From d9de3e2d08350db02fea8b316987659d5375cf13 Mon Sep 17 00:00:00 2001
From: Marc-Antoine Maheux <Marc-Antoine.Maheux@USherbrooke.ca>
Date: Mon, 15 Jan 2024 15:02:42 -0500
Subject: [PATCH] Fix loggers.

---
 README.md                                | 8 ++++----
 include/hbba_lite/core/Strategy.h        | 3 ++-
 src/hbba_lite_cpp/core/RosFilterPool.cpp | 2 ++
 3 files changed, 8 insertions(+), 5 deletions(-)

diff --git a/README.md b/README.md
index 24cd89a..c81e69e 100644
--- a/README.md
+++ b/README.md
@@ -313,7 +313,7 @@ HbbaLite hbba(desireSet,
 // Add desires to the set.
 ```
 
-#### Strategy State Logger
+#### Strategy State Logger Usage
 To log the strategy state changed of the strategy, you can use the `RosLogStrategyStateLogger` class.
 
 ```cpp
@@ -338,8 +338,8 @@ HbbaLite hbba(desireSet,
 // Add desires to the set.
 ```
 
-#### Filter State Logger
-To log the filter state changed of the strategy, you can use the `RosLogStrategyStateLogger` class.
+#### Filter State Logger Usage
+To log the filter state changed of the strategy, you can use the `RosLogFilterPoolDecorator` class.
 
 ```cpp
 constexpr bool WAIT_FOR_SERVICE = true;
@@ -348,7 +348,7 @@ auto desireSet = make_shared<DesireSet>(); // Create the desire set.
 // Create the filter pool useful to change the filter states.
 // If WAIT_FOR_SERVICE is true, the pool will wait until the service become available.
 auto rosFilterPool = make_unique<RosFilterPool>(nodeHandle, WAIT_FOR_SERVICE);
-auto filterPoos = make_shared<RosLogFilterPoolDecorator>(move(rosFilterPool));
+auto filterPool = make_shared<RosLogFilterPoolDecorator>(move(rosFilterPool));
 
 vector<unique_ptr<BaseStrategy>> strategies;
 // Add the strategies related to the application into the vector.
diff --git a/include/hbba_lite/core/Strategy.h b/include/hbba_lite/core/Strategy.h
index 8813f0d..d4ade94 100644
--- a/include/hbba_lite/core/Strategy.h
+++ b/include/hbba_lite/core/Strategy.h
@@ -116,9 +116,10 @@ inline bool operator!=(const FilterConfiguration& a, const FilterConfiguration&
 
 class FilterPool
 {
+    std::unordered_map<std::string, int> m_countsByName;
+
 protected:
     std::unordered_map<std::string, FilterType> m_typesByName;
-    std::unordered_map<std::string, int> m_countsByName;
     std::unordered_map<std::string, FilterConfiguration> m_lastFilterConfigurationByName;
 
     std::recursive_mutex m_mutex;
diff --git a/src/hbba_lite_cpp/core/RosFilterPool.cpp b/src/hbba_lite_cpp/core/RosFilterPool.cpp
index b8ef288..b6a7803 100644
--- a/src/hbba_lite_cpp/core/RosFilterPool.cpp
+++ b/src/hbba_lite_cpp/core/RosFilterPool.cpp
@@ -90,6 +90,8 @@ RosLogFilterPoolDecorator::RosLogFilterPoolDecorator(unique_ptr<FilterPool> filt
 
 void RosLogFilterPoolDecorator::add(const std::string& name, FilterType type)
 {
+    lock_guard<recursive_mutex> lock(m_mutex);
+    FilterPool::add(name, type);
     m_filterPool->add(name, type);
 }