libuavcan documentation

libuavcan/include/uavcan/node/abstract_node.hpp

@@ -10,7 +10,11 @@
 
 namespace uavcan
 {
-
+/**
+ * This is the abstract node class. If you're going to implement your own node class for your application,
+ * please inherit this class so it can be used with default publisher, subscriber, server, etc. classes.
+ * Normally you don't need to use directly though - please refer to the class Node<>.
+ */
 class UAVCAN_EXPORT INode
 {
 public:
@@ -28,19 +32,44 @@ public:
     MonotonicTime getMonotonicTime() const { return getScheduler().getMonotonicTime(); }
     UtcTime getUtcTime()             const { return getScheduler().getUtcTime(); }
 
+    /**
+     * Returns the Node ID of this node.
+     * If Node ID was not set yet, an invalid value will be returned.
+     */
     NodeID getNodeID() const { return getScheduler().getDispatcher().getNodeID(); }
+
+    /**
+     * Sets the Node ID of this node.
+     * Node ID can be assigned only once. This method returns true if the Node ID was successfully assigned, otherwise
+     * it returns false (e.g. the argument does not represent a valid Node ID, or it was already assigned earlier).
+     * As long as a valid Node ID is not set, the node will remain in passive mode.
+     */
     bool setNodeID(NodeID nid)
     {
         return getScheduler().getDispatcher().setNodeID(nid);
     }
 
+    /**
+     * Whether the node is in passive mode, i.e. can't transmit anything to the bus.
+     * Please read the specs to learn more.
+     */
     bool isPassiveMode() const { return getScheduler().getDispatcher().isPassiveMode(); }
 
+    /**
+     * Same as @ref spin(MonotonicDuration), but the deadline is specified as an absolute time value
+     * rather than duration.
+     */
     int spin(MonotonicTime deadline)
     {
         return getScheduler().spin(deadline);
     }
 
+    /**
+     * Runs the node.
+     * Normally your application should not block anywhere else.
+     * Block inside this method forever or call it periodically.
+     * This method returns 0 if no errors occurred, or a negative error code if something failed (see error.hpp).
+     */
     int spin(MonotonicDuration duration)
     {
         return getScheduler().spin(getMonotonicTime() + duration);