ARGoS 3
A parallel, multi-engine simulator for swarm robotics
ci_footbot_distance_scanner_actuator.cpp
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1
7#include "ci_footbot_distance_scanner_actuator.h"
8
9#ifdef ARGOS_WITH_LUA
10#include <argos3/core/wrappers/lua/lua_utility.h>
11#endif
12
13namespace argos {
14
15 /****************************************/
16 /****************************************/
17
18#ifdef ARGOS_WITH_LUA
19 int LuaDistanceScannerEnable(lua_State* pt_lua_state) {
20 /* Check parameters */
21 if(lua_gettop(pt_lua_state) != 0) {
22 return luaL_error(pt_lua_state, "robot.distance_scanner.enable() expects no arguments");
23 }
24 /* Perform action */
25 CLuaUtility::GetDeviceInstance<CCI_FootBotDistanceScannerActuator>(pt_lua_state, "distance_scanner")->Enable();
26 return 0;
27 }
28
29 int LuaDistanceScannerDisable(lua_State* pt_lua_state) {
30 /* Check parameters */
31 if(lua_gettop(pt_lua_state) != 0) {
32 return luaL_error(pt_lua_state, "robot.distance_scanner.disable() expects no arguments");
33 }
34 /* Perform action */
35 CLuaUtility::GetDeviceInstance<CCI_FootBotDistanceScannerActuator>(pt_lua_state, "distance_scanner")->Disable();
36 return 0;
37 }
38
39 int LuaDistanceScannerSetAngle(lua_State* pt_lua_state) {
40 /* Check parameters */
41 if(lua_gettop(pt_lua_state) != 1) {
42 return luaL_error(pt_lua_state, "robot.distance_scanner.set_angle() expects 1 argument");
43 }
44 luaL_checktype(pt_lua_state, 1, LUA_TNUMBER);
45 /* Perform action */
46 CLuaUtility::GetDeviceInstance<CCI_FootBotDistanceScannerActuator>(pt_lua_state, "distance_scanner")->SetAngle(CRadians(lua_tonumber(pt_lua_state, 1)));
47 return 0;
48 }
49
50 int LuaDistanceScannerSetRPM(lua_State* pt_lua_state) {
51 /* Check parameters */
52 if(lua_gettop(pt_lua_state) != 1) {
53 return luaL_error(pt_lua_state, "robot.distance_scanner.set_rpm() expects 1 argument");
54 }
55 luaL_checktype(pt_lua_state, 1, LUA_TNUMBER);
56 /* Perform action */
57 CLuaUtility::GetDeviceInstance<CCI_FootBotDistanceScannerActuator>(pt_lua_state, "distance_scanner")->SetRPM(lua_tonumber(pt_lua_state, 1));
58 return 0;
59 }
60#endif
61
62 /****************************************/
63 /****************************************/
64
65#ifdef ARGOS_WITH_LUA
66 void CCI_FootBotDistanceScannerActuator::CreateLuaState(lua_State* pt_lua_state) {
67 CLuaUtility::OpenRobotStateTable (pt_lua_state, "distance_scanner" );
68 CLuaUtility::AddToTable (pt_lua_state, "_instance", this );
69 CLuaUtility::AddToTable (pt_lua_state, "enable", &LuaDistanceScannerEnable );
70 CLuaUtility::AddToTable (pt_lua_state, "disable", &LuaDistanceScannerDisable );
71 CLuaUtility::AddToTable (pt_lua_state, "set_angle", &LuaDistanceScannerSetAngle);
72 CLuaUtility::AddToTable (pt_lua_state, "set_rpm", &LuaDistanceScannerSetRPM );
73 CLuaUtility::CloseRobotStateTable(pt_lua_state );
74 }
75#endif
76
77 /****************************************/
78 /****************************************/
79
80}
argos
The namespace containing all the ARGoS related code.
Definition ci_actuator.h:12
argos::CCI_Actuator::CreateLuaState
virtual void CreateLuaState(lua_State *pt_lua_state)=0
Creates the Lua state for this actuator.
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::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::CLuaUtility::GetDeviceInstance
static T * GetDeviceInstance(lua_State *pt_state, const std::string &str_key)
Returns a pointer to the instance to the wanted device.
Definition lua_utility.h:380