From e68ecdf5f140943aa052aa7f80dab07ff61446a2 Mon Sep 17 00:00:00 2001
From: Ruixiang Du <ruixiang.du@westonrobot.com>
Date: Tue, 5 Oct 2021 13:35:07 +0800
Subject: [PATCH] cleanup: cleaned up a few comments and types

---
 include/ugv_sdk/details/interface/agilex_message.h |  1 +
 include/ugv_sdk/details/interface/agilex_types.h   |  6 +++---
 include/ugv_sdk/details/robot_base/agilex_base.hpp | 10 ++--------
 3 files changed, 6 insertions(+), 11 deletions(-)

diff --git a/include/ugv_sdk/details/interface/agilex_message.h b/include/ugv_sdk/details/interface/agilex_message.h
index 8701dce..261b610 100644
--- a/include/ugv_sdk/details/interface/agilex_message.h
+++ b/include/ugv_sdk/details/interface/agilex_message.h
@@ -124,6 +124,7 @@ typedef struct {
   uint8_t driver_state;
 } ActuatorLSStateMessage;
 
+// for ranger
 typedef struct {
   uint8_t motion_mode;
   uint8_t mode_changing;
diff --git a/include/ugv_sdk/details/interface/agilex_types.h b/include/ugv_sdk/details/interface/agilex_types.h
index 64fba5a..4e28c6d 100644
--- a/include/ugv_sdk/details/interface/agilex_types.h
+++ b/include/ugv_sdk/details/interface/agilex_types.h
@@ -29,9 +29,9 @@ typedef struct {
 } AgxLightOperation;
 
 typedef enum {
-  VehicleStateNormal = 0x00,
-  VehicleStateEStop = 0x01,
-  VehicleStateException = 0x02
+  VEHICLE_STATE_NORMAL = 0x00,
+  VEHICLE_STATE_ESTOP = 0x01,
+  VEHICLE_STATE_EXCEPTION = 0x02
 } AgxVehicleState;
 
 typedef enum {
diff --git a/include/ugv_sdk/details/robot_base/agilex_base.hpp b/include/ugv_sdk/details/robot_base/agilex_base.hpp
index a976f5c..b5bbeb6 100644
--- a/include/ugv_sdk/details/robot_base/agilex_base.hpp
+++ b/include/ugv_sdk/details/robot_base/agilex_base.hpp
@@ -4,12 +4,6 @@
  * Created on: Dec 22, 2020 17:14
  * Description:
  *
- * Each robot class derived from this base class should provide implementation
- * for the following two functions:
- *
- * - virtual void Connect(std::string dev_name) = 0;
- * - virtual void ParseCANFrame(can_frame *rx_frame) = 0;
- *
  * Copyright (c) 2020 Ruixiang Du (rdu)
  */
 
@@ -87,8 +81,8 @@ class AgilexBase : public RobotCommonInterface {
         msg.body.motion_command_msg.steering_angle = steering_angle;
       }
 
-      std::cout << "sending motion cmd: " << linear_vel << "," << angular_vel
-                << "," << lateral_vel << std::endl;
+      std::cout << "Sending motion cmd: " << linear_vel << ", " << angular_vel
+                << ", " << lateral_vel << std::endl;
 
       // send to can bus
       can_frame frame;