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[24121] Account for notification sample in DataReaderHistory::get_first_untaken_info #6276

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Merged
MiguelCompany merged 5 commits into from
Jan 27, 2026
Merged

[24121] Account for notification sample in DataReaderHistory::get_first_untaken_info #6276

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1a91f29
Refs #24120. Extend `return_sample_when_writer_disappears` blackbox t…
MiguelCompany Jan 26, 2026
00e9a7b
Refs #24120. Refactor `ReadTakeCommand::generate_info`.
MiguelCompany Jan 26, 2026
c02546b
Refs #24120. Account for notification sample in `DataReaderHistory::g…
MiguelCompany Jan 26, 2026
8686c2d
Refs #24121. Please uncrustify.
MiguelCompany Jan 26, 2026
0496072
Refs #24121. Fix build error.
MiguelCompany Jan 26, 2026
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55 changes: 35 additions & 20 deletions src/cpp/fastdds/subscriber/DataReaderImpl/ReadTakeCommand.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -280,6 +280,40 @@ struct ReadTakeCommand
}
}

/**
* @brief Generate SampleInfo for an instance without data.
*
* @param[out] info SampleInfo to fill.
* @param[in] instance_handle Handle of the instance.
* @param[in] instance DataReaderInstance information.
*/
static void generate_instance_info(
SampleInfo& info,
const InstanceHandle_t& instance_handle,
const DataReaderInstance& instance)
{
fastdds::rtps::Time_t current_time;
fastdds::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_handle;
info.publication_handle = InstanceHandle_t{};

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

info.valid_data = false;
}

private:

const TypeSupport& type_;
Expand Down Expand Up @@ -418,26 +452,7 @@ struct ReadTakeCommand
}
else
{
fastdds::rtps::Time_t current_time;
fastdds::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 = rtps::SampleIdentity{};
info.related_sample_identity = rtps::SampleIdentity{};

info.valid_data = false;
generate_instance_info(info, instance_->first, instance);
}
}

Expand Down
7 changes: 7 additions & 0 deletions src/cpp/fastdds/subscriber/history/DataReaderHistory.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -382,6 +382,13 @@ bool DataReaderHistory::get_first_untaken_info(
ReadTakeCommand::generate_info(info, *(it.second), instance_change);
return true;
}

if (it.second->has_state_notification_sample)
{
// Generate SampleInfo for state notification sample
ReadTakeCommand::generate_instance_info(info, it.first, *(it.second));
return true;
}
}

return false;
Expand Down
27 changes: 21 additions & 6 deletions test/blackbox/common/DDSBlackboxTestsDataReader.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -42,7 +42,7 @@ using namespace eprosima::fastdds;
using namespace eprosima::fastdds::rtps;

#define INCOMPATIBLE_TEST_TOPIC_NAME std::string( \
std::string("incompatible_") + TEST_TOPIC_NAME)
std::string("incompatible_") + TEST_TOPIC_NAME)


enum communication_type
Expand All @@ -59,11 +59,12 @@ class DDSDataReader : public testing::TestWithParam<communication_type>
void SetUp() override
{
eprosima::fastdds::LibrarySettings library_settings;
auto factory = eprosima::fastdds::dds::DomainParticipantFactory::get_shared_instance();
switch (GetParam())
{
case INTRAPROCESS:
library_settings.intraprocess_delivery = eprosima::fastdds::IntraprocessDeliveryType::INTRAPROCESS_FULL;
eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->set_library_settings(library_settings);
factory->set_library_settings(library_settings);
break;
case DATASHARING:
enable_datasharing = true;
Expand All @@ -77,11 +78,12 @@ class DDSDataReader : public testing::TestWithParam<communication_type>
void TearDown() override
{
eprosima::fastdds::LibrarySettings library_settings;
auto factory = eprosima::fastdds::dds::DomainParticipantFactory::get_shared_instance();
switch (GetParam())
{
case INTRAPROCESS:
library_settings.intraprocess_delivery = eprosima::fastdds::IntraprocessDeliveryType::INTRAPROCESS_OFF;
eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->set_library_settings(library_settings);
factory->set_library_settings(library_settings);
break;
case DATASHARING:
enable_datasharing = false;
Expand Down Expand Up @@ -1548,6 +1550,12 @@ TEST_P(DDSDataReader, return_sample_when_writer_disappears)
EXPECT_TRUE(data_reader.get_status_changes().is_active(fdds::StatusMask::data_available()));
EXPECT_EQ(listener.get_data_available_count(), 1u);

fdds::SampleInfo untaken_info;
EXPECT_EQ(data_reader.get_first_untaken_info(&untaken_info), fdds::RETCODE_OK);

EXPECT_TRUE(untaken_info.valid_data);
EXPECT_EQ(untaken_info.instance_state, fdds::ALIVE_INSTANCE_STATE);

fdds::SampleInfo info;
KeyedHelloWorldPubSubType::type sample;
EXPECT_EQ(data_reader.take_next_sample(&sample, &info), fdds::RETCODE_OK);
Expand All @@ -1569,12 +1577,19 @@ TEST_P(DDSDataReader, return_sample_when_writer_disappears)

// Verify expectations
{
fdds::SampleInfo info;
KeyedHelloWorldPubSubType::type sample;

EXPECT_TRUE(data_reader.get_status_changes().is_active(fdds::StatusMask::data_available()));
EXPECT_EQ(listener.get_data_available_count(), 2u);

fdds::SampleInfo untaken_info;
EXPECT_EQ(data_reader.get_first_untaken_info(&untaken_info), fdds::RETCODE_OK);

EXPECT_FALSE(untaken_info.valid_data);
EXPECT_EQ(untaken_info.instance_handle, instance_handle);
EXPECT_EQ(untaken_info.instance_state, fdds::NOT_ALIVE_NO_WRITERS_INSTANCE_STATE);

fdds::SampleInfo info;
KeyedHelloWorldPubSubType::type sample;

EXPECT_EQ(data_reader.take_next_sample(&sample, &info), fdds::RETCODE_OK);
EXPECT_FALSE(data_reader.get_status_changes().is_active(fdds::StatusMask::data_available()));

Expand Down
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