// Get the name of the current "race"
// (actually the current "race session", like quali.1, quali2, ... 1st race, ...).
char *
ReGetCurrentRaceName(void)
{
char path[64];
int curRaceIdx;
void *params = ReInfo->params;
void *results = ReInfo->results;
curRaceIdx = (int)GfParmGetNum(results, RE_SECT_CURRENT, RE_ATTR_CUR_RACE, NULL, 1);
snprintf(path, sizeof(path), "%s/%d", RM_SECT_RACES, curRaceIdx);
return GfParmGetStrNC(params, path, RM_ATTR_NAME, 0);
}
// Get the previous "race" (actually the previous "race session").
char *
ReGetPrevRaceName(bool bLoop)
{
char path[64];
int curRaceIdx;
void *params = ReInfo->params;
void *results = ReInfo->results;
curRaceIdx = (int)GfParmGetNum(results, RE_SECT_CURRENT, RE_ATTR_CUR_RACE, NULL, 1) - 1;
if (bLoop && curRaceIdx <= 0)
curRaceIdx = (int)GfParmGetEltNb(params, RM_SECT_RACES);
snprintf(path, sizeof(path), "%s/%d", RM_SECT_RACES, curRaceIdx);
return GfParmGetStrNC(params, path, RM_ATTR_NAME, 0);
}
/* returns: 0, when failed to parse; 1, when successfully parsed */
int
ReParseStartingOrder(const char *StartingOrder, tReGridPart **pGridList, int nCars, int &nGridList)
{
char path[128];
char *tempstr;
int curRaceIdx;
int i, nGL;
void *params = ReInfo->params;
void *results = ReInfo->results;
tReGridPart *GridList;
//input sanity check
if ((StartingOrder == NULL) || (nCars<1)){nGridList = 0; return 0;}
//find the number of parts, that is the number of '[' characters
nGL = 0;
i = 0;
while (StartingOrder[i] != '\0') {
if (StartingOrder[i] == '['){nGL++;}
i++;
}
curRaceIdx = (int)GfParmGetNum(results, RE_SECT_CURRENT, RE_ATTR_CUR_RACE, NULL, 1);
// check whether it is a name of an earlier session
if (nGL == 0) {
for ( i = 1; i < curRaceIdx; i++ ) {
snprintf(path, sizeof(path), "%s/%d", RM_SECT_RACES, i);
tempstr = GfParmGetStrNC(params, path, RM_ATTR_NAME, 0);
if (strcmp(tempstr, StartingOrder) == 0 ) {
GridList = new tReGridPart[1];
if (GridList == NULL){return 0;}
GridList[0].racename = tempstr;
GridList[0].startpos = 1;
GridList[0].endpos = nCars;
GridList[0].diffpos = 1;
nGridList = 1;
*pGridList = GridList;
return 1;
}
}
//badly formatted GridList
nGridList = 0;
*pGridList = NULL;
return 0;
}
// now try to parse it
char *tempstr2 = new char[strlen(StartingOrder)];
int stri;
int GLi = 0;
GridList = new tReGridPart[nGL];
for (i = 0; i < nGL; i++) {
//search for session name
stri = 0;
while (StartingOrder[GLi] != '[') {
tempstr2[stri] = StartingOrder[GLi];
stri++;
GLi++;
}
tempstr2[stri] = '\0';
GLi++;
GridList[i].racename = NULL;
for ( int j = 1; j < curRaceIdx; j++ ) {
snprintf(path, sizeof(path), "%s/%d", RM_SECT_RACES, j);
tempstr = GfParmGetStrNC(params, path, RM_ATTR_NAME, 0);
if (strcmp(tempstr, tempstr2) == 0 ) {
GridList[i].racename = tempstr;
break;
}
}
if (GridList[i].racename == NULL) {
// failed to find session
nGridList = 0;
delete[] GridList;
delete[] tempstr2;
*pGridList = NULL;
return 0;
}
//find indexes
stri = 0;
while (StartingOrder[GLi] != ']') {
tempstr2[stri] = StartingOrder[GLi];
stri++;
GLi++;
}
tempstr2[stri] = '\0';
GLi++;
GridList[i].startpos = GridList[i].endpos = -1;
sscanf(tempstr2, "%d:%d", &(GridList[i].startpos), &(GridList[i].endpos));
if (GridList[i].startpos <= 0) {
nGridList = 0;
delete[] GridList;
delete[] tempstr2;
*pGridList = NULL;
return 0;
} else if (GridList[i].endpos <= 0) {
GridList[i].endpos = GridList[i].startpos;
}
if (GridList[i].endpos < GridList[i].startpos)
{GridList[i].diffpos = -1;}
else {GridList[i].diffpos = 1;}
}
delete[] tempstr2;
nGridList = nGL;
*pGridList = GridList;
return 1;
}
////////////////////////////////////////////////////////////
// General entry point (new scheme)
////////////////////////////////////////////////////////////
// Module entry point (new fixed name scheme), step #1.
// Extended for use with schismatic robots
extern "C" int moduleWelcome(const tModWelcomeIn* welcomeIn,
tModWelcomeOut* welcomeOut)
{
PLogUSR = GfLogger::instance("USR");
LogUSR.debug("\n#Interface Version: %d.%d\n",
welcomeIn->itfVerMajor,welcomeIn->itfVerMinor);
// Save module name and loadDir, and determine module XML file pathname.
setRobotName(welcomeIn->name);
// Filehandle for robot's xml-file
void *robot_settings = getFileHandle();
GfOut("Robot XML-Path: %s\n\n", xml_path);
// Let's look what we have to provide here
if (robot_settings)
{
char section_buf[BUFSIZE];
const char *section = section_buf;
snprintf(section_buf, BUFSIZE, "%s/%s/%d",
ROB_SECT_ROBOTS, ROB_LIST_INDEX, 0);
// Try to get first driver from index 0
const char *driver_name = GfParmGetStrNC(robot_settings, section,
ROB_ATTR_NAME, undefined);
// Check whether index 0 is used as start index
if (strncmp(driver_name, undefined, strlen(undefined)) != 0)
{
// Teams xml file uses index 0, 1, ..., N - 1
indexOffset = 0;
}
else
{
// Teams xml file uses index 1, 2, ..., N
indexOffset = 1;
}
// Loop over all possible drivers, clear all buffers,
// save defined driver names and desc.
for (int i = 0; i < MAXNBBOTS; ++i)
{
// Clear buffers
memset(&DriverNames[i * DRIVERLEN], 0, DRIVERLEN);
memset(&DriverDescs[i * DRIVERLEN], 0, DRIVERLEN);
memset(&CarNames[i * DRIVERLEN], 0, DRIVERLEN);
snprintf(section_buf, BUFSIZE, "%s/%s/%d",
ROB_SECT_ROBOTS, ROB_LIST_INDEX, i + indexOffset);
const char *driver_name = GfParmGetStr(robot_settings, section,
ROB_ATTR_NAME, undefined);
if (strncmp(driver_name, undefined, strlen(undefined)) != 0)
{
// This driver is defined in robot's xml-file
strncpy(&DriverNames[i * DRIVERLEN], driver_name, DRIVERLEN - 1);
const char *driver_desc = GfParmGetStr(robot_settings, section,
ROB_ATTR_DESC, defaultBotDesc[i]);
strncpy(&DriverDescs[i * DRIVERLEN], driver_desc, DRIVERLEN - 1);
const char *car_name =
GfParmGetStr(robot_settings, section, ROB_ATTR_CAR, "nocar");
strncpy(&CarNames[i * DRIVERLEN], car_name, DRIVERLEN - 1);
NBBOTS = i + 1;
}
}
}
else
{
// For schismatic robots NBBOTS is unknown!
// Handle error here
NBBOTS = 0;
// But this is not considered a real failure of moduleWelcome !
}
GfOut("NBBOTS: %d (of %d)\n", NBBOTS, MAXNBBOTS);
if (strncmp(robot_name, "usr_trb1", strlen("usr_trb1")) == 0)
SetupUSR_trb1();
else if (strncmp(robot_name,"usr_sc", strlen("usr_sc")) == 0)
SetupUSR_sc();
else if (strncmp(robot_name,"usr_ls1", strlen("usr_ls1")) == 0)
SetupUSR_ls1();
else if (strncmp(robot_name,"usr_ls2", strlen("usr_ls2")) == 0)
SetupUSR_ls2();
else if (strncmp(robot_name,"usr_36GP", strlen("usr_36GP")) == 0)
SetupUSR_36GP();
else if (strncmp(robot_name,"usr_rs", strlen("usr_rs")) == 0)
SetupUSR_rs();
else if (strncmp(robot_name,"usr_lp1", strlen("usr_lp1")) == 0)
SetupUSR_lp1();
else if (strncmp(robot_name,"usr_mpa1", strlen("usr_mpa1")) == 0)
SetupUSR_mpa1();
// Set max nb of interfaces to return.
welcomeOut->maxNbItf = NBBOTS;
return 0;
}
