fix wakeup

Author: facontidavide

include/behaviortree_cpp_v3/bt_factory.h

@@ -143,23 +143,24 @@ class Tree
     Tree(Tree&& other)
     {
         (*this) = std::move(other);
-        for(auto& node: nodes)
-        {
-            node->setWakeUpInstance( &wake_up_ );
-        }
     }
 
     Tree& operator=(Tree&& other)
     {
         nodes = std::move(other.nodes);
         blackboard_stack = std::move(other.blackboard_stack);
         manifests = std::move(other.manifests);
+        wake_up_ = other.wake_up_;
+        return *this;
+    }
 
+    void initialize()
+    {
+        wake_up_ = std::make_shared<WakeUpSignal>();
         for(auto& node: nodes)
         {
-            node->setWakeUpInstance( &wake_up_ );
+            node->setWakeUpInstance(wake_up_);
         }
-        return *this;
     }
 
     void haltTree()
@@ -183,11 +184,16 @@ class Tree
 
     TreeNode* rootNode() const
     {
-      return nodes.empty() ? nullptr : nodes.front().get();
+        return nodes.empty() ? nullptr : nodes.front().get();
     }
 
     NodeStatus tickRoot()
-    {       
+    {
+      if(!wake_up_)
+      {
+        initialize();
+      }
+
       if(!rootNode())
       {
         throw RuntimeError("Empty Tree");
@@ -209,7 +215,7 @@ class Tree
     Blackboard::Ptr rootBlackboard();
 
 private:
-    WakeUpSignal wake_up_;
+    std::shared_ptr<WakeUpSignal> wake_up_;
 };
 
 class Parser;

include/behaviortree_cpp_v3/tree_node.h

@@ -190,7 +190,7 @@ class TreeNode
     // Only BehaviorTreeFactory should call this
     void setRegistrationID(StringView ID);
 
-    void setWakeUpInstance(WakeUpSignal* instance);
+    void setWakeUpInstance(std::shared_ptr<WakeUpSignal> instance);
 
     void modifyPortsRemapping(const PortsRemapping& new_remapping);
 
@@ -217,7 +217,7 @@ class TreeNode
 
     PostTickOverrideCallback post_condition_callback_;
 
-    WakeUpSignal* wake_up_ = nullptr;
+    std::shared_ptr<WakeUpSignal> wake_up_;
 };
 
 //-------------------------------------------------------

include/behaviortree_cpp_v3/utils/wakeup_signal.hpp

@@ -1,16 +1,3 @@
-/* Copyright (C) 2015-2018 Michele Colledanchise -  All Rights Reserved
-*  Copyright (C) 2018-2020 Davide Faconti, Eurecat -  All Rights Reserved
-*
-*   Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"),
-*   to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense,
-*   and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
-*   The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
-*
-*   THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-*   FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
-*   WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
-*/
-
 #ifndef BEHAVIORTREECORE_WAKEUP_SIGNAL_HPP
 #define BEHAVIORTREECORE_WAKEUP_SIGNAL_HPP
 
@@ -29,7 +16,9 @@ class WakeUpSignal
     {
         std::unique_lock<std::mutex> lk(mutex_);
         ready_ = false;
-        return cv_.wait_for(lk, tm, [this]{ return ready_; });
+        return cv_.wait_for(lk, tm, [this]{
+          return ready_;
+        });
     }
 
     void emitSignal()

src/bt_factory.cpp

@@ -296,7 +296,7 @@ Tree BehaviorTreeFactory::createTree(const std::string &tree_name, Blackboard::P
 
 void Tree::sleep(std::chrono::system_clock::duration timeout)
 {
-    wake_up_.waitFor(timeout);
+    wake_up_->waitFor(timeout);
 }
 
 Tree::~Tree()

src/tree_node.cpp

@@ -194,7 +194,7 @@ void TreeNode::setRegistrationID(StringView ID)
     registration_ID_.assign(ID.data(), ID.size());
 }
 
-void TreeNode::setWakeUpInstance(WakeUpSignal *instance)
+void TreeNode::setWakeUpInstance(std::shared_ptr<WakeUpSignal> instance)
 {
     wake_up_ = instance;
 }

src/xml_parsing.cpp

@@ -471,6 +471,7 @@ Tree XMLParser::instantiateTree(const Blackboard::Ptr& root_blackboard,
                               output_tree,
                               root_blackboard,
                               TreeNode::Ptr() );
+    output_tree.initialize();
     return output_tree;
 }
 

tests/gtest_wakeup.cpp

@@ -1,6 +1,5 @@
 #include <gtest/gtest.h>
 #include "behaviortree_cpp_v3/bt_factory.h"
-#include "../sample_nodes/dummy_nodes.h"
 
 using namespace BT;