add documentation

src/connection.jl

@@ -17,6 +17,13 @@ end
 
 struct TimeoutError <: Exception end
 
+"""
+    open_connection(ip::String, port::Integer)
+
+Open a connection to a TCP server and return the `Connection`.
+
+The `ip` must be a string formatted as `"123.123.123.123"`
+"""
 function open_connection(ip::String, port::Integer)
     return Connection(ip, port)
 end
@@ -40,10 +47,38 @@ function connection_task(socket, command_channel, data_channel)
     @info "Connection task completed"
 end
 
+"""
+    send(connection::Connection, msg::String)
+
+Send a message.
+
+# Arguments
+- `connection`: the `Connection` obtained from `open_connection`.
+- `msg`: the message to be sent. Note: some TCP servers may be require the
+    message be formatted a certain way (such as JSON), and may also require an
+    end of line character, such as `\\n`, to terminate the message.
+"""
 function send(connection::Connection, msg::String)
     put!(connection.command_channel, (:send, msg))
 end
 
+"""
+    send_receive(connection::Connection, msg::String, timeout::Real = 10.0)
+
+Sends a message and waits for a response, which is then returned. This function
+blocks execution while waiting, up to the timeout duration provided. If the
+timeout duration elapses without the arrival of data, throws a TimeoutError
+exception. Note: the payload which is returned will be in a raw format. To
+convert to a string, use `String(payload)`. This string may further converted to
+other formats such as JSON.
+
+# Arguments
+- `connection`: the `Connection` obtained from `open_connection`.
+- `msg`: the message to be sent. Note: some TCP servers may be require the
+    message be formatted a certain way (such as JSON), and may also require an
+    end of line character, such as `\\n`, to terminate the message.
+- `timeout`: maximum time in seconds to wait for data. 
+"""
 function send_receive(connection::Connection, msg::String, timeout::Real = 10.0)
     t = Timer(_ -> timeout_callback(connection), timeout)
     payload = nothing
@@ -67,6 +102,11 @@ function timeout_callback(connection::Connection)
     throw(TimeoutError())
 end
 
+"""
+    close_connection(connection::Connection)
+
+Close the connection to the TCP server.
+"""
 function close_connection(connection::Connection)
     @info "Stopping server ..."
     put!(connection.command_channel, (:close, ""))

src/state_feedback.jl

@@ -21,7 +21,7 @@ end
 
 Open a connection to the ROS node and return the `FeedbackConnection`.
 
-The `ip` must be a string formated as `"123.123.123.123"`
+The `ip` must be a string formatted as `"123.123.123.123"`
 """
 function open_feedback_connection(ip::String, port::Integer)
     return open_connection(ip, port)
@@ -33,7 +33,7 @@ end
 
 Waits for data to arrive from the ROS node and returns a struct of the data with
 the following fields: position, orientation, linear_vel, angular_vel. This
-function blocks execution while waiting, up to the timout duration provided. If
+function blocks execution while waiting, up to the timeout duration provided. If
 the timeout duration elapses without the arrival of data, throws a TimeoutError
 exception.
 

src/velocity_control.jl

@@ -3,7 +3,7 @@
 
 Open a connection to the ROS node and return the `RobotConnection`.
 
-The `ip` must be a string formated as `"123.123.123.123"`
+The `ip` must be a string formatted as `"123.123.123.123"`
 """
 function open_robot_connection(ip::String, port::Integer)
     return open_connection(ip, port)