void ReRaceAbort()
{
ReShutdownUpdaters();
RePhysicsEngine().shutdown();
RaceEngine::self().unloadPhysicsEngine();
ReUI().onRaceFinishing();
ReRaceCleanDrivers();
if (NetGetNetwork())
NetGetNetwork()->Disconnect();
FREEZ(ReInfo->_reCarInfo);
if (ReInfo->params != ReInfo->mainParams)
{
GfParmReleaseHandle(ReInfo->params);
ReInfo->params = ReInfo->mainParams;
}
// Return to race configuration step
ReStateApply((void*)RE_STATE_CONFIG);
}
static void
reNetworkSetCarPhysics(double timeDelta,CarControlsData *pCt)
{
tDynPt *pDynCG = RePhysicsEngine().getCar(pCt->startRank);
// double errX = pDynCG->pos.x-pCt->DynGCg.pos.x;
// double errY = pDynCG->pos.y-pCt->DynGCg.pos.y;
// double errZ = pDynCG->pos.z-pCt->DynGCg.pos.z;
int idx = NetGetNetwork()->GetCarIndex(pCt->startRank,ReInfo->s);
//Car controls (steering,gas,brake, gear
tCarElt *pCar = ReInfo->s->cars[idx];
pCar->ctrl.accelCmd = pCt->throttle;
pCar->ctrl.brakeCmd = pCt->brake;
pCar->ctrl.clutchCmd = pCt->clutch;
pCar->ctrl.gear = pCt->gear;
pCar->ctrl.steer = pCt->steering;
pDynCG->pos = pCt->DynGCg.pos;
pDynCG->acc = pCt->DynGCg.acc;
pDynCG->vel = pCt->DynGCg.vel;
double step = 0.0;
if (timeDelta>0.0)
{
//predict car position
while(timeDelta>0.0)
{
if (timeDelta>RCM_MAX_DT_SIMU)
{
step = RCM_MAX_DT_SIMU;
}
else
step = timeDelta;
timeDelta-=step;
RePhysicsEngine().updateCar(ReInfo->s, step, pCt->startRank);
}
}
//GfLogTrace("Network position error is %lf %lf %lf and delta is %lf\n",errX,errY,errZ,timeDelta);
//Car physics
// RePhysicsEngine().setCar(pCt->DynGCg, pCt->startRank);
}
void
ReRaceCleanup(void)
{
RePhysicsEngine().shutdown();
StandardGame::self().unloadPhysicsEngine();
ReStoreRaceResults(ReInfo->_reRaceName);
ReRaceCleanDrivers();
#ifdef THIRD_PARTY_SQLITE3
GfLogInfo("Replay: Database closed\n");
if (replayDB)
sqlite3_close(replayDB);
replayDB = NULL;
#endif
replayRecord = 0;
}
/* Compute Pit stop time */
void
ReCarsUpdateCarPitTime(tCarElt *car)
{
tSituation *s = ReInfo->s;
tReCarInfo *info = &(ReInfo->_reCarInfo[car->index]);
tCarPenalty *penalty;
int i;
// GfLogDebug("ReCarsUpdateCarPitTime(%s) : typ=%d, fuel=%f, rep=%d\n",
// car->_name, car->_pitStopType, car->_pitFuel, car->_pitRepair);
switch (car->_pitStopType) {
case RM_PIT_REPAIR:
info->totalPitTime = 2.0f + fabs((double)(car->_pitFuel)) / 8.0f + (tdble)(fabs((double)(car->_pitRepair))) * 0.007f;
car->_scheduledEventTime = s->currentTime + info->totalPitTime;
RePhysicsEngine().reconfigureCar(car);
for (i=0; i<4; i++) {
car->_tyreCondition(i) = 1.01f;
car->_tyreT_in(i) = 50.0f;
car->_tyreT_mid(i) = 50.0f;
car->_tyreT_out(i) = 50.0f;
}
GfLogInfo("%s in repair pit stop for %.1f s (refueling by %.1f l, repairing by %d).\n",
car->_name, info->totalPitTime, car->_pitFuel, car->_pitRepair);
break;
case RM_PIT_STOPANDGO:
penalty = GF_TAILQ_FIRST(&(car->_penaltyList));
if (penalty && penalty->penalty == RM_PENALTY_10SEC_STOPANDGO)
info->totalPitTime = 10.0;
else
info->totalPitTime = 0.0;
car->_scheduledEventTime = s->currentTime + info->totalPitTime;
// Prevent car->_state & RM_CAR_STATE_PIT from being true for a too short delay,
// in order for the penalty management to detect it.
if (car->_scheduledEventTime < s->currentTime + RCM_MAX_DT_SIMU)
car->_scheduledEventTime += RCM_MAX_DT_SIMU;
GfLogInfo("%s in Stop-and-Go pit stop for %.1f s.\n", car->_name, info->totalPitTime);
break;
}
}
/* return state mode */
int
ReRaceRealStart(void)
{
int i, j;
tRobotItf *robot;
tReCarInfo *carInfo;
char buf[128];
int foundHuman;
void *params = ReInfo->params;
tSituation *s = ReInfo->s;
tMemoryPool oldPool = NULL;
void* carHdle;
// Load the physics engine
if (!RaceEngine::self().loadPhysicsEngine())
return RM_ERROR;
// Get the session display mode (default to "All sessions" ones, or else "normal").
std::string strDispMode =
GfParmGetStr(params, ReInfo->_reRaceName, RM_ATTR_DISPMODE, "");
if (strDispMode.empty())
strDispMode =
GfParmGetStr(params, RM_VAL_ANYRACE, RM_ATTR_DISPMODE, RM_VAL_VISIBLE);
if (strDispMode == RM_VAL_INVISIBLE)
ReInfo->_displayMode = RM_DISP_MODE_NONE;
else if (strDispMode == RM_VAL_VISIBLE)
ReInfo->_displayMode = RM_DISP_MODE_NORMAL;
else if (strDispMode == RM_VAL_SIMUSIMU)
ReInfo->_displayMode = RM_DISP_MODE_SIMU_SIMU;
else
{
GfLogError("Unsupported display mode '%s' loaded from race file ; "
"assuming 'normal'\n", strDispMode.c_str());
ReInfo->_displayMode = RM_DISP_MODE_NORMAL;
}
//GfLogDebug("ReRaceRealStart: Loaded dispMode=0x%x\n", ReInfo->_displayMode);
// Check if there is a human in the driver list
foundHuman = ReHumanInGroup() ? 2 : 0;
// Reset SimuSimu bit if any human in the race.
// Note: Done here in order to make SimuSimu faster.
if ((ReInfo->_displayMode & RM_DISP_MODE_SIMU_SIMU) && foundHuman)
{
ReInfo->_displayMode &= ~RM_DISP_MODE_SIMU_SIMU;
}
// Initialize & place cars
// Note: if SimuSimu display mode, robot->rbNewTrack isn't called. This is a lot faster.
if (ReInitCars())
return RM_ERROR;
// Check if there is a human in the current race
// Warning: Don't move this before ReInitCars (initializes s->cars).
for (i = 0; i < s->_ncars; i++) {
if (s->cars[i]->_driverType == RM_DRV_HUMAN) {
foundHuman = 1;
break;
}//if human
}//for i
// Force "normal" display mode if any human in the session
if (foundHuman == 1)
{
ReInfo->_displayMode = RM_DISP_MODE_NORMAL;
}
// Force "result only" mode in Practice / Qualif. sessions without any human,
// but at least 1 in another session (why this ?), and SimuSimu bit on.
else if (foundHuman == 2 && (ReInfo->_displayMode & RM_DISP_MODE_SIMU_SIMU)
&& (ReInfo->s->_raceType == RM_TYPE_QUALIF
|| ReInfo->s->_raceType == RM_TYPE_PRACTICE))
{
ReInfo->_displayMode = RM_DISP_MODE_NONE;
}
GfLogInfo("Display mode : %s\n",
(ReInfo->_displayMode & RM_DISP_MODE_SIMU_SIMU) ? "SimuSimu" :
((ReInfo->_displayMode & RM_DISP_MODE_NORMAL) ? "Normal" : "Results-only"));
// Notify the UI that it's "race loading time".
ReUI().onRaceLoadingDrivers();
// Load drivers for the race
for (i = 0; i < s->_ncars; i++)
{
snprintf(buf, sizeof(buf), "cars/%s/%s.xml",
s->cars[i]->_carName, s->cars[i]->_carName);
carHdle = GfParmReadFile(buf, GFPARM_RMODE_STD);
snprintf(buf, sizeof(buf), "Loading %s driver (%s) ...",
s->cars[i]->_name, GfParmGetName(carHdle));
ReUI().addLoadingMessage(buf);
if (!(ReInfo->_displayMode & RM_DISP_MODE_SIMU_SIMU))
{
//Tell robots they are to start a new race
robot = s->cars[i]->robot;
GfPoolMove( &s->cars[i]->_newRaceMemPool, &oldPool );
robot->rbNewRace(robot->index, s->cars[i], s);
GfPoolFreePool( &oldPool );
}//if ! simusimu
}//for i
RtTeamManagerStart();
// Notify the UI that the drivers have been loaded now.
ReUI().onRaceDriversLoaded();
// Initialize the physics engine
RePhysicsEngine().updateSituation(s, RCM_MAX_DT_SIMU);
carInfo = ReInfo->_reCarInfo;
for (i = 0; i < s->_ncars; i++) {
carInfo[i].prevTrkPos = s->cars[i]->_trkPos;
}
// All cars start with max brakes on
ReUI().addLoadingMessage("Running Prestart ...");
for (i = 0; i < s->_ncars; i++)
{
memset(&(s->cars[i]->ctrl), 0, sizeof(tCarCtrl));
s->cars[i]->ctrl.brakeCmd = 1.0;
}
for (j = 0; j < (int)(1.0 / RCM_MAX_DT_SIMU); j++)
RePhysicsEngine().updateSituation(s, RCM_MAX_DT_SIMU);
// Initialize current result manager.
ReInitCurRes();
// More initializations.
ReInfo->_reTimeMult = 1.0;
ReInfo->_reLastRobTime = -1.0;
if (NetGetNetwork())
ReInfo->s->currentTime = GfTimeClock() - NetGetNetwork()->GetRaceStartTime();
else
ReInfo->s->currentTime = -2.0; // We start 2 seconds before the real race start
ReInfo->s->deltaTime = RCM_MAX_DT_SIMU;
ReInfo->s->_raceState = RM_RACE_STARTING;
ReInfo->_rePitRequester = 0;
ReInfo->_reMessage = 0;
ReInfo->_reMessageEnd = 0.0;
ReInfo->_reBigMessage = 0;
ReInfo->_reBigMessageEnd = 0.0;
ReInitUpdaters();
// Notify the UI that the race simulation is ready now.
ReUI().onRaceSimulationReady();
// Initialize the network if needed.
if (NetGetNetwork())
{
ReUI().addLoadingMessage("Preparing online race ...");
NetGetNetwork()->RaceInit(ReOutputSituation()->s);
NetGetNetwork()->SetRaceActive(true);
}
// Notify the UI that the race is now started.
ReUI().addLoadingMessage("Ready.");
ReUI().onRaceStarted();
// And go on looping the race state automaton.
return RM_SYNC | RM_NEXT_STEP;
}//ReRaceRealStart
/**
* Function to load a car.
*
* @param carindex The index whichs will be used as car->index for the car.
* @param listindex The listindex in RM_SECT_DRIVERS_RACING
* @param modindex The index of the mod; must be MAX_MOD_ITF if normal_carname is FALSE.
* @param robotIdx The index of the robot.
* @param normal_carname If this member is TRUE, the car is treated as an ordinary car;
* if this member is FALSE, then the car used is the one given
* in the xml-file, and there is no restriction on the number of instances.
* @param cardllname The dllname of the driver
* @return A pointer to the newly created car if successfull; NULL otherwise
*/
static tCarElt* reLoadSingleCar( int carindex, int listindex, int modindex, int relativeRobotIdx, char normal_carname, char const *cardllname )
{
tCarElt *elt;
tMemoryPool oldPool;
char path[256];
char path2[256];
char buf[256];
char buf2[256];
char const *str;
char const *category;
char const *subcategory;
char const *teamname;
std::string carname;
tModInfoNC *curModInfo;
tRobotItf *curRobot;
void *robhdle;
void *cathdle;
void *carhdle;
void *handle;
int k;
int xx;
char isHuman;
int robotIdx = relativeRobotIdx;
/* good robot found */
curModInfo = &((*(ReInfo->robModList))->modInfo[modindex]);
subcategory = ReInfo->track->subcategory;
#if 0 //SDW
if (replayReplay)
GfLogInfo("Driver in car %d being driven by replay\n", carindex);
else
#endif
GfLogInfo("Driver's name: %s\n", curModInfo->name);
isHuman = strcmp( cardllname, "human" ) == 0 || strcmp( cardllname, "networkhuman" ) == 0;
/* Extended is forced for humans, so no need to increase robotIdx */
if (!normal_carname && !isHuman)
robotIdx += curModInfo->index;
/* Retrieve the driver interface (function pointers) */
curRobot = (tRobotItf*)calloc(1, sizeof(tRobotItf));
/* ... and initialize the driver */
#if 0 // SDW
if (replayReplay) {
// Register against the Replay driver (which does nothing)
curModInfo->fctInit(carindex, (void*)(curRobot));
} else if (!(ReInfo->_displayMode & RM_DISP_MODE_SIMU_SIMU)) {
#else
if (!(ReInfo->_displayMode & RM_DISP_MODE_SIMU_SIMU)) {
#endif
curModInfo->fctInit(robotIdx, (void*)(curRobot));
} else {
curRobot->rbNewTrack = NULL;
curRobot->rbNewRace = NULL;
curRobot->rbResumeRace = NULL;
curRobot->rbDrive = NULL;
curRobot->rbPitCmd = NULL;
curRobot->rbEndRace = NULL;
curRobot->rbShutdown = NULL;
curRobot->index = 0;
}
/* Retrieve and load the robotXML file :
1) from user settings dir (local dir)
2) from installed data dir */
snprintf(buf, sizeof(buf), "%sdrivers/%s/%s.xml", GfLocalDir(), cardllname, cardllname);
robhdle = GfParmReadFile(buf, GFPARM_RMODE_STD);
if (!robhdle) {
snprintf(buf, sizeof(buf), "drivers/%s/%s.xml", cardllname, cardllname);
robhdle = GfParmReadFile(buf, GFPARM_RMODE_STD);
}
if (normal_carname || isHuman)
snprintf(path, sizeof(path), "%s/%s/%d", ROB_SECT_ROBOTS, ROB_LIST_INDEX, robotIdx);
else
snprintf(path, sizeof(path), "%s", ROB_SECT_ARBITRARY);
/* Load car/driver info (in race engine data structure) */
if (robhdle)
{
elt = &(ReInfo->carList[carindex]);
GF_TAILQ_INIT(&(elt->_penaltyList));
const std::string strDType = GfParmGetStr(robhdle, path, ROB_ATTR_TYPE, ROB_VAL_ROBOT);
if (strDType == ROB_VAL_ROBOT){
elt->_driverType = RM_DRV_ROBOT;
elt->_networkPlayer = 0;
}
else if (strDType == ROB_VAL_HUMAN)
{
elt->_driverType = RM_DRV_HUMAN;
std::string strNetPlayer = GfParmGetStr(robhdle, path, "networkrace", "no");
elt->_networkPlayer = (strNetPlayer == "yes") ? 1 : 0;
}
elt->index = carindex;
elt->robot = curRobot;
elt->_paramsHandle = robhdle;
elt->_driverIndex = robotIdx;
elt->_moduleIndex = relativeRobotIdx;
strncpy(elt->_modName, cardllname, MAX_NAME_LEN - 1);
elt->_modName[MAX_NAME_LEN - 1] = 0;
//snprintf(path, sizeof(path), "%s/%s/%d", ROB_SECT_ROBOTS, ROB_LIST_INDEX, robotIdx);
snprintf( path2, sizeof(path2), "%s/%s/%d/%d", RM_SECT_DRIVERINFO, elt->_modName, normal_carname ? 0 : 1, elt->_moduleIndex );
if (normal_carname || elt->_driverType == RM_DRV_HUMAN) {
strncpy(elt->_name, GfParmGetStr(robhdle, path, ROB_ATTR_NAME, "none"), MAX_NAME_LEN - 1);
strncpy(elt->_sname, GfParmGetStr(robhdle, path, ROB_ATTR_SNAME, "none"), MAX_NAME_LEN - 1);
strncpy(elt->_cname, GfParmGetStr(robhdle, path, ROB_ATTR_CODE, "---"), 3);
} else {
strncpy(elt->_name, GfParmGetStr(ReInfo->params, path2, ROB_ATTR_NAME, "none"), MAX_NAME_LEN - 1);
strncpy(elt->_sname, GfParmGetStr(ReInfo->params, path2, ROB_ATTR_SNAME, "none"), MAX_NAME_LEN - 1);
strncpy(elt->_cname, GfParmGetStr(ReInfo->params, path2, ROB_ATTR_CODE, "---"), 3);
}
elt->_name[MAX_NAME_LEN - 1] = 0;
elt->_sname[MAX_NAME_LEN - 1] = 0;
elt->_cname[3] = 0;
teamname = GfParmGetStr(robhdle, path, ROB_ATTR_TEAM, "none");
teamname = GfParmGetStr(ReInfo->params, path2, ROB_ATTR_TEAM, teamname ); //Use the name in params if it has a team name
strncpy(elt->_teamname, teamname, MAX_NAME_LEN - 1);
elt->_teamname[MAX_NAME_LEN - 1] = 0;
elt->_driveSkill = GfParmGetNum(ReInfo->params, path2, RM_ATTR_SKILLLEVEL, NULL, -1.0f);
if (normal_carname) /* Even if we get a normal_carname for humans we use it despite of forced extended mode*/
strncpy(elt->_carName, GfParmGetStr(robhdle, path, ROB_ATTR_CAR, ""), MAX_NAME_LEN - 1);
else
strncpy(elt->_carName, GfParmGetStr(ReInfo->params, path2, RM_ATTR_CARNAME, ""), MAX_NAME_LEN - 1);
elt->_carName[MAX_NAME_LEN - 1] = 0; /* XML file name */
// Load custom skin name and targets from race info (if specified).
snprintf(path2, sizeof(path2), "%s/%d", RM_SECT_DRIVERS_RACING, listindex);
if (GfParmGetStr(ReInfo->params, path2, RM_ATTR_SKINNAME, 0))
{
strncpy(elt->_skinName, GfParmGetStr(ReInfo->params, path2, RM_ATTR_SKINNAME, ""), MAX_NAME_LEN - 1);
elt->_skinName[MAX_NAME_LEN - 1] = 0; // Texture name
}
elt->_skinTargets = (int)GfParmGetNum(ReInfo->params, path2, RM_ATTR_SKINTARGETS, (char*)NULL, 0);
// Load other data from robot descriptor.
elt->_raceNumber = (int)GfParmGetNum(robhdle, path, ROB_ATTR_RACENUM, (char*)NULL, 0);
if (!normal_carname && elt->_driverType != RM_DRV_HUMAN) // Increase racenumber if needed
elt->_raceNumber += elt->_moduleIndex;
elt->_skillLevel = 0;
str = GfParmGetStr(robhdle, path, ROB_ATTR_LEVEL, ROB_VAL_SEMI_PRO);
for(k = 0; k < NSkillLevels; k++) {
if (strcmp(aPszSkillLevelNames[k], str) == 0) {
elt->_skillLevel = k;
break;
}
}
elt->_startRank = carindex;
elt->_pos = carindex+1;
elt->_remainingLaps = ReInfo->s->_totLaps;
elt->_newTrackMemPool = NULL;
elt->_newRaceMemPool = NULL;
elt->_endRaceMemPool = NULL;
elt->_shutdownMemPool = NULL;
carname = elt->_carName;
GfLogTrace("Driver #%d(%d) : module='%s', name='%s', car='%s', cat='%s', skin='%s' on %x\n",
carindex, listindex, elt->_modName, elt->_name, elt->_carName,
elt->_category, elt->_skinName, elt->_skinTargets);
if ((strncmp(carname.c_str(), "mpa1", 4) == 0))
{
if (strcmp(subcategory, "long") == 0)
carname = carname+"-long";
else if (strcmp(subcategory, "short") == 0)
carname = carname+"-short";
else
carname = carname+"-road";
GfLogTrace("MPA... Category car = %s \n", carname.c_str());
/* Retrieve and load car specs : merge car default specs,
category specs and driver modifications (=> handle) */
/* Read Car model specifications */
snprintf(buf, sizeof(buf), "cars/models/%s/%s.xml", elt->_carName, carname.c_str());
carhdle = GfParmReadFile(buf, GFPARM_RMODE_STD | GFPARM_RMODE_CREAT);
}
else
{
/* Retrieve and load car specs : merge car default specs,
category specs and driver modifications (=> handle) */
/* Read Car model specifications */
snprintf(buf, sizeof(buf), "cars/models/%s/%s.xml", elt->_carName, elt->_carName);
carhdle = GfParmReadFile(buf, GFPARM_RMODE_STD | GFPARM_RMODE_CREAT);
}
category = GfParmGetStr(carhdle, SECT_CAR, PRM_CATEGORY, NULL);
if (category)
{
GfLogTrace("Checking/Merging %s specs into %s base setup for %s ...\n",
category, elt->_carName, curModInfo->name);
strncpy(elt->_category, category, MAX_NAME_LEN - 1);
elt->_category[MAX_NAME_LEN - 1] = 0;
/* Read Car Category specifications */
snprintf(buf2, sizeof(buf2), "cars/categories/%s.xml", elt->_category);
cathdle = GfParmReadFile(buf2, GFPARM_RMODE_STD | GFPARM_RMODE_CREAT);
int errorcode = 0;
if ((errorcode = GfParmCheckHandle(cathdle, carhdle)))
{
switch (errorcode)
{
case -1:
GfLogError("Car %s NOT in category %s (driver %s) !!!\n", elt->_carName, category, elt->_name);
break;
case -2:
GfLogError("Parameters out of bound for car %s (driver %s)!!!\n",elt->_carName, elt->_name);
break;
case -3:
GfLogError("Parameter not allowed for car %s (driver %s)!!!\n",elt->_carName, elt->_name);
break;
default:
GfLogError("Unknown error for %s (driver %s)!!!\n",elt->_carName, elt->_name);
break;
}
return NULL;
}
carhdle = GfParmMergeHandles(cathdle, carhdle,
GFPARM_MMODE_SRC | GFPARM_MMODE_DST | GFPARM_MMODE_RELSRC | GFPARM_MMODE_RELDST);
/* The code below stores the carnames to a separate xml-file
such that at newTrack it is known which car is used.
TODO: find a better method for this */
snprintf (buf, sizeof(buf), "%sdrivers/curcarnames.xml", GfLocalDir());
handle = GfParmReadFile(buf, GFPARM_RMODE_CREAT);
if (handle) {
snprintf(path, sizeof(path), "drivers/%s/%d", cardllname, elt->_driverIndex);
GfParmSetStr (handle, path, RM_ATTR_CARNAME, elt->_carName);
GfParmWriteFile (0, handle, "Car names");
GfParmReleaseHandle (handle);
}
if (!(ReInfo->_displayMode & RM_DISP_MODE_SIMU_SIMU))
{
GfPoolMove(&elt->_newTrackMemPool, &oldPool);
curRobot->rbNewTrack(elt->_driverIndex, ReInfo->track, carhdle, &handle, ReInfo->s);
GfPoolFreePool( &oldPool );
}
else
handle = NULL;
if (handle && !replayReplay) {
GfLogTrace("Checking/Merging %s specific setup into %s setup.\n",
curModInfo->name, elt->_carName);
if (GfParmCheckHandle(carhdle, handle)) {
GfLogError("Bad Car parameters for driver %s\n", elt->_name);
return NULL;
}
handle = GfParmMergeHandles(carhdle, handle,
GFPARM_MMODE_SRC | GFPARM_MMODE_DST | GFPARM_MMODE_RELSRC | GFPARM_MMODE_RELDST);
} else {
GfLogTrace("Keeping %s setup as is for %s (no specific setup).\n",
elt->_carName, curModInfo->name);
handle = carhdle;
}
elt->_carHandle = handle;
/* Initialize sectors */
elt->_currentSector = 0;
elt->_curSplitTime = (double*)malloc( sizeof(double) * ( ReInfo->track->numberOfSectors - 1 ) );
elt->_bestSplitTime = (double*)malloc( sizeof(double) * ( ReInfo->track->numberOfSectors - 1 ) );
for (xx = 0; xx < ReInfo->track->numberOfSectors - 1; ++xx)
{
elt->_curSplitTime[xx] = -1.0f;
elt->_bestSplitTime[xx] = -1.0f;
}
} else {
elt->_category[ 0 ] = '\0';
GfLogError("Bad Car category for driver %s\n", elt->_name);
return NULL;
}
return elt;
} else {
GfLogError("No description file for robot %s\n", cardllname);
}
return NULL;
}
/** Initialize the cars for a race.
The cars are positionned on the starting grid.
@return 0 Ok, -1 Error
*/
int
ReInitCars(void)
{
char buf[512];
char path[512];
int nCars;
int index;
int i, j;
const char *robotModuleName;
int robotIdx;
void *robhdle;
tCarElt *elt;
//const char *focused; // Never used.
//int focusedIdx; // Never used.
void *params = ReInfo->params;
/* Get the number of cars (= drivers) racing */
nCars = GfParmGetEltNb(params, RM_SECT_DRIVERS_RACING);
GfLogTrace("Loading %d car(s)\n", nCars);
FREEZ(ReInfo->carList);
ReInfo->carList = (tCarElt*)calloc(nCars, sizeof(tCarElt));
FREEZ(ReInfo->rules);
ReInfo->rules = (tRmCarRules*)calloc(nCars, sizeof(tRmCarRules));
//focused = GfParmGetStr(ReInfo->params, RM_SECT_DRIVERS, RM_ATTR_FOCUSED, "");
//focusedIdx = (int)GfParmGetNum(ReInfo->params, RM_SECT_DRIVERS, RM_ATTR_FOCUSEDIDX, NULL, 0);
index = 0;
/* For each car/driver : */
for (i = 1; i < nCars + 1; i++)
{
/* Get the name of the module (= shared library) of the robot */
snprintf(path, sizeof(path), "%s/%d", RM_SECT_DRIVERS_RACING, i);
robotModuleName = GfParmGetStr(ReInfo->params, path, RM_ATTR_MODULE, "");
robotIdx = (int)GfParmGetNum(ReInfo->params, path, RM_ATTR_IDX, NULL, 0);
#if 0 // SDW
if (replayReplay)
// Register against the Replay driver
snprintf(path, sizeof(path), "%sdrivers/replay/replay.%s", GfLibDir(), DLLEXT);
else
#endif
snprintf(path, sizeof(path), "%sdrivers/%s/%s.%s", GfLibDir(), robotModuleName, robotModuleName, DLLEXT);
/* Load the robot shared library */
if (GfModLoad(CAR_IDENT, path, ReInfo->robModList))
{
GfLogError("Failed to load robot module %s\n", path);
continue;
}
/* Load the racing driver info in the race data structure */
elt = NULL;
snprintf(path, sizeof(path), "%s/%d", RM_SECT_DRIVERS_RACING, i);
if ((int)GfParmGetNum(ReInfo->params, path, RM_ATTR_EXTENDED, NULL, 0) == 0)
{
/* Search for the index of the racing driver in the list of interfaces
of the module */
for (j = 0; j < (*(ReInfo->robModList))->modInfoSize; j++)
{
if ((*(ReInfo->robModList))->modInfo[j].name && (*(ReInfo->robModList))->modInfo[j].index == robotIdx)
{
/* We have the right driver : load it */
elt = reLoadSingleCar( index, i, j, robotIdx, TRUE, robotModuleName );
if (!elt)
{
GfLogError("No descriptor file for robot %s or parameter errors (1)\n", robotModuleName);
snprintf(buf, sizeof(buf), "Error: May be no driver, or some parameters are out of bound");
ReUI().addLoadingMessage(buf);
snprintf(buf, sizeof(buf), " Have a look at the console window for mode details about the error");
ReUI().addLoadingMessage(buf);
snprintf(buf, sizeof(buf), " Back to the config menu in 10 s ...");
ReUI().addLoadingMessage(buf);
// Wait some time to allow the user to read the message!
GfSleep(10.0); // 10 seconds
}
}
}
}
else
{
GfLogTrace("Loading robot %s descriptor file\n", robotModuleName );
snprintf(buf, sizeof(buf), "%sdrivers/%s/%s.xml", GfLocalDir(), robotModuleName, robotModuleName);
robhdle = GfParmReadFile(buf, GFPARM_RMODE_STD);
if (!robhdle)
{
snprintf(buf, sizeof(buf), "drivers/%s/%s.xml", robotModuleName, robotModuleName);
robhdle = GfParmReadFile(buf, GFPARM_RMODE_STD);
}
if (robhdle && ( strcmp( robotModuleName, "human" ) == 0 || strcmp( robotModuleName, "networkhuman" ) == 0 ) )
{
/* Human driver */
elt = reLoadSingleCar( index, i, robotIdx - (*(ReInfo->robModList))->modInfo[0].index, robotIdx, FALSE, robotModuleName );
}
else if (robhdle && ( strcmp( GfParmGetStr( robhdle, ROB_SECT_ARBITRARY, ROB_ATTR_TEAM, "foo" ),
GfParmGetStr( robhdle, ROB_SECT_ARBITRARY, ROB_ATTR_TEAM, "bar" ) ) == 0 ) )
{
elt = reLoadSingleCar( index, i, (*(ReInfo->robModList))->modInfoSize, robotIdx, FALSE, robotModuleName );
}
else
GfLogError("No descriptor for robot %s (2)\n", robotModuleName );
}
if (elt)
++index;
}
nCars = index; /* real number of cars */
if (nCars == 0)
{
GfLogError("No driver for that race ; exiting ...\n");
return -1;
}
else
{
GfLogInfo("%d driver(s) ready to race\n", nCars);
}
if (replayReplay)
replayRecord = 0;
else {
char buf[1024];
const char *replayRateSchemeName;
snprintf(buf, sizeof(buf), "%s%s", GfLocalDir(), RACE_ENG_CFG);
void *paramHandle = GfParmReadFile(buf, GFPARM_RMODE_REREAD | GFPARM_RMODE_CREAT);
replayRateSchemeName = GfParmGetStr(paramHandle, RM_SECT_RACE_ENGINE, RM_ATTR_REPLAY_RATE, "0");
GfParmReleaseHandle(paramHandle);
replayRecord = atoi(replayRateSchemeName);
}
if (replayRecord || replayReplay) {
#ifdef THIRD_PARTY_SQLITE3
int result;
result = sqlite3_open("/tmp/race.sqlite", &replayDB);
if (result) {
GfLogError("Replay: Unable to open Database: %s\n", sqlite3_errmsg(replayDB));
sqlite3_close(replayDB);
replayDB = NULL;
} else {
GfLogInfo("Replay: Database Opened 0x8%8.8X\n", replayDB);
if (replayRecord)
GfLogInfo("Replay: Record Timestep = %f\n", 1/(float)replayRecord);
if (replayReplay)
GfLogInfo("Replay: Playback from file\n");
/* speed up database by turning of synchronous behaviour/etc */
sqlite3_exec(replayDB, "PRAGMA synchronous = OFF", NULL, NULL, NULL);
sqlite3_exec(replayDB, "PRAGMA journal_mode = OFF", NULL, NULL, NULL);
sqlite3_exec(replayDB, "PRAGMA count_changes = OFF", NULL, NULL, NULL);
#if 0 // This pragma seems to prevent re-opening the sqlite3 database
sqlite3_exec(replayDB, "PRAGMA locking_mode = EXCLUSIVE", NULL, NULL, NULL);
#endif
sqlite3_exec(replayDB, "PRAGMA default_temp_store = MEMORY", NULL, NULL, NULL);
//replayBlobs = (sqlite3_stmt *) calloc(nCars, sizeof(void *)); //sqlite3_stmt));
replayTimestamp = -5;
ghostcarActive = 0;
}
#endif
}
ReInfo->s->_ncars = nCars;
FREEZ(ReInfo->s->cars);
ReInfo->s->cars = (tCarElt **)calloc(nCars, sizeof(tCarElt *));
for (i = 0; i < nCars; i++)
{
ReInfo->s->cars[i] = &(ReInfo->carList[i]);
#ifdef THIRD_PARTY_SQLITE3
//open a table for each car
if (replayDB) {
char command[200];
int result;
if (replayRecord) {
sprintf(command, "DROP TABLE IF EXISTS car%d", i);
result = sqlite3_exec(replayDB, command, 0, 0, 0);
if (result) GfLogInfo("Replay: Unable to drop table car%d: %s\n", i, sqlite3_errmsg(replayDB));
}
sprintf(command, "CREATE TABLE IF NOT EXISTS car%d (timestamp, lap, datablob BLOB)", i);
result = sqlite3_exec(replayDB, command, 0, 0, 0);
if (result) {
GfLogInfo("Replay: Unable to create table car%d: %s\n", i, sqlite3_errmsg(replayDB));
exit(0);
}
if (replayReplay) {
// Build index to allow faster read access
sprintf(command, "CREATE UNIQUE INDEX IF NOT EXISTS index%d ON car%d (timestamp)", i, i);
result = sqlite3_exec(replayDB, command, 0, 0, 0);
if (result) GfLogInfo("Replay: Unable to create index car%d: %s\n", i, sqlite3_errmsg(replayDB));
}
}
#endif
}
ReInfo->_rePitRequester = 0;
// TODO: reconsider splitting the call into one for cars, track and maybe other objects.
// I stuff for now anything into one call because collision detection works with the same
// library on all objects, so it is a bit dangerous to distribute the handling to various
// locations (because the library maintains global state like a default collision handler etc.).
RePhysicsEngine().initialize(nCars, ReInfo->track);
initStartingGrid();
initPits();
return 0;
}
/*
* Function
* initStartingGrid
*
* Description
* Place the cars on the starting grid
*
* Parameters
* Race Information structure initialized
*
* Return
* none
*/
static void
initStartingGrid(void)
{
char path[64];
int i;
tTrackSeg *curseg;
int rows;
tdble a, b;
//tdble wi2; // Never used.
tdble d1, d2,d3;
tdble startpos, tr, ts;
tdble speedInit;
tdble heightInit;
tCarElt *car;
const char *pole;
void *trHdle = ReInfo->track->params;
void *params = ReInfo->params;
snprintf(path, sizeof(path), "%s/%s", ReInfo->_reRaceName, RM_SECT_STARTINGGRID);
/* Search for the first turn for find the pole side */
curseg = ReInfo->track->seg->next;
while (curseg->type == TR_STR) {
/* skip the straight segments */
curseg = curseg->next;
}
/* Set the pole for the inside of the first turn */
if (curseg->type == TR_LFT) {
pole = GfParmGetStr(params, path, RM_ATTR_POLE, "left");
} else {
pole = GfParmGetStr(params, path, RM_ATTR_POLE, "right");
}
/* Tracks definitions can force the pole side */
pole = GfParmGetStr(trHdle, RM_SECT_STARTINGGRID, RM_ATTR_POLE, pole);
if (strcmp(pole, "left") == 0) {
a = ReInfo->track->width;
b = -a;
} else {
a = 0;
b = ReInfo->track->width;
}
//wi2 = ReInfo->track->width * 0.5f; // Never used.
rows = (int)GfParmGetNum(params, path, RM_ATTR_ROWS, (char*)NULL, 2);
rows = (int)GfParmGetNum(trHdle, RM_SECT_STARTINGGRID, RM_ATTR_ROWS, (char*)NULL, (tdble)rows);
d1 = GfParmGetNum(params, path, RM_ATTR_TOSTART, (char*)NULL, 10);
d1 = GfParmGetNum(trHdle, RM_SECT_STARTINGGRID, RM_ATTR_TOSTART, (char*)NULL, d1);
d2 = GfParmGetNum(params, path, RM_ATTR_COLDIST, (char*)NULL, 10);
d2 = GfParmGetNum(trHdle, RM_SECT_STARTINGGRID, RM_ATTR_COLDIST, (char*)NULL, d2);
d3 = GfParmGetNum(params, path, RM_ATTR_COLOFFSET, (char*)NULL, 5);
d3 = GfParmGetNum(trHdle, RM_SECT_STARTINGGRID, RM_ATTR_COLOFFSET, (char*)NULL, d3);
speedInit = GfParmGetNum(params, path, RM_ATTR_INITSPEED, (char*)NULL, 0.0);
heightInit = GfParmGetNum(params, path, RM_ATTR_INITHEIGHT, (char*)NULL, 0.3f);
heightInit = GfParmGetNum(trHdle, RM_SECT_STARTINGGRID, RM_ATTR_INITHEIGHT, (char*)NULL, heightInit);
if (rows < 1) {
rows = 1;
}
for (i = 0; i < ReInfo->s->_ncars; i++) {
car = &(ReInfo->carList[i]);
car->_speed_x = speedInit;
startpos = ReInfo->track->length - (d1 + (i / rows) * d2 + (i % rows) * d3);
tr = a + b * ((i % rows) + 1) / (rows + 1);
curseg = ReInfo->track->seg; /* last segment */
while (startpos < curseg->lgfromstart) {
curseg = curseg->prev;
}
ts = startpos - curseg->lgfromstart;
car->_trkPos.seg = curseg;
car->_trkPos.toRight = tr;
switch (curseg->type) {
case TR_STR:
car->_trkPos.toStart = ts;
RtTrackLocal2Global(&(car->_trkPos), &(car->_pos_X), &(car->_pos_Y), TR_TORIGHT);
car->_yaw = curseg->angle[TR_ZS];
break;
case TR_RGT:
car->_trkPos.toStart = ts / curseg->radius;
RtTrackLocal2Global(&(car->_trkPos), &(car->_pos_X), &(car->_pos_Y), TR_TORIGHT);
car->_yaw = curseg->angle[TR_ZS] - car->_trkPos.toStart;
break;
case TR_LFT:
car->_trkPos.toStart = ts / curseg->radius;
RtTrackLocal2Global(&(car->_trkPos), &(car->_pos_X), &(car->_pos_Y), TR_TORIGHT);
car->_yaw = curseg->angle[TR_ZS] + car->_trkPos.toStart;
break;
}
car->_pos_Z = RtTrackHeightL(&(car->_trkPos)) + heightInit;
FLOAT_NORM0_2PI(car->_yaw);
RePhysicsEngine().configureCar(car);
}
}
void ReSituationUpdater::runOneStep(double deltaTimeIncrement)
{
tRmInfo* pCurrReInfo = ReSituation::self().data();
tSituation *s = pCurrReInfo->s;
// Race messages life cycle management.
ReRaceMsgManage(pCurrReInfo);
if (NetGetNetwork())
{
// Resync clock in case computer falls behind
if (s->currentTime < 0.0)
{
s->currentTime = GfTimeClock() - NetGetNetwork()->GetRaceStartTime();
}
if (s->currentTime < -2.0)
{
std::ostringstream ossMsg;
ossMsg << "Race will start in " << -(int)s->currentTime << " seconds";
ReRaceMsgSetBig(pCurrReInfo, ossMsg.str().c_str());
}
}
//GfLogDebug("ReSituationUpdater::runOneStep: currTime=%.3f\n", s->currentTime);
if (s->currentTime >= -2.0 && s->currentTime < deltaTimeIncrement - 2.0) {
ReRaceMsgSetBig(pCurrReInfo, "Ready", 1.0);
GfLogInfo("Ready.\n");
} else if (s->currentTime >= -1.0 && s->currentTime < deltaTimeIncrement - 1.0) {
ReRaceMsgSetBig(pCurrReInfo, "Set", 1.0);
GfLogInfo("Set.\n");
} else if (s->currentTime >= 0.0 && s->currentTime < deltaTimeIncrement) {
ReRaceMsgSetBig(pCurrReInfo, "Go", 1.0);
GfLogInfo("Go.\n");
}
// Update times.
pCurrReInfo->_reCurTime += deltaTimeIncrement * pCurrReInfo->_reTimeMult; /* "Real" time */
s->currentTime += deltaTimeIncrement; /* Simulated time */
if (s->currentTime < 0) {
/* no simu yet */
pCurrReInfo->s->_raceState = RM_RACE_PRESTART;
} else if (pCurrReInfo->s->_raceState == RM_RACE_PRESTART) {
pCurrReInfo->s->_raceState = RM_RACE_RUNNING;
s->currentTime = 0.0; /* resynchronize */
pCurrReInfo->_reLastRobTime = 0.0;
}
tTrackLocalInfo *trackLocal = &ReInfo->track->local;
if (s->currentTime > 0 && trackLocal->timeofdayindex == 9) { //RM_VAL_TIME_24HR
if (s->_totTime > 0) {
// Scaled on Total Time
s->accelTime = 24 * 3600 * s->currentTime / s->_totTime;
} else {
// Scaled on Number of Laps that the lead driver has completed
if (s->cars[0]->_laps > 0 && s->cars[0]->_laps <= s->_totLaps) {
// prevent issues if lead driver crosses line the wrong way
if (pCurrReInfo->raceEngineInfo.carInfo->lapFlag)
s->accelTime = s->cars[0]->_laps - 1;
else
s->accelTime = s->cars[0]->_laps - 1 + (s->cars[0]->_distFromStartLine / pCurrReInfo->track->length);
s->accelTime = 24 * 3600 * s->accelTime / s->_totLaps;
} else
s->accelTime = 0;
}
} else
s->accelTime = s->currentTime;
GfProfStartProfile("rbDrive*");
GfSchedBeginEvent("raceupdate", "robots");
if ((s->currentTime - pCurrReInfo->_reLastRobTime) >= RCM_MAX_DT_ROBOTS) {
s->deltaTime = s->currentTime - pCurrReInfo->_reLastRobTime;
tRobotItf *robot;
for (int i = 0; i < s->_ncars; i++) {
if ((s->cars[i]->_state & RM_CAR_STATE_NO_SIMU) == 0) {
robot = s->cars[i]->robot;
robot->rbDrive(robot->index, s->cars[i], s);
}
else if (! (s->cars[i]->_state & RM_CAR_STATE_ENDRACE_CALLED ) && ( s->cars[i]->_state & RM_CAR_STATE_OUT ) == RM_CAR_STATE_OUT )
{ // No simu, look if it is out
robot = s->cars[i]->robot;
if (robot->rbEndRace)
robot->rbEndRace(robot->index, s->cars[i], s);
s->cars[i]->_state |= RM_CAR_STATE_ENDRACE_CALLED;
}
}
pCurrReInfo->_reLastRobTime = s->currentTime;
}
GfSchedEndEvent("raceupdate", "robots");
GfProfStopProfile("rbDrive*");
if (NetGetNetwork())
ReNetworkOneStep();
GfProfStartProfile("physicsEngine.update*");
GfSchedBeginEvent("raceupdate", "physics");
RePhysicsEngine().updateSituation(s, deltaTimeIncrement);
bool bestLapChanged = false;
for (int i = 0; i < s->_ncars; i++)
ReCarsManageCar(s->cars[i], bestLapChanged);
GfSchedEndEvent("raceupdate", "physics");
GfProfStopProfile("physicsEngine.update*");
ReCarsSortCars();
// Update results if a best lap changed
if (pCurrReInfo->_displayMode == RM_DISP_MODE_NONE && s->_ncars > 1 && bestLapChanged)
{
if (pCurrReInfo->s->_raceType == RM_TYPE_PRACTICE)
ReUpdatePracticeCurRes(pCurrReInfo->s->cars[0]);
else if (pCurrReInfo->s->_raceType == RM_TYPE_QUALIF)
ReUpdateQualifCurRes(pCurrReInfo->s->cars[0]);
}
}
