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();
}
/** Interactive Drivers list selection
@param vs Pointer on tRmDrvSelect structure (cast to void)
@warning The race manager params are modified but not saved.
*/
void
RmDriversSelect(void *vs)
{
tModList *list;
tModList *curmod;
char dname[256];
char *sp;
char *cardllname;
int i, index;
tDrvElt *curDrv;
int nCars, robotIdx;
void *robhdle;
struct stat st;
char *carName;
void *carhdle;
int human;
#define B_BASE 380
#define B_HT 30
ds = (tRmDrvSelect*)vs;
GF_TAILQ_INIT(&DrvList);
scrHandle = GfuiScreenCreateEx((float*)NULL, NULL, rmdsActivate, NULL, (tfuiCallback)NULL, 1);
GfuiScreenAddBgImg(scrHandle, "data/img/splash-qrdrv.png");
GfuiTitleCreate(scrHandle, "Select Drivers", sizeof("Select Drivers"));
GfuiLabelCreate(scrHandle,
"Selected",
GFUI_FONT_LARGE,
120, 400, GFUI_ALIGN_HC_VB,
0);
GfuiLabelCreate(scrHandle,
"Not Selected",
GFUI_FONT_LARGE,
496, 400, GFUI_ALIGN_HC_VB,
0);
selectedScrollList = GfuiScrollListCreate(scrHandle, GFUI_FONT_MEDIUM_C, 20, 80, GFUI_ALIGN_HL_VB,
200, 310, GFUI_SB_RIGHT, NULL, rmdsClickOnDriver);
unselectedScrollList = GfuiScrollListCreate(scrHandle, GFUI_FONT_MEDIUM_C, 396, 80, GFUI_ALIGN_HL_VB,
200, 310, GFUI_SB_RIGHT, NULL, rmdsClickOnDriver);
GfuiButtonCreate(scrHandle, "Accept", GFUI_FONT_LARGE, 210, 40, 150, GFUI_ALIGN_HC_VB, GFUI_MOUSE_UP,
NULL, rmdsSelect, NULL, (tfuiCallback)NULL, (tfuiCallback)NULL);
GfuiButtonCreate(scrHandle, "Cancel", GFUI_FONT_LARGE, 430, 40, 150, GFUI_ALIGN_HC_VB, GFUI_MOUSE_UP,
ds->prevScreen, rmdsDeactivate, NULL, (tfuiCallback)NULL, (tfuiCallback)NULL);
GfuiButtonCreate(scrHandle, "Move Up", GFUI_FONT_MEDIUM, 320, B_BASE, 100, GFUI_ALIGN_HC_VB, GFUI_MOUSE_UP,
(void*)-1, rmMove, NULL, (tfuiCallback)NULL, (tfuiCallback)NULL);
GfuiButtonCreate(scrHandle, "Move Down", GFUI_FONT_MEDIUM, 320, B_BASE - B_HT, 100, GFUI_ALIGN_HC_VB, GFUI_MOUSE_UP,
(void*)1, rmMove, NULL, (tfuiCallback)NULL, (tfuiCallback)NULL);
GfuiButtonCreate(scrHandle, "(De)Select", GFUI_FONT_MEDIUM, 320, B_BASE - 2 * B_HT, 100, GFUI_ALIGN_HC_VB, GFUI_MOUSE_UP,
(void*)0, rmSelectDeselect, NULL, (tfuiCallback)NULL, (tfuiCallback)NULL);
GfuiButtonCreate(scrHandle, "Set Focus", GFUI_FONT_MEDIUM, 320, B_BASE - 3 * B_HT, 100, GFUI_ALIGN_HC_VB, GFUI_MOUSE_UP,
NULL, rmdsSetFocus, NULL, (tfuiCallback)NULL, (tfuiCallback)NULL);
list = (tModList *)NULL;
sprintf(buf, "%sdrivers", GetLibDir ());
GfModInfoDir(CAR_IDENT, buf, 1, &list);
curmod = list;
if (curmod != NULL) {
do {
curmod = curmod->next;
for (i = 0; i < MAX_MOD_ITF; i++) {
if (curmod->modInfo[i].name) {
sp = strrchr(curmod->sopath, '/');
if (sp == NULL) {
sp = curmod->sopath;
} else {
sp++;
}
strcpy(dname, sp);
dname[strlen(dname) - strlen(DLLEXT) - 1] = 0; /* cut .so or .dll */
sprintf(buf, "%sdrivers/%s/%s.xml", GetLocalDir(), dname, dname);
robhdle = GfParmReadFile(buf, GFPARM_RMODE_STD);
if (!robhdle) {
sprintf(buf, "drivers/%s/%s.xml", dname, dname);
robhdle = GfParmReadFile(buf, GFPARM_RMODE_STD);
}
sprintf(path, "%s/%s/%d", ROB_SECT_ROBOTS, ROB_LIST_INDEX, curmod->modInfo[i].index);
carName = GfParmGetStr(robhdle, path, ROB_ATTR_CAR, "");
if (strcmp(GfParmGetStr(robhdle, path, ROB_ATTR_TYPE, ROB_VAL_ROBOT), ROB_VAL_ROBOT)) {
human = 1;
} else {
human = 0;
}
sprintf(path, "cars/%s/%s.xml", carName, carName);
if (!stat(path, &st)) {
carhdle = GfParmReadFile(path, GFPARM_RMODE_STD);
if (carhdle) {
curDrv = (tDrvElt*)calloc(1, sizeof(tDrvElt));
curDrv->index = curmod->modInfo[i].index;
curDrv->dname = strdup(dname);
curDrv->name = strdup(curmod->modInfo[i].name);
curDrv->car = carhdle;
if (human) {
curDrv->human = 1;
GF_TAILQ_INSERT_HEAD(&DrvList, curDrv, link);
} else {
curDrv->human = 0;
GF_TAILQ_INSERT_TAIL(&DrvList, curDrv, link);
}
} else {
GfOut("Driver %s not selected because car %s is not readable\n", curmod->modInfo[i].name, carName);
}
} else {
GfOut("Driver %s not selected because car %s is not present\n", curmod->modInfo[i].name, carName);
}
GfParmReleaseHandle(robhdle);
}
}
} while (curmod != list);
}
nbSelectedDrivers = 0;
nbMaxSelectedDrivers = (int)GfParmGetNum(ds->param, RM_SECT_DRIVERS, RM_ATTR_MAXNUM, NULL, 0);
nCars = GfParmGetEltNb(ds->param, RM_SECT_DRIVERS);
index = 1;
for (i = 1; i < nCars+1; i++) {
sprintf(dname, "%s/%d", RM_SECT_DRIVERS, i);
cardllname = GfParmGetStr(ds->param, dname, RM_ATTR_MODULE, "");
robotIdx = (int)GfParmGetNum(ds->param, dname, RM_ATTR_IDX, (char*)NULL, 0);
curDrv = GF_TAILQ_FIRST(&DrvList);
if (curDrv != NULL) {
do {
if ((curDrv->index == robotIdx) && (strcmp(curDrv->dname, cardllname) == 0)) {
if (nbSelectedDrivers < nbMaxSelectedDrivers) {
GfuiScrollListInsertElement(scrHandle, selectedScrollList, curDrv->name, index, (void*)curDrv);
curDrv->sel = index++;
nbSelectedDrivers++;
}
break;
}
} while ((curDrv = GF_TAILQ_NEXT(curDrv, link)) != NULL);
}
}
curDrv = GF_TAILQ_FIRST(&DrvList);
if (curDrv != NULL) {
do {
if (curDrv->sel == 0) {
GfuiScrollListInsertElement(scrHandle, unselectedScrollList, curDrv->name, 1000, (void*)curDrv);
}
} while ((curDrv = GF_TAILQ_NEXT(curDrv, link)) != NULL);
}
GfuiLabelCreate(scrHandle, "Focused:", GFUI_FONT_MEDIUM, 320, B_BASE - 5 * B_HT, GFUI_ALIGN_HC_VB, 0);
cardllname = GfParmGetStr(ds->param, RM_SECT_DRIVERS, RM_ATTR_FOCUSED, "");
robotIdx = (int)GfParmGetNum(ds->param, RM_SECT_DRIVERS, RM_ATTR_FOCUSEDIDX, (char*)NULL, 0);
curDrv = GF_TAILQ_FIRST(&DrvList);
if (curDrv != NULL) {
do {
if ((curDrv->index == robotIdx) && (strcmp(curDrv->dname, cardllname) == 0)) {
break;
}
} while ((curDrv = GF_TAILQ_NEXT(curDrv, link)) != NULL);
}
if (curDrv == NULL) {
curDrv = GF_TAILQ_FIRST(&DrvList);
}
if (curDrv == NULL) {
FocDrvLabelId = GfuiLabelCreate(scrHandle, "", GFUI_FONT_MEDIUM_C,
320, B_BASE - 5 * B_HT - GfuiFontHeight(GFUI_FONT_MEDIUM), GFUI_ALIGN_HC_VB, 256);
} else {
FocDrvLabelId = GfuiLabelCreate(scrHandle, curDrv->name, GFUI_FONT_MEDIUM_C,
320, B_BASE - 5 * B_HT - GfuiFontHeight(GFUI_FONT_MEDIUM), GFUI_ALIGN_HC_VB, 256);
}
/* Picked Driver Info */
GfuiLabelCreate(scrHandle, "Driver:", GFUI_FONT_MEDIUM, 320, B_BASE - 7 * B_HT, GFUI_ALIGN_HC_VB, 0);
PickDrvNameLabelId = GfuiLabelCreateEx(scrHandle, "", aColor, GFUI_FONT_MEDIUM_C,
320, B_BASE - 7 * B_HT - GfuiFontHeight(GFUI_FONT_MEDIUM), GFUI_ALIGN_HC_VB, 256);
GfuiLabelCreate(scrHandle, "Car:", GFUI_FONT_MEDIUM, 320, B_BASE - 8 * B_HT, GFUI_ALIGN_HC_VB, 0);
PickDrvCarLabelId = GfuiLabelCreateEx(scrHandle, "", aColor, GFUI_FONT_MEDIUM_C,
320, B_BASE - 8 * B_HT - GfuiFontHeight(GFUI_FONT_MEDIUM), GFUI_ALIGN_HC_VB, 256);
GfuiLabelCreate(scrHandle, "Category:", GFUI_FONT_MEDIUM, 320, B_BASE - 9 * B_HT, GFUI_ALIGN_HC_VB, 0);
PickDrvCategoryLabelId = GfuiLabelCreateEx(scrHandle, "", aColor, GFUI_FONT_MEDIUM_C,
320, B_BASE - 9 * B_HT - GfuiFontHeight(GFUI_FONT_MEDIUM), GFUI_ALIGN_HC_VB, 256);
GfuiMenuDefaultKeysAdd(scrHandle);
rmdsAddKeys();
GfuiScreenActivate(scrHandle);
}
