raceinit.cpp

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/***************************************************************************

    file        : raceinit.cpp
    created     : Sat Nov 16 10:34:35 CET 2002
    copyright   : (C) 2002-2017 by Eric Espie, Bernhard Wymann                
    email       : eric.espie@torcs.org   
    version     : $Id$                                  

 ***************************************************************************/

/***************************************************************************
 *                                                                         *
 *   This program is free software; you can redistribute it and/or modify  *
 *   it under the terms of the GNU General Public License as published by  *
 *   the Free Software Foundation; either version 2 of the License, or     *
 *   (at your option) any later version.                                   *
 *                                                                         *
 ***************************************************************************/

/* Race initialization routines */

#include <stdlib.h>
#include <stdio.h>
#include <tgfclient.h>
#include <raceman.h>
#include <robot.h>
#include <racescreens.h>
#include <robottools.h>
#include <portability.h>
#include <string>
#include <map>
#include <portability.h>
#include <musicplayer/musicplayer.h>

#include "raceengine.h"
#include "racemain.h"
#include "racestate.h"
#include "racegl.h"
#include "raceresults.h"

#include "raceinit.h"

static const char *level_str[] = { ROB_VAL_ROOKIE, ROB_VAL_AMATEUR, ROB_VAL_SEMI_PRO, ROB_VAL_PRO };

static tModList *reEventModList = 0;
tModList *ReRaceModList = 0;

typedef struct 
{
    int index;
    tModList *curmod;
} tMainMod;

/* Race Engine Initialization */
void
ReInit(void)
{
    tRmMovieCapture *capture;

    ReShutdown();

    ReInfo = (tRmInfo *)calloc(1, sizeof(tRmInfo));
    ReInfo->s = (tSituation *)calloc(1, sizeof(tSituation));
    ReInfo->modList = &ReRaceModList;

    const int BUFSIZE = 1024;
    char buf[BUFSIZE];
    snprintf(buf, BUFSIZE, "%s%s", GetLocalDir(), RACE_ENG_CFG);

    ReInfo->_reParam = GfParmReadFile(buf, GFPARM_RMODE_REREAD | GFPARM_RMODE_CREAT);

    GfOut("Loading Track Loader...\n");
    const char* dllname = GfParmGetStr(ReInfo->_reParam, "Modules", "track", "");
    snprintf(buf, BUFSIZE, "%smodules/track/%s.%s", GetLibDir (), dllname, DLLEXT);
    if (GfModLoad(0, buf, &reEventModList)) return;
    reEventModList->modInfo->fctInit(reEventModList->modInfo->index, &ReInfo->_reTrackItf);

    GfOut("Loading Graphic Engine...\n");
    dllname = GfParmGetStr(ReInfo->_reParam, "Modules", "graphic", "");
    snprintf(buf, BUFSIZE, "%smodules/graphic/%s.%s", GetLibDir (), dllname, DLLEXT);
    if (GfModLoad(0, buf, &reEventModList)) return;
    reEventModList->modInfo->fctInit(reEventModList->modInfo->index, &ReInfo->_reGraphicItf);

    capture = &(ReInfo->movieCapture);
    if (strcmp(GfParmGetStr(ReInfo->_reParam, RM_SECT_MOVIE_CAPTURE, RM_ATT_CAPTURE_ENABLE, "no"), "no") == 0){
        capture->enabled = 0;
    } else {
        capture->enabled = 1;
        capture->state = 0;
        capture->deltaFrame = 1.0 / GfParmGetNum(ReInfo->_reParam, RM_SECT_MOVIE_CAPTURE, RM_ATT_CAPTURE_FPS, NULL, 1.0);
        capture->outputBase = GfParmGetStr(ReInfo->_reParam, RM_SECT_MOVIE_CAPTURE, RM_ATT_CAPTURE_OUT_DIR, "/tmp");
        capture->deltaSimu = RCM_MAX_DT_SIMU;
    }

    ReInfo->_reGameScreen = ReHookInit();
}


/* Race Engine Exit */
void ReShutdown(void)
{
    /* Free previous situation */
    if (ReInfo) {
        ReInfo->_reTrackItf.trkShutdown();

        GfModUnloadList(&reEventModList);

        if (ReInfo->results) {
            GfParmReleaseHandle(ReInfo->results);
        }
        if (ReInfo->_reParam) {
            GfParmReleaseHandle(ReInfo->_reParam);
        }
        FREEZ(ReInfo->s);
        FREEZ(ReInfo->carList);
        FREEZ(ReInfo->rules);
        FREEZ(ReInfo->_reFilename);
        FREEZ(ReInfo);
    }
}


void
ReStartNewRace(void * /* dummy */)
{
    ReInitResults();
    ReStateManage();
}


/* Launch a race manager */
static void reSelectRaceman(void *params)
{
    char *s, *e, *m;

    ReInfo->params = params;
    FREEZ(ReInfo->_reFilename);

    s = GfParmGetFileName(params);
    while ((m = strstr(s, "/")) != 0) {
        s = m + 1;
    }

    e = strstr(s, PARAMEXT);
    ReInfo->_reFilename = strndup(s, e-s+1);
    ReInfo->_reFilename[e-s] = '\0';
    ReInfo->_reName = GfParmGetStr(params, RM_SECT_HEADER, RM_ATTR_NAME, "");
    ReStateApply(RE_STATE_CONFIG);
}


void ReRunRaceOnConsole(const char* raceconfig)
{
    ReInfo = (tRmInfo *)calloc(1, sizeof(tRmInfo));
    ReInfo->s = (tSituation *)calloc(1, sizeof(tSituation));
    ReInfo->modList = &ReRaceModList;

    const int BUFSIZE = 1024;
    char buf[BUFSIZE];
    snprintf(buf, BUFSIZE, "%s%s", GetLocalDir(), RACE_ENG_CFG);

    ReInfo->_reParam = GfParmReadFile(buf, GFPARM_RMODE_REREAD | GFPARM_RMODE_CREAT);
    ReInfo->_displayMode = RM_DISP_MODE_CONSOLE;

    GfOut("Loading Track Loader...\n");
    const char* dllname = GfParmGetStr(ReInfo->_reParam, "Modules", "track", "");
    snprintf(buf, BUFSIZE, "%smodules/track/%s.%s", GetLibDir (), dllname, DLLEXT);
    if (GfModLoad(0, buf, &reEventModList)) return;
    reEventModList->modInfo->fctInit(reEventModList->modInfo->index, &ReInfo->_reTrackItf);

    ReInfo->movieCapture.enabled = 0;

    const char *s, *e, *m;

    ReInfo->params = GfParmReadFile(raceconfig, GFPARM_RMODE_STD);
    if (ReInfo->params == 0) {
        GfError("Could not open file: %s\n", raceconfig);
        exit(1);
    }

    s = GfParmGetFileName(ReInfo->params);
    while ((m = strstr(s, "/")) != 0) {
        s = m + 1;
    }

    e = strstr(s, PARAMEXT);
    ReInfo->_reFilename = strndup(s, e-s+1);
    ReInfo->_reFilename[e-s] = '\0';
    ReInfo->_reName = GfParmGetStr(ReInfo->params, RM_SECT_HEADER, RM_ATTR_NAME, "");

    ReInitResults();

    ReStateApply((void *) RE_STATE_EVENT_INIT); 
    GfParmReleaseHandle(ReInfo->params);
    ReShutdown();
}


/* Register a race manager */
static void
reRegisterRaceman(tFList *racemanCur)
{
    const int BUFSIZE = 1024;
    char buf[BUFSIZE];
    
    snprintf(buf, BUFSIZE, "%sconfig/raceman/%s", GetLocalDir(), racemanCur->name);
    racemanCur->userData = GfParmReadFile(buf, GFPARM_RMODE_STD);
    racemanCur->dispName = strndup(GfParmGetStr(racemanCur->userData, RM_SECT_HEADER, RM_ATTR_NAME, 0), 1024);
}

/* Sort race managers by priority */
static void
reSortRacemanList(tFList **racemanList)
{
    tFList *head;
    tFList *cur;
    tFList *tmp;

    head = *racemanList;
    cur = head;
    while (cur->next != head) {
        if (GfParmGetNum(cur->userData, RM_SECT_HEADER, RM_ATTR_PRIO, NULL, 10000) >
            GfParmGetNum(cur->next->userData, RM_SECT_HEADER, RM_ATTR_PRIO, NULL, 10000)) {
            /* swap cur and cur->next */
            tmp = cur->next;
            if (tmp->next != cur) {
                cur->next = tmp->next;
                tmp->next = cur;
                tmp->prev = cur->prev;
                cur->prev = tmp;
                cur->next->prev = cur;
                tmp->prev->next = tmp;
            }
            if (cur == head) {
                head = tmp;
            } else {
                cur = tmp->prev;
            }
        } else {
            cur = cur->next;
        }
    }
    *racemanList = head;
}


/* Load race managers selection menu */
void ReAddRacemanListButton(void *menuHandle)
{
    tFList *racemanList;
    tFList *racemanCur;

    racemanList = GfDirGetListFiltered("config/raceman", "xml");
    if (!racemanList) {
        GfOut("No race manager available\n");
        return;
    }

    racemanCur = racemanList;
    do {
        reRegisterRaceman(racemanCur);
        racemanCur = racemanCur->next;
    } while (racemanCur != racemanList);

    reSortRacemanList(&racemanList);

    racemanCur = racemanList;
    do {
        GfuiMenuButtonCreate(menuHandle,
                racemanCur->dispName,
                GfParmGetStr(racemanCur->userData, RM_SECT_HEADER, RM_ATTR_DESCR, ""),
                racemanCur->userData,
                reSelectRaceman);
        racemanCur = racemanCur->next;
    } while (racemanCur != racemanList);

    // The list contains at least one element, checked above.
    tFList *rl = racemanList;
    do {
        tFList *tmp = rl;
        rl = rl->next;
        // Do not free userData and dispName, is in use.
        freez(tmp->name);
        free(tmp);
    } while (rl != racemanList);
}



/*
 * Function
 *  initStartingGrid
 *
 * Description
 *  Place the cars on the starting grid
 *
 * Parameters
 *  Race Information structure initialized
 *
 * Return
 *  none
 */
static void
initStartingGrid(void)
{
    int i;
    tTrackSeg *curseg;
    int rows;
    tdble a, b; //, wi2;
    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;
    const int BUFSIZE = 1024;
    char path[BUFSIZE];

    snprintf(path, BUFSIZE, "%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 * 0.5;

    rows = (int)GfParmGetNum(params, path, RM_ATTR_ROWS, (char*)NULL, 2);
    rows = (int)GfParmGetNum(trHdle, RM_SECT_STARTINGGRID, RM_ATTR_ROWS, (char*)NULL, 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, 0.3);
    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;
        car->_commitBestLapTime = true;
        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;

        NORM0_2PI(car->_yaw);
        ReInfo->_reSimItf.config(car, ReInfo);
    }
}


static void
initPits(void)
{
    tTrackPitInfo *pits;
    int i, j;

    /*
    typedef std::map<std::string, int> tTeamsMap;
    typedef tTeamsMap::const_iterator tTeamsMapIterator;
    tTeamsMap teams;
    tTeamsMapIterator teamsIterator;

    // create a list with the teams, a pit can just be used by one team.
    for (i = 0; i < ReInfo->s->_ncars; i++) {
        tCarElt *car = &(ReInfo->carList[i]);
        teams[car->_teamname] = teams[car->_teamname] + 1; 
    }   

    for (teamsIterator = teams.begin(); teamsIterator != teams.end(); ++teamsIterator) {
        printf("----------------- %s\t%d\n", (teamsIterator->first).c_str(), teamsIterator->second); 
    }
    */

    // How many cars are sharing a pit?
    int carsPerPit = (int) GfParmGetNum(ReInfo->params, ReInfo->_reRaceName, RM_ATTR_CARSPERPIT, NULL, 1.0f);
    if (carsPerPit < 1) {
        carsPerPit = 1;
    } else if (carsPerPit > TR_PIT_MAXCARPERPIT) {
        carsPerPit = TR_PIT_MAXCARPERPIT;
    }
    GfOut("Cars per pit: %d\n", carsPerPit);

    switch (ReInfo->track->pits.type) {
        case TR_PIT_ON_TRACK_SIDE:
            pits = &(ReInfo->track->pits);
            pits->driversPitsNb = ReInfo->s->_ncars;
            pits->carsPerPit = carsPerPit;

            // Initialize pit data for every pit, necessary because of restarts
            // (track gets not reloaded, no calloc).
            for (i = 0; i < pits->nMaxPits; i++) {
                tTrackOwnPit *pit = &(pits->driversPits[i]);
                pit->freeCarIndex = 0;
                pit->pitCarIndex = TR_PIT_STATE_FREE;
                for (j = 0; j < TR_PIT_MAXCARPERPIT; j++) {
                    pit->car[j] = NULL;
                }
            }

            // Assign cars to pits. Inefficient (O(n*n)), but just at initialization, so do not care.
            // One pit can just host cars of one team (this matches with the reality) 
            for (i = 0; i < ReInfo->s->_ncars; i++) {
                // Find pit for the cars team.
                tCarElt *car = &(ReInfo->carList[i]);
                for (j = 0; j < pits->nMaxPits; j++) {
                    tTrackOwnPit *pit = &(pits->driversPits[j]);
                    // Put car in this pit if the pit is unused or used by a teammate and there is
                    // space left.
                    if (pit->freeCarIndex <= 0 ||
                        (strcmp(pit->car[0]->_teamname, car->_teamname) == 0 && pit->freeCarIndex < carsPerPit))
                    {
                        // Assign car to pit.
                        pit->car[pit->freeCarIndex] = car;
                        // If this is the first car set up more pit values, assumtion: the whole team
                        // uses the same car. If not met it does not matter much, but the car might be
                        // captured a bit too easy or too hard.
                        if (pit->freeCarIndex == 0) {
                            pit->pitCarIndex = TR_PIT_STATE_FREE;
                            pit->lmin = pit->pos.seg->lgfromstart + pit->pos.toStart - pits->len / 2.0 + car->_dimension_x / 2.0;
                            if (pit->lmin > ReInfo->track->length) {
                                pit->lmin -= ReInfo->track->length;
                            }
                            pit->lmax = pit->pos.seg->lgfromstart + pit->pos.toStart + pits->len / 2.0 - car->_dimension_x / 2.0;
                            if (pit->lmax > ReInfo->track->length) {
                                pit->lmax -= ReInfo->track->length;
                            }
                        }
                        (pit->freeCarIndex)++;
                        ReInfo->carList[i]._pit = pit;
                        // Assigned, continue with next car.
                        break;
                    }
                }
            }

            // Print out assignments.
            for (i = 0; i < pits->nMaxPits; i++) {
                tTrackOwnPit *pit = &(pits->driversPits[i]);
                for (j = 0; j < pit->freeCarIndex; j++) {
                    if (j == 0) {
                        GfOut("Pit %d, Team: %s, ", i, pit->car[j]->_teamname); 
                    }
                    GfOut("%d: %s ", j, pit->car[j]->_name);
                }
                if (j > 0) {
                    GfOut("\n");
                }
            }

            break;
        case TR_PIT_ON_SEPARATE_PATH:
            break;
        case TR_PIT_NONE:
            break;
    }
}

bool isItThisRobot(tRmInfo* reInfo, const char* path, tModInfo* modInfo)
{
    int robotIdx = (int) GfParmGetNum(reInfo->params, path, RM_ATTR_IDX, NULL, tModInfo::INVALID_INDEX);
    // Check normal TORCS case where index is given
    if (robotIdx != tModInfo::INVALID_INDEX) {
        if (modInfo->index == robotIdx) {
            return true;
        }
    }

    // Check TRB case where driver name is given
    const char* driverName = GfParmGetStr(reInfo->params, path, RM_ATTR_DRVNAME, NULL);
    if (modInfo->name != NULL && driverName != NULL && strcmp(modInfo->name, driverName) == 0) {
        // Update the index in the result list.
        const int BUFSIZE = 1024;
        char path2[BUFSIZE];
        snprintf(path2, BUFSIZE, "%s/%s", reInfo->track->name, RM_SECT_DRIVERS);
        if (GfParmListSeekFirst(reInfo->results, path2) != 0) {
            GfError("Driver list in results is empty");
        } else {
            do {
                const char* resultDriverName = GfParmGetCurStr(reInfo->results, path2, RM_ATTR_DRVNAME, "");
                if (resultDriverName != NULL && strcmp(resultDriverName, modInfo->name) == 0) {
                    GfParmSetCurNum(reInfo->results, path2, RE_ATTR_INDEX, NULL, modInfo->index);
                    break;
                }
                
            } while (GfParmListSeekNext(reInfo->results, path2) == 0);
        }
        
        return true;
    }

    return false;
}

int
ReInitCars(void)
{
    int index;
    int i, j, k;
    tRobotItf *curRobot;
    void *handle;
    tCarElt *elt;
    void *params = ReInfo->params;
    const int BUFSIZE = 1024;
    char buf[BUFSIZE], path[BUFSIZE];   

    /* Get the number of cars racing */
    int nCars = GfParmGetEltNb(params, RM_SECT_DRIVERS_RACING);
    GfOut("loading %d cars\n", nCars);

    FREEZ(ReInfo->carList);
    ReInfo->carList = (tCarElt*)calloc(nCars, sizeof(tCarElt));
    FREEZ(ReInfo->rules);
    ReInfo->rules = (tRmCarRules*)calloc(nCars, sizeof(tRmCarRules));
    index = 0;

    // Adjust skill level default if overridden
    int defaultSkillLevel = 2;
    const char* defaultSkillLevelStr = GfParmGetStr(params, RM_SECT_DRIVERS, RM_ATTR_SKILL_LEVEL_DEFAULT, ROB_VAL_SEMI_PRO);
    for(k = 0; k < (int)(sizeof(level_str)/sizeof(char*)); k++) {
        if (strcmp(level_str[k], defaultSkillLevelStr) == 0) {
            defaultSkillLevel = k;
            break;
        }
    }
    
    for (i = 1; i < nCars + 1; i++) {
        /* Get Shared library name */
        snprintf(path, BUFSIZE, "%s/%d", RM_SECT_DRIVERS_RACING, i);
        const char* cardllname = GfParmGetStr(params, path, RM_ATTR_MODULE, "");
        snprintf(path, BUFSIZE, "%sdrivers/%s/%s.%s", GetLibDir (), cardllname, cardllname, DLLEXT);

        /* load the robot shared library */
        if (GfModLoad(CAR_IDENT, path, ReInfo->modList)) {
            GfTrace("Pb with loading %s driver\n", path);
            break;
        }

        /* search for corresponding index */
        for (j = 0; j < MAX_MOD_ITF; j++) {
            tModInfo* curModInfo = &((*(ReInfo->modList))->modInfo[j]);
            snprintf(path, BUFSIZE, "%s/%d", RM_SECT_DRIVERS_RACING, i);
            if (isItThisRobot(ReInfo, path, curModInfo)) {
                /* good robot found */
                int robotIdx = curModInfo->index;
                GfOut("Driver's name: %s\n", curModInfo->name);
                /* retrieve the robot interface (function pointers) */
                curRobot = (tRobotItf*)calloc(1, sizeof(tRobotItf));
                curModInfo->fctInit(robotIdx, (void*)(curRobot));
                snprintf(buf, BUFSIZE, "%sdrivers/%s/%s.xml", GetLocalDir(), cardllname, cardllname);
                void* robhdle = GfParmReadFile(buf, GFPARM_RMODE_STD);
                if (!robhdle) {
                    snprintf(buf, BUFSIZE, "drivers/%s/%s.xml", cardllname, cardllname);
                    robhdle = GfParmReadFile(buf, GFPARM_RMODE_STD);
                }
                if (robhdle != NULL) {
                    elt = &(ReInfo->carList[index]);
                    GF_TAILQ_INIT(&(elt->_penaltyList));

                    elt->index = index;
                    elt->robot = curRobot;
                    elt->_paramsHandle = robhdle;
                    elt->_driverIndex = robotIdx;
                    strncpy(elt->_modName, cardllname, MAX_NAME_LEN - 1);
                    elt->_modName[MAX_NAME_LEN - 1] = 0;

                    snprintf(path, BUFSIZE, "%s/%s/%d", ROB_SECT_ROBOTS, ROB_LIST_INDEX, robotIdx);
                    strncpy(elt->_name, GfParmGetStr(robhdle, path, ROB_ATTR_NAME, "<none>"), MAX_NAME_LEN - 1);
                    elt->_name[MAX_NAME_LEN - 1] = 0;
                    strncpy(elt->_teamname, GfParmGetStr(robhdle, path, ROB_ATTR_TEAM, "<none>"), MAX_NAME_LEN - 1);
                    elt->_teamname[MAX_NAME_LEN - 1] = 0;
                    
                    strncpy(elt->_carName, GfParmGetStr(robhdle, path, ROB_ATTR_CAR, ""), MAX_NAME_LEN - 1);
                    elt->_carName[MAX_NAME_LEN - 1] = 0;
                    elt->_raceNumber = (int)GfParmGetNum(robhdle, path, ROB_ATTR_RACENUM, (char*)NULL, 0);
                    if (strcmp(GfParmGetStr(robhdle, path, ROB_ATTR_TYPE, ROB_VAL_ROBOT), ROB_VAL_ROBOT)) {
                        elt->_driverType = RM_DRV_HUMAN;
                        if (ReInfo->_displayMode == RM_DISP_MODE_CONSOLE) {
                            GfError("Human drivers not allowed in console race, fix race setup.\n");
                            exit(1);
                        }
                    } else {
                        elt->_driverType = RM_DRV_ROBOT;
                    }
                    elt->_skillLevel = 0;
                    const char* str = GfParmGetStr(robhdle, path, ROB_ATTR_LEVEL, level_str[defaultSkillLevel]);
                    for(k = 0; k < (int)(sizeof(level_str)/sizeof(char*)); k++) {
                        if (strcmp(level_str[k], str) == 0) {
                            elt->_skillLevel = k;
                            break;
                        }
                    }
                    elt->_startRank  = index;
                    elt->_pos        = index+1;
                    elt->_remainingLaps = ReInfo->s->_totLaps;

                    /* handle contains the drivers modifications to the car */
                    /* Read Car model specifications */
                    snprintf(buf, BUFSIZE, "cars/%s/%s.xml", elt->_carName, elt->_carName);
                    GfOut("Car Specification: %s\n", buf);
                    void* carhdle = GfParmReadFile(buf, GFPARM_RMODE_STD | GFPARM_RMODE_CREAT);
                    const char* category = GfParmGetStr(carhdle, SECT_CAR, PRM_CATEGORY, NULL);
                    snprintf(buf, BUFSIZE, "Loading Driver %-20s... Car: %s", curModInfo->name, elt->_carName);
                    RmLoadingScreenSetText(buf);
                    if (category != 0) {
                        strncpy(elt->_category, category, MAX_NAME_LEN - 1);
                        elt->_category[MAX_NAME_LEN - 1] = '\0';

                        /* Read Car Category specifications */
                        // TODO: eventually use new Rt function
                        snprintf(buf, BUFSIZE, "categories/%s.xml", category);
                        GfOut("Category Specification: %s\n", buf);
                        void* cathdle = GfParmReadFile(buf, GFPARM_RMODE_STD | GFPARM_RMODE_CREAT);
                        if (GfParmCheckHandle(cathdle, carhdle)) {
                            GfTrace("Car %s not in Category %s (driver %s) !!!\n", elt->_carName, category, elt->_name);
                            break;
                        }
                        carhdle = GfParmMergeHandles(cathdle, carhdle,
                                        GFPARM_MMODE_SRC | GFPARM_MMODE_DST | GFPARM_MMODE_RELSRC | GFPARM_MMODE_RELDST);
                                        curRobot->rbNewTrack(robotIdx, ReInfo->track, carhdle, &handle, ReInfo->s);
                        if (handle != NULL) {
                            if (GfParmCheckHandle(carhdle, handle)) {
                                GfTrace("Bad Car parameters for driver %s\n", elt->_name);
                                break;
                            }
                            handle = GfParmMergeHandles(carhdle, handle,
                                        GFPARM_MMODE_SRC | GFPARM_MMODE_DST | GFPARM_MMODE_RELSRC | GFPARM_MMODE_RELDST);
                        } else {
                            handle = carhdle;
                        }
                        elt->_carHandle = handle;
                        RtInitCarPitSetup(handle, &(elt->pitcmd.setup), false);
                    } else {
                        elt->_category[0] = '\0';
                        GfTrace("Bad Car category for driver %s\n", elt->_name);
                        break;
                    }
                    index ++;
                } else {
                    GfTrace("Pb No description file for driver %s\n", cardllname);
                }
                break;
            }
        }
    }

    nCars = index; /* real number of cars */
    if (nCars == 0) {
        GfTrace("No driver for that race...\n");
        return -1;
    } else {
        GfOut("%d drivers ready to race\n", nCars);
    }

    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]);
    }

    ReInfo->_reSimItf.init(
        nCars,
        ReInfo->track,
        ReInfo->raceRules.fuelFactor,
        ReInfo->raceRules.damageFactor,
        ReInfo->raceRules.tireFactor
    );

    initStartingGrid();

    initPits();

    return 0;
}

static void
reDumpTrack(tTrack *track, int verbose)
{
    int i;
    tTrackSeg *seg;
    const int BUFSIZE = 1024;
    char buf[BUFSIZE];
    
#ifdef DEBUG
    const char *stype[4] = { "", "RGT", "LFT", "STR" };
#endif

    RmLoadingScreenSetText("Loading Track Geometry...");
    snprintf(buf, BUFSIZE, ">>> Track Name    %s", track->name);
    RmLoadingScreenSetText(buf);
    snprintf(buf, BUFSIZE, ">>> Track Author  %s", track->author);
    RmLoadingScreenSetText(buf);
    snprintf(buf, BUFSIZE, ">>> Track Length  %.2f m", track->length);
    RmLoadingScreenSetText(buf);
    snprintf(buf, BUFSIZE, ">>> Track Width   %.2f m", track->width);
    RmLoadingScreenSetText(buf);

    GfOut("++++++++++++ Track ++++++++++++\n");
    GfOut("name     = %s\n", track->name);
    GfOut("author   = %s\n", track->author);
    GfOut("filename = %s\n", track->filename);
    GfOut("nseg     = %d\n", track->nseg);
    GfOut("version  = %d\n", track->version);
    GfOut("length   = %f\n", track->length);
    GfOut("width    = %f\n", track->width);
    GfOut("XSize    = %f\n", track->max.x);
    GfOut("YSize    = %f\n", track->max.y);
    GfOut("ZSize    = %f\n", track->max.z);
    switch (track->pits.type) {
    case TR_PIT_NONE:
    GfOut("Pits     = none\n");
    break;
    case TR_PIT_ON_TRACK_SIDE:
    GfOut("Pits     = present on track side\n");
    break;
    case TR_PIT_ON_SEPARATE_PATH:
    GfOut("Pits     = present on separate path\n");
    break;
    }
    if (verbose) {
    for (i = 0, seg = track->seg->next; i < track->nseg; i++, seg = seg->next) {
        GfOut(" segment %d -------------- \n", seg->id);
#ifdef DEBUG
        GfOut("        type    %s\n", stype[seg->type]);
#endif
        GfOut("        length  %f\n", seg->length);
        GfOut(" radius  %f\n", seg->radius);
        GfOut(" arc %f   Zs %f   Ze %f   Zcs %f\n", RAD2DEG(seg->arc),
           RAD2DEG(seg->angle[TR_ZS]),
           RAD2DEG(seg->angle[TR_ZE]),
           RAD2DEG(seg->angle[TR_CS]));
        GfOut(" Za  %f\n", RAD2DEG(seg->angle[TR_ZS]));
        GfOut(" vertices: %-8.8f %-8.8f %-8.8f ++++ ",
           seg->vertex[TR_SR].x,
           seg->vertex[TR_SR].y,
           seg->vertex[TR_SR].z);
        GfOut("%-8.8f %-8.8f %-8.8f\n",
           seg->vertex[TR_SL].x,
           seg->vertex[TR_SL].y,
           seg->vertex[TR_SL].z);
        GfOut(" vertices: %-8.8f %-8.8f %-8.8f ++++ ",
           seg->vertex[TR_ER].x,
           seg->vertex[TR_ER].y,
           seg->vertex[TR_ER].z);
        GfOut("%-8.8f %-8.8f %-8.8f\n",
           seg->vertex[TR_EL].x,
           seg->vertex[TR_EL].y,
           seg->vertex[TR_EL].z);
        GfOut(" prev    %d\n", seg->prev->id);
        GfOut(" next    %d\n", seg->next->id);
    }
    GfOut("From Last To First\n");
    GfOut("Dx = %-8.8f  Dy = %-8.8f Dz = %-8.8f\n",
           track->seg->next->vertex[TR_SR].x - track->seg->vertex[TR_ER].x,
           track->seg->next->vertex[TR_SR].y - track->seg->vertex[TR_ER].y,
           track->seg->next->vertex[TR_SR].z - track->seg->vertex[TR_ER].z);

    }
}


int
ReInitTrack(void)
{
    int curTrkIdx;
    void *params = ReInfo->params;
    void *results = ReInfo->results;
    const int BUFSIZE = 1024;
    char buf[BUFSIZE];

    
    curTrkIdx = (int)GfParmGetNum(results, RE_SECT_CURRENT, RE_ATTR_CUR_TRACK, NULL, 1);
    snprintf(buf, BUFSIZE, "%s/%d", RM_SECT_TRACKS, curTrkIdx);
    const char* trackName = GfParmGetStr(params, buf, RM_ATTR_NAME, 0);
    if (!trackName) return -1;

    const char* catName = GfParmGetStr(params, buf, RM_ATTR_CATEGORY, 0);
    if (!catName) return -1;
    
    snprintf(buf, BUFSIZE, "Loading Track %s...", trackName);
    RmLoadingScreenSetText(buf);
    snprintf(buf, BUFSIZE, "tracks/%s/%s/%s.%s", catName, trackName, trackName, TRKEXT);
    ReInfo->track = ReInfo->_reTrackItf.trkBuild(buf);
    reDumpTrack(ReInfo->track, 0);
    
    return 0;
}

void
ReRaceCleanup(void)
{
    ReInfo->_reGameScreen = ReHookInit();
    ReInfo->_reSimItf.shutdown();
    if (ReInfo->_displayMode == RM_DISP_MODE_NORMAL) {
        ReInfo->_reGraphicItf.shutdowncars();
        startMenuMusic();
    }
    ReStoreRaceResults(ReInfo->_reRaceName);
    ReRaceCleanDrivers();
}


void
ReRaceCleanDrivers(void)
{
    int i;
    tRobotItf *robot;
    int nCars;

    nCars = ReInfo->s->_ncars;
    for (i = 0; i < nCars; i++) {
        robot = ReInfo->s->cars[i]->robot;
        if (robot->rbShutdown) {
            robot->rbShutdown(robot->index);
        }
        GfParmReleaseHandle(ReInfo->s->cars[i]->_paramsHandle);
        GfParmReleaseHandle(ReInfo->s->cars[i]->_carHandle);
        free(robot);

        // Release penalties
        tCarPenalty *penalty = GF_TAILQ_FIRST(&(ReInfo->s->cars[i]->_penaltyList));
        while (penalty) {
            GF_TAILQ_REMOVE(&(ReInfo->s->cars[i]->_penaltyList), penalty, link);
            FREEZ(penalty);
            penalty = GF_TAILQ_FIRST(&(ReInfo->s->cars[i]->_penaltyList));
        }
    }

    FREEZ(ReInfo->s->cars);
    ReInfo->s->cars = 0;
    ReInfo->s->_ncars = 0;
    GfModUnloadList(&ReRaceModList);
}


const char *
ReGetCurrentRaceName(void)
{
    int curRaceIdx;
    void *params = ReInfo->params;
    void *results = ReInfo->results;
    const int BUFSIZE = 1024;
    char path[BUFSIZE];
    
    curRaceIdx = (int)GfParmGetNum(results, RE_SECT_CURRENT, RE_ATTR_CUR_RACE, NULL, 1);
    snprintf(path, BUFSIZE, "%s/%d", RM_SECT_RACES, curRaceIdx);
    return GfParmGetStr(params, path, RM_ATTR_NAME, 0);
}

const char *
ReGetPrevRaceName(void)
{
    int curRaceIdx;
    void *params = ReInfo->params;
    void *results = ReInfo->results;
    const int BUFSIZE = 1024;
    char path[BUFSIZE]; 
    
    curRaceIdx = (int)GfParmGetNum(results, RE_SECT_CURRENT, RE_ATTR_CUR_RACE, NULL, 1) - 1;
    snprintf(path, BUFSIZE, "%s/%d", RM_SECT_RACES, curRaceIdx);
    return GfParmGetStr(params, path, RM_ATTR_NAME, 0);
}