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[23523] Return sample notifying changes on instance state (backport #5943) #5957

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Merged
MiguelCompany merged 1 commit into from
Jul 30, 2025
Merged

[23523] Return sample notifying changes on instance state (backport #5943) #5957

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56 changes: 30 additions & 26 deletions src/cpp/fastdds/subscriber/DataReaderImpl.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -387,6 +387,28 @@ bool DataReaderImpl::wait_for_unread_message(
void DataReaderImpl::set_read_communication_status(
bool trigger_value)
{
if (trigger_value)
{
auto user_reader = user_datareader_;

//First check if we can handle with on_data_on_readers
SubscriberListener* subscriber_listener =
subscriber_->get_listener_for(StatusMask::data_on_readers());
if (subscriber_listener != nullptr)
{
subscriber_listener->on_data_on_readers(subscriber_->user_subscriber_);
}
else
{
// If not, try with on_data_available
DataReaderListener* listener = get_listener_for(StatusMask::data_available());
if (listener != nullptr)
{
listener->on_data_available(user_reader);
}
}
}

StatusMask notify_status = StatusMask::data_on_readers();
subscriber_->user_subscriber_->get_statuscondition().get_impl()->set_status(notify_status, trigger_value);

Expand Down Expand Up @@ -718,11 +740,6 @@ ReturnCode_t DataReaderImpl::read_or_take_next_sample(
return ReturnCode_t::RETCODE_NOT_ENABLED;
}

if (history_.getHistorySize() == 0)
{
return ReturnCode_t::RETCODE_NO_DATA;
}

#if HAVE_STRICT_REALTIME
auto max_blocking_time = std::chrono::steady_clock::now() +
std::chrono::microseconds(::TimeConv::Time_t2MicroSecondsInt64(qos_.reliability().max_blocking_time));
Expand Down Expand Up @@ -917,25 +934,6 @@ void DataReaderImpl::InnerDataReaderListener::on_data_available(

if (data_reader_->on_data_available(writer_guid, first_sequence, last_sequence))
{
auto user_reader = data_reader_->user_datareader_;

//First check if we can handle with on_data_on_readers
SubscriberListener* subscriber_listener =
data_reader_->subscriber_->get_listener_for(StatusMask::data_on_readers());
if (subscriber_listener != nullptr)
{
subscriber_listener->on_data_on_readers(data_reader_->subscriber_->user_subscriber_);
}
else
{
// If not, try with on_data_available
DataReaderListener* listener = data_reader_->get_listener_for(StatusMask::data_available());
if (listener != nullptr)
{
listener->on_data_available(user_reader);
}
}

data_reader_->set_read_communication_status(true);
}
}
Expand Down Expand Up @@ -1175,7 +1173,10 @@ void DataReaderImpl::update_subscription_matched_status(

if (count_change < 0)
{
history_.writer_not_alive(iHandle2GUID(status.last_publication_handle));
if (history_.writer_not_alive(iHandle2GUID(status.last_publication_handle)))
{
set_read_communication_status(true);
}
try_notify_read_conditions();
}
}
Expand Down Expand Up @@ -1463,7 +1464,10 @@ LivelinessChangedStatus& DataReaderImpl::update_liveliness_status(
{
if (0 < status.not_alive_count_change)
{
history_.writer_not_alive(iHandle2GUID(status.last_publication_handle));
if (history_.writer_not_alive(iHandle2GUID(status.last_publication_handle)))
{
set_read_communication_status(true);
}
try_notify_read_conditions();
}

Expand Down
41 changes: 40 additions & 1 deletion src/cpp/fastdds/subscriber/DataReaderImpl/ReadTakeCommand.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -181,6 +181,18 @@ struct ReadTakeCommand
++it;
}

// Check if there is a state notification sample available
if (!finished_ && instance_->second->has_state_notification_sample)
{
// Add sample and info to collections
bool deserialization_error = false;
bool added = add_sample(nullptr, deserialization_error);
if (added && take_samples)
{
instance_->second->has_state_notification_sample = false;
}
}

if (current_slot_ > first_slot)
{
history_.instance_viewed_nts(instance_->second);
Expand Down Expand Up @@ -395,7 +407,34 @@ struct ReadTakeCommand
}

SampleInfo& info = sample_infos_[current_slot_];
generate_info(info, *instance_->second, item);
const DataReaderInstance& instance = *instance_->second;
if (item)
{
generate_info(info, instance, item);
}
else
{
fastrtps::rtps::Time_t current_time;
fastrtps::rtps::Time_t::now(current_time);

info.sample_state = NOT_READ_SAMPLE_STATE;
info.instance_state = instance.instance_state;
info.view_state = instance.view_state;
info.disposed_generation_count = instance.disposed_generation_count;
info.no_writers_generation_count = instance.no_writers_generation_count;
info.sample_rank = 0;
info.generation_rank = 0;
info.absolute_generation_rank = 0;
info.source_timestamp = current_time;
info.reception_timestamp = current_time;
info.instance_handle = instance_->first;
info.publication_handle = HANDLE_NIL;

info.sample_identity = fastrtps::rtps::SampleIdentity{};
info.related_sample_identity = fastrtps::rtps::SampleIdentity{};

info.valid_data = false;
}
}

bool check_datasharing_validity(
Expand Down
15 changes: 13 additions & 2 deletions src/cpp/fastdds/subscriber/history/DataReaderHistory.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -666,7 +666,7 @@ void DataReaderHistory::check_and_remove_instance(
{
DataReaderInstance* instance = instance_info->second.get();

if (instance->cache_changes.empty())
if (instance->cache_changes.empty() && (false == instance->has_state_notification_sample))
{
if (InstanceStateKind::ALIVE_INSTANCE_STATE != instance->instance_state &&
instance->alive_writers.empty() &&
Expand Down Expand Up @@ -892,13 +892,24 @@ bool DataReaderHistory::update_instance_nts(
return ret;
}

void DataReaderHistory::writer_not_alive(
bool DataReaderHistory::writer_not_alive(
const GUID_t& writer_guid)
{
bool ret_val = false;

for (auto& it : instances_)
{
bool had_notification_sample = it.second->has_state_notification_sample;
it.second->writer_removed(counters_, writer_guid);
if (it.second->has_state_notification_sample && !had_notification_sample)
{
// Mark instance as data available
data_available_instances_[it.first] = it.second;
ret_val = true;
}
}

return ret_val;
}

StateFilter DataReaderHistory::get_mask_status() const noexcept
Expand Down
10 changes: 9 additions & 1 deletion src/cpp/fastdds/subscriber/history/DataReaderHistory.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -348,7 +348,15 @@ class DataReaderHistory : public eprosima::fastrtps::rtps::ReaderHistory
bool update_instance_nts(
CacheChange_t* const change);

void writer_not_alive(
/*!
* @brief Inform the history that a writer should be considered as not alive.
*
* @param [in] writer_guid GUID of the writer that should be considered as not alive.
*
* @return true if a state notification sample was added to at least one instance.
* This would mean that DATA_AVAILABLE status (and listener) shall be notified.
*/
bool writer_not_alive(
const fastrtps::rtps::GUID_t& writer_guid);

void check_and_remove_instance(
Expand Down
5 changes: 5 additions & 0 deletions src/cpp/fastdds/subscriber/history/DataReaderInstance.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -58,6 +58,8 @@ struct DataReaderInstance
int32_t disposed_generation_count = 0;
//! Current no_writers generation of the instance
int32_t no_writers_generation_count = 0;
//! Whether the instance has a state notification sample available
bool has_state_notification_sample = false;

DataReaderInstance(
const eprosima::fastrtps::ResourceLimitedContainerConfig& changes_allocation,
Expand Down Expand Up @@ -132,6 +134,7 @@ struct DataReaderInstance
break;
}

has_state_notification_sample = false;
return ret_val;
}

Expand All @@ -157,6 +160,7 @@ struct DataReaderInstance
if (alive_writers.empty() && (InstanceStateKind::ALIVE_INSTANCE_STATE == instance_state))
{
instance_state = InstanceStateKind::NOT_ALIVE_NO_WRITERS_INSTANCE_STATE;
has_state_notification_sample = true;
}
if (ALIVE_INSTANCE_STATE == instance_state)
{
Expand Down Expand Up @@ -291,6 +295,7 @@ struct DataReaderInstance
{
instance_state = InstanceStateKind::NOT_ALIVE_NO_WRITERS_INSTANCE_STATE;
counters_update(counters.instances_alive, counters.instances_no_writers, counters, false);
has_state_notification_sample = true;
}

ret_val = true;
Expand Down
20 changes: 17 additions & 3 deletions test/blackbox/api/dds-pim/PubSubReader.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -37,6 +37,7 @@
#include <Windows.h>
#endif // _MSC_VER

#include <fastdds/dds/common/InstanceHandle.hpp>
#include <fastdds/dds/core/condition/GuardCondition.hpp>
#include <fastdds/dds/core/condition/StatusCondition.hpp>
#include <fastdds/dds/core/condition/WaitSet.hpp>
Expand Down Expand Up @@ -1737,7 +1738,10 @@ class PubSubReader

if (ReturnCode_t::RETCODE_OK == datareader_->take(data_seq, info_seq))
{
current_processed_count_++;
if (info_seq[0].publication_handle != eprosima::fastdds::dds::HANDLE_NIL)
{
current_processed_count_++;
}
return true;
}
return false;
Expand All @@ -1749,7 +1753,10 @@ class PubSubReader
eprosima::fastdds::dds::SampleInfo dds_info;
if (datareader_->take_next_sample(data, &dds_info) == ReturnCode_t::RETCODE_OK)
{
current_processed_count_++;
if (dds_info.publication_handle != eprosima::fastdds::dds::HANDLE_NIL)
{
current_processed_count_++;
}
return true;
}
return false;
Expand Down Expand Up @@ -1959,7 +1966,8 @@ class PubSubReader
ReturnCode_t success = take_ ?
datareader->take_next_sample(data, &info) :
datareader->read_next_sample(data, &info);
if (ReturnCode_t::RETCODE_OK == success)
if ((ReturnCode_t::RETCODE_OK == success) &&
(info.publication_handle != eprosima::fastdds::dds::HANDLE_NIL))
{
returnedValue = true;

Expand Down Expand Up @@ -2021,6 +2029,12 @@ class PubSubReader
type& data = datas[i];
eprosima::fastdds::dds::SampleInfo& info = infos[i];

// Skip unknown samples
if (info.publication_handle == eprosima::fastdds::dds::HANDLE_NIL)
{
continue;
}

// Check order of changes.
LastSeqInfo seq_info{ info.instance_handle, info.sample_identity.writer_guid() };
ASSERT_LT(last_seq[seq_info], info.sample_identity.sequence_number());
Expand Down
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