0, DRIVER_TORQUE_ALLOWANCE + 1, 1):
         t *= -sign
         self._set_torque_driver(t, t)
-        self._set_prev_torque(MAX_STEER * sign)
-        self.assertTrue(self._tx(self._torque_msg(MAX_STEER * sign)))
+        self._set_prev_torque(self.MAX_STEER * sign)
+        self.assertTrue(self._tx(self._torque_msg(self.MAX_STEER * sign)))
 
       self._set_torque_driver(DRIVER_TORQUE_ALLOWANCE + 1, DRIVER_TORQUE_ALLOWANCE + 1)
-      self.assertFalse(self._tx(self._torque_msg(-MAX_STEER)))
+      self.assertFalse(self._tx(self._torque_msg(-self.MAX_STEER)))
 
     # arbitrary high driver torque to ensure max steer torque is allowed
-    max_driver_torque = int(MAX_STEER / DRIVER_TORQUE_FACTOR + DRIVER_TORQUE_ALLOWANCE + 1)
+    max_driver_torque = int(self.MAX_STEER / DRIVER_TORQUE_FACTOR + DRIVER_TORQUE_ALLOWANCE + 1)
 
     # spot check some individual cases
     for sign in [-1, 1]:
       driver_torque = (DRIVER_TORQUE_ALLOWANCE + 10) * sign
-      torque_desired = (MAX_STEER - 10 * DRIVER_TORQUE_FACTOR) * sign
+      torque_desired = (self.MAX_STEER - 10 * DRIVER_TORQUE_FACTOR) * sign
       delta = 1 * sign
       self._set_prev_torque(torque_desired)
       self._set_torque_driver(-driver_torque, -driver_torque)
@@ -133,15 +133,15 @@ def test_against_torque_driver(self):
       self._set_torque_driver(-driver_torque, -driver_torque)
       self.assertFalse(self._tx(self._torque_msg(torque_desired + delta)))
 
-      self._set_prev_torque(MAX_STEER * sign)
+      self._set_prev_torque(self.MAX_STEER * sign)
       self._set_torque_driver(-max_driver_torque * sign, -max_driver_torque * sign)
-      self.assertTrue(self._tx(self._torque_msg((MAX_STEER - MAX_RATE_DOWN) * sign)))
-      self._set_prev_torque(MAX_STEER * sign)
+      self.assertTrue(self._tx(self._torque_msg((self.MAX_STEER - MAX_RATE_DOWN) * sign)))
+      self._set_prev_torque(self.MAX_STEER * sign)
       self._set_torque_driver(-max_driver_torque * sign, -max_driver_torque * sign)
       self.assertTrue(self._tx(self._torque_msg(0)))
-      self._set_prev_torque(MAX_STEER * sign)
+      self._set_prev_torque(self.MAX_STEER * sign)
       self._set_torque_driver(-max_driver_torque * sign, -max_driver_torque * sign)
-      self.assertFalse(self._tx(self._torque_msg((MAX_STEER - MAX_RATE_DOWN + 1) * sign)))
+      self.assertFalse(self._tx(self._torque_msg((self.MAX_STEER - MAX_RATE_DOWN + 1) * sign)))
 
   def test_realtime_limits(self):
     self.safety.set_controls_allowed(True)