Added docstrings and const qualifiers

Author: Felix Exner

include/ur_client_library/comm/pipeline.h

@@ -172,8 +172,13 @@ class IProducer
 public:
   /*!
    * \brief Set-up functionality of the producers.
+   *
+   * \param max_num_tries Maximum number of connection attempts before counting the connection as
+   * failed. Unlimited number of attempts when set to 0.
+   * \param reconnection_time time in between connection attempts to the server
    */
-  virtual void setupProducer(size_t max_num_tries = 0, std::chrono::milliseconds reconnection_time = std::chrono::seconds(10))
+  virtual void setupProducer(const size_t max_num_tries = 0,
+                             const std::chrono::milliseconds reconnection_time = std::chrono::seconds(10))
   {
   }
   /*!
@@ -287,7 +292,15 @@ class Pipeline
     stop();
   }
 
-  void init(size_t max_num_tries = 0, std::chrono::milliseconds reconnection_time = std::chrono::seconds(10))
+  /*!
+   * \brief Initialize the pipeline. Internally calls setup of producer and consumer.
+   *
+   * \param max_num_tries Maximum number of connection attempts before counting the connection as
+   * failed. Unlimited number of attempts when set to 0.
+   * \param reconnection_time time in between connection attempts to the server
+   */
+  void init(const size_t max_num_tries = 0,
+            const std::chrono::milliseconds reconnection_time = std::chrono::seconds(10))
   {
     producer_.setupProducer(max_num_tries, reconnection_time);
     if (consumer_ != nullptr)

include/ur_client_library/comm/producer.h

@@ -59,8 +59,13 @@ class URProducer : public IProducer<T>
 
   /*!
    * \brief Triggers the stream to connect to the robot.
+   *
+   * \param max_num_tries Maximum number of connection attempts before counting the connection as
+   * failed. Unlimited number of attempts when set to 0.
+   * \param reconnection_time time in between connection attempts to the server
    */
-  void setupProducer(size_t max_num_tries = 0, std::chrono::milliseconds reconnection_time = std::chrono::seconds(10)) override
+  void setupProducer(const size_t max_num_tries = 0,
+                     const std::chrono::milliseconds reconnection_time = std::chrono::seconds(10)) override
   {
     stream_.setReconnectionTime(reconnection_time);
     timeval tv;

include/ur_client_library/comm/stream.h

@@ -56,9 +56,12 @@ class URStream : public TCPSocket
   /*!
    * \brief Connects to the configured socket.
    *
+   * \param max_num_tries Maximum number of connection attempts before counting the connection as
+   * failed. Unlimited number of attempts when set to 0.
+   *
    * \returns True on success, false if connection could not be established
    */
-  bool connect(size_t max_num_tries = 0)
+  bool connect(const size_t max_num_tries = 0)
   {
     return TCPSocket::setup(host_, port_, max_num_tries);
   }

include/ur_client_library/comm/tcp_socket.h

@@ -59,7 +59,7 @@ class TCPSocket
   }
   virtual void setOptions(int socket_fd);
 
-  bool setup(std::string& host, int port, size_t max_num_tries = 0);
+  bool setup(const std::string& host, const int port, const size_t max_num_tries = 0);
 
   std::unique_ptr<timeval> recv_timeout_;
 
@@ -146,7 +146,7 @@ class TCPSocket
    *
    * \param reconnection_time time in between connection attempts to the server
    */
-  void setReconnectionTime(std::chrono::milliseconds reconnection_time)
+  void setReconnectionTime(const std::chrono::milliseconds reconnection_time)
   {
     reconnection_time_ = reconnection_time;
   }

include/ur_client_library/rtde/rtde_client.h

@@ -123,9 +123,14 @@ class RTDEClient
    * \brief Sets up RTDE communication with the robot. The handshake includes negotiation of the
    * used protocol version and setting of input and output recipes.
    *
+   * \param max_num_tries Maximum number of connection attempts before counting the connection as
+   * failed. Unlimited number of attempts when set to 0.
+   * \param reconnection_time time in between connection attempts to the server
+   *
    * \returns Success of the handshake
    */
-  bool init(size_t max_num_tries = 0, std::chrono::milliseconds reconnection_time = std::chrono::seconds(10));
+  bool init(const size_t max_num_tries = 0,
+            const std::chrono::milliseconds reconnection_time = std::chrono::seconds(10));
   /*!
    * \brief Triggers the robot to start sending RTDE data packages in the negotiated format.
    *
@@ -228,7 +233,8 @@ class RTDEClient
   // the robot is booted.
   std::vector<std::string> ensureTimestampIsPresent(const std::vector<std::string>& output_recipe) const;
 
-  void setupCommunication(size_t max_num_tries = 0, std::chrono::milliseconds reconnection_time = std::chrono::seconds(10));
+  void setupCommunication(const size_t max_num_tries = 0,
+                          const std::chrono::milliseconds reconnection_time = std::chrono::seconds(10));
   bool negotiateProtocolVersion(const uint16_t protocol_version);
   void queryURControlVersion();
   void setupOutputs(const uint16_t protocol_version);

include/ur_client_library/ur/dashboard_client.h

@@ -60,10 +60,15 @@ class DashboardClient : public comm::TCPSocket
   /*!
    * \brief Opens a connection to the dashboard server on the host as specified in the constructor.
    *
+   * \param max_num_tries Maximum number of connection attempts before counting the connection as
+   * failed. Unlimited number of attempts when set to 0.
+   * \param reconnection_time time in between connection attempts to the server
+   *
    * \returns True on successful connection, false otherwise.
    */
-  bool connect(size_t max_num_tries = 0, std::chrono::milliseconds reconnection_time = std::chrono::seconds(10));
-  
+  bool connect(const size_t max_num_tries = 0,
+               const std::chrono::milliseconds reconnection_time = std::chrono::seconds(10));
+
   /*!
    * \brief Makes sure no connection to the dashboard server is held inside the object.
    */

src/rtde/rtde_client.cpp

@@ -69,7 +69,7 @@ RTDEClient::~RTDEClient()
   disconnect();
 }
 
-bool RTDEClient::init(size_t max_num_tries, std::chrono::milliseconds reconnection_time)
+bool RTDEClient::init(const size_t max_num_tries, const std::chrono::milliseconds reconnection_time)
 {
   if (client_state_ > ClientState::UNINITIALIZED)
   {
@@ -92,7 +92,7 @@ bool RTDEClient::init(size_t max_num_tries, std::chrono::milliseconds reconnecti
   throw UrException(ss.str());
 }
 
-void RTDEClient::setupCommunication(size_t max_num_tries, std::chrono::milliseconds reconnection_time)
+void RTDEClient::setupCommunication(const size_t max_num_tries, const std::chrono::milliseconds reconnection_time)
 {
   client_state_ = ClientState::INITIALIZING;
   // A running pipeline is needed inside setup

src/ur/dashboard_client.cpp

@@ -47,7 +47,7 @@ void DashboardClient::rtrim(std::string& str, const std::string& chars)
   str.erase(str.find_last_not_of(chars) + 1);
 }
 
-bool DashboardClient::connect(size_t max_num_tries, std::chrono::milliseconds reconnection_time)
+bool DashboardClient::connect(const size_t max_num_tries, const std::chrono::milliseconds reconnection_time)
 {
   if (getState() == comm::SocketState::Connected)
   {