From 5c16b98370793eaa65e6151f3fbc542c45b7c0e8 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Ricardo=20Gonz=C3=A1lez=20Moreno?= <ricardo@richiware.dev>
Date: Mon, 11 Sep 2023 14:28:03 +0200
Subject: [PATCH] Refs #19254. Apply suggestions
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Signed-off-by: Ricardo González Moreno <ricardo@richiware.dev>
---
 src/cpp/fastdds/publisher/DataWriterHistory.cpp |  1 -
 src/cpp/rtps/history/History.cpp                |  9 +++++++++
 src/cpp/rtps/history/WriterHistory.cpp          | 10 ++++++++++
 3 files changed, 19 insertions(+), 1 deletion(-)

diff --git a/src/cpp/fastdds/publisher/DataWriterHistory.cpp b/src/cpp/fastdds/publisher/DataWriterHistory.cpp
index 8ad7b3bb912..c8d025a4257 100644
--- a/src/cpp/fastdds/publisher/DataWriterHistory.cpp
+++ b/src/cpp/fastdds/publisher/DataWriterHistory.cpp
@@ -369,7 +369,6 @@ bool DataWriterHistory::remove_change_pub(
         return false;
     }
 #else
-    static_cast<void>(max_blocking_time);
     std::lock_guard<RecursiveTimedMutex> guard(*this->mp_mutex);
 #endif // if HAVE_STRICT_REALTIME
 
diff --git a/src/cpp/rtps/history/History.cpp b/src/cpp/rtps/history/History.cpp
index 0b340faee02..1c3e0324657 100644
--- a/src/cpp/rtps/history/History.cpp
+++ b/src/cpp/rtps/history/History.cpp
@@ -112,7 +112,16 @@ bool History::remove_change(
         CacheChange_t* ch,
         const std::chrono::time_point<std::chrono::steady_clock>& max_blocking_time)
 {
+#if HAVE_STRICT_REALTIME
+    std::unique_lock<RecursiveTimedMutex> lock(*mp_mutex, std::defer_lock);
+    if (!lock.try_lock_until(max_blocking_time))
+    {
+        EPROSIMA_LOG_ERROR(PUBLISHER, "Cannot lock the DataWriterHistory mutex");
+        return false;
+    }
+#else
     std::lock_guard<RecursiveTimedMutex> guard(*mp_mutex);
+#endif // if HAVE_STRICT_REALTIME
 
     const_iterator it = find_change_nts(ch);
     const_iterator end_it = changesEnd();
diff --git a/src/cpp/rtps/history/WriterHistory.cpp b/src/cpp/rtps/history/WriterHistory.cpp
index fc99e4e459e..2fcf0ae1e44 100644
--- a/src/cpp/rtps/history/WriterHistory.cpp
+++ b/src/cpp/rtps/history/WriterHistory.cpp
@@ -287,7 +287,17 @@ bool WriterHistory::remove_min_change(
         return false;
     }
 
+#if HAVE_STRICT_REALTIME
+    std::unique_lock<RecursiveTimedMutex> lock(*mp_mutex, std::defer_lock);
+    if (!lock.try_lock_until(max_blocking_time))
+    {
+        EPROSIMA_LOG_ERROR(PUBLISHER, "Cannot lock the DataWriterHistory mutex");
+        return false;
+    }
+#else
     std::lock_guard<RecursiveTimedMutex> guard(*mp_mutex);
+#endif // if HAVE_STRICT_REALTIME
+
     if (m_changes.size() > 0 && remove_change_g(m_changes.front(), max_blocking_time))
     {
         return true;