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Expose return value of wait_for #887

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Merged
merged 3 commits into from
Nov 25, 2024
Merged

Expose return value of wait_for #887

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57c7bfe
Expose return value of wait_for
tonynajjar Nov 25, 2024
7410ba2
update docs
tonynajjar Nov 25, 2024
61c2ca8
Fix pre-commit
tonynajjar Nov 25, 2024
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12 changes: 8 additions & 4 deletions include/behaviortree_cpp/bt_factory.h
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Original file line number Diff line number Diff line change
Expand Up @@ -118,10 +118,14 @@ class Tree

[[nodiscard]] TreeNode* rootNode() const;

/// Sleep for a certain amount of time.
/// This sleep could be interrupted by the method
/// TreeNode::emitWakeUpSignal()
void sleep(std::chrono::system_clock::duration timeout);
/**
* @brief Sleep for a certain amount of time. This sleep could be interrupted by the method TreeNode::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);

~Tree();

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5 changes: 3 additions & 2 deletions src/bt_factory.cpp
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Expand Up @@ -586,9 +586,10 @@ TreeNode* Tree::rootNode() const
return subtree_nodes.empty() ? nullptr : subtree_nodes.front().get();
}

void Tree::sleep(std::chrono::system_clock::duration timeout)
bool Tree::sleep(std::chrono::system_clock::duration timeout)
{
wake_up_->waitFor(std::chrono::duration_cast<std::chrono::milliseconds>(timeout));
return wake_up_->waitFor(
std::chrono::duration_cast<std::chrono::milliseconds>(timeout));
}

Tree::~Tree()
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