Fixed possible infinite loop in Groot2Publisher when destructor is ca…

src/loggers/groot2_publisher.cpp

@@ -81,7 +81,7 @@ struct Groot2Publisher::PImpl
 
   std::string tree_xml;
 
-  std::atomic_bool active_server = false;
+  std::atomic_bool active_server = true;
   std::thread server_thread;
 
   std::mutex status_mutex;
@@ -241,7 +241,6 @@ void Groot2Publisher::serverLoop()
 {
   auto const serialized_uuid = CreateRandomUUID();
 
-  _p->active_server = true;
   auto& socket = _p->server;
 
   auto sendErrorReply = [&socket](const std::string& msg) {

tests/CMakeLists.txt

@@ -12,6 +12,7 @@ set(BT_TESTS
   gtest_enums.cpp
   gtest_factory.cpp
   gtest_fallback.cpp
+  gtest_groot2_publisher.cpp
   gtest_parallel.cpp
   gtest_preconditions.cpp
   gtest_ports.cpp

tests/gtest_groot2_publisher.cpp

@@ -0,0 +1,44 @@
+#include <chrono>
+#include <future>
+
+#include <behaviortree_cpp/loggers/groot2_protocol.h>
+#include <behaviortree_cpp/loggers/groot2_publisher.h>
+#include <gtest/gtest.h>
+
+using namespace std::chrono_literals;
+
+namespace
+{
+static const char* xml_text = R"(
+<root BTCPP_format="4">
+    <BehaviorTree ID="MainTree">
+        <ThrowRuntimeError/>
+    </BehaviorTree>
+</root>
+)";
+
+void throwRuntimeError()
+{
+  BT::BehaviorTreeFactory factory;
+  factory.registerSimpleAction("ThrowRuntimeError", [](BT::TreeNode&) {
+    throw BT::RuntimeError("Oops!");
+    return BT::NodeStatus::FAILURE;
+  });
+
+  auto tree = factory.createTreeFromText(xml_text);
+  BT::Groot2Publisher publisher(tree);
+  EXPECT_THROW(tree.tickOnce(), BT::RuntimeError);
+}
+}  // namespace
+
+TEST(Groot2PublisherTest, EnsureNoInfiniteLoopOnThrow)
+{
+  auto fut = std::async(std::launch::async, throwRuntimeError);
+  auto status = fut.wait_for(1s);
+  EXPECT_EQ(status, std::future_status::ready);
+
+  if(status != std::future_status::ready)
+  {
+    std::exit(1);  // Force exit to avoid destructor blocking
+  }
+}