Fixing typo, and adding some comments

src/dolphin_daemon/include/LIGO_Thread.hpp

@@ -8,24 +8,53 @@ class LIGO_Thread
 {
     public:
 
+        /**
+         * @brief This is the method that LIGO_Thread inheritors must implement
+         *
+         */
         virtual void thread_body() = 0;
 
+        /**
+         * @brief When this method is called, the thread is spawned and started.
+         *        The caller will not be blocked, and can continue doing other work.
+         *
+         */
         void nonblocking_start()
         {
             _thread = std::thread(&LIGO_Thread::thread_body, this);
         }
         
-        void blocking_satrt() 
+        /**
+         * @brief When this method is called, the calling thread is blocked until
+         *        the thread_body() implementation exits, usually signaled to do
+         *        so by signal_stop()
+         *
+         */
+        void blocking_start() 
         {
             nonblocking_start();
-            join();
+            if(_joined == false)
+            {
+                join();
+                _joined = true;
+            }
         }
 
+        /**
+         * @brief When this method is called, the _should_stop variable is set to stop.
+         *        The thread_body() implementation should be checking should_stop() in
+         *        its main loop and respond by exiting.
+         *
+         */
         void signal_stop()
         {
             _should_stop = true;
         }
 
+        /**
+         * @brief Joins with an exited thread.
+         *
+         */
         void join() 
         {
             if(_joined == false)
@@ -35,10 +64,19 @@ class LIGO_Thread
             }
         }
 
+        /**
+         * @brief This method signals the thread to stop and waits for the thread
+         * join.
+         *
+         */
         void signal_stop_and_join()
         {
             signal_stop();
-            join();
+            if(_joined == false)
+            {
+                join();
+                _joined = true;
+            }
         }
 
         virtual ~LIGO_Thread() {}
@@ -50,6 +88,11 @@ class LIGO_Thread
         {
         }
 
+        /**
+         * @brief The thread_body() implementation should be checking should_stop() in
+         *        its main loop and respond by exiting when true.
+         *
+         */
         bool should_stop()
         {
             return _should_stop;