예제 #1
0
void
ReRaceCleanDrivers(void)
{
  int i;
  tRobotItf *robot;
  int nCars;
  tMemoryPool oldPool = NULL;

  nCars = ReInfo->s->_ncars;
  for (i = 0; i < nCars; i++) 
  {
    robot = ReInfo->s->cars[i]->robot;
    GfPoolMove( &ReInfo->s->cars[i]->_shutdownMemPool, &oldPool );
    if (robot->rbShutdown && !(ReInfo->_displayMode & RM_DISP_MODE_SIMU_SIMU))
    {
      robot->rbShutdown(robot->index);
    }
    GfPoolFreePool( &oldPool );
    GfParmReleaseHandle(ReInfo->s->cars[i]->_paramsHandle);
    free(robot);
    free(ReInfo->s->cars[i]->_curSplitTime);
    free(ReInfo->s->cars[i]->_bestSplitTime);
  }
  RtTeamManagerRelease();

  FREEZ(ReInfo->s->cars);
  ReInfo->s->cars = 0;
  ReInfo->s->_ncars = 0;
  GfModUnloadList(&ReRacingRobotsModList);
}
예제 #2
0
/* 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
예제 #3
0
/**
 * 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;
}