Fix #1046: use-after-free when factory destroyed before tree

[facontidavide]

Summary

• Adds Tree::remapManifestPointers() to re-point manifest pointers from the factory's internal storage to the tree's own manifests map after createTree()
• Called automatically at the end of all three createTree variants (createTreeFromText, createTreeFromFile, createTree)
• Prevents dangling pointer access when BehaviorTreeFactory is destroyed before Tree::tickWhileRunning() is called

Fixes #1046

Test plan

• Added BehaviorTreeFactory.FactoryDestroyedBeforeTick test that reproduces the use-after-free scenario
• All 309 tests pass (308 existing + 1 new)

🤖 Generated with Claude Code

Summary by CodeRabbit

Release Notes

• Bug Fixes
  • Fixed a critical issue where behavior tree nodes could crash when accessed after the factory that created them was destroyed. The tree now maintains its own copy of manifest references, ensuring they remain valid throughout the tree's lifetime.

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[coderabbitai]

Caution

Review failed

The pull request is closed.

📝 Walkthrough

Walkthrough

This pull request fixes a heap-use-after-free bug (issue #1046) where BehaviorTreeFactory destruction invalidates manifest pointers held by tree nodes. The fix remaps manifest pointers to tree-owned copies after factory construction, enabling trees to survive factory destruction before ticking.

Changes

Cohort / File(s)	Summary
Header Interface include/behaviortree_cpp/bt_factory.h	Added private remapManifestPointers() method declaration and friend class declaration to enable BehaviorTreeFactory to invoke the remapping routine.
Factory Implementation src/bt_factory.cpp	Implemented remapManifestPointers() to iterate over tree nodes and redirect manifest pointers to tree-owned manifests; integrated remapping into three factory methods (createTreeFromText, createTreeFromFile, createTree) immediately after manifest assignment.
Node Port Access src/tree_node.cpp	Refined null-check in getLockedPortContent() for explicit manifest pointer comparison.
Test Coverage tests/gtest_factory.cpp	Added ActionIssue1046 test node and FactoryDestroyedBeforeTick test case that validates manifest pointers remain valid after factory destruction and tree execution succeeds without crash.

Estimated code review effort

🎯 3 (Moderate) | ⏱️ ~20 minutes

Poem

🐰 A factory once left manifests behind,
Dangling pointers haunting nodes' minds.
Now trees keep copies, safe and sound,
No use-after-free bugs are found! 🌳✨

✨ Finishing touches

• 📝 Generate docstrings

🧪 Generate unit tests (beta)

• Create PR with unit tests
• Post copyable unit tests in a comment
• Commit unit tests in branch fix/1046-use-after-free

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[codecov]

Codecov Report

❌ Patch coverage is 96.87500% with 1 line in your changes missing coverage. Please review.
✅ Project coverage is 65.98%. Comparing base (e0684b0) to head (b228046).
⚠️ Report is 3 commits behind head on master.

Files with missing lines	Patch %	Lines
tests/gtest_factory.cpp	95.00%	0 Missing and 1 partial ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #1081      +/-   ##
==========================================
+ Coverage   65.90%   65.98%   +0.07%     
==========================================
  Files         225      225              
  Lines       12727    12759      +32     
  Branches     1186     1193       +7     
==========================================
+ Hits         8388     8419      +31     
  Misses       4289     4289              
- Partials       50       51       +1     

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