Avoid sending duplicated ACKs in DataSharing (#5986)

* Refs #23603: Avoid duplicate ACK in datasharing

Signed-off-by: cferreiragonz <carlosferreira@eprosima.com>

* Refs #23603: Doxygen

Signed-off-by: cferreiragonz <carlosferreira@eprosima.com>

* Refs #23603: Mock method

Signed-off-by: cferreiragonz <carlosferreira@eprosima.com>

---------

Signed-off-by: cferreiragonz <carlosferreira@eprosima.com>
(cherry picked from commit 8421fb0)

# Conflicts:
#	include/fastdds/rtps/reader/StatefulReader.h
#	include/fastdds/rtps/reader/StatelessReader.h
#	src/cpp/fastdds/subscriber/DataReaderImpl/ReadTakeCommand.hpp
#	src/cpp/rtps/reader/BaseReader.hpp
#	src/cpp/rtps/reader/StatefulReader.cpp
#	src/cpp/rtps/reader/StatelessReader.cpp
#	test/mock/rtps/RTPSReader/rtps/reader/BaseReader.hpp

Author: cferreiragonz

include/fastdds/rtps/reader/StatefulReader.h

@@ -308,6 +308,7 @@ class StatefulReader : public RTPSReader
 
     /**
      * Called after the change has been deserialized.
+<<<<<<< HEAD:include/fastdds/rtps/reader/StatefulReader.h
      * @param [in] change        Pointer to the change being accessed.
      * @param [in] wp            Writer proxy the @c change belongs to.
      * @param [in] mark_as_read  Whether the @c change should be marked as read or not.
@@ -316,6 +317,18 @@ class StatefulReader : public RTPSReader
             CacheChange_t* change,
             WriterProxy*& wp,
             bool mark_as_read) override;
+=======
+     * @param [in] change          Pointer to the change being accessed.
+     * @param [in] writer          Writer proxy the @c change belongs to.
+     * @param [in] mark_as_read    Whether the @c change should be marked as read or not.
+     * @param [in] should_send_ack Whether an ACKNACK should be sent to the writer or not.
+     */
+    void end_sample_access_nts(
+            CacheChange_t* change,
+            WriterProxy*& writer,
+            bool mark_as_read,
+            bool should_send_ack = false) override;
+>>>>>>> 8421fb02 (Avoid sending duplicated ACKs in DataSharing (#5986)):src/cpp/rtps/reader/StatefulReader.hpp
 
     /**
      * Called when the user has retrieved a change from the history.

include/fastdds/rtps/reader/StatelessReader.h

@@ -233,6 +233,7 @@ class StatelessReader : public RTPSReader
 
     /**
      * Called after the change has been deserialized.
+<<<<<<< HEAD:include/fastdds/rtps/reader/StatelessReader.h
      * @param [in] change        Pointer to the change being accessed.
      * @param [in] wp            Writer proxy the @c change belongs to.
      * @param [in] mark_as_read  Whether the @c change should be marked as read or not.
@@ -241,6 +242,18 @@ class StatelessReader : public RTPSReader
             CacheChange_t* change,
             WriterProxy*& wp,
             bool mark_as_read) override;
+=======
+     * @param [in] change          Pointer to the change being accessed.
+     * @param [in] writer          Writer proxy the @c change belongs to.
+     * @param [in] mark_as_read    Whether the @c change should be marked as read or not.
+     * @param [in] should_send_ack Whether an ACKNACK should be sent to the writer or not.
+     */
+    void end_sample_access_nts(
+            CacheChange_t* change,
+            WriterProxy*& writer,
+            bool mark_as_read,
+            bool should_send_ack = false) override;
+>>>>>>> 8421fb02 (Avoid sending duplicated ACKs in DataSharing (#5986)):src/cpp/rtps/reader/StatelessReader.hpp
 
     /**
      * Called when the user has retrieved a change from the history.

src/cpp/fastdds/subscriber/DataReaderImpl/ReadTakeCommand.hpp

@@ -148,7 +148,10 @@ struct ReadTakeCommand
                     ReturnCode_t previous_return_value = return_value_;
                     bool added = add_sample(*it, remove_change);
                     history_.change_was_processed_nts(change, added);
+<<<<<<< HEAD
                     reader_->end_sample_access_nts(change, wp, added);
+=======
+>>>>>>> 8421fb02 (Avoid sending duplicated ACKs in DataSharing (#5986))
 
                     // Check if the payload is dirty
                     if (added && !check_datasharing_validity(change, data_values_.has_ownership()))
@@ -166,7 +169,11 @@ struct ReadTakeCommand
                         added = false;
                     }
 
-                    if (remove_change || (added && take_samples))
+                    // Only send ACK if the change will not be removed to avoid sending the same ACK twice
+                    bool should_remove = remove_change || (added && take_samples);
+                    rtps::BaseReader::downcast(reader_)->end_sample_access_nts(change, wp, added, !should_remove);
+
+                    if (should_remove)
                     {
                         // Remove from history
                         history_.remove_change_sub(change, it);