#include <lua_utility.h>

Public Types
enum	EARGoSTypes { TYPE_NORMAL = 0, TYPE_VECTOR2, TYPE_VECTOR3, TYPE_QUATERNION, TYPE_COLOR }

Static Public Member Functions
static bool	LoadScript (lua_State *pt_state, const std::string &str_filename)
	Loads the given Lua script. More...

static bool	CallLuaFunction (lua_State *pt_state, const std::string &str_function)
	Calls a parameter-less function in the Lua script. More...

static void	PrintGlobals (CARGoSLog &c_log, lua_State *pt_state)
	Prints the global Lua symbols on the specified log. More...

static void	PrintStack (CARGoSLog &c_log, lua_State *pt_state)
	Prints the Lua stack on the specified log. More...

static void	RegisterLoggerWrapper (lua_State *pt_state)
	Registers LOG and LOGERR in the Lua state. More...

static void	RegisterRNG (lua_State pt_state, CRandom::CRNG pc_rng)
	Registers the given random number generator in the Lua state. More...

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. More...

static void	CloseRobotStateTable (lua_State *pt_state)
	Closes a table in the robot state. More...

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. More...

static void	StartTable (lua_State *pt_state, int n_key)
	Adds a table with the given numeric key to the table located at the top of the stack. More...

static void	EndTable (lua_State *pt_state)
	Adds a table to the Lua stack. More...

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 stack. More...

static void	AddToTable (lua_State *pt_state, const std::string &str_key, lua_CFunction pt_data)
	Adds a pointer to a C function with the given string key to the table located at the top of the stack. More...

static void	AddToTable (lua_State *pt_state, const std::string &str_key, Real f_data)
	Adds a Real with the given string key to the table located at the top of the stack. More...

static void	AddToTable (lua_State *pt_state, const std::string &str_key, const std::string &str_data)
	Adds a string with the given string key to the table located at the top of the stack. More...

static void	AddToTable (lua_State *pt_state, int n_key, Real f_data)
	Adds a Real with the given numeric key to the table located at the top of the stack. More...

static void	AddToTable (lua_State *pt_state, const std::string &str_key, const CRadians &c_data)
	Adds a CRadians with the given string key to the table located at the top of the stack. More...

static void	AddToTable (lua_State *pt_state, int n_key, const CRadians &c_data)
	Adds a CRadians with the given numeric key to the table located at the top of the stack. More...

static void	AddToTable (lua_State *pt_state, const std::string &str_key, const CVector2 &c_data)
	Adds a CVector2 the given string key to the table located at the top of the stack. More...

static void	AddToTable (lua_State *pt_state, int n_key, const CVector2 &c_data)
	Adds a CVector2 the given numeric key to the table located at the top of the stack. More...

static void	AddToTable (lua_State *pt_state, const std::string &str_key, const CVector3 &c_data)
	Adds a CVector3 the given string key to the table located at the top of the stack. More...

static void	AddToTable (lua_State *pt_state, int n_key, const CVector3 &c_data)
	Adds a CVector3 the given numeric key to the table located at the top of the stack. More...

static void	AddToTable (lua_State *pt_state, const std::string &str_key, const CQuaternion &c_data)
	Adds a CQuaternion the given string key to the table located at the top of the stack. More...

static void	AddToTable (lua_State *pt_state, int n_key, const CQuaternion &c_data)
	Adds a CQuaternion the given numeric key to the table located at the top of the stack. More...

static void	AddToTable (lua_State *pt_state, const std::string &str_key, const CColor &c_data)
	Adds a CColor the given string key to the table located at the top of the stack. More...

static void	AddToTable (lua_State *pt_state, int n_key, const CColor &c_data)
	Adds a CColor the given numeric key to the table located at the top of the stack. More...

template<class T >
static T *	GetDeviceInstance (lua_State *pt_state, const std::string &str_key)
	Returns a pointer to the instance to the wanted device. More...

Detailed Description

Definition at line 31 of file lua_utility.h.

Member Enumeration Documentation

enum argos::CLuaUtility::EARGoSTypes

Enumerator
TYPE_NORMAL
TYPE_VECTOR2
TYPE_VECTOR3
TYPE_QUATERNION
TYPE_COLOR

Definition at line 35 of file lua_utility.h.

Member Function Documentation

void argos::CLuaUtility::AddToTable	(	lua_State *	pt_state,
		const std::string &	str_key,
		void *	pt_data
	)

static

Adds a pointer to a chunk of data with the given string key to the table located at the top of the stack.

At the end of the execution, the stack is in the same state as it was before this function was called.

Parameters

pt_state	The Lua state.
str_key	The string key for the parent table.
pt_data	The data to add to the table.

Definition at line 337 of file lua_utility.cpp.

void argos::CLuaUtility::AddToTable	(	lua_State *	pt_state,
		const std::string &	str_key,
		lua_CFunction	pt_data
	)

static

Adds a pointer to a C function with the given string key to the table located at the top of the stack.

At the end of the execution, the stack is in the same state as it was before this function was called.

Parameters

pt_state	The Lua state.
str_key	The string key for the parent table.
pt_data	The data to add to the table.

Definition at line 348 of file lua_utility.cpp.

void argos::CLuaUtility::AddToTable	(	lua_State *	pt_state,
		const std::string &	str_key,
		Real	f_data
	)

static

Adds a Real with the given string key to the table located at the top of the stack.

At the end of the execution, the stack is in the same state as it was before this function was called.

Parameters

pt_state	The Lua state.
str_key	The string key for the parent table.
f_data	The data to add to the table.

Definition at line 359 of file lua_utility.cpp.

void argos::CLuaUtility::AddToTable	(	lua_State *	pt_state,
		const std::string &	str_key,
		const std::string &	str_data
	)

static

Adds a string with the given string key to the table located at the top of the stack.

At the end of the execution, the stack is in the same state as it was before this function was called.

Parameters

pt_state	The Lua state.
str_key	The string key for the parent table.
str_data	The data to add to the table.

Definition at line 370 of file lua_utility.cpp.

void argos::CLuaUtility::AddToTable	(	lua_State *	pt_state,
		int	n_key,
		Real	f_data
	)

static

Adds a Real with the given numeric key to the table located at the top of the stack.

At the end of the execution, the stack is in the same state as it was before this function was called.

Parameters

pt_state	The Lua state.
n_key	The numeric key for the parent table.
f_data	The data to add to the table.

Definition at line 381 of file lua_utility.cpp.

void argos::CLuaUtility::AddToTable	(	lua_State *	pt_state,
		const std::string &	str_key,
		const CRadians &	c_data
	)

static

Adds a CRadians with the given string key to the table located at the top of the stack.

At the end of the execution, the stack is in the same state as it was before this function was called.

Parameters

pt_state	The Lua state.
str_key	The string key for the parent table.
c_data	The data to add to the table.

Definition at line 392 of file lua_utility.cpp.

void argos::CLuaUtility::AddToTable	(	lua_State *	pt_state,
		int	n_key,
		const CRadians &	c_data
	)

static

Adds a CRadians with the given numeric key to the table located at the top of the stack.

At the end of the execution, the stack is in the same state as it was before this function was called.

Parameters

pt_state	The Lua state.
n_key	The numeric key for the parent table.
c_data	The data to add to the table.

Definition at line 403 of file lua_utility.cpp.

void argos::CLuaUtility::AddToTable	(	lua_State *	pt_state,
		const std::string &	str_key,
		const CVector2 &	c_data
	)

static

Adds a CVector2 the given string key to the table located at the top of the stack.

At the end of the execution, the stack is in the same state as it was before this function was called.

Parameters

pt_state	The Lua state.
str_key	The string key for the parent table.
c_data	The data to add to the table.

See also: StartTable(); EndTable()

Definition at line 414 of file lua_utility.cpp.

void argos::CLuaUtility::AddToTable	(	lua_State *	pt_state,
		int	n_key,
		const CVector2 &	c_data
	)

static

Adds a CVector2 the given numeric key to the table located at the top of the stack.

At the end of the execution, the stack is in the same state as it was before this function was called.

Parameters

pt_state	The Lua state.
n_key	The numeric key for the parent table.
c_data	The data to add to the table.

See also: StartTable(); EndTable()

Definition at line 427 of file lua_utility.cpp.

void argos::CLuaUtility::AddToTable	(	lua_State *	pt_state,
		const std::string &	str_key,
		const CVector3 &	c_data
	)

static

Adds a CVector3 the given string key to the table located at the top of the stack.

At the end of the execution, the stack is in the same state as it was before this function was called.

Parameters

pt_state	The Lua state.
str_key	The string key for the parent table.
c_data	The data to add to the table.

See also: StartTable(); EndTable()

Definition at line 440 of file lua_utility.cpp.

void argos::CLuaUtility::AddToTable	(	lua_State *	pt_state,
		int	n_key,
		const CVector3 &	c_data
	)

static

Adds a CVector3 the given numeric key to the table located at the top of the stack.

At the end of the execution, the stack is in the same state as it was before this function was called.

Parameters

pt_state	The Lua state.
n_key	The numeric key for the parent table.
c_data	The data to add to the table.

See also: StartTable(); EndTable()

Definition at line 454 of file lua_utility.cpp.

void argos::CLuaUtility::AddToTable	(	lua_State *	pt_state,
		const std::string &	str_key,
		const CQuaternion &	c_data
	)

static

Adds a CQuaternion the given string key to the table located at the top of the stack.

At the end of the execution, the stack is in the same state as it was before this function was called.

Parameters

pt_state	The Lua state.
str_key	The string key for the parent table.
c_data	The data to add to the table.

See also: StartTable(); EndTable()

Definition at line 468 of file lua_utility.cpp.

void argos::CLuaUtility::AddToTable	(	lua_State *	pt_state,
		int	n_key,
		const CQuaternion &	c_data
	)

static

Adds a CQuaternion the given numeric key to the table located at the top of the stack.

At the end of the execution, the stack is in the same state as it was before this function was called.

Parameters

pt_state	The Lua state.
n_key	The numeric key for the parent table.
c_data	The data to add to the table.

See also: StartTable(); EndTable()

Definition at line 484 of file lua_utility.cpp.

void argos::CLuaUtility::AddToTable	(	lua_State *	pt_state,
		const std::string &	str_key,
		const CColor &	c_data
	)

static

Adds a CColor the given string key to the table located at the top of the stack.

At the end of the execution, the stack is in the same state as it was before this function was called.

Parameters

pt_state	The Lua state.
str_key	The string key for the parent table.
c_data	The data to add to the table.

See also: StartTable(); EndTable()

Definition at line 500 of file lua_utility.cpp.

void argos::CLuaUtility::AddToTable	(	lua_State *	pt_state,
		int	n_key,
		const CColor &	c_data
	)

static

Adds a CColor the given numeric key to the table located at the top of the stack.

At the end of the execution, the stack is in the same state as it was before this function was called.

Parameters

pt_state	The Lua state.
n_key	The numeric key for the parent table.
c_data	The data to add to the table.

See also: StartTable(); EndTable()

Definition at line 514 of file lua_utility.cpp.

bool argos::CLuaUtility::CallLuaFunction	(	lua_State *	pt_state,
		const std::string &	str_function
	)

static

Calls a parameter-less function in the Lua script.

Parameters

pt_state	The Lua state.
str_function	The function name.

Returns: false in case of errors, true otherwise.

Definition at line 175 of file lua_utility.cpp.

void argos::CLuaUtility::CloseRobotStateTable ( lua_State * pt_state )

static

Closes a table in the robot state.

This method expects the table itself to be at the top of the stack (-1).

Parameters

pt_state The Lua state.

See also: OpenRobotStateTable()

Definition at line 305 of file lua_utility.cpp.

void argos::CLuaUtility::EndTable ( lua_State * pt_state )

static

Adds a table to the Lua stack.

This method expects the table itself to be at the top of the stack (-1) and the table name to be a index -2.

Parameters

pt_state The Lua state.

See also: StartTable()

Definition at line 330 of file lua_utility.cpp.

template<class T >

static T* argos::CLuaUtility::GetDeviceInstance	(	lua_State *	pt_state,
		const std::string &	str_key
	)

inlinestatic

Returns a pointer to the instance to the wanted device.

The Lua state is stored in a table called robot. Each robot device is stored as a nested table. Each nested table has an _instance field which contains the pointer to the actual device. This function returns such pointer.

Parameters

pt_state	The Lua state.
str_key	The string key for the device table.

Returns: A pointer to the instance to the wanted device.

Definition at line 365 of file lua_utility.h.

bool argos::CLuaUtility::LoadScript	(	lua_State *	pt_state,
		const std::string &	str_filename
	)

static

Loads the given Lua script.

Parameters

pt_state	The Lua state.
str_filename	The script file name.

Returns: false in case of errors, true otherwise.

Definition at line 161 of file lua_utility.cpp.

void argos::CLuaUtility::OpenRobotStateTable	(	lua_State *	pt_state,
		const std::string &	str_key
	)

static

Opens a table in the robot state, creating it if it does not exist.

This method expects the "robot" table to be at -1 in the stack, and pushes the table object on the stack. To close the table call CloseRobotStateTable().

Parameters

pt_state	The Lua state.
str_key	The string key for the robot state table.

See also: CloseRobotStateTable()

Definition at line 289 of file lua_utility.cpp.

void argos::CLuaUtility::PrintGlobals	(	CARGoSLog &	c_log,
		lua_State *	pt_state
	)

static

Prints the global Lua symbols on the specified log.

Parameters

c_log	The output log.
pt_state	The Lua state.

See also: LOG; LOGERR; CARGoSLogger

Definition at line 231 of file lua_utility.cpp.

void argos::CLuaUtility::PrintStack	(	CARGoSLog &	c_log,
		lua_State *	pt_state
	)

static

Prints the Lua stack on the specified log.

Parameters

c_log	The output log.
pt_state	The Lua state.

See also: LOG; LOGERR; CARGoSLogger

Definition at line 246 of file lua_utility.cpp.

void argos::CLuaUtility::RegisterLoggerWrapper ( lua_State * pt_state )

static

Registers LOG and LOGERR in the Lua state.

After this call, in a Lua script one can use log() and logerr() to print to the ARGoS logs.

Parameters

pt_state The Lua state.

See also: LOG; LOGERR; CARGoSLogger

Definition at line 265 of file lua_utility.cpp.

void argos::CLuaUtility::RegisterRNG	(	lua_State *	pt_state,
		CRandom::CRNG *	pc_rng
	)

static

Registers the given random number generator in the Lua state.

Internally, it resets the passed RNG.

Parameters

pt_state	The Lua state.
pc_rng	The random number generator.

See also: CRandom; CRandom::CRNG; CRandom::CRNG::Reset()

Definition at line 273 of file lua_utility.cpp.

void argos::CLuaUtility::StartTable	(	lua_State *	pt_state,
		const std::string &	str_key
	)

static

Adds a table with the given string key to the table located at the top of the stack.

This method pushes the table key and the table itself on the stack. To close a table call EndTable().

Parameters

pt_state	The Lua state.
str_key	The string key for the parent table.

See also: EndTable()

Definition at line 312 of file lua_utility.cpp.

void argos::CLuaUtility::StartTable	(	lua_State *	pt_state,
		int	n_key
	)

static

Adds a table with the given numeric key to the table located at the top of the stack.

This method pushes the table key and the table itself on the stack. To close a table call EndTable().

Parameters

pt_state	The Lua state.
n_key	The numeric key for the parent table.

See also: EndTable()

Definition at line 321 of file lua_utility.cpp.

Public Types

Static Public Member Functions

Detailed Description

Member Enumeration Documentation

Member Function Documentation