ci_footbot_motor_ground_sensor.cpp
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1 
9 
10 #ifdef ARGOS_WITH_LUA
11 #include <argos3/core/wrappers/lua/lua_utility.h>
12 #endif
13 
14 namespace argos {
15 
16  /****************************************/
17  /****************************************/
18 
20  m_tReadings(4) {
21  // Set the values for the motor ground sensor offset (taken from the CAD model, in cm)
22  m_tReadings[0].Offset.Set( 6.3, 1.16);
23  m_tReadings[1].Offset.Set(-6.3, 1.16);
24  m_tReadings[2].Offset.Set(-6.3,-1.16);
25  m_tReadings[3].Offset.Set( 6.3,-1.16);
26  }
27 
28  /****************************************/
29  /****************************************/
30 
32  return m_tReadings;
33  }
34 
35  /****************************************/
36  /****************************************/
37 
38  std::ostream& operator<<(std::ostream& c_os,
39  const CCI_FootBotMotorGroundSensor::SReading& s_reading) {
40  c_os << "Value=<" << s_reading.Value
41  << ">, Offset=<" << s_reading.Offset << ">";
42  return c_os;
43  }
44 
45  /****************************************/
46  /****************************************/
47 
48  std::ostream& operator<<(std::ostream& c_os,
49  const CCI_FootBotMotorGroundSensor::TReadings& t_readings) {
50  if(! t_readings.empty()) {
51  c_os << "{ " << t_readings[0].Value << " }";
52  for(UInt32 i = 1; i < t_readings.size(); ++i) {
53  c_os << " { " << t_readings[0].Value << " }";
54  }
55  c_os << std::endl;
56  }
57  return c_os;
58  }
59 
60  /****************************************/
61  /****************************************/
62 
63 #ifdef ARGOS_WITH_LUA
64  void CCI_FootBotMotorGroundSensor::CreateLuaState(lua_State* pt_lua_state) {
65  CLuaUtility::OpenRobotStateTable(pt_lua_state, "motor_ground");
66  for(size_t i = 0; i < m_tReadings.size(); ++i) {
67  CLuaUtility::StartTable(pt_lua_state, i+1 );
68  CLuaUtility::AddToTable(pt_lua_state, "offset", m_tReadings[i].Offset);
69  CLuaUtility::AddToTable(pt_lua_state, "value", m_tReadings[i].Value );
70  CLuaUtility::EndTable (pt_lua_state );
71  }
73  }
74 #endif
75 
76  /****************************************/
77  /****************************************/
78 
79 #ifdef ARGOS_WITH_LUA
80  void CCI_FootBotMotorGroundSensor::ReadingsToLuaState(lua_State* pt_lua_state) {
81  lua_getfield(pt_lua_state, -1, "motor_ground");
82  for(size_t i = 0; i < m_tReadings.size(); ++i) {
83  lua_pushnumber(pt_lua_state, i+1 );
84  lua_gettable (pt_lua_state, -2 );
85  lua_pushnumber(pt_lua_state, m_tReadings[i].Value);
86  lua_setfield (pt_lua_state, -2, "value" );
87  lua_pop (pt_lua_state, 1 );
88  }
89  lua_pop(pt_lua_state, 1);
90  }
91 #endif
92 
93 
94  /****************************************/
95  /****************************************/
96 
97 }
static void CloseRobotStateTable(lua_State *pt_state)
Closes a table in the robot state.
static void EndTable(lua_State *pt_state)
Adds a table to the Lua stack.
static void OpenRobotStateTable(lua_State *pt_state, const std::string &str_key)
Opens a table in the robot state, creating it if it does not exist.
unsigned int UInt32
32-bit unsigned integer.
Definition: datatypes.h:97
static void StartTable(lua_State *pt_state, const std::string &str_key)
Adds a table with the given string key to the table located at the top of the stack.
static void AddToTable(lua_State *pt_state, const std::string &str_key, void *pt_data)
Adds a pointer to a chunk of data with the given string key to the table located at the top of the st...
The namespace containing all the ARGoS related code.
Definition: ci_actuator.h:12
std::ostream & operator<<(std::ostream &c_os, const CByteArray &c_byte_array)
Definition: byte_array.cpp:530