Address Christian's comments

Signed-off-by: Marco Lampacrescia <[email protected]>

.github/workflows/test.yml

@@ -62,7 +62,7 @@ jobs:
                 mkdir ros_interfaces_ws
                 cd ros_interfaces_ws
                 ln -s ../ros_support_interfaces src
-                colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo
+                colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
             # run the tests
             - name: Run tests
               run: |

docs/source/howto.rst

@@ -388,25 +388,27 @@ ____________
 
 The maximum time the global clock is allowed to reach.
 
-The tag defining it is `<max_time value="100" unit="s" />`. The `value` argument is the max time, and the argument `unit` specifies the time unit of the provided value. Supported units are `s`, `ms`, `us`, `ns`.
+The tag is called `max_time`. The `value` argument is the max time, and the argument `unit` specifies the time unit of the provided value. Supported units are `s`, `ms`, `us`, `ns`.
 
 Max Array Size
 _________________
 
 The maximum size assigned to a dynamic array.
 
-The tag defining it is `<max_array_size value="100" />`. The `value` argument defines the max size the dynamic array can reach, and is 100 by default.
+The tag is called `max_array_size`. The `value` argument defines the max size the dynamic array can reach, and is 100 by default.
 
 BT Tick Rate
 _________________
 
 The tick rate of the Behavior Tree (in Hz).
 
-The tag defining it is `<bt_tick_rate value="1.0">`. The `value` argument defines the tick rate in Hz, and is 1.0 by default.
+The tag is called `bt_tick_rate`. The `value` argument defines the tick rate in Hz, and is 1.0 by default.
 
 BT Tick If Not Running
 _________________________
 
 Whether we shall keep ticking a Behavior Tree after it returns something different from `RUNNING` (i.e. `SUCCESS` or `FAILURE`).
 
-The tag defining it is `<bt_tick_if_not_running value="false" />`. The `value` argument enables / disables the ticking of non-running Behavior Trees, and is set to `false` by default. After the tree is stopped, the model execution will stop as well.
+The tag is called `bt_tick_if_not_running`. The `value` argument enables or disables the ticking of non-running Behavior Trees, and is set to `false` by default. After the tree is stopped, the model execution will stop as well.
+
+For example `<bt_tick_if_not_running value="false" />` would stop ticking the tree after it returned either _SUCCESS_ or _FAILURE_.

src/as2fm/jani_generator/scxml_helpers/top_level_interpreter.py

@@ -46,10 +46,10 @@ class FullModel:
     max_time: Optional[int] = None
     # Max size of "dynamic" arrays defined in the SCXML models
     max_array_size: int = field(default=100)
-    # Tick rate for the loaded BT
+    # Tick rate for the loaded BT in Hz
     bt_tick_rate: float = field(default=1.0)
     # Whether to keep ticking the BT after it returns SUCCESS / FAILURE
-    bt_tick_not_running: bool = field(default=False)
+    bt_tick_when_not_running: bool = field(default=False)
     # Path to the behavior tree loaded in the model
     bt: Optional[str] = None
     # Paths to the SCXML models of the BT nodes used in the model
@@ -101,7 +101,7 @@ def parse_main_xml(xml_path: str) -> FullModel:
                 elif remove_namespace(mc_parameter.tag) == "bt_tick_rate":
                     model.bt_tick_rate = float(mc_parameter.attrib["value"])
                 elif remove_namespace(mc_parameter.tag) == "bt_tick_if_not_running":
-                    model.bt_tick_not_running = bool(mc_parameter.attrib["value"])
+                    model.bt_tick_when_not_running = bool(mc_parameter.attrib["value"])
                 else:
                     raise ValueError(
                         error(mc_parameter, f"Invalid mc_parameter tag: {mc_parameter.tag}")
@@ -165,7 +165,9 @@ def generate_plain_scxml_models_and_timers(
     # Convert behavior tree and plugins to ROS-SCXML
     if model.bt is not None:
         ros_scxmls.extend(
-            bt_converter(model.bt, model.plugins, model.bt_tick_rate, model.bt_tick_not_running)
+            bt_converter(
+                model.bt, model.plugins, model.bt_tick_rate, model.bt_tick_when_not_running
+            )
         )
     # Convert the loaded entries to plain SCXML
     plain_scxml_models = []