Correctly call on_liveliness_changed when there are multiple reader…

…s on the same topic (#4822) (#4883) * Correctly call `on_liveliness_changed` when there are multiple readers on the same topic (#4822) * Refs #21065: Add BB test Signed-off-by: Mario Dominguez <[email protected]> * Refs #21065: Add fix rework after sync with Miguel Signed-off-by: Mario Dominguez <[email protected]> * REfs #21065: Correct windows NIT Signed-off-by: Mario Dominguez <[email protected]> * Refs #21065: Apply NIT Signed-off-by: Mario Dominguez <[email protected]> --------- Signed-off-by: Mario Dominguez <[email protected]> (cherry picked from commit df90943) # Conflicts: # include/fastdds/rtps/writer/LivelinessManager.h # src/cpp/rtps/writer/LivelinessManager.cpp # test/unittest/rtps/writer/LivelinessManagerTests.cpp * Solve conflicts Signed-off-by: Mario Dominguez <[email protected]> --------- Signed-off-by: Mario Dominguez <[email protected]> Co-authored-by: Mario Domínguez López <[email protected]> Co-authored-by: Mario Dominguez <[email protected]>
eProsima · Jun 10, 2024 · 88dece6 · 88dece6
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commit 88dece6
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diff --git a/include/fastdds/rtps/writer/LivelinessManager.h b/include/fastdds/rtps/writer/LivelinessManager.h
@@ -82,15 +82,17 @@ class LivelinessManager
 
     /**
      * @brief Removes a writer
-     * @param guid GUID of the writer
-     * @param kind Liveliness kind
-     * @param lease_duration Liveliness lease duration
+     * @param [in] guid GUID of the writer
+     * @param [in] kind Liveliness kind
+     * @param [in] lease_duration Liveliness lease duration
+     * @param [out] writer_liveliness_status The liveliness status of the writer
      * @return True if the writer was successfully removed
      */
     bool remove_writer(
             GUID_t guid,
-            LivelinessQosPolicyKind kind,
-            Duration_t lease_duration);
+            fastdds::dds::LivelinessQosPolicyKind kind,
+            Duration_t lease_duration,
+            LivelinessData::WriterStatus& writer_liveliness_status);
 
     /**
      * @brief Asserts liveliness of a writer in the set

diff --git a/src/cpp/rtps/builtin/liveliness/WLP.cpp b/src/cpp/rtps/builtin/liveliness/WLP.cpp
@@ -712,6 +712,8 @@ bool WLP::remove_local_writer(
 
     EPROSIMA_LOG_INFO(RTPS_LIVELINESS, W->getGuid().entityId << " from Liveliness Protocol");
 
+    LivelinessData::WriterStatus writer_status;
+
     if (W->get_liveliness_kind() == AUTOMATIC_LIVELINESS_QOS)
     {
         auto it = std::find(
@@ -764,7 +766,8 @@ bool WLP::remove_local_writer(
         if (!pub_liveliness_manager_->remove_writer(
                     W->getGuid(),
                     W->get_liveliness_kind(),
-                    W->get_liveliness_lease_duration()))
+                    W->get_liveliness_lease_duration(),
+                    writer_status))
         {
             EPROSIMA_LOG_ERROR(RTPS_LIVELINESS,
                     "Could not remove writer " << W->getGuid() << " from liveliness manager");
@@ -807,7 +810,8 @@ bool WLP::remove_local_writer(
         if (!pub_liveliness_manager_->remove_writer(
                     W->getGuid(),
                     W->get_liveliness_kind(),
-                    W->get_liveliness_lease_duration()))
+                    W->get_liveliness_lease_duration(),
+                    writer_status))
         {
             EPROSIMA_LOG_ERROR(RTPS_LIVELINESS,
                     "Could not remove writer " << W->getGuid() << " from liveliness manager");

diff --git a/src/cpp/rtps/reader/StatefulReader.cpp b/src/cpp/rtps/reader/StatefulReader.cpp
@@ -360,10 +360,22 @@ bool StatefulReader::matched_writer_remove(
         auto wlp = this->mp_RTPSParticipant->wlp();
         if ( wlp != nullptr)
         {
+            LivelinessData::WriterStatus writer_liveliness_status;
             wlp->sub_liveliness_manager_->remove_writer(
                 writer_guid,
                 liveliness_kind_,
-                liveliness_lease_duration_);
+                liveliness_lease_duration_,
+                writer_liveliness_status);
+
+            if (writer_liveliness_status == LivelinessData::WriterStatus::ALIVE)
+            {
+                wlp->update_liveliness_changed_status(writer_guid, this, -1, 0);
+            }
+            else if (writer_liveliness_status == LivelinessData::WriterStatus::NOT_ALIVE)
+            {
+                wlp->update_liveliness_changed_status(writer_guid, this, 0, -1);
+            }
+
         }
         else
         {

diff --git a/src/cpp/rtps/reader/StatelessReader.cpp b/src/cpp/rtps/reader/StatelessReader.cpp
@@ -209,10 +209,21 @@ bool StatelessReader::matched_writer_remove(
         auto wlp = mp_RTPSParticipant->wlp();
         if ( wlp != nullptr)
         {
+            LivelinessData::WriterStatus writer_liveliness_status;
             wlp->sub_liveliness_manager_->remove_writer(
                 writer_guid,
                 liveliness_kind_,
-                liveliness_lease_duration_);
+                liveliness_lease_duration_,
+                writer_liveliness_status);
+
+            if (writer_liveliness_status == LivelinessData::WriterStatus::ALIVE)
+            {
+                wlp->update_liveliness_changed_status(writer_guid, this, -1, 0);
+            }
+            else if (writer_liveliness_status == LivelinessData::WriterStatus::NOT_ALIVE)
+            {
+                wlp->update_liveliness_changed_status(writer_guid, this, 0, -1);
+            }
         }
         else
         {

diff --git a/src/cpp/rtps/writer/LivelinessManager.cpp b/src/cpp/rtps/writer/LivelinessManager.cpp
@@ -91,21 +91,21 @@ bool LivelinessManager::add_writer(
 
 bool LivelinessManager::remove_writer(
         GUID_t guid,
-        LivelinessQosPolicyKind kind,
-        Duration_t lease_duration)
+        fastdds::dds::LivelinessQosPolicyKind kind,
+        Duration_t lease_duration,
+        LivelinessData::WriterStatus& writer_status)
 {
     bool removed = false;
-    LivelinessData::WriterStatus status;
 
     {
         // collection guard
         std::lock_guard<shared_mutex> _(col_mutex_);
         // writers_ elements guard
         std::lock_guard<std::mutex> __(mutex_);
 
-        removed = writers_.remove_if([guid, kind, lease_duration, &status](LivelinessData& writer)
+        removed = writers_.remove_if([guid, kind, lease_duration, &writer_status](LivelinessData& writer)
                         {
-                            status = writer.status;
+                            writer_status = writer.status;
                             return writer.guid == guid &&
                             writer.kind == kind &&
                             writer.lease_duration == lease_duration &&
@@ -118,18 +118,6 @@ bool LivelinessManager::remove_writer(
         return false;
     }
 
-    if (callback_ != nullptr)
-    {
-        if (status == LivelinessData::WriterStatus::ALIVE)
-        {
-            callback_(guid, kind, lease_duration, -1, 0);
-        }
-        else if (status == LivelinessData::WriterStatus::NOT_ALIVE)
-        {
-            callback_(guid, kind, lease_duration, 0, -1);
-        }
-    }
-
     std::unique_lock<std::mutex> lock(mutex_);
 
     if (timer_owner_ != nullptr)

diff --git a/test/blackbox/common/BlackboxTestsLivelinessQos.cpp b/test/blackbox/common/BlackboxTestsLivelinessQos.cpp
@@ -1998,6 +1998,47 @@ TEST(LivelinessTests, Reader_Successfully_Asserts_Liveliness_on_a_Disconnected_W
     ASSERT_EQ(reader.sub_wait_liveliness_lost_for(1, std::chrono::seconds(4)), 1u);
 }
 
+// Regression test of Refs #21065, github issue #4610
+TEST(LivelinessTests, correct_liveliness_state_one_writer_multiple_readers)
+{
+    uint8_t num_readers = 2;
+
+    // Create one writer participant
+    PubSubWriter<HelloWorldPubSubType> writer(TEST_TOPIC_NAME);
+
+    // Create a reader participant containing 2 readers
+    PubSubParticipant<HelloWorldPubSubType> reader(0, num_readers, 0, num_readers);
+
+    reader.init_participant();
+    // Define the reader's lease duration in 1.6 secs
+    reader.sub_liveliness_lease_duration(eprosima::fastrtps::Time_t(1, 600000000));
+    // Both readers on the same topic
+    reader.sub_topic_name(TEST_TOPIC_NAME);
+
+    for (size_t i = 0; i < num_readers; i++)
+    {
+        // Create Subscribers and readers, one for each writer
+        reader.init_subscriber(static_cast<unsigned int>(i));
+    }
+
+    // Create writers
+    writer.lease_duration(c_TimeInfinite, 1)
+            .liveliness_lease_duration(eprosima::fastrtps::Time_t(1, 0))
+            .liveliness_kind(eprosima::fastdds::dds::AUTOMATIC_LIVELINESS_QOS)
+            .liveliness_announcement_period(eprosima::fastrtps::Time_t(0, 500000000))
+            .init();
+
+    // Wait for discovery to occur. Liveliness should be recovered twice,
+    // one per matched reader.
+    reader.sub_wait_liveliness_recovered(2);
+
+    // Destroy the writer
+    writer.destroy();
+
+    // After 1.6 secs, we should receive a on_liveliness_changed(status lost) on the two readers
+    ASSERT_EQ(reader.sub_wait_liveliness_lost_for(2, std::chrono::seconds(4)), 2u);
+}
+
 #ifdef INSTANTIATE_TEST_SUITE_P
 #define GTEST_INSTANTIATE_TEST_MACRO(x, y, z, w) INSTANTIATE_TEST_SUITE_P(x, y, z, w)
 #else

diff --git a/test/unittest/rtps/writer/LivelinessManagerTests.cpp b/test/unittest/rtps/writer/LivelinessManagerTests.cpp
@@ -152,18 +152,28 @@ TEST_F(LivelinessManagerTests, WriterCannotBeRemovedTwice)
     GuidPrefix_t guidP;
     guidP.value[0] = 1;
     GUID_t guid(guidP, 0);
-
-    EXPECT_EQ(liveliness_manager.add_writer(guid, AUTOMATIC_LIVELINESS_QOS, Duration_t(1)), true);
-    EXPECT_EQ(liveliness_manager.remove_writer(guid, AUTOMATIC_LIVELINESS_QOS, Duration_t(1)), true);
-    EXPECT_EQ(liveliness_manager.remove_writer(guid, AUTOMATIC_LIVELINESS_QOS, Duration_t(1)), false);
-
-    EXPECT_EQ(liveliness_manager.add_writer(guid, MANUAL_BY_PARTICIPANT_LIVELINESS_QOS, Duration_t(1)), true);
-    EXPECT_EQ(liveliness_manager.remove_writer(guid, MANUAL_BY_PARTICIPANT_LIVELINESS_QOS, Duration_t(1)), true);
-    EXPECT_EQ(liveliness_manager.remove_writer(guid, MANUAL_BY_PARTICIPANT_LIVELINESS_QOS, Duration_t(1)), false);
-
-    EXPECT_EQ(liveliness_manager.add_writer(guid, MANUAL_BY_TOPIC_LIVELINESS_QOS, Duration_t(1)), true);
-    EXPECT_EQ(liveliness_manager.remove_writer(guid, MANUAL_BY_TOPIC_LIVELINESS_QOS, Duration_t(1)), true);
-    EXPECT_EQ(liveliness_manager.remove_writer(guid, MANUAL_BY_TOPIC_LIVELINESS_QOS, Duration_t(1)), false);
+    LivelinessData::WriterStatus writer_status;
+
+    EXPECT_EQ(liveliness_manager.add_writer(guid, fastdds::dds::AUTOMATIC_LIVELINESS_QOS, Duration_t(1)), true);
+    EXPECT_EQ(liveliness_manager.remove_writer(guid, fastdds::dds::AUTOMATIC_LIVELINESS_QOS, Duration_t(1),
+            writer_status), true);
+    EXPECT_EQ(liveliness_manager.remove_writer(guid, fastdds::dds::AUTOMATIC_LIVELINESS_QOS, Duration_t(1),
+            writer_status), false);
+
+    EXPECT_EQ(liveliness_manager.add_writer(guid, fastdds::dds::MANUAL_BY_PARTICIPANT_LIVELINESS_QOS, Duration_t(
+                1)), true);
+    EXPECT_EQ(liveliness_manager.remove_writer(guid, fastdds::dds::MANUAL_BY_PARTICIPANT_LIVELINESS_QOS, Duration_t(
+                1), writer_status), true);
+    EXPECT_EQ(liveliness_manager.remove_writer(guid, fastdds::dds::MANUAL_BY_PARTICIPANT_LIVELINESS_QOS, Duration_t(
+                1), writer_status), false);
+
+    EXPECT_EQ(liveliness_manager.add_writer(guid, fastdds::dds::MANUAL_BY_TOPIC_LIVELINESS_QOS, Duration_t(1)), true);
+    EXPECT_EQ(liveliness_manager.remove_writer(guid, fastdds::dds::MANUAL_BY_TOPIC_LIVELINESS_QOS, Duration_t(1),
+            writer_status),
+            true);
+    EXPECT_EQ(liveliness_manager.remove_writer(guid, fastdds::dds::MANUAL_BY_TOPIC_LIVELINESS_QOS, Duration_t(1),
+            writer_status),
+            false);
 }
 
 //! Tests that the assert_liveliness() method that takes liveliness kind as argument sets the alive state and time
@@ -479,12 +489,14 @@ TEST_F(LivelinessManagerTests, TimerOwnerRemoved)
 
     GuidPrefix_t guidP;
     guidP.value[0] = 1;
+    LivelinessData::WriterStatus writer_status;
 
     liveliness_manager.add_writer(GUID_t(guidP, 1), AUTOMATIC_LIVELINESS_QOS, Duration_t(0.5));
     liveliness_manager.add_writer(GUID_t(guidP, 2), AUTOMATIC_LIVELINESS_QOS, Duration_t(1));
 
-    liveliness_manager.assert_liveliness(GUID_t(guidP, 1), AUTOMATIC_LIVELINESS_QOS, Duration_t(0.5));
-    liveliness_manager.remove_writer(GUID_t(guidP, 1), AUTOMATIC_LIVELINESS_QOS, Duration_t(0.5));
+    liveliness_manager.assert_liveliness(GUID_t(guidP, 1), fastdds::dds::AUTOMATIC_LIVELINESS_QOS, Duration_t(0.5));
+    liveliness_manager.remove_writer(GUID_t(guidP, 1), fastdds::dds::AUTOMATIC_LIVELINESS_QOS, Duration_t(
+                0.5), writer_status);
 
     wait_liveliness_lost(1u);
     EXPECT_EQ(writer_losing_liveliness, GUID_t(guidP, 2));