ci_footbot_light_sensor.cpp
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1 
7 #include "ci_footbot_light_sensor.h"
8 
9 #ifdef ARGOS_WITH_LUA
10 #include <argos3/core/wrappers/lua/lua_utility.h>
11 #endif
12 
13 namespace argos {
14 
15  /****************************************/
16  /****************************************/
17 
18  static CRadians SPACING = CRadians(ARGOS_PI / 12.0f);
19  static CRadians START_ANGLE = SPACING * 0.5f;
20 
21  /****************************************/
22  /****************************************/
23 
24  CCI_FootBotLightSensor::CCI_FootBotLightSensor() :
25  m_tReadings(24) {
26  for(size_t i = 0; i < 24; ++i) {
27  m_tReadings[i].Angle = START_ANGLE + i * SPACING;
28  m_tReadings[i].Angle.SignedNormalize();
29  }
30  }
31 
32  /****************************************/
33  /****************************************/
34 
35  const CCI_FootBotLightSensor::TReadings& CCI_FootBotLightSensor::GetReadings() const {
36  return m_tReadings;
37  }
38 
39  /****************************************/
40  /****************************************/
41 
42 #ifdef ARGOS_WITH_LUA
43  void CCI_FootBotLightSensor::CreateLuaState(lua_State* pt_lua_state) {
44  CLuaUtility::OpenRobotStateTable(pt_lua_state, "light");
45  for(size_t i = 0; i < GetReadings().size(); ++i) {
46  CLuaUtility::StartTable(pt_lua_state, i+1 );
47  CLuaUtility::AddToTable(pt_lua_state, "angle", m_tReadings[i].Angle);
48  CLuaUtility::AddToTable(pt_lua_state, "value", m_tReadings[i].Value);
49  CLuaUtility::EndTable (pt_lua_state );
50  }
51  CLuaUtility::CloseRobotStateTable(pt_lua_state);
52  }
53 #endif
54 
55  /****************************************/
56  /****************************************/
57 
58 #ifdef ARGOS_WITH_LUA
59  void CCI_FootBotLightSensor::ReadingsToLuaState(lua_State* pt_lua_state) {
60  lua_getfield(pt_lua_state, -1, "light");
61  for(size_t i = 0; i < GetReadings().size(); ++i) {
62  lua_pushnumber(pt_lua_state, i+1 );
63  lua_gettable (pt_lua_state, -2 );
64  lua_pushnumber(pt_lua_state, m_tReadings[i].Value);
65  lua_setfield (pt_lua_state, -2, "value" );
66  lua_pop(pt_lua_state, 1);
67  }
68  lua_pop(pt_lua_state, 1);
69  }
70 #endif
71 
72 
73  /****************************************/
74  /****************************************/
75 
76  std::ostream& operator<<(std::ostream& c_os,
77  const CCI_FootBotLightSensor::SReading& s_reading) {
78  c_os << "Value=<" << s_reading.Value
79  << ">, Angle=<" << s_reading.Angle << ">";
80  return c_os;
81  }
82 
83  /****************************************/
84  /****************************************/
85 
86  std::ostream& operator<<(std::ostream& c_os,
87  const CCI_FootBotLightSensor::TReadings& t_readings) {
88  if(! t_readings.empty()) {
89  c_os << "{ " << t_readings[0].Value << " }";
90  for(UInt32 i = 1; i < t_readings.size(); ++i) {
91  c_os << " { " << t_readings[0].Value << " }";
92  }
93  c_os << std::endl;
94  }
95  return c_os;
96  }
97 
98  /****************************************/
99  /****************************************/
100 
101 }
UInt32
unsigned int UInt32
32-bit unsigned integer.
Definition: datatypes.h:97
ARGOS_PI
#define ARGOS_PI
To be used when initializing static variables.
Definition: angles.h:32
argos
The namespace containing all the ARGoS related code.
Definition: ci_actuator.h:12
argos::operator<<
std::ostream & operator<<(std::ostream &c_os, const CByteArray &c_byte_array)
Definition: byte_array.cpp:530
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_FootBotLightSensor::GetReadings
const TReadings & GetReadings() const
Returns the readings of this sensor.
Definition: ci_footbot_light_sensor.cpp:35