libuavcan documentation

libuavcan/include/uavcan/protocol/restart_request_server.hpp

@@ -10,15 +10,29 @@
 
 namespace uavcan
 {
-
+/**
+ * Implement this interface in the application to support the standard node restart service.
+ */
 class UAVCAN_EXPORT IRestartRequestHandler
 {
 public:
     virtual ~IRestartRequestHandler() { }
+
+    /**
+     * This method shall do either:
+     *  - restart the local node immediately;
+     *  - initiate the restart procedure to complete it asynchronously;
+     *  - reject the restart request and return false.
+     *
+     * If the restart requets was accepted, this method shall either return true or don't return at all.
+     */
     virtual bool handleRestartRequest(NodeID request_source) = 0;
 };
 
-
+/**
+ * Convenience class for supporting the standard node restart service.
+ * Highly recommended to use.
+ */
 class UAVCAN_EXPORT RestartRequestServer : Noncopyable
 {
     typedef MethodBinder<const RestartRequestServer*,
@@ -37,9 +51,17 @@ public:
         , handler_(NULL)
     { }
 
+    /**
+     * Restart request handler configuration.
+     * All restart requests will be explicitly rejected if there's no handler installed.
+     */
     IRestartRequestHandler* getHandler() const { return handler_; }
     void setHandler(IRestartRequestHandler* handler) { handler_ = handler; }
 
+    /**
+     * Starts the server.
+     * Returns negative error code.
+     */
     int start();
 };