ARGoS 3
A parallel, multi-engine simulator for swarm robotics
ci_footbot_distance_scanner_sensor.cpp
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1
7#include "ci_footbot_distance_scanner_sensor.h"
8
9#ifdef ARGOS_WITH_LUA
10#include <argos3/core/wrappers/lua/lua_utility.h>
11#endif
12
13namespace argos {
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35
36
37#ifdef ARGOS_WITH_LUA
38 void CCI_FootBotDistanceScannerSensor::CreateLuaState(lua_State* pt_lua_state) {
39 CLuaUtility::OpenRobotStateTable (pt_lua_state, "distance_scanner");
40 CLuaUtility::StartTable (pt_lua_state, "short_range" );
41 CLuaUtility::EndTable (pt_lua_state );
42 CLuaUtility::StartTable (pt_lua_state, "long_range" );
43 CLuaUtility::EndTable (pt_lua_state );
44 CLuaUtility::CloseRobotStateTable(pt_lua_state );
45 }
46#endif
47
48 /****************************************/
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50
51#ifdef ARGOS_WITH_LUA
52 void CCI_FootBotDistanceScannerSensor::ReadingsToLuaState(lua_State* pt_lua_state) {
53 lua_getfield(pt_lua_state, -1, "distance_scanner");
54 CLuaUtility::StartTable(pt_lua_state, "short_range");
55 int nCounter = 1;
56 for(TReadingsMap::iterator it = m_tShortReadingsMap.begin();
57 it != m_tShortReadingsMap.end(); ++it) {
58 CLuaUtility::StartTable(pt_lua_state, nCounter);
59 CLuaUtility::AddToTable(pt_lua_state, "angle", it->first);
60 CLuaUtility::AddToTable(pt_lua_state, "distance", it->second);
61 CLuaUtility::EndTable(pt_lua_state);
62 ++nCounter;
63 }
64 CLuaUtility::EndTable(pt_lua_state);
65 CLuaUtility::StartTable(pt_lua_state, "long_range");
66 nCounter = 1;
67 for(TReadingsMap::iterator it = m_tLongReadingsMap.begin();
68 it != m_tLongReadingsMap.end(); ++it) {
69 CLuaUtility::StartTable(pt_lua_state, nCounter);
70 CLuaUtility::AddToTable(pt_lua_state, "angle", it->first);
71 CLuaUtility::AddToTable(pt_lua_state, "distance", it->second);
72 CLuaUtility::EndTable(pt_lua_state);
73 ++nCounter;
74 }
75 CLuaUtility::EndTable(pt_lua_state);
76 lua_pop(pt_lua_state, 1);
77 }
78#endif
79
80
81 /****************************************/
82 /****************************************/
83
84}
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::AddToTable
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...
Definition lua_utility.cpp:383
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_FootBotDistanceScannerSensor::GetShortReadingsMap
const TReadingsMap & GetShortReadingsMap()
Return a map of the readings of the ds, short sensor readings A map of the readings of the ds short s...
Definition ci_footbot_distance_scanner_sensor.cpp:25
argos::CCI_FootBotDistanceScannerSensor::GetLongReadingsMap
const TReadingsMap & GetLongReadingsMap()
Return a map of the readings of the ds, long sensor readings A map of the readings of the ds long sen...
Definition ci_footbot_distance_scanner_sensor.cpp:32
argos::CCI_FootBotDistanceScannerSensor::m_tLongReadingsMap
TReadingsMap m_tLongReadingsMap
Map storing the last received packets from the long distance sensors.
Definition ci_footbot_distance_scanner_sensor.h:169
argos::CCI_FootBotDistanceScannerSensor::m_tReadingsMap
TReadingsMap m_tReadingsMap
Map storing all the last received packets.
Definition ci_footbot_distance_scanner_sensor.h:163
argos::CCI_FootBotDistanceScannerSensor::m_tShortReadingsMap
TReadingsMap m_tShortReadingsMap
Map storing the last received packets from the short distance sensors.
Definition ci_footbot_distance_scanner_sensor.h:166
argos::CCI_FootBotDistanceScannerSensor::GetReadingsMap
const TReadingsMap & GetReadingsMap()
Return a map of the readings of the ds A map of the readings of the ds in the following format: angle...
Definition ci_footbot_distance_scanner_sensor.cpp:18