From 3b4bb1514764fe34bd3e3982a505b14d99f4d6a6 Mon Sep 17 00:00:00 2001
From: Felix Mauch <mauch@fzi.de>
Date: Wed, 25 Sep 2019 09:10:19 +0200
Subject: [PATCH] Added more enum documentation

---
 .../include/ur_rtde_driver/comm/tcp_socket.h        | 11 +++++++----
 .../include/ur_rtde_driver/primary/package_header.h |  3 +++
 .../include/ur_rtde_driver/primary/robot_message.h  |  3 +++
 .../include/ur_rtde_driver/primary/robot_state.h    |  3 +++
 .../include/ur_rtde_driver/ros/hardware_interface.h |  3 +++
 .../include/ur_rtde_driver/rtde/data_package.h      |  3 +++
 .../include/ur_rtde_driver/rtde/package_header.h    |  3 +++
 .../include/ur_rtde_driver/ur/version_information.h | 13 +++++++++----
 8 files changed, 34 insertions(+), 8 deletions(-)

diff --git a/ur_rtde_driver/include/ur_rtde_driver/comm/tcp_socket.h b/ur_rtde_driver/include/ur_rtde_driver/comm/tcp_socket.h
index 6d8c152..c6a6d06 100644
--- a/ur_rtde_driver/include/ur_rtde_driver/comm/tcp_socket.h
+++ b/ur_rtde_driver/include/ur_rtde_driver/comm/tcp_socket.h
@@ -31,12 +31,15 @@ namespace ur_driver
 {
 namespace comm
 {
+/*!
+ * \brief State the socket can be in
+ */
 enum class SocketState
 {
-  Invalid,
-  Connected,
-  Disconnected,
-  Closed
+  Invalid,       ///< Socket is initialized or setup failed
+  Connected,     ///< Socket is connected and ready to use
+  Disconnected,  ///< Socket is disconnected and cannot be used
+  Closed         ///< Connection to socket got closed
 };
 
 /*!
diff --git a/ur_rtde_driver/include/ur_rtde_driver/primary/package_header.h b/ur_rtde_driver/include/ur_rtde_driver/primary/package_header.h
index dedee49..3353059 100644
--- a/ur_rtde_driver/include/ur_rtde_driver/primary/package_header.h
+++ b/ur_rtde_driver/include/ur_rtde_driver/primary/package_header.h
@@ -40,6 +40,9 @@ namespace primary_interface
 {
 static const int UR_PRIMARY_PORT = 30001;
 static const int UR_SECONDARY_PORT = 30002;
+/*!
+ * \brief Possible RobotPackage types
+ */
 enum class RobotPackageType : int8_t
 {
   DISCONNECT = -1,
diff --git a/ur_rtde_driver/include/ur_rtde_driver/primary/robot_message.h b/ur_rtde_driver/include/ur_rtde_driver/primary/robot_message.h
index 249f086..9f965e9 100644
--- a/ur_rtde_driver/include/ur_rtde_driver/primary/robot_message.h
+++ b/ur_rtde_driver/include/ur_rtde_driver/primary/robot_message.h
@@ -34,6 +34,9 @@ namespace ur_driver
 {
 namespace primary_interface
 {
+/*!
+ * \brief Possible RobotMessage types
+ */
 enum class RobotMessagePackageType : uint8_t
 {
   ROBOT_MESSAGE_TEXT = 0,
diff --git a/ur_rtde_driver/include/ur_rtde_driver/primary/robot_state.h b/ur_rtde_driver/include/ur_rtde_driver/primary/robot_state.h
index 3c52fcf..9a2f648 100644
--- a/ur_rtde_driver/include/ur_rtde_driver/primary/robot_state.h
+++ b/ur_rtde_driver/include/ur_rtde_driver/primary/robot_state.h
@@ -37,6 +37,9 @@ namespace ur_driver
 {
 namespace primary_interface
 {
+/*!
+ * \brief Possible RobotState types
+ */
 enum class RobotStateType : uint8_t
 {
   ROBOT_MODE_DATA = 0,
diff --git a/ur_rtde_driver/include/ur_rtde_driver/ros/hardware_interface.h b/ur_rtde_driver/include/ur_rtde_driver/ros/hardware_interface.h
index 73f9fd3..2f41a67 100644
--- a/ur_rtde_driver/include/ur_rtde_driver/ros/hardware_interface.h
+++ b/ur_rtde_driver/include/ur_rtde_driver/ros/hardware_interface.h
@@ -52,6 +52,9 @@
 
 namespace ur_driver
 {
+/*!
+ * \brief Possible states for robot control
+ */
 enum class PausingState
 {
   PAUSED,
diff --git a/ur_rtde_driver/include/ur_rtde_driver/rtde/data_package.h b/ur_rtde_driver/include/ur_rtde_driver/rtde/data_package.h
index 6594d83..d7890c0 100644
--- a/ur_rtde_driver/include/ur_rtde_driver/rtde/data_package.h
+++ b/ur_rtde_driver/include/ur_rtde_driver/rtde/data_package.h
@@ -38,6 +38,9 @@ namespace ur_driver
 {
 namespace rtde_interface
 {
+/*!
+ * \brief Possible values for the runtime state
+ */
 enum class RUNTIME_STATE : uint32_t
 {
   STOPPING = 0,
diff --git a/ur_rtde_driver/include/ur_rtde_driver/rtde/package_header.h b/ur_rtde_driver/include/ur_rtde_driver/rtde/package_header.h
index b9f89df..dc9c8f5 100644
--- a/ur_rtde_driver/include/ur_rtde_driver/rtde/package_header.h
+++ b/ur_rtde_driver/include/ur_rtde_driver/rtde/package_header.h
@@ -38,6 +38,9 @@ namespace ur_driver
 {
 namespace rtde_interface
 {
+/*!
+ * \brief Possible package types
+ */
 enum class PackageType : uint8_t
 {
   RTDE_REQUEST_PROTOCOL_VERSION = 86,       // ascii V
diff --git a/ur_rtde_driver/include/ur_rtde_driver/ur/version_information.h b/ur_rtde_driver/include/ur_rtde_driver/ur/version_information.h
index 1c09a20..7948d9c 100644
--- a/ur_rtde_driver/include/ur_rtde_driver/ur/version_information.h
+++ b/ur_rtde_driver/include/ur_rtde_driver/ur/version_information.h
@@ -28,8 +28,13 @@
 #ifndef UR_RTDE_DRIVER_UR_VERSION_INFORMATION_H_INCLUDED
 #define UR_RTDE_DRIVER_UR_VERSION_INFORMATION_H_INCLUDED
 
+#include <ur_rtde_driver/types.h>
+
 namespace ur_driver
 {
+/*!
+ * \brief Struct containing a robot's version information
+ */
 struct VersionInformation
 {
   VersionInformation()
@@ -39,10 +44,10 @@ struct VersionInformation
     bugfix = 0;
     build = 0;
   }
-  uint32_t major;
-  uint32_t minor;
-  uint32_t bugfix;
-  uint32_t build;
+  uint32_t major;   ///< Major version number
+  uint32_t minor;   ///< Minor version number
+  uint32_t bugfix;  ///< Bugfix version number
+  uint32_t build;   ///< Build number
 };
 }  // namespace ur_driver