IQ.Pilot Release Commit @ bec7652
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IQ.Lvbs history cleanup
206
iqpilot/tools/cabana/tests/test_cabana.cc
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206
iqpilot/tools/cabana/tests/test_cabana.cc
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#include <filesystem>
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#include <sstream>
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#include "common/tests/native_test.h"
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#include "tools/cabana/dbc/dbcfile.h"
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#include "tools/cabana/dbc/dbcmanager.h"
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const std::string TEST_RLOG_URL = "https://commadataci.blob.core.windows.net/openpilotci/0c94aa1e1296d7c6/2021-05-05--19-48-37/0/rlog.bz2";
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void test_generate_dbc() {
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std::string fn = std::string(OPENDBC_FILE_PATH) + "/tesla_can.dbc";
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DBCFile dbc_origin(fn);
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DBCFile dbc_from_generated("", dbc_origin.generateDBC());
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REQUIRE(dbc_origin.getMessages().size() == dbc_from_generated.getMessages().size());
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auto &msgs = dbc_origin.getMessages();
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auto &new_msgs = dbc_from_generated.getMessages();
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for (auto &[id, m] : msgs) {
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auto &new_m = new_msgs.at(id);
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REQUIRE(m.name == new_m.name);
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REQUIRE(m.size == new_m.size);
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REQUIRE(m.getSignals().size() == new_m.getSignals().size());
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auto sigs = m.getSignals();
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auto new_sigs = new_m.getSignals();
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for (int i = 0; i < sigs.size(); ++i) {
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REQUIRE(*sigs[i] == *new_sigs[i]);
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}
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}
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}
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void test_comment_order() {
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// Ensure that message comments are followed by signal comments and in the correct order
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std::string content = R"(BO_ 160 message_1: 8 EON
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SG_ signal_1 : 0|12@1+ (1,0) [0|4095] "unit" XXX
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BO_ 162 message_2: 8 EON
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SG_ signal_2 : 0|12@1+ (1,0) [0|4095] "unit" XXX
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CM_ BO_ 160 "message comment";
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CM_ SG_ 160 signal_1 "signal comment";
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CM_ BO_ 162 "message comment";
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CM_ SG_ 162 signal_2 "signal comment";
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)";
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DBCFile dbc("", content);
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REQUIRE(dbc.generateDBC() == content);
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}
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void test_preserve_original_header() {
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std::string content = R"(VERSION "1.0"
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NS_ :
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CM_
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BS_:
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BU_: EON
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BO_ 160 message_1: 8 EON
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SG_ signal_1 : 0|12@1+ (1,0) [0|4095] "unit" XXX
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CM_ BO_ 160 "message comment";
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CM_ SG_ 160 signal_1 "signal comment";
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)";
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DBCFile dbc("", content);
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REQUIRE(dbc.generateDBC() == content);
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}
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void test_escaped_quotes() {
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std::string content = R"(BO_ 160 message_1: 8 EON
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SG_ signal_1 : 0|12@1+ (1,0) [0|4095] "unit" XXX
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CM_ BO_ 160 "message comment with \"escaped quotes\"";
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CM_ SG_ 160 signal_1 "signal comment with \"escaped quotes\"";
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)";
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DBCFile dbc("", content);
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REQUIRE(dbc.generateDBC() == content);
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}
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void test_parse_dbc() {
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std::string content = R"(
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BO_ 160 message_1: 8 EON
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SG_ signal_1 : 0|12@1+ (1,0) [0|4095] "unit" XXX
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SG_ signal_2 : 12|1@1+ (1.0,0.0) [0.0|1] "" XXX
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BO_ 162 message_1: 8 XXX
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SG_ signal_1 M : 0|12@1+ (1,0) [0|4095] "unit" XXX
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SG_ signal_2 M4 : 12|1@1+ (1.0,0.0) [0.0|1] "" XXX
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VAL_ 160 signal_1 0 "disabled" 1.2 "initializing" 2 "fault";
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CM_ BO_ 160 "message comment" ;
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CM_ SG_ 160 signal_1 "signal comment";
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CM_ SG_ 160 signal_2 "multiple line comment
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1
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2
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";
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CM_ BO_ 162 "message comment with \"escaped quotes\"";
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CM_ SG_ 162 signal_1 "signal comment with \"escaped quotes\"";
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)";
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DBCFile file("", content);
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auto msg = file.msg(160);
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REQUIRE(msg != nullptr);
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REQUIRE(msg->name == "message_1");
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REQUIRE(msg->size == 8);
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REQUIRE(msg->comment == "message comment");
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REQUIRE(msg->sigs.size() == 2);
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REQUIRE(msg->transmitter == "EON");
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REQUIRE(file.msg("message_1") != nullptr);
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auto sig_1 = msg->sigs[0];
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REQUIRE(sig_1->name == "signal_1");
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REQUIRE(sig_1->start_bit == 0);
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REQUIRE(sig_1->size == 12);
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REQUIRE(sig_1->min == 0);
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REQUIRE(sig_1->max == 4095);
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REQUIRE(sig_1->unit == "unit");
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REQUIRE(sig_1->comment == "signal comment");
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REQUIRE(sig_1->receiver_name == "XXX");
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REQUIRE(sig_1->val_desc.size() == 3);
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REQUIRE(sig_1->val_desc[0] == std::pair<double, std::string>{0, "disabled"});
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REQUIRE(sig_1->val_desc[1] == std::pair<double, std::string>{1.2, "initializing"});
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REQUIRE(sig_1->val_desc[2] == std::pair<double, std::string>{2, "fault"});
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auto &sig_2 = msg->sigs[1];
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REQUIRE(sig_2->comment == "multiple line comment \n1\n2");
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// multiplexed signals
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msg = file.msg(162);
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REQUIRE(msg != nullptr);
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REQUIRE(msg->sigs.size() == 2);
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REQUIRE(msg->sigs[0]->type == cabana::Signal::Type::Multiplexor);
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REQUIRE(msg->sigs[1]->type == cabana::Signal::Type::Multiplexed);
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REQUIRE(msg->sigs[1]->multiplex_value == 4);
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REQUIRE(msg->sigs[1]->start_bit == 12);
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REQUIRE(msg->sigs[1]->size == 1);
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REQUIRE(msg->sigs[1]->receiver_name == "XXX");
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// escaped quotes
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REQUIRE(msg->comment == "message comment with \"escaped quotes\"");
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REQUIRE(msg->sigs[0]->comment == "signal comment with \"escaped quotes\"");
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}
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void test_parse_iqdbc() {
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std::vector<std::string> errors;
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int parsed = 0;
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for (const auto &entry : std::filesystem::recursive_directory_iterator(OPENDBC_FILE_PATH)) {
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if (!entry.is_regular_file() || entry.path().extension() != ".dbc") continue;
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try {
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auto dbc = DBCFile(entry.path().string());
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++parsed;
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} catch (std::exception &e) {
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errors.push_back(e.what());
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}
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}
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// guard against OPENDBC_FILE_PATH pointing somewhere empty, which would make the
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// loop above pass vacuously
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REQUIRE(parsed > 100);
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std::ostringstream details;
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for (const auto &error : errors) details << error << '\n';
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if (!errors.empty()) std::cerr << details.str();
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REQUIRE(errors.empty());
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}
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void test_dbc_manager() {
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DBCManager manager;
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int files_changed = 0;
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int signals_added = 0;
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int masks_updated = 0;
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manager.setCallbacks({
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.signal_added = [&](MessageId, const cabana::Signal *) { ++signals_added; },
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.file_changed = [&]() { ++files_changed; },
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.mask_updated = [&]() { ++masks_updated; },
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});
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std::string error;
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REQUIRE(manager.open(SOURCE_ALL, "test", "BO_ 160 message: 8 XXX\n", &error));
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REQUIRE(error.empty());
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REQUIRE(files_changed == 1);
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cabana::Signal signal{};
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signal.name = "speed";
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signal.start_bit = 0;
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signal.size = 8;
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signal.is_little_endian = true;
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manager.addSignal({.source = 0, .address = 160}, signal);
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REQUIRE(signals_added == 1);
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REQUIRE(masks_updated == 1);
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REQUIRE(manager.msg({.source = 0, .address = 160})->sig("speed") != nullptr);
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}
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void test_cabana_core() {
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test_generate_dbc();
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test_comment_order();
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test_preserve_original_header();
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test_escaped_quotes();
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test_parse_dbc();
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test_parse_iqdbc();
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test_dbc_manager();
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}
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int main() {
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return run_native_test(test_cabana_core);
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}
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