Implement PiEMOS protocol in runtime.

vm/lua/tenshi-runtime/src/lua/piemos.lua

@@ -0,0 +1,78 @@
+-- Licensed to Pioneers in Engineering under one
+-- or more contributor license agreements.  See the NOTICE file
+-- distributed with this work for additional information
+-- regarding copyright ownership.  Pioneers in Engineering licenses
+-- this file to you under the Apache License, Version 2.0 (the
+-- "License"); you may not use this file except in compliance
+--  with the License.  You may obtain a copy of the License at
+--
+--    http://www.apache.org/licenses/LICENSE-2.0
+--
+-- Unless required by applicable law or agreed to in writing,
+-- software distributed under the License is distributed on an
+-- "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY
+-- KIND, either express or implied.  See the License for the
+-- specific language governing permissions and limitations
+-- under the License
+
+local piemos = {}
+
+local channels = {
+    digital = {},
+    analog  = {}
+}
+
+-- Initialize all the channels.
+for i = 1, 7 do
+    channels.analog[i] = { value = 0.0 }
+end
+
+for i = 1, 8 do
+    channels.digital[i] = { value = false }
+end
+
+
+function piemos.get_axis(idx)
+    return channels.analog[idx].value
+end
+
+function piemos.get_button(idx)
+    return channels.digital[idx].value
+end
+
+function piemos.get_channel(name)
+    -- Name should be of the form PiEMOSAnalogVals-1 throught
+    -- PiEMOSAnalogVals-7 or PiEMOSDigitalVals-1 through PiEMOSDigitalVals-8.
+    local dashidx = name:find("-")
+    local array = name:sub(1, dashidx - 1)
+    local idx = tonumber(name:sub(dashidx + 1))
+
+    if array == 'PiEMOSAnalogVals' then
+        return channels.analog[idx]
+    elseif array == 'PiEMOSDigitalVals' then
+        return channels.digital[idx]
+    end
+end
+
+function piemos.__process_radio()
+
+    for i = 1, 7 do
+        local s = channels.analog[i]
+        s.value = __runtimeinternal.get_piemos_analog_val(i)
+        -- If there is a __downstream mailbox, send data to it
+        if s.__downstream then
+            s.__downstream:send({val})
+        end
+    end
+
+    for i = 1, 8 do
+        local s = channels.digital[i]
+        s.value = __runtimeinternal.get_piemos_digital_val(i)
+        -- If there is a __downstream mailbox, send data to it
+        if s.__downstream then
+            s.__downstream:send({val})
+        end
+    end
+end
+
+return piemos

vm/lua/tenshi-runtime/src/lua/sensor_actor.lua

@@ -41,4 +41,5 @@ for s,_ in pairs(changed_sensors) do
     changed_sensors[s] = nil
 end
 
+piemos.__process_radio()
 pieles.__process_radio()

vm/lua/tenshi-runtime/src/runtime_entry.c

@@ -33,6 +33,7 @@
 #include "../game.lc.h"             // NOLINT(build/include)
 #include "../get_device.lc.h"       // NOLINT(build/include)
 #include "../pieles.lc.h"           // NOLINT(build/include)
+#include "../piemos.lc.h"           // NOLINT(build/include)
 #include "../sensor_actor.lc.h"     // NOLINT(build/include)
 #include "../trap_global.lc.h"      // NOLINT(build/include)
 #include "../triggers.lc.h"         // NOLINT(build/include)
@@ -133,6 +134,12 @@ static int tenshi_open_pieles(lua_State *L) {
   return 1;
 }
 
+static int tenshi_open_piemos(lua_State *L) {
+  luaL_loadbuffer(L, piemos_lc, sizeof(piemos_lc), "piemos.lua");
+  lua_pcall(L, 0, LUA_MULTRET, 0);
+  return 1;
+}
+
 static int tenshi_open_game(lua_State *L) {
   luaL_loadbuffer(L, game_lc, sizeof(game_lc), "game.lua");
   lua_pcall(L, 0, LUA_MULTRET, 0);
@@ -191,6 +198,7 @@ static const luaL_Reg tenshi_loadedlibs_phase2[] = {
   {"__actuators", tenshi_open_actuators},
   {"triggers", tenshi_open_triggers},
   {"pieles", tenshi_open_pieles},
+  {"piemos", tenshi_open_piemos},
   {"game", tenshi_open_game},
   {"ubjson", tenshi_open_ubjson},
   {NULL, NULL}