ci_radios_actuator.cpp
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1 
7 #include "ci_radios_actuator.h"
8 
9 #ifdef ARGOS_WITH_LUA
10 #include <argos3/core/wrappers/lua/lua_utility.h>
11 #endif
12 
13 namespace argos {
14 
15  /****************************************/
16  /****************************************/
17 
19  return m_vecInterfaces;
20  }
21 
22  /****************************************/
23  /****************************************/
24 
25 #ifdef ARGOS_WITH_LUA
26  int LuaSendData(lua_State* pt_lua_state) {
27  /* get a reference to the actuator instance */
28  CCI_RadiosActuator::SInterface* ps_interface =
29  reinterpret_cast<CCI_RadiosActuator::SInterface*>(lua_touserdata(pt_lua_state, lua_upvalueindex(1)));
30  /* Check parameters */
31  if(lua_gettop(pt_lua_state) != 1) {
32  std::string strErrMsg = "robot.radios." + ps_interface->Id + ".tx_data() requires 1 argument";
33  return luaL_error(pt_lua_state, strErrMsg.c_str());
34  }
35  luaL_checktype(pt_lua_state, 1, LUA_TTABLE);
36  /* copy the specified data into a CByteArray */
37  CByteArray cBuffer(lua_rawlen(pt_lua_state, -1));
38  for(size_t i = 0; i < cBuffer.Size(); ++i) {
39  lua_pushnumber(pt_lua_state, i + 1);
40  lua_gettable(pt_lua_state, -2);
41  if(lua_type(pt_lua_state, -1) == LUA_TNUMBER) {
42  cBuffer[i] = static_cast<UInt8>(lua_tonumber(pt_lua_state, -1));
43  lua_pop(pt_lua_state, 1);
44  }
45  else {
46  return luaL_error(pt_lua_state, "element #%d of the table is not a number", i + 1);
47  }
48  }
49  ps_interface->Data.emplace_back(cBuffer);
50  return 0;
51  }
52 #endif
53 
54  /****************************************/
55  /****************************************/
56 
57 #ifdef ARGOS_WITH_LUA
58  void CCI_RadiosActuator::CreateLuaState(lua_State* pt_lua_state) {
59  CLuaUtility::StartTable(pt_lua_state, "radios");
60  for(SInterface& s_interface : m_vecInterfaces) {
61  CLuaUtility::StartTable(pt_lua_state, s_interface.Id);
62  /* push a pointer to each actuator instance onto the lua stack */
63  lua_pushstring(pt_lua_state, "tx_data");
64  lua_pushlightuserdata(pt_lua_state, &s_interface);
65  lua_pushcclosure(pt_lua_state, &LuaSendData, 1);
66  lua_settable(pt_lua_state, -3);
67  CLuaUtility::EndTable(pt_lua_state);
68  }
69  CLuaUtility::EndTable(pt_lua_state);
70  }
71 #endif
72 
73 
74 }
unsigned char UInt8
8-bit unsigned integer.
Definition: datatypes.h:60
static void EndTable(lua_State *pt_state)
Adds a table to the Lua stack.
SInterface::TVector & GetInterfaces()
Returns a reference to the radio interfaces.
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.
SInterface::TVector m_vecInterfaces
The namespace containing all the ARGoS related code.
Definition: ci_actuator.h:12