ci_range_and_bearing_sensor.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 namespace argos {
14 
15  /****************************************/
16  /****************************************/
17 
19  return m_tReadings;
20  }
21 
22  /****************************************/
23  /****************************************/
24 
25 #ifdef ARGOS_WITH_LUA
26  void CCI_RangeAndBearingSensor::CreateLuaState(lua_State* pt_lua_state) {
27  CLuaUtility::OpenRobotStateTable(pt_lua_state, "range_and_bearing");
28  for(size_t i = 0; i < m_tReadings.size(); ++i) {
29  CLuaUtility::StartTable(pt_lua_state, i+1);
30  CLuaUtility::AddToTable(pt_lua_state, "range", m_tReadings[i].Range);
31  CLuaUtility::AddToTable(pt_lua_state, "horizontal_bearing", m_tReadings[i].HorizontalBearing);
32  CLuaUtility::AddToTable(pt_lua_state, "vertical_bearing", m_tReadings[i].VerticalBearing);
33  CLuaUtility::StartTable(pt_lua_state, "data");
34  const CByteArray& cData = m_tReadings[i].Data;
35  for(size_t j = 0; j < cData.Size(); ++j) {
36  CLuaUtility::AddToTable(pt_lua_state, j+1, cData[j]);
37  }
38  CLuaUtility::EndTable(pt_lua_state);
39  CLuaUtility::EndTable(pt_lua_state);
40  }
42  }
43 #endif
44 
45  /****************************************/
46  /****************************************/
47 
48 #ifdef ARGOS_WITH_LUA
49  void CCI_RangeAndBearingSensor::ReadingsToLuaState(lua_State* pt_lua_state) {
50  lua_getfield(pt_lua_state, -1, "range_and_bearing");
51  /* Save the number of elements in the RAB table */
52  size_t unLastMsgNum = lua_rawlen(pt_lua_state, -1);
53  /* Overwrite the table with the new messages */
54  for(size_t i = 0; i < m_tReadings.size(); ++i) {
55  CLuaUtility::StartTable(pt_lua_state, i+1);
56  CLuaUtility::AddToTable(pt_lua_state, "range", m_tReadings[i].Range);
57  CLuaUtility::AddToTable(pt_lua_state, "horizontal_bearing", m_tReadings[i].HorizontalBearing);
58  CLuaUtility::AddToTable(pt_lua_state, "vertical_bearing", m_tReadings[i].VerticalBearing);
59  CLuaUtility::StartTable(pt_lua_state, "data");
60  const CByteArray& cData = m_tReadings[i].Data;
61  for(size_t j = 0; j < cData.Size(); ++j) {
62  CLuaUtility::AddToTable(pt_lua_state, j+1, cData[j]);
63  }
64  CLuaUtility::EndTable(pt_lua_state);
65  CLuaUtility::EndTable(pt_lua_state);
66  }
67  /* Are the new messages less than the old ones? */
68  if(m_tReadings.size() < unLastMsgNum) {
69  /* Yes, set to nil all the extra entries */
70  for(size_t i = m_tReadings.size()+1; i <= unLastMsgNum; ++i) {
71  lua_pushnumber(pt_lua_state, i);
72  lua_pushnil (pt_lua_state );
73  lua_settable (pt_lua_state, -3);
74  }
75  }
76  lua_pop(pt_lua_state, 1);
77  }
78 #endif
79 
80  /****************************************/
81  /****************************************/
82 
84  Range(0.0f) {}
85 
86  /****************************************/
87  /****************************************/
88 
89 }
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.
size_t Size() const
Returns the current size of the byte array.
Definition: byte_array.h:66
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
Byte array utility class.
Definition: byte_array.h:28