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1 | #include "pch.h" | |||
2 | ||||
3 | 6 | float GetGearRatioFor(float revPerKm, float axle, float kph, float rpm) { | ||
4 |
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6 | EngineTestHelper eth(engine_type_e::TEST_ENGINE); | |
5 | ||||
6 | 6 | engineConfiguration->driveWheelRevPerKm = revPerKm; | ||
7 | 6 | engineConfiguration->finalGearRatio = axle; | ||
8 | ||||
9 |
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6 | Sensor::setMockValue(SensorType::VehicleSpeed, kph); | |
10 |
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6 | Sensor::setMockValue(SensorType::Rpm, rpm); | |
11 | ||||
12 |
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6 | engine->periodicSlowCallback(); | |
13 | ||||
14 |
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6 | auto& dut = engine->module<GearDetector>().unmock(); | |
15 |
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12 | return dut.getGearboxRatio(); | |
16 | 6 | } | ||
17 | ||||
18 | 4 | TEST(GearDetector, ComputeGearRatio) { | ||
19 | // real gears from Volvo racecar | |||
20 |
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1 | EXPECT_NEAR_M3(3.35f, GetGearRatioFor(507, 4.1, 29.45f / 0.6214f, 5500)); | |
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1 | EXPECT_NEAR_M3(1.99f, GetGearRatioFor(507, 4.1, 49.57f / 0.6214f, 5500)); | |
22 |
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1 | EXPECT_NEAR_M3(1.33f, GetGearRatioFor(507, 4.1, 74.18f / 0.6214f, 5500)); | |
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1 | EXPECT_NEAR_M3(1.00f, GetGearRatioFor(507, 4.1, 98.65f / 0.6214f, 5500)); | |
24 |
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1 | EXPECT_NEAR_M3(0.72f, GetGearRatioFor(507, 4.1, 137.02f / 0.6214f, 5500)); | |
25 | ||||
26 | // Idling, car stopped, check no div/0 | |||
27 |
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1 | EXPECT_EQ(0, GetGearRatioFor(507, 4.1, 0, 800)); | |
28 | 1 | } | ||
29 | ||||
30 | ||||
31 | 4 | TEST(GearDetector, GetRpmInGear) { | ||
32 |
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1 | EngineTestHelper eth(engine_type_e::TEST_ENGINE); | |
33 | ||||
34 | 1 | engineConfiguration->driveWheelRevPerKm = 507; | ||
35 | 1 | engineConfiguration->finalGearRatio = 4.10f; | ||
36 | ||||
37 | // real gears from Volvo racecar | |||
38 | 1 | engineConfiguration->totalGearsCount = 5; | ||
39 | 1 | engineConfiguration->gearRatio[0] = 3.35f; | ||
40 | 1 | engineConfiguration->gearRatio[1] = 1.99f; | ||
41 | 1 | engineConfiguration->gearRatio[2] = 1.33f; | ||
42 | 1 | engineConfiguration->gearRatio[3] = 1.00f; | ||
43 | 1 | engineConfiguration->gearRatio[4] = 0.72f; | ||
44 | ||||
45 |
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1 | auto& dut = engine->module<GearDetector>().unmock(); | |
46 | ||||
47 |
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1 | Sensor::setMockValue(SensorType::VehicleSpeed, 29.45f / 0.6214f); | |
48 |
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1 | EXPECT_NEAR(5500, dut.getRpmInGear(1), 1); | |
49 |
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1 | Sensor::setMockValue(SensorType::VehicleSpeed, 49.57f / 0.6214f); | |
50 |
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1 | EXPECT_NEAR(5500, dut.getRpmInGear(2), 1); | |
51 |
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1 | Sensor::setMockValue(SensorType::VehicleSpeed, 74.18f / 0.6214f); | |
52 |
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1 | EXPECT_NEAR(5500, dut.getRpmInGear(3), 1); | |
53 |
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1 | Sensor::setMockValue(SensorType::VehicleSpeed, 98.65f / 0.6214f); | |
54 |
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1 | EXPECT_NEAR(5500, dut.getRpmInGear(4), 1); | |
55 |
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1 | Sensor::setMockValue(SensorType::VehicleSpeed, 137.02f / 0.6214f); | |
56 |
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1 | EXPECT_NEAR(5500, dut.getRpmInGear(5), 1); | |
57 | ||||
58 | // Test some invalid cases | |||
59 |
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1 | EXPECT_FLOAT_EQ(0, dut.getRpmInGear(0)); | |
60 |
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1 | EXPECT_FLOAT_EQ(0, dut.getRpmInGear(10)); | |
61 | ||||
62 | // Zero vehicle speed shouldn't cause a problem | |||
63 |
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1 | Sensor::setMockValue(SensorType::VehicleSpeed, 0); | |
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1 | EXPECT_FLOAT_EQ(0, dut.getRpmInGear(0)); | |
65 |
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1 | EXPECT_FLOAT_EQ(0, dut.getRpmInGear(1)); | |
66 |
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1 | EXPECT_FLOAT_EQ(0, dut.getRpmInGear(5)); | |
67 |
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1 | EXPECT_FLOAT_EQ(0, dut.getRpmInGear(10)); | |
68 | 2 | } | ||
69 | ||||
70 | 4 | TEST(GearDetector, DetermineGearSingleSpeed) { | ||
71 |
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1 | EngineTestHelper eth(engine_type_e::TEST_ENGINE); | |
72 |
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1 | auto& dut = engine->module<GearDetector>().unmock(); | |
73 | ||||
74 | 1 | engineConfiguration->totalGearsCount = 1; | ||
75 | 1 | engineConfiguration->gearRatio[0] = 2; | ||
76 | ||||
77 |
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1 | dut.onConfigurationChange(nullptr); | |
78 | ||||
79 | // Super high ratios indicate clutch slip or idling in neutral or something | |||
80 |
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1 | EXPECT_EQ(0u, dut.determineGearFromRatio(100)); | |
81 |
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1 | EXPECT_EQ(0u, dut.determineGearFromRatio(4)); | |
82 | ||||
83 | // Check exactly on the gear | |||
84 |
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1 | EXPECT_EQ(1u, dut.determineGearFromRatio(2)); | |
85 | ||||
86 | // Check near the gear | |||
87 |
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1 | EXPECT_EQ(1u, dut.determineGearFromRatio(2.1)); | |
88 |
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1 | EXPECT_EQ(1u, dut.determineGearFromRatio(1.9)); | |
89 | ||||
90 | // Extremely low ratio suggests stopped engine at speed? | |||
91 |
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1 | EXPECT_EQ(0u, dut.determineGearFromRatio(1.0)); | |
92 | 2 | } | ||
93 | ||||
94 | 4 | TEST(GearDetector, DetermineGear5Speed) { | ||
95 |
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1 | EngineTestHelper eth(engine_type_e::TEST_ENGINE); | |
96 |
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1 | auto& dut = engine->module<GearDetector>().unmock(); | |
97 | ||||
98 | 1 | engineConfiguration->totalGearsCount = 5; | ||
99 | 1 | engineConfiguration->gearRatio[0] = 3.35; | ||
100 | 1 | engineConfiguration->gearRatio[1] = 1.99; | ||
101 | 1 | engineConfiguration->gearRatio[2] = 1.33; | ||
102 | 1 | engineConfiguration->gearRatio[3] = 1.00; | ||
103 | 1 | engineConfiguration->gearRatio[4] = 0.72; | ||
104 | ||||
105 |
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1 | dut.onConfigurationChange(nullptr); | |
106 | ||||
107 | // Super high ratios indicate clutch slip or idling in neutral or something | |||
108 |
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1 | EXPECT_EQ(0u, dut.determineGearFromRatio(100)); | |
109 |
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1 | EXPECT_EQ(0u, dut.determineGearFromRatio(6)); | |
110 | ||||
111 | // Check exactly on gears | |||
112 |
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1 | EXPECT_EQ(1u, dut.determineGearFromRatio(3.35)); | |
113 |
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1 | EXPECT_EQ(2u, dut.determineGearFromRatio(1.99)); | |
114 |
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1 | EXPECT_EQ(3u, dut.determineGearFromRatio(1.33)); | |
115 |
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1 | EXPECT_EQ(4u, dut.determineGearFromRatio(1.00)); | |
116 |
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1 | EXPECT_EQ(5u, dut.determineGearFromRatio(0.72)); | |
117 | ||||
118 | // Check near each gear | |||
119 |
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1 | EXPECT_EQ(1u, dut.determineGearFromRatio(3.45)); | |
120 |
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1 | EXPECT_EQ(1u, dut.determineGearFromRatio(3.25)); | |
121 | ||||
122 |
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1 | EXPECT_EQ(2u, dut.determineGearFromRatio(2.2)); | |
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1 | EXPECT_EQ(2u, dut.determineGearFromRatio(1.8)); | |
124 | ||||
125 |
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1 | EXPECT_EQ(3u, dut.determineGearFromRatio(1.45)); | |
126 |
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1 | EXPECT_EQ(3u, dut.determineGearFromRatio(1.25)); | |
127 | ||||
128 |
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1 | EXPECT_EQ(4u, dut.determineGearFromRatio(1.1)); | |
129 |
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1 | EXPECT_EQ(4u, dut.determineGearFromRatio(0.9)); | |
130 | ||||
131 |
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1 | EXPECT_EQ(5u, dut.determineGearFromRatio(0.8)); | |
132 |
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1 | EXPECT_EQ(5u, dut.determineGearFromRatio(0.6)); | |
133 | ||||
134 | // Extremely low ratio suggests stopped engine at speed? | |||
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1 | EXPECT_EQ(0u, dut.determineGearFromRatio(0.1)); | |
136 | 2 | } | ||
137 | ||||
138 | 4 | TEST(GearDetector, MiataNb6Speed) { | ||
139 |
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1 | EngineTestHelper eth(engine_type_e::TEST_ENGINE); | |
140 |
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1 | auto& dut = engine->module<GearDetector>().unmock(); | |
141 | ||||
142 | 1 | engineConfiguration->totalGearsCount = 6; | ||
143 | 1 | engineConfiguration->gearRatio[0] = 3.76; | ||
144 | 1 | engineConfiguration->gearRatio[1] = 2.27; | ||
145 | 1 | engineConfiguration->gearRatio[2] = 1.65; | ||
146 | 1 | engineConfiguration->gearRatio[3] = 1.26; | ||
147 | 1 | engineConfiguration->gearRatio[4] = 1.00; | ||
148 | 1 | engineConfiguration->gearRatio[5] = 0.84; | ||
149 | 1 | engineConfiguration->gearRatio[6] = 0.84; | ||
150 | 1 | engineConfiguration->gearRatio[7] = 0.84; | ||
151 | ||||
152 |
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1 | dut.onConfigurationChange(nullptr); | |
153 | ||||
154 |
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1 | EXPECT_EQ(0u, dut.determineGearFromRatio(5.85)); | |
155 |
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1 | EXPECT_EQ(1u, dut.determineGearFromRatio(5.51)); | |
156 | ||||
157 | // Check exactly on gears | |||
158 |
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1 | EXPECT_EQ(1u, dut.determineGearFromRatio(3.76)); | |
159 |
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1 | EXPECT_EQ(2u, dut.determineGearFromRatio(2.27)); | |
160 |
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1 | EXPECT_EQ(3u, dut.determineGearFromRatio(1.65)); | |
161 |
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1 | EXPECT_EQ(4u, dut.determineGearFromRatio(1.26)); | |
162 |
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1 | EXPECT_EQ(5u, dut.determineGearFromRatio(1.00)); | |
163 |
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1 | EXPECT_EQ(6u, dut.determineGearFromRatio(0.84)); | |
164 | 2 | } | ||
165 | ||||
166 | 4 | TEST(GearDetector, DetermineGear8Speed) { | ||
167 |
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1 | EngineTestHelper eth(engine_type_e::TEST_ENGINE); | |
168 |
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1 | auto& dut = engine->module<GearDetector>().unmock(); | |
169 | ||||
170 | // ZF 8HP 70 | |||
171 | 1 | engineConfiguration->totalGearsCount = 8; | ||
172 | 1 | engineConfiguration->gearRatio[0] = 4.69; | ||
173 | 1 | engineConfiguration->gearRatio[1] = 3.13; | ||
174 | 1 | engineConfiguration->gearRatio[2] = 2.10; | ||
175 | 1 | engineConfiguration->gearRatio[3] = 1.67; | ||
176 | 1 | engineConfiguration->gearRatio[4] = 1.28; | ||
177 | 1 | engineConfiguration->gearRatio[5] = 1; | ||
178 | 1 | engineConfiguration->gearRatio[6] = 0.84; | ||
179 | 1 | engineConfiguration->gearRatio[7] = 0.67; | ||
180 | ||||
181 |
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1 | dut.onConfigurationChange(nullptr); | |
182 | ||||
183 | // Super high ratios indicate clutch slip or idling in neutral or something | |||
184 |
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1 | EXPECT_EQ(0u, dut.determineGearFromRatio(100)); | |
185 |
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1 | EXPECT_EQ(0u, dut.determineGearFromRatio(8)); | |
186 | ||||
187 | // Check exactly on gears - only test the ends, the middle works | |||
188 |
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1 | EXPECT_EQ(1u, dut.determineGearFromRatio(4.69)); | |
189 |
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1 | EXPECT_EQ(2u, dut.determineGearFromRatio(3.13)); | |
190 | ||||
191 |
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1 | EXPECT_EQ(7u, dut.determineGearFromRatio(0.84)); | |
192 |
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1 | EXPECT_EQ(8u, dut.determineGearFromRatio(0.67)); | |
193 | ||||
194 | // Check near each gear - only test the ends, the middle works | |||
195 |
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1 | EXPECT_EQ(1u, dut.determineGearFromRatio(4.75)); | |
196 |
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1 | EXPECT_EQ(1u, dut.determineGearFromRatio(4.3)); | |
197 | ||||
198 |
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1 | EXPECT_EQ(8u, dut.determineGearFromRatio(0.71)); | |
199 |
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1 | EXPECT_EQ(8u, dut.determineGearFromRatio(0.6)); | |
200 | ||||
201 | // Extremely low ratio suggests stopped engine at speed? | |||
202 |
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1 | EXPECT_EQ(0u, dut.determineGearFromRatio(0.1)); | |
203 | 2 | } | ||
204 | ||||
205 | 4 | TEST(GearDetector, ParameterValidation) { | ||
206 |
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1 | EngineTestHelper eth(engine_type_e::TEST_ENGINE); | |
207 |
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1 | auto& dut = engine->module<GearDetector>().unmock(); | |
208 | ||||
209 | // Defaults should work | |||
210 |
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1 | EXPECT_NO_FATAL_ERROR(dut.onConfigurationChange(nullptr)); | |
211 | ||||
212 | // Invalid gear count | |||
213 | 1 | engineConfiguration->totalGearsCount = 25; | ||
214 |
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1 | EXPECT_FATAL_ERROR(dut.onConfigurationChange(nullptr)); | |
215 | ||||
216 | // Valid gears | |||
217 | 1 | engineConfiguration->totalGearsCount = 2; | ||
218 | 1 | engineConfiguration->gearRatio[0] = 3; | ||
219 | 1 | engineConfiguration->gearRatio[1] = 2; | ||
220 |
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1 | EXPECT_NO_FATAL_ERROR(dut.onConfigurationChange(nullptr)); | |
221 | ||||
222 | // Invalid gear ratio | |||
223 | 1 | engineConfiguration->gearRatio[1] = 0; | ||
224 |
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1 | EXPECT_FATAL_ERROR(dut.onConfigurationChange(nullptr)); | |
225 | ||||
226 | // Out of order gear ratios | |||
227 | 1 | engineConfiguration->gearRatio[0] = 2; | ||
228 | 1 | engineConfiguration->gearRatio[1] = 3; | ||
229 |
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1 | EXPECT_FATAL_ERROR(dut.onConfigurationChange(nullptr)); | |
230 | ||||
231 | // No gears at all is a valid configuration | |||
232 | 1 | engineConfiguration->totalGearsCount = 0; | ||
233 |
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1 | EXPECT_NO_FATAL_ERROR(dut.onConfigurationChange(nullptr)); | |
234 | 2 | } | ||
235 |