wakeup_signal.hpp

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#ifndef BEHAVIORTREECORE_WAKEUP_SIGNAL_HPP
#define BEHAVIORTREECORE_WAKEUP_SIGNAL_HPP
 
#include <chrono>
#include <mutex>
#include <condition_variable>
 
namespace BT
{
 
class WakeUpSignal
{
public:
    bool waitFor(std::chrono::system_clock::duration tm)
    {
        std::unique_lock<std::mutex> lk(mutex_);
        auto res = cv_.wait_for(lk, tm, [this]{
          return ready_;
        });
        ready_ = false;
        return res;
    }
 
    void emitSignal()
    {
       {
           std::lock_guard<std::mutex> lk(mutex_);
           ready_ = true;
       }
       cv_.notify_all();
    }
 
private:
 
    std::mutex mutex_;
    std::condition_variable cv_;
    bool ready_ = false;
};
 
}
 
#endif // BEHAVIORTREECORE_WAKEUP_SIGNAL_HPP