Add to publish facedetected event

CMakeLists.txt

@@ -5,6 +5,8 @@ project(naoqi_driver)
 set(
   CONVERTERS_SRC
   src/converters/audio.cpp
+  src/converters/touch.cpp
+  src/converters/people.cpp
   src/converters/camera.cpp
   src/converters/diagnostics.cpp
   src/converters/imu.cpp
@@ -63,6 +65,8 @@ set(
   src/event/basic.hxx
   src/event/basic.hpp
   src/event/audio.cpp
+  src/event/touch.cpp
+  src/event/people.cpp
   )
 
 # use catkin if qibuild is not found

CMakeLists_catkin.txt

@@ -11,6 +11,7 @@ find_package(catkin COMPONENTS
   image_transport
   kdl_parser
   naoqi_bridge_msgs
+  nao_interaction_msgs
   naoqi_libqi
   naoqi_libqicore
   robot_state_publisher

package.xml

@@ -17,6 +17,7 @@
   <build_depend>image_transport</build_depend>
   <build_depend>kdl_parser</build_depend>
   <build_depend version_gte="0.0.4">naoqi_bridge_msgs</build_depend>
+  <build_depend>nao_interaction_msgs</build_depend>
   <build_depend>naoqi_libqi</build_depend>
   <build_depend>naoqi_libqicore</build_depend>
   <build_depend>orocos_kdl</build_depend>
@@ -35,6 +36,7 @@
   <run_depend>image_transport</run_depend>
   <run_depend>kdl_parser</run_depend>
   <run_depend version_gte="0.0.4">naoqi_bridge_msgs</run_depend>
+  <run_depend>nao_interaction_msgs</run_depend>
   <run_depend>naoqi_libqi</run_depend>
   <run_depend>naoqi_libqicore</run_depend>
   <run_depend>orocos_kdl</run_depend>

share/boot_config.json

@@ -71,6 +71,10 @@
       "frequency"     : 10
     },
     "audio":
+    {
+      "enabled"       : true
+    },
+    "people":
     {
       "enabled"       : true
     }

src/converters/people.cpp

@@ -0,0 +1,68 @@
+/*
+ * Copyright 2015 Aldebaran
+ *
+ * Licensed 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 includes
+*/
+#include "people.hpp"
+
+/*
+* BOOST includes
+*/
+#include <boost/foreach.hpp>
+#define for_each BOOST_FOREACH
+
+namespace naoqi{
+
+namespace converter{
+
+template <class T>
+PeopleEventConverter<T>::PeopleEventConverter(const std::string& name, const float& frequency, const qi::SessionPtr& session)
+  : BaseConverter<PeopleEventConverter<T> >(name, frequency, session)
+{
+}
+
+template <class T>
+PeopleEventConverter<T>::~PeopleEventConverter() {
+}
+
+template <class T>
+void PeopleEventConverter<T>::reset()
+{
+}
+
+template <class T>
+void PeopleEventConverter<T>::registerCallback( const message_actions::MessageAction action, Callback_t cb )
+{
+  callbacks_[action] = cb;
+}
+
+template <class T>
+void PeopleEventConverter<T>::callAll(const std::vector<message_actions::MessageAction>& actions, T& msg)
+{
+  msg_ = msg;
+  for_each( message_actions::MessageAction action, actions )
+  {
+    callbacks_[action](msg_);
+  }
+}
+
+// http://stackoverflow.com/questions/8752837/undefined-reference-to-template-class-constructor
+template class PeopleEventConverter<nao_interaction_msgs::FaceDetected>;
+}
+
+}

src/converters/people.hpp

@@ -0,0 +1,68 @@
+/*
+ * Copyright 2015 Aldebaran
+ *
+ * Licensed 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.
+ *
+*/
+
+#ifndef PEOPLE_EVENT_CONVERTER_HPP
+#define PEOPLE_EVENT_CONVERTER_HPP
+
+/*
+* LOCAL includes
+*/
+#include "converter_base.hpp"
+#include <naoqi_driver/message_actions.h>
+
+/*
+* ROS includes
+*/
+#include <nao_interaction_msgs/FaceDetected.h>
+
+/*
+* ALDEBARAN includes
+*/
+#include <qi/anymodule.hpp>
+
+namespace naoqi{
+
+namespace converter{
+
+template <class T>
+class PeopleEventConverter : public BaseConverter<PeopleEventConverter<T> >
+{
+
+  typedef boost::function<void(T&) > Callback_t;
+
+public:
+  PeopleEventConverter(const std::string& name, const float& frequency, const qi::SessionPtr& session);
+
+  ~PeopleEventConverter();
+
+  virtual void reset();
+
+  void registerCallback( const message_actions::MessageAction action, Callback_t cb );
+
+  void callAll(const std::vector<message_actions::MessageAction>& actions, T& msg);
+
+private:
+  /** Registered Callbacks **/
+  std::map<message_actions::MessageAction, Callback_t> callbacks_;
+  T msg_;
+};
+
+}
+
+}
+
+#endif // PEOPLE_CONVERTER_HPP

src/converters/touch.cpp

@@ -0,0 +1,69 @@
+/*
+ * Copyright 2015 Aldebaran
+ *
+ * Licensed 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 includes
+*/
+#include "touch.hpp"
+
+/*
+* BOOST includes
+*/
+#include <boost/foreach.hpp>
+#define for_each BOOST_FOREACH
+
+namespace naoqi{
+
+namespace converter{
+
+template <class T>
+TouchEventConverter<T>::TouchEventConverter(const std::string& name, const float& frequency, const qi::SessionPtr& session)
+  : BaseConverter<TouchEventConverter<T> >(name, frequency, session)
+{
+}
+
+template <class T>
+TouchEventConverter<T>::~TouchEventConverter() {
+}
+
+template <class T>
+void TouchEventConverter<T>::reset()
+{
+}
+
+template <class T>
+void TouchEventConverter<T>::registerCallback( const message_actions::MessageAction action, Callback_t cb )
+{
+  callbacks_[action] = cb;
+}
+
+template <class T>
+void TouchEventConverter<T>::callAll(const std::vector<message_actions::MessageAction>& actions, T& msg)
+{
+  msg_ = msg;
+  for_each( message_actions::MessageAction action, actions )
+  {
+    callbacks_[action](msg_);
+  }
+}
+
+// http://stackoverflow.com/questions/8752837/undefined-reference-to-template-class-constructor
+template class TouchEventConverter<naoqi_bridge_msgs::Bumper>;
+template class TouchEventConverter<naoqi_bridge_msgs::TactileTouch>;
+}
+
+}

src/converters/touch.hpp

@@ -0,0 +1,69 @@
+/*
+ * Copyright 2015 Aldebaran
+ *
+ * Licensed 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.
+ *
+*/
+
+#ifndef TOUCH_EVENT_CONVERTER_HPP
+#define TOUCH_EVENT_CONVERTER_HPP
+
+/*
+* LOCAL includes
+*/
+#include "converter_base.hpp"
+#include <naoqi_driver/message_actions.h>
+
+/*
+* ROS includes
+*/
+#include <naoqi_bridge_msgs/Bumper.h>
+#include <naoqi_bridge_msgs/TactileTouch.h>
+
+/*
+* ALDEBARAN includes
+*/
+#include <qi/anymodule.hpp>
+
+namespace naoqi{
+
+namespace converter{
+
+template <class T>
+class TouchEventConverter : public BaseConverter<TouchEventConverter<T> >
+{
+
+  typedef boost::function<void(T&) > Callback_t;
+
+public:
+  TouchEventConverter(const std::string& name, const float& frequency, const qi::SessionPtr& session);
+
+  ~TouchEventConverter();
+
+  virtual void reset();
+
+  void registerCallback( const message_actions::MessageAction action, Callback_t cb );
+
+  void callAll(const std::vector<message_actions::MessageAction>& actions, T& msg);
+
+private:
+  /** Registered Callbacks **/
+  std::map<message_actions::MessageAction, Callback_t> callbacks_;
+  T msg_;
+};
+
+}
+
+}
+
+#endif // TOUCH_CONVERTER_HPP