Merge branch 'master' of github.com:BehaviorTree/BehaviorTree.CPP

Author: facontidavide

src/loggers/groot2_publisher.cpp

@@ -183,9 +183,15 @@ std::chrono::milliseconds Groot2Publisher::maxHeartbeatDelay() const
 
 Groot2Publisher::~Groot2Publisher()
 {
-  removeAllHooks();
-
+  // First, signal threads to stop
   _p->active_server = false;
+
+  // Shutdown the ZMQ context to unblock any recv() calls immediately.
+  // This prevents waiting for the recv timeout (100ms) before threads can exit.
+  // Context shutdown will cause all blocking operations to return with ETERM error.
+  _p->context.shutdown();
+
+  // Now join the threads - they should exit quickly
   if(_p->server_thread.joinable())
   {
     _p->server_thread.join();
@@ -196,6 +202,9 @@ Groot2Publisher::~Groot2Publisher()
     _p->heartbeat_thread.join();
   }
 
+  // Remove hooks after threads are stopped to avoid race conditions
+  removeAllHooks();
+
   flush();
 
   {
@@ -260,9 +269,17 @@ void Groot2Publisher::serverLoop()
   while(_p->active_server)
   {
     zmq::multipart_t requestMsg;
-    if(!requestMsg.recv(socket) || requestMsg.size() == 0)
+    try
     {
-      continue;
+      if(!requestMsg.recv(socket) || requestMsg.size() == 0)
+      {
+        continue;
+      }
+    }
+    catch(const zmq::error_t&)
+    {
+      // Context was terminated or socket error - exit the loop
+      break;
     }
 
     // this heartbeat will help establishing if Groot is connected or not
@@ -490,7 +507,15 @@ void Groot2Publisher::serverLoop()
       }
     }
     // send the reply
-    reply_msg.send(socket);
+    try
+    {
+      reply_msg.send(socket);
+    }
+    catch(const zmq::error_t&)
+    {
+      // Context was terminated or socket error - exit the loop
+      break;
+    }
   }
 }
 

tests/gtest_groot2_publisher.cpp

@@ -18,6 +18,17 @@ static const char* xml_text = R"(
 </root>
 )";
 
+static const char* xml_text_sequence = R"(
+<root BTCPP_format="4">
+    <BehaviorTree ID="MainTree">
+        <Sequence>
+            <AlwaysSuccess/>
+            <ThrowRuntimeError/>
+        </Sequence>
+    </BehaviorTree>
+</root>
+)";
+
 void throwRuntimeError()
 {
   BT::BehaviorTreeFactory factory;
@@ -46,3 +57,50 @@ TEST(Groot2PublisherTest, EnsureNoInfiniteLoopOnThrow)
       },
       ::testing::ExitedWithCode(EXIT_SUCCESS), ".*");
 }
+
+// Test that destructor completes quickly even after exception
+// This test runs multiple times to catch race conditions
+TEST(Groot2PublisherTest, DestructorCompletesAfterException)
+{
+  for(int i = 0; i < 5; i++)
+  {
+    BT::BehaviorTreeFactory factory;
+    factory.registerSimpleAction("ThrowRuntimeError",
+                                 [](BT::TreeNode&) -> BT::NodeStatus {
+                                   throw BT::RuntimeError("Test exception");
+                                 });
+
+    auto tree = factory.createTreeFromText(xml_text);
+    BT::Groot2Publisher publisher(tree, 1667 + i * 2);
+    EXPECT_THROW(tree.tickExactlyOnce(), BT::RuntimeError);
+  }
+}
+
+// Test that destructor completes quickly when tree has multiple nodes
+TEST(Groot2PublisherTest, DestructorCompletesWithMultipleNodes)
+{
+  BT::BehaviorTreeFactory factory;
+  factory.registerSimpleAction("ThrowRuntimeError", [](BT::TreeNode&) -> BT::NodeStatus {
+    throw BT::RuntimeError("Test exception in sequence");
+  });
+
+  auto tree = factory.createTreeFromText(xml_text_sequence);
+  BT::Groot2Publisher publisher(tree, 1677);
+  EXPECT_THROW(tree.tickExactlyOnce(), BT::RuntimeError);
+}
+
+// Test rapid creation and destruction of publishers
+TEST(Groot2PublisherTest, RapidCreateDestroy)
+{
+  for(int i = 0; i < 3; i++)
+  {
+    BT::BehaviorTreeFactory factory;
+    factory.registerSimpleAction(
+        "ThrowRuntimeError",
+        [](BT::TreeNode&) -> BT::NodeStatus { throw BT::RuntimeError("Rapid test"); });
+
+    auto tree = factory.createTreeFromText(xml_text);
+    BT::Groot2Publisher publisher(tree, 1687 + i * 2);
+    EXPECT_THROW(tree.tickExactlyOnce(), BT::RuntimeError);
+  }
+}