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author | Thomas Gubler <thomasgubler@gmail.com> | 2014-12-04 12:22:21 +0100 |
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committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-12-04 12:22:21 +0100 |
commit | 0f094d35d5dd183e44148eb1acbd7b7d76fde669 (patch) | |
tree | 90af4f88ecab90524750b11362cd447f0b2161fc | |
parent | befe4c399e1f0f2864f91ddde4db585dabf3db99 (diff) | |
download | px4-firmware-0f094d35d5dd183e44148eb1acbd7b7d76fde669.tar.gz px4-firmware-0f094d35d5dd183e44148eb1acbd7b7d76fde669.tar.bz2 px4-firmware-0f094d35d5dd183e44148eb1acbd7b7d76fde669.zip |
nodehandle: add documentation comments
-rw-r--r-- | src/platforms/px4_nodehandle.h | 52 |
1 files changed, 44 insertions, 8 deletions
diff --git a/src/platforms/px4_nodehandle.h b/src/platforms/px4_nodehandle.h index a2775d69a..1762e1656 100644 --- a/src/platforms/px4_nodehandle.h +++ b/src/platforms/px4_nodehandle.h @@ -70,7 +70,11 @@ public: //XXX empty lists }; - /* Subscribe with callback to function */ + /** + * Subscribe with callback to function + * @param topic Name of the topic + * @param fb Callback, executed on receiving a new message + */ template<typename M> Subscriber * subscribe(const char *topic, void(*fp)(M)) { ros::Subscriber ros_sub = ros::NodeHandle::subscribe(topic, kQueueSizeDefault, fp); @@ -79,7 +83,11 @@ public: return sub; } - /* Subscribe with callback to class method */ + /** + * Subscribe with callback to class method + * @param topic Name of the topic + * @param fb Callback, executed on receiving a new message + */ template<typename M, typename T> Subscriber * subscribe(const char *topic, void(T::*fp)(M), T *obj) { ros::Subscriber ros_sub = ros::NodeHandle::subscribe(topic, kQueueSizeDefault, fp, obj); @@ -88,6 +96,10 @@ public: return sub; } + /** + * Advertise topic + * @param topic Name of the topic + */ template<typename M> Publisher * advertise(const char *topic) { ros::Publisher ros_pub = ros::NodeHandle::advertise<M>(topic, kQueueSizeDefault); @@ -96,14 +108,21 @@ public: return pub; } + /** + * Calls all callback waiting to be called + */ + void spinOnce() { ros::spinOnce(); } + + /** + * Keeps calling callbacks for incomming messages, returns when module is terminated + */ void spin() { ros::spin(); } - void spinOnce() { ros::spinOnce(); } private: - static const uint32_t kQueueSizeDefault = 1000; - std::list<Subscriber*> _subs; - std::list<Publisher*> _pubs; + static const uint32_t kQueueSizeDefault = 1000; /**< Size of queue for ROS */ + std::list<Subscriber*> _subs; /**< Subcriptions of node */ + std::list<Publisher*> _pubs; /**< Publications of node */ }; #else class __EXPORT NodeHandle @@ -117,6 +136,13 @@ public: ~NodeHandle() {}; + /** + * Subscribe with callback to function + * @param meta Describes the topic which nodehande should subscribe to + * @param callback Callback, executed on receiving a new message + * @param interval Minimal interval between calls to callback + */ + template<typename M> Subscriber * subscribe(const struct orb_metadata *meta, std::function<void(const M&)> callback, @@ -130,6 +156,10 @@ public: return (Subscriber*)sub_px4; } + /** + * Advertise topic + * @param meta Describes the topic which is advertised + */ template<typename M> Publisher * advertise(const struct orb_metadata *meta) { //XXX @@ -137,6 +167,9 @@ public: return pub; } + /** + * Calls all callback waiting to be called + */ void spinOnce() { /* Loop through subscriptions, call callback for updated subscriptions */ uORB::SubscriptionNode *sub = _subs.getHead(); @@ -153,6 +186,9 @@ public: } } + /** + * Keeps calling callbacks for incomming messages, returns when module is terminated + */ void spin() { while (ok()) { const int timeout_ms = 100; @@ -176,8 +212,8 @@ public: } private: static const uint16_t kMaxSubscriptions = 100; - List<uORB::SubscriptionNode*> _subs; - List<uORB::PublicationNode*> _pubs; + List<uORB::SubscriptionNode*> _subs; /**< Subcriptions of node */ + List<uORB::PublicationNode*> _pubs; /**< Publications of node */ uORB::SubscriptionNode* _sub_min_interval; /**< Points to the sub wtih the smallest interval of all Subscriptions in _subs*/ }; |