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Fix Blackboard thread-safety bugs and XML null pointer dereference #268

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Fix Blackboard thread-safety bugs and XML null pointer dereference

Fix Blackboard thread-safety bugs and XML null pointer dereference #268

Run time

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Job Run time
build (ubuntu-22.04, asan_ubsan)
4m 32s
build (ubuntu-22.04, tsan)
4m 32s
9m 4s