From 2f0b8eae1aaa842d215f0c326891d17d1628ea3d Mon Sep 17 00:00:00 2001
From: Lea Steffen <steffen@fzi.de>
Date: Tue, 9 Apr 2019 15:40:23 +0200
Subject: [PATCH] added documentation for parser and higher level packages

---
 include/ur_rtde_driver/comm/package.h            |  9 +++++++++
 include/ur_rtde_driver/comm/parser.h             | 12 ++++++++++++
 include/ur_rtde_driver/primary/primary_package.h |  8 ++++++++
 include/ur_rtde_driver/rtde/rtde_package.h       |  7 +++++++
 4 files changed, 36 insertions(+)

diff --git a/include/ur_rtde_driver/comm/package.h b/include/ur_rtde_driver/comm/package.h
index 3b5f638..069e83e 100644
--- a/include/ur_rtde_driver/comm/package.h
+++ b/include/ur_rtde_driver/comm/package.h
@@ -33,10 +33,19 @@ namespace ur_driver
 {
 namespace comm
 {
+/*!
+ * \brief The URPackage a parent class. From that two implementations are inherited,
+ * one for the primary, one for the rtde interface (primary_interface::primaryPackage;
+ * rtde_interface::rtdePackage). The URPackage makes use of the template HeaderT.
+ */
 template <typename HeaderT>
 class URPackage
 {
 public:
+  /*!
+   * \brief Creates a new URPackage object.
+   */
+
   URPackage();
   virtual ~URPackage();
 
diff --git a/include/ur_rtde_driver/comm/parser.h b/include/ur_rtde_driver/comm/parser.h
index 825c261..a385603 100644
--- a/include/ur_rtde_driver/comm/parser.h
+++ b/include/ur_rtde_driver/comm/parser.h
@@ -25,10 +25,22 @@ namespace ur_driver
 {
 namespace comm
 {
+/*!
+ * \brief The parser is a general paser. The namsepace rtde_interface and primary_interface both
+ * iclude classes which inherit from it (rtdeParser and primaryParser).
+ * The parser functionality also embodies a factory function taking in an uint8.
+ */
 template <typename HeaderT>
 class Parser
+
 {
 public:
+  /*!
+   * \brief declares the parse function.
+   *
+   * \param bp instant of class binaryParser
+   * \param results unique pointer
+   */
   virtual bool parse(BinParser& bp, std::vector<std::unique_ptr<URPackage<HeaderT>>>& results) = 0;
   using _header_type = HeaderT;
 
diff --git a/include/ur_rtde_driver/primary/primary_package.h b/include/ur_rtde_driver/primary/primary_package.h
index 8e0ce7c..6e03e2d 100644
--- a/include/ur_rtde_driver/primary/primary_package.h
+++ b/include/ur_rtde_driver/primary/primary_package.h
@@ -35,9 +35,17 @@ namespace ur_driver
 {
 namespace primary_interface
 {
+/*!
+ * \brief The PrimaryPackage is solely an abstraction level.
+ * It inherits form the URPackage and is also a parent class for primary_interface::RobotMessage,
+ * primary_interface::RobotState
+ */
 class PrimaryPackage : public comm::URPackage<PackageHeader>
 {
 public:
+  /*!
+   * \brief Creates a new PrimaryPackage object.
+   */
   PrimaryPackage() = default;
   virtual ~PrimaryPackage() = default;
 
diff --git a/include/ur_rtde_driver/rtde/rtde_package.h b/include/ur_rtde_driver/rtde/rtde_package.h
index cbde74c..3d3d70d 100644
--- a/include/ur_rtde_driver/rtde/rtde_package.h
+++ b/include/ur_rtde_driver/rtde/rtde_package.h
@@ -35,9 +35,16 @@ namespace ur_driver
 {
 namespace rtde_interface
 {
+/*!
+ * brief The RTDEPackage is solely an abstraction level.
+ * It inherits form the URPackage and is also a parent class for rtde_interface::TextMessage.
+ */
 class RTDEPackage : public comm::URPackage<PackageHeader>
 {
 public:
+  /*!
+   * \brief Creates a new RTDEPackage object.
+   */
   RTDEPackage() = default;
   virtual ~RTDEPackage() = default;
 };