-/**
-* @brief thread to decoding raw CAN messages.
-*
-* @desc It will take from the can_message_q_ queue the next can message to process then it will search
-* about signal subscribed if there is a valid afb_event for it. We only decode signal for which a
-* subscription has been made. Can message will be decoded using translateSignal that will pass it to the
-* corresponding decoding function if there is one assigned for that signal. If not, it will be the default
-* noopDecoder function that will operate on it.
-*
-* Depending on the nature of message, if id match a diagnostic request corresponding id for a response
-* then decoding a diagnostic message else use classic CAN signals decoding functions.
-*
-* TODO: make diagnostic messages parsing optionnal.
-*/
+/// @brief thread to decoding raw CAN messages.
+///
+/// Depending on the nature of message, if arbitration ID matches ID for a diagnostic response
+/// then decoding a diagnostic message else use classic CAN signals decoding functions.
+///
+/// It will take from the can_message_q_ queue the next can message to process then it search
+/// about signal subscribed if there is a valid afb_event for it. We only decode signal for which a
+/// subscription has been made. Can message will be decoded using translateSignal that will pass it to the
+/// corresponding decoding function if there is one assigned for that signal. If not, it will be the default
+/// noopDecoder function that will operate on it.
+///
+/// TODO: make diagnostic messages parsing optionnal.