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Refs #21065: Add fix rework after sync with Miguel
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Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com>
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@Mario-DL
Mario-DL committed May 30, 2024
1 parent 5f52028 commit 361cdab
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Showing 6 changed files with 55 additions and 31 deletions.
8 changes: 6 additions & 2 deletions src/cpp/rtps/builtin/liveliness/WLP.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -711,6 +711,8 @@ 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(
Expand Down Expand Up @@ -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");
Expand Down Expand Up @@ -808,7 +811,8 @@ 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");
Expand Down
14 changes: 13 additions & 1 deletion src/cpp/rtps/reader/StatefulReader.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -382,10 +382,22 @@ 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
{
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13 changes: 12 additions & 1 deletion src/cpp/rtps/reader/StatelessReader.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -232,10 +232,21 @@ 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
{
Expand Down
20 changes: 4 additions & 16 deletions src/cpp/rtps/writer/LivelinessManager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -107,20 +107,20 @@ bool LivelinessManager::add_writer(
bool LivelinessManager::remove_writer(
GUID_t guid,
fastdds::dds::LivelinessQosPolicyKind kind,
Duration_t lease_duration)
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 &&
Expand All @@ -133,18 +133,6 @@ 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)
Expand Down
10 changes: 6 additions & 4 deletions src/cpp/rtps/writer/LivelinessManager.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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 [in,out] writer_liveliness_status The liveliness status of the writer
* @return True if the writer was successfully removed
*/
bool remove_writer(
GUID_t guid,
fastdds::dds::LivelinessQosPolicyKind kind,
Duration_t lease_duration);
Duration_t lease_duration,
LivelinessData::WriterStatus& writer_liveliness_status);

/**
* @brief Asserts liveliness of a writer in the set
Expand Down
21 changes: 14 additions & 7 deletions test/unittest/rtps/writer/LivelinessManagerTests.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -154,22 +154,27 @@ TEST_F(LivelinessManagerTests, WriterCannotBeRemovedTwice)
GuidPrefix_t guidP;
guidP.value[0] = 1;
GUID_t guid(guidP, 0);
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)), true);
EXPECT_EQ(liveliness_manager.remove_writer(guid, fastdds::dds::AUTOMATIC_LIVELINESS_QOS, Duration_t(1)), false);
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)), true);
1), writer_status), true);
EXPECT_EQ(liveliness_manager.remove_writer(guid, fastdds::dds::MANUAL_BY_PARTICIPANT_LIVELINESS_QOS, Duration_t(
1)), false);
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)),
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)),
EXPECT_EQ(liveliness_manager.remove_writer(guid, fastdds::dds::MANUAL_BY_TOPIC_LIVELINESS_QOS, Duration_t(1),
writer_status),
false);
}

Expand Down Expand Up @@ -494,12 +499,14 @@ TEST_F(LivelinessManagerTests, TimerOwnerRemoved)

GuidPrefix_t guidP;
guidP.value[0] = 1;
LivelinessData::WriterStatus writer_status;

liveliness_manager.add_writer(GUID_t(guidP, 1), fastdds::dds::AUTOMATIC_LIVELINESS_QOS, Duration_t(0.5));
liveliness_manager.add_writer(GUID_t(guidP, 2), fastdds::dds::AUTOMATIC_LIVELINESS_QOS, Duration_t(1));

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));
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));
Expand Down

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