[iri_base_driver]

 - adding preCloseHook function, still under development

include/iri_base_driver/iri_base_driver.h

@@ -80,6 +80,9 @@ class IriBaseDriver : public driver_base::Driver
     */
     void setDriverId(const std::string & id);
 
+//     typedef boost::function< void() > hookFunction;
+    hookFunction preCloseHook;
+
   public:
    /**
     * \brief Constructor
@@ -200,6 +203,9 @@ class IriBaseDriver : public driver_base::Driver
     * \return bool successful
     */
     virtual bool stopDriver(void) = 0;
+    
+    
+    void setPreCloseHook(hookFunction f);
 
    /**
     * \brief Destructor

include/iri_base_driver/iri_base_driver_node.h

@@ -100,6 +100,18 @@ class IriBaseNodeDriver : public driver_base::DriverNode<Driver>
     */
     virtual void postNodeOpenHook(void) = 0;
 
+   /**
+    * \brief main node post open hook
+    *
+    */
+    void preCloseHook(void);
+
+   /**
+    * \brief node implementation post open hook
+    * 
+    */
+    virtual void preNodeCloseHook(void);
+
    /**
     * \brief public node handle communication object
     *
@@ -305,6 +317,18 @@ void IriBaseNodeDriver<Driver>::postOpenHook(void)
   postNodeOpenHook();
 }
 
+template <class Driver>
+void IriBaseNodeDriver<Driver>::preCloseHook(void)
+{
+  ROS_INFO("IriBaseNodeDriver::preCloseHook");
+  preNodeCloseHook();
+}
+
+template <class Driver>
+void IriBaseNodeDriver<Driver>::preNodeCloseHook(void)
+{
+}
+    
 template <class Driver>
 void IriBaseNodeDriver<Driver>::addDiagnostics(void)
 {

src/iri_base_driver.cpp

@@ -34,6 +34,8 @@ void IriBaseDriver::doOpen(void)
 
 void IriBaseDriver::doClose(void)
 {
+  ROS_INFO("IriBaseDriver::doClose");
+  preCloseHook();
   if(closeDriver()) this->state_ = CLOSED;
 }
 
@@ -52,6 +54,11 @@ std::string IriBaseDriver::getID(void)
   return driver_id_;
 }
 
+void IriBaseDriver::setPreCloseHook(hookFunction f)
+{
+  preCloseHook = f;
+}
+
 IriBaseDriver::~IriBaseDriver()
 {
 }