Review changes. Added descriptions to classes. MInor fixes

Author: iutrilla-rti

examples/routing_service/udp_socket_adapter_dynamic/RsSocketAdapter.xml

@@ -14,12 +14,10 @@
     <routing_service name="SocketAdapterToDDS">
         <domain_route name="SocketBridge">
             <connection name="SocketConnection" plugin_name="AdapterLib::SocketAdapter">
-                <register_type name="PingType" type_ref="PingType" />
             </connection>
             <participant name="DDSConnection">
                 <domain_id>1</domain_id>
                 <domain_participant_qos base_name="BuiltinQosLib::Generic.Common" />
-                <register_type name="PingType" type_ref="PingType" />
             </participant>
             <session name="session">
                 <route>

examples/routing_service/udp_socket_adapter_dynamic/src/SocketStreamReader.cxx

@@ -99,7 +99,7 @@ void SocketStreamReader::take(
         std::vector<dds::core::xtypes::DynamicData *> &samples,
         std::vector<dds::sub::SampleInfo *> &infos)
 {
-    std::vector<char> buffer;
+    take_buffer_.clear();
     {
         std::unique_lock<std::mutex> lock(buffer_mutex_);
         if (received_buffers_.empty()) {
@@ -108,12 +108,12 @@ void SocketStreamReader::take(
             infos.clear();
             return;
         }
-        buffer = std::move(received_buffers_.front());
+        take_buffer_ = std::move(received_buffers_.front());
         received_buffers_.pop();
     }
 
     dds::core::xtypes::DynamicData deserialized_sample(*adapter_type_);
-    rti::core::xtypes::from_cdr_buffer(deserialized_sample, buffer);
+    rti::core::xtypes::from_cdr_buffer(deserialized_sample, take_buffer_);
 
     samples.resize(1);
     infos.resize(1);

examples/routing_service/udp_socket_adapter_dynamic/src/SocketStreamReader.hpp

@@ -28,6 +28,18 @@
 #define RECEIVE_ADDRESS_STRING "receive_address"
 #define RECEIVE_PORT_STRING "receive_port"
 
+/**
+ * @brief StreamReader implementation for UDP socket input in RTI Routing Service.
+ *
+ * SocketStreamReader is a specific implementation of rti::routing::adapter::DynamicDataStreamReader
+ * that receives data from a UDP socket and makes it available to RTI Routing Service as DynamicData samples.
+ * 
+ * This class manages a background thread to continuously read UDP packets from a specified address and port,
+ * buffering received data for consumption by the Routing Service. It supports thread-safe queuing of incoming
+ * data, loaning and returning DynamicData samples, and clean shutdown of the reading thread.
+ *
+ */
+
 class SocketStreamReader : public rti::routing::adapter::DynamicDataStreamReader {
 public:
     SocketStreamReader(
@@ -69,6 +81,7 @@ class SocketStreamReader : public rti::routing::adapter::DynamicDataStreamReader
     char received_buffer_[BUFFER_MAX_SIZE];
     std::queue<std::vector<char>> received_buffers_;
     std::mutex buffer_mutex_;
+    std::vector<char> take_buffer_;
 
     rti::routing::StreamInfo stream_info_;
     dds::core::xtypes::DynamicType *adapter_type_;

examples/routing_service/udp_socket_adapter_dynamic/src/SocketStreamWriter.hpp

@@ -30,6 +30,19 @@
 #define DEST_ADDRESS_STRING "dest_address"
 #define DEST_PORT_STRING "dest_port"
 
+/**
+ * @brief StreamWriter implementation for UDP socket output in RTI Routing Service.
+ *
+ * SocketStreamWriter is a specific implementation of rti::routing::adapter::DynamicDataStreamWriter
+ * that sends data to a UDP socket, making it available for external consumers outside DDS.
+ *
+ * This class is responsible for serializing DynamicData samples received from Routing Service
+ * and transmitting them as UDP packets to a specified destination address and port.
+ * It manages socket creation, serialization buffers, and the configuration of destination
+ * parameters via properties.
+ *
+ */
+
 class SocketStreamWriter : public rti::routing::adapter::DynamicDataStreamWriter {
 public:
     explicit SocketStreamWriter(
@@ -46,10 +59,6 @@ class SocketStreamWriter : public rti::routing::adapter::DynamicDataStreamWriter
 
 
 private:
-    /**
-     * @brief Function used by socketreader_thread_ to read samples from the
-     * socket.
-     */
 
     SocketConnection *socket_connection_;
     std::vector<char> serialization_buffer_;

examples/routing_service/udp_socket_adapter_dynamic/src/UdpSocket.hpp

@@ -31,6 +31,20 @@
     #pragma comment(lib, "ws2_32.lib")
 #endif
 
+/**
+ * @brief Utility class for UDP socket communication in the RTI Routing Service UDP Socket Adapter.
+ *
+ * UdpSocket provides a lightweight abstraction for UDP socket communication,
+ * supporting both Windows and POSIX systems. It is designed to be used by the Routing Service
+ * UDP socket adapter to send and receive raw UDP packets as part of data bridging between
+ * external UDP sources and DDS.
+ *
+ * The class handles socket creation, binding to a specified IP address and port, and
+ * ensures non-blocking operation for efficient integration with multi-threaded applications.
+ * It provides methods for receiving data from any UDP client and for sending data to a
+ * specified destination address and port. 
+ */
+
 class UdpSocket {
 public:
     UdpSocket(const char* ip, int port);

examples/routing_service/udp_socket_adapter_typed/src/UdpSocket.hpp

@@ -31,6 +31,20 @@
     #pragma comment(lib, "ws2_32.lib")
 #endif
 
+/**
+ * @brief Utility class for UDP socket communication in the RTI Routing Service UDP Socket Adapter.
+ *
+ * UdpSocket provides a lightweight abstraction for UDP socket communication,
+ * supporting both Windows and POSIX systems. It is designed to be used by the Routing Service
+ * UDP socket adapter to send and receive raw UDP packets as part of data bridging between
+ * external UDP sources and DDS.
+ *
+ * The class handles socket creation, binding to a specified IP address and port, and
+ * ensures non-blocking operation for efficient integration with multi-threaded applications.
+ * It provides methods for receiving data from any UDP client and for sending data to a
+ * specified destination address and port. 
+ */
+
 class UdpSocket {
 public:
     UdpSocket(const char* ip, int port);