From f0f5b889879f448a7b66a865027305df959886db Mon Sep 17 00:00:00 2001
From: rdu <ruixiang.du@gmail.com>
Date: Tue, 6 Jul 2021 18:56:31 +0800
Subject: [PATCH] saved work

---
 include/ugv_sdk/agilex_base.hpp |  4 +---
 src/agilex_base.cpp             | 21 ++++++++++++---------
 2 files changed, 13 insertions(+), 12 deletions(-)

diff --git a/include/ugv_sdk/agilex_base.hpp b/include/ugv_sdk/agilex_base.hpp
index 4c79fe4..5fec03e 100644
--- a/include/ugv_sdk/agilex_base.hpp
+++ b/include/ugv_sdk/agilex_base.hpp
@@ -39,9 +39,7 @@ class AgilexBase {
   virtual void Connect(std::string dev_name) = 0;
 
   // cmd thread runs at 50Hz (20ms) by default
-  void SetCmdThreadPeriodMs(int32_t period_ms) {
-    cmd_thread_period_ms_ = period_ms;
-  };
+  void SetCmdThreadPeriodMs(int32_t period_ms);
 
   // timeout: robot stops if user does not call SetMotionCommand() periodically
   void EnableCmdTimeout(uint32_t timeout_ms = 100);
diff --git a/src/agilex_base.cpp b/src/agilex_base.cpp
index b156be3..3898925 100644
--- a/src/agilex_base.cpp
+++ b/src/agilex_base.cpp
@@ -37,6 +37,10 @@ void AgilexBase::Terminate() {
   std::terminate();
 }
 
+void AgilexBase::SetCmdThreadPeriodMs(int32_t period_ms) {
+  cmd_thread_period_ms_ = period_ms;
+};
+
 void AgilexBase::EnableCmdTimeout(uint32_t timeout_ms) {
   enable_timeout_ = true;
   timeout_ms_ = timeout_ms;
@@ -153,15 +157,14 @@ void AgilexBase::DisableLightControl() {
   can_->SendFrame(frame);
 }
 
-void AgilexBase::SetMotionMode(uint8_t mode)
-{
-   AgxMessage msg;
-   msg.type = AgxMsgSetMotionMode;
-   msg.body.motion_mode_msg.motion_mode = mode;
+void AgilexBase::SetMotionMode(uint8_t mode) {
+  AgxMessage msg;
+  msg.type = AgxMsgSetMotionMode;
+  msg.body.motion_mode_msg.motion_mode = mode;
 
-   // send to can bus
-   can_frame frame;
-   EncodeCanFrame(&msg, &frame);
-   can_->SendFrame(frame);
+  // send to can bus
+  can_frame frame;
+  EncodeCanFrame(&msg, &frame);
+  can_->SendFrame(frame);
 }
 }  // namespace westonrobot