Merge pull request #1030 from pleemann/tree_wake_up

Event-based tree ticking

Author: facontidavide

include/behaviortree_cpp/bt_factory.h

@@ -119,14 +119,20 @@ class Tree
   [[nodiscard]] TreeNode* rootNode() const;
 
   /**
-    * @brief Sleep for a certain amount of time. This sleep could be interrupted by the method TreeNode::emitWakeUpSignal()
+    * @brief Sleep for a certain amount of time. This sleep could be interrupted by the methods
+    * TreeNode::emitWakeUpSignal() or Tree::emitWakeUpSignal()
     *
     * @param timeout  duration of the sleep
     * @return         true if the timeout was NOT reached and the signal was received.
     *
     * */
   bool sleep(std::chrono::system_clock::duration timeout);
 
+  /**
+   * @brief Wake up the tree. This will interrupt the sleep() method.
+   */
+  void emitWakeUpSignal();
+
   ~Tree();
 
   /// Tick the root of the tree once, even if a node invoked

src/bt_factory.cpp

@@ -519,6 +519,11 @@ bool Tree::sleep(std::chrono::system_clock::duration timeout)
       std::chrono::duration_cast<std::chrono::milliseconds>(timeout));
 }
 
+void Tree::emitWakeUpSignal()
+{
+  wake_up_->emitSignal();
+}
+
 Tree::~Tree()
 {
   haltTree();