From 62077765c402197bea2aa73bdb65ba5671c777c8 Mon Sep 17 00:00:00 2001
From: Miguel Company <miguelcompany@eprosima.com>
Date: Wed, 19 Jun 2024 16:03:45 +0200
Subject: [PATCH] Refs #21082. Move datasharing pool initialization to
 `RTPSWriter`.

Signed-off-by: Miguel Company <miguelcompany@eprosima.com>
---
 src/cpp/fastdds/publisher/DataWriterImpl.cpp          | 10 +---------
 src/cpp/rtps/writer/PersistentWriter.cpp              | 11 +++++++++++
 src/cpp/rtps/writer/RTPSWriter.cpp                    | 10 ++++++++++
 .../rtps/DataSharing/WriterPool.hpp                   |  5 +++++
 4 files changed, 27 insertions(+), 9 deletions(-)

diff --git a/src/cpp/fastdds/publisher/DataWriterImpl.cpp b/src/cpp/fastdds/publisher/DataWriterImpl.cpp
index 9c1fdda5196..1ffc2c77242 100644
--- a/src/cpp/fastdds/publisher/DataWriterImpl.cpp
+++ b/src/cpp/fastdds/publisher/DataWriterImpl.cpp
@@ -369,20 +369,12 @@ ReturnCode_t DataWriterImpl::enable()
             w_att.endpoint.data_sharing_configuration().kind() != DataSharingKind::OFF)
     {
         auto writer_pool = std::dynamic_pointer_cast<fastdds::rtps::WriterPool>(pool);
-        if (!writer_pool || !writer_pool->init_shared_memory(
-                    writer, w_att.endpoint.data_sharing_configuration().shm_directory()))
+        if (!writer_pool || !writer_pool->is_initialized())
         {
             EPROSIMA_LOG_ERROR(DATA_WRITER, "Could not initialize DataSharing writer pool");
             RTPSDomain::removeRTPSWriter(writer);
             writer = nullptr;
         }
-        else
-        {
-            for (auto it = history_->changesBegin(); it != history_->changesEnd(); ++it)
-            {
-                writer_pool->add_to_shared_history(*it);
-            }
-        }
     }
 
     if (writer == nullptr &&
diff --git a/src/cpp/rtps/writer/PersistentWriter.cpp b/src/cpp/rtps/writer/PersistentWriter.cpp
index 497160ea060..f1fb2d91415 100644
--- a/src/cpp/rtps/writer/PersistentWriter.cpp
+++ b/src/cpp/rtps/writer/PersistentWriter.cpp
@@ -49,6 +49,17 @@ PersistentWriter::PersistentWriter(
     hist->m_isHistoryFull =
             hist->m_att.maximumReservedCaches > 0 &&
             static_cast<int32_t>(hist->m_changes.size()) == hist->m_att.maximumReservedCaches;
+
+    // Prepare the changes for datasharing if compatible
+    if (att.endpoint.data_sharing_configuration().kind() != dds::DataSharingKind::OFF)
+    {
+        auto pool = std::dynamic_pointer_cast<WriterPool>(hist->get_payload_pool());
+        assert(pool != nullptr);
+        for (auto change : hist->m_changes)
+        {
+            pool->add_to_shared_history(change);
+        }
+    }
 }
 
 PersistentWriter::~PersistentWriter()
diff --git a/src/cpp/rtps/writer/RTPSWriter.cpp b/src/cpp/rtps/writer/RTPSWriter.cpp
index b9bf6ca2a1d..c8818a56c5d 100644
--- a/src/cpp/rtps/writer/RTPSWriter.cpp
+++ b/src/cpp/rtps/writer/RTPSWriter.cpp
@@ -19,6 +19,7 @@
 
 #include <fastdds/rtps/writer/RTPSWriter.h>
 
+#include <memory>
 #include <mutex>
 
 #include <fastdds/dds/log/Log.hpp>
@@ -84,6 +85,15 @@ void RTPSWriter::init(
         fixed_payload_size_ = mp_history->m_att.payloadMaxSize;
     }
 
+    if (att.endpoint.data_sharing_configuration().kind() != dds::OFF)
+    {
+        std::shared_ptr<WriterPool> pool = std::dynamic_pointer_cast<WriterPool>(mp_history->get_payload_pool());
+        if (!pool || !pool->init_shared_memory(this, att.endpoint.data_sharing_configuration().shm_directory()))
+        {
+            EPROSIMA_LOG_ERROR(RTPS_WRITER, "Could not initialize DataSharing writer pool");
+        }
+    }
+
     mp_history->mp_writer = this;
     mp_history->mp_mutex = &mp_mutex;
 
diff --git a/test/mock/rtps/DataSharingPayloadPool/rtps/DataSharing/WriterPool.hpp b/test/mock/rtps/DataSharingPayloadPool/rtps/DataSharing/WriterPool.hpp
index 7223e3f8ba4..7b8205a9c00 100644
--- a/test/mock/rtps/DataSharingPayloadPool/rtps/DataSharing/WriterPool.hpp
+++ b/test/mock/rtps/DataSharingPayloadPool/rtps/DataSharing/WriterPool.hpp
@@ -42,6 +42,11 @@ class WriterPool : public DataSharingPayloadPool
         return true;
     }
 
+    bool is_initialized() const
+    {
+        return writer_guid_ != GUID_t::unknown();
+    }
+
     void add_to_shared_history(
             const CacheChange_t* /*cache_change*/)
     {