Merge commit '7e95d8957905a7f913e8d420cbaa05f4ba815c7d' into ControlCore

Arduino/Things/DRV8833.h

@@ -3,9 +3,10 @@
 #include "Thing.h"
 #include "Things/DifferentialDrive.h"
 
-/// @brief Support for a DRV8833 motor controller
 namespace RoboidControl {
+namespace Arduino {
 
+/// @brief Support for a DRV8833 motor controller
 class DRV8833Motor : public Thing {
  public:
   /// @brief Motor turning direction
@@ -15,10 +16,7 @@ class DRV8833Motor : public Thing {
   /// @param pinIn1 the pin number for the in1 signal
   /// @param pinIn2 the pin number for the in2 signal
   /// @param direction the forward turning direction of the motor
-  DRV8833Motor(Participant* participant,
-               unsigned char pinIn1,
-               unsigned char pinIn2,
-               bool reverse = false);
+  DRV8833Motor(Participant* participant, unsigned char pinIn1, unsigned char pinIn2, bool reverse = false);
   void SetMaxRPM(unsigned int rpm);
 
   virtual void SetAngularVelocity(Spherical velocity) override;
@@ -58,4 +56,5 @@ class DRV8833 : public Thing {
   unsigned char pinStandby = 255;
 };
 
+}  // namespace Arduino
 }  // namespace RoboidControl

Arduino/Things/DigitalInput.h

@@ -5,13 +5,19 @@
 namespace RoboidControl {
 namespace Arduino {
 
+/// @brief A digital input represents the stat of a digital GPIO pin
 class DigitalInput : public TouchSensor {
  public:
+  /// @brief Create a new digital input
+  /// @param participant The participant to use
+  /// @param pin The digital pin
   DigitalInput(Participant* participant, unsigned char pin);
 
+    /// @copydoc RoboidControl::Thing::Update(unsigned long currentTimeMs)
   virtual void Update(unsigned long currentTimeMs) override;
 
  protected:
+  /// @brief The pin used for digital input
   unsigned char pin = 0;
 };
 

Arduino/Things/UltrasonicSensor.h

@@ -5,25 +5,35 @@
 namespace RoboidControl {
 namespace Arduino {
 
+/// @brief An HC-SR04 ultrasonic distance sensor
 class UltrasonicSensor : public TouchSensor {
  public:
+  /// @brief  Setup an ultrasonic sensor
+  /// @param participant The participant to use
+  /// @param pinTrigger The pin number of the trigger signal
+  /// @param pinEcho The pin number of the echo signal
   UltrasonicSensor(Participant* participant, unsigned char pinTrigger, unsigned char pinEcho);
 
   // parameters
 
+  /// @brief The distance at which the object is considered to be touched
   float touchDistance = 0.2f;
 
   // state
 
+  /// @brief The last read distance
   float distance = 0;
+  /// @brief erform an ultrasonic 'ping' to determine the distance to the nearest object
+  /// @return the measured distance in meters to the nearest object
   float GetDistance();
 
+  /// @copydoc RoboidControl::Thing::Update(unsigned long currentTimeMs)
   virtual void Update(unsigned long currentTimeMs) override;
 
-  // virtual void ProcessBinary(char* bytes) override;
-
  protected:
+  /// @brief The pin number of the trigger signal
   unsigned char pinTrigger = 0;
+  /// @brief The pin number of the echo signal
   unsigned char pinEcho = 0;
 };
 

LocalParticipant.h

@@ -31,8 +31,9 @@ namespace RoboidControl {
 /// An participant can be isolated. In that case it is standalong and does not communicate with other participants.
 ///
 /// It is possible to work with an hidden participant by creating things without specifying a participant in the
-/// constructor (@sa RoboidControl::Thing::Thing()). In that case an hidden isolated participant is created which can be
+/// constructor. In that case an hidden isolated participant is created which can be
 /// obtained using RoboidControl::LocalParticipant::Isolated().
+/// @sa RoboidControl::Thing::Thing()
 class LocalParticipant : public Participant {
  public:
   /// @brief Create a participant without connecting to a site

Messages/BinaryMsg.cpp

@@ -30,9 +30,5 @@ unsigned char BinaryMsg::Serialize(char* buffer) {
   return ix;
 }
 
-BinaryMsg BinaryMsg::Receive(char* buffer, unsigned char bufferSize) {
-  BinaryMsg msg = BinaryMsg(buffer);
-  return msg;
-}
 
 }  // namespace RoboidControl

Messages/BinaryMsg.h

@@ -4,25 +4,35 @@
 
 namespace RoboidControl {
 
+/// @brief Message to send thing-specific data
 class BinaryMsg : public IMessage {
  public:
+  /// @brief The message ID
   static const unsigned char id = 0xB1;
+  /// @brief The length of the message without the binary data itslef
   static const unsigned length = 3;
 
+  /// @brief The network ID of the thing
   unsigned char networkId;
+  /// @brief The ID of the thing
   unsigned char thingId;
+  /// @brief The thing for which the binary data is communicated
   Thing* thing;
 
-  unsigned char bytesSize;
+  /// @brief The binary data which is communicated
   char* bytes = nullptr;
 
-  BinaryMsg(char* buffer);
+  /// @brief Create a new message for sending
+  /// @param networkId The network ID of the thing
+  /// @param thing The thing for which binary data is sent
   BinaryMsg(unsigned char networkId, Thing* thing);
+  /// @copydoc RoboidControl::IMessage::IMessage(char*)
+  BinaryMsg(char* buffer);
+  /// @brief Destructor for the message
   virtual ~BinaryMsg();
 
+    /// @copydoc RoboidControl::IMessage::Serialize
   virtual unsigned char Serialize(char* buffer) override;
-
-  static BinaryMsg Receive(char* buffer, unsigned char bufferSize);
 };
 
 }  // namespace RoboidControl