I work daily with young kids and my daughter is ADHD as well as my brother and father --liebling's advice was very good - I found those tecniques worked well for me-
Remember you are the parent and you need to be in control of the situation, the child will act out if they sense you are not in...
A child over five should wear a top if not sooner. Your not teaching shame if you ask your child to be covered. Your teaching them to be responsible and safe