Merge pull request BehaviorTree#549 from alsora/asoragna/fix-timeout-crash

facontidavide · web-flow · commit 801a2e7e945f · 2023-04-28T12:43:33.000+02:00
fix std::system_error in TimeoutNode
diff --git a/include/behaviortree_cpp/decorators/timeout_node.h b/include/behaviortree_cpp/decorators/timeout_node.h
@@ -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();
diff --git a/include/behaviortree_cpp/decorators/timer_queue.h b/include/behaviortree_cpp/decorators/timer_queue.h
@@ -225,7 +225,9 @@ class TimerQueue
 
       lk.unlock();
       if (item.handler)
+      {
         item.handler(item.id == 0);
+      }
       lk.lock();
     }
   }
