Merge pull request #50 from analogdevicesinc/dev/refactoring

Refactor ROS2 repository: documentation and functionality

Doxyfile

@@ -32,7 +32,7 @@ DOXYFILE_ENCODING      = UTF-8
 # title of most generated pages and in a few other places.
 # The default value is: My Project.
 
-PROJECT_NAME           = "My Project"
+PROJECT_NAME           = "imu-ros2"
 
 # The PROJECT_NUMBER tag can be used to enter a project or revision number. This
 # could be handy for archiving the generated documentation or if some version
@@ -864,7 +864,7 @@ WARN_LOGFILE           =
 # spaces. See also FILE_PATTERNS and EXTENSION_MAPPING
 # Note: If this tag is empty the current directory is searched.
 
-INPUT                  =
+INPUT                  = include/ src/ test/src
 
 # This tag can be used to specify the character encoding of the source files
 # that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses

README.md

@@ -1,2 +1,4 @@
 # imu-ros2
-A C++ ROS2 node that read sensor data from ADI IMU and publishes message to topic.
+A C++ ROS2 node that reads sensor data from ADI IMU devices and publishes 
+messages on topics. The node is also able to configure ADI IMU devices.
+The ROS2 driver uses LibIIO to retrieve information from IMU Kernel Driver.

include/imu_ros2/accelgyrotemp_data_provider.h

@@ -26,49 +26,32 @@
 #include "imu_ros2/iio_wrapper.h"
 
 /**
- * \brief Class implementation for accel gyro temp data provider.
- *
- * This class implements  AccelGyroTempDataProviderInterface interface.
- * This class provides data for the publisher.
- * The type of data is AccelGyroTempData.
+ * @brief Class for acceleration, angular velocity and temperature
+ * buffered data provider.
  */
 class AccelGyroTempDataProvider : public AccelGyroTempDataProviderInterface
 {
 public:
   /**
-   * \brief Constructor for AccelGyroTempDataProvider.
-   *
-   * This is the default constructor for class
-   *  AccelGyroTempDataProvider.
-   *
+   * @brief Constructor for AccelGyroTempDataProvider.
    */
   AccelGyroTempDataProvider();
 
   /**
-   * \brief Destructor for AccelGyroTempDataProvider.
-   *
-   * This is the destructor for AccelGyroTempDataProvider.
-   *
+   * @brief Destructor for AccelGyroTempDataProvider.
    */
   ~AccelGyroTempDataProvider();
 
   /**
-   * @brief Populate message variable with data.
-   *
-   * This function return by parameter a message variable
-   * with data from the sensor like acceleration, gyroscope
-   * and temperature. The reading from the libiio is with buffer.
-   *
-   * @return Return true if the message variable is populated with
-   *  values and false if the message is not populated.
-   * @param message Populate message variable
-   * with data like acceleration, gyroscope and temperature from
-   * the sensor.
+   * @brief Populate AccelGyroTempData message with measured data.
+   * @param message Message containing the measured data.
+   * @return Return true if the message parameter is successfully populated with
+   * measured data and false otherwise.
    */
   bool getData(imu_ros2::msg::AccelGyroTempData & message) override;
 
 private:
-  /*! This data member access information from libiio */
+  /*! This data member is used to access sensor information via libiio. */
   IIOWrapper m_iio_wrapper;
 };
 

include/imu_ros2/accelgyrotemp_data_provider_interface.h

@@ -25,43 +25,27 @@
 #include "imu_ros2/msg/accel_gyro_temp_data.hpp"
 
 /**
- * \brief Interface for accel gyro temp data provider.
- *
- * This interface provides data for the publisher.
- * The type of data is AccelGyroTempData.
+ * @brief Interface for acceleration, angular velocity and temperature
+ * buffered data provider.
  */
 class AccelGyroTempDataProviderInterface
 {
 public:
   /**
-   * \brief Constructor for AccelGyroTempDataProviderInterface.
-   *
-   * This is the default constructor for interface
-   *  AccelGyroTempDataProviderInterface.
-   *
+   * @brief Constructor for AccelGyroTempDataProviderInterface.
    */
   AccelGyroTempDataProviderInterface() {}
 
   /**
-   * \brief Destructor for AccelGyroTempDataProviderInterface.
-   *
-   * This is a virtual destructor for AccelGyroTempDataProviderInterface.
-   *
+   * @brief Destructor for AccelGyroTempDataProviderInterface.
    */
   virtual ~AccelGyroTempDataProviderInterface() {}
 
   /**
-   * @brief Populate message variable with data.
-   *
-   * This function return by parameter a message variable
-   * with data from the sensor like acceleration, gyroscope
-   * and temperature. The reading from the libiio is with buffer.
-   *
-   * @return Return true if the message variable is populated with
-   *  values and false if the message is not populated.
-   * @param message Populate message variable
-   * with data like acceleration, gyroscope and temperature from
-   * the sensor.
+   * @brief Populate AccelGyroTempData message with measured data.
+   * @param message Message containing the measured data.
+   * @return Return true if the message parameter is successfully populated with
+   * measured data and false otherwise.
    */
   virtual bool getData(imu_ros2::msg::AccelGyroTempData & message) = 0;
 };

include/imu_ros2/accelgyrotemp_ros_publisher.h

@@ -27,72 +27,41 @@
 #include "imu_ros2/accelgyrotemp_ros_publisher_interface.h"
 
 /**
- * \brief Class for accel gyro temp ros publisher.
- *
- * This class initializes the ros Node class.
- * It set message provider with a variable that is
- * a type of AccelGyroTempDataProviderInterface.
- * It also run on thread reading from data provider and
- * write on a ros2 publisher.
+ * @brief Class for acceleration, angular velocity and temperature publisher.
  */
 class AccelGyroTempRosPublisher : public AccelGyroTempRosPublisherInterface
 {
 public:
   /**
-   * \brief Constructor for AccelGyroTempRosPublisher.
-   *
-   * This is the default constructor for class
-   *  AccelGyroTempRosPublisher.
-   *
+   * @brief Constructor for AccelGyroTempRosPublisher.
    * @param node The ros2 Node instance.
    */
   AccelGyroTempRosPublisher(std::shared_ptr<rclcpp::Node> & node);
 
   /**
-   * \brief Destructor for AccelGyroTempRosPublisher.
-   *
-   * This is a destructor for AccelGyroTempRosPublisher.
-   *
+   * @brief Destructor for AccelGyroTempRosPublisher.
    */
   ~AccelGyroTempRosPublisher();
 
   /**
-   * @brief Initialize class with ros2 Node instance.
-   *
-   * This function initialize the class that inherit
-   * this interface wiht a ros2 Node instance.
-   *
-   * @param node The ros2 Node instance.
-   */
-  void init(std::shared_ptr<rclcpp::Node> & node) override;
-
-  /**
-   * @brief Set message provider.
-   *
-   * This function set data message provider with a variable that
-   * inherit AccelGyroTempDataProviderInterface.
-   *
-   * @param dataProvider Data message provider.
+   * @brief Set the message data provider.
+   * @param dataProvider Data provider.
    */
   void setMessageProvider(AccelGyroTempDataProviderInterface * dataProvider) override;
 
   /**
-   * @brief Read from message provider and write on topic
-   *
-   * Run on thread the reading from message provider and write
-   * on publisher the data.
-   *
+   * @brief Publish the AccelGyroTempData message.
    */
-  void run() override;
+  void publish() override;
 
 private:
-  /*! This variable retain a message provider */
+  /*! This variable retains the data provider instance. */
   AccelGyroTempDataProviderInterface * m_data_provider;
 
-  /*! This variable retain a publisher instance */
+  /*! This variable retains the publisher instance. */
   rclcpp::Publisher<imu_ros2::msg::AccelGyroTempData>::SharedPtr m_publisher;
 
-  /*! This variable retain a message that is published on a topic */
+  /*! This variable retains the message that is published. */
   imu_ros2::msg::AccelGyroTempData m_message;
 };
 

include/imu_ros2/accelgyrotemp_ros_publisher_interface.h

@@ -24,59 +24,38 @@
 #include <memory>
 #include <rclcpp/rclcpp.hpp>
 
-#include "imu_ros2/ros_task.h"
-
 class AccelGyroTempDataProviderInterface;
 
 /**
- * \brief Interface for accel gyro temp ros publisher.
- *
- * This interface initializes the ros Node class.
- * Also it set message provider with a variable that is
- * a type of AccelGyroTempDataProviderInterface.
+ * @brief Interface for acceleration, angular velocity and temperature
+ * publisher.
  */
-class AccelGyroTempRosPublisherInterface : public RosTask
+class AccelGyroTempRosPublisherInterface
 {
 public:
   /**
-   * \brief Constructor for AccelGyroTempRosPublisherInterface.
-   *
-   * This is the default constructor for interface
-   *  AccelGyroTempRosPublisherInterface.
-   *
+   * @brief Constructor for AccelGyroTempRosPublisherInterface.
    */
   AccelGyroTempRosPublisherInterface() {}
 
   /**
-   * \brief Destructor for AccelGyroTempRosPublisherInterface.
-   *
-   * This is a virtual destructor for AccelGyroTempRosPublisherInterface.
-   *
+   * @brief Destructor for AccelGyroTempRosPublisherInterface.
    */
   virtual ~AccelGyroTempRosPublisherInterface() {}
 
   /**
-   * @brief Initialize class with ros2 Node instance.
-   *
-   * This function initialize the class that inherit
-   * this interface wiht a ros2 Node instance.
-   *
-   * @param node The ros2 Node instance
+   * @brief Set the message data provider.
+   * @param dataProvider Data provider.
    */
-  virtual void init(std::shared_ptr<rclcpp::Node> & node) = 0;
+  virtual void setMessageProvider(AccelGyroTempDataProviderInterface * dataProvider) = 0;
 
   /**
-   * @brief Set message provider.
-   *
-   * This function set data message provider with a variable that
-   * inherit AccelGyroTempDataProviderInterface.
-   *
-   * @param dataProvider Data message provider.
+   * @brief Publish the AccelGyroTempData message.
    */
-  virtual void setMessageProvider(AccelGyroTempDataProviderInterface * dataProvider) = 0;
+  virtual void publish() = 0;
 
 protected:
-  /*! The ros2 Node data member */
+  /*! The ros2 Node data member. */
   std::shared_ptr<rclcpp::Node> m_node;
 };