ci_camera_sensor_tag_detector_algorithm.cpp
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1 
8 
9 #ifdef ARGOS_WITH_LUA
10 #include <argos3/core/wrappers/lua/lua_utility.h>
11 #endif
12 
13 
14 namespace argos {
15 
16  /****************************************/
17  /****************************************/
18 
19 #ifdef ARGOS_WITH_LUA
20  void CCI_CameraSensorTagDetectorAlgorithm::CreateLuaState(lua_State* pt_lua_state) {
21  for(size_t i = 0; i < m_vecReadings.size(); ++i) {
22  CLuaUtility::StartTable(pt_lua_state, i + 1);
23  CLuaUtility::AddToTable(pt_lua_state, "payload", m_vecReadings[i].Payload);
24  CLuaUtility::AddToTable(pt_lua_state, "center", m_vecReadings[i].Center);
25  CLuaUtility::StartTable(pt_lua_state, "corners");
26  for(size_t j = 0; j < m_vecReadings[i].Corners.size(); ++j) {
27  CLuaUtility::AddToTable(pt_lua_state, j + 1, m_vecReadings[i].Corners[j]);
28  }
29  CLuaUtility::EndTable(pt_lua_state);
30  CLuaUtility::EndTable(pt_lua_state);
31  }
32  }
33 #endif
34 
35  /****************************************/
36  /****************************************/
37 
38 #ifdef ARGOS_WITH_LUA
39  void CCI_CameraSensorTagDetectorAlgorithm::ReadingsToLuaState(lua_State* pt_lua_state) {
40  size_t unLastReadingsNum = lua_rawlen(pt_lua_state, -1);
41  for(size_t i = 0; i < m_vecReadings.size(); ++i) {
42  CLuaUtility::StartTable(pt_lua_state, i + 1);
43  CLuaUtility::AddToTable(pt_lua_state, "payload", m_vecReadings[i].Payload);
44  CLuaUtility::AddToTable(pt_lua_state, "center", m_vecReadings[i].Center);
45  CLuaUtility::StartTable(pt_lua_state, "corners");
46  for(size_t j = 0; j < m_vecReadings[i].Corners.size(); ++j) {
47  CLuaUtility::AddToTable(pt_lua_state, j + 1, m_vecReadings[i].Corners[j]);
48  }
49  CLuaUtility::EndTable(pt_lua_state);
50  CLuaUtility::EndTable(pt_lua_state);
51  }
52  if(m_vecReadings.size() < unLastReadingsNum) {
53  /* Remove extra readings from last update by setting them to nil */
54  for(size_t i = m_vecReadings.size() + 1; i <= unLastReadingsNum; ++i) {
55  lua_pushnumber(pt_lua_state, i);
56  lua_pushnil (pt_lua_state );
57  lua_settable (pt_lua_state, -3);
58  }
59  }
60  }
61 #endif
62 
63  /****************************************/
64  /****************************************/
65 
66 }
static void EndTable(lua_State *pt_state)
Adds a table to the Lua stack.
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