From 1a9d78ac56558f2379eeb237332a54965b3d66c4 Mon Sep 17 00:00:00 2001
From: Raphael Grimm <raphael.grimm@kit.edu>
Date: Fri, 27 Jul 2018 15:26:15 +0200
Subject: [PATCH] Add doxygen
---
.../images/NJointControllerDataFlow_Graph.svg | 2 ++
.../images/NJointControllerDataFlow_Graph.xml | 1 +
...NJointControllerWorkerThreadDataFlow_Graph.svg | 2 ++
...NJointControllerWorkerThreadDataFlow_Graph.xml | 1 +
.../NJointControllers/NJointController.h | 15 +++++++++++++++
5 files changed, 21 insertions(+)
create mode 100644 etc/doxygen/images/NJointControllerDataFlow_Graph.svg
create mode 100644 etc/doxygen/images/NJointControllerDataFlow_Graph.xml
create mode 100644 etc/doxygen/images/NJointControllerWorkerThreadDataFlow_Graph.svg
create mode 100644 etc/doxygen/images/NJointControllerWorkerThreadDataFlow_Graph.xml
diff --git a/etc/doxygen/images/NJointControllerDataFlow_Graph.svg b/etc/doxygen/images/NJointControllerDataFlow_Graph.svg
new file mode 100644
index 000000000..65c53be2c
--- /dev/null
+++ b/etc/doxygen/images/NJointControllerDataFlow_Graph.svg
@@ -0,0 +1,2 @@
+<!DOCTYPE svg PUBLIC "-//W3C//DTD SVG 1.1//EN" "http://www.w3.org/Graphics/SVG/1.1/DTD/svg11.dtd">
+<svg xmlns="http://www.w3.org/2000/svg" style="background-color: rgb(255, 255, 255);" xmlns:xlink="http://www.w3.org/1999/xlink" width="412px" height="90px" version="1.1" content="<mxfile userAgent="Mozilla/5.0 (X11; Ubuntu; Linux x86_64; rv:61.0) Gecko/20100101 Firefox/61.0" version="8.9.9" editor="www.draw.io" type="device"><diagram id="ef5abcf2-3e1d-c766-55b0-b941bf7457f1" name="Page-1">zVZNj5swEP013PkKSa/JpttK7aWp1O3RhQl4axjkDAv019fEQzBLU1WqNkoOkefNp988SLxoV3aPWtTFZ8xAeaGfdV704IXherU23wPQWyDxNxbItcwsFEzAQf4CBn1GG5nBaRZIiIpkPQdTrCpIaYYJrbGdhx1RzbvWIocFcEiFWqLfZEaFRTcrf8I/gMyLsXPgs+eHSH/mGpuK+3lhdDx/rLsUYy2OPxUiw9aBor0X7TQi2VPZ7UAN1I602bz3V7yXuTVU9E8Jic14EaqBceTzYNSPZJgMw7sxtm0hCQ61SAdPazZvsIJKZazAHMWptss4yg5Mgy3XBk3QXR0wuFzbqAmwBNK9CeGE+B2nsJLCNdutsxcms3BWMmKClZBfKk9smAMTcoWc1b2Ts0lekZPcjJxkSUVmniE2UVOBOVZC7Sd0e34whss/+HNyoJP05Jy/c4jhQfdPrjF6noGo5xeHaAgNNPX8hFhzNTvlMNrfOTY3wUanHMV7JqFz4Kj4z5vQoATJl3n1/+E1XGjuy9f7Ul2Q+HPVjXK6gerWb6E631Fd4KoucFUXvLnq4qXqwhupLl6o7uNuf1+yizc3k50xp5/gs8/5mxPtfwM=</diagram></mxfile>"><defs/><g transform="translate(0.5,0.5)"><ellipse cx="371" cy="40" rx="40" ry="40" fill="#ffffff" stroke="#000000" pointer-events="none"/><ellipse cx="366" cy="45" rx="40" ry="40" fill="#ffffff" stroke="#000000" pointer-events="none"/><path d="M 68.14 21 L 325.2 21" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="none"/><path d="M 330.45 21 L 323.45 24.5 L 325.2 21 L 323.45 17.5 Z" fill="#000000" stroke="#000000" stroke-miterlimit="10" pointer-events="none"/><ellipse cx="40" cy="49" rx="40" ry="40" fill="#ffffff" stroke="#000000" pointer-events="none"/><g transform="translate(31.5,42.5)"><switch><foreignObject style="overflow:visible;" pointer-events="all" width="16" height="12" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; vertical-align: top; width: 17px; white-space: nowrap; overflow-wrap: normal; text-align: center;"><div xmlns="http://www.w3.org/1999/xhtml" style="display:inline-block;text-align:inherit;text-decoration:inherit;">RT</div></div></foreignObject><text x="8" y="12" fill="#000000" text-anchor="middle" font-size="12px" font-family="Helvetica">RT</text></switch></g><path d="M 331.57 77 L 74.51 77" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="none"/><path d="M 69.26 77 L 76.26 73.5 L 74.51 77 L 76.26 80.5 Z" fill="#000000" stroke="#000000" stroke-miterlimit="10" pointer-events="none"/><ellipse cx="360" cy="49" rx="40" ry="40" fill="#ffffff" stroke="#000000" pointer-events="none"/><g transform="translate(349.5,42.5)"><switch><foreignObject style="overflow:visible;" pointer-events="all" width="20" height="12" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; vertical-align: top; width: 21px; white-space: nowrap; overflow-wrap: normal; text-align: center;"><div xmlns="http://www.w3.org/1999/xhtml" style="display:inline-block;text-align:inherit;text-decoration:inherit;">ICE</div></div></foreignObject><text x="10" y="12" fill="#000000" text-anchor="middle" font-size="12px" font-family="Helvetica">ICE</text></switch></g></g></svg>
\ No newline at end of file
diff --git a/etc/doxygen/images/NJointControllerDataFlow_Graph.xml b/etc/doxygen/images/NJointControllerDataFlow_Graph.xml
new file mode 100644
index 000000000..3b6758c3f
--- /dev/null
+++ b/etc/doxygen/images/NJointControllerDataFlow_Graph.xml
@@ -0,0 +1 @@
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diff --git a/etc/doxygen/images/NJointControllerWorkerThreadDataFlow_Graph.svg b/etc/doxygen/images/NJointControllerWorkerThreadDataFlow_Graph.svg
new file mode 100644
index 000000000..428c211b7
--- /dev/null
+++ b/etc/doxygen/images/NJointControllerWorkerThreadDataFlow_Graph.svg
@@ -0,0 +1,2 @@
+<!DOCTYPE svg PUBLIC "-//W3C//DTD SVG 1.1//EN" "http://www.w3.org/Graphics/SVG/1.1/DTD/svg11.dtd">
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diff --git a/etc/doxygen/images/NJointControllerWorkerThreadDataFlow_Graph.xml b/etc/doxygen/images/NJointControllerWorkerThreadDataFlow_Graph.xml
new file mode 100644
index 000000000..ef5af4b65
--- /dev/null
+++ b/etc/doxygen/images/NJointControllerWorkerThreadDataFlow_Graph.xml
@@ -0,0 +1 @@
+<mxfile userAgent="Mozilla/5.0 (X11; Ubuntu; Linux x86_64; rv:61.0) Gecko/20100101 Firefox/61.0" version="8.9.9" editor="www.draw.io" type="device"><diagram id="ef5abcf2-3e1d-c766-55b0-b941bf7457f1" name="Page-1">zVfBcpswEP0arh1AGLtXO27amfZSZybpUYU1qAGWkUWAfn2FtRgIdqZtYoIPHu3bXWn1tE8aLLZJq1vJ8/gbhpBYrh1WFruxXHe5WOr/BqgN4NsrA0RShAZyOmAnfgOBNqGFCOEwCFSIiRL5EAwwyyBQA4xLieUwbI/JcNWcRzACdgFPxui9CFVs0NXC7vDPIKK4XdmxyfOTB4+RxCKj9SyX7Y8/4055OxfFH2IeYtmD2NZiG4mozCitNpA01La0mbxPF7ynuiVk6q8SfJPxxJMC2pKPham6JUNnaN61sS5joWCX86DxlPrkNRarNNGWo4f8kJvD2IsK9AJrmhukgupigc5p27qbAFNQstYhlOB9pBTqJHdJdtk7FyIz7h1Ji3HqhOg0c8eGHhAhF8hZzJ2clf+MHH8ycvwxFaHWEJkoVYwRZjzZduj6KIxm8zf2kByohHrojX9QiOZB1g99o/X8AqVqujh4oVBD3ZpfEXOazVTZlPYyx3onWMiAouicFZcRUJR3/iQkJFyJp+Hsr2q6Mz3WIzbD7J+ZdObFJJuISXek3u9389Kv49tD/bbCnOJyc8Zc/Eef2X3FflgMOq0z2y68bq+xca+5U6mWvblqL99/78LkVPcfG6n2HuUjSI3dxRJ4OC8JM3coYc+bTsLLazzBLwja6Teh8V23Db13FLT3NtejYfDcQzwHNqd6ir2RqL9stvMSsrea7C3WZveFd/T1vqLZ9g8=</diagram></mxfile>
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diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.h b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.h
index 369109774..53d3decd5 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.h
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.h
@@ -187,6 +187,13 @@ namespace armarx
*
* \image html NJointControllerTripleBufferDataFlow.svg "Dataflow in a NJointController using a triple buffer for communication between RT and NonRT"
*
+ *
+ * \image html NJointControllerDataFlow_Graph.svg "Dataflow in a NJointController as a Graph of the two participating domains"
+ * The above image shows the two participating domains: one RT thread and multiple ICE threads.
+ * If data has to flow along an arrow, you need some construct for non blocking message passing.
+ *
+ * \warning If you use \ref TrippleBuffer "TrippleBuffers" or \ref WriteBufferedTrippleBuffer "WriteBufferedTrippleBuffers" you need a separate one for each arrow.
+ *
* \section expensivework How to do expensive calculations
* You have to execute expensive calculations in a different worker thread.
* This thread could calculate target values at its own speed (e.g. 100 Hz).
@@ -201,6 +208,12 @@ namespace armarx
*
* \image html NJointControllerWorkerThreadDataFlow.svg "Dataflow in a NJointController using a worker thread"
*
+ * \image html NJointControllerWorkerThreadDataFlow_Graph.svg "Dataflow in a NJointController using a worker thread as a Graph of the three participating domains"
+ * The above image shows the three participating domains: one RT thread, one worker trhead and multiple ICE threads.
+ * If data has to flow along an arrow, you need some construct for non blocking message passing.
+ *
+ * \warning If you use \ref TrippleBuffer "TrippleBuffers" or \ref WriteBufferedTrippleBuffer "WriteBufferedTrippleBuffers" you need a separate one for each arrow.
+ *
* \section nj-ctor-gui Providing a gui for controller construction.
* By implementing these functions:
* \code{.cpp}
@@ -217,6 +230,8 @@ namespace armarx
*
* \section Examples
*
+ * More examples can be found in the Tutorials Package
+ *
* \subsection nj-example-1 A simple pass Position controller
* \note The code can be found in the Tutorial package
*
--
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