From 38ff0ca6828ce83dea376f288959a9ab2242d662 Mon Sep 17 00:00:00 2001 From: Valentin Popov Date: Thu, 29 Oct 2026 16:26:54 +0400 Subject: fix(runtime): load robot Control device tables --- .../behavior_distributor_tick_native_oracle.cs | 93 +++++++++++++++++++--- 1 file changed, 81 insertions(+), 12 deletions(-) (limited to 'crates/fparkan-runtime/tests') diff --git a/crates/fparkan-runtime/tests/behavior_distributor_tick_native_oracle.cs b/crates/fparkan-runtime/tests/behavior_distributor_tick_native_oracle.cs index 1383c1a..677a867 100644 --- a/crates/fparkan-runtime/tests/behavior_distributor_tick_native_oracle.cs +++ b/crates/fparkan-runtime/tests/behavior_distributor_tick_native_oracle.cs @@ -121,6 +121,7 @@ internal static class BehaviorDistributorTickOracle { [UnmanagedFunctionPointer(CallingConvention.ThisCall)] private delegate float NativeControlResourceDeviceRate(IntPtr self, float deltaSeconds); [UnmanagedFunctionPointer(CallingConvention.ThisCall)] private delegate int NativeControlResourceDeviceGate(IntPtr self); [UnmanagedFunctionPointer(CallingConvention.ThisCall)] private delegate float NativeControlResourceAvailability(IntPtr self, byte flags); + [UnmanagedFunctionPointer(CallingConvention.ThisCall)] private delegate IntPtr NativeControlDeviceFactory(IntPtr self, uint componentId, uint keyOffset, IntPtr record); [UnmanagedFunctionPointer(CallingConvention.ThisCall)] private delegate IntPtr NativeControlResourceComponentOverride(IntPtr self, int deviceIndex, IntPtr typedRecord); [UnmanagedFunctionPointer(CallingConvention.StdCall)] private delegate int NativeControlAggregateQuery(IntPtr self, uint selector, IntPtr result); [UnmanagedFunctionPointer(CallingConvention.StdCall)] private delegate int NativeControlAggregateSet(IntPtr self, uint selector, IntPtr value); @@ -2253,6 +2254,22 @@ internal static class BehaviorDistributorTickOracle { ControlResourceTag15VtableRva, ControlResourceNoOpStringPairRva, applyOverride); RunNativeControlOverrideReceiverCase(module, 25, 0xa4, ControlResourceTag25ConstructorRva, ControlResourceTag25VtableRva, ControlResourceNoOpStringPairRva, applyOverride); + RunNativeControlOverrideReceiverCase(module, 4, 0xdc, 0x233d0, + 0x3c720, ControlResourceNoOpStringPairRva, applyOverride); + RunNativeControlOverrideReceiverCase(module, 10, 0x94, 0x26470, + 0x3ca20, ControlResourceNoOpStringPairRva, applyOverride); + RunNativeControlOverrideReceiverCase(module, 27, 0x94, 0x218b0, + 0x3c528, ControlResourceNoOpStringPairRva, applyOverride); + RunNativeControlOverrideReceiverCase(module, 5, 0xa4, 0x20800, + 0x3cdf8, ControlResourceNoOpStringPairRva, applyOverride); + RunNativeControlOverrideReceiverCase(module, 8, 0xbc, 0x24310, + 0x3c800, ControlResourceNoOpStringPairRva, applyOverride); + RunNativeControlOverrideReceiverCase(module, 21, 0xa4, 0x20800, + 0x3c448, ControlResourceNoOpStringPairRva, applyOverride); + RunNativeControlOverrideReceiverCase(module, 2, 0x184, 0x294c0, + 0x3cbd8, 0x29940, applyOverride); + RunNativeControlOverrideReceiverCase(module, 3, 0xa4, 0x20800, + 0x3c448, ControlResourceNoOpStringPairRva, applyOverride); GC.KeepAlive(applyOverride); } @@ -2262,17 +2279,37 @@ internal static class BehaviorDistributorTickOracle { NativeControlResourceDeviceConstructor construct = (NativeControlResourceDeviceConstructor)Marshal.GetDelegateForFunctionPointer( IntPtr.Add(module, constructorRva), typeof(NativeControlResourceDeviceConstructor)); IntPtr expectedVtable = IntPtr.Add(module, vtableRva); - Expect(Marshal.ReadIntPtr(expectedVtable, 0x1c) == IntPtr.Add(module, ControlResourceCommonSetterRva), - "tag-" + tag + " vtable common setter slot resolves to native RVA 0x21d50"); + Expect(Marshal.ReadIntPtr(expectedVtable, 0x1c) == IntPtr.Add(module, tag == 2 ? 0x29650 : ControlResourceCommonSetterRva), + "tag-" + tag + " vtable reader resolves to its native implementation"); Expect(Marshal.ReadIntPtr(expectedVtable, 0x24) == IntPtr.Add(module, stringPairRva), "tag-" + tag + " vtable string-pair slot matches its native callback"); using (Fixture fixture = NewFixture()) { - IntPtr owner = fixture.Allocate(0x5c4); - IntPtr deviceArray = fixture.Allocate(IntPtr.Size); - IntPtr targetDevice = fixture.Allocate(objectSize); - IntPtr typedRecord = fixture.Allocate(0xb4); - Expect(construct(targetDevice) == targetDevice, - "native tag-" + tag + " constructor returns its exact-size device object"); + IntPtr owner = fixture.Allocate(0x5c8); + IntPtr deviceArray = fixture.Allocate(2 * IntPtr.Size); + IntPtr targetDevice = (tag == 3 || tag == 5) ? IntPtr.Zero : fixture.Allocate(objectSize); + bool variableTail = tag == 2 || tag == 3 || tag == 4 || tag == 5 || tag == 8 || tag == 10 || tag == 21 || tag == 27; + IntPtr typedRecord = fixture.Allocate(variableTail ? 0xc0 : 0xb4); + if (tag == 3 || tag == 5) { + // Tag 3 follows the default factory; case 5 also assigns a derived vtable. + Marshal.WriteIntPtr(owner, 0x5bc, deviceArray); + Marshal.WriteInt32(owner, 0x5c4, 2); + Marshal.WriteInt32(typedRecord, 0, tag); + Marshal.WriteInt32(typedRecord, 0x18, -1); + NativeControlDeviceFactory create = (NativeControlDeviceFactory)Marshal.GetDelegateForFunctionPointer( + IntPtr.Add(module, 0x2d4b0), typeof(NativeControlDeviceFactory)); + Expect(create(owner, 0, 0, typedRecord) == IntPtr.Add(typedRecord, 0xb4), "native tag-" + tag + " factory cursor"); + targetDevice = Marshal.ReadIntPtr(deviceArray); + GC.KeepAlive(create); + } else { + Expect(construct(targetDevice) == targetDevice, + "native tag-" + tag + " constructor returns its exact-size device object"); + } + if (variableTail) { + int expectedWord = tag == 4 ? 0x200 : (tag == 3 || tag == 5 || tag == 8 || tag == 21) ? 5 : tag == 10 ? 0x2000 : 0; + Expect(Marshal.ReadInt32(targetDevice, 0x50) == expectedWord && + Marshal.ReadInt32(targetDevice, 0x4c) == FloatBits(1.0f), + "native extended factory constructor defaults"); + } Marshal.WriteIntPtr(deviceArray, 0, targetDevice); Marshal.WriteIntPtr(owner, 0x5bc, deviceArray); Marshal.WriteInt32(owner, 0x5c0, 1); @@ -2282,7 +2319,7 @@ internal static class BehaviorDistributorTickOracle { Marshal.WriteInt32(targetDevice, 0x4c, unchecked((int)0x40200000)); // multiplier 2.5 for (int i = 0; i < 16; i++) { Marshal.WriteInt32(targetDevice, 0x54 + i * 4, unchecked((int)(0xb2000000u + (uint)i))); - Marshal.WriteInt32(typedRecord, 0x2c + i * 4, unchecked((int)(0xc3000000u + (uint)i))); + Marshal.WriteInt32(typedRecord, 0x2c + i * 4, unchecked((int)(tag == 2 && i < 2 ? (uint)FloatBits(i == 0 ? 3.5f : 1.25f) : 0xc3000000u + (uint)i))); } Marshal.WriteInt32(typedRecord, 0x00, 19); Marshal.WriteInt32(typedRecord, 0x04, unchecked((int)0x77777777)); // differs from the existing device key @@ -2292,10 +2329,19 @@ internal static class BehaviorDistributorTickOracle { // This synthetic receiver has no FX host and the descriptor has no map rows. Marshal.WriteIntPtr(targetDevice, 0x3c, IntPtr.Zero); } + if (variableTail) { + Marshal.WriteInt32(typedRecord, 0xac, 2); + Marshal.WriteInt32(typedRecord, 0xb0, 7); + Marshal.WriteInt32(typedRecord, 0xb4, 9); + Marshal.WriteInt32(typedRecord, 0xb8, 2); + Marshal.WriteByte(typedRecord, 0xbc, (byte)'f'); + Marshal.WriteByte(typedRecord, 0xbd, (byte)'x'); + Marshal.WriteByte(typedRecord, 0xbe, 0); + } int priorWord50 = Marshal.ReadInt32(targetDevice, 0x50); IntPtr result = applyOverride(owner, 0, typedRecord); - Expect(result == IntPtr.Add(typedRecord, 0xb4), + Expect(result == IntPtr.Add(typedRecord, variableTail ? 0xbf : 0xb4), "Control indexed override completes one tag-" + tag + " typed record"); Expect(Marshal.ReadInt32(owner, 0x5c0) == 1 && Marshal.ReadIntPtr(owner, 0x5bc) == deviceArray && Marshal.ReadIntPtr(deviceArray, 0) == targetDevice, @@ -2311,13 +2357,36 @@ internal static class BehaviorDistributorTickOracle { Expect(Marshal.ReadIntPtr(targetDevice, 0x3c) == IntPtr.Zero, "tag-9 string callback runs with no FX host on the synthetic receiver"); for (int i = 0; i < 16; i++) { - Expect(unchecked((uint)Marshal.ReadInt32(targetDevice, 0x54 + i * 4)) == 0xc3000000u + (uint)i, + Expect(unchecked((uint)Marshal.ReadInt32(targetDevice, 0x54 + i * 4)) == (tag == 2 && i < 2 ? (uint)FloatBits(i == 0 ? 3.5f : 1.25f) : 0xc3000000u + (uint)i), "Control replaces selected tag-" + tag + " device coefficient " + i); } + if (variableTail) { + IntPtr map = Marshal.ReadIntPtr(targetDevice, 0x1c); + Expect(Marshal.ReadInt32(targetDevice, 0x20) == 2 && Marshal.ReadInt32(map) == 7 && + Marshal.ReadInt32(map, 0x14) == 9, "native common reader retains both variable map rows"); + } + if (tag == 2) { + IntPtr rowState = Marshal.ReadIntPtr(targetDevice, 0x12c); + Expect(Marshal.ReadInt32(targetDevice, 0x120) == FloatBits(1.25f) && + Marshal.ReadInt32(targetDevice, 0x124) == 4 && + Marshal.ReadInt32(rowState) == 0 && Marshal.ReadInt32(rowState, 4) == 0, + "tag-2 wrapper caches selector 1, rounds selector 0 with x87, and zeros map state"); + Marshal.WriteInt32(rowState, 1); + Marshal.WriteInt32(rowState, 4, 2); + Expect(applyOverride(owner, 0, typedRecord) == result && + Marshal.ReadInt32(targetDevice, 0x20) == 4, + "tag-2 repeated override retains common cursor and appends map rows"); + rowState = Marshal.ReadIntPtr(targetDevice, 0x12c); + for (int i = 0; i < 4; i++) + Expect(Marshal.ReadInt32(rowState, i * 4) == 0, + "tag-2 repeated override clears state for every accumulated map row"); + Console.WriteLine("native-control-tag2-wrapper: selector1=1.25 selector0=3.5 integer=4 rows=4 state=zero"); + } Console.WriteLine("native-control-tag" + tag + "-into-override: size=0x" + objectSize.ToString("x") + " index=0 count=1 key=22222222 component=12345678 multiplier=" + Float(unchecked((uint)Marshal.ReadInt32(targetDevice, 0x4c))) + - " original-class=preserved descriptor=attached coefficients=replaced"); + " original-class=preserved descriptor=attached coefficients=replaced cursor=" + + (variableTail ? "0xbf map=[7,9] string=fx" : "0xb4")); GC.KeepAlive(construct); } } -- cgit v1.2.3