version 2

Signed-off-by: Tony Najjar <tony.najjar@dexory.com>

Author: tonynajjar

include/behaviortree_cpp/bt_factory.h

@@ -122,13 +122,6 @@ class Tree
 
   [[nodiscard]] TreeNode* rootNode() const;
 
-  /// Function signature for a custom sleep override.
-  /// The function receives the desired sleep duration and a reference to the
-  /// WakeUpSignal so it can check for early wake-up.
-  /// Return true if woken up before the timeout, false if the full duration elapsed.
-  using SleepOverrideFunc =
-      std::function<bool(std::chrono::system_clock::duration, WakeUpSignal&)>;
-
   /**
     * @brief Sleep for a certain amount of time. This sleep could be interrupted by the methods
     * TreeNode::emitWakeUpSignal() or Tree::emitWakeUpSignal()
@@ -145,12 +138,12 @@ class Tree
   void emitWakeUpSignal();
 
   /**
-   * @brief Set a custom sleep override function. When set, Tree::sleep()
-   * will delegate to this function instead of using the default
-   * WakeUpSignal::waitFor(). This allows integrating with external clock
-   * sources (e.g. ROS sim time) while preserving wake-up signal support.
+   * @brief Returns the shared WakeUpSignal used by this tree.
+   * This can be used to check for preemption externally, e.g. when
+   * implementing custom sleep logic with a different clock source.
+   * Returns nullptr if the tree has not been initialized yet.
    */
-  void setSleepOverride(SleepOverrideFunc func);
+  [[nodiscard]] std::shared_ptr<WakeUpSignal> wakeUpSignal() const;
 
   ~Tree();
 
@@ -211,7 +204,6 @@ class Tree
   friend class BehaviorTreeFactory;
 
   std::shared_ptr<WakeUpSignal> wake_up_;
-  SleepOverrideFunc sleep_override_;
 
   enum TickOption
   {

src/bt_factory.cpp

@@ -655,10 +655,6 @@ TreeNode* Tree::rootNode() const
 
 bool Tree::sleep(std::chrono::system_clock::duration timeout)
 {
-  if(sleep_override_)
-  {
-    return sleep_override_(timeout, *wake_up_);
-  }
   return wake_up_->waitFor(
       std::chrono::duration_cast<std::chrono::milliseconds>(timeout));
 }
@@ -668,9 +664,9 @@ void Tree::emitWakeUpSignal()
   wake_up_->emitSignal();
 }
 
-void Tree::setSleepOverride(SleepOverrideFunc func)
+std::shared_ptr<WakeUpSignal> Tree::wakeUpSignal() const
 {
-  sleep_override_ = std::move(func);
+  return wake_up_;
 }
 
 Tree::~Tree()