Debug features for GamepadUnit

source/RobotAPI/components/GamepadControlUnit/GamepadControlUnit.cpp

@@ -41,6 +41,8 @@ namespace armarx
         scaleY = getProperty<float>("ScaleY").getValue();
         scaleRotation = getProperty<float>("ScaleAngle").getValue();
         ARMARX_INFO << "oninit GamepadControlUnit end";
+
+        DebugObserverComponentPluginUser::setDebugObserverBatchModeEnabled(true);
     }
 
     void
@@ -55,9 +57,9 @@ namespace armarx
         if (enableHeartBeat)
         {
             this->heartbeatPlugin->signUp(armarx::core::time::Duration::MilliSeconds(1000),
-                                    armarx::core::time::Duration::MilliSeconds(1500),
-                                    {"Gamepad"},
-                                    "The GamepadControlUnit");
+                                          armarx::core::time::Duration::MilliSeconds(1500),
+                                          {"Gamepad"},
+                                          "The GamepadControlUnit");
         }
     }
 
@@ -80,6 +82,8 @@ namespace armarx
         defs->optional(enableHeartBeat,
                        "EnableHeartBeat",
                        "Flag to enable send a heart beat to the robot healh topic");
+        defs->optional(
+            enableDebugObserver, "EnableDebugObserver", "Send gamepad data to debug observer");
         return defs;
     }
 
@@ -189,6 +193,22 @@ namespace armarx
         }
 
 
+        if (enableDebugObserver)
+        {
+            // send data to debug observer
+            auto debugObserver = getDebugObserverComponentPlugin();
+
+            const std::string channel = "Gamepad";
+
+            debugObserver.setDebugObserverDatafield(channel, "rawEnabled", data.rightTrigger);
+            debugObserver.setDebugObserverDatafield(channel, "rawX", data.leftStickY);
+            debugObserver.setDebugObserverDatafield(channel, "rawY", data.leftStickX);
+            debugObserver.setDebugObserverDatafield(channel, "rawRot", data.rightStickX);
+
+            debugObserver.sendDebugObserverBatch();
+        }
+
+
         if (enableHeartBeat)
         {
             auto now = armarx::core::time::dto::DateTime();