doxygen documentation for primary headers

ur_rtde_driver/include/ur_rtde_driver/primary/package_header.h

@@ -52,6 +52,9 @@ enum class RobotPackageType : int8_t
   PROGRAM_STATE_MESSAGE = 25
 };
 
+/*!
+ * \brief This class represents the header for primary packages.
+ */
 class PackageHeader
 {
 public:
@@ -60,6 +63,13 @@ public:
 
   using _package_size_type = int32_t;
 
+  /*!
+   * \brief Reads a buffer, interpreting the next bytes as the size of the contained package.
+   *
+   * \param buf The given byte stream containing a serialized package
+   *
+   * \returns The size of the given serialized package
+   */
   static size_t getPackageLength(uint8_t* buf)
   {
     return be32toh(*(reinterpret_cast<_package_size_type*>(buf)));

ur_rtde_driver/include/ur_rtde_driver/primary/primary_package.h

@@ -51,7 +51,21 @@ public:
   }
   virtual ~PrimaryPackage() = default;
 
+  /*!
+   * \brief Sets the attributes of the package by parsing a serialized representation of the
+   * package.
+   *
+   * \param bp A parser containing a serialized version of the package
+   *
+   * \returns True, if the package was parsed successfully, false otherwise
+   */
   virtual bool parseWith(comm::BinParser& bp);
+
+  /*!
+   * \brief Produces a human readable representation of the package object.
+   *
+   * \returns A string representing the object
+   */
   virtual std::string toString() const;
 
 protected:

ur_rtde_driver/include/ur_rtde_driver/primary/primary_parser.h

@@ -35,12 +35,25 @@ namespace ur_driver
 {
 namespace primary_interface
 {
+  /*!
+   * \brief The primary specific parser. Interprets a given byte stream as serialized primary
+   * packages and parses it accordingly.
+   */
 class PrimaryParser : public comm::Parser<PackageHeader>
 {
 public:
   PrimaryParser() = default;
   virtual ~PrimaryParser() = default;
 
+  /*!
+   * \brief Uses the given BinParser to create package objects from the contained serialization.
+   *
+   * \param bp A BinParser holding one or more serialized primary packages
+   * \param results A vector of pointers to created primary package objects
+   *
+   * \returns True, if the byte stream could successfully be parsed as primary packages, false
+   * otherwise
+   */
   bool parse(comm::BinParser& bp, std::vector<std::unique_ptr<comm::URPackage<PackageHeader>>>& results)
   {
     int32_t packet_size;

ur_rtde_driver/include/ur_rtde_driver/primary/robot_message.h

@@ -46,16 +46,39 @@ enum class RobotMessagePackageType : uint8_t
   ROBOT_MESSAGE_REQUEST_VALUE = 9,
   ROBOT_MESSAGE_RUNTIME_EXCEPTION = 10
 };
-class RobotMessage : public PrimaryPackage
 
+/*!
+ * \brief The RobotMessage class is a parent class for the different received robot messages.
+ */
+class RobotMessage : public PrimaryPackage
 {
 public:
+  /*!
+   * \brief Creates a new RobotMessage object to be filled from a package.
+   *
+   * \param timestamp Timestamp of the package
+   * \param source The package's source
+   */
   RobotMessage(const uint64_t timestamp, const uint8_t source) : timestamp_(timestamp), source_(source)
   {
   }
   virtual ~RobotMessage() = default;
 
+  /*!
+   * \brief Sets the attributes of the package by parsing a serialized representation of the
+   * package.
+   *
+   * \param bp A parser containing a serialized version of the package
+   *
+   * \returns True, if the package was parsed successfully, false otherwise
+   */
   virtual bool parseWith(comm::BinParser& bp);
+
+  /*!
+   * \brief Produces a human readable representation of the package object.
+   *
+   * \returns A string representing the object
+   */
   virtual std::string toString() const;
 
   uint64_t timestamp_;

ur_rtde_driver/include/ur_rtde_driver/primary/robot_message/version_message.h

@@ -34,17 +34,39 @@ namespace ur_driver
 {
 namespace primary_interface
 {
+  /*!
+   * \brief The VersionMessage class handles the version messages sent via the primary UR interface.
+   */
 class VersionMessage : public RobotMessage
 {
 public:
   VersionMessage() = delete;
+  /*!
+   * \brief Creates a new VersionMessage object to be filled from a package.
+   *
+   * \param timestamp Timestamp of the package
+   * \param source The package's source
+   */
   VersionMessage(uint64_t timestamp, uint8_t source) : RobotMessage(timestamp, source)
   {
   }
   virtual ~VersionMessage() = default;
 
+  /*!
+   * \brief Sets the attributes of the package by parsing a serialized representation of the
+   * package.
+   *
+   * \param bp A parser containing a serialized version of the package
+   *
+   * \returns True, if the package was parsed successfully, false otherwise
+   */
   virtual bool parseWith(comm::BinParser& bp);
 
+  /*!
+   * \brief Produces a human readable representation of the package object.
+   *
+   * \returns A string representing the object
+   */
   virtual std::string toString() const;
 
   int8_t project_name_length_;

ur_rtde_driver/include/ur_rtde_driver/primary/robot_state.h

@@ -58,15 +58,34 @@ class RobotState : public PrimaryPackage
 {
 public:
   RobotState() = delete;
+  /*!
+   * \brief Creates a new RobotState object, setting the type of state message.
+   *
+   * \param type The type of state message
+   */
   RobotState(const RobotStateType type) : state_type_(type)
   {
   }
   virtual ~RobotState() = default;
 
+  /*!
+   * \brief Sets the attributes of the package by parsing a serialized representation of the
+   * package.
+   *
+   * \param bp A parser containing a serialized version of the package
+   *
+   * \returns True, if the package was parsed successfully, false otherwise
+   */
   virtual bool parseWith(comm::BinParser& bp)
   {
     return PrimaryPackage::parseWith(bp);
   }
+
+  /*!
+   * \brief Produces a human readable representation of the package object.
+   *
+   * \returns A string representing the object
+   */
   virtual std::string toString() const
   {
     std::stringstream ss;

ur_rtde_driver/include/ur_rtde_driver/primary/robot_state/kinematics_info.h

@@ -43,14 +43,38 @@ class KinematicsInfo : public RobotState
 {
 public:
   KinematicsInfo() = delete;
+  /*!
+   * \brief Creates a new KinematicsInfo object.
+   *
+   * \param type The type of RobotState message received
+   */
   KinematicsInfo(const RobotStateType type) : RobotState(type)
   {
   }
   virtual ~KinematicsInfo() = default;
 
+  /*!
+   * \brief Sets the attributes of the package by parsing a serialized representation of the
+   * package.
+   *
+   * \param bp A parser containing a serialized version of the package
+   *
+   * \returns True, if the package was parsed successfully, false otherwise
+   */
   virtual bool parseWith(comm::BinParser& bp);
+
+  /*!
+   * \brief Produces a human readable representation of the package object.
+   *
+   * \returns A string representing the object
+   */
   virtual std::string toString() const;
 
+  /*!
+   * \brief Calculates a hash value of the parameters to allow for identification of a calibration.
+   *
+   * \returns A hash value of the parameters
+   */
   std::string toHash() const;
 
   vector6uint32_t checksum_;