[ALChestButton] add chest button topic (pressed or not)

share/boot_config.json

@@ -86,6 +86,10 @@
     {
       "enabled"       : true
     },
+    "chest_button":
+    {
+      "enabled"       : true
+    },
     "odom":
     {
       "enabled"       : true,

src/converters/touch.cpp

@@ -65,6 +65,7 @@ void TouchEventConverter<T>::callAll(const std::vector<message_actions::MessageA
 template class TouchEventConverter<naoqi_bridge_msgs::Bumper>;
 template class TouchEventConverter<naoqi_bridge_msgs::HandTouch>;
 template class TouchEventConverter<naoqi_bridge_msgs::HeadTouch>;
+template class TouchEventConverter<naoqi_bridge_msgs::ChestButtonPressed>;
 }
 
 }

src/converters/touch.hpp

@@ -30,6 +30,7 @@
 #include <naoqi_bridge_msgs/Bumper.h>
 #include <naoqi_bridge_msgs/HandTouch.h>
 #include <naoqi_bridge_msgs/HeadTouch.h>
+#include <naoqi_bridge_msgs/ChestButtonPressed.h>
 
 /*
 * ALDEBARAN includes

src/event/touch.cpp

@@ -242,9 +242,21 @@ void TouchEventRegister<T>::touchCallbackMessage(std::string &key, bool &state,
   }
 }
 
+template<class T>
+void TouchEventRegister<T>::touchCallbackMessage(std::string &key, bool &state, naoqi_bridge_msgs::ChestButtonPressed &msg)
+{
+  for(std::vector<std::string>::const_iterator it = keys_.begin(); it != keys_.end(); ++it)
+  {
+    if ( key == it->c_str() ) {
+      msg.state = state?(naoqi_bridge_msgs::ChestButtonPressed::statePressed):(naoqi_bridge_msgs::ChestButtonPressed::stateReleased);
+    }
+  }
+}
+
 // http://stackoverflow.com/questions/8752837/undefined-reference-to-template-class-constructor
 template class TouchEventRegister<naoqi_bridge_msgs::Bumper>;
 template class TouchEventRegister<naoqi_bridge_msgs::HandTouch>;
 template class TouchEventRegister<naoqi_bridge_msgs::HeadTouch>;
+template class TouchEventRegister<naoqi_bridge_msgs::ChestButtonPressed>;
 
 }//namespace

src/event/touch.hpp

@@ -31,6 +31,7 @@
 #include <naoqi_bridge_msgs/Bumper.h>
 #include <naoqi_bridge_msgs/HandTouch.h>
 #include <naoqi_bridge_msgs/HeadTouch.h>
+#include <naoqi_bridge_msgs/ChestButtonPressed.h>
 
 #include <naoqi_driver/tools.hpp>
 #include <naoqi_driver/recorder/globalrecorder.hpp>
@@ -82,6 +83,7 @@ class TouchEventRegister: public boost::enable_shared_from_this<TouchEventRegist
   void touchCallbackMessage(std::string &key, bool &state, naoqi_bridge_msgs::Bumper &msg);
   void touchCallbackMessage(std::string &key, bool &state, naoqi_bridge_msgs::HandTouch &msg);
   void touchCallbackMessage(std::string &key, bool &state, naoqi_bridge_msgs::HeadTouch &msg);
+  void touchCallbackMessage(std::string &key, bool &state, naoqi_bridge_msgs::ChestButtonPressed &msg);
 
 
 private:
@@ -129,6 +131,12 @@ class HandTouchEventRegister: public TouchEventRegister<naoqi_bridge_msgs::HandT
   HandTouchEventRegister( const std::string& name, const std::vector<std::string> keys, const float& frequency, const qi::SessionPtr& session ) : TouchEventRegister<naoqi_bridge_msgs::HandTouch>(name, keys, frequency, session) {}
 };
 
+class ChestTouchEventRegister: public TouchEventRegister<naoqi_bridge_msgs::ChestButtonPressed>
+{
+public:
+  ChestTouchEventRegister( const std::string& name, const std::vector<std::string> keys, const float& frequency, const qi::SessionPtr& session ) : TouchEventRegister<naoqi_bridge_msgs::ChestButtonPressed>(name, keys, frequency, session) {}
+};
+
 //QI_REGISTER_OBJECT(BumperEventRegister, touchCallback)
 //QI_REGISTER_OBJECT(HeadTouchEventRegister, touchCallback)
 
@@ -156,6 +164,14 @@ static bool _qiregisterTouchEventRegisterHeadTouch() {
   }
 static bool BOOST_PP_CAT(__qi_registration, __LINE__) = _qiregisterTouchEventRegisterHeadTouch();
 
+static bool _qiregisterTouchEventRegisterChestTouch() {
+  ::qi::ObjectTypeBuilder<TouchEventRegister<naoqi_bridge_msgs::ChestButtonPressed> > b;
+  QI_VAARGS_APPLY(__QI_REGISTER_ELEMENT, TouchEventRegister<naoqi_bridge_msgs::ChestButtonPressed>, touchCallback)
+    b.registerType();
+  return true;
+  }
+static bool BOOST_PP_CAT(__qi_registration, __LINE__) = _qiregisterTouchEventRegisterChestTouch();
+
 } //naoqi
 
 #endif

src/naoqi_driver.cpp

@@ -591,6 +591,7 @@ void Driver::registerDefaultConverter()
   bool bumper_enabled                 = boot_config_.get( "converters.bumper.enabled", true);
   bool hand_enabled                   = boot_config_.get( "converters.touch_hand.enabled", true);
   bool head_enabled                   = boot_config_.get( "converters.touch_head.enabled", true);
+  bool chest_enabled                  = boot_config_.get( "converters.chest_button.enabled", true);
   /*
    * The info converter will be called once after it was added to the priority queue. Once it is its turn to be called, its
    * callAll method will be triggered (because InfoPublisher is considered to always have subscribers, isSubscribed always
@@ -834,6 +835,21 @@ void Driver::registerDefaultConverter()
     }
   }
 
+  if ( chest_enabled )
+  {
+    std::vector<std::string> chest_touch_events;
+    chest_touch_events.push_back("ChestButtonPressed");
+    boost::shared_ptr<ChestTouchEventRegister> event_register =
+      boost::make_shared<ChestTouchEventRegister>( "chest_touch", chest_touch_events, 0, sessionPtr_ );
+    insertEventConverter("chest_touch", event_register);
+    if (keep_looping) {
+      event_map_.find("chest_touch")->second.startProcess();
+    }
+    if (publish_enabled_) {
+      event_map_.find("chest_touch")->second.isPublishing(true);
+    }
+  }
+
   /** Odom */
   if ( odom_enabled )
   {