Pass the entire binding name instead of just a suffix for the Behavior class bindings

Author: ll-nick

include/arbitration_graphs/internal/behavior_py.hpp

@@ -53,11 +53,11 @@ class PyBehavior : public Behavior<CommandT> {
 };
 
 template <typename CommandT>
-void bindBehavior(py::module& module, const std::string& suffix = "") {
+void bindBehavior(py::module& module, const std::string& bindingName = "Behavior") {
     using BehaviorT = Behavior<CommandT>;
     using PyBehaviorT = PyBehavior<CommandT>;
 
-    py::class_<BehaviorT, PyBehaviorT, std::shared_ptr<BehaviorT>>(module, ("Behavior" + suffix).c_str())
+    py::class_<BehaviorT, PyBehaviorT, std::shared_ptr<BehaviorT>>(module, bindingName.c_str())
         .def(py::init<const std::string&>(), py::arg("name") = "Behavior")
         .def("get_command", &BehaviorT::getCommand, py::arg("time"))
         .def("check_invocation_condition", &BehaviorT::checkInvocationCondition, py::arg("time"))

include/arbitration_graphs/python_bindings.hpp

@@ -21,15 +21,15 @@ template <typename CommandT,
           typename VerifierT = verification::PlaceboVerifier<SubCommandT>,
           typename VerificationResultT = typename decltype(std::function{VerifierT::analyze})::result_type>
 void bindArbitrationGraphs(py::module& module,
-                           const std::string& behaviorCommandSuffix = "",
-                           const std::string& behaviorSubCommandSuffix = "") {
+                           const std::string& behaviorBindingName = "Behavior",
+                           const std::string& behaviorSubCommandBindingName = "BehaviorSubCommand") {
     bindExceptions(module);
     bindPlaceboVerifier<SubCommandT>(module);
 
-    bindBehavior<CommandT>(module, behaviorCommandSuffix);
-    // Only bind behavior for SubCommandT if it is different from CommandT
+    bindBehavior<CommandT>(module, behaviorBindingName);
+    // Bind the behavior for the SubCommandT only if it is different from the CommandT
     if constexpr (!std::is_same_v<CommandT, SubCommandT>) {
-        bindBehavior<SubCommandT>(module, behaviorSubCommandSuffix);
+        bindBehavior<SubCommandT>(module, behaviorSubCommandBindingName);
     }
 
     bindArbitrator<CommandT, SubCommandT, VerifierT, VerificationResultT>(module);

test/python_bindings.cpp

@@ -101,7 +101,7 @@ PYBIND11_MODULE(arbitration_graphs_py, mainModule) {
 }
 
 PYBIND11_MODULE(arbitration_graphs_py_with_subcommand, mainModule) {
-    python_api::bindArbitrationGraphs<DummyCommandInt, DummyCommand>(mainModule, "Int");
+    python_api::bindArbitrationGraphs<DummyCommandInt, DummyCommand>(mainModule, "BehaviorInt", "Behavior");
 
     py::module testingModule = mainModule.def_submodule("testing_types");
     bindTestingTypes(testingModule);