[21245] Fix topic interference on liveliness_changed status (backport #4988)

src/cpp/rtps/builtin/liveliness/WLP.cpp

@@ -860,10 +860,11 @@ bool WLP::remove_local_reader(
 
 bool WLP::automatic_liveliness_assertion()
 {
-    std::lock_guard<std::recursive_mutex> guard(*mp_builtinProtocols->mp_PDP->getMutex());
+    std::unique_lock<std::recursive_mutex> lock(*mp_builtinProtocols->mp_PDP->getMutex());
 
     if (0 < automatic_writers_.size())
     {
+        lock.unlock();
         return send_liveliness_message(automatic_instance_handle_);
     }
 

src/cpp/rtps/reader/StatefulReader.cpp

@@ -373,40 +373,11 @@ bool StatefulReader::matched_writer_remove(
         const GUID_t& writer_guid,
         bool removed_by_lease)
 {
-
-    if (is_alive_ && liveliness_lease_duration_ < c_TimeInfinite)
-    {
-        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_,
-                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
-        {
-            EPROSIMA_LOG_ERROR(RTPS_LIVELINESS,
-                    "Finite liveliness lease duration but WLP not enabled, cannot remove writer");
-        }
-    }
-
-    std::unique_lock<RecursiveTimedMutex> lock(mp_mutex);
     WriterProxy* wproxy = nullptr;
     if (is_alive_)
     {
+        std::unique_lock<RecursiveTimedMutex> lock(mp_mutex);
+
         //Remove cachechanges belonging to the unmatched writer
         mp_history->writer_unmatched(writer_guid, get_last_notified(writer_guid));
 
@@ -468,7 +439,36 @@ bool StatefulReader::matched_writer_remove(
         }
     }
 
-    return (wproxy != nullptr);
+    bool ret_val = (wproxy != nullptr);
+    if (ret_val && liveliness_lease_duration_ < c_TimeInfinite)
+    {
+        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_,
+                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
+        {
+            EPROSIMA_LOG_ERROR(RTPS_LIVELINESS,
+                    "Finite liveliness lease duration but WLP not enabled, cannot remove writer");
+        }
+    }
+
+    return ret_val;
 }
 
 bool StatefulReader::matched_writer_is_matched(

src/cpp/rtps/reader/StatelessReader.cpp

@@ -223,33 +223,8 @@ bool StatelessReader::matched_writer_remove(
         const GUID_t& writer_guid,
         bool removed_by_lease)
 {
-    if (liveliness_lease_duration_ < c_TimeInfinite)
-    {
-        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_,
-                writer_liveliness_status);
+    bool ret_val = false;
 
-            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
-        {
-            EPROSIMA_LOG_ERROR(RTPS_LIVELINESS,
-                    "Finite liveliness lease duration but WLP not enabled, cannot remove writer");
-        }
-    }
     {
         std::unique_lock<RecursiveTimedMutex> guard(mp_mutex);
 
@@ -289,11 +264,41 @@ bool StatelessReader::matched_writer_remove(
                 }
 #endif //FASTDDS_STATISTICS
 
-                return true;
+                ret_val = true;
+                break;
             }
         }
     }
-    return false;
+
+    if (ret_val && liveliness_lease_duration_ < c_TimeInfinite)
+    {
+        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_,
+                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
+        {
+            EPROSIMA_LOG_ERROR(RTPS_LIVELINESS,
+                    "Finite liveliness lease duration but WLP not enabled, cannot remove writer");
+        }
+    }
+
+    return ret_val;
 }
 
 bool StatelessReader::matched_writer_is_matched(

test/blackbox/common/BlackboxTestsLivelinessQos.cpp

@@ -14,6 +14,7 @@
 
 #include "BlackboxTests.hpp"
 
+#include <string>
 #include <thread>
 
 #include "PubSubReader.hpp"
@@ -2039,6 +2040,175 @@ TEST(LivelinessTests, correct_liveliness_state_one_writer_multiple_readers)
     ASSERT_EQ(reader.sub_wait_liveliness_lost_for(2, std::chrono::seconds(4)), 2u);
 }
 
+/**
+ * This is a regression test for redmine issue #21189.
+ *
+ * The test ensures that liveliness changed status is not affected by writers on a topic different from
+ * the one of the reader.
+ *
+ * The test creates two readers and two writers, each reader and writer pair on a different topic.
+ * Writing a sample on one writer should not affect the liveliness changed status of the other reader.
+ * Destroying the writer should not affect the liveliness changed status of the other reader.
+ */
+static void test_liveliness_qos_independent_topics(
+        const std::string& topic_name,
+        eprosima::fastdds::dds::ReliabilityQosPolicyKind reliability_kind)
+{
+    const auto lease_dutation_time = std::chrono::seconds(1);
+    const eprosima::fastrtps::Duration_t lease_duration(1, 0);
+    const eprosima::fastrtps::Duration_t announcement_period(0, 250000000);
+
+    PubSubReader<HelloWorldPubSubType> reader1(topic_name + "1");
+    PubSubReader<HelloWorldPubSubType> reader2(topic_name + "2");
+
+    PubSubWriter<HelloWorldPubSubType> writer1(topic_name + "1");
+    PubSubWriter<HelloWorldPubSubType> writer2(topic_name + "2");
+
+    // Configure and start the readers
+    reader1.liveliness_kind(eprosima::fastdds::dds::AUTOMATIC_LIVELINESS_QOS)
+            .liveliness_lease_duration(lease_duration)
+            .reliability(reliability_kind)
+            .init();
+    reader2.liveliness_kind(eprosima::fastdds::dds::AUTOMATIC_LIVELINESS_QOS)
+            .liveliness_lease_duration(lease_duration)
+            .reliability(reliability_kind)
+            .init();
+
+    // Configure and start the writers
+    writer1.liveliness_kind(eprosima::fastdds::dds::AUTOMATIC_LIVELINESS_QOS)
+            .liveliness_lease_duration(lease_duration)
+            .liveliness_announcement_period(announcement_period)
+            .reliability(reliability_kind)
+            .init();
+    writer2.liveliness_kind(eprosima::fastdds::dds::AUTOMATIC_LIVELINESS_QOS)
+            .liveliness_lease_duration(lease_duration)
+            .liveliness_announcement_period(announcement_period)
+            .reliability(reliability_kind)
+            .init();
+
+    // Wait for discovery
+    reader1.wait_discovery();
+    reader2.wait_discovery();
+    writer1.wait_discovery();
+    writer2.wait_discovery();
+
+    HelloWorldPubSubType::type data;
+
+    // Write a sample on writer1 and wait for reader1 to assert writer1's liveliness
+    writer1.send_sample(data);
+    reader1.wait_liveliness_recovered();
+
+    // Check liveliness changed status on both readers
+    {
+        auto liveliness = reader1.liveliness_changed_status();
+        EXPECT_EQ(liveliness.alive_count, 1);
+        EXPECT_EQ(liveliness.not_alive_count, 0);
+    }
+
+    {
+        auto liveliness = reader2.liveliness_changed_status();
+        EXPECT_EQ(liveliness.alive_count, 0);
+        EXPECT_EQ(liveliness.not_alive_count, 0);
+    }
+
+    // Write a sample on writer2 and wait for reader2 to assert writer2's liveliness
+    writer2.send_sample(data);
+    reader2.wait_liveliness_recovered();
+
+    // Check liveliness changed status on both readers
+    {
+        auto liveliness = reader1.liveliness_changed_status();
+        EXPECT_EQ(liveliness.alive_count, 1);
+        EXPECT_EQ(liveliness.not_alive_count, 0);
+    }
+
+    {
+        auto liveliness = reader2.liveliness_changed_status();
+        EXPECT_EQ(liveliness.alive_count, 1);
+        EXPECT_EQ(liveliness.not_alive_count, 0);
+    }
+
+    // Destroy writer2 and wait twice the lease duration time
+    writer2.destroy();
+    std::this_thread::sleep_for(lease_dutation_time * 2);
+
+    // Check liveliness changed status on both readers
+    {
+        auto liveliness = reader1.liveliness_changed_status();
+        EXPECT_EQ(liveliness.alive_count, 1);
+        EXPECT_EQ(liveliness.not_alive_count, 0);
+    }
+
+    {
+        auto liveliness = reader2.liveliness_changed_status();
+        EXPECT_EQ(liveliness.alive_count, 0);
+        EXPECT_EQ(liveliness.not_alive_count, 0);
+    }
+
+    // Start writer2 again and wait for reader2 to assert writer2's liveliness
+    writer2.init();
+    reader2.wait_discovery();
+    writer2.send_sample(data);
+    reader2.wait_liveliness_recovered(2);
+
+    // Check liveliness changed status on both readers
+    {
+        auto liveliness = reader1.liveliness_changed_status();
+        EXPECT_EQ(liveliness.alive_count, 1);
+        EXPECT_EQ(liveliness.not_alive_count, 0);
+    }
+
+    {
+        auto liveliness = reader2.liveliness_changed_status();
+        EXPECT_EQ(liveliness.alive_count, 1);
+        EXPECT_EQ(liveliness.not_alive_count, 0);
+    }
+
+    // Destroy writer1 and wait twice the lease duration time
+    writer1.destroy();
+    std::this_thread::sleep_for(lease_dutation_time * 2);
+
+    // Check liveliness changed status on both readers
+    {
+        auto liveliness = reader1.liveliness_changed_status();
+        EXPECT_EQ(liveliness.alive_count, 0);
+        EXPECT_EQ(liveliness.not_alive_count, 0);
+    }
+
+    {
+        auto liveliness = reader2.liveliness_changed_status();
+        EXPECT_EQ(liveliness.alive_count, 1);
+        EXPECT_EQ(liveliness.not_alive_count, 0);
+    }
+
+    // Destroy writer2 and wait twice the lease duration time
+    writer2.destroy();
+    std::this_thread::sleep_for(lease_dutation_time * 2);
+
+    // Check liveliness changed status on both readers
+    {
+        auto liveliness = reader1.liveliness_changed_status();
+        EXPECT_EQ(liveliness.alive_count, 0);
+        EXPECT_EQ(liveliness.not_alive_count, 0);
+    }
+
+    {
+        auto liveliness = reader2.liveliness_changed_status();
+        EXPECT_EQ(liveliness.alive_count, 0);
+        EXPECT_EQ(liveliness.not_alive_count, 0);
+    }
+}
+
+TEST_P(LivelinessQos, IndependentTopics_reliable)
+{
+    test_liveliness_qos_independent_topics(TEST_TOPIC_NAME, eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS);
+}
+
+TEST_P(LivelinessQos, IndependentTopics_besteffort)
+{
+    test_liveliness_qos_independent_topics(TEST_TOPIC_NAME, eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS);
+}
+
 #ifdef INSTANTIATE_TEST_SUITE_P
 #define GTEST_INSTANTIATE_TEST_MACRO(x, y, z, w) INSTANTIATE_TEST_SUITE_P(x, y, z, w)
 #else