Comment and format fix

Signed-off-by: Jeffery Hsu <jefferyyjhsu@gmail.com>

rclcpp/include/rclcpp/experimental/intra_process_manager.hpp

@@ -163,9 +163,13 @@ class IntraProcessManager
    * This method stores the publisher intra process object, together with
    * the information of its wrapped publisher (i.e. topic name and QoS).
    *
+   * If the publisher's durability is transient local, its buffer pointer should
+   * be passed and the method will store it as well.
+   *
    * In addition this generates a unique intra process id for the publisher.
    *
    * \param publisher publisher to be registered with the manager.
+   * \param buffer publisher's buffer to be stored if its duability is transient local.
    * \return an unsigned 64-bit integer which is the publisher's unique id.
    */
   RCLCPP_PUBLIC

rclcpp/test/rclcpp/test_intra_process_manager.cpp

@@ -445,18 +445,18 @@ void Publisher<T, Alloc>::publish(MessageUniquePtr msg)
 }  // namespace rclcpp
 
 /*
-   This tests how the class connects and disconnects publishers and subscriptions:
-   - Creates 2 publishers on different topics and a subscription to one of them.
-     Add everything to the intra-process manager.
-   - All the entities are expected to have different ids.
-   - Check the subscriptions count for each publisher.
-   - One of the publishers is expected to have 1 subscription, while the other 0.
-   - Check the subscription count for a non existing publisher id, should return 0.
-   - Add a new publisher and a new subscription both with reliable QoS.
-   - The subscriptions count of the previous publisher is expected to remain unchanged,
-     while the new publisher is expected to have 2 subscriptions (it's compatible with both QoS).
-   - Remove the just added subscriptions.
-   - The count for the last publisher is expected to decrease to 1.
+ * This tests how the class connects and disconnects publishers and subscriptions:
+ * - Creates 2 publishers on different topics and a subscription to one of them.
+ *   Add everything to the intra-process manager.
+ * - All the entities are expected to have different ids.
+ * - Check the subscriptions count for each publisher.
+ * - One of the publishers is expected to have 1 subscription, while the other 0.
+ * - Check the subscription count for a non existing publisher id, should return 0.
+ * - Add a new publisher and a new subscription both with reliable QoS.
+ * - The subscriptions count of the previous publisher is expected to remain unchanged,
+ *   while the new publisher is expected to have 2 subscriptions (it's compatible with both QoS).
+ * - Remove the just added subscriptions.
+ * - The count for the last publisher is expected to decrease to 1.
  */
 TEST(TestIntraProcessManager, add_pub_sub) {
   using IntraProcessManagerT = rclcpp::experimental::IntraProcessManager;
@@ -511,14 +511,14 @@ TEST(TestIntraProcessManager, add_pub_sub) {
 }
 
 /*
-   This tests the minimal usage of the class where there is a single subscription per publisher:
-   - Publishes a unique_ptr message with a subscription requesting ownership.
-   - The received message is expected to be the same.
-   - Remove the first subscription from ipm and add a new one.
-   - Publishes a unique_ptr message with a subscription not requesting ownership.
-   - The received message is expected to be the same, the first subscription do not receive it.
-   - Publishes a shared_ptr message with a subscription not requesting ownership.
-   - The received message is expected to be the same.
+ * This tests the minimal usage of the class where there is a single subscription per publisher:
+ * - Publishes a unique_ptr message with a subscription requesting ownership.
+ * - The received message is expected to be the same.
+ * - Remove the first subscription from ipm and add a new one.
+ * - Publishes a unique_ptr message with a subscription not requesting ownership.
+ * - The received message is expected to be the same, the first subscription do not receive it.
+ * - Publishes a shared_ptr message with a subscription not requesting ownership.
+ * - The received message is expected to be the same.
  */
 TEST(TestIntraProcessManager, single_subscription) {
   using IntraProcessManagerT = rclcpp::experimental::IntraProcessManager;
@@ -564,15 +564,15 @@ TEST(TestIntraProcessManager, single_subscription) {
 }
 
 /*
-   This tests the usage of the class where there are multiple subscriptions of the same type:
-   - Publishes a unique_ptr message with 2 subscriptions requesting ownership.
-   - One is expected to receive the published message, while the other will receive a copy.
-   - Publishes a unique_ptr message with 2 subscriptions not requesting ownership.
-   - Both received messages are expected to be the same as the published one.
-   - Publishes a shared_ptr message with 2 subscriptions requesting ownership.
-   - Both received messages are expected to be a copy of the published one.
-   - Publishes a shared_ptr message with 2 subscriptions not requesting ownership.
-   - Both received messages are expected to be the same as the published one.
+ * This tests the usage of the class where there are multiple subscriptions of the same type:
+ * - Publishes a unique_ptr message with 2 subscriptions requesting ownership.
+ * - One is expected to receive the published message, while the other will receive a copy.
+ * - Publishes a unique_ptr message with 2 subscriptions not requesting ownership.
+ * - Both received messages are expected to be the same as the published one.
+ * - Publishes a shared_ptr message with 2 subscriptions requesting ownership.
+ * - Both received messages are expected to be a copy of the published one.
+ * - Publishes a shared_ptr message with 2 subscriptions not requesting ownership.
+ * - Both received messages are expected to be the same as the published one.
  */
 TEST(TestIntraProcessManager, multiple_subscriptions_same_type) {
   using IntraProcessManagerT = rclcpp::experimental::IntraProcessManager;
@@ -665,20 +665,20 @@ TEST(TestIntraProcessManager, multiple_subscriptions_same_type) {
 }
 
 /*
-   This tests the usage of the class where there are multiple subscriptions of different types:
-   - Publishes a unique_ptr message with 1 subscription requesting ownership and 1 not.
-   - The one requesting ownership is expected to receive the published message,
-     while the other is expected to receive a copy.
-   - Publishes a unique_ptr message with 2 subscriptions requesting ownership and 1 not.
-   - One of the subscriptions requesting ownership is expected to receive the published message,
-     while both other subscriptions are expected to receive different copies.
-   - Publishes a unique_ptr message with 2 subscriptions requesting ownership and 2 not.
-   - The 2 subscriptions not requesting ownership are expected to both receive the same copy
-     of the message, one of the subscription requesting ownership is expected to receive a
-     different copy, while the last is expected to receive the published message.
-   - Publishes a shared_ptr message with 1 subscription requesting ownership and 1 not.
-   - The subscription requesting ownership is expected to receive a copy of the message, while
-     the other is expected to receive the published message
+ * This tests the usage of the class where there are multiple subscriptions of different types:
+ * - Publishes a unique_ptr message with 1 subscription requesting ownership and 1 not.
+ * - The one requesting ownership is expected to receive the published message,
+ *   while the other is expected to receive a copy.
+ * - Publishes a unique_ptr message with 2 subscriptions requesting ownership and 1 not.
+ * - One of the subscriptions requesting ownership is expected to receive the published message,
+ *   while both other subscriptions are expected to receive different copies.
+ * - Publishes a unique_ptr message with 2 subscriptions requesting ownership and 2 not.
+ * - The 2 subscriptions not requesting ownership are expected to both receive the same copy
+ *   of the message, one of the subscription requesting ownership is expected to receive a
+ *   different copy, while the last is expected to receive the published message.
+ * - Publishes a shared_ptr message with 1 subscription requesting ownership and 1 not.
+ * - The subscription requesting ownership is expected to receive a copy of the message, while
+ *   the other is expected to receive the published message
  */
 TEST(TestIntraProcessManager, multiple_subscriptions_different_type) {
   using IntraProcessManagerT = rclcpp::experimental::IntraProcessManager;
@@ -801,25 +801,25 @@ TEST(TestIntraProcessManager, multiple_subscriptions_different_type) {
 }
 
 /*
-   This tests the method "lowest_available_capacity":
-   - Creates 1 publisher.
-   - The available buffer capacity should be at least history size.
-   - Add 2 subscribers.
-   - Add everything to the intra-process manager.
-   - All the entities are expected to have different ids.
-   - Check the subscriptions count for the publisher.
-   - The available buffer capacity should be the history size.
-   - Publish one message (without receiving it).
-   - The available buffer capacity should decrease by 1.
-   - Publish another message (without receiving it).
-   - The available buffer capacity should decrease by 1.
-   - One subscriber receives one message.
-   - The available buffer capacity should stay the same,
-     as the other subscriber still has not freed its buffer.
-   - The other subscriber receives one message.
-   - The available buffer capacity should increase by 1.
-   - One subscription goes out of scope.
-   - The available buffer capacity should not change.
+ * This tests the method "lowest_available_capacity":
+ * - Creates 1 publisher.
+ * - The available buffer capacity should be at least history size.
+ * - Add 2 subscribers.
+ * - Add everything to the intra-process manager.
+ * - All the entities are expected to have different ids.
+ * - Check the subscriptions count for the publisher.
+ * - The available buffer capacity should be the history size.
+ * - Publish one message (without receiving it).
+ * - The available buffer capacity should decrease by 1.
+ * - Publish another message (without receiving it).
+ * - The available buffer capacity should decrease by 1.
+ * - One subscriber receives one message.
+ * - The available buffer capacity should stay the same,
+ *   as the other subscriber still has not freed its buffer.
+ * - The other subscriber receives one message.
+ * - The available buffer capacity should increase by 1.
+ * - One subscription goes out of scope.
+ * - The available buffer capacity should not change.
  */
 TEST(TestIntraProcessManager, lowest_available_capacity) {
   using IntraProcessManagerT = rclcpp::experimental::IntraProcessManager;
@@ -889,10 +889,10 @@ TEST(TestIntraProcessManager, lowest_available_capacity) {
 }
 
 /*
-   This tests the check inside add_publisher for transient_local
-   durability publishers
-   - add_publisher should throw runtime_error when no valid buffer ptr
-   is passed with a transient_local publisher
+ * This tests the check inside add_publisher for transient_local
+ * durability publishers
+ * - add_publisher should throw runtime_error when no valid buffer ptr
+ * is passed with a transient_local publisher
  */
 TEST(TestIntraProcessManager, transient_local_invalid_buffer) {
   using IntraProcessManagerT = rclcpp::experimental::IntraProcessManager;
@@ -911,10 +911,10 @@ TEST(TestIntraProcessManager, transient_local_invalid_buffer) {
 }
 
 /*
-   This tests publishing function for transient_local durability publihers
-   - A message is published before three transient_local subscriptions are added to
-   ipm. Two of the subscriptions use take_shared method. Delivery of the message is verified
-   along with the contents and pointer addresses from the subscriptions.
+ * This tests publishing function for transient_local durability publihers
+ * - A message is published before three transient_local subscriptions are added to
+ * ipm. Two of the subscriptions use take_shared method. Delivery of the message is verified
+ * along with the contents and pointer addresses from the subscriptions.
  */
 TEST(TestIntraProcessManager, transient_local) {
   using IntraProcessManagerT = rclcpp::experimental::IntraProcessManager;

rclcpp/test/rclcpp/test_ring_buffer_implementation.cpp

@@ -22,7 +22,7 @@
 #include "rclcpp/experimental/buffers/ring_buffer_implementation.hpp"
 
 /*
-   Construtctor
+ * Construtctor
  */
 TEST(TestRingBufferImplementation, constructor) {
   // Cannot create a buffer of size zero.
@@ -37,11 +37,11 @@ TEST(TestRingBufferImplementation, constructor) {
 }
 
 /*
-   Basic usage
-   - insert data and check that it has data
-   - get all data
-   - extract data
-   - overwrite old data writing over the buffer capacity
+ * Basic usage
+ * - insert data and check that it has data
+ * - get all data
+ * - extract data
+ * - overwrite old data writing over the buffer capacity
  */
 TEST(TestRingBufferImplementation, basic_usage) {
   rclcpp::experimental::buffers::RingBufferImplementation<char> rb(2);
@@ -88,11 +88,11 @@ TEST(TestRingBufferImplementation, basic_usage) {
 }
 
 /*
-   Basic usage with unique_ptr
-   - insert unique_ptr data and check that it has data
-   - get all data
-   - extract data
-   - overwrite old data writing over the buffer capacity
+ * Basic usage with unique_ptr
+ * - insert unique_ptr data and check that it has data
+ * - get all data
+ * - extract data
+ * - overwrite old data writing over the buffer capacity
  */
 TEST(TestRingBufferImplementation, basic_usage_unique_ptr) {
   rclcpp::experimental::buffers::RingBufferImplementation<std::unique_ptr<char>> rb(2);