fix issue BehaviorTree#852: thread safety in Loggers

daoran · Sep 21, 2024 · 208eacf · 208eacf
1 parent 37f8c73
commit 208eacf
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/include/behaviortree_cpp/loggers/abstract_logger.h b/include/behaviortree_cpp/loggers/abstract_logger.h
@@ -61,6 +61,7 @@ class StatusChangeLogger
  std::vector<TreeNode::StatusChangeSubscriber> subscribers_;
  TimestampType type_;
  BT::TimePoint first_timestamp_ = {};
+ std::mutex callback_mutex_;
 };
 
 //--------------------------------------------
@@ -72,6 +73,7 @@ inline StatusChangeLogger::StatusChangeLogger(TreeNode* root_node)
 
  auto subscribeCallback = [this](TimePoint timestamp, const TreeNode& node,
  NodeStatus prev, NodeStatus status) {
+ std::unique_lock lk(callback_mutex_);
  if(enabled_ && (status != NodeStatus::IDLE || show_transition_to_idle_))
  {
  if(type_ == TimestampType::absolute)