March 2024 - Wine-commits - list.winehq.org

Conor McCarthy : vkd3d-shader/spirv: Support bool source in spirv_compiler_emit_discard().
by Alexandre Julliard 27 Mar '24

27 Mar '24

Module: vkd3d Branch: master Commit: 8d947ce8683a9b4afc0012347d31d2156676c54e URL: https://gitlab.winehq.org/wine/vkd3d/-/commit/8d947ce8683a9b4afc0012347d31d… Author: Conor McCarthy <cmccarthy(a)codeweavers.com> Date: Wed Mar 20 14:53:15 2024 +1000 vkd3d-shader/spirv: Support bool source in spirv_compiler_emit_discard(). --- libs/vkd3d-shader/spirv.c | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/libs/vkd3d-shader/spirv.c b/libs/vkd3d-shader/spirv.c index ede7c623..46130244 100644 --- a/libs/vkd3d-shader/spirv.c +++ b/libs/vkd3d-shader/spirv.c @@ -8007,8 +8007,9 @@ static void spirv_compiler_emit_discard(struct spirv_compiler *compiler, * a mismatch between the VSIR structure and the SPIR-V one, which would cause problems if * structurisation is necessary. Therefore we emit it as a function call. */ condition_id = spirv_compiler_emit_load_src(compiler, src, VKD3DSP_WRITEMASK_0); - condition_id = spirv_compiler_emit_int_to_bool(compiler, - instruction->flags, src->reg.data_type, 1, condition_id); + if (src->reg.data_type != VKD3D_DATA_BOOL) + condition_id = spirv_compiler_emit_int_to_bool(compiler, + instruction->flags, src->reg.data_type, 1, condition_id); void_id = vkd3d_spirv_get_op_type_void(builder); vkd3d_spirv_build_op_function_call(builder, void_id, spirv_compiler_get_discard_function_id(compiler), &condition_id, 1);

1 0

Conor McCarthy : vkd3d-shader/dxil: Implement DX intrinsic Discard.
by Alexandre Julliard 27 Mar '24

27 Mar '24

Module: vkd3d Branch: master Commit: 11ee92ed7eb1287e0be7acf8d082b5d77a6c09eb URL: https://gitlab.winehq.org/wine/vkd3d/-/commit/11ee92ed7eb1287e0be7acf8d082b… Author: Conor McCarthy <cmccarthy(a)codeweavers.com> Date: Wed Mar 20 14:54:18 2024 +1000 vkd3d-shader/dxil: Implement DX intrinsic Discard. --- libs/vkd3d-shader/dxil.c | 14 ++++++++++++++ tests/hlsl/clip.shader_test | 8 ++++---- tests/hlsl/discard.shader_test | 4 ++-- 3 files changed, 20 insertions(+), 6 deletions(-) diff --git a/libs/vkd3d-shader/dxil.c b/libs/vkd3d-shader/dxil.c index 1a795172..0787ee13 100644 --- a/libs/vkd3d-shader/dxil.c +++ b/libs/vkd3d-shader/dxil.c @@ -401,6 +401,7 @@ enum dx_intrinsic_opcode DX_ATOMIC_BINOP = 78, DX_ATOMIC_CMP_XCHG = 79, DX_BARRIER = 80, + DX_DISCARD = 82, DX_DERIV_COARSEX = 83, DX_DERIV_COARSEY = 84, DX_DERIV_FINEX = 85, @@ -4460,6 +4461,18 @@ static void sm6_parser_emit_dx_create_handle(struct sm6_parser *sm6, enum dx_int ins->handler_idx = VKD3DSIH_NOP; } +static void sm6_parser_emit_dx_discard(struct sm6_parser *sm6, enum dx_intrinsic_opcode op, + const struct sm6_value **operands, struct function_emission_state *state) +{ + struct vkd3d_shader_instruction *ins = state->ins; + struct vkd3d_shader_src_param *src_param; + + vsir_instruction_init(ins, &sm6->p.location, VKD3DSIH_DISCARD); + + if ((src_param = instruction_src_params_alloc(ins, 1, sm6))) + src_param_init_from_value(src_param, operands[0]); +} + static void sm6_parser_emit_dx_fabs(struct sm6_parser *sm6, enum dx_intrinsic_opcode op, const struct sm6_value **operands, struct function_emission_state *state) { @@ -5315,6 +5328,7 @@ static const struct sm6_dx_opcode_info sm6_dx_op_table[] = [DX_DERIV_COARSEY ] = {"e", "R", sm6_parser_emit_dx_unary}, [DX_DERIV_FINEX ] = {"e", "R", sm6_parser_emit_dx_unary}, [DX_DERIV_FINEY ] = {"e", "R", sm6_parser_emit_dx_unary}, + [DX_DISCARD ] = {"v", "1", sm6_parser_emit_dx_discard}, [DX_EXP ] = {"g", "R", sm6_parser_emit_dx_unary}, [DX_FABS ] = {"g", "R", sm6_parser_emit_dx_fabs}, [DX_FIRST_BIT_HI ] = {"i", "m", sm6_parser_emit_dx_unary}, diff --git a/tests/hlsl/clip.shader_test b/tests/hlsl/clip.shader_test index 3c003f1f..1ebc0687 100644 --- a/tests/hlsl/clip.shader_test +++ b/tests/hlsl/clip.shader_test @@ -9,14 +9,14 @@ float4 main() : sv_target [test] uniform 0 float4 1 2 3 4 -todo(sm>=6 | glsl) draw quad +todo(glsl) draw quad probe all rgba (1, 2, 3, 4) uniform 0 float4 9 8 7 6 -todo(sm>=6 | glsl) draw quad +todo(glsl) draw quad probe all rgba (9, 8, 7, 6) uniform 0 float4 -1 8 7 6 -todo(sm>=6 | glsl) draw quad +todo(glsl) draw quad probe all rgba (9, 8, 7, 6) uniform 0 float4 9 0 7 6 -todo(sm>=6 | glsl) draw quad +todo(glsl) draw quad probe all rgba (9, 0, 7, 6) diff --git a/tests/hlsl/discard.shader_test b/tests/hlsl/discard.shader_test index dba1b9b8..a5c210f0 100644 --- a/tests/hlsl/discard.shader_test +++ b/tests/hlsl/discard.shader_test @@ -9,8 +9,8 @@ float4 main() : sv_target [test] uniform 0 float4 1 2 3 4 -todo(sm<4 | sm>=6 | glsl) draw quad +todo(sm<4 | glsl) draw quad probe all rgba (1, 2, 3, 4) uniform 0 float4 9 8 7 6 -todo(sm<4 | sm>=6 | glsl) draw quad +todo(sm<4 | glsl) draw quad probe all rgba (1, 2, 3, 4)

1 0

Francisco Casas : tests/test-driver: Display [SIGABRT] and [SIGSEGV] tags.
by Alexandre Julliard 27 Mar '24

27 Mar '24

Module: vkd3d Branch: master Commit: 9a90b9591ced073905f5f228c3b498d369dd08a8 URL: https://gitlab.winehq.org/wine/vkd3d/-/commit/9a90b9591ced073905f5f228c3b49… Author: Francisco Casas <fcasas(a)codeweavers.com> Date: Thu Mar 21 16:18:34 2024 -0300 tests/test-driver: Display [SIGABRT] and [SIGSEGV] tags. Some times the test can be aborted for reasons others than failed assertions, such as segmentation faults or reaching unreacheable code. This commit adds purple tags to the test driver for visual clarity. --- tests/test-driver.sh | 11 +++++++++++ 1 file changed, 11 insertions(+) diff --git a/tests/test-driver.sh b/tests/test-driver.sh index 221a963e..514e38d3 100755 --- a/tests/test-driver.sh +++ b/tests/test-driver.sh @@ -182,6 +182,15 @@ EOF details=$(awk "$awk_program" "$log_file") +# In case of SIGABRT or SIGSEGV, add tag and print second to last line, containing the +# "(core dumped)" message. +nxt_to_last_line=$(tail -n2 "$log_file" | head -n -1) +if [ "$tweaked_estatus" -eq 134 ]; then + details="$details# [SIGABRT] <fade>$nxt_to_last_line<reset>" +elif [ "$tweaked_estatus" -eq 139 ]; then + details="$details# [SIGSEGV] <fade>$nxt_to_last_line<reset>" +fi + # Count number of [XF] tags. xfcount=$(echo "$details" | awk '/\[XF\]/{count++} END{printf "%d", count}') @@ -190,6 +199,8 @@ details=$(echo "$details" |\ sed "s/\[XF\]/$color_yellow[XF]$color_reset/g" |\ sed "s/\[XP\]/$color_dark_red[XP]$color_reset/g" |\ sed "s/\[AF\]/$color_bright_purple[AF]$color_reset/g" |\ + sed "s/\[SIGABRT\]/$color_bright_purple[SIGABRT]$color_reset/g" |\ + sed "s/\[SIGSEGV\]/$color_bright_purple[SIGSEGV]$color_reset/g" |\ sed "s/<fade>/$color_fade/g" |\ sed "s/<reset>/$color_reset/g" |\ tr '\n' ' ' |\

1 0

Francisco Casas : tests/test-driver: Print line where vkd3d_unreachable() was hit.
by Alexandre Julliard 27 Mar '24

27 Mar '24

Module: vkd3d Branch: master Commit: b1eaf8327bf59b516f80e232e86332473ed97edc URL: https://gitlab.winehq.org/wine/vkd3d/-/commit/b1eaf8327bf59b516f80e232e8633… Author: Francisco Casas <fcasas(a)codeweavers.com> Date: Thu Mar 21 20:19:02 2024 -0300 tests/test-driver: Print line where vkd3d_unreachable() was hit. With this, a test that fails because vkd3d_unreacheable() was hit, will now display the error line. FAIL: tests/hlsl/some-test.shader_test (SM4.0-SM5.1)OpenGL/SPIR-V 43[XF] 79[XF] 126[XF] 149[XF] 159[XF] [AF] vkd3d/libs/vkd3d-shader/hlsl.c:246: Aborting, reached unreachable code. [SIGABRT] Aborted (core dumped) --- tests/test-driver.sh | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/tests/test-driver.sh b/tests/test-driver.sh index 514e38d3..869cc4be 100755 --- a/tests/test-driver.sh +++ b/tests/test-driver.sh @@ -174,7 +174,11 @@ BEGIN { } /: Assertion .* failed\./ { - print "[AF]" $0 + print "# [AF] <fade>" $0 "<reset>" +} + +/: Aborting, reached unreachable code\./ { + print "# [AF] <fade>" $0 "<reset>" } EOF

1 0

Giovanni Mascellani : Add a changelog for all the released versions of vkd3d.
by Alexandre Julliard 27 Mar '24

27 Mar '24

Module: vkd3d Branch: master Commit: 24460728f24381dd5e87632ff175cf6b67dfdc82 URL: https://gitlab.winehq.org/wine/vkd3d/-/commit/24460728f24381dd5e87632ff175c… Author: Giovanni Mascellani <gmascellani(a)codeweavers.com> Date: Tue Mar 5 11:40:33 2024 +0100 Add a changelog for all the released versions of vkd3d. --- ChangeLog.md | 1019 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 1019 insertions(+)

1 0

Conor McCarthy : vkd3d-shader/spirv: Do not assert if a TGSM load dst register is not UINT.
by Alexandre Julliard 27 Mar '24

27 Mar '24

Module: vkd3d Branch: master Commit: 9da375414ecfaa228020c580daa461a0be2a2891 URL: https://gitlab.winehq.org/wine/vkd3d/-/commit/9da375414ecfaa228020c580daa46… Author: Conor McCarthy <cmccarthy(a)codeweavers.com> Date: Fri Mar 1 00:31:42 2024 +1000 vkd3d-shader/spirv: Do not assert if a TGSM load dst register is not UINT. --- libs/vkd3d-shader/spirv.c | 1 - 1 file changed, 1 deletion(-) diff --git a/libs/vkd3d-shader/spirv.c b/libs/vkd3d-shader/spirv.c index e39e27a6..05ad6ca2 100644 --- a/libs/vkd3d-shader/spirv.c +++ b/libs/vkd3d-shader/spirv.c @@ -8785,7 +8785,6 @@ static void spirv_compiler_emit_ld_tgsm(struct spirv_compiler *compiler, ptr_id = vkd3d_spirv_build_op_access_chain1(builder, ptr_type_id, reg_info.id, coordinate_id); constituents[j++] = vkd3d_spirv_build_op_load(builder, type_id, ptr_id, SpvMemoryAccessMaskNone); } - assert(dst->reg.data_type == VKD3D_DATA_UINT); spirv_compiler_emit_store_dst_components(compiler, dst, VKD3D_SHADER_COMPONENT_UINT, constituents); }

1 0

Conor McCarthy : vkd3d-shader/spirv: Do not assert if a TGSM store data register is not UINT.
by Alexandre Julliard 27 Mar '24

27 Mar '24

Module: vkd3d Branch: master Commit: 83a67366da6c1caf5ef1ef62c7bfe812440fb016 URL: https://gitlab.winehq.org/wine/vkd3d/-/commit/83a67366da6c1caf5ef1ef62c7bfe… Author: Conor McCarthy <cmccarthy(a)codeweavers.com> Date: Fri Mar 1 00:35:17 2024 +1000 vkd3d-shader/spirv: Do not assert if a TGSM store data register is not UINT. --- libs/vkd3d-shader/spirv.c | 1 - 1 file changed, 1 deletion(-) diff --git a/libs/vkd3d-shader/spirv.c b/libs/vkd3d-shader/spirv.c index 05ad6ca2..92463a78 100644 --- a/libs/vkd3d-shader/spirv.c +++ b/libs/vkd3d-shader/spirv.c @@ -8906,7 +8906,6 @@ static void spirv_compiler_emit_store_tgsm(struct spirv_compiler *compiler, type_id, reg_info.structure_stride, &src[0], VKD3DSP_WRITEMASK_0, &src[1], VKD3DSP_WRITEMASK_0); data = &src[instruction->src_count - 1]; - assert(data->reg.data_type == VKD3D_DATA_UINT); val_id = spirv_compiler_emit_load_src(compiler, data, dst->write_mask); component_count = vsir_write_mask_component_count(dst->write_mask);

1 0

Conor McCarthy : vkd3d-shader/spirv: Support 64-bit register info component type in spirv_compiler_emit_load_reg().
by Alexandre Julliard 27 Mar '24

27 Mar '24

Module: vkd3d Branch: master Commit: 47e56cdfed8011114b06acf6fbb3ad2186d33955 URL: https://gitlab.winehq.org/wine/vkd3d/-/commit/47e56cdfed8011114b06acf6fbb3a… Author: Conor McCarthy <cmccarthy(a)codeweavers.com> Date: Tue Mar 12 17:49:26 2024 +1000 vkd3d-shader/spirv: Support 64-bit register info component type in spirv_compiler_emit_load_reg(). For 64-bit indexable temps (and any other 64-bit declarations) the write mask must not be converted. --- libs/vkd3d-shader/spirv.c | 10 +++++----- libs/vkd3d-shader/vkd3d_shader_private.h | 5 +++++ 2 files changed, 10 insertions(+), 5 deletions(-) diff --git a/libs/vkd3d-shader/spirv.c b/libs/vkd3d-shader/spirv.c index 92463a78..ba702dd9 100644 --- a/libs/vkd3d-shader/spirv.c +++ b/libs/vkd3d-shader/spirv.c @@ -4094,7 +4094,7 @@ static uint32_t spirv_compiler_emit_load_reg(struct spirv_compiler *compiler, struct vkd3d_shader_register_info reg_info; unsigned int component_count; uint32_t type_id, val_id; - uint32_t write_mask32; + uint32_t val_write_mask; if (reg->type == VKD3DSPR_IMMCONST) return spirv_compiler_emit_load_constant(compiler, reg, swizzle, write_mask); @@ -4114,17 +4114,17 @@ static uint32_t spirv_compiler_emit_load_reg(struct spirv_compiler *compiler, type_id = vkd3d_spirv_get_type_id(builder, component_type, component_count); return vkd3d_spirv_get_op_undef(builder, type_id); } - assert(reg_info.component_type != VKD3D_SHADER_COMPONENT_DOUBLE); spirv_compiler_emit_dereference_register(compiler, reg, &reg_info); - write_mask32 = data_type_is_64_bit(reg->data_type) ? vsir_write_mask_32_from_64(write_mask) : write_mask; + val_write_mask = (data_type_is_64_bit(reg->data_type) && !component_type_is_64_bit(reg_info.component_type)) + ? vsir_write_mask_32_from_64(write_mask) : write_mask; /* Intermediate value (no storage class). */ if (reg_info.storage_class == SpvStorageClassMax) { val_id = reg_info.id; } - else if (vsir_write_mask_component_count(write_mask32) == 1) + else if (vsir_write_mask_component_count(val_write_mask) == 1) { return spirv_compiler_emit_load_scalar(compiler, reg, swizzle, write_mask, &reg_info); } @@ -4137,7 +4137,7 @@ static uint32_t spirv_compiler_emit_load_reg(struct spirv_compiler *compiler, swizzle = data_type_is_64_bit(reg->data_type) ? vsir_swizzle_32_from_64(swizzle) : swizzle; val_id = spirv_compiler_emit_swizzle(compiler, - val_id, reg_info.write_mask, reg_info.component_type, swizzle, write_mask32); + val_id, reg_info.write_mask, reg_info.component_type, swizzle, val_write_mask); if (component_type != reg_info.component_type) { diff --git a/libs/vkd3d-shader/vkd3d_shader_private.h b/libs/vkd3d-shader/vkd3d_shader_private.h index 21957d02..99931518 100644 --- a/libs/vkd3d-shader/vkd3d_shader_private.h +++ b/libs/vkd3d-shader/vkd3d_shader_private.h @@ -1611,6 +1611,11 @@ static inline enum vkd3d_shader_component_type vkd3d_component_type_from_resourc } } +static inline bool component_type_is_64_bit(enum vkd3d_shader_component_type component_type) +{ + return component_type == VKD3D_SHADER_COMPONENT_DOUBLE || component_type == VKD3D_SHADER_COMPONENT_UINT64; +} + enum vkd3d_shader_input_sysval_semantic vkd3d_siv_from_sysval_indexed(enum vkd3d_shader_sysval_semantic sysval, unsigned int index);

1 0

Conor McCarthy : vkd3d-shader/dxil: Emit an error if a constant code is unhandled.
by Alexandre Julliard 27 Mar '24

27 Mar '24

Module: vkd3d Branch: master Commit: 0f332eb9398257544b4d1f2152964b2fcafb7f28 URL: https://gitlab.winehq.org/wine/vkd3d/-/commit/0f332eb9398257544b4d1f2152964… Author: Conor McCarthy <cmccarthy(a)codeweavers.com> Date: Tue Mar 12 14:45:06 2024 +1000 vkd3d-shader/dxil: Emit an error if a constant code is unhandled. --- libs/vkd3d-shader/dxil.c | 2 ++ 1 file changed, 2 insertions(+) diff --git a/libs/vkd3d-shader/dxil.c b/libs/vkd3d-shader/dxil.c index 7f9a74fa..b3e42c15 100644 --- a/libs/vkd3d-shader/dxil.c +++ b/libs/vkd3d-shader/dxil.c @@ -2960,6 +2960,8 @@ static enum vkd3d_result sm6_parser_constants_init(struct sm6_parser *sm6, const default: FIXME("Unhandled constant code %u.\n", record->code); + vkd3d_shader_parser_error(&sm6->p, VKD3D_SHADER_ERROR_DXIL_INVALID_OPERAND, + "Constant code %u is unhandled.", record->code); dst->u.reg.type = VKD3DSPR_UNDEF; break; }

1 0

Conor McCarthy : tests/shader-runner: Add TGSM tests.
by Alexandre Julliard 27 Mar '24

27 Mar '24

Module: vkd3d Branch: master Commit: c7dcfc2a04fbe9ccb0b53c310ae72aa7084363b3 URL: https://gitlab.winehq.org/wine/vkd3d/-/commit/c7dcfc2a04fbe9ccb0b53c310ae72… Author: Conor McCarthy <cmccarthy(a)codeweavers.com> Date: Tue Mar 12 14:45:39 2024 +1000 tests/shader-runner: Add TGSM tests. --- Makefile.am | 1 + tests/hlsl/tgsm.shader_test | 135 ++++++++++++++++++++++++++++++++++++++++++++ 2 files changed, 136 insertions(+) diff --git a/Makefile.am b/Makefile.am index a9ea1433..3b3ddbea 100644 --- a/Makefile.am +++ b/Makefile.am @@ -200,6 +200,7 @@ vkd3d_shader_tests = \ tests/hlsl/texture-load-typed.shader_test \ tests/hlsl/texture-load.shader_test \ tests/hlsl/texture-ordering.shader_test \ + tests/hlsl/tgsm.shader_test \ tests/hlsl/transpose.shader_test \ tests/hlsl/trigonometry.shader_test \ tests/hlsl/trunc.shader_test \ diff --git a/tests/hlsl/tgsm.shader_test b/tests/hlsl/tgsm.shader_test new file mode 100644 index 00000000..a1b7259e --- /dev/null +++ b/tests/hlsl/tgsm.shader_test @@ -0,0 +1,135 @@ +[require] +shader model >= 5.0 + +[uav 1] +format r32 uint +size (buffer, 4) + +1 0 0 0 + +[compute shader todo] +RWByteAddressBuffer u : register(u1); +groupshared uint m; + + [numthreads(32, 1, 1)] +void main(uint local_idx : SV_GroupIndex, uint group_id : SV_GroupID) +{ + if (!local_idx) + m = group_id.x; + GroupMemoryBarrierWithGroupSync(); + InterlockedAdd(m, group_id.x); + GroupMemoryBarrierWithGroupSync(); + if (!local_idx) + u.Store(4 * group_id.x, m); +} + +[test] +todo dispatch 4 1 1 +probe uav 1 (0) rui (0) +probe uav 1 (1) rui (33) +probe uav 1 (2) rui (66) +probe uav 1 (3) rui (99) + + +[uav 1] +format r32 sint +size (buffer, 4) + +1 0 0 0 + +[compute shader todo] +RWByteAddressBuffer u : register(u1); +groupshared int m; + + [numthreads(32, 1, 1)] +void main(uint local_idx : SV_GroupIndex, uint group_id : SV_GroupID) +{ + if (!local_idx) + m = group_id.x; + GroupMemoryBarrierWithGroupSync(); + InterlockedAdd(m, -group_id.x); + GroupMemoryBarrierWithGroupSync(); + if (!local_idx) + u.Store(4 * group_id.x, m); +} + +[test] +todo dispatch 4 1 1 +probe uav 1 (0) ri (0) +probe uav 1 (1) ri (-31) +probe uav 1 (2) ri (-62) +probe uav 1 (3) ri (-93) + + +[uav 1] +format r32 float +size (buffer, 8) + +1 1 1 1 0 0 0 0 + +[uav 2] +format r32 sint +size (buffer, 8) + +1 1 1 1 0 0 0 0 + +[compute shader todo] +uniform uint idx; + +#define GROUP_SIZE 4 + +struct data +{ + float f; + uint u; +}; + +RWBuffer<float> u : register(u1); +RWBuffer<uint> u2 : register(u2); +groupshared data m[GROUP_SIZE]; + + [numthreads(GROUP_SIZE, 1, 1)] +void main(uint local_idx : SV_GroupIndex, uint group_id : SV_GroupID, + uint thread_id : SV_DispatchThreadID) +{ + uint i; + if (!local_idx) + { + for (i = 0; i < GROUP_SIZE; ++i) + { + m[i].f = group_id.x; + m[i].u = group_id.x; + } + } + GroupMemoryBarrierWithGroupSync(); + InterlockedAdd(m[0].u, 2); + InterlockedAdd(m[idx].u, 1); + GroupMemoryBarrierWithGroupSync(); + for (i = 0; i < local_idx; ++i) + { + m[local_idx].f += group_id.x; + m[local_idx].u += group_id.x; + } + u[thread_id.x] = m[local_idx].f; + u2[thread_id.x] = m[local_idx].u; +} + +[test] +uniform 0 uint 1 +todo dispatch 2 1 1 +probe uav 1 (0) r (0.0) +probe uav 1 (1) r (0.0) +probe uav 1 (2) r (0.0) +probe uav 1 (3) r (0.0) +probe uav 1 (4) r (1.0) +probe uav 1 (5) r (2.0) +probe uav 1 (6) r (3.0) +probe uav 1 (7) r (4.0) +probe uav 2 (0) ri (8) +probe uav 2 (1) ri (4) +probe uav 2 (2) ri (0) +probe uav 2 (3) ri (0) +probe uav 2 (4) ri (9) +probe uav 2 (5) ri (6) +probe uav 2 (6) ri (3) +probe uav 2 (7) ri (4)

1 0