Adding missing doxygen comments.

Made some cleaning about unused things or obsolete.
Review existing comments, adding missing comments.
Reformat some long long constructor.

Change-Id: Ibae247d1295a7a85b49d0ecee473022755d42b8b
Signed-off-by: Romain Forlot <romain.forlot@iot.bzh>

12 files changed, 332 insertions, 162 deletions

diff --git a/src/can/can-message-definition.cpp b/src/can/can-message-definition.cpp
index fb7efce5..206d0b0c 100644
--- a/src/can/can-message-definition.cpp
+++ b/src/can/can-message-definition.cpp
@@ -21,12 +21,32 @@ can_message_definition_t::can_message_definition_t(std::uint8_t message_set_id,
 	: message_set_id_{message_set_id}, bus_{bus}, last_value_{CAN_MESSAGE_SIZE}
 {}
 
-can_message_definition_t::can_message_definition_t(std::uint8_t message_set_id, const std::string bus, uint32_t id, frequency_clock_t frequency_clock, bool force_send_changed)
-	: message_set_id_{message_set_id}, bus_{bus}, id_{id}, frequency_clock_{frequency_clock}, force_send_changed_{force_send_changed}, last_value_{CAN_MESSAGE_SIZE}
+can_message_definition_t::can_message_definition_t(std::uint8_t message_set_id,
+	const std::string bus,
+	uint32_t id,
+	frequency_clock_t frequency_clock,
+	bool force_send_changed)
+	: message_set_id_{message_set_id},
+	  bus_{bus},
+	  id_{id},
+	  frequency_clock_{frequency_clock},
+	  force_send_changed_{force_send_changed},
+	  last_value_{CAN_MESSAGE_SIZE}
 {}
 
-can_message_definition_t::can_message_definition_t(std::uint8_t message_set_id, const std::string bus, uint32_t id, can_message_format_t format, frequency_clock_t frequency_clock, bool force_send_changed)
-	: message_set_id_{message_set_id}, bus_{bus}, id_{id}, format_{format}, frequency_clock_{frequency_clock}, force_send_changed_{force_send_changed}, last_value_{CAN_MESSAGE_SIZE}
+can_message_definition_t::can_message_definition_t(std::uint8_t message_set_id,
+	const std::string bus,
+	uint32_t id,
+	can_message_format_t format,
+	frequency_clock_t frequency_clock,
+	bool force_send_changed)
+	: message_set_id_{message_set_id},
+	bus_{bus},
+	id_{id},
+	format_{format},
+	frequency_clock_{frequency_clock},
+	force_send_changed_{force_send_changed},
+	last_value_{CAN_MESSAGE_SIZE}
 {}
 
 uint32_t can_message_definition_t::get_id() const
diff --git a/src/can/can-message.cpp b/src/can/can-message.cpp
index 6b40d912..5d8c9cb7 100644
--- a/src/can/can-message.cpp
+++ b/src/can/can-message.cpp
@@ -30,8 +30,20 @@ can_message_t::can_message_t()
 	: maxdlen_{0}, id_{0}, length_{0}, format_{can_message_format_t::ERROR}, rtr_flag_{false}, flags_{0}
 {}
 
-can_message_t::can_message_t(uint8_t maxdlen, uint32_t id, uint8_t length, can_message_format_t format, bool rtr_flag, uint8_t flags, std::vector<uint8_t> data)
-	:  maxdlen_{maxdlen}, id_{id}, length_{length}, format_{format}, rtr_flag_{rtr_flag}, flags_{flags}, data_{data}
+can_message_t::can_message_t(uint8_t maxdlen,
+	uint32_t id,
+	uint8_t length,
+	can_message_format_t format,
+	bool rtr_flag,
+	uint8_t flags,
+	std::vector<uint8_t> data)
+	:  maxdlen_{maxdlen},
+	id_{id},
+	length_{length},
+	format_{format},
+	rtr_flag_{rtr_flag},
+	flags_{flags},
+	data_{data}
 {}
 
 /**
diff --git a/src/configuration-generated.cpp b/src/configuration-generated.cpp
index a2e8d2c1..dbbd9b0a 100644
--- a/src/configuration-generated.cpp
+++ b/src/configuration-generated.cpp
@@ -167,4 +167,7 @@ configuration_t::configuration_t()
 {
 }
 
-
+const std::string configuration_t::get_diagnostic_bus() const
+{
+	return "vcan0";
+}
diff --git a/src/configuration.cpp b/src/configuration.cpp
index 8a2df909..184d4688 100644
--- a/src/configuration.cpp
+++ b/src/configuration.cpp
@@ -19,24 +19,13 @@
 
 #include "utils/signals.hpp"
 
-// Dumb signals and message implementation. To get compile.
-/*std::vector<can_message_set_t> CAN_MESSAGE_SET;
-
-std::vector<std::vector<can_message_definition_t>> CAN_MESSAGES_DEFINITION;
-
-std::vector<std::vector<can_signal_t>> SIGNALS;*/
-
+/// @brief Return singleton instance of configuration object.
 configuration_t& configuration_t::instance()
 {
 	static configuration_t config;
 	return config;
 }
 
-configuration_t& configuration_t::get_configuration()
-{
-	return *this;
-}
-
 can_bus_t& configuration_t::get_can_bus_manager()
 {
 	return can_bus_manager_;
@@ -72,11 +61,6 @@ std::vector<diagnostic_message_t>& configuration_t::get_diagnostic_messages()
 	return diagnostic_messages_[active_message_set_];
 }
 
-const std::vector<std::string>& configuration_t::get_signals_prefix() const
-{
-	return signals_prefix_;
-}
-
 const std::vector<can_message_definition_t>& configuration_t::get_can_message_definition()
 {
 	return can_message_definition_[active_message_set_];
@@ -102,15 +86,12 @@ void configuration_t::set_active_message_set(uint8_t id)
 	active_message_set_ = id;
 }
 
-/**
- * @fn std::vector<std::string> find_can_signals(const openxc_DynamicField &key)
- * @brief return signals name found searching through CAN_signals and OBD2 pid
- *
- * @param[in] key - can contain numeric or string value in order to search against
- *   can signals or obd2 signals name.
- *
- * @return Vector of signals name found.
- */
+/// @brief return diagnostic messages name found searching through diagnostic messages list.
+///
+/// @param[in] key - can contain numeric or string value in order to search against
+///   can signals or obd2 signals name.
+/// @param[out] found_signals - Vector of signals name found.
+///
 void configuration_t::find_diagnostic_messages(const openxc_DynamicField &key, std::vector<diagnostic_message_t*>& found_signals)
 {
 	switch(key.type)
@@ -128,15 +109,12 @@ void configuration_t::find_diagnostic_messages(const openxc_DynamicField &key, s
 	DEBUG(binder_interface, "find_diagnostic_messages: Found %d signal(s)", (int)found_signals.size());
 }
 
-/**
- * @fn void find_can_signals(const openxc_DynamicField& key, std::vector<can_signal_t*>& found_signals)
- * @brief return signals name found searching through CAN_signals and OBD2 pid
- *
- * @param[in] key - can contain numeric or string value in order to search against
- *   can signals or obd2 signals name.
- * @param[out] found_signals - provided vector to fill with ponter to signals matched.
- *
- */
+/// @brief return signals name found searching through CAN signals list.
+///
+/// @param[in] key - can contain numeric or string value in order to search against
+///   can signals or obd2 signals name.
+/// @param[out] found_signals - provided vector to fill with pointer to matched signals.
+///
 void configuration_t::find_can_signals(const openxc_DynamicField& key, std::vector<can_signal_t*>& found_signals)
 {
 	switch(key.type)
@@ -152,4 +130,4 @@ void configuration_t::find_can_signals(const openxc_DynamicField& key, std::vect
 			break;
 	}
 	DEBUG(binder_interface, "find_can_signals: Found %d signal(s)", (int)found_signals.size());
-}
\ No newline at end of file
+}
diff --git a/src/configuration.hpp b/src/configuration.hpp
index fb7b8402..2112ee9e 100644
--- a/src/configuration.hpp
+++ b/src/configuration.hpp
@@ -41,24 +41,23 @@
 class configuration_t
 {
 	private:
-		can_bus_t can_bus_manager_ = can_bus_t(afb_daemon_rootdir_open_locale(binder_interface->daemon, "etc/can_buses.json", O_RDONLY, NULL));
-		diagnostic_manager_t diagnostic_manager_;
-		uint8_t active_message_set_ = 0;
-		std::vector<std::string> signals_prefix_;
+		can_bus_t can_bus_manager_ = can_bus_t(
+			afb_daemon_rootdir_open_locale(
+				binder_interface->daemon, "etc/can_buses.json", O_RDONLY, NULL)); ///< instanciate the CAN bus
+				///< This will read the configuration file and initialize all CAN devices specified in it.
+		diagnostic_manager_t diagnostic_manager_; ///< Diagnostic manager use to manage diagnostic message communication.
+		uint8_t active_message_set_ = 0; ///< Which is the active message set ? Default to 0.
 
 		std::vector<can_message_set_t> can_message_set_;
 		std::vector<std::vector<can_message_definition_t>> can_message_definition_;
 		std::vector<std::vector<can_signal_t>> can_signals_;
 		std::vector<std::vector<diagnostic_message_t>> diagnostic_messages_;
 
-		/// Private constructor with implementation generated by the AGL generator.
-		configuration_t();
+		configuration_t(); ///< Private constructor with implementation generated by the AGL generator.
 
 	public:
 		static configuration_t& instance();
 
-		configuration_t& get_configuration() ;
-
 		can_bus_t& get_can_bus_manager();
 
 		const std::map<std::string, std::shared_ptr<can_bus_dev_t>>& get_can_bus_devices();
@@ -114,5 +113,3 @@ class configuration_t
 		*/
 };
 
-// TEMP Function to access OBD2_PIDS vector
-std::vector<diagnostic_message_t> get_predefined_obd2();
diff --git a/src/diagnostic/active-diagnostic-request.cpp b/src/diagnostic/active-diagnostic-request.cpp
index a21f7303..8cb047db 100644
--- a/src/diagnostic/active-diagnostic-request.cpp
+++ b/src/diagnostic/active-diagnostic-request.cpp
@@ -24,6 +24,7 @@
 
 #define ERROR_PID 0xFF
 
+// @brief
 std::string active_diagnostic_request_t::prefix_ = "diagnostic_messages";
 
 bool active_diagnostic_request_t::operator==(const active_diagnostic_request_t& b)
@@ -137,11 +138,14 @@ void active_diagnostic_request_t::set_in_flight(bool val)
 	in_flight_ = val;
 }
 
-/**
-* @brief Check if requested signal name is an obd2 pid
-* 
-* @return true if name began with obd2 else false.
-*/
+///
+/// @brief Check if requested signal name is a diagnostic message. If the name
+///  begin with the diagnostic message prefix then true else false.
+///
+/// @param[in] name - A signal name.
+///
+/// @return true if name began with the diagnostic message prefix else false.
+///
 bool active_diagnostic_request_t::is_diagnostic_signal(const std::string& name)
 {
 	const std::string p = active_diagnostic_request_t::prefix_ + "*";
@@ -150,6 +154,11 @@ bool active_diagnostic_request_t::is_diagnostic_signal(const std::string& name)
 	return false;
 }
 
+/// @brief Check is the request should be sent or not
+///
+/// @return true if the request isn't already running and not
+/// recurring nor completed, or it is recurring its clock elapsed so it's
+/// time to send another one.
 bool active_diagnostic_request_t::should_send()
 {
 	return !get_in_flight() && (
@@ -157,6 +166,9 @@ bool active_diagnostic_request_t::should_send()
 			(get_recurring() && get_frequency_clock().elapsed(true)));
 }
 
+/// @brief check if the timeout clock has elapsed
+///
+/// @return true if elapsed, so it is a timeout, else false.
 bool active_diagnostic_request_t::timed_out()
 {
 	// don't use staggered start with the timeout clock
diff --git a/src/diagnostic/active-diagnostic-request.hpp b/src/diagnostic/active-diagnostic-request.hpp
index cb9b1d09..22bf8507 100644
--- a/src/diagnostic/active-diagnostic-request.hpp
+++ b/src/diagnostic/active-diagnostic-request.hpp
@@ -29,56 +29,63 @@
 class active_diagnostic_request_t;
 class diagnostic_manager_t;
 
-/* Public: The signature for an optional function that can apply the neccessary
- * formula to translate the binary payload into meaningful data.
- *
- * response - the received DiagnosticResponse (the data is in response.payload,
- *      a byte array). This is most often used when the byte order is
- *      signiticant, i.e. with many OBD-II PID formulas.
- * parsed_payload - the entire payload of the response parsed as an int.
- */
+/// @brief The signature for an optional function that can apply the neccessary
+/// formula to translate the binary payload into meaningful data.
+///
+/// @param[in] response - the received DiagnosticResponse (the data is in response.payload,
+///  a byte array). This is most often used when the byte order is signiticant, i.e. with many OBD-II PID formulas.
+/// @param[in] parsed_payload - the entire payload of the response parsed as an int.
+///
+/// @return float value after decoding.
+///
 typedef float (*DiagnosticResponseDecoder)(const DiagnosticResponse* response,
 		float parsed_payload);
 
-/* Public: The signature for an optional function to handle a new diagnostic
- * response.
- *
- * manager - The DiagnosticsManager providing this response.
- * request - The original diagnostic request.
- * response - The response object that was just received.
- * parsed_payload - The payload of the response, parsed as a float.
- */
+/// @brief: The signature for an optional function to handle a new diagnostic
+/// response.
+///
+/// @param[in] request - The original diagnostic request.
+/// @param[in] response - The response object that was just received.
+/// @param[in] parsed_payload - The payload of the response, parsed as a float.
+///
 typedef void (*DiagnosticResponseCallback)(const active_diagnostic_request_t* request,
 		const DiagnosticResponse* response, float parsed_payload);
 
-/**
- * @brief An active diagnostic request, either recurring or one-time.
- */
+///
+/// @brief An active diagnostic request, either recurring or one-time.
+///
+/// @desc Will host a diagnostic_message_t class members to describe an on going
+///  diagnostic request on the CAN bus. Diagnostic message will be converted to
+///  a DiagnosticRequest using ad-hoc method build_diagnostic_request from diagnostic message.
+///  Then missing member, that can not be hosted into a DiagnosticRequest struct, will be passed
+///  as argument when adding the request to (non)-recurrent vector. Argument will be used to instanciate
+///  an active_diagnostic_request_t object before sending it.
+///
 class active_diagnostic_request_t {
 private:
-	std::string bus_; /*!< bus_ - The CAN bus this request should be made on, or is currently in flight-on*/
-	uint32_t id_; /*!< id_ - The arbitration ID (aka message ID) for the request.*/
-	DiagnosticRequestHandle* handle_; /*!< handle_ - A handle for the request to keep track of it between
-										* sending the frames of the request and receiving all frames of the response.*/
-	std::string name_; /*!< name_ - An optional human readable name this response, to be used when publishing received 
-						* responses. If the name is NULL, the published output will use the raw OBD-II response format.*/
-	static std::string prefix_; /*!< prefix_ - generic_name_ will be prefixed with it. It has to reflect the used protocol.
-								 * which make easier to sort message when the come in.*/
-	DiagnosticResponseDecoder decoder_; /*!< decoder_ - An optional DiagnosticResponseDecoder to parse the payload of responses
-											* to this request. If the decoder is NULL, the output will include the raw payload
-											* instead of a parsed value.*/
-	DiagnosticResponseCallback callback_; /*!< callback_ - An optional DiagnosticResponseCallback to be notified whenever a
-											* response is received for this request.*/
-	bool recurring_; /*!< bool recurring_ - If true, this is a recurring request and it will remain as active until explicitly cancelled.
-						* The frequencyClock attribute controls how often a recurrin request is made.*/
-	bool wait_for_multiple_responses_; /*!< wait_for_multiple_responses_ - False by default, when any response is received for a request
-										* it will be removed from the active list. If true, the request will remain active until the timeout
-										* clock expires, to allow it to receive multiple response (e.g. to a functional broadcast request).*/
-	bool in_flight_; /*!< in_flight_ - True if the request has been sent and we are waiting for a response.*/
-	frequency_clock_t frequency_clock_; /*!< frequency_clock_ - A frequency_clock_t object to control the send rate for a
-										* recurring request. If the request is not reecurring, this attribute is not used.*/
-	frequency_clock_t timeout_clock_; /*!< timeout_clock_ - A frequency_clock_t object to monitor how long it's been since
-									* this request was sent.*/
+	std::string bus_; ///< bus_ - The CAN bus this request should be made on, or is currently in flight-on
+	uint32_t id_; ///< id_ - The arbitration ID (aka message ID) for the request.
+	DiagnosticRequestHandle* handle_; ///< handle_ - A handle for the request to keep track of it between
+									  ///< sending the frames of the request and receiving all frames of the response.
+	std::string name_; ///< name_ - Human readable name, to be used when publishing received responses.
+					   ///< TODO: If the name is NULL, the published output will use the raw OBD-II response format.
+	static std::string prefix_; ///< prefix_ - It has to reflect the JSON object which it comes from. It makes easier sorting 
+								///< incoming CAN messages.
+	DiagnosticResponseDecoder decoder_; ///< decoder_ - An optional DiagnosticResponseDecoder to parse the payload of responses
+										///< to this request. If the decoder is NULL, the output will include the raw payload
+										///< instead of a parsed value.
+	DiagnosticResponseCallback callback_; ///< callback_ - An optional DiagnosticResponseCallback to be notified whenever a
+										  ///< response is received for this request.
+	bool recurring_; ///< bool recurring_ - If true, this is a recurring request and it will remain as active until explicitly cancelled.
+					 ///< The frequencyClock attribute controls how often a recurrin request is made.
+	bool wait_for_multiple_responses_; ///< wait_for_multiple_responses_ - False by default, when any response is received for a request
+									   ///< it will be removed from the active list. If true, the request will remain active until the timeout
+									   ///< clock expires, to allow it to receive multiple response (e.g. to a functional broadcast request).
+	bool in_flight_; ///< in_flight_ - True if the request has been sent and we are waiting for a response.
+	frequency_clock_t frequency_clock_; ///< frequency_clock_ - A frequency_clock_t object to control the send rate for a
+										///< recurring request. If the request is not reecurring, this attribute is not used.
+	frequency_clock_t timeout_clock_; ///< timeout_clock_ - A frequency_clock_t object to monitor how long it's been since
+									  ///< this request was sent.
 public:
 	bool operator==(const active_diagnostic_request_t& b);
 	active_diagnostic_request_t& operator=(const active_diagnostic_request_t& adr);
@@ -89,7 +96,7 @@ public:
 		const std::string& name, bool wait_for_multiple_responses,
 		const DiagnosticResponseDecoder decoder,
 		const DiagnosticResponseCallback callback, float frequencyHz);
-	
+
 	uint32_t get_id() const;
 	const std::shared_ptr<can_bus_dev_t> get_can_bus_dev() const;
 	DiagnosticRequestHandle* get_handle();
@@ -102,7 +109,7 @@ public:
 	bool get_in_flight() const;
 	frequency_clock_t& get_frequency_clock();
 	frequency_clock_t& get_timeout_clock();
-	
+
 	void set_handle(DiagnosticShims& shims, DiagnosticRequest* request);
 	void set_in_flight(bool val);
 
diff --git a/src/diagnostic/diagnostic-manager.cpp b/src/diagnostic/diagnostic-manager.cpp
index 2c0a4d92..7ff86449 100644
--- a/src/diagnostic/diagnostic-manager.cpp
+++ b/src/diagnostic/diagnostic-manager.cpp
@@ -33,9 +33,16 @@ diagnostic_manager_t::diagnostic_manager_t()
 	: initialized_{false}
 {}
 
+/// @brief Diagnostic manager isn't initialized at launch but after
+///  CAN bus devices initialization. For the moment, it is only possible
+///  to have 1 diagnostic bus which are the first bus declared in the JSON
+///  description file. Configuration instance will return it.
+///
+/// @desc this will initialize DiagnosticShims and cancel all active requests 
+///  if there are any.
 bool diagnostic_manager_t::initialize()
 {
-	// Mandatory to set the bus before intiliaze shims.
+	// Mandatory to set the bus before intialize shims.
 	bus_ = configuration_t::instance().get_diagnostic_bus();
 
 	init_diagnostic_shims();
@@ -46,27 +53,78 @@ bool diagnostic_manager_t::initialize()
 	return initialized_;
 }
 
-/**
- * @brief initialize shims used by UDS lib and set initialized_ to true.
- *  It is needed before used the diagnostic manager fully because shims are
- *  required by most member functions.
- */
+/// @brief initialize shims used by UDS lib and set initialized_ to true.
+///  It is needed before used the diagnostic manager fully because shims are
+///  required by most member functions.
 void diagnostic_manager_t::init_diagnostic_shims()
 {
 	shims_ = diagnostic_init_shims(shims_logger, shims_send, NULL);
 	DEBUG(binder_interface, "init_diagnostic_shims: Shims initialized");
 }
 
+/// @brief Force cleanup all active requests.
 void diagnostic_manager_t::reset()
 {
-	if(initialized_)
-	{
-		DEBUG(binder_interface, "Clearing existing diagnostic requests");
-		cleanup_active_requests(true);
-	}
+	DEBUG(binder_interface, "Clearing existing diagnostic requests");
+	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.
+///
+/// @param[in] arbitration_id - CAN arbitration ID to use when send message. OBD2 broadcast ID
+///  is 0x7DF by example.
+/// @param[in] data - The data payload for the message. NULL is valid if size is also 0.
+/// @param[in] size - The size of the data payload, in bytes.
+///
+/// @return true if the CAN message was sent successfully. 
+bool diagnostic_manager_t::shims_send(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size)
+{
+	std::shared_ptr<can_bus_dev_t> can_bus_dev = can_bus_t::get_can_device(configuration_t::instance().get_diagnostic_manager().bus_);
+	return can_bus_dev->shims_send(arbitration_id, data, size);
+}
 
+/// @brief The type signature for an optional logging function, if the user
+/// wishes to provide one. It should print, store or otherwise display the
+/// message.
+///
+/// message - A format string to log using the given parameters.
+/// ... (vargs) - the parameters for the format string.
+///
+void diagnostic_manager_t::shims_logger(const char* format, ...)
+{
+	va_list args;
+	va_start(args, format);
+
+	char buffer[256];
+	vsnprintf(buffer, 256, format, args);
+
+	DEBUG(binder_interface, "shims_logger: %s", buffer);
+}
+
+/// @brief The type signature for a... OpenXC TODO: not used yet.
+void diagnostic_manager_t::shims_timer()
+{}
+
+std::shared_ptr<can_bus_dev_t> diagnostic_manager_t::get_can_bus_dev()
+{
+	return can_bus_t::get_can_device(bus_);
+}
+
+/// @brief Return diagnostic manager shims member.
+DiagnosticShims& diagnostic_manager_t::get_shims()
+{
+	return shims_;
+}
+
+/// @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
+/// contained in the vector but no event if connected to, so we will decode uneeded request.
+///
+/// @param[in] entry - a pointer of an active_diagnostic_request instance to clean up
+/// @param[in] requests_list - a vector where to make the search and cleaning.
 void diagnostic_manager_t::find_and_erase(active_diagnostic_request_t* entry, std::vector<active_diagnostic_request_t*>& requests_list)
 {
 	auto i = std::find(requests_list.begin(), requests_list.end(), entry);
@@ -74,8 +132,7 @@ void diagnostic_manager_t::find_and_erase(active_diagnostic_request_t* entry, st
 		requests_list.erase(i);
 }
 
-/// Move the entry to the free list and decrement the lock count for any
-/// CAN filters it used.
+// @brief TODO: implement cancel_request if needed... Don't know.
 void diagnostic_manager_t::cancel_request(active_diagnostic_request_t* entry)
 {
 
@@ -97,6 +154,12 @@ void diagnostic_manager_t::cancel_request(active_diagnostic_request_t* entry)
 	}*/
 }
 
+/// @brief Cleanup a specific request if it isn't running and get complete. As it is almost
+/// impossible to get that state for a recurring request without waiting for that, you can 
+/// force the cleaning operation.
+///
+/// @param[in] entry - the request to clean
+/// @param[in] force - Force the cleaning or not ?
 void diagnostic_manager_t::cleanup_request(active_diagnostic_request_t* entry, bool force)
 {
 	if(force || (entry->get_in_flight() && entry->request_completed()))
@@ -122,7 +185,10 @@ void diagnostic_manager_t::cleanup_request(active_diagnostic_request_t* entry, b
 	}
 }
 
-/// @brief Clean up the request list
+/// @brief Clean up all requests lists, recurring and not recurring.
+///
+/// @param[in] force - Force the cleaning or not ? If true, that will do
+/// the same effect as a call to reset().
 void diagnostic_manager_t::cleanup_active_requests(bool force)
 {
 	for(auto& entry : non_recurring_requests_)
@@ -134,8 +200,11 @@ void diagnostic_manager_t::cleanup_active_requests(bool force)
 			cleanup_request(entry, force);
 }
 
-/// @brief Will return the active_diagnostic_request_t pointer of found request or nullptr if
+/// @brief Will return the active_diagnostic_request_t pointer for theDiagnosticRequest or nullptr if
 /// not found.
+///
+/// @param[in] request - Search key, method will go through recurring list to see if it find that request
+///  holded by the DiagnosticHandle member.
 active_diagnostic_request_t* diagnostic_manager_t::find_recurring_request(const DiagnosticRequest* request)
 {
 	for (auto& entry : recurring_requests_)
@@ -152,11 +221,32 @@ active_diagnostic_request_t* diagnostic_manager_t::find_recurring_request(const
 	return nullptr;
 }
 
-std::shared_ptr<can_bus_dev_t> diagnostic_manager_t::get_can_bus_dev()
-{
-	return can_bus_t::get_can_device(bus_);
-}
-
+/// @brief Add and send a new one-time diagnostic request.
+///
+/// @desc 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.
+///
+/// For an example, see the docs for addRecurringRequest. This function is very
+/// similar but leaves out the frequencyHz parameter.
+///
+/// @param[in] request - The parameters for the request.
+/// @param[in] name - Human readable name this response, to be used when
+///      publishing received responses. TODO: If the name is NULL, the published output
+///      will use the raw OBD-II response format.
+/// @param[in] waitForMultipleResponses - If false, When any response is received
+///      for this request it will be removed from the active list. If true, the
+///      request will remain active until the timeout clock expires, to allow it
+///      to receive multiple response. Functional broadcast requests will always
+///      waint for the timeout, regardless of this parameter.
+/// @param[in] decoder - An optional DiagnosticResponseDecoder to parse the payload of
+///      responses to this request. If the decoder is NULL, the output will
+///      include the raw payload instead of a parsed value.
+/// @param[in] callback - An optional DiagnosticResponseCallback to be notified whenever a
+///      response is received for this request.
+///
+/// @return true if the request was added successfully. Returns false if there
+/// wasn't a free active request entry, if the frequency was too high or if the
+/// CAN acceptance filters could not be configured,
 bool diagnostic_manager_t::add_request(DiagnosticRequest* request, const std::string name,
 	bool wait_for_multiple_responses, const DiagnosticResponseDecoder decoder,
 	const DiagnosticResponseCallback callback)
@@ -202,6 +292,59 @@ bool diagnostic_manager_t::validate_optional_request_attributes(float frequencyH
 	return true;
 }
 
+/// @brief Add and send a new recurring diagnostic request.
+///
+/// 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);
+///
+/// @param[in] request - The parameters for the request.
+/// @param[in] name - An optional human readable name this response, to be used when
+///      publishing received responses. If the name is NULL, the published output
+///      will use the raw OBD-II response format.
+/// @param[in] waitForMultipleResponses - If false, When any response is received
+///      for this request it will be removed from the active list. If true, the
+///      request will remain active until the timeout clock expires, to allow it
+///      to receive multiple response. Functional broadcast requests will always
+///      waint for the timeout, regardless of this parameter.
+/// @param[in] decoder - An optional DiagnosticResponseDecoder to parse the payload of
+///      responses to this request. If the decoder is NULL, the output will
+///      include the raw payload instead of a parsed value.
+/// @param[in] callback - An optional DiagnosticResponseCallback to be notified whenever a
+///      response is received for this request.
+/// @param[in] frequencyHz - The frequency (in Hz) to send the request. A frequency above
+///      MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ is not allowed, and will make this
+///      function return false.
+///
+/// @return true if the request was added successfully. Returns false if there
+/// was too much already running requests, if the frequency was too high TODO:or if the
+/// CAN acceptance filters could not be configured,
+///
 bool diagnostic_manager_t::add_recurring_request(DiagnosticRequest* request, const char* name,
 		bool wait_for_multiple_responses, const DiagnosticResponseDecoder decoder,
 		const DiagnosticResponseCallback callback, float frequencyHz)
@@ -255,7 +398,7 @@ bool diagnostic_manager_t::add_recurring_request(DiagnosticRequest* request, con
 	return added;
 }
 
-
+/// @brief Returns true if there are two active requests running for the same arbitration ID.
 bool diagnostic_manager_t::conflicting(active_diagnostic_request_t* request, active_diagnostic_request_t* candidate) const
 {
 	return (candidate->get_in_flight() && candidate != request &&
@@ -281,6 +424,17 @@ bool diagnostic_manager_t::clear_to_send(active_diagnostic_request_t* request) c
 	return true;
 }
 
+/// @brief Systemd timer event callback use to send CAN messages at regular interval. Depending
+/// on the diagnostic message frequency.
+///
+/// This should be called from systemd binder event loop and the event is created on add_recurring_request
+///
+/// @param[in] s - Systemd event source pointer used to reschedule the new iteration.
+/// @param[in] usec - previous call timestamp in microseconds.
+/// @param[in] userdata - the DiagnosticRequest struct, use to retrieve the active request from the list.
+///
+/// @return positive integer if sent and rescheduled or negative value if something wrong. If an error occurs
+/// event will be disabled.
 int diagnostic_manager_t::send_request(sd_event_source *s, uint64_t usec, void *userdata)
 {
 	diagnostic_manager_t& dm = configuration_t::instance().get_diagnostic_manager();
@@ -296,7 +450,8 @@ int diagnostic_manager_t::send_request(sd_event_source *s, uint64_t usec, void *
 		if(adr->get_handle()->completed && !adr->get_handle()->success)
 		{
 			DEBUG(binder_interface, "send_request: Fatal error sending diagnostic request");
-			return 0;
+			sd_event_source_unref(s);
+			return -1;
 		}
 		adr->get_timeout_clock().tick();
 		adr->set_in_flight(true);
@@ -307,14 +462,24 @@ int diagnostic_manager_t::send_request(sd_event_source *s, uint64_t usec, void *
 			DEBUG(binder_interface, "send_request: Event loop state: %d. usec: %ld", sd_event_get_state(afb_daemon_get_event_loop(binder_interface->daemon)), usec);
 			if(sd_event_source_set_time(s, usec+1000000) >= 0)
 				if(sd_event_source_set_enabled(s, SD_EVENT_ON) >= 0)
-					return 1;
+				{
+					sd_event_source_unref(s);
+					return -2;
+				}
+			return 1;
 		}
 	}
 	sd_event_source_unref(s);
 	ERROR(binder_interface, "send_request: Something goes wrong when submitting a new request to the CAN bus");
-	return -1;
+	return -3;
 }
 
+/// @brief Will decode the diagnostic response and build the final openxc_VehicleMessage to return.
+///
+/// @param[in] adr - A pointer to an active diagnostic request holding a valid diagnostic handle
+/// @param[in] response - The response to decode from which the Vehicle message will be built and returned
+///
+/// @return A filled openxc_VehicleMessage or a zeroed struct if there is an error.
 openxc_VehicleMessage diagnostic_manager_t::relay_diagnostic_response(active_diagnostic_request_t* adr, const DiagnosticResponse& response)
 {
 	openxc_VehicleMessage message = build_VehicleMessage();
@@ -423,28 +588,3 @@ bool diagnostic_manager_t::is_diagnostic_response(const can_message_t& cm)
 			return true;
 	return false;
 }
-
-DiagnosticShims& diagnostic_manager_t::get_shims()
-{
-	return shims_;
-}
-
-bool diagnostic_manager_t::shims_send(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size)
-{
-	std::shared_ptr<can_bus_dev_t> can_bus_dev = can_bus_t::get_can_device(configuration_t::instance().get_diagnostic_manager().bus_);
-	return can_bus_dev->shims_send(arbitration_id, data, size);
-}
-
-void diagnostic_manager_t::shims_logger(const char* format, ...)
-{
-	va_list args;
-	va_start(args, format);
-
-	char buffer[256];
-	vsnprintf(buffer, 256, format, args);
-
-	DEBUG(binder_interface, "shims_logger: %s", buffer);
-}
-
-void diagnostic_manager_t::shims_timer()
-{}
diff --git a/src/diagnostic/diagnostic-manager.hpp b/src/diagnostic/diagnostic-manager.hpp
index 60b8decd..01aa5cf9 100644
--- a/src/diagnostic/diagnostic-manager.hpp
+++ b/src/diagnostic/diagnostic-manager.hpp
@@ -29,7 +29,7 @@
 
 #include "../low-can-binding.hpp"
 
-/* Private: Each CAN bus needs its own set of shim functions, so this should
+/*  Each CAN bus needs its own set of shim functions, so this should
  * match the maximum CAN controller count.
  */
 #define MAX_SHIM_COUNT can_bus_t.get_can_devices().size()
@@ -38,10 +38,10 @@
 class active_diagnostic_request_t;
 
 /**
- * @brief The core structure for running the diagnostics module on the VI.
+ * @brief The core structure for running the diagnostics module by the binding.
  *
  * @desc This stores details about the active requests and shims required to connect
- * the diagnostics library to the VI's CAN peripheral.
+ * the diagnostics library to the CAN device.
  */
 class diagnostic_manager_t {
 protected:
@@ -75,8 +75,6 @@ public:
 	void cleanup_active_requests(bool force);
 	active_diagnostic_request_t* find_recurring_request(const DiagnosticRequest* request);
 
-	bool validate_optional_request_attributes(float frequencyHz);
-
 	void checkSupportedPids(const active_diagnostic_request_t& request,
 		const DiagnosticResponse& response, float parsedPayload);
 
@@ -84,6 +82,7 @@ public:
 	bool add_request(DiagnosticRequest* request, const std::string name,
 		bool waitForMultipleResponses, const DiagnosticResponseDecoder decoder,
 		const DiagnosticResponseCallback callback);
+	bool validate_optional_request_attributes(float frequencyHz);
 	bool add_recurring_request(DiagnosticRequest* request, const char* name,
 		bool waitForMultipleResponses, const DiagnosticResponseDecoder decoder,
 		const DiagnosticResponseCallback callback, float frequencyHz);
diff --git a/src/diagnostic/diagnostic-message.cpp b/src/diagnostic/diagnostic-message.cpp
index 62da0dc3..c37bbd0f 100644
--- a/src/diagnostic/diagnostic-message.cpp
+++ b/src/diagnostic/diagnostic-message.cpp
@@ -33,9 +33,11 @@ const char *UNIT_NAMES[10] = {
 	"NM"
 };
 
-diagnostic_message_t::diagnostic_message_t(uint8_t pid, const std::string generic_name, const int min, const int max, enum UNIT unit, float frequency,
-											DiagnosticResponseDecoder decoder, DiagnosticResponseCallback callback, bool supported)
-	: pid_{pid}, generic_name_{generic_name}, min_{min}, max_{max}, unit_{unit}, frequency_{frequency}, decoder_{decoder}, callback_{callback}, supported_{supported}
+diagnostic_message_t::diagnostic_message_t(uint8_t pid, const std::string generic_name, const int min,
+	const int max, enum UNIT unit, float frequency,	DiagnosticResponseDecoder decoder,
+	DiagnosticResponseCallback callback, bool supported)
+	: pid_{pid}, generic_name_{generic_name}, min_{min}, max_{max}, unit_{unit},
+	frequency_{frequency}, decoder_{decoder}, callback_{callback}, supported_{supported}
 {}
 
 uint32_t diagnostic_message_t::get_pid()
diff --git a/src/diagnostic/diagnostic-message.hpp b/src/diagnostic/diagnostic-message.hpp
index ae37d7d7..686a8b42 100644
--- a/src/diagnostic/diagnostic-message.hpp
+++ b/src/diagnostic/diagnostic-message.hpp
@@ -56,7 +56,7 @@ class diagnostic_message_t {
 											 * instead of a parsed value.*/
 		DiagnosticResponseCallback callback_; /*!< callback_ - An optional DiagnosticResponseCallback to be notified whenever a
 											   * response is received for this request.*/
-		
+
 		bool supported_; /*!< supported_ - boolean indicating whether this pid is supported by the vehicle or not.*/
 
 	public:
diff --git a/src/low-can-binding.cpp b/src/low-can-binding.cpp
index 08301933..d9703e86 100644
--- a/src/low-can-binding.cpp
+++ b/src/low-can-binding.cpp
@@ -88,7 +88,7 @@ static int subscribe_unsubscribe_signal(struct afb_req request, bool subscribe,
 		}
 		/*else
 		{
-			// Event it isn't valid annymore, recreate it 
+			// Event it isn't valid annymore, recreate it
 			ret = create_event_handle(sig, s);
 		}*/
 	}
@@ -133,7 +133,7 @@ static int subscribe_unsubscribe_signals(struct afb_req request, bool subscribe,
 			std::vector<diagnostic_message_t*> found;
 			configuration_t::instance().find_diagnostic_messages(build_DynamicField(sig), found);
 			DiagnosticRequest* diag_req = new DiagnosticRequest(found.front()->build_diagnostic_request());
-			
+
 			// If the requested diagnostic message isn't supported by the car then unssubcribe.
 			// no matter what we want, worse case will be a fail unsubscription but at least we don't
 			// poll a PID for nothing.