Removed the AbstractDriverNode base class.

Added Hook functions for the post start and pre stop actions.
Added a default ros::nodeHandle al the classs constructor.

include/iri_base_driver/iri_base_driver.h

@@ -73,6 +73,10 @@ class IriBaseDriver
 
     boost::function< void() > preCloseHook;
 
+    boost::function< void() > postStartHook;
+
+    boost::function< void() > preStopHook;
+
    /**
     * \brief driver unique identifier
     *
@@ -200,6 +204,10 @@ class IriBaseDriver
 
     void setPreCloseHook(boost::function< void() > function);
 
+    void setPostStartHook(boost::function< void() > function);
+
+    void setPreStopHook(boost::function< void() > function);
+
    /**
     * \brief Destructor
     *

include/iri_base_driver/iri_base_driver_node.h

@@ -37,20 +37,6 @@
 
 namespace iri_base_driver
 {
-/**
- * \brief Abstract Class for Ctrl+C management
- *
- */
-class AbstractDriverNode
-{
-  protected:
-
-    static void hupCalled(int sig)
-    {
-      ROS_WARN("Unexpected SIGHUP caught. Ignoring it.");
-    }
-};
-
  /**
   * \brief default main thread frequency
   * 
@@ -88,7 +74,7 @@ class AbstractDriverNode
  * from the IRI GitLab respository (See http://wiki.iri.upc.edu).
  */
 template <class Driver>
-class IriBaseNodeDriver : public AbstractDriverNode
+class IriBaseNodeDriver
 {
   public:
    /**
@@ -149,6 +135,18 @@ class IriBaseNodeDriver : public AbstractDriverNode
     */
     void preCloseHook(void);
 
+   /**
+    * \brief main node post start hook
+    *
+    */
+    void postStartHook(void);
+
+   /**
+    * \brief main node pre stop hook
+    *
+    */
+    void preStopHook(void);
+
    /**
     * \brief dynamic reconfigure server callback
     * 
@@ -235,6 +233,18 @@ class IriBaseNodeDriver : public AbstractDriverNode
     */
     virtual void preNodeCloseHook(void);
 
+   /**
+    * \brief node implementation post start hook
+    * 
+    */
+    virtual void postNodeStartHook(void);
+
+   /**
+    * \brief node implementation pre stop hook
+    * 
+    */
+    virtual void preNodeStopHook(void);
+
    /**
     * \brief dynamic reconfigure server callback
     * 
@@ -292,6 +302,8 @@ class IriBaseNodeDriver : public AbstractDriverNode
     */
     double getRate(void);
 
+    static void hupCalled(int sig);
+
   public:
 
    /**
@@ -302,7 +314,7 @@ class IriBaseNodeDriver : public AbstractDriverNode
     * variables are also initialized.
     *
     */
-    IriBaseNodeDriver(ros::NodeHandle &nh);
+    IriBaseNodeDriver(const ros::NodeHandle &nh = ros::NodeHandle("~"));
 
    /**
     * \brief spin
@@ -322,7 +334,7 @@ class IriBaseNodeDriver : public AbstractDriverNode
 };
 
 template <class Driver>
-IriBaseNodeDriver<Driver>::IriBaseNodeDriver(ros::NodeHandle &nh) : 
+IriBaseNodeDriver<Driver>::IriBaseNodeDriver(const ros::NodeHandle &nh) : 
   public_node_handle_(nh),
   loop_rate_(DEFAULT_RATE),
   diagnostic_(),
@@ -333,11 +345,15 @@ IriBaseNodeDriver<Driver>::IriBaseNodeDriver(ros::NodeHandle &nh) :
   ROS_DEBUG("IriBaseNodeDriver::Constructor");
   this->driver_.setPostOpenHook(boost::bind(&IriBaseNodeDriver::postOpenHook, this));
   this->driver_.setPreCloseHook(boost::bind(&IriBaseNodeDriver::preCloseHook, this));
+  this->driver_.setPostStartHook(boost::bind(&IriBaseNodeDriver::postStartHook, this));
+  this->driver_.setPreStopHook(boost::bind(&IriBaseNodeDriver::preStopHook, this));
 
   // create the status thread
   pthread_create(&this->main_thread,NULL,this->mainThread,this);
   
   // initialize class attributes
+  // allow Ctrl+C management
+  signal(SIGHUP, &IriBaseNodeDriver<Driver>::hupCalled);
 }
 
 template <class Driver>
@@ -401,6 +417,34 @@ void IriBaseNodeDriver<Driver>::preNodeCloseHook(void)
 
 }
 
+template <class Driver>
+void IriBaseNodeDriver<Driver>::postStartHook(void)
+{
+  ROS_DEBUG("IriBaseNodeDriver::postStartHook");
+  /* call the inherited class post start function */
+  this->postNodeStartHook();
+}
+
+template <class Driver>
+void IriBaseNodeDriver<Driver>::postNodeStartHook(void)
+{
+
+}
+
+template <class Driver>
+void IriBaseNodeDriver<Driver>::preStopHook(void)
+{
+  ROS_DEBUG("IriBaseNodeDriver::preStopHook");
+  /* call the inherited class pre stop function */
+  this->preNodeStopHook();
+}
+
+template <class Driver>
+void IriBaseNodeDriver<Driver>::preNodeStopHook(void)
+{
+
+}
+
 template <class Driver>
 void IriBaseNodeDriver<Driver>::node_config_update(Config &config, uint32_t level)
 {
@@ -515,6 +559,12 @@ int IriBaseNodeDriver<Driver>::spin(void)
   return 0;
 }
 
+template <class Driver>
+void IriBaseNodeDriver<Driver>::hupCalled(int sig)
+{
+  ROS_WARN("Unexpected SIGHUP caught. Ignoring it.");
+}
+
 template <class Driver>
 IriBaseNodeDriver<Driver>::~IriBaseNodeDriver()
 {
@@ -549,9 +599,6 @@ int main(int argc, char **argv, std::string node_name)
   // ROS initialization
   ros::init(argc, argv, node_name);
 
-  // allow Ctrl+C management
-  signal(SIGHUP, &AbstractDriverNode::hupCalled);
-
   // define and launch generic algorithm implementation object
   ros::NodeHandle nh;
   DriverType driver(nh);

src/iri_base_driver.cpp

@@ -246,6 +246,16 @@ void IriBaseDriver::setPreCloseHook(boost::function< void() > function)
   this->preCloseHook = function;
 }
 
+void IriBaseDriver::setPostStartHook(boost::function< void() > function)
+{
+  this->postStartHook = function;
+}
+
+void IriBaseDriver::setPreStopHook(boost::function< void() > function)
+{
+  this->preStopHook = function;
+}
+
 IriBaseDriver::~IriBaseDriver()
 {
   pthread_mutex_destroy(&this->access_);