From 4b99c27ece4f8c93d8bb56dd651c5c64e7bdbe25 Mon Sep 17 00:00:00 2001
From: Akram <Akram.Bzeouich@Newtec.de>
Date: Tue, 30 Jul 2024 16:20:57 +0200
Subject: [PATCH] Add comments and fix formatting

---
 lib/APPReinforcementLearning/src/App.h        |  2 +-
 .../src/SerialMuxchannels.h                   |  3 +-
 .../RL_Supervisor/Serial_webots.py            | 61 +++++++++++++++----
 3 files changed, 53 insertions(+), 13 deletions(-)

diff --git a/lib/APPReinforcementLearning/src/App.h b/lib/APPReinforcementLearning/src/App.h
index 40b56323..8615bfa0 100644
--- a/lib/APPReinforcementLearning/src/App.h
+++ b/lib/APPReinforcementLearning/src/App.h
@@ -138,7 +138,7 @@ class App
     /** SerialMuxProt Server Instance. */
     SMPServer m_smpServer;
 
-    /* Ensue that the mode is only sent once*/
+    /** Ensue that the mode is only sent once */
     bool m_modeSelectionSent;
 
     /**
diff --git a/lib/APPReinforcementLearning/src/SerialMuxchannels.h b/lib/APPReinforcementLearning/src/SerialMuxchannels.h
index a376d66d..75daf582 100644
--- a/lib/APPReinforcementLearning/src/SerialMuxchannels.h
+++ b/lib/APPReinforcementLearning/src/SerialMuxchannels.h
@@ -102,12 +102,13 @@ namespace SMPChannelPayload
 
     } Status; /**< Status flag */
 
+    /** Mode flags */
     typedef enum : uint8_t
     {
         TRAINING_MODE = 0, /**< Driving Mode Selected. */
         DRIVING_MODE       /**< Training Mode Selected. */
 
-    } Mode; /**< Status flag */
+    } Mode; /**< Mode flag */
 
 } // namespace SMPChannelPayload
 
diff --git a/webots/controllers/RL_Supervisor/Serial_webots.py b/webots/controllers/RL_Supervisor/Serial_webots.py
index a0e27d9c..7da0566a 100644
--- a/webots/controllers/RL_Supervisor/Serial_webots.py
+++ b/webots/controllers/RL_Supervisor/Serial_webots.py
@@ -1,13 +1,41 @@
+""" Implementation of a Serial Webots for Serial Communication """
+
+# MIT License
+#
+# Copyright (c) 2023 - 2024 Gabryel Reyes <gabryelrdiaz@gmail.com>
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in all
+# copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+# OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+# SOFTWARE.
+#
+
+
 ################################################################################
 # Imports
 ################################################################################
-from controller import device
+
+from controller import device  # pylint: disable=import-error
 from SerialMuxProt import Stream
 
 ################################################################################
 # Classes
 ################################################################################
 
+
 class SerialWebots(Stream):
     """
     Serial Webots Communication Class
@@ -44,40 +72,50 @@ def write(self, payload: bytearray) -> int:
         """
         self.__emitter.send(bytes(payload))
         bytes_sent = len(payload)
+
         return bytes_sent
 
     def available(self) -> int:
-        """
-        Check if there is anything available for reading.
+        """Check if there is anything available for reading.
 
         Returns
         ----------
-        int
-            Number of bytes that are available for reading.
+        Number of bytes that are available for reading.
         """
+
         if len(self.__buffer) > 0:
             return len(self.__buffer)
-        elif self.__receiver.getQueueLength() > 0:
+
+        if self.__receiver.getQueueLength() > 0:
             return self.__receiver.getDataSize()
+
         return 0
 
     def read_bytes(self, length: int) -> tuple[int, bytearray]:
-        """
-        Read a given number of Bytes from Serial.
+        """Read a given number of Bytes from Serial.
+
+        Parameters
+        ----------
+        lenght : int
+            Number of bytes to read.
 
         Returns
         ----------
-        tuple[int, bytearray]
-            - int: Number of bytes received.
-            - bytearray: Received data.
+        Tuple:
+        - int: Number of bytes received.
+        - bytearray: Received data.
         """
+
         read = 0
         data = bytearray()
 
+        # Check if there is data in the buffer. Read the specified Bytes.
         if len(self.__buffer) > 0:
             read = min(len(self.__buffer), length)
             data = self.__buffer[:read]
             self.__buffer = self.__buffer[read:]
+
+        # Check if there is data in the receiver queue and process it
         elif self.__receiver.getQueueLength() > 0:
             received_data = self.__receiver.getBytes()
             received_data_size = self.__receiver.getDataSize()
@@ -93,6 +131,7 @@ def read_bytes(self, length: int) -> tuple[int, bytearray]:
 
         return read, data
 
+
 ################################################################################
 # Functions
 ################################################################################