doc fix

facontidavide · facontidavide · commit 21b3efe40f97 · 2022-05-15T09:57:53.000+02:00
diff --git a/docs/asynchronous_nodes.md b/docs/asynchronous_nodes.md
@@ -46,7 +46,7 @@ a node is RUNNING, usually its parent returns RUNNING too.
 Let's consider a simple "SleepNode". A good template to get started is the StatefulAction
 
 ```c++
-// Example os Asynchronous node that use StatefulActionNode as base class
+// Example of Asynchronous node that use StatefulActionNode as base class
 class SleepNode : public BT::StatefulActionNode
 {
   public:
@@ -188,7 +188,7 @@ class BadSleepNode : public BT::AsyncActionNode
 };
 ```
 
-A "correct" (but over-engineered) version of it would be:
+A correct version would be:
 
 ```c++
 // I will create my own thread here, for no good reason
@@ -222,8 +222,8 @@ class ThreadedSleepNode : public BT::AsyncActionNode
       return NodeStatus::SUCCESS;
     }
 
-    // The halt() method can not kill the spawned thread :()
-    // void halt(); 
+    // The halt() method will set isHaltRequested() to true 
+    // and stop the while loop in the spawned thread.
 };
 ```
 
@@ -276,9 +276,9 @@ class ActionClientNode : public BT::StatefulActionNode
     NodeStatus onRunning() override
     {
       // more psuedo-code
-      auto request_state = getCurrentStateFromServer();
+      auto current_state = getCurrentStateFromServer();
 
-      if( request_state == DONE )
+      if( current_state == DONE )
       {
         // retrieve the result
         auto result = getResult();
@@ -290,13 +290,13 @@ class ActionClientNode : public BT::StatefulActionNode
           return NodeStatus::FAILURE;
         }
       }
-      else if( request_state == ABORTED ) {
+      else if( current_state == ABORTED ) {
         // fail if the action was aborted by some other client
         // or by the server itself
         return NodeStatus::FAILURE;
       }
       else {
-        // probably (request_state == EXECUTING) ?
+        // probably (current_state == EXECUTING) ?
         return NodeStatus::RUNNING;
       }
     }

Original file line number	Diff line number	Diff line change
`@@ -46,7 +46,7 @@ a node is RUNNING, usually its parent returns RUNNING too.`
`46`	`46`	`Let's consider a simple "SleepNode". A good template to get started is the StatefulAction`
`47`	`47`
`48`	`48`	```c++
`49`		`-// Example os Asynchronous node that use StatefulActionNode as base class`
	`49`	`+// Example of Asynchronous node that use StatefulActionNode as base class`
`50`	`50`	`class SleepNode : public BT::StatefulActionNode`
`51`	`51`	`{`
`52`	`52`	`public:`
`@@ -188,7 +188,7 @@ class BadSleepNode : public BT::AsyncActionNode`
`188`	`188`	`};`
`189`	`189`	```
`190`	`190`
`191`		`-A "correct" (but over-engineered) version of it would be:`
	`191`	`+A correct version would be:`
`192`	`192`
`193`	`193`	```c++
`194`	`194`	`// I will create my own thread here, for no good reason`
`@@ -222,8 +222,8 @@ class ThreadedSleepNode : public BT::AsyncActionNode`
`222`	`222`	`return NodeStatus::SUCCESS;`
`223`	`223`	`}`
`224`	`224`
`225`		`- // The halt() method can not kill the spawned thread :()`
`226`		`- // void halt();`
	`225`	`+ // The halt() method will set isHaltRequested() to true`
	`226`	`+ // and stop the while loop in the spawned thread.`
`227`	`227`	`};`
`228`	`228`	```
`229`	`229`
`@@ -276,9 +276,9 @@ class ActionClientNode : public BT::StatefulActionNode`
`276`	`276`	`NodeStatus onRunning() override`
`277`	`277`	`{`
`278`	`278`	`// more psuedo-code`
`279`		`- auto request_state = getCurrentStateFromServer();`
	`279`	`+ auto current_state = getCurrentStateFromServer();`
`280`	`280`
`281`		`- if( request_state == DONE )`
	`281`	`+ if( current_state == DONE )`
`282`	`282`	`{`
`283`	`283`	`// retrieve the result`
`284`	`284`	`auto result = getResult();`
`@@ -290,13 +290,13 @@ class ActionClientNode : public BT::StatefulActionNode`
`290`	`290`	`return NodeStatus::FAILURE;`
`291`	`291`	`}`
`292`	`292`	`}`
`293`		`- else if( request_state == ABORTED ) {`
	`293`	`+ else if( current_state == ABORTED ) {`
`294`	`294`	`// fail if the action was aborted by some other client`
`295`	`295`	`// or by the server itself`
`296`	`296`	`return NodeStatus::FAILURE;`
`297`	`297`	`}`
`298`	`298`	`else {`
`299`		`- // probably (request_state == EXECUTING) ?`
	`299`	`+ // probably (current_state == EXECUTING) ?`
`300`	`300`	`return NodeStatus::RUNNING;`
`301`	`301`	`}`
`302`	`302`	`}`