lua_utility.h

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#ifndef LUA_UTILITY_H
#define LUA_UTILITY_H
 
namespace argos {
   class CRadians;
   class CVector2;
   class CVector3;
   class CQuaternion;
   class CColor;
}
 
#include <argos3/core/utility/logging/argos_log.h>
#include <argos3/core/utility/math/rng.h>
 
extern "C" {
#include <lua.h>
#include <lualib.h>
#include <lauxlib.h>
}
 
#include <string>
 
namespace argos {
 
   class CLuaUtility {
      
   public:
 
      static bool LoadScript(lua_State* pt_state,
                             const std::string& str_filename);
      
      static bool CallLuaFunction(lua_State* pt_state,
                                  const std::string& str_function);
 
      static void PrintGlobals(CARGoSLog& c_log,
                               lua_State* pt_state);
      
      static void PrintStack(CARGoSLog& c_log,
                             lua_State* pt_state);
 
      static void RegisterLoggerWrapper(lua_State* pt_state);
 
      static void RegisterRNG(lua_State* pt_state,
                              CRandom::CRNG* pc_rng);
 
      static void OpenRobotStateTable(lua_State* pt_state,
                                      const std::string& str_key);
 
      static void CloseRobotStateTable(lua_State* pt_state);
 
      static void StartTable(lua_State* pt_state,
                             const std::string& str_key);
 
      static void StartTable(lua_State* pt_state,
                             int n_key);
 
      static void EndTable(lua_State* pt_state);
 
 
      static void SetMetatable(lua_State* pt_state,
                               const std::string& str_key);
 
 
      static void AddToTable(lua_State* pt_state,
                             const std::string& str_key,
                             void* pt_data);
 
      static void AddToTable(lua_State* pt_state,
                             const std::string& str_key,
                             lua_CFunction pt_data);
 
      static void AddToTable(lua_State* pt_state,
                             const std::string& str_key,
                             const std::string& str_data);
 
      static void AddToTable(lua_State* pt_state,
                             int n_key,
                             const std::string& str_data);
 
      static void AddToTable(lua_State* pt_state,
                             const std::string& str_key,
                             Real f_data);
 
      static void AddToTable(lua_State* pt_state,
                             int n_key,
                             Real f_data);
 
      static void AddToTable(lua_State* pt_state,
                             const std::string& str_key,
                             const CRadians& c_data);
 
      static void AddToTable(lua_State* pt_state,
                             int n_key,
                             const CRadians& c_data);
 
      static void AddToTable(lua_State* pt_state,
                             const std::string& str_key,
                             const CVector2& c_data);
      
      static void AddToTable(lua_State* pt_state,
                             int n_key,
                             const CVector2& c_data);
      
      static void AddToTable(lua_State* pt_state,
                             const std::string& str_key,
                             const CVector3& c_data);
      
      static void AddToTable(lua_State* pt_state,
                             int n_key,
                             const CVector3& c_data);
      
      static void AddToTable(lua_State* pt_state,
                             const std::string& str_key,
                             const CQuaternion& c_data);
      
      static void AddToTable(lua_State* pt_state,
                             int n_key,
                             const CQuaternion& c_data);
      
      static void AddToTable(lua_State* pt_state,
                             const std::string& str_key,
                             const CColor& c_data);
      
      static void AddToTable(lua_State* pt_state,
                             int n_key,
                             const CColor& c_data);
 
      template<class T>
      static T* GetDeviceInstance(lua_State* pt_state,
                                  const std::string& str_key) {
         lua_getglobal(pt_state, "robot");
         lua_getfield(pt_state, -1, str_key.c_str());
         lua_getfield(pt_state, -1, "_instance");
         T* ptRetVal = reinterpret_cast<T*>(lua_touserdata(pt_state, -1));
         lua_pop(pt_state, 3);
         return ptRetVal;
      }
      
   private:
      
      static int LOGWrapper(lua_State* pt_state);
      
      static int LOGERRWrapper(lua_State* pt_state);
 
      static int LoggerWrapper(CARGoSLog& c_log,
                               lua_State* pt_state);
 
   };
 
}
 
#endif