Merge pull request #618 from ami-iit/fix/617

Fix race condition in System::ClockBuilder

CHANGELOG.md

@@ -30,6 +30,7 @@ All notable changes to this project are documented in this file.
 - Return an invalid `PolyDriverDescriptor` if `description` is not found in `constructMultipleAnalogSensorsRemapper()` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/569)
 - Fix compatibility with OpenCV 4.7.0 (https://github.com/ami-iit/bipedal-locomotion-framework/pull/589)
 - Fix `attachRemappedRemoteControlBoard` in `YarpSensorBridge` when the `RemoteControlBoard` is not the first polydriver in the polydriverlist (https://github.com/ami-iit/bipedal-locomotion-framework/pull/608)
+- Fix race condition in System::ClockBuilder (https://github.com/ami-iit/bipedal-locomotion-framework/pull/618)
 
 ## [0.11.1] - 2022-12-19
 ### Fix

src/System/include/BipedalLocomotion/System/Clock.h

@@ -8,6 +8,7 @@
 #ifndef BIPEDAL_LOCOMOTION_SYSTEM_CLOCK_H
 #define BIPEDAL_LOCOMOTION_SYSTEM_CLOCK_H
 
+#include <atomic>
 #include <memory>
 
 #include <BipedalLocomotion/System/IClock.h>
@@ -30,9 +31,9 @@ class ClockBuilder
      * Pointer to factory used to build the clock
      */
     inline static std::shared_ptr<ClockFactory> m_factory{std::make_shared<StdClockFactory>()};
-    inline static bool m_clockAlreadyCalledOnce{false}; /**< True if the clock() has been already
-                                                           called once. If True it will not be
-                                                           possible to set a new Factory */
+    inline static std::atomic<bool> m_clockAlreadyCalledOnce{false}; /**< True if the clock() has been already
+                                                                        called once. If True it will not be
+                                                                        possible to set a new Factory */
 
 public:
     /**