How to link to controller actions in a Craft 3 plugin?

Question

I cannot find any documentation that specifies how to link to controller actions which return a rendered template in CP.

Let's say I have a plugin called waffles and my namespace is Very\Waffles. I have a controller named SyrupController and it's residing in Controllers directory (note the capitalized directory name). So the namespace for it would be Very\Waffles\Controllers.
An action actionPour() - how can I register a route that would call this action if I land on the /admin/waffles URL?
I've walked through the steps with a debugger and It's trying to check if a SyrupController exists but how can it, if only Very\Waffles\Controllers\SyrupController exists? Thus it fails to register that route and fails.

Any help much appreciated!
Here's some code:

    Event::on(
        UrlManager::class,
        UrlManager::EVENT_REGISTER_CP_URL_RULES,
        function (RegisterUrlRulesEvent $event) {
            $event->rules['waffles'] = 'waffles/syrup/pour';
        }
    );

It shouldn't be possible to link to a controller by using this string, so I'm guessing an array that specifies the SyrupController::class, but there's no documentation about it.

Thanks!

Answer 1

Apparently I figured it out. Would still like a better way of doing this, but here's the solution I found to be working:

In your Plugin class, you have to add a public $controllerMap array. For my example plugin above, here's what I would have to add to that $controllerMap array:

use Very\Waffle\Controllers\SyrupController;

class Plugin extends \craft\base\Plugin
{

    /** @var array */
    public $controllerMap = [
        'syrup' => SyrupController::class,
    ];

    // other code here, obviously
}

Answer 2

Your code should work as you suggested without the additional stuff.

Event::on(
    UrlManager::class,
    UrlManager::EVENT_REGISTER_CP_URL_RULES,
    function (RegisterUrlRulesEvent $event) {
        $event->rules['waffles'] = 'waffles/syrup/pour';
    }
);

Clarification:

plugin-name = Waffles

controllerName = SyrupController

functionName = actionPour()

With the information above you should be able to call the function in the controller with waffles/syrup/pour, and as you stated, the rules['waffles'] would be your URL.