0. 简介

在提升算法认识的同时，本人逐渐认识到有一个好的开发文档/UML图是多么方便，而很多时候代码的开发维护总是会缺少这样的工作。这里以Doxygen为主，介绍本人在Ubuntu环境下的开发操作。

1. Doxygen安装

Ubuntu/Debian安装

sudo apt-get install doxygen

生成配置文件

doxygen -g

该命令会在当前路径生成一个名为Doxyfile配置文件。这里可以考虑使用第三点的文件直接输出一个合适的Doxygen文档。

2. Doxygen设置vscode配置文件

• 选择安装扩展：左下角齿轮，扩展，搜索“doxdocgen”
• 安装后，左侧插件上点邮件，菜单中选**“扩展设置”**
• 点击“在setting.json编辑”，直接打开setting.json文件，贴上下述代码。

{
  "editor.tabSize": 2,
  "editor.rulers": [
      100
  ],
  "editor.fontSize": 16,
  "emmet.excludeLanguages": [
      "markdown"
  ],
  // vscode默认启用了根据文件类型自动设置tabsize的选项
  "editor.detectIndentation": true,
  // // 重新设定tabsize
  "editor.tabSize": 2,
  // #每次保存的时候自动格式化 
  "editor.formatOnSave": true,
  "editor.formatOnSaveMode": "modifications",
  // "editor.defaultFormatter": "xaver.clang-format",
  "C_Cpp.clang_format_fallbackStyle": "{ BasedOnStyle: LLVM, UseTab: Never, IndentWidth: 4, TabWidth: 4,}",
  "C_Cpp.clang_format_style": "{ BasedOnStyle: LLVM, UseTab: Never, IndentWidth: 4, TabWidth: 4, }",
  "[cpp]": {
      "editor.defaultFormatter": "ms-vscode.cpptools"
  },
  "C_Cpp.formatting": "Default",
  "C_Cpp.vcFormat.indent.accessSpecifiers": true,
  "clang-format.fallbackStyle": "Google",
  
  "files.associations": {
    "*.repos": "yaml",
    "*.world": "xml",
    "*.xacro": "xml",
    "chrono": "cpp",
    "*.ipp": "cpp",
    "*.h": "cpp",
    "bitset": "cpp",
    "memory": "cpp",
    "random": "cpp",
    "future": "cpp",
    "optional": "cpp",
    "ostream": "cpp",
    "iostream": "cpp",
    "cctype": "cpp",
    "clocale": "cpp",
    "cmath": "cpp",
    "csignal": "cpp",
    "cstdarg": "cpp",
    "cstddef": "cpp",
    "cstdio": "cpp",
    "cstdlib": "cpp",
    "cstring": "cpp",
    "ctime": "cpp",
    "cwchar": "cpp",
    "cwctype": "cpp",
    "array": "cpp",
    "atomic": "cpp",
    "strstream": "cpp",
    "bit": "cpp",
    "*.tcc": "cpp",
    "codecvt": "cpp",
    "complex": "cpp",
    "condition_variable": "cpp",
    "cstdint": "cpp",
    "deque": "cpp",
    "list": "cpp",
    "map": "cpp",
    "set": "cpp",
    "unordered_map": "cpp",
    "vector": "cpp",
    "exception": "cpp",
    "algorithm": "cpp",
    "functional": "cpp",
    "iterator": "cpp",
    "memory_resource": "cpp",
    "numeric": "cpp",
    "ratio": "cpp",
    "regex": "cpp",
    "string": "cpp",
    "string_view": "cpp",
    "system_error": "cpp",
    "tuple": "cpp",
    "type_traits": "cpp",
    "utility": "cpp",
    "fstream": "cpp",
    "initializer_list": "cpp",
    "iomanip": "cpp",
    "iosfwd": "cpp",
    "istream": "cpp",
    "limits": "cpp",
    "mutex": "cpp",
    "new": "cpp",
    "shared_mutex": "cpp",
    "sstream": "cpp",
    "stdexcept": "cpp",
    "streambuf": "cpp",
    "thread": "cpp",
    "cfenv": "cpp",
    "cinttypes": "cpp",
    "typeindex": "cpp",
    "typeinfo": "cpp",
    "valarray": "cpp",
    "variant": "cpp",
    "core": "cpp",
    "queue": "cpp",
    "unordered_set": "cpp",
    "dense": "cpp",
    "numericaldiff": "cpp",
    "*.idl": "cpp",
    "any": "cpp",
    "hash_map": "cpp",
    "hash_set": "cpp",
    "ceres.h": "c",
    "se3.hpp": "c",
    "rotation.h": "c"
},
  // Autocomplete from ros python packages
  "python.autoComplete.extraPaths": [
      "/opt/ros/foxy/lib/python3.8/site-packages/"
  ],
  // Environment file lets vscode find python files within workspace
  "python.envFile": "${workspaceFolder}/.env",
  // Use the system installed version of autopep8
  "python.formatting.autopep8Path": "/usr/bin/autopep8",
  "python.formatting.autopep8Args": [
      "--max-line-length=100"
  ],
  "C_Cpp.default.intelliSenseMode": "clang-x64",
  "C_Cpp.formatting": "Disabled",
  "uncrustify.useReplaceOption": true,
  "uncrustify.configPath.linux": "/opt/ros/foxy/lib/python3.8/site-packages/ament_uncrustify/configuration/ament_code_style.cfg",
  "cSpell.words": [
    "athackst",
    "autopep",
    "cmake",
    "cppcheck",
    "cpplint",
    "deque",
    "devcontainer",
    "ints",
    "noqa",
    "odometry",
    "pytest",
    "rclcpp",
    "rclpy",
    "repos",
    "rosdistro",
    "rosidl",
    "RTPS",
    "uncrustify",
    "xmllint"
],
  "search.exclude": {
      "**/node_modules": true,
      "**/bower_components": true,
      "**/*.code-search": true,
      "**/build": true,
      "**/install": true,
      "**/log": true
  },
  "python.analysis.extraPaths": [
      "/opt/ros/foxy/lib/python3.8/site-packages/"
  ],
  "cSpell.allowCompoundWords": true,
  "cSpell.ignorePaths": [
      "**/package-lock.json",
      "**/node_modules/**",
      "**/vscode-extension/**",
      "**/.git/objects/**",
      ".vscode",
      ".vscode-insiders",
      ".devcontainer/devcontainer.json"
  ],
  "ros.distro": "foxy",
  "C_Cpp.errorSquiggles": "Disabled",
  
  // Doxygen documentation generator set
  // 文件注释：版权信息模板
  "doxdocgen.file.copyrightTag": [
      "@copyright Copyright (c) {year}  TEST"
  ],
  // 文件注释：自定义模块，这里我添加一个修改日志
  "doxdocgen.file.customTag": [
      "@par 修改日志:",
      "<table>",
      "<tr><th>Date       <th>Version <th>Author <th>Description",
      "<tr><td>{date} <td>2.0     <td>test     <td>内容",
      "</table>",
  ],
  // 文件注释的组成及其排序
  "doxdocgen.file.fileOrder": [
        "file",		// @file
        "brief",	// @brief 简介
        "author",	// 作者
        "version",	// 版本
        "date",		// 日期
        "empty",	// 空行
        "copyright",// 版权
        "empty",
        "custom"	// 自定义
    ],
    // 下面时设置上面标签tag的具体信息
  "doxdocgen.file.fileTemplate": "@file {name}",
  "doxdocgen.file.versionTag": "@version 2.0",
  "doxdocgen.generic.authorEmail": "test@test.com",
  "doxdocgen.generic.authorName": "test",
  "doxdocgen.generic.authorTag": "@author {author} ({email})",
    // 日期格式与模板
    "doxdocgen.generic.dateFormat": "YYYY-MM-DD",
    "doxdocgen.generic.dateTemplate": "@date {date}",
    // 根据自动生成的注释模板（目前主要体现在函数注释上）
  "doxdocgen.generic.order": [
      "brief",
      "tparam",
      "param",
      "return"
  ],
  "doxdocgen.generic.paramTemplate": "@param{indent:8}{param}{indent:25}My Param doc",
  "doxdocgen.generic.returnTemplate": "@return {type} ",
"doxdocgen.generic.splitCasingSmartText": true,
"cmake.sourceDirectory": "${workspaceFolder}/src/test",
}

3. Doxygen设置Doxyfile

…详情请参照古月居