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Add USE_VENDORED_JSON option to allow using system nlohmann::json (#959)
Add a CMake option USE_VENDORED_JSON (default ON) so users can opt out of the bundled nlohmann::json and link against their own system-installed version, avoiding ODR violations when both versions coexist. - Add USE_VENDORED_JSON CMake option with find_package when OFF - Conditionally include vendored vs system json.hpp in 4 public headers - Add BTCPP_VENDORED_JSON compile definition to control #ifdef - Update install rules to exclude vendored json.hpp when OFF - Add find_dependency in Config.cmake.in for downstream consumers Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
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7 files changed

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‎CMakeLists.txt‎

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@@ -28,6 +28,7 @@ option(USE_VENDORED_FLATBUFFERS "Use the bundled version of flatbuffers" ON)
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option(USE_VENDORED_LEXY "Use the bundled version of lexy" ON)
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option(USE_VENDORED_MINICORO "Use the bundled version of minicoro" ON)
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option(USE_VENDORED_MINITRACE "Use the bundled version of minitrace" ON)
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option(USE_VENDORED_JSON "Use the bundled version of nlohmann/json" ON)
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set(BTCPP_LIB_DESTINATION lib)
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set(BTCPP_INCLUDE_DESTINATION include)
@@ -150,6 +151,10 @@ else()
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find_package(minitrace REQUIRED)
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endif()
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if(NOT USE_VENDORED_JSON)
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find_package(nlohmann_json 3.10 REQUIRED)
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endif()
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list(APPEND BT_SOURCE
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src/action_node.cpp
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src/basic_types.cpp
@@ -263,6 +268,12 @@ target_include_directories(${BTCPP_LIBRARY}
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target_compile_definitions(${BTCPP_LIBRARY} PRIVATE $<$<CONFIG:Debug>:TINYXML2_DEBUG>)
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target_compile_definitions(${BTCPP_LIBRARY} PUBLIC BTCPP_LIBRARY_VERSION="${CMAKE_PROJECT_VERSION}")
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if(USE_VENDORED_JSON)
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target_compile_definitions(${BTCPP_LIBRARY} PUBLIC BTCPP_VENDORED_JSON)
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else()
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target_link_libraries(${BTCPP_LIBRARY} PUBLIC nlohmann_json::nlohmann_json)
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endif()
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target_compile_features(${BTCPP_LIBRARY} PUBLIC cxx_std_17)
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if(MSVC)
@@ -332,8 +343,15 @@ INSTALL(TARGETS ${BTCPP_LIBRARY}
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INCLUDES DESTINATION ${BTCPP_INCLUDE_DESTINATION}
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)
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INSTALL( DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/include/
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DESTINATION ${BTCPP_INCLUDE_DESTINATION}
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FILES_MATCHING PATTERN "*.h*")
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if(USE_VENDORED_JSON)
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INSTALL( DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/include/
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DESTINATION ${BTCPP_INCLUDE_DESTINATION}
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FILES_MATCHING PATTERN "*.h*")
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else()
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INSTALL( DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/include/
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DESTINATION ${BTCPP_INCLUDE_DESTINATION}
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FILES_MATCHING PATTERN "*.h*"
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REGEX "contrib/json\\.hpp$" EXCLUDE)
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endif()
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export_btcpp_package()

‎FIXME.md‎

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# FIXME - Bug Tracker
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This file tracks reported bugs from GitHub issues. For each bug, the workflow is:
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1. Write a unit test that reproduces the issue
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2. Evaluate whether the behavior diverges from intended library semantics
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3. Fix the issue (if confirmed as a bug)
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**IMPORTANT:** NEVER modify existing tests that were not created in this branch. Only add new tests.
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---
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## Control Nodes (Parallel)
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### [ ] #1045 - Test PauseWithRetry is flaky
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- **URL:** https://github.com/BehaviorTree/BehaviorTree.CPP/issues/1045
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- **Summary:** The `Parallel.PauseWithRetry` test fails intermittently due to tight timing assertions. Measured time drifts beyond the allowed margin.
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- **Component:** `tests/gtest_parallel.cpp`
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- **Test file:** `tests/gtest_parallel.cpp`
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### [ ] #1041 - Performance degradation after prolonged operation in parallel nodes
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- **URL:** https://github.com/BehaviorTree/BehaviorTree.CPP/issues/1041
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- **Summary:** After prolonged operation, when a parallel node's child detects an exception and exits, the interval before other nodes wait for execution becomes increasingly longer. Likely related to resource accumulation or thread management.
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- **Component:** `src/controls/parallel_node.cpp`
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- **Test file:** `tests/gtest_parallel.cpp` (or new)
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### [ ] #966 - ParallelAll max_failures off-by-one semantics
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- **URL:** https://github.com/BehaviorTree/BehaviorTree.CPP/issues/966
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- **Summary:** `ParallelAll` documents `max_failures` as "if the number of children returning FAILURE *exceeds* this value" but implements `>=` (greater-than-or-equal). Documentation and implementation disagree.
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- **Component:** `src/controls/parallel_all_node.cpp`
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- **Test file:** `tests/gtest_parallel.cpp`
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---
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## Control Nodes (Reactive)
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### [ ] #1031 - Race condition in ReactiveSequence/ReactiveFallback with async children
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- **URL:** https://github.com/BehaviorTree/BehaviorTree.CPP/issues/1031
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- **Summary:** With backchaining patterns, a previously `RUNNING` child is halted only *after* another child's `onStart` is executed. Two children are in `RUNNING` state simultaneously briefly, causing race conditions.
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- **Component:** `src/controls/reactive_sequence.cpp`, `src/controls/reactive_fallback.cpp`
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- **Test file:** `tests/gtest_reactive.cpp` (or new)
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### [ ] #917 - Precondition not re-checked in ReactiveSequence
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- **URL:** https://github.com/BehaviorTree/BehaviorTree.CPP/issues/917
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- **Summary:** When a node has a `_successIf` precondition inside a `ReactiveSequence`, the precondition is never re-evaluated after the node enters `RUNNING` state. The node continues returning `RUNNING` instead of `SUCCESS`.
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- **Component:** `src/controls/reactive_sequence.cpp`, `src/tree_node.cpp`
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- **Test file:** `tests/gtest_reactive.cpp`
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---
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## XML Parsing
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### [ ] #979 - Recursive behavior trees cause stack overflow
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- **URL:** https://github.com/BehaviorTree/BehaviorTree.CPP/issues/979
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- **Summary:** A behavior tree can reference its own ID as a SubTree, causing infinite recursion and stack overflow during XML parsing. The parser does not detect or prevent cyclic subtree references.
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- **Component:** `src/xml_parsing.cpp`
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- **Test file:** `tests/gtest_factory.cpp` (or new)
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### [ ] #883 - JSON string in port value interpreted as blackboard reference
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- **URL:** https://github.com/BehaviorTree/BehaviorTree.CPP/issues/883
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- **Summary:** Setting a port value to a JSON string in XML (e.g., `settings='{{"a": 0.8}}'`) causes `{}` content to be interpreted as blackboard variable references instead of literal JSON.
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- **Component:** `src/xml_parsing.cpp`, `src/tree_node.cpp`
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- **Test file:** `tests/gtest_factory.cpp` (or new)
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### [ ] #880 - External subtree from file not found when loaded via inline XML
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- **URL:** https://github.com/BehaviorTree/BehaviorTree.CPP/issues/880
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- **Summary:** When a subtree is registered via `registerBehaviorTreeFromFile()` and then referenced from inline XML via `createTreeFromText()`, the factory throws `"Can't find a tree with name: MyTree"`.
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- **Component:** `src/xml_parsing.cpp`, `src/bt_factory.cpp`
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- **Test file:** `tests/gtest_factory.cpp`
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### [ ] #672 - Stack buffer overflow in xml_parsing.cpp
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- **URL:** https://github.com/BehaviorTree/BehaviorTree.CPP/issues/672
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- **Summary:** AddressSanitizer detects a stack-buffer-overflow in `xml_parsing.cpp` when parsing certain XML tree definitions. Memory safety issue in the XML parser.
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- **Component:** `src/xml_parsing.cpp`
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- **Test file:** `tests/gtest_factory.cpp` (or new)
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---
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## BehaviorTreeFactory
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### [ ] #1046 - Heap use-after-free when factory is destroyed before ticking
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- **URL:** https://github.com/BehaviorTree/BehaviorTree.CPP/issues/1046
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- **Summary:** If `BehaviorTreeFactory` is destroyed before its created tree is ticked, `NodeConfig` holds a dangling pointer to `TreeNodeManifest` owned by the factory. Accessing it causes heap-use-after-free.
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- **Component:** `src/bt_factory.cpp`, `include/behaviortree_cpp/tree_node.h`
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- **Test file:** `tests/gtest_factory.cpp`
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### [ ] #937 - BehaviorTreeFactory cannot be returned by value
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- **URL:** https://github.com/BehaviorTree/BehaviorTree.CPP/issues/937
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- **Summary:** Making `BehaviorTreeFactory` non-copyable also inadvertently prevents returning it by value from functions. Some compilers do not apply guaranteed copy elision in all contexts.
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- **Component:** `include/behaviortree_cpp/bt_factory.h`
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- **Test file:** `tests/gtest_factory.cpp` (or new)
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### [ ] #934 - Segfault when substituting subtree
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- **URL:** https://github.com/BehaviorTree/BehaviorTree.CPP/issues/934
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- **Summary:** `factory.loadSubstitutionRuleFromJSON()` followed by `factory.createTree()` causes a segmentation fault when the substitution target is a subtree node.
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- **Component:** `src/bt_factory.cpp`
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- **Test file:** `tests/gtest_factory.cpp`
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### [ ] #930 - Mock substitution with registerSimpleAction causes tree to hang
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- **URL:** https://github.com/BehaviorTree/BehaviorTree.CPP/issues/930
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- **Summary:** When using mock node substitution rules with `registerSimpleAction()`, the behavior tree gets stuck after an async delay finishes. The substituted node does not behave like the original.
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- **Component:** `src/bt_factory.cpp`
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- **Test file:** `tests/gtest_factory.cpp` (or new)
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---
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## Loggers
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### [ ] #1057 - Groot2Publisher enters infinite loop on exception
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- **URL:** https://github.com/BehaviorTree/BehaviorTree.CPP/issues/1057
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- **Summary:** `Groot2Publisher` can enter an infinite loop during destruction. When `active_server` is set to `false`, it can be reset to `true` depending on timing, causing `server_thread.join()` to hang indefinitely.
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- **Component:** `src/loggers/groot2_publisher.cpp`
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- **Test file:** New test needed
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---
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## Tree Execution
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### [ ] #686 - haltTree doesn't effectively halt tickWhileRunning
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- **URL:** https://github.com/BehaviorTree/BehaviorTree.CPP/issues/686
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- **Summary:** `haltTree()` resets tree status to `IDLE`, which only breaks the inner loop of `tickRoot`. The outer loop then restarts execution because `IDLE` satisfies its condition, so the tree is never truly halted with `tickWhileRunning()`.
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- **Component:** `src/bt_factory.cpp`, `include/behaviortree_cpp/bt_factory.h`
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- **Test file:** `tests/gtest_tree.cpp` (or new)
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---
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## TreeNode
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### [ ] #861 - Tick time monitoring can measure 0 due to instruction reordering
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- **URL:** https://github.com/BehaviorTree/BehaviorTree.CPP/issues/861
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- **Summary:** The `std::chrono` calls around `executeTick()` in `tree_node.cpp` can be reordered by the compiler, resulting in a measured tick duration of 0.
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- **Component:** `src/tree_node.cpp`
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- **Test file:** `tests/gtest_tree.cpp` (or new)
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---
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## JSON Exporter
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### [ ] #989 - JsonExporter throws during vector conversion
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- **URL:** https://github.com/BehaviorTree/BehaviorTree.CPP/issues/989
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- **Summary:** A `bad_function_call` exception is thrown when converting `std::vector` types to JSON via `JsonExporter`. The conversion function is not properly registered for vector types.
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- **Component:** `include/behaviortree_cpp/json_export.h`
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- **Test file:** New test needed
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---
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## Platform-Specific
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### [ ] #869 - Read access violation on Windows debug build
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- **URL:** https://github.com/BehaviorTree/BehaviorTree.CPP/issues/869
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- **Summary:** Running on VS 2022 in Debug mode causes a read access violation in string hashing within the library DLL. Release mode works fine, suggesting a debug-mode-specific memory issue.
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- **Component:** Core library (platform-specific)
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- **Test file:** Requires Windows environment
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---
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## Summary
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| Category | Count | Issue Numbers |
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|----------|-------|---------------|
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| Control Nodes (Parallel) | 3 | #1045, #1041, #966 |
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| Control Nodes (Reactive) | 2 | #1031, #917 |
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| XML Parsing | 4 | #979, #883, #880, #672 |
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| BehaviorTreeFactory | 4 | #1046, #937, #934, #930 |
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| Loggers | 1 | #1057 |
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| Tree Execution | 1 | #686 |
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| TreeNode | 1 | #861 |
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| JSON Exporter | 1 | #989 |
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| Platform-Specific | 1 | #869 |
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| **Total** | **18** | |

‎cmake/Config.cmake.in‎

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@PACKAGE_INIT@
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if(NOT @USE_VENDORED_JSON@)
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include(CMakeFindDependencyMacro)
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find_dependency(nlohmann_json 3.10)
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endif()
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include("${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@Targets.cmake")
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set(@PROJECT_NAME@_TARGETS "BT::@PROJECT_NAME@")

‎include/behaviortree_cpp/blackboard.h‎

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#pragma once
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#include "behaviortree_cpp/basic_types.h"
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#ifdef BTCPP_VENDORED_JSON
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#include "behaviortree_cpp/contrib/json.hpp"
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#else
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#include <nlohmann/json.hpp>
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#endif
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#include "behaviortree_cpp/exceptions.h"
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#include "behaviortree_cpp/utils/locked_reference.hpp"
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#include "behaviortree_cpp/utils/safe_any.hpp"

‎include/behaviortree_cpp/bt_factory.h‎

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#define BT_FACTORY_H
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#include "behaviortree_cpp/behavior_tree.h"
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#ifdef BTCPP_VENDORED_JSON
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#include "behaviortree_cpp/contrib/json.hpp"
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#else
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#include <nlohmann/json.hpp>
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#endif
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#include "behaviortree_cpp/contrib/magic_enum.hpp"
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#include <filesystem>

‎include/behaviortree_cpp/json_export.h‎

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#include "behaviortree_cpp/basic_types.h"
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#include "behaviortree_cpp/utils/safe_any.hpp"
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// Use the version nlohmann::json embedded in BT.CPP
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#ifdef BTCPP_VENDORED_JSON
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#include "behaviortree_cpp/contrib/json.hpp"
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#else
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#include <nlohmann/json.hpp>
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#endif
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namespace BT
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{

‎include/behaviortree_cpp/loggers/groot2_protocol.h‎

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#pragma once
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#include "behaviortree_cpp/basic_types.h"
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#ifdef BTCPP_VENDORED_JSON
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#include "behaviortree_cpp/contrib/json.hpp"
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#else
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#include <nlohmann/json.hpp>
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#endif
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#include <array>
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#include <condition_variable>

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