Segmentation fault when Node not recognized

[kgilarski]

There is a segmentation fault when using createTreeFromText with text containing unrecognized (unregistered) node.

The problem is in the current master branch. Branch 4.6.2 throws in such a case an exception:
Error at line X: -> Node not recognized: Y

Backtrace:

Program terminated with signal SIGSEGV, Segmentation fault.
#0  0x00007fa9b9dd1aaa in BT::VerifyXML(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::unordered_map<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, BT::NodeType, std::hash<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::equal_to<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, BT::NodeType> > > const&)::{lambda(tinyxml2::XMLElement const*)#2}::operator()(tinyxml2::XMLElement const*) const () from /usr/local/lib/libbehaviortree_cpp.so
[Current thread is 1 (Thread 0x7fa9b3fff6c0 (LWP 10))]
#0  0x00007fa9b9dd1aaa in BT::VerifyXML(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::unordered_map<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, BT::NodeType, std::hash<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::equal_to<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, BT::NodeType> > > const&)::{lambda(tinyxml2::XMLElement const*)#2}::operator()(tinyxml2::XMLElement const*) const () from /usr/local/lib/libbehaviortree_cpp.so
#1  0x00007fa9b9dd1670 in BT::VerifyXML(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::unordered_map<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, BT::NodeType, std::hash<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::equal_to<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, BT::NodeType> > > const&)::{lambda(tinyxml2::XMLElement const*)#2}::operator()(tinyxml2::XMLElement const*) const () from /usr/local/lib/libbehaviortree_cpp.so
#2  0x00007fa9b9dd1670 in BT::VerifyXML(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::unordered_map<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, BT::NodeType, std::hash<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::equal_to<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, BT::NodeType> > > const&)::{lambda(tinyxml2::XMLElement const*)#2}::operator()(tinyxml2::XMLElement const*) const () from /usr/local/lib/libbehaviortree_cpp.so
#3  0x00007fa9b9dd79ac in BT::VerifyXML(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::unordered_map<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, BT::NodeType, std::hash<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::equal_to<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, BT::NodeType> > > const&) () from /usr/local/lib/libbehaviortree_cpp.so
#4  0x00007fa9b9dd82a3 in BT::XMLParser::PImpl::loadDocImpl(tinyxml2::XMLDocument*, bool) () from /usr/local/lib/libbehaviortree_cpp.so
#5  0x00007fa9b9d673ce in BT::BehaviorTreeFactory::createTreeFromText(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::shared_ptr<BT::Blackboard>) () from /usr/local/lib/libbehaviortree_cpp.so

[facontidavide]

Thanks. Do you have an example that can reproduce the error?

[kgilarski]

I can't provide an exact example, but I have prepared something which might help.

void execute(const string &xml) {
        BehaviorTreeFactory factory;
        auto tree_ptr = std::make_shared<BT::Tree>( factory.createTreeFromText( xml ));
}

where xml is as follows:
FED801.txt

The factory has registered 21 nodes using registerNodeType method but non of them is in the xml file.
The whole example is a situation when somebody delivers incorrect tree by mistake and we want to get an exception, not a segmentation fault.

[facontidavide]

i added a unit test, but i am not able to reproduce the error... 2793902