ARGoS 3
A parallel, multi-engine simulator for swarm robotics
ci_camera_sensor.cpp
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1
7#include <algorithm>
8
9#include "ci_camera_sensor.h"
10
11#ifdef ARGOS_WITH_LUA
12#include <argos3/core/wrappers/lua/lua_utility.h>
13#endif
14
15namespace argos {
16
17 /****************************************/
18 /****************************************/
19
23
24 /****************************************/
25 /****************************************/
26
27#ifdef ARGOS_WITH_LUA
28 void CCI_CameraSensor::CreateLuaState(lua_State* pt_lua_state) {
29 CLuaUtility::OpenRobotStateTable(pt_lua_state, "cameras");
30 for(SInterface& s_interface : m_vecInterfaces) {
31 CLuaUtility::StartTable(pt_lua_state, s_interface.Id);
32 for(CCI_CameraSensorAlgorithm* pc_algorithm : s_interface.Algorithms) {
33 CLuaUtility::StartTable(pt_lua_state, pc_algorithm->GetId());
34 pc_algorithm->CreateLuaState(pt_lua_state);
35 CLuaUtility::EndTable(pt_lua_state);
36 }
37 CLuaUtility::EndTable(pt_lua_state);
38 }
39 CLuaUtility::CloseRobotStateTable(pt_lua_state);
40 }
41#endif
42
43 /****************************************/
44 /****************************************/
45
46#ifdef ARGOS_WITH_LUA
47 void CCI_CameraSensor::ReadingsToLuaState(lua_State* pt_lua_state) {
48 CLuaUtility::OpenRobotStateTable(pt_lua_state, "cameras");
49 for(SInterface& s_interface : m_vecInterfaces) {
50 CLuaUtility::StartTable(pt_lua_state, s_interface.Id);
51 for(CCI_CameraSensorAlgorithm* pc_algorithm : s_interface.Algorithms) {
52 CLuaUtility::StartTable(pt_lua_state, pc_algorithm->GetId());
53 pc_algorithm->ReadingsToLuaState(pt_lua_state);
54 CLuaUtility::EndTable(pt_lua_state);
55 }
56 CLuaUtility::EndTable(pt_lua_state);
57 }
58 CLuaUtility::CloseRobotStateTable(pt_lua_state);
59 }
60#endif
61
62 /****************************************/
63 /****************************************/
64
65}
argos
The namespace containing all the ARGoS related code.
Definition ci_actuator.h:12
argos::CLuaUtility::EndTable
static void EndTable(lua_State *pt_state)
Adds a table to the Lua stack.
Definition lua_utility.cpp:367
argos::CLuaUtility::StartTable
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.
Definition lua_utility.cpp:349
argos::CLuaUtility::OpenRobotStateTable
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.
Definition lua_utility.cpp:326
argos::CLuaUtility::CloseRobotStateTable
static void CloseRobotStateTable(lua_State *pt_state)
Closes a table in the robot state.
Definition lua_utility.cpp:342
argos::CCI_CameraSensor::GetInterfaces
const SInterface::TVector & GetInterfaces() const
Returns a const reference to the camera interfaces.
Definition ci_camera_sensor.cpp:20
argos::CCI_CameraSensor::m_vecInterfaces
SInterface::TVector m_vecInterfaces
Definition ci_camera_sensor.h:61
argos::CCI_CameraSensor::SInterface::TVector
std::vector< SInterface > TVector
Definition ci_camera_sensor.h:30