Add doxygen build to cmake (#226)

* Add doxygen build to cmake

* Move cmake option

* Fix domain label

* Uncrustify

* Fix md ref on doxygen

* Change .md ref to links

* Include mainpage file

* Minor update

* Delete .gitignore

* Apply suggestions from code review

Co-authored-by: Pablo Garrido <pablogs9@gmail.com>

CMakeLists.txt

@@ -29,6 +29,7 @@ option(UCLIENT_VERBOSE_MESSAGE "Build with message verbosity." OFF)
 option(UCLIENT_PIC "Control Position Independent Code." ON)
 option(UCLIENT_ISOLATED_INSTALL "Install the project and dependencies into separeted folders with version control." OFF)
 option(BUILD_SHARED_LIBS "Control shared/static library building." OFF)
+option(BUILD_DOCUMENTATION "Use doxygen to create product documentation" OFF)
 
 option(UCLIENT_BUILD_CI_TESTS "Build CI test cases." OFF)
 if(UCLIENT_BUILD_CI_TESTS)
@@ -256,10 +257,13 @@ set(LIB_INSTALL_DIR     ${CMAKE_INSTALL_LIBDIR}     CACHE PATH "Installation dir
 set(DATA_INSTALL_DIR    ${CMAKE_INSTALL_DATADIR}    CACHE PATH "Installation directory for data")
 if(WIN32)
     set(LICENSE_INSTALL_DIR . CACHE PATH "Installation directory for licenses")
+    set(DOC_DIR "doc")
 else()
     set(LICENSE_INSTALL_DIR ${DATA_INSTALL_DIR}/${PROJECT_NAME} CACHE PATH "Installation directory for licenses")
+    set(DOC_DIR "${DATA_INSTALL_DIR}/doc")
 endif()
 
+set(DOC_INSTALL_DIR ${DOC_DIR} CACHE PATH "Installation directory for documentation")
 ###############################################################################
 # Targets
 ###############################################################################
@@ -394,6 +398,62 @@ if(UCLIENT_PLATFORM_LINUX AND UCLIENT_MEMORY_TESTS)
     add_subdirectory(test/memory/consumption)
 endif()
 
+###############################################################################
+# Documentation
+###############################################################################
+if(BUILD_DOCUMENTATION)
+    find_package(Doxygen)
+    if(NOT DOXYGEN_FOUND)
+        message(FATAL_ERROR "doxygen is needed to build the documentation. Please install it correctly")
+    endif()
+    if(UNIX)
+        find_program(DOXYFILE_MAKE make)
+        if(DOXYFILE_MAKE)
+            message(STATUS "Found Make: ${DOXYFILE_MAKE}")
+        else()
+            message(FATAL_ERROR "make is needed to build the documentation. Please install it correctly")
+        endif()
+    elseif(WIN32)
+        set(DOXYFILE_MAKE make.bat)
+    endif()
+
+    find_program(WGET_EXE wget)
+    if(WGET_EXE)
+        message(STATUS "Found WGet: ${WGET_EXE}")
+    else()
+        message(FATAL_ERROR "wget is needed to build the documentation. Please install it correctly")
+    endif()
+    find_program(UNZIP_EXE unzip)
+    if(UNZIP_EXE)
+        message(STATUS "Found Unzip: ${UNZIP_EXE}")
+    else()
+        message(FATAL_ERROR "unzip is needed to build the documentation. Please install it correctly")
+    endif()
+
+    
+    # Target to create documentation directories
+    file(MAKE_DIRECTORY ${PROJECT_BINARY_DIR}/doc)
+    add_custom_target(docdirs
+        COMMAND ${CMAKE_COMMAND} -E make_directory ${PROJECT_BINARY_DIR}/doc/api_reference
+        COMMENT "Creating documentation directory" VERBATIM)
+
+    ### Doxygen ########################3
+    # Configure the template doxyfile for or specific project
+    configure_file(doxyfile.in ${PROJECT_BINARY_DIR}/doxyfile @ONLY IMMEDIATE)
+    # Add custom target to run doxygen when ever the project is build
+    add_custom_target(doxygen
+        COMMAND "${DOXYGEN_EXECUTABLE}" "${PROJECT_BINARY_DIR}/doxyfile"
+        SOURCES "${PROJECT_BINARY_DIR}/doxyfile"
+        COMMENT "Generating API documentation with doxygen" VERBATIM)
+
+    add_dependencies(doxygen docdirs)
+
+    add_custom_target(doc ALL
+    COMMENT "Generated project documentation" VERBATIM)
+
+    add_dependencies(doc doxygen)
+endif()
+
 ###############################################################################
 # Packaging
 ###############################################################################
@@ -489,3 +549,11 @@ if(EXISTS ${CMAKE_BINARY_DIR}/temp_install/)
         )
     endforeach()
 endif()
+
+if(BUILD_DOCUMENTATION)
+    # Instalation of doxygen files
+    install(DIRECTORY ${PROJECT_BINARY_DIR}/doc/api_reference
+        DESTINATION ${DOC_INSTALL_DIR}
+        COMPONENT documentation
+        )
+endif()

README.md

@@ -40,4 +40,3 @@ See the [Quality Declaration](QUALITY.md) for more details.
 ## Getting Help
 
 If you need support you can reach us by mail at `support@eProsima.com` or by phone at `+34 91 804 34 48`.
-

include/uxr/client/core/session/common_create_entities.h

@@ -12,6 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+/**
+ * @file
+ */
+
 #ifndef UXR_CLIENT_CORE_SESSION_COMMON_CREATE_ENTITIES_H_
 #define UXR_CLIENT_CORE_SESSION_COMMON_CREATE_ENTITIES_H_
 

include/uxr/client/core/session/create_entities_ref.h

@@ -12,6 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+/**
+ * @file
+ */
+
 #ifndef UXR_CLIENT_CORE_SESSION_CREATE_ENTITIES_REF_H_
 #define UXR_CLIENT_CORE_SESSION_CREATE_ENTITIES_REF_H_
 

include/uxr/client/core/session/create_entities_xml.h

@@ -12,6 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+/**
+ * @file
+ */
+
 #ifndef UXR_CLIENT_CORE_SESSION_CREATE_ENTITIES_XML_H_
 #define UXR_CLIENT_CORE_SESSION_CREATE_ENTITIES_XML_H_
 
@@ -42,7 +46,7 @@ UXRDLLAPI uint16_t uxr_buffer_create_participant_xml(
         uxrSession* session,
         uxrStreamId stream_id,
         uxrObjectId object_id,
-        uint16_t domain,
+        uint16_t domain_id,
         const char* xml,
         uint8_t mode);
 

include/uxr/client/core/session/object_id.h

@@ -15,6 +15,10 @@
 #ifndef _UXR_CLIENT_CORE_SESSION_OBJECT_ID_H_
 #define _UXR_CLIENT_CORE_SESSION_OBJECT_ID_H_
 
+/**
+ * @file
+ */
+
 #ifdef __cplusplus
 extern "C"
 {
@@ -41,12 +45,19 @@ typedef struct uxrObjectId
 
 } uxrObjectId;
 
+/**
+ * @brief This function creates an identifier to reference an entity.
+ * @param id	Identifier of the object, different for each type. There can be several objects with the same ID, provided they have different types.
+ * @param type	The type of the entity. It can be: UXR_PARTICIPANT_ID, UXR_TOPIC_ID, UXR_PUBLISHER_ID, UXR_SUBSCRIBER_ID, UXR_DATAWRITER_ID, UXR_DATAREADER_ID, UXR_REQUESTER_ID, or UXR_REPLIER_ID.
+ * @return	Generated entity identifier.
+ */
 UXRDLLAPI uxrObjectId uxr_object_id(
         uint16_t id,
         uint8_t type);
 
 UXRDLLAPI uxrObjectId uxr_object_id_from_raw(
         const uint8_t* raw);
+
 UXRDLLAPI void uxr_object_id_to_raw(
         uxrObjectId object_id,
         uint8_t* raw);

include/uxr/client/core/session/read_access.h

@@ -12,6 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+/**
+ * @file
+ */
+
 #ifndef UXR_CLIENT_CORE_SESSION_READ_ACCESS_H_
 #define UXR_CLIENT_CORE_SESSION_READ_ACCESS_H_
 

include/uxr/client/core/session/session.h

@@ -12,6 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+/**
+ * @file
+ */
+
 #ifndef UXR_CLIENT_CORE_SESSION_SESSION_H_
 #define UXR_CLIENT_CORE_SESSION_SESSION_H_
 
@@ -29,6 +33,14 @@ extern "C"
 struct uxrSession;
 struct uxrCommunication;
 
+/**
+ * @brief Function signature used for on_status_func callbacks.
+ * @param session	Session structure related to the status.
+ * @param object_id	The identifier of the entity related to the status.
+ * @param request_id    Status request id.
+ * @param status	Status value.
+ * @param args		User pointer data.
+ */
 typedef void (* uxrOnStatusFunc) (
         struct uxrSession* session,
         uxrObjectId object_id,
@@ -36,6 +48,16 @@ typedef void (* uxrOnStatusFunc) (
         uint8_t status,
         void* args);
 
+/**
+ * @brief Function signature used for on_topic_func callbacks.
+ * @param session	    Session structure related to the topic.
+ * @param object_id	    The identifier of the entity related to the topic.
+ * @param request_id    Request id of the``request_data`` transaction.
+ * @param stream_id     Id of the stream used for the communication.
+ * @param ub            Serialized topic data.
+ * @param length        Length of the serialized data.
+ * @param args		    User pointer data.
+ */
 typedef void (* uxrOnTopicFunc) (
         struct uxrSession* session,
         uxrObjectId object_id,
@@ -45,6 +67,15 @@ typedef void (* uxrOnTopicFunc) (
         uint16_t length,
         void* args);
 
+/**
+ * @brief Function signature used for on_time_func callbacks.
+ * @param session	            Session structure related to the topic.
+ * @param current_timestamp     Client’s timestamp of the response packet reception.
+ * @param transmit_timestamp    Client’s timestamp of the request packet transmission.
+ * @param received_timestamp    Agent’s timestamp of the request packet reception.
+ * @param originate_timestamp   Agent’s timestamp of the response packet transmission.
+ * @param args		            User pointer data.
+ */
 typedef void (* uxrOnTimeFunc) (
         struct uxrSession* session,
         int64_t current_timestamp,
@@ -53,6 +84,16 @@ typedef void (* uxrOnTimeFunc) (
         int64_t originate_timestamp,
         void* args);
 
+/**
+ * @brief Function signature used for on_request_func callbacks.
+ * @param session	    Session structure related to the topic.
+ * @param object_id	    The identifier of the entity related to the request.
+ * @param request_id    Request id of the``request_data`` transaction.
+ * @param sample_id     Identifier of the request.
+ * @param ub            Serialized request data.
+ * @param length        Length of the serialized data.
+ * @param args		    User pointer data.
+ */
 typedef void (* uxrOnRequestFunc) (
         struct uxrSession* session,
         uxrObjectId object_id,
@@ -62,6 +103,16 @@ typedef void (* uxrOnRequestFunc) (
         uint16_t length,
         void* args);
 
+/**
+ * @brief Sets the reply callback, which is called when the Agent sends a READ_DATA submessage associated with a Replier.
+ * @param session       Session structure related to the topic.
+ * @param object_id     The identifier of the entity related to the request.
+ * @param request_id    Request id of the``request_data`` transaction.
+ * @param reply_id      Identifier of the reply.
+ * @param ub            Serialized request data.
+ * @param length        Length of the serialized data.
+ * @param args		    User pointer data.
+ */
 typedef void (* uxrOnReplyFunc) (
         struct uxrSession* session,
         uxrObjectId object_id,
@@ -71,6 +122,10 @@ typedef void (* uxrOnReplyFunc) (
         uint16_t length,
         void* args);
 
+/**
+ * @brief Function signature used for flush_callback callbacks.
+ * @param session   Session structure related to the buffer to be flushed.
+ */
 typedef bool (* uxrOnBuffersFull) (
         struct uxrSession* session);
 
@@ -197,7 +252,6 @@ UXRDLLAPI void uxr_set_request_callback(
  * @param session               A uxrSession structure previosly initialized.
  * @param on_reply_func         The function that will be called when a valid reply message arrives from the Agent.
  * @param args                  User pointer data. The args will be provided to the `on_reply_func` callback.
- * @return UXRDLLAPI uxr_set_reply_callback
  */
 UXRDLLAPI void uxr_set_reply_callback(
         uxrSession* session,

include/uxr/client/core/session/stream/stream_id.h

@@ -12,6 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+/**
+ * @file
+ */
+
 #ifndef UXR_CLIENT_CORE_SESSION_STREAM_STREAM_ID_H_
 #define UXR_CLIENT_CORE_SESSION_STREAM_STREAM_ID_H_
 

include/uxr/client/core/session/write_access.h

@@ -12,6 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+/**
+ * @file
+ */
+
 #ifndef UXR_CLIENT_CORE_SESSION_WRITE_ACCESS_H_
 #define UXR_CLIENT_CORE_SESSION_WRITE_ACCESS_H_
 
@@ -88,7 +92,7 @@ uint16_t uxr_buffer_topic(
  *        As a result of the reception of this submessage, the Agent will write a topic into the DDS Global-Data-Space.
  * @param session           A uxrSession structure previously initialized.
  * @param stream_id         The output stream identifier where the WRITE_DATA submessage will be buffered.
- * @param datawriter_id     The identifier of the XRCE DataWriter that will write the topic into the DDS GDS.
+ * @param entity_id     The identifier of the XRCE DataWriter that will write the topic into the DDS GDS.
  * @param ub_topic          The ucdrBuffer structure used for serializing the topic.
  * @param topic_size        The size of the topic in bytes.
  * @return A `request_id` that identifies the XRCE request made by the Entity.

include/uxr/client/profile/discovery/discovery.h

@@ -12,6 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+/**
+ * @file
+ */
+
 #ifndef UXR_CLIENT_PROFILE_DISCOVERY_DISCOVERY_H_
 #define UXR_CLIENT_PROFILE_DISCOVERY_DISCOVERY_H_
 
@@ -28,6 +32,12 @@ extern "C"
 #include <stdbool.h>
 #include <stddef.h>
 
+/**
+ * @brief Function signature used for on_status_func callbacks.
+ * @param locator	Transport locator of a discovered agent
+ * @param args		User pointer data.
+ * @return	true means that the discovery routine has finished. A false implies that the discovery routine must continue searching Agents.
+ */
 typedef bool (* uxrOnAgentFound) (
         const TransportLocator* locator,
         void* args);

include/uxr/client/profile/transport/custom/custom_transport.h

@@ -12,6 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+/**
+ * @file
+ */
+
 #ifndef UXR_CLIENT_CUSTOM_TRANSPORT_H_
 #define UXR_CLIENT_CUSTOM_TRANSPORT_H_
 
@@ -27,18 +31,46 @@ extern "C"
 
 struct uxrCustomTransport;
 
+/**
+ * @brief Function signature callback for opening a custom transport.
+ * @param transport     Custom transport structure. Has the args passed through bool uxr_init_custom_transport(uxrCustomTransport* transport, void * args);.
+ * @return      true in case of successful opened transport, and false in other case.
+ */
 typedef bool (* open_custom_func) (
         struct uxrCustomTransport* transport);
 
+/**
+ * @brief Function signature callback for closing a custom transport.
+ * @param transport     Custom transport structure. Has the args passed through bool uxr_init_custom_transport(uxrCustomTransport* transport, void * args);.
+ * @return      true in case of successful closed transport, and false in other case.
+ */
 typedef bool (* close_custom_func) (
+        /**  */
         struct uxrCustomTransport* transport);
 
+/**
+ * @brief Function signature callback for writing to a custom transport.
+ * @param transport     Custom transport structure. Has the args passed through bool uxr_init_custom_transport(uxrCustomTransport* transport, void * args);.
+ * @param buffer        Buffer to be sent.
+ * @param length        Length of buffer.
+ * @param error_code    Error code that should be set in case the write process experiences some error.
+ * @return      Number of successfully sent bytes.
+ */
 typedef size_t (* write_custom_func) (
         struct uxrCustomTransport* transport,
         const uint8_t* buffer,
         size_t length,
         uint8_t* error_code);
 
+/**
+ * @brief Function signature callback for reading from a custom transport.
+ * @param transport     Custom transport structure. Has the args passed through bool uxr_init_custom_transport(uxrCustomTransport* transport, void * args);.
+ * @param buffer        Buffer to write.
+ * @param length        Maximum length of buffer.
+ * @param timeout       Maximum timeout of the read operation.
+ * @param error_code    Error code that should be set in case the write process experiences some error.
+ * @return      Number of successfully received bytes.
+ */
 typedef size_t (* read_custom_func) (
         struct uxrCustomTransport* transport,
         uint8_t* buffer,
@@ -63,6 +95,7 @@ typedef struct uxrCustomTransport
 /**
  * @brief Set a Custom transport callbacks.
  * @param transport     The uninitialized transport structure used for managing the transport.
+ * @param framing       Transport framing.
  * @param open          Open callback.
  * @param close         Close callback.
  * @param write         Write callback.
@@ -80,7 +113,7 @@ UXRDLLAPI void uxr_set_custom_transport_callbacks(
  * @brief Initializes a Custom transport.
  * @param transport     The transport structure used for managing the transport.
  *                      Callbacks must be set.
- * @param open_args     Arguments for the open function.
+ * @param args     Arguments for the open function.
  * @return `true` in case of successful initialization. `false` in other case.
  */
 UXRDLLAPI bool uxr_init_custom_transport(

include/uxr/client/profile/transport/ip/ip.h

@@ -12,6 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+/**
+ * @file
+ */
+
 #ifndef UXR_CLIENT_PROFILE_TRANSPORT_IP_IP_H_
 #define UXR_CLIENT_PROFILE_TRANSPORT_IP_IP_H_
 

include/uxr/client/profile/transport/ip/tcp/tcp_transport.h

@@ -12,6 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+/**
+ * @file
+ */
+
 #ifndef UXR_CLIENT_TCP_TRANSPORT_H_
 #define UXR_CLIENT_TCP_TRANSPORT_H_
 
@@ -56,7 +60,6 @@ typedef struct uxrTCPTransport
  * @brief Initializes a TCP transport.
  * @param transport     The uninitialized transport structure used for managing the transport.
  *                      This structure must be accesible during the connection.
- * @param platform      A structure that contains the platform dependencies.
  * @param ip_protocol   The IP protocol, it could be UXR_IPv4 or UXR_IPv6.
  * @param ip            The IP address of the Agent.
  * @param port          The port of the Agent.

include/uxr/client/profile/transport/ip/udp/udp_transport.h

@@ -12,6 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+/**
+ * @file
+ */
+
 #ifndef UXR_CLIENT_UDP_TRANSPORT_H_
 #define UXR_CLIENT_UDP_TRANSPORT_H_
 
@@ -37,7 +41,6 @@ typedef struct uxrUDPTransport
  * @brief Initializes a UDP transport.
  * @param transport     The uninitialized transport structure used for managing the transport.
  *                      This structure must be accesible during the connection.
- * @param platform      A structure that contains the platform dependencies.
  * @param ip_protocol   The IP protocol, it could be UXR_IPv4 or UXR_IPv6.
  * @param ip            The IP address of the Agent.
  * @param port          The port of the Agent.

include/uxr/client/profile/transport/serial/serial_transport.h

@@ -12,6 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+/**
+ * @file
+ */
+
 #ifndef UXR_CLIENT_SERIAL_TRANSPORT_H_
 #define UXR_CLIENT_SERIAL_TRANSPORT_H_
 
@@ -41,7 +45,6 @@ typedef struct uxrSerialTransport
  * @brief Initializes a UDP transport.
  * @param transport     The uninitialized transport structure used for managing the transport.
  *                      This structure must be accesible during the connection.
- * @param platform      A structure that contains the platform dependencies.
  * @param fd            The file descriptor of the serial connection.
  *                      The fd usually comes from the `open` OS function.
  * @param remote_addr   The addresss of the Agent in the serial connection.

include/uxr/client/util/ping.h

@@ -12,6 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+/**
+ * @file
+ */
+
 #ifndef UXR_CLIENT_UTIL_PING_H_
 #define UXR_CLIENT_UTIL_PING_H_
 

src/c/core/session/create_entities_xml.c

@@ -20,7 +20,7 @@ uint16_t uxr_buffer_create_participant_xml(
         uxrSession* session,
         uxrStreamId stream_id,
         uxrObjectId object_id,
-        uint16_t domain,
+        uint16_t domain_id,
         const char* xml,
         uint8_t mode)
 {
@@ -28,7 +28,7 @@ uint16_t uxr_buffer_create_participant_xml(
 
     CREATE_Payload payload;
     payload.object_representation.kind = DDS_XRCE_OBJK_PARTICIPANT;
-    payload.object_representation._.participant.domain_id = (int16_t)domain;
+    payload.object_representation._.participant.domain_id = (int16_t)domain_id;
 
     return create_entity_xml(session, stream_id, object_id, xml, mode, &payload);
 }

utils/doxygen/pages/eprosima_footer.html

@@ -0,0 +1,22 @@
+<!-- HTML footer for doxygen 1.8.13-->
+<!-- start footer part -->
+<!--BEGIN GENERATE_TREEVIEW-->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    $navpath
+    <li class="footer">Generated on $datetime for
+    <a href="http://www.eprosima.com">
+    <img class="footer" src="$relpath$$projectlogo" height="31" alt="eProsima"/></a>
+    </li>
+  </ul>
+</div>
+<!--END GENERATE_TREEVIEW-->
+<!--BEGIN !GENERATE_TREEVIEW-->
+<hr class="footer"/><address class="footer"><small>
+Generated on $datetime for 
+    <a href="http://www.eprosima.com">
+    <img class="footer" src="$relpath$$projectlogo" height="31" alt="eProsima"/></a>
+</small></address>
+<!--END !GENERATE_TREEVIEW-->
+</body>
+</html>

utils/doxygen/pages/eprosima_header.html

@@ -0,0 +1,54 @@
+<!-- HTML header for doxygen 1.8.13-->
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<!--BEGIN PROJECT_NAME--><title>$projectname: $title</title><!--END PROJECT_NAME-->
+<!--BEGIN !PROJECT_NAME--><title>$title</title><!--END !PROJECT_NAME-->
+<link href="$relpath^tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="$relpath^jquery.js"></script>
+<script type="text/javascript" src="$relpath^dynsections.js"></script>
+$treeview
+$search
+$mathjax
+<link href="$relpath^$stylesheet" rel="stylesheet" type="text/css" />
+$extrastylesheet
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+
+<!--BEGIN TITLEAREA-->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <!--BEGIN PROJECT_LOGO-->
+  <td id="projectlogo"><a href="http://www.eprosima.com"><img alt="Logo" src="$relpath^$projectlogo"/></a></td>
+  <!--END PROJECT_LOGO-->
+  <!--BEGIN PROJECT_NAME-->
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">$projectname
+   <!--BEGIN PROJECT_NUMBER-->&#160;<span id="projectnumber">$projectnumber</span><!--END PROJECT_NUMBER-->
+   </div>
+   <!--BEGIN PROJECT_BRIEF--><div id="projectbrief">$projectbrief</div><!--END PROJECT_BRIEF-->
+  </td>
+  <!--END PROJECT_NAME-->
+  <!--BEGIN !PROJECT_NAME-->
+   <!--BEGIN PROJECT_BRIEF-->
+    <td style="padding-left: 0.5em;">
+    <div id="projectbrief">$projectbrief</div>
+    </td>
+   <!--END PROJECT_BRIEF-->
+  <!--END !PROJECT_NAME-->
+  <!--BEGIN DISABLE_INDEX-->
+   <!--BEGIN SEARCHENGINE-->
+   <td>$searchbox</td>
+   <!--END SEARCHENGINE-->
+  <!--END DISABLE_INDEX-->
+ </tr>
+ </tbody>
+</table>
+</div>
+<!--END TITLEAREA-->
+<!-- end header part -->

utils/doxygen/pages/mainpage.dox

@@ -0,0 +1,14 @@
+/*!
+ * @mainpage Micro XRCE-DDS Client.
+ * <div id="mainpage" style="width:95%;text-align:justify;text-justify:inter-word">
+ * *eProsima Micro XRCE-DDS* is a library implementing the [DDS-XRCE protocol](https://www.omg.org/spec/DDS-XRCE/About-DDS-XRCE/) 
+ * as defined and maintained by the OMG, whose aim is to allow resource constrained devices such as microcontrollers to communicate 
+ * with the [DDS](https://www.omg.org/spec/DDS/About-DDS/>) world as any other DDS actor would do.
+ * It follows a client/server paradigm and is composed by two libraries, the *Micro XRCE-DDS Client* and the *Micro XRCE-DDS Agent*. 
+ * The *Micro XRCE-DDS Clients* are lightweight entities meant to be compiled on eXtremely Resource Constrained Environments, 
+ * while the *Micro XRCE-DDS Agent* is a broker which bridges the *Clients* with the DDS world.
+</div>
+*
+ */
+
+