void GfDrivers::reload()
{
// Clear all.
clear();
// (Re)Load robot modules from the "drivers" installed folder.
std::string strDriversDirName(GfLibDir());
strDriversDirName += "drivers";
tModList* lstDriverModules = 0;
const int nDriverModules = GfModInfoDir(CAR_IDENT, strDriversDirName.c_str(), 1, &lstDriverModules);
if (nDriverModules <= 0 || !lstDriverModules)
{
GfLogFatal("Could not load any driver module from %s", strDriversDirName.c_str());
return;
}
// For each module found, load drivers information.
tModList *pCurModule = lstDriverModules;
do
{
pCurModule = pCurModule->next;
// Determine the module name.
std::string strModName(pCurModule->sopath);
strModName.erase(strlen(pCurModule->sopath) - strlen(DLLEXT) - 1); // Truncate file ext.
const size_t nLastSlashInd = strModName.rfind('/');
if (nLastSlashInd != std::string::npos)
strModName = strModName.substr(nLastSlashInd+1); // Remove heading folder path.
// Load the module XML descriptor file (try user settings first, and then installed one)
std::ostringstream ossRobotFileName;
ossRobotFileName << GfLocalDir() << "drivers/" << strModName
<< '/' << strModName << PARAMEXT;
void *hparmRobot =
GfParmReadFile(ossRobotFileName.str().c_str(), GFPARM_RMODE_STD | GFPARM_RMODE_REREAD);
if (!hparmRobot)
{
ossRobotFileName.str("");
ossRobotFileName << "drivers/" << strModName << '/' << strModName << PARAMEXT;
hparmRobot =
GfParmReadFile(ossRobotFileName.str().c_str(), GFPARM_RMODE_STD | GFPARM_RMODE_REREAD);
}
if (!hparmRobot)
{
// Do not waste log with drivers that do not exists or do not have to exist!
if (strncmp("dandroid",strModName.c_str(),8) == 0)
continue;
else if (strncmp("usr",strModName.c_str(),3) == 0)
continue;
else if (strncmp("replay",strModName.c_str(),6) == 0)
continue;
GfLogError("No usable '%s' driver (%s.xml not found or not readable)\n",
strModName.c_str(), strModName.c_str());
continue;
}
// For each driver (= interface) "in" the module
for (int nItfInd = 0; nItfInd < pCurModule->modInfoSize; nItfInd++)
{
// Ignore undefined drivers or showing an empty name
if (!pCurModule->modInfo[nItfInd].name || pCurModule->modInfo[nItfInd].name[0] == '\0')
{
GfLogInfo("Ignoring '%s' driver #%d (not defined or empty name)\n",
strModName.c_str(), nItfInd);
continue;
}
// Create the driver and load info from the XML file.
GfDriver* pDriver = new GfDriver(strModName, pCurModule->modInfo[nItfInd].index,
pCurModule->modInfo[nItfInd].name, hparmRobot);
// For human drivers, if the car was not found, select the 1st possible one.
if (!pDriver->getCar() && pDriver->isHuman())
{
GfCar* pSubstCar = GfCars::self()->getCarsInCategory()[0]; // Should never fail.
if (pSubstCar)
{
std::ostringstream ossDrvSecPath;
ossDrvSecPath << ROB_SECT_ROBOTS << '/' << ROB_LIST_INDEX << '/'
<< pCurModule->modInfo[nItfInd].index;
const char* pszCarId =
GfParmGetStr(hparmRobot, ossDrvSecPath.str().c_str(), ROB_ATTR_CAR, "");
GfLogWarning("Changing '%s' driver '%s' (#%d) 's car to %s (default one '%s' not available)\n",
strModName.c_str(), pCurModule->modInfo[nItfInd].name,
pCurModule->modInfo[nItfInd].index, pSubstCar->getId().c_str(),
pszCarId);
pDriver->setCar(pSubstCar);
}
}
// Keep the driver only if he drives an existing car.
if (pDriver->getCar())
{
// Update the GfDrivers singleton.
_pPrivate->vecDrivers.push_back(pDriver);
const std::pair<std::string, int> driverKey(pDriver->getModuleName(),
pDriver->getInterfaceIndex());
_pPrivate->mapDriversByKey[driverKey] = pDriver;
if (std::find(_pPrivate->vecTypes.begin(), _pPrivate->vecTypes.end(),
pDriver->getType()) == _pPrivate->vecTypes.end())
_pPrivate->vecTypes.push_back(pDriver->getType());
if (std::find(_pPrivate->vecCarCategoryIds.begin(), _pPrivate->vecCarCategoryIds.end(),
pDriver->getCar()->getCategoryId()) == _pPrivate->vecCarCategoryIds.end())
_pPrivate->vecCarCategoryIds.push_back(pDriver->getCar()->getCategoryId());
}
else
{
delete pDriver;
std::ostringstream ossDrvSecPath;
ossDrvSecPath << ROB_SECT_ROBOTS << '/' << ROB_LIST_INDEX << '/'
<< pCurModule->modInfo[nItfInd].index;
const char* pszCarId =
GfParmGetStr(hparmRobot, ossDrvSecPath.str().c_str(), ROB_ATTR_CAR, "");
GfLogInfo("Ignoring '%s' driver '%s' (#%d) (not defined or default car '%s' not available)\n",
strModName.c_str(), pCurModule->modInfo[nItfInd].name,
pCurModule->modInfo[nItfInd].index, pszCarId);
}
}
// Close driver module descriptor file if open
GfParmReleaseHandle(hparmRobot);
} while (pCurModule != lstDriverModules);
// Free the module list.
GfModFreeInfoList(&lstDriverModules);
// Sort the car category ids and driver types vectors.
std::sort(_pPrivate->vecCarCategoryIds.begin(), _pPrivate->vecCarCategoryIds.end());
std::sort(_pPrivate->vecTypes.begin(), _pPrivate->vecTypes.end());
// Trace what we got.
print();
}
void CarSettingsMenu::onAccept(void *p)
{
GfCar *pCar = GfCars::self()->getCarWithName(m_strCar);
NetGetNetwork()->SetCarInfo(pCar->getId().c_str());
GfuiScreenActivate(pPrevMenu);
}
