ci_pan_tilt_camera_actuator.cpp
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1 
7 #include "ci_pan_tilt_camera_actuator.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 #ifdef ARGOS_WITH_LUA
19  /*
20  * The stack must have one value:
21  * 1. the pan (in radians)
22  */
23  int LuaSetPan(lua_State* pt_lua_state) {
24  /* Check parameters */
25  if(lua_gettop(pt_lua_state) != 1) {
26  return luaL_error(pt_lua_state, "robot.pan_tilt_camera.set_pan() expects 1 argument");
27  }
28  luaL_checktype(pt_lua_state, 1, LUA_TNUMBER);
29  /* Perform action */
30  CLuaUtility::GetDeviceInstance<CCI_PanTiltCameraActuator>(pt_lua_state, "pan_tilt_camera")->
31  SetPan(CRadians(lua_tonumber(pt_lua_state, 1)));
32  return 0;
33  }
34 #endif
35 
36  /****************************************/
37  /****************************************/
38 
39 #ifdef ARGOS_WITH_LUA
40  /*
41  * The stack must have one value:
42  * 1. the tilt (in radians)
43  */
44  int LuaSetTilt(lua_State* pt_lua_state) {
45  /* Check parameters */
46  if(lua_gettop(pt_lua_state) != 1) {
47  return luaL_error(pt_lua_state, "robot.pan_tilt_camera.set_tilt() expects 1 argument");
48  }
49  luaL_checktype(pt_lua_state, 1, LUA_TNUMBER);
50  /* Perform action */
51  CLuaUtility::GetDeviceInstance<CCI_PanTiltCameraActuator>(pt_lua_state, "pan_tilt_camera")->
52  SetTilt(CRadians(lua_tonumber(pt_lua_state, 1)));
53  return 0;
54  }
55 #endif
56 
57  /****************************************/
58  /****************************************/
59 
60 #ifdef ARGOS_WITH_LUA
61  void CCI_PanTiltCameraActuator::CreateLuaState(lua_State* pt_lua_state) {
62  CLuaUtility::OpenRobotStateTable(pt_lua_state, "pan_tilt_camera");
63  CLuaUtility::AddToTable(pt_lua_state, "_instance", this);
64  CLuaUtility::AddToTable(pt_lua_state, "set_pan", &LuaSetPan);
65  CLuaUtility::AddToTable(pt_lua_state, "set_tilt", &LuaSetTilt);
66  CLuaUtility::CloseRobotStateTable(pt_lua_state);
67  }
68 #endif
69 
70  /****************************************/
71  /****************************************/
72 
73 }
argos
The namespace containing all the ARGoS related code.
Definition: ci_actuator.h:12
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