Doxy documenting in send_event.cpp/h and px4_module.h.

src/modules/events/send_event.cpp

@@ -94,10 +94,10 @@ int SendEvent::start()
 		return 0;
 	}
 
-	// subscribe to the topics
+	// Subscribe to the topics.
 	_subscriber_handler.subscribe();
 
-	// Kick off the cycling. We can call it directly because we're already in the work queue context
+	// Kick off the cycling. We can call it directly because we're already in the work queue context.
 	cycle();
 
 	return 0;
@@ -116,8 +116,7 @@ void SendEvent::initialize_trampoline(void *arg)
 	_object = send_event;
 }
 
-void
-SendEvent::cycle_trampoline(void *arg)
+void SendEvent::cycle_trampoline(void *arg)
 {
 	SendEvent *obj = reinterpret_cast<SendEvent *>(arg);
 
@@ -236,13 +235,6 @@ The tasks can be started via CLI or uORB topics (vehicle_command from MAVLink, e
 	return 0;
 }
 
-
-int send_event_main(int argc, char *argv[])
-{
-	return SendEvent::main(argc, argv);
-}
-
-
 int SendEvent::custom_command(int argc, char *argv[])
 {
 	if (!strcmp(argv[0], "temperature_calibration")) {
@@ -301,4 +293,9 @@ int SendEvent::custom_command(int argc, char *argv[])
 	return 0;
 }
 
+int send_event_main(int argc, char *argv[])
+{
+	return SendEvent::main(argc, argv);
+}
+
 } /* namespace events */

src/modules/events/send_event.h

@@ -48,55 +48,101 @@ namespace events
 
 extern "C" __EXPORT int send_event_main(int argc, char *argv[]);
 
+/** @class SendEvent The SendEvent class manages the RC loss audible alarm, LED status display, and thermal calibration. */
 class SendEvent : public ModuleBase<SendEvent>, public ModuleParams
 {
 public:
+
 	SendEvent();
+
 	~SendEvent();
 
 	/**
-	 * Initialize class in the same context as the work queue. And start the background listener.
-	 * @return 0 if successful, <0 on error */
-	static int task_spawn(int argc, char *argv[]);
-
-	/** @see ModuleBase */
+	 * @see ModuleBase
+	 * @brief Recognizes custom startup commands, called from the main() function entry.
+	 * @param argc The task argument count.
+	 * @param argc Pointer to the task argument variable array.
+	 * @return Returns 0 iff successful, otherwise < 0 on error.
+	 */
 	static int custom_command(int argc, char *argv[]);
 
-	/** @see ModuleBase */
+	/**
+	 * @see ModuleBase
+	 * @brief Prints usage options to the console.
+	 * @param reason The requested usage reason for printing to console.
+	 * @return Returns 0 iff successful, -1 otherwise.
+	 */
 	static int print_usage(const char *reason = nullptr);
 
+	/**
+	 * @brief Spawns and initializes the class in the same context as the
+	 *        work queue and starts the background listener.
+	 * @param argc The input argument count.
+	 * @param argv Pointer to the input argument array.
+	 * @return Returns 0 iff successful, -1 otherwise.
+	 */
+	static int task_spawn(int argc, char *argv[]);
+
 private:
 
-	/** Start background listening for commands
-	 *
-	 * @return 0 if successful, <0 on error. */
-	int start();
-
-
-	/** Trampoline for initialisation. */
-	static void initialize_trampoline(void *arg);
-	/** Trampoline for the work queue. */
-	static void cycle_trampoline(void *arg);
-
-	/** call process_commands() and schedule the next cycle. */
-	void cycle();
-
-	/** check for new commands and process them. */
-	void process_commands();
-
-	/** return an ACK to a vehicle_command */
+	/**
+	 * @brief Returns an ACK to a vehicle_command.
+	 * @param cmd The vehicle command struct being referenced.
+	 * @param result The command acknowledgement result.
+	 */
 	void answer_command(const vehicle_command_s &cmd, unsigned result);
 
+	/**
+	 * @brief Process cycle trampoline for the work queue.
+	 * @param arg Pointer to the task startup arguments.
+	 */
+	static void cycle_trampoline(void *arg);
+
+	/**
+	 * @brief Calls process_commands() and schedules the next cycle.
+	 */
+	void cycle();
+
+	/**
+	 * @brief Trampoline for initialisation.
+	 * @param arg Pointer to the task startup arguments.
+	 */
+	static void initialize_trampoline(void *arg);
+
+	/**
+	 * @brief Checks for new commands and processes them.
+	 */
+	void process_commands();
+
+	/**
+	 * @brief Starts background task listening for commands.
+	 * @return Returns 0 iff successful, otherwise < 0 on error.
+	 */
+	int start();
+
+	/** @struct _work The work queue struct. */
 	static struct work_s _work;
+
+	/** @var _subscriber_handler The uORB subscriber handler. */
 	SubscriberHandler _subscriber_handler;
+
+	/** @var _status_display Pointer to the status display object. */
 	status::StatusDisplay *_status_display = nullptr;
+
+	/** @var _rc_loss_alarm Pointer to the RC loss alarm object. */
 	rc_loss::RC_Loss_Alarm *_rc_loss_alarm = nullptr;
+
+	/** @var _command_ack_pub The command ackowledgement topic. */
 	orb_advert_t _command_ack_pub = nullptr;
 
+	/** @note Declare local parameters using defined parameters. */
 	DEFINE_PARAMETERS(
+		/** @var _param_status_display Parameter to enable/disable the LED status display. */
 		(ParamBool<px4::params::EV_TSK_STAT_DIS>) _param_status_display,
+
+		/** @var _param_rc_loss The RC comms loss status flag. */
 		(ParamBool<px4::params::EV_TSK_RC_LOSS>) _param_rc_loss
 	)
 };
 
-} /* namespace events */
+} // namespace events

src/platforms/px4_module.h

@@ -119,6 +119,8 @@ public:
 	/**
 	 * @brief main Main entry point to the module that should be
 	 *        called directly from the module's main method.
+	 * @param argc The task argument count.
+	 * @param argc Pointer to the task argument variable array.
 	 * @return Returns 0 iff successful, -1 otherwise.
 	 */
 	static int main(int argc, char *argv[])
@@ -157,8 +159,8 @@ public:
 	 *        - instantiate the object
 	 *        - call run() on it to execute the main loop
 	 *        - cleanup: delete the object
-	 * @param argc The start argument count.
-	 * @param argv The start argument vector.
+	 * @param argc The task argument count.
+	 * @param argc Pointer to the task argument variable array.
 	 * @return Returns 0 iff successful, -1 otherwise.
 	 */
 	static int run_trampoline(int argc, char *argv[])
@@ -190,6 +192,8 @@ public:
 	/**
 	 * @brief Stars the command, ('command start'), checks if if is already
 	 *        running and calls T::task_spawn() if it's not.
+	 * @param argc The task argument count.
+	 * @param argc Pointer to the task argument variable array.
 	 * @return Returns 0 iff successful, -1 otherwise.
 	 */
 	static int start_command_base(int argc, char *argv[])
@@ -386,15 +390,15 @@ protected:
 	}
 
 	/**
-	 * @param _object Instance if the module is running.
+	 * @var _object Instance if the module is running.
 	 * @note There will be one instance for each template type.
 	 */
 	static volatile T *_object;
 
-	/** @brief _task_id The task handle: -1 = invalid, otherwise task is assumed to be running. */
+	/** @var _task_id The task handle: -1 = invalid, otherwise task is assumed to be running. */
 	static int _task_id;
 
-	/** @brief task_id_is_work_queue Value to indicate if the task runs on the work queue. */
+	/** @var task_id_is_work_queue Value to indicate if the task runs on the work queue. */
 	static constexpr const int task_id_is_work_queue = -2;
 
 private:
@@ -414,7 +418,7 @@ private:
 		pthread_mutex_unlock(&px4_modules_mutex);
 	}
 
-	/** @param _task_should_exit Boolean flag to indicate if the task should exit. */
+	/** @var _task_should_exit Boolean flag to indicate if the task should exit. */
 	volatile bool _task_should_exit = false;
 };
 
@@ -441,6 +445,7 @@ __BEGIN_DECLS
  * @note Disable module description on NuttX to reduce Flash usage.
  *       There's a GCC bug (https://gcc.gnu.org/bugzilla/show_bug.cgi?id=55971), preventing us to use
  *       a macro, but GCC will remove the string as well with this empty inline method.
+ * @param description The provided functionality of the module and potentially the most important parameters.
  */
 static inline void PRINT_MODULE_DESCRIPTION(const char *description) {}
 #else