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fix std::system_error in TimeoutNode #549

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Merged
merged 1 commit into from
Apr 28, 2023
+10 −1
Merged

fix std::system_error in TimeoutNode #549

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9 changes: 8 additions & 1 deletion include/behaviortree_cpp/decorators/timeout_node.h
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Original file line number Diff line number Diff line change
Expand Up @@ -77,8 +77,15 @@ class TimeoutNode : public DecoratorNode
if (msec_ > 0)
{
timer_id_ = timer_.add(std::chrono::milliseconds(msec_), [this](bool aborted) {
// Return immediately if the timer was aborted.
// This function could be invoked during destruction of this object and
// we don't want to access member variables if not needed.
if (aborted)
{
return;
}
std::unique_lock<std::mutex> lk(timeout_mutex_);
if (!aborted && child()->status() == NodeStatus::RUNNING)
if (child()->status() == NodeStatus::RUNNING)
{
child_halted_ = true;
haltChild();
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2 changes: 2 additions & 0 deletions include/behaviortree_cpp/decorators/timer_queue.h
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Expand Up @@ -225,7 +225,9 @@ class TimerQueue

lk.unlock();
if (item.handler)
{
item.handler(item.id == 0);
}
lk.lock();
}
}
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