doc(autoware_control_center): add doxygen commets

Signed-off-by: Alexey Panferov <[email protected]>

common/autoware_control_center/include/autoware_control_center/autoware_control_center.hpp

@@ -49,51 +49,130 @@ class AutowareControlCenter : public rclcpp_lifecycle::LifecycleNode
   explicit AutowareControlCenter(const rclcpp::NodeOptions & options);
 
 private:
+  /*!
+  MutuallyExclusive callback group for services provided by the Autoware Control Center.
+  */
   rclcpp::CallbackGroup::SharedPtr callback_group_mut_ex_;
 
+  /*!
+  Service for registering an Autoware Node to the Autoware Control Service.
+  */
   rclcpp::Service<autoware_control_center_msgs::srv::AutowareNodeRegister>::SharedPtr srv_register_;
+  /*!
+  Service for deregistering an Autoware Node from the Autoware Contol Service.
+  */
   rclcpp::Service<autoware_control_center_msgs::srv::AutowareNodeDeregister>::SharedPtr
     srv_deregister_;
+  /*!
+  Service to receive a status report from an Autoware Node.
+  */
   rclcpp::Service<autoware_control_center_msgs::srv::AutowareNodeError>::SharedPtr srv_node_error_;
+  /*!
+  Publisher for the autoware_node_reports topic.
+  */
   rclcpp::Publisher<autoware_control_center_msgs::msg::AutowareNodeReports>::SharedPtr
     node_reports_pub_;
+  /*!
+  Store registered nodes names and uuid. Provide methods for registration, de-registration and others.
+  */
   NodeRegistry node_registry_;
+  /*!
+  Store subscribers to all heartbeat topics of registered Autoware Nodes. 
+  */
   std::unordered_map<
     std::string, rclcpp::Subscription<autoware_control_center_msgs::msg::Heartbeat>::SharedPtr>
     heartbeat_sub_map_;
+  /*!
+  Store information about registered Autoware Nodes statuses.
+  */
   std::unordered_map<std::string, AutowareNodeStatus> node_status_map_;
-
+  /*!
+  Control startup procedure of the  Autoware Control Center.
+  */
   rclcpp::TimerBase::SharedPtr startup_timer_;
+  /*!
+  Control publishing to the autoware_node_reports topic.
+  */
   rclcpp::TimerBase::SharedPtr node_reports_timer_;
+  /*!
+  UUID of the Autoware Control Center instance.
+  */
   unique_identifier_msgs::msg::UUID acc_uuid_;
-  /// The lease duration granted to the remote (heartbeat) publisher
+  /*!
+  The lease duration granted to the remote (heartbeat) publisher.
+  */
   std::chrono::milliseconds lease_duration_;
+  /*!
+  The period for node registration during the startup of the Autoware Control Center.
+  */
   double startup_duration_;
+  /*!
+  The timestamp of the Autoware Control Center startup.
+  */
   rclcpp::Time startup_timestamp_;
+  /*!
+  The flag of startup for deregistration of Autoware Nodes.
+  */
   bool startup_;
 
+  /*!
+  Callback for the register node service.  
+  */
   void register_node(
     const autoware_control_center_msgs::srv::AutowareNodeRegister::Request::SharedPtr request,
     const autoware_control_center_msgs::srv::AutowareNodeRegister::Response::SharedPtr response);
-
+
+  /*!
+  Callback for the deregister node service.  
+  */
   void deregister_node(
     const autoware_control_center_msgs::srv::AutowareNodeDeregister::Request::SharedPtr request,
     const autoware_control_center_msgs::srv::AutowareNodeDeregister::Response::SharedPtr response);
-
+
+  /*!
+  Callback for the autoware error node service. 
+  It reseives status message from Autoware node and store information to the node_status_map_. 
+  */
   void autoware_node_error(
     const autoware_control_center_msgs::srv::AutowareNodeError::Request::SharedPtr request,
     const autoware_control_center_msgs::srv::AutowareNodeError::Response::SharedPtr response);
 
+  /*!
+  Callback for the startup timer. Check if there is no registered node for the particular period of time. 
+  After it will list all nodes in the system and call the deregister service of them.  
+  */
   void startup_callback();
 
+  /*!
+  Create subscription with the proper QoS to the heartbeat topic of the node with node_name.
+  \param[node_name] The name of the node to which you want to create a subscription.
+  */
   rclcpp::Subscription<autoware_control_center_msgs::msg::Heartbeat>::SharedPtr
   create_heartbeat_sub(const std::string & node_name);
 
+  /*!
+  Publish node reports to autoware_node_reports topic. 
+  */
   void node_reports_callback();
+
+  /*!
+  Update node_status_map_ info for the node with node name if liveliness of the heartbeat topic publisher has changed.
+  \param[node_name] The name of the node which info should be updated.
+  */
   void liveliness_callback(rclcpp::QOSLivelinessChangedInfo & event, const std::string & node_name);
+
+  /*!
+  Update node_status_map_ info for the node with node name  then heartbeat message is reseived.
+  \param[node_name] The name of the node which info should be updated.
+  */
   void heartbeat_callback(
     const typename autoware_control_center_msgs::msg::Heartbeat::SharedPtr msg,
     const std::string & node_name);
+
+  /*!
+  Filter out deregister services from list of all services in the system by type.
+  \param[srv_list] The list of services available in the system.
+  */
   void filter_deregister_services(std::map<std::string, std::vector<std::string>> & srv_list);
 };