Fix warnings and segfaults on Win32 builds (#1982)

* Refs 11606. Fixed alignment warnings.

Signed-off-by: Miguel Company <MiguelCompany@eprosima.com>

* Refs 11606. Added ParameterPropertyList_t::push_back method receiving 2 const string refs.

Signed-off-by: Miguel Company <MiguelCompany@eprosima.com>

* Refs 11606. Using new method on PDP and ParticipantProxyData.

Signed-off-by: Miguel Company <MiguelCompany@eprosima.com>

* Refs 11606. Improve thread safety on DataSharingListener.

Signed-off-by: Miguel Company <MiguelCompany@eprosima.com>

include/fastdds/dds/core/policy/ParameterTypes.hpp

@@ -1301,27 +1301,25 @@ class ParameterPropertyList_t : public Parameter_t
     bool push_back(
             std::pair<std::string, std::string> p)
     {
-        //Realloc if needed;
-        uint32_t size1 = (uint32_t) p.first.length() + 1;
-        uint32_t alignment1 = ((size1 + 3u) & ~3u) - size1;
-
-        uint32_t size2 = (uint32_t) p.second.length() + 1;
-        uint32_t alignment2 = ((size2 + 3u) & ~3u) - size2;
+        return push_back(p.first, p.second);
+    }
 
-        if (limit_size_ && (properties_.max_size < properties_.length +
-                size1 + alignment1 + 4 +
-                size2 + alignment2 + 4))
-        {
-            return false;
-        }
-        properties_.reserve(properties_.length +
-                size1 + alignment1 + 4 +
-                size2 + alignment2 + 4);
+    /**
+     * @brief Introduce a new property in the ParameterPropertyList
+     * @param key Key part of the new property
+     * @param value Value part of the new property
+     * @return true if it is introduced, false if not.
+     */
+    bool push_back(
+            const std::string& key,
+            const std::string& value)
+    {
+        auto str1 = reinterpret_cast<const unsigned char*>(key.c_str());
+        uint32_t size1 = (uint32_t) key.length() + 1;
+        auto str2 = reinterpret_cast<const unsigned char*>(value.c_str());
+        uint32_t size2 = (uint32_t) value.length() + 1;
 
-        push_back_helper((fastrtps::rtps::octet*)p.first.c_str(), size1, alignment1);
-        push_back_helper((fastrtps::rtps::octet*)p.second.c_str(), size2, alignment2);
-        ++Nproperties_;
-        return true;
+        return push_back(str1, size1, str2, size2);
     }
 
     /**
@@ -1636,7 +1634,7 @@ void set_proxy_property(
     else
     {
         // if not exists add
-        properties.push_back(pair);
+        properties.push_back(pair.first, pair.second);
     }
 }
 

src/cpp/rtps/DataSharing/DataSharingListener.cpp

@@ -79,6 +79,8 @@ void DataSharingListener::run()
 
 void DataSharingListener::start()
 {
+    std::lock_guard<std::mutex> guard(mutex_);
+
     // Check the thread
     bool was_running = is_running_.exchange(true);
     if (was_running)
@@ -92,17 +94,26 @@ void DataSharingListener::start()
 
 void DataSharingListener::stop()
 {
-    // Notify the listening thread that is no longer running
-    bool was_running = is_running_.exchange(false);
-    if (!was_running)
+    std::thread* thr = nullptr;
+
     {
-        return;
+        std::lock_guard<std::mutex> guard(mutex_);
+
+        // Notify the listening thread that is no longer running
+        bool was_running = is_running_.exchange(false);
+        if (!was_running)
+        {
+            return;
+        }
+
+        thr = listening_thread_;
+        listening_thread_ = nullptr;
     }
 
     // Notify the thread and wait for it to finish
     notification_->notify();
-    listening_thread_->join();
-    delete listening_thread_;
+    thr->join();
+    delete thr;
 }
 
 void DataSharingListener::process_new_data ()

src/cpp/rtps/DataSharing/DataSharingNotification.hpp

@@ -93,7 +93,7 @@ class DataSharingNotification
 
 #pragma warning(push)
 #pragma warning(disable:4324)
-    struct alignas (void*) Notification
+    struct alignas (uint64_t) Notification
     {
         //! CV to wait for new notifications
         Segment::condition_variable notification_cv;

src/cpp/rtps/DataSharing/DataSharingPayloadPool.hpp

@@ -137,7 +137,7 @@ class DataSharingPayloadPool : public IPayloadPool
 
 #pragma warning(push)
 #pragma warning(disable:4324)
-    class alignas (void*) PayloadNode
+    class alignas (uint64_t) PayloadNode
     {
 
         struct PayloadNodeMetaData
@@ -333,7 +333,7 @@ class DataSharingPayloadPool : public IPayloadPool
 
     };
 
-    struct alignas (void*) PoolDescriptor
+    struct alignas (uint64_t) PoolDescriptor
     {
         uint32_t history_size;          //< Number of payloads in the history
         uint64_t notified_begin;        //< The index of the oldest history entry already notified (ready to read)

src/cpp/rtps/builtin/data/ParticipantProxyData.cpp

@@ -801,7 +801,7 @@ void ParticipantProxyData::set_persistence_guid(
     else
     {
         // if not exists add
-        m_properties.push_back(persistent_guid);
+        m_properties.push_back(persistent_guid.first, persistent_guid.second);
     }
 }
 

src/cpp/rtps/builtin/discovery/participant/PDP.cpp

@@ -347,8 +347,8 @@ void PDP::initializeParticipantProxyData(
     // Set participant type property
     std::stringstream participant_type;
     participant_type << mp_RTPSParticipant->getAttributes().builtin.discovery_config.discoveryProtocol;
-    participant_data->m_properties.push_back(std::pair<std::string,
-            std::string>({fastdds::dds::parameter_property_participant_type, participant_type.str()}));
+    auto ptype = participant_type.str();
+    participant_data->m_properties.push_back(fastdds::dds::parameter_property_participant_type, ptype);
 }
 
 bool PDP::initPDP(