Performance issues when exiting after prolonged operation

[Kreturn0]

1. I will create the BT tree once when the process starts.
2. Each time the behavior tree is run, a new thread will be created to execute it.
3. The behavior tree uses parallel nodes. During normal continuous operation, motion in parallel node A is executed, and there are many recursive tree nodes within A. When an exception occurs, detection in parallel node B is executed. After prolonged operation, if an exception is detected and B exits, the interval before other behavior tree nodes wait for execution becomes longer. If no exception occurs, the execution efficiency remains normal.

Why does this phenomenon occur? Should haltNode be called before each execution? Or is it necessary to recreate the BT tree class?

[facontidavide]

Hi,

most probably you are creating multiple threads and you don't stop them correctly in an overloaded halt() method.

Please provide an FULL example (not a snippet, something I can actually compile and run) that helps me reproducing the issue or, better, a unit test and I will be happy to address this or advise you.