Comments, Cleanup, format

Change-Id: I9f032cc232e77ce73e889a1656f1ad86cfdec774
Signed-off-by: Romain Forlot <romain.forlot@iot.bzh>

16 files changed, 139 insertions, 127 deletions

diff --git a/CAN-binder/low-can-binding/binding/low-can-subscription.cpp b/CAN-binder/low-can-binding/binding/low-can-subscription.cpp
index 648220d8..5488cc53 100644
--- a/CAN-binder/low-can-binding/binding/low-can-subscription.cpp
+++ b/CAN-binder/low-can-binding/binding/low-can-subscription.cpp
@@ -22,12 +22,6 @@
 #include "application.hpp"
 #include "canutil/write.h"
 
-///******************************************************************************
-///
-///	low_can_subscription_t object
-///
-///*******************************************************************************/
-
 low_can_subscription_t::low_can_subscription_t()
 	: index_{-1},
 	event_filter_{event_filter_t()},
@@ -44,7 +38,7 @@ low_can_subscription_t::low_can_subscription_t( low_can_subscription_t&& s)
 	socket_{std::move(s.socket_)}
 {}
 
-	low_can_subscription_t& low_can_subscription_t::operator=(const low_can_subscription_t& s)
+low_can_subscription_t& low_can_subscription_t::operator=(const low_can_subscription_t& s)
 {
 	socket_ = std::move(s.socket_);
 	return *this;
@@ -80,6 +74,11 @@ const std::vector<std::shared_ptr<diagnostic_message_t> > low_can_subscription_t
 	return diagnostic_message_;
 }
 
+/// @brief Retrieve a diagnostic_message subscribed from a pid
+/// 
+/// @param[in] pid - Diagnostic messages PID to search for
+///
+/// @return shared_ptr diagnostic_message_ if found and nullptr if not found
 const std::shared_ptr<diagnostic_message_t> low_can_subscription_t::get_diagnostic_message(uint32_t pid) const
 {
 	for(const auto& diag: diagnostic_message_)
@@ -92,6 +91,9 @@ const std::shared_ptr<diagnostic_message_t> low_can_subscription_t::get_diagnost
 	return nullptr;
 }
 
+/// @brief Retrieve a diagnostic message search from its name
+///
+/// @return shared_ptr diagnostic_message_ if found and nullptr if not found
 const std::shared_ptr<diagnostic_message_t> low_can_subscription_t::get_diagnostic_message(const std::string& name) const
 {
 	for(const auto& diag: diagnostic_message_)
@@ -104,6 +106,8 @@ const std::shared_ptr<diagnostic_message_t> low_can_subscription_t::get_diagnost
 	return nullptr;
 }
 
+/// @brief Return the CAN signal name and empty string if not found
+/// or no CAN signal subscribed
 const std::string low_can_subscription_t::get_name() const
 {
 	if (can_signal_ != nullptr)
@@ -112,6 +116,9 @@ const std::string low_can_subscription_t::get_name() const
 	return "";
 }
 
+/// @brief Return name from a diagnostic message from a PID
+///
+/// @param[in] pid - Diagnostic message PID
 const std::string low_can_subscription_t::get_name(uint32_t pid) const
 {
 	if (!diagnostic_message_.empty())
@@ -160,6 +167,10 @@ void low_can_subscription_t::set_max(float max)
 	event_filter_.max = max;
 }
 
+/// @brief Based upon which object is subscribed CAN signal or diagnostic message
+/// this will open the socket with the required CAN bus device name.
+///
+/// @return INVALID_SOCKET on failure else positive integer
 int low_can_subscription_t::open_socket()
 {
 	int ret = 0;
@@ -174,6 +185,10 @@ int low_can_subscription_t::open_socket()
 	return ret;
 }
 
+/// @brief Build a BCM message head but don't set can_frame.
+///
+/// @return a simple_bcm_msg with the msg_head parts set and can_frame
+/// zeroed.
 struct utils::simple_bcm_msg low_can_subscription_t::make_bcm_head(uint32_t can_id, uint32_t flags, const struct timeval& timeout, const struct timeval& frequency_thinning) const
 {
 	struct utils::simple_bcm_msg bcm_msg;
@@ -191,6 +206,9 @@ struct utils::simple_bcm_msg low_can_subscription_t::make_bcm_head(uint32_t can_
 	return bcm_msg;
 }
 
+/// @brief Take an existing simple_bcm_msg struct and add a can_frame to it.
+/// Only possible for now to add 1 uniq can_frame, it isn't possible to build
+/// a multiplexed message with several can_frame.
 void low_can_subscription_t::add_bcm_frame(const struct can_frame& cfd, struct utils::simple_bcm_msg& bcm_msg) const
 {
 	for(int i=0; i < CAN_MAX_DLEN; i++)
@@ -204,21 +222,8 @@ void low_can_subscription_t::add_bcm_frame(const struct can_frame& cfd, struct u
 	}
 }
 
-/// @brief Create a RX_SETUP receive job used by the BCM socket.
-///
-/// @return 0 if ok else -1
-int low_can_subscription_t::create_rx_filter()
-{
-	int ret = -1;
-	if ( can_signal_ != nullptr)
-		{ret = create_rx_filter(can_signal_);}
-	else if (! diagnostic_message_ .empty())
-		{ret = create_rx_filter(diagnostic_message_.front());}
-
-	return ret;
-}
-
-/// @brief Create a RX_SETUP receive job used by the BCM socket.
+/// @brief Create a RX_SETUP receive job used by the BCM socket for a CAN signal
+/// subscription
 ///
 /// @return 0 if ok else -1
 int low_can_subscription_t::create_rx_filter(std::shared_ptr<can_signal_t> sig)
@@ -247,7 +252,8 @@ int low_can_subscription_t::create_rx_filter(std::shared_ptr<can_signal_t> sig)
 	return create_rx_filter(bcm_msg);
 }
 
-/// @brief Create a RX_SETUP receive job used by the BCM socket.
+/// @brief Create a RX_SETUP receive job used by the BCM socket for a
+/// diagnostic message subscription.
 ///
 /// @return 0 if ok else -1
 int low_can_subscription_t::create_rx_filter(std::shared_ptr<diagnostic_message_t> sig)
@@ -262,7 +268,12 @@ int low_can_subscription_t::create_rx_filter(std::shared_ptr<diagnostic_message_
 	return create_rx_filter(bcm_msg);
 }
 
-/// @brief Create a RX_SETUP receive job used by the BCM socket.
+/// @brief Create a RX_SETUP receive job used by the BCM socket directly from
+/// a simple_bcm_msg. You will not use this method directly but rather use the
+/// two previous method with can_signal_t or diagnostic_message_t object.
+///
+/// If the CAN arbitration ID is the OBD2 functional broadcast id the subscribed
+/// to the 8 classics OBD2 functional response ID
 ///
 /// @return 0 if ok else -1
 int low_can_subscription_t::create_rx_filter(utils::simple_bcm_msg& bcm_msg) 
diff --git a/CAN-binder/low-can-binding/binding/low-can-subscription.hpp b/CAN-binder/low-can-binding/binding/low-can-subscription.hpp
index 0efde63a..0ad7e3a2 100644
--- a/CAN-binder/low-can-binding/binding/low-can-subscription.hpp
+++ b/CAN-binder/low-can-binding/binding/low-can-subscription.hpp
@@ -25,28 +25,35 @@
 #include "../diagnostic/diagnostic-message.hpp"
 #include "../utils/socketcan-bcm.hpp"
 
+/// @brief Filtering values. Theses values has to be tested into
+/// can_bus_t::apply_filter method.
 struct event_filter_t
 {
-	float frequency;
-	float min;
-	float max;
+	float frequency; ///< frequency - Maximum frequency which will be received and pushed a subscribed event.
+	float min; ///< min - Minimum value that the signal don't have to go below to be pushed.
+	float max; ///< max - Maximum value that the signal don't have to go above to be pushed.
 	event_filter_t() : frequency{NAN}, min{NAN}, max{NAN} {}
 };
 
+/// @brief A subscription object used has a context that handle all needed values to describe a subscription
+/// to the low-can binding. It can holds a CAN signal or diagnostic message. Diagnostic message for OBD2 is a kind
+/// of special because there is only 1 listener to retrieve OBD2 requests. So it's needed that all diagnostic messages
+/// subscriptions is to be in 1 object.
 class low_can_subscription_t
 {
 private:
-	int index_;
-	struct afb_event event_;
+	int index_; ///< index_ - index number is the socket (int) casted
+	struct afb_event event_; ///< event_ - application framework event used to push on client
 
 	/// Signal part
-	std::shared_ptr<can_signal_t> can_signal_;
-	std::vector<std::shared_ptr<diagnostic_message_t> > diagnostic_message_;
+	std::shared_ptr<can_signal_t> can_signal_; ///< can_signal_ - the CAN signal subscribed
+	std::vector<std::shared_ptr<diagnostic_message_t> > diagnostic_message_; ///< diagnostic_message_ - diagnostic messages meant to received OBD2 responses.
+				/// normal diagnostic request and response not tested for now.
 
 	/// Filtering part
-	struct event_filter_t event_filter_;
+	struct event_filter_t event_filter_; ///< event_filter_ - filtering values applied to a subscription
 
-	utils::socketcan_bcm_t socket_;
+	utils::socketcan_bcm_t socket_; ///< socket_ - socket_ that receives CAN messages.
 public:
 	low_can_subscription_t();
 	low_can_subscription_t(struct event_filter_t event_filter);
@@ -78,7 +85,6 @@ public:
 	struct utils::simple_bcm_msg make_bcm_head(uint32_t can_id, uint32_t flags, const struct timeval& timeout, const struct timeval& frequency_thinning) const;
 	void add_bcm_frame(const struct can_frame& cfd, struct utils::simple_bcm_msg& bcm_msg) const;
 	int open_socket();
-	int create_rx_filter();
 	int create_rx_filter(std::shared_ptr<can_signal_t> sig);
 	int create_rx_filter(std::shared_ptr<diagnostic_message_t> sig);
 	int create_rx_filter(utils::simple_bcm_msg& bcm_msg);
diff --git a/CAN-binder/low-can-binding/can/can-bus.cpp b/CAN-binder/low-can-binding/can/can-bus.cpp
index d06eb77c..e481a1bd 100644
--- a/CAN-binder/low-can-binding/can/can-bus.cpp
+++ b/CAN-binder/low-can-binding/can/can-bus.cpp
@@ -40,6 +40,14 @@ can_bus_t::can_bus_t(utils::config_parser_t conf_file)
 	: conf_file_{conf_file}
 {}
 
+/// @brief Take a decoded message to determine if its value comply with the wanted
+/// filtering values.
+///
+/// @param[in] vehicle_message - A decoded message to analyze
+/// @param[in] can_subscription - the subscription which will be notified depending
+///  on its filtering values. Filtering values are stored in the event_filtermember.
+///
+/// @return True if the value is compliant with event filter values, false if not...
 bool can_bus_t::apply_filter(const openxc_VehicleMessage& vehicle_message, std::shared_ptr<low_can_subscription_t> can_subscription)
 {
 	bool send = false;
@@ -283,12 +291,8 @@ void can_bus_t::push_new_vehicle_message(int subscription_id, const openxc_Vehic
 	vehicle_message_q_.push(std::make_pair(subscription_id, v_msg));
 }
 
-/// @brief Return the shared pointer on the can_bus_dev_t initialized 
-/// with device_name "bus"
-///
-/// @param[in] bus - CAN bus device name to retrieve.
-///
-/// @return A shared pointer on an object can_bus_dev_t
+/// @brief Fills the CAN device map member with value from device
+/// mapping configuration file read at initialization.
 void can_bus_t::set_can_devices()
 {
 	can_devices_ = conf_file_.get_devices_name();
@@ -300,6 +304,9 @@ void can_bus_t::set_can_devices()
 	}
 }
 
+
+/// @brief Return the CAN device index from the map
+/// map are sorted so index depend upon alphabetical sorting.
 int can_bus_t::get_can_device_index(const std::string& bus_name) const
 {
 	int i = 0;
@@ -312,6 +319,9 @@ int can_bus_t::get_can_device_index(const std::string& bus_name) const
 	return i;
 }
 
+/// @brief Return CAN device name from a logical CAN device name gotten from
+/// the signals.json description file which comes from a CAN databases file in
+/// general.
 const std::string can_bus_t::get_can_device_name(const std::string& id_name) const
 {
 	std::string ret;
diff --git a/CAN-binder/low-can-binding/can/can-bus.hpp b/CAN-binder/low-can-binding/can/can-bus.hpp
index b19519a8..a76d3e87 100644
--- a/CAN-binder/low-can-binding/can/can-bus.hpp
+++ b/CAN-binder/low-can-binding/can/can-bus.hpp
@@ -72,7 +72,7 @@ private:
 	std::mutex decoded_can_message_mutex_;  ///< mutex protecting the vehicle_message_q_ queue.
 	std::queue <std::pair<int, openxc_VehicleMessage> > vehicle_message_q_; ///< queue that'll store openxc_VehicleMessage to pushed
 
-	std::vector<std::pair<std::string, std::string> > can_devices_;
+	std::vector<std::pair<std::string, std::string> > can_devices_; ///< can_devices_ - holds a mapping between logical CAN devices names and linux CAN devices names.
 public:
 	explicit can_bus_t(utils::config_parser_t conf_file);
 	can_bus_t(can_bus_t&&);
diff --git a/CAN-binder/low-can-binding/can/can-message-definition.hpp b/CAN-binder/low-can-binding/can/can-message-definition.hpp
index 3e150369..6d0f17d6 100644
--- a/CAN-binder/low-can-binding/can/can-message-definition.hpp
+++ b/CAN-binder/low-can-binding/can/can-message-definition.hpp
@@ -35,22 +35,24 @@
 
 class can_message_set_t;
 
+/// @brief The definition of a CAN message. This includes a lot of metadata, so
+///  to save memory this class gets the can_signal_t object related to a CAN message.
 class can_message_definition_t
 {
 private:
-	can_message_set_t* parent_; /*!< parent_ - Pointer to the CAN message set holding this CAN message definition */
-	std::string bus_; /*!< bus_ - Address of CAN bus device. */
-	uint32_t id_; /*!< id_ - The ID of the message.*/
-	can_message_format_t format_; /*!< format_ - the format of the message's ID.*/
-	frequency_clock_t frequency_clock_; /*!<  clock_ - an optional frequency clock to control the output of this
-							*      message, if sent raw, or simply to mark the max frequency for custom
-							*      handlers to retrieve.*/
-	bool force_send_changed_; /*!< force_send_changed_ - If true, regardless of the frequency, it will send CAN
-							*	message if it has changed when using raw passthrough.*/
-	std::vector<uint8_t> last_value_; /*!< last_value_ - The last received value of the message. Defaults to undefined.
-										*	This is required for the forceSendChanged functionality, as the stack
-										*	needs to compare an incoming CAN message with the previous frame.*/
-	std::vector<std::shared_ptr<can_signal_t> > can_signals_; /*!< can_signals_ - Vector holding can_signal_t object which share the same arbitration ID */
+	can_message_set_t* parent_; ///< parent_ - Pointer to the CAN message set holding this CAN message definition */
+	std::string bus_; ///< bus_ - Address of CAN bus device. */
+	uint32_t id_; ///< id_ - The ID of the message.*/
+	can_message_format_t format_; ///< format_ - the format of the message's ID.*/
+	frequency_clock_t frequency_clock_; ///<  clock_ - an optional frequency clock to control the output of this
+							///      message, if sent raw, or simply to mark the max frequency for custom
+							///      handlers to retrieve.*/
+	bool force_send_changed_; ///< force_send_changed_ - If true, regardless of the frequency, it will send CAN
+							///	message if it has changed when using raw passthrough.*/
+	std::vector<uint8_t> last_value_; ///< last_value_ - The last received value of the message. Defaults to undefined.
+										///	This is required for the forceSendChanged functionality, as the stack
+										///	needs to compare an incoming CAN message with the previous frame.*/
+	std::vector<std::shared_ptr<can_signal_t> > can_signals_; ///< can_signals_ - Vector holding can_signal_t object which share the same arbitration ID */
 
 public:
 	//can_message_definition_t(const can_message_definition_t& b);
diff --git a/CAN-binder/low-can-binding/can/can-message-set.cpp b/CAN-binder/low-can-binding/can/can-message-set.cpp
index a41f0085..c31dec62 100644
--- a/CAN-binder/low-can-binding/can/can-message-set.cpp
+++ b/CAN-binder/low-can-binding/can/can-message-set.cpp
@@ -52,6 +52,7 @@ std::vector<std::shared_ptr<can_signal_t> > can_message_set_t::get_all_can_signa
 	return can_signals;
 }
 
+/// @brief Return vector holding all diagnostic messages definitions handled by this message set.
 std::vector<std::shared_ptr<diagnostic_message_t> >& can_message_set_t::get_diagnostic_messages()
 {
 	return diagnostic_messages_;
diff --git a/CAN-binder/low-can-binding/can/can-message-set.hpp b/CAN-binder/low-can-binding/can/can-message-set.hpp
index c763de6d..2a7cb53c 100644
--- a/CAN-binder/low-can-binding/can/can-message-set.hpp
+++ b/CAN-binder/low-can-binding/can/can-message-set.hpp
@@ -27,8 +27,8 @@ class can_signal_t;
 class can_message_definition_t;
 class diagnostic_message_t;
 
-/// @brief A parent wrapper for a particular set of CAN messages and associated
-/// CAN buses(e.g. a vehicle or program).
+/// @brief A parent wrapper for a particular set of CAN messages and diagnostic messages 
+/// (e.g. a vehicle or program).
 class can_message_set_t
 {
 private:
diff --git a/CAN-binder/low-can-binding/can/can-message.cpp b/CAN-binder/low-can-binding/can/can-message.cpp
index 93894947..10b3232c 100644
--- a/CAN-binder/low-can-binding/can/can-message.cpp
+++ b/CAN-binder/low-can-binding/can/can-message.cpp
@@ -84,7 +84,7 @@ bool can_message_t::get_rtr_flag_() const
 ///
 /// @brief Retrieve format_ member value.
 ///
-/// @return format_ class member
+/// @return format_ class member. Default to INVALID.
 ///
 can_message_format_t can_message_t::get_format() const
 {
@@ -149,12 +149,10 @@ void can_message_t::set_timestamp(uint64_t timestamp)
 	timestamp_ = timestamp;
 }
 
-///
 /// @brief Control whether the object is correctly initialized
 ///  to be sent over the CAN bus
 ///
-/// @return true if object correctly initialized and false if not.
-///
+/// @return True if object correctly initialized and false if not.
 bool can_message_t::is_correct_to_send()
 {
 	if (id_ != 0 && length_ != 0 && format_ != can_message_format_t::INVALID)
@@ -167,14 +165,12 @@ bool can_message_t::is_correct_to_send()
 	return false;
 }
 
-///
 /// @brief Set format_ member value.
 ///
 /// Preferred way to initialize these members by using
 /// convert_from_canfd_frame method.
 ///
 /// @param[in] new_format - class member
-///
 void can_message_t::set_format(const can_message_format_t new_format)
 {
 	if(new_format == can_message_format_t::STANDARD || new_format == can_message_format_t::EXTENDED || new_format == can_message_format_t::INVALID)
@@ -191,7 +187,6 @@ void can_message_t::set_format(const can_message_format_t new_format)
 /// @param[in] nbytes - bytes read from socket read operation.
 ///
 /// @return A can_message_t object fully initialized with canfd_frame values.
-///
 can_message_t can_message_t::convert_from_frame(const struct canfd_frame& frame, size_t nbytes, uint64_t timestamp)
 {
 	uint8_t maxdlen, length, flags = (uint8_t)NULL;
@@ -272,6 +267,14 @@ can_message_t can_message_t::convert_from_frame(const struct canfd_frame& frame,
 	return can_message_t(maxdlen, id, length, format, rtr_flag, flags, data, timestamp);
 }
 
+/// @brief Take a can_frame struct to initialize class members
+///
+/// This is the preferred way to initialize class members.
+///
+/// @param[in] frame - can_frame to convert coming from a read of CAN socket
+/// @param[in] nbytes - bytes read from socket read operation.
+///
+/// @return A can_message_t object fully initialized with can_frame values.
 can_message_t can_message_t::convert_from_frame(const struct can_frame& frame, size_t nbytes, uint64_t timestamp)
 {
 	uint8_t maxdlen, length, flags = (uint8_t)NULL;
@@ -343,13 +346,11 @@ can_message_t can_message_t::convert_from_frame(const struct can_frame& frame, s
 	return can_message_t(maxdlen, id, length, format, rtr_flag, flags, data, timestamp);
 }
 
-///
 /// @brief Take all initialized class's members and build an
 /// canfd_frame struct that can be use to send a CAN message over
 /// the bus.
 ///
 /// @return canfd_frame struct built from class members.
-///
 struct canfd_frame can_message_t::convert_to_canfd_frame()
 {
 	canfd_frame frame;
@@ -366,6 +367,11 @@ struct canfd_frame can_message_t::convert_to_canfd_frame()
 	return frame;
 }
 
+/// @brief Take all initialized class's members and build an
+/// can_frame struct that can be use to send a CAN message over
+/// the bus.
+///
+/// @return can_frame struct built from class members.
 struct can_frame can_message_t::convert_to_can_frame()
 {
 	can_frame frame;
diff --git a/CAN-binder/low-can-binding/can/can-message.hpp b/CAN-binder/low-can-binding/can/can-message.hpp
index ced2602a..b206ebdb 100644
--- a/CAN-binder/low-can-binding/can/can-message.hpp
+++ b/CAN-binder/low-can-binding/can/can-message.hpp
@@ -31,28 +31,26 @@
  * @brief The ID format for a CAN message.
  */
 enum class can_message_format_t {
-	STANDARD, /*!< STANDARD - standard 11-bit CAN arbitration ID. */
-	EXTENDED, /*!< EXTENDED - an extended frame, with a 29-bit arbitration ID. */
-	INVALID,    /*!< INVALID - INVALID code used at initialization to signify that it isn't usable'*/
+	STANDARD, ///< STANDARD - standard 11-bit CAN arbitration ID. */
+	EXTENDED, ///< EXTENDED - an extended frame, with a 29-bit arbitration ID. */
+	INVALID,    ///< INVALID - INVALID code used at initialization to signify that it isn't usable'*/
 };
 
-/**
- * @class can_message_t
- *
- * @brief A compact representation of a single CAN message, meant to be used in in/out
- * buffers.
- */
+/// @class can_message_t
+///
+/// @brief A compact representation of a single CAN message, meant to be used in in/out
+/// buffers. It is a wrapper of a can_frame struct with some sugar around it for binding purposes.
 class can_message_t {
 private:
-	uint8_t maxdlen_; /*!< maxdlen_ - Max data length deduce from number of bytes read from the socket.*/
-	uint32_t id_; /*!< id_ - The ID of the message. */
-	uint8_t length_; /*!< length_ - the length of the data array (max 8). */
-	can_message_format_t format_; /*!< format_ - the format of the message's ID.*/
-	bool rtr_flag_; /*!< rtr_flag_ - Telling if the frame has RTR flag positionned. Then frame hasn't data field*/
-	uint8_t flags_; /*!< flags_ - flags of a CAN FD frame. Needed if we catch FD frames.*/
-	std::vector<uint8_t> data_; /*!< data_ - The message's data field with a size of 8 which is the standard about CAN bus messages.*/
-	uint64_t timestamp_; /*!< timestamp_ - timestamp of the received message*/
-	int sub_id_; /*!< sub_id_ - Subscription index. */
+	uint8_t maxdlen_; ///< maxdlen_ - Max data length deduce from number of bytes read from the socket.*/
+	uint32_t id_; ///< id_ - The ID of the message. */
+	uint8_t length_; ///< length_ - the length of the data array (max 8). */
+	can_message_format_t format_; ///< format_ - the format of the message's ID.*/
+	bool rtr_flag_; ///< rtr_flag_ - Telling if the frame has RTR flag positionned. Then frame hasn't data field*/
+	uint8_t flags_; ///< flags_ - flags of a CAN FD frame. Needed if we catch FD frames.*/
+	std::vector<uint8_t> data_; ///< data_ - The message's data field with a size of 8 which is the standard about CAN bus messages.*/
+	uint64_t timestamp_; ///< timestamp_ - timestamp of the received message*/
+	int sub_id_; ///< sub_id_ - Subscription index. */
 
 public:
 	can_message_t();
diff --git a/CAN-binder/low-can-binding/diagnostic/diagnostic-manager.cpp b/CAN-binder/low-can-binding/diagnostic/diagnostic-manager.cpp
index 7dab7495..cfabfeaf 100644
--- a/CAN-binder/low-can-binding/diagnostic/diagnostic-manager.cpp
+++ b/CAN-binder/low-can-binding/diagnostic/diagnostic-manager.cpp
@@ -72,9 +72,8 @@ void diagnostic_manager_t::reset()
 	cleanup_active_requests(true);
 }
 
-/// @brief send function use by diagnostic library. Only one bus used for now
-///  so diagnostic request is sent using the default diagnostic bus not matter of
-///  which is specified in the diagnostic message definition.
+/// @brief send function use by diagnostic library. It will open a BCM CAN socket TX_SETUP type.
+/// That socket will send cyclic messages configured from a diagnostic request.
 ///
 /// @param[in] arbitration_id - CAN arbitration ID to use when send message. OBD2 broadcast ID
 ///  is 0x7DF by example.
@@ -163,15 +162,6 @@ DiagnosticShims& diagnostic_manager_t::get_shims()
 	return shims_;
 }
 
-bool diagnostic_manager_t::is_active_requests_running()
-{
-	if(non_recurring_requests_.empty() && recurring_requests_.empty())
-	{
-		return true;
-	}
-	return false;
-}
-
 /// @brief Search for a specific active diagnostic request in the provided requests list
 /// and erase it from the vector. This is useful at unsubscription to clean up the list otherwize
 /// all received CAN messages will be passed to DiagnosticRequestHandle of all active diagnostic request
@@ -186,7 +176,7 @@ void diagnostic_manager_t::find_and_erase(active_diagnostic_request_t* entry, st
 		requests_list.erase(i);
 }
 
-// @brief TODO: implement cancel_request if needed... Don't know.
+/// @brief Free memory allocated on active_diagnostic_request_t object and close the socket.
 void diagnostic_manager_t::cancel_request(active_diagnostic_request_t* entry)
 {
 	entry->get_socket().close();
@@ -259,7 +249,7 @@ active_diagnostic_request_t* diagnostic_manager_t::find_recurring_request(Diagno
 	return nullptr;
 }
 
-/// @brief Add and send a new one-time diagnostic request.
+/// @brief Add and send a new one-time diagnostic request. DON'T USED AT THIS TIME
 ///
 /// A one-time (aka non-recurring) request can existing in parallel with a
 /// recurring request for the same PID or mode, that's not a problem.
@@ -320,6 +310,12 @@ active_diagnostic_request_t* diagnostic_manager_t::add_request(DiagnosticRequest
 	return entry;
 }
 
+/// @brief Validate frequency asked don't get higher than the maximum of a classical
+/// CAN bus OBD2 request.
+///
+/// @param[in] frequencyHz - frequency asked for sending diagnostic requests.
+///
+/// @return True if frequency is below the Maximum false if not.
 bool diagnostic_manager_t::validate_optional_request_attributes(float frequencyHz)
 {
 	if(frequencyHz > MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ) {
@@ -334,32 +330,7 @@ bool diagnostic_manager_t::validate_optional_request_attributes(float frequencyH
 ///
 /// At most one recurring request can be active for the same arbitration ID, mode
 /// and (if set) PID on the same bus at one time. If you try and call
-/// addRecurringRequest with the same key, it will return an error.
-///
-/// TODO: This also adds any neccessary CAN acceptance filters so we can receive the
-/// response. If the request is to the functional broadcast ID (0x7df) filters
-/// are added for all functional addresses (0x7e8 to 0x7f0).
-///
-/// Example:
-///
-///     // Creating a functional broadcast, mode 1 request for PID 2.
-///     DiagnosticRequest request = {
-///         arbitration_id: 0x7df,
-///         mode: 1,
-///         has_pid: true,
-///         pid: 2
-///     };
-///
-///     // Add a recurring request, to be sent at 1Hz, and published with the
-///     // name "my_pid_request"
-///     addRecurringRequest(&getConfiguration()->diagnosticsManager,
-///          canBus,
-///          &request,
-///          "my_pid_request",
-///          false,
-///          NULL,
-///          NULL,
-///          1);
+/// add_recurring_request with the same key, it will return an error.
 ///
 /// @param[in] request - The parameters for the request.
 /// @param[in] name - An optional human readable name this response, to be used when
diff --git a/CAN-binder/low-can-binding/diagnostic/diagnostic-manager.hpp b/CAN-binder/low-can-binding/diagnostic/diagnostic-manager.hpp
index 4c023c67..05a67c81 100644
--- a/CAN-binder/low-can-binding/diagnostic/diagnostic-manager.hpp
+++ b/CAN-binder/low-can-binding/diagnostic/diagnostic-manager.hpp
@@ -67,7 +67,6 @@ public:
 	const std::string get_bus_device_name() const;
 	active_diagnostic_request_t* get_last_recurring_requests() const;
 	DiagnosticShims& get_shims();
-	bool is_active_requests_running();
 
 	void find_and_erase(active_diagnostic_request_t* entry, std::vector<active_diagnostic_request_t*>& requests_list);
 	void cancel_request(active_diagnostic_request_t* entry);
diff --git a/CAN-binder/low-can-binding/diagnostic/diagnostic-message.hpp b/CAN-binder/low-can-binding/diagnostic/diagnostic-message.hpp
index 8217614d..99c48110 100644
--- a/CAN-binder/low-can-binding/diagnostic/diagnostic-message.hpp
+++ b/CAN-binder/low-can-binding/diagnostic/diagnostic-message.hpp
@@ -41,9 +41,7 @@ enum UNIT {
 
 class can_message_set_t;
 
-///
 /// @brief - A representation of an OBD-II PID.
-///
 class diagnostic_message_t
 {
 	private:
diff --git a/CAN-binder/low-can-binding/utils/signals.hpp b/CAN-binder/low-can-binding/utils/signals.hpp
index ff914627..555c5dd6 100644
--- a/CAN-binder/low-can-binding/utils/signals.hpp
+++ b/CAN-binder/low-can-binding/utils/signals.hpp
@@ -37,11 +37,15 @@ namespace utils
 		std::vector<std::shared_ptr<diagnostic_message_t> > diagnostic_messages;
 	};
 
+	/// @brief Signal manager singleton hold subscription object with attached afb_event and its mutex 
+	/// to read and write it safely.
+	/// It can be used to browse CAN signals and Diagnostic messages vectors and find a particular signal to
+	/// subscribe to.
 	class signals_manager_t
 	{
 	private:
 		std::mutex subscribed_signals_mutex_;
-		std::map<int, std::shared_ptr<low_can_subscription_t> > subscribed_signals_;
+		std::map<int, std::shared_ptr<low_can_subscription_t> > subscribed_signals_; ///< Map containing all subscribed signals, key is the socket int value.
 
 		signals_manager_t(); ///< Private constructor to make singleton class.
 
diff --git a/CAN-binder/low-can-binding/utils/socketcan-bcm.cpp b/CAN-binder/low-can-binding/utils/socketcan-bcm.cpp
index 76bc6acc..5ee4b1aa 100644
--- a/CAN-binder/low-can-binding/utils/socketcan-bcm.cpp
+++ b/CAN-binder/low-can-binding/utils/socketcan-bcm.cpp
@@ -67,6 +67,9 @@ namespace utils
 		return socket_;
 	}
 
+	/// Read the socket to retrieve the associated CAN message. All the hard work is do into
+	/// convert_from_frame method and if there isn't CAN message retrieve, only BCM head struct,
+	/// then CAN message will be zeroed and must be handled later.
 	socketcan_bcm_t& operator>>(socketcan_bcm_t& s, can_message_t& cm)
 	{
 		struct utils::simple_bcm_msg msg;
diff --git a/CAN-binder/low-can-binding/utils/socketcan-bcm.hpp b/CAN-binder/low-can-binding/utils/socketcan-bcm.hpp
index 2e4547ba..97f093df 100644
--- a/CAN-binder/low-can-binding/utils/socketcan-bcm.hpp
+++ b/CAN-binder/low-can-binding/utils/socketcan-bcm.hpp
@@ -35,6 +35,7 @@ namespace utils
 		canfd_bcm_msg() { msg_head.flags |= CAN_FD_FRAME; }
 	};
 
+	/// @brief derivated socketcan class specialized for BCM CAN socket.
 	class socketcan_bcm_t : public socketcan_t
 	{
 	public:
diff --git a/CAN-binder/low-can-binding/utils/timer.cpp b/CAN-binder/low-can-binding/utils/timer.cpp
index 70f0856e..f3cdd5e7 100644
--- a/CAN-binder/low-can-binding/utils/timer.cpp
+++ b/CAN-binder/low-can-binding/utils/timer.cpp
@@ -76,6 +76,8 @@ float frequency_clock_t::frequency_to_period() const
 	return frequency_ == 0 ? 0 : 1 / frequency_;
 }
 
+/// @brief Return a timeval struct based on the frequency_ member. used to 
+/// specified CAN BCM timers.
 const struct timeval frequency_clock_t::get_timeval_from_period() const
 {
 	struct timeval freq = {0, 0};