Apply suggestions from code review

Co-authored-by: Felix Exner <feex@universal-robots.com>

Author: acmorrow

include/ur_client_library/control/reverse_interface.h

@@ -53,7 +53,7 @@ enum class TrajectoryControlMessage : int32_t
   TRAJECTORY_START = 1,         ///< Represents command to start a new finite trajectory of declared length.
   TRAJECTORY_STREAM_START = 2,  ///< Represents command to start an open-ended streaming trajectory.
   TRAJECTORY_STREAM_END = 3,    ///< Represents command to terminate an open-ended streaming trajectory.
-                                ///< The point_number argument must equal the total number of spline points
+                                ///< The point_number argument must equal the total number of segments
                                 ///< the caller wrote on the trajectory socket since TRAJECTORY_STREAM_START.
 };
 

resources/external_control.urscript

@@ -1198,11 +1198,11 @@ while control_mode > MODE_STOPPED:
         kill thread_trajectory
         # The streaming session, if any, has been forcibly ended; clear
         # the flag so a subsequent stray STREAM_END is a no-op.
-	if trajectory_streaming:
-	  # In streaming mode, a cancel should come with the total count, just like a STREAM_END.
-	  trajectory_points_left = params_mult[3] - (STREAMING_SENTINEL - trajectory_points_left)
+        if trajectory_streaming:
+          # In streaming mode, a cancel should come with the total count, just like a STREAM_END.
+          trajectory_points_left = params_mult[3] - (STREAMING_SENTINEL - trajectory_points_left)
           trajectory_streaming = False
-	end
+        end
         request_trajectory_cleanup()
         stopj(STOPJ_ACCELERATION)
         wait_for_trajectory_cleanup()