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Signed-off-by: Juan Lopez Fernandez <juanlopez@eprosima.com>

Author: juanlofer-eprosima

ddspipe_participants/include/ddspipe_participants/writer/dds/CommonWriter.hpp

@@ -131,9 +131,25 @@ class CommonWriter : public BaseWriter
     // INTERNAL METHODS
     /////////////////////////
 
+    /**
+     * @brief Get the specific Publisher QoS for the \c DdsTopic associated to this writer.
+     *
+     * This method is used to set the QoS of the Publisher that will be created for this writer.
+     * It takes into account the default publisher QoS and the specific \c DdsTopic QoS of this writer.
+     *
+     * @return The Publisher QoS to be used for this writer.
+     */
     DDSPIPE_PARTICIPANTS_DllAPI
     virtual fastdds::dds::PublisherQos reckon_publisher_qos_() const noexcept;
 
+    /**
+     * @brief Get the specific DataWriter QoS for the \c DdsTopic associated to this writer.
+     *
+     * This method is used to set the QoS of the DataWriter that will be created for this writer.
+     * It takes into account the default data writer QoS and the specific \c DdsTopic QoS of this writer.
+     *
+     * @return The DataWriter QoS to be used for this writer.
+     */
     DDSPIPE_PARTICIPANTS_DllAPI
     virtual fastdds::dds::DataWriterQos reckon_writer_qos_() const noexcept;
 

ddspipe_participants/include/ddspipe_participants/writer/dds/filter/RepeaterDataFilter.hpp

@@ -12,6 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+/**
+ * @file RepeaterDataFilter.hpp
+ */
+
 #pragma once
 
 #include <fastdds/rtps/common/Guid.hpp>
@@ -26,24 +30,41 @@ namespace participants {
 namespace dds {
 
 /**
- * Struct containing all relevant information for the RepeaterDataFilter.
+ * @brief Struct containing all relevant information for the \c RepeaterDataFilter.
+ *
+ * This structure extends the \c UserWriteData to include the GUID prefix of the last writer
+ * that sent a change. It is used to track the origin of a message in repeater scenarios.
  */
 struct RepeaterWriteData : public fastdds::rtps::WriteParams::UserWriteData
 {
-    // GUID of the writer that sent this change.
+    /// GUID of the writer that sent this change.
     fastdds::rtps::GuidPrefix_t last_writer_guid_prefix;
 };
 
 /**
- * This filter allows to not send messages from this Writer to the Readers belonging to the source Participant.
- * It is used in "repeater" participants in order to propagate information to external participants
- * (participants not belonging to the same DDS-Router instance),
- * leaving out the participant from which this information was received.
+ * @brief Data filter to prevent sending messages back to their source participant.
+ *
+ * This filter is used by "repeater" participants to propagate information only to external participants,
+ * i.e., participants not belonging to the same DDS-Router instance. It ensures that messages are not
+ * sent to readers that belong to the participant from which the information was originally received.
  */
 class RepeaterDataFilter : public SelfDataFilter
 {
 public:
 
+    /**
+     * @brief Evaluates whether a message should be sent to a given reader.
+     *
+     * This method checks whether the reader belongs to the same participant from which the message originated.
+     * I also checks whether the reader belongs to the same participant as the writer.
+     *
+     * @param payload The serialized payload of the message.
+     * @param sample_info Information about the sample for content filtering.
+     * @param reader_guid The GUID of the reader to which the message may be sent.
+     * @return true if the reader does not belong to the participant that sent the message
+     * and also does not belong to the same participant as the writer.
+     * @return false otherwise.
+     */
     DDSPIPE_PARTICIPANTS_DllAPI
     bool evaluate(
             const fastdds::rtps::SerializedPayload_t& payload,

ddspipe_participants/include/ddspipe_participants/writer/dds/filter/SelfDataFilter.hpp

@@ -12,6 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+/**
+ * @file SelfDataFilter.hpp
+ */
+
 #pragma once
 
 #include <fastdds/dds/topic/IContentFilter.hpp>
@@ -27,16 +31,24 @@ namespace participants {
 namespace dds {
 
 /**
- * This filter allows to not send messages from this Writer to the Readers in the same Participant.
+ * @brief Filter to prevent sending messages from this writer to readers in the same participant.
+ *
+ * This filter ensures that messages originating from this writer are not delivered
+ * to readers that belong to the same participant, avoiding self-data delivery.
  */
 class SelfDataFilter : public fastdds::dds::IContentFilter
 {
 public:
 
     /**
-     * @brief Whether incoming sample is relevant for this reader.
+     * @brief Evaluates whether a message should be sent to a given reader.
+     *
+     * This method checks whether the reader belongs to the same participant as the writer.
      *
-     * @return true if the reader does not belong to same Participant.
+     * @param payload The serialized payload of the message.
+     * @param sample_info Information about the sample for content filtering.
+     * @param reader_guid The GUID of the reader to which the message may be sent.
+     * @return true if the reader does not belong to the same participant.
      * @return false otherwise.
      */
     DDSPIPE_PARTICIPANTS_DllAPI

ddspipe_participants/src/cpp/writer/dds/CommonWriter.cpp

@@ -170,8 +170,6 @@ fastdds::dds::DataWriterQos CommonWriter::reckon_writer_qos_() const noexcept
 {
     fastdds::dds::DataWriterQos qos = dds_publisher_->get_default_datawriter_qos();
 
-    dds_publisher_->get_default_datawriter_qos();
-
     qos.durability().kind =
             (topic_.topic_qos.is_transient_local())
             ? fastdds::dds::DurabilityQosPolicyKind::TRANSIENT_LOCAL_DURABILITY_QOS