make thread sanitize happy

Author: facontidavide

include/behaviortree_cpp/utils/wakeup_signal.hpp

@@ -3,6 +3,7 @@
 
 #include <chrono>
 #include <mutex>
+#include <atomic>
 #include <condition_variable>
 
 namespace BT
@@ -15,31 +16,28 @@ class WakeUpSignal
     /// signal was received.
     bool waitFor(std::chrono::microseconds usec)
     {
-      if(usec.count() > 0) {
-        std::unique_lock<std::mutex> lk(mutex_);
-        auto res = cv_.wait_for(lk, usec, [this]{
-          return ready_;
-        });
-        ready_ = false;
-        return res;
+      if(usec.count() <= 0) {
+        return ready_.load();
       }
-      return ready_;
+      std::unique_lock<std::mutex> lk(mutex_);
+      auto res = cv_.wait_for(lk, usec, [this]{
+        return ready_.load();
+      });
+      ready_ = false;
+      return res;
     }
 
     void emitSignal()
     {
-       {
-           std::lock_guard<std::mutex> lk(mutex_);
-           ready_ = true;
-       }
+       ready_ = true;
        cv_.notify_all();
     }
 
 private:
 
     std::mutex mutex_;
     std::condition_variable cv_;
-    bool ready_ = false;
+    std::atomic_bool ready_ = false;
 };
 
 }