ci_differential_steering_sensor.cpp

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#include "ci_differential_steering_sensor.h"

#ifdef ARGOS_WITH_LUA
#include <argos3/core/wrappers/lua/lua_utility.h>
#endif

namespace argos {
   
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#ifdef ARGOS_WITH_LUA
  void CCI_DifferentialSteeringSensor::CreateLuaState(lua_State* pt_lua_state) {
    CLuaUtility::OpenRobotStateTable(pt_lua_state, "wheels");
    CLuaUtility::AddToTable(pt_lua_state, "distance_left",  m_sReading.CoveredDistanceLeftWheel );
    CLuaUtility::AddToTable(pt_lua_state, "distance_right", m_sReading.CoveredDistanceRightWheel);
    CLuaUtility::AddToTable(pt_lua_state, "velocity_left",  m_sReading.VelocityLeftWheel        );
    CLuaUtility::AddToTable(pt_lua_state, "velocity_right", m_sReading.VelocityRightWheel       );
    CLuaUtility::AddToTable(pt_lua_state, "axis_length",    m_sReading.WheelAxisLength          );
    CLuaUtility::CloseRobotStateTable(pt_lua_state);
  }
#endif

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#ifdef ARGOS_WITH_LUA
  void CCI_DifferentialSteeringSensor::ReadingsToLuaState(lua_State* pt_lua_state) {
    lua_getfield  (pt_lua_state, -1, "wheels"                        );
    lua_pushnumber(pt_lua_state, m_sReading.CoveredDistanceLeftWheel );
    lua_setfield  (pt_lua_state, -2, "distance_left"                 );
    lua_pushnumber(pt_lua_state, m_sReading.CoveredDistanceRightWheel);
    lua_setfield  (pt_lua_state, -2, "distance_right"                );
    lua_pushnumber(pt_lua_state, m_sReading.VelocityLeftWheel        );
    lua_setfield  (pt_lua_state, -2, "velocity_left"                 );
    lua_pushnumber(pt_lua_state, m_sReading.VelocityRightWheel       );
    lua_setfield  (pt_lua_state, -2, "velocity_right"                );
    lua_pop       (pt_lua_state, 1                                   );
  }
#endif


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  const CCI_DifferentialSteeringSensor::SReading& CCI_DifferentialSteeringSensor::GetReading() const {
    return m_sReading;
  }

}