Fix issue BehaviorTree#109

facontidavide · facontidavide · commit 470eba8d5faf · 2019-07-28T16:33:43.000+02:00
diff --git a/src/action_node.cpp b/src/action_node.cpp
@@ -129,7 +129,15 @@ NodeStatus AsyncActionNode::executeTick()
 void AsyncActionNode::stopAndJoinThread()
 {
     keep_thread_alive_.store(false);
-    notifyStart();
+    if( status() == NodeStatus::RUNNING )
+    {
+        halt();
+    }
+    else{
+        // loop in asyncThreadLoop() is blocked at waitStart(). Unblock it.
+        notifyStart();
+    }
+
     if (thread_.joinable())
     {
         thread_.join();
