iri_base_driver.h

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// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
// Author Sergi Hernandez & Joan Perez
// All rights reserved.
//
// This file is part of iri-ros-pkg
// iri-ros-pkg is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program.  If not, see <http://www.gnu.org/licenses/>.

#ifndef _IRI_BASE_DRIVER_H
#define _IRI_BASE_DRIVER_H

// ros base driver class
#include "driver_base/driver.h"
#include "ros/ros.h"

namespace iri_base_driver
{

class IriBaseDriver : public driver_base::Driver
{
  protected:
    std::string driver_id_;

    pthread_mutex_t access_;

    void setDriverId(const std::string & id);

//     typedef boost::function< void() > hookFunction;
    hookFunction preCloseHook;

  public:
    IriBaseDriver();

    void lock(void);

    void unlock(void);

    bool try_enter(void);

    void doOpen(void);

    void doClose(void);

    void doStart(void);

    void doStop(void);

    std::string getID(void);

    virtual bool openDriver(void) = 0;

    virtual bool closeDriver(void) = 0;

    virtual bool startDriver(void) = 0;

    virtual bool stopDriver(void) = 0;
    
    
    void setPreCloseHook(hookFunction f);

    ~IriBaseDriver();
};

}

#endif