lua_controller.h

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#include <argos3/core/control_interface/ci_controller.h>
#include <argos3/core/utility/math/rng.h>
 
extern "C" {
#include <lua.h>
}
 
namespace argos {
 
   class CLuaController : public CCI_Controller {
 
   public:
 
      CLuaController();
 
      virtual ~CLuaController();
 
      virtual void Init(TConfigurationNode& t_tree);
 
      virtual void ControlStep();
 
      virtual void Reset();
 
      virtual void Destroy();
 
      inline lua_State* GetLuaState() {
         return m_ptLuaState;
      }
 
      virtual void SetLuaScript(const std::string& str_script,
                                TConfigurationNode& t_tree);
 
      virtual void SetLuaScript(const std::string& str_script);
 
      virtual void CreateLuaState();
 
      virtual void SensorReadingsToLuaState();
 
      virtual void ParametersToLuaState(TConfigurationNode& t_tree);
 
      inline bool IsOK() const {
         return m_bIsOK;
      }
 
      std::string GetErrorMessage();
 
   private:
 
      lua_State* m_ptLuaState;
      std::string m_strScriptFileName;
      bool m_bScriptActive;
      bool m_bIsOK;
      CRandom::CRNG* m_pcRNG;
 
   };
 
}