Unprotected code loaning samples (#2086)

* Refs #11831. Fix unprotected code accessing writer pool

Signed-off-by: Ricardo González <ricardo@richiware.dev>

* Refs #11831. Fix wrong test testing dirty payloads

Signed-off-by: Ricardo González Moreno <ricardo@richiware.dev>

src/cpp/fastdds/publisher/DataWriterImpl.cpp

@@ -391,6 +391,8 @@ ReturnCode_t DataWriterImpl::loan_sample(
         return ReturnCode_t::RETCODE_NOT_ENABLED;
     }
 
+    std::lock_guard<RecursiveTimedMutex> lock(writer_->getMutex());
+
     // Get one payload from the pool
     PayloadInfo_t payload;
     uint32_t size = type_->m_typeSize;
@@ -466,6 +468,8 @@ ReturnCode_t DataWriterImpl::discard_loan(
         return ReturnCode_t::RETCODE_NOT_ENABLED;
     }
 
+    std::lock_guard<RecursiveTimedMutex> lock(writer_->getMutex());
+
     // Remove sample from loans collection
     PayloadInfo_t payload;
     if ((nullptr == sample) || !check_and_remove_loan(sample, payload))

test/blackbox/common/DDSBlackboxTestsDataSharing.cpp

@@ -201,23 +201,14 @@ TEST(DDSDataSharing, ReliableDirtyPayloads)
     std::advance(data_it, writer_sent_data - writer_history_depth - 1);
     std::copy(data_it, data.end(), std::back_inserter(valid_data));
 
+    writer.send(data, 100);
+    ASSERT_TRUE(data.empty());
+
     // Send the data to fill the history and overwrite old changes
     // The reader will receive and process all changes so that the writer can reuse them,
     // but will keep them in the history.
-    read_reader.startReception(data);
-    writer.send(data, 100);
-    ASSERT_TRUE(data.empty());
+    read_reader.startReception(valid_data);
     read_reader.block_for_all();
-
-    // Doing a second read on the same history, the application will see only the last samples
-    while (!valid_data.empty())
-    {
-        FixedSized value;
-        ASSERT_TRUE(read_reader.take_first_data(&value));
-        ASSERT_EQ(valid_data.front(), value);
-        valid_data.pop_front();
-    }
-    ASSERT_TRUE(valid_data.empty());
 }
 
 TEST(DDSDataSharing, DataSharingWriter_DifferentDomainReaders)
@@ -497,4 +488,4 @@ TEST(DDSDataSharing, DataSharingPoolError)
     writer_auto.send(data);
     ASSERT_TRUE(data.empty());
     reader.block_for_all();
-}
+}