Documentation: action, message, service typesupport and message bounds

rosidl_runtime_c/include/rosidl_runtime_c/action_type_support_struct.h

@@ -27,6 +27,10 @@ extern "C"
 
 typedef struct rosidl_action_type_support_t rosidl_action_type_support_t;
 
+/// Contains rosidl action type support data.
+/*
+ * Actions are build based on services(goal, result and cancel) and message (feedback and status).
+ */
 struct rosidl_action_type_support_t
 {
   const rosidl_service_type_support_t * goal_service_type_support;
@@ -36,6 +40,12 @@ struct rosidl_action_type_support_t
   const rosidl_message_type_support_t * status_message_type_support;
 };
 
+/// Get the action type support given a provided action and package.
+/*
+ * \param PkgName name of the package that contains the action
+ * \param Name action name
+ * \return a rosidl_action_type_support_t struct if found, otherwise NULL.
+ */
 #define ROSIDL_GET_ACTION_TYPE_SUPPORT(PkgName, Name) \
   ROSIDL_TYPESUPPORT_INTERFACE__ACTION_SYMBOL_NAME( \
     rosidl_typesupport_c, PkgName, action, Name)()

rosidl_runtime_c/include/rosidl_runtime_c/message_type_support_struct.h

@@ -28,21 +28,50 @@ typedef struct rosidl_message_type_support_t rosidl_message_type_support_t;
 typedef const rosidl_message_type_support_t * (* rosidl_message_typesupport_handle_function)(
   const rosidl_message_type_support_t *, const char *);
 
+/// Contains rosidl message type support data
 struct rosidl_message_type_support_t
 {
+  /// String identifier for the type_support.
   const char * typesupport_identifier;
+  /// Pointer to type support handle function
   const void * data;
   rosidl_message_typesupport_handle_function func;
 };
 
+/// Get the message type support handle specific to this identifier.
+/**
+ * The handle's message typesupport identifier function is returned or if the parameters are NULL
+ * then an assert will happen.
+ *
+ * \param handle Handle to message type support
+ * \param identifier The typesupport identifier to get the handle function for
+ * \return The associated message typesupport handle function.
+ */
 ROSIDL_GENERATOR_C_PUBLIC
 const rosidl_message_type_support_t * get_message_typesupport_handle(
   const rosidl_message_type_support_t * handle, const char * identifier);
 
+// Get the message type support handle function specific to this identifier.
+/**
+ * If the identifier is the same as this handle's typesupport_identifier the handle is simply
+ * returned or if the parameters are NULL then an assert will happen.
+ *
+ * \param handle Handle to message type support
+ * \param identifier The typesupport identifier to get the handle function for
+ * \return if the identifier match's the handle's identifier then the handle's function
+ *   is returned.
+ */
 ROSIDL_GENERATOR_C_PUBLIC
 const rosidl_message_type_support_t * get_message_typesupport_handle_function(
   const rosidl_message_type_support_t * handle, const char * identifier);
 
+/// Get the message type support given a provided action and package.
+/*
+ * \param PkgName Name of the package that contains the message
+ * \param MsgSubfolder name of the subfolder (for example: msg)
+ * \param MsgName message name
+ * \return a rosidl_message_type_support_t struct if founded, otherwise NULL.
+ */
 #define ROSIDL_GET_MSG_TYPE_SUPPORT(PkgName, MsgSubfolder, MsgName) \
   ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME( \
     rosidl_typesupport_c, PkgName, MsgSubfolder, MsgName)()

rosidl_runtime_c/include/rosidl_runtime_c/sequence_bound.h

@@ -30,19 +30,47 @@ typedef const rosidl_runtime_c__Sequence__bound * (* rosidl_runtime_c__bound_han
 
 struct rosidl_runtime_c__Sequence__bound
 {
+  /// String identifier for the type_support.
   const char * typesupport_identifier;
+  /// Pointer to type support handle function
   const void * data;
   rosidl_runtime_c__bound_handle_function func;
 };
 
+/// Get the message bounds handle specific to this identifier.
+/**
+ * The handle's sequence bound is simply returned or if the parameters are NULL then an assert
+ * will happen.
+ *
+ * \param handle Handle to service type support
+ * \param identifier The identifier to get the handle for
+ * \return The associated sequence bound handle function.
+ */
 ROSIDL_GENERATOR_C_PUBLIC
 const rosidl_runtime_c__Sequence__bound * get_sequence_bound_handle(
   const rosidl_runtime_c__Sequence__bound * handle, const char * identifier);
 
+/// Get the message bounds handle function specific to this identifier.
+/**
+ * If the identifier is the same as this handle function's identifier the handle is simply returned
+ * or if the parameters are NULL then an assert will happen.
+ *
+ * \param handle Handle to service type support
+ * \param identifier The identifier to get the handle function for
+ * \return if the identifier match's the handle's identifier then the handle's function
+ *   is returned.
+ */
 ROSIDL_GENERATOR_C_PUBLIC
 const rosidl_runtime_c__Sequence__bound * get_sequence_bound_handle_function(
   const rosidl_runtime_c__Sequence__bound * handle, const char * identifier);
 
+/// Get the sequence bounds given a provided action and package.
+/*
+ * \param PkgName Name of the package that contains the message
+ * \param MsgSubfolder name of the subfolder (foe example: msg)
+ * \param MsgName message name
+ * \return a rosidl_message_bounds_t struct if founded, otherwise NULL.
+ */
 #define ROSIDL_GET_SEQUENCE_BOUNDS(PkgName, MsgSubfolder, MsgName) \
   ROSIDL_BOUNDS_INTERFACE__MESSAGE_SYMBOL_NAME( \
     rosidl_typesupport_c, PkgName, MsgSubfolder, MsgName)()

rosidl_runtime_c/include/rosidl_runtime_c/service_type_support_struct.h

@@ -29,21 +29,50 @@ typedef struct rosidl_service_type_support_t rosidl_service_type_support_t;
 typedef const rosidl_service_type_support_t * (* rosidl_service_typesupport_handle_function)(
   const rosidl_service_type_support_t *, const char *);
 
+/// Contains rosidl service type support data
 struct rosidl_service_type_support_t
 {
+  /// String identifier for the type_support.
   const char * typesupport_identifier;
+  /// Pointer to type support handle function
   const void * data;
   rosidl_service_typesupport_handle_function func;
 };
 
+/// Get the service type support handle specific to this identifier.
+/**
+ * The handle's message typesupport identifier function is returned or if the parameters are NULL
+ * then an assert will happen.
+ *
+ * \param handle Handle to service type support
+ * \param identifier The typesupport identifier to get the handle function for
+ * \return The associated service typesupport handle function.
+ */
 ROSIDL_GENERATOR_C_PUBLIC
 const rosidl_service_type_support_t * get_service_typesupport_handle(
   const rosidl_service_type_support_t * handle, const char * identifier);
 
+/// Get the service type support handle function specific to this identifier.
+/**
+* If the identifier is the same as this handle's typesupport_identifier the handle is simply
+* returned or if the parameters are NULL then an assert will happen.
+ *
+ * \param handle Handle to service type support
+ * \param identifier The typesupport identifier to get the handle function for
+ * \return if the identifier match's the handle's identifier then the handle's function
+ *   is returned.
+ */
 ROSIDL_GENERATOR_C_PUBLIC
 const rosidl_service_type_support_t * get_service_typesupport_handle_function(
   const rosidl_service_type_support_t * handle, const char * identifier);
 
+/// Get the service type support given a provided action and package.
+/*
+ * \param PkgName Name of the package that contains the service
+ * \param SrvSubfolder name of the subfolder (for example: srv)
+ * \param SrvName service name
+ * \return a rosidl_service_type_support_t struct if founded, otherwise NULL.
+ */
 #define ROSIDL_GET_SRV_TYPE_SUPPORT(PkgName, SrvSubfolder, SrvName) \
   ROSIDL_TYPESUPPORT_INTERFACE__SERVICE_SYMBOL_NAME( \
     rosidl_typesupport_c, PkgName, SrvSubfolder, SrvName)()