- uint8_t get_data() const;
- uint8_t get_lenght() const;
-
- void set_id(uint32_t id);
- void set_format(CanMessageFormat format);
- void set_data(uint8_t data);
- void set_lenght(uint8_t length);
-
- void convert_from_canfd_frame(canfd_frame frame);
+
+ /**
+ * @brief Retrieve data_ member value.
+ *
+ * @return uint8_t data_ pointer class member
+ */
+ const uint8_t* get_data() const;
+
+ /**
+ * @brief Retrieve length_ member value.
+ *
+ * @return uint8_t length_ class member
+ */
+ uint8_t get_length() const;
+
+ /**
+ * @brief Control whether the object is correctly initialized
+ * to be sent over the CAN bus
+ *
+ * @return true if object correctly initialized and false if not...
+ */
+ bool is_correct_to_send();
+
+ /**
+ * @brief Set id_ member value.
+ *
+ * Preferred way to initialize these members by using
+ * convert_from_canfd_frame method.
+ *
+ * @param uint32_t id_ class member
+ */
+ void set_id(const uint32_t new_id);
+
+ /**
+ * @brief Set format_ member value.
+ *
+ * Preferred way to initialize these members by using
+ * convert_from_canfd_frame method.
+ *
+ * @param CanMessageFormat format_ class member
+ */
+ void set_format(const CanMessageFormat format);
+
+ /**
+ * @brief Set data_ member value.
+ *
+ * Preferred way to initialize these members by using
+ * convert_from_canfd_frame method.
+ *
+ * @param uint8_t data_ array with a max size of 8 elements.
+ */
+ void set_data(const uint8_t new_data);
+
+ /**
+ * @brief Set length_ member value.
+ *
+ * Preferred way to initialize these members by using
+ * convert_from_canfd_frame method.
+ *
+ * @param uint8_t length_ array with a max size of 8 elements.
+ */
+ void set_length(const uint8_t new_length);
+
+ /**
+ * @brief Take a canfd_frame struct to initialize class members
+ *
+ * This is the preferred way to initialize class members.
+ *
+ * @param canfd_frame struct read from can bus device.
+ */
+ void convert_from_canfd_frame(const canfd_frame& frame);
+
+ /**
+ * @brief Take all initialized class's members and build an
+ * canfd_frame struct that can be use to send a CAN message over
+ * the bus.
+ *
+ * @return canfd_frame struct built from class members.
+ */