Added doxygen-style comments

src/node/include/node/Component.hpp

@@ -1,4 +1,11 @@
-#ifndef COMPONENT_HPP
+/** @file    Component.hpp 
+ *  @author  William Emfinger
+ *  @author  Pranav Srinivas Kumar
+ *  @date    <%- Date().toISOString().replace(/T/, ' ').replace(/\..+/, '') %>
+ *  @brief   This file declares the Component class
+ */
+
+#ifndef COMPONENT_HPP
 #define COMPONENT_HPP
 
 #include <iostream>
@@ -17,35 +24,60 @@
   #endif
 #endif
 
+/**
+ * @brief Component class
+ */
 class Component {
 public:
-  // Constructor
+  /**
+   * @brief Component Constructor.
+   * @param _config Component configuration parsed from deployment XML
+   * @param[in] argc command-line argument count
+   * @param[in] argv command-line arguments of the actor process
+   */
   Component(ComponentConfig &_config, int argc, char **argv);
 
-  // Start up
+  /**
+   * @brief Component startup function
+   *
+   * This function configures all the component ports and timers
+   */ 
   virtual void startUp() = 0;
 
-  // Initialization
+  /**
+   * @brief Component Initializer
+   * This operation is executed immediately after startup.
+   * @param[in] event a oneshot timer event
+   * @see startUp()
+   */
   virtual void init_timer_operation(const NAMESPACE::TimerEvent& event);
 
-  // Synchronization
+  /**
+   * @brief Component Synchronization
+   * This operation establishing a sync point with other components
+   * @param[in] received_data Notification message from other components
+   */
   virtual void component_sync_operation(const std_msgs::Bool::ConstPtr& received_data);
 
-  // Callback Queue Handler
+  /**
+   * @brief Component Message Queue handler
+   */
   void process_queue();
 
-  // Destructor
+  /**
+   * @brief Component Destructor
+   */
   ~Component();
 
 protected:
-  ComponentConfig config;
-  int node_argc;
-  char **node_argv;
-  NAMESPACE::Publisher comp_sync_pub;
-  NAMESPACE::Subscriber comp_sync_sub;
-  NAMESPACE::Timer init_timer;
-  NAMESPACE::CallbackQueue comp_queue;
-  std::unique_ptr<Logger> logger;
+  ComponentConfig config;                /*!< Component Configuration */
+  int node_argc;                         /*!< argc received by the actor process */
+  char **node_argv;                      /*!< argv received by the actor process */
+  NAMESPACE::Publisher comp_sync_pub;    /*!< Synchronization publisher */
+  NAMESPACE::Subscriber comp_sync_sub;   /*!< Synchronization subscriber */
+  NAMESPACE::Timer init_timer;           /*!< Initialization timer */
+  NAMESPACE::CallbackQueue comp_queue;   /*!< Component Message Queue */
+  std::unique_ptr<Logger> logger;        /*!< Component logger object */
 };
 
 #endif

src/node/include/node/Logger.hpp

@@ -1,3 +1,9 @@
+/** @brief   Logger.hpp 
+ *  @author  Pranav Srinivas Kumar
+ *  @date    <%- Date().toISOString().replace(/T/, ' ').replace(/\..+/, '') %>
+ *  @brief   This file declares the Component Logger class
+ */
+
 #ifndef LOGGER_HPP
 #define LOGGER_HPP
 
@@ -9,42 +15,69 @@
 #include <chrono>
 #include <typeinfo>
 
+/**
+ * @brief Logger class
+ */
 class Logger 
 {
 
 public:
-
+  /**
+   * @brief Logger Constructor.
+   */
   Logger() {
     logs_to_file_ = false;
     is_periodic_ = true;
     max_log_unit_ = 1;
     log_content_ = "=================================================================\n";
   }
 
+  /**
+   * @brief Makes Logging Periodic.
+   * @param[in] is_periodic boolean indicating whether logging is periodic.
+   */
   void set_is_periodic(bool is_periodic) {
     is_periodic_ = is_periodic;
   }
 
+  /**
+   * @brief Set maximum log unit in bytes during periodic logging.
+   * @param[in] max_log_unit maximum periodic logging unit in bytes.
+   */
   void set_max_log_unit(int max_log_unit) {
     max_log_unit_ = max_log_unit;
   }
 
+  /**
+   * @brief Log to file instead of stdout.
+   * @param[in] logs_to_file boolean requiring logging on file.
+   */
   void set_logs_to_file(bool logs_to_file) {
     logs_to_file_ = logs_to_file;
   }
 
+  /**
+   * @brief Writes out the remainder of the logs and closes logfile.
+   */
   ~Logger() {
     write();
     log_stream_.close();
   }
 
+  /**
+   * @brief Create log file
+   * @param[in] log_path path to log file.
+   */
   bool create_file(std::string log_path) {
     log_path_ = log_path;
     log_stream_.open(log_path_, std::ios::out | std::ios::app);
     logs_to_file_ = true;
     return true;
   }
-
+
+  /**
+   * @brief Write logged bytes to file
+   */  
   bool write() {
     if (logs_to_file_) {
       log_stream_ << log_content_;
@@ -55,6 +88,9 @@ class Logger
     return true;
   }
 
+  /**
+   * @brief Flush out to file.
+   */  
   bool flush() {
     if (is_periodic_ && size() > max_log_unit_) {
       write();
@@ -64,6 +100,11 @@ class Logger
     return false;
   }
 
+  /**
+   * @brief Log to file with specific log_level.
+   * @param[in] log_level string indicating logging level.
+   * @param[in] format varargs input to logger.
+   */  
   bool log(std::string log_level, const char * format, ...) {
       va_list args;
       va_start (args, format);
@@ -76,24 +117,30 @@ class Logger
       flush();
   }
 
+  /**
+   * @brief Return the current size of the log in bytes.
+   */  
   int size() {
     return log_content_.size();
   }
 
+  /**
+   * @brief Return the current clock value.
+   */  
   std::string clock() {
     std::stringstream clock_string;
     clock_string << clock_.now().time_since_epoch().count();
     return clock_string.str();
   }
 
 private:
-  std::ofstream log_stream_;
-  std::string log_content_;
-  std::string log_path_;
-  bool is_periodic_;
-  bool logs_to_file_;
-  int max_log_unit_;
-  std::chrono::high_resolution_clock clock_;
+  std::ofstream log_stream_;                   /*!< Output log stream */
+  std::string log_content_;                    /*!< Log contents */
+  std::string log_path_;                       /*!< Log file path */
+  bool is_periodic_;                           /*!< Is logging periodic? */
+  bool logs_to_file_;                          /*!< Is logging to file? */
+  int max_log_unit_;                           /*!< Maximum log unit in bytes */
+  std::chrono::high_resolution_clock clock_;   /*!< High resolution clock */
 };
 
 #endif

src/node/src/node/Component.cpp

@@ -1,3 +1,10 @@
+/** @file    Component.cpp 
+ *  @author  William Emfinger
+ *  @author  Pranav Srinivas Kumar
+ *  @date    <%- Date().toISOString().replace(/T/, ' ').replace(/\..+/, '') %>
+ *  @brief   This file contains definitions for the base Component class
+ */
+
 #include "node/Component.hpp"
 
 // Constructor

src/node/src/node/node_main.cpp

@@ -1,3 +1,9 @@
+/** @file    node_main.cpp 
+ *  @author  William Emfinger
+ *  @date    <%- Date().toISOString().replace(/T/, ' ').replace(/\..+/, '') %>
+ *  @brief   This file contains the main function for a ROSMOD actor/node.
+ */
+
 #include <cstdlib>
 #include <string.h>
 #include <dlfcn.h>
@@ -25,6 +31,10 @@ void componentThreadFunc(Component* compPtr)
 
 std::vector<boost::thread*> compThreads;	
 
+/**
+ * @brief Parses node configuration and spawns component executor threads.
+ *
+ */
 int main(int argc, char **argv)
 {
   std::string nodeName = "node";