add missing ros2 doxygen documentation

Author: lreiher

mqtt_client/include/mqtt_client/MqttClient.ros2.hpp

@@ -144,7 +144,7 @@ class MqttClient : public rclcpp::Node,
   void setup();
 
   /**
-   * TODO
+   * @brief Checks all active ROS topics in order to set up generic subscribers.
    */
   void setupSubscriptions();
 
@@ -160,9 +160,16 @@ class MqttClient : public rclcpp::Node,
   void connect();
 
   /**
-   * @brief Serializes and publishes a generic ROS message to the MQTT broker.
+   * @brief Publishes a generic serialized ROS message to the MQTT broker.
    *
-   * TODO
+   * Before publishing the ROS message to the MQTT broker, the ROS message type
+   * is extracted. This type information is also sent to the MQTT broker on a
+   * separate topic.
+   *
+   * The MQTT payload for the actual ROS message carries the following:
+   * - 0 or 1 (indicating if timestamp is injected (=1))
+   * - serialized timestamp (optional)
+   * - serialized ROS message
    *
    * @param   serialized_msg  generic serialized ROS message
    * @param   ros_topic       ROS topic where the message was published
@@ -174,9 +181,18 @@ class MqttClient : public rclcpp::Node,
   /**
    * @brief Publishes a ROS message received via MQTT to ROS.
    *
-   * TODO
+   * This utilizes the generic publisher stored for the MQTT topic on which the
+   * message was received. The publisher has to be configured to the ROS message
+   * type of the message. If the message carries an injected timestamp, the
+   * latency is computed and published.
+   *
+   * The MQTT payload is expected to carry the following:
+   * - 0 or 1 (indicating if timestamp is injected (=1))
+   * - serialized timestamp (optional)
+   * - serialized ROS message
    *
    * @param   mqtt_msg       MQTT message
+   * @param   arrival_stamp  arrival timestamp used for latency computation
    */
   void mqtt2ros(mqtt::const_message_ptr mqtt_msg,
                 const rclcpp::Time& arrival_stamp);
@@ -366,7 +382,9 @@ class MqttClient : public rclcpp::Node,
    */
   static const std::string kLatencyRosTopicPrefix;
 
-  // TODO
+  /**
+   * @brief Timer to repeatedly check active ROS topics for topics to subscribe
+   */
   rclcpp::TimerBase::SharedPtr check_subscriptions_timer_;
 
   /**
@@ -410,7 +428,9 @@ class MqttClient : public rclcpp::Node,
    */
   std::map<std::string, Mqtt2RosInterface> mqtt2ros_;
 
-  // TODO
+  /**
+   * Message length of a serialized `builtin_interfaces::msg::Time` message
+   */
   uint32_t stamp_length_;
 };
 
@@ -440,14 +460,12 @@ bool MqttClient::loadParameter(const std::string& key, T& value,
 
 
 /**
- * Serializes a ROS message to a buffer.
- *
- * TODO
+ * Serializes a ROS message.
  *
- * @tparam  T            ROS message type
+ * @tparam  T                    ROS message type
  *
- * @param[in]   msg      ROS message
- * @param[out]  buffer   buffer to serialize to
+ * @param[in]   msg              ROS message
+ * @param[out]  serialized_msg   serialized message
  */
 template <typename T>
 void serializeRosMessage(const T& msg,
@@ -459,7 +477,12 @@ void serializeRosMessage(const T& msg,
 
 
 /**
- * TODO
+ * Deserializes a ROS message.
+ *
+ * @tparam  T                   ROS message type
+ *
+ * @param[in]   serialized_msg  serialized message
+ * @param[out]  msg             ROS message
  */
 template <typename T>
 void deserializeRosMessage(const rclcpp::SerializedMessage& serialized_msg,

mqtt_client/src/MqttClient.ros2.cpp

@@ -59,10 +59,14 @@ const std::string MqttClient::kLatencyRosTopicPrefix = "~/latencies/";
 /**
  * @brief Extracts string of primitive data types from ROS message.
  *
- * TODO
+ * This is helpful to extract the actual data payload of a primitive ROS
+ * message. If e.g. an std_msgs/msg/String is serialized to a string
+ * representation, it also contains the field name 'data'. This function
+ * instead returns the underlying value as string.
  *
- * @param [in]  msg        generic ShapeShifter ROS message
- * @param [out] primitive  string representation of primitive message data
+ * @param [in]  serialized_msg  generic serialized ROS message
+ * @param [in]  msg_type        ROS message type, e.g. `std_msgs/msg/String`
+ * @param [out] primitive       string representation of primitive message data
  *
  * @return true  if primitive ROS message type was found
  * @return false if ROS message type is not primitive
@@ -683,8 +687,6 @@ void MqttClient::mqtt2ros(mqtt::const_message_ptr mqtt_msg,
 
 void MqttClient::mqtt2primitive(mqtt::const_message_ptr mqtt_msg) {
 
-  // TODO: not yet working with primitives published by mosquitto_pub
-
   std::string mqtt_topic = mqtt_msg->get_topic();
   Mqtt2RosInterface& mqtt2ros = mqtt2ros_[mqtt_topic];
   const std::string str_msg = mqtt_msg->to_string();