Only accepting ALIVE changes from unknown trusted writers <1.9.x> [7586]

include/fastrtps/rtps/reader/StatelessReader.h

@@ -199,7 +199,8 @@ class StatelessReader : public RTPSReader
     };
 
     bool acceptMsgFrom(
-            const GUID_t& entityId);
+            const GUID_t& entityId,
+            ChangeKind_t change_kind);
 
     bool thereIsUpperRecordOf(
             const GUID_t& guid,

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

@@ -97,6 +97,7 @@ void PDPListener::onNewCacheChangeAdded(
 
         // Load information on temp_participant_data_
         CDRMessage_t msg(change->serializedPayload);
+        temp_participant_data_.clear();
         if(temp_participant_data_.readFromCDRMessage(&msg, true, parent_pdp_->getRTPSParticipant()->network_factory()))
         {
             // After correctly reading it

src/cpp/rtps/reader/StatelessReader.cpp

@@ -258,7 +258,7 @@ bool StatelessReader::processDataMsg(
 
     std::unique_lock<RecursiveTimedMutex> lock(mp_mutex);
 
-    if (acceptMsgFrom(change->writerGUID))
+    if (acceptMsgFrom(change->writerGUID, change->kind))
     {
         logInfo(RTPS_MSG_IN, IDSTRING "Trying to add change " << change->sequenceNumber << " TO reader: "
                                                               << getGuid().entityId);
@@ -466,15 +466,19 @@ bool StatelessReader::processGapMsg(
 }
 
 bool StatelessReader::acceptMsgFrom(
-        const GUID_t& writerId)
+        const GUID_t& writerId,
+        ChangeKind_t change_kind)
 {
-    if (m_acceptMessagesFromUnkownWriters)
+    if (change_kind == ChangeKind_t::ALIVE)
     {
-        return true;
-    }
-    else if (writerId.entityId == m_trustedWriterEntityId)
-    {
-        return true;
+        if (m_acceptMessagesFromUnkownWriters)
+        {
+            return true;
+        }
+        else if (writerId.entityId == m_trustedWriterEntityId)
+        {
+            return true;
+        }
     }
 
     return std::any_of(matched_writers_.begin(), matched_writers_.end(),

test/blackbox/BlackboxTestsDiscovery.cpp

@@ -717,6 +717,71 @@ TEST_P(Discovery, TwentyParticipantsSeveralEndpointsUnicast)
     discoverParticipantsSeveralEndpointsTest(true, 20, 20, 20, TEST_TOPIC_NAME);
 }
 
+//! Regression test for support case 7552 (CRM #353)
+TEST_P(Discovery, RepeatPubGuid)
+{
+    PubSubReader<HelloWorldType> reader(TEST_TOPIC_NAME);
+    PubSubWriter<HelloWorldType> writer(TEST_TOPIC_NAME);
+    PubSubWriter<HelloWorldType> writer2(TEST_TOPIC_NAME);
+
+    reader
+        .history_kind(eprosima::fastrtps::KEEP_LAST_HISTORY_QOS)
+        .history_depth(10)
+        .reliability(eprosima::fastrtps::RELIABLE_RELIABILITY_QOS)
+        .participant_id(2)
+        .init();
+
+    writer
+        .history_kind(eprosima::fastrtps::KEEP_LAST_HISTORY_QOS)
+        .history_depth(10)
+        .reliability(eprosima::fastrtps::RELIABLE_RELIABILITY_QOS)
+        .participant_id(1)
+        .init();
+
+    ASSERT_TRUE(reader.isInitialized());
+    ASSERT_TRUE(writer.isInitialized());
+
+    // Wait for discovery.
+    writer.wait_discovery();
+    reader.wait_discovery();
+
+    auto data = default_helloworld_data_generator();
+    reader.startReception(data);
+
+    // Send data
+    writer.send(data);
+    // In this test all data should be sent.
+    ASSERT_TRUE(data.empty());
+    // Block reader until reception finished or timeout.
+    reader.block_for_all();
+
+    writer.destroy();
+    reader.wait_writer_undiscovery();
+    reader.wait_participant_undiscovery();
+
+    writer2
+        .history_kind(eprosima::fastrtps::KEEP_LAST_HISTORY_QOS)
+        .history_depth(10)
+        .reliability(eprosima::fastrtps::RELIABLE_RELIABILITY_QOS)
+        .participant_id(1)
+        .init();
+
+    ASSERT_TRUE(writer2.isInitialized());
+
+    writer2.wait_discovery();
+    reader.wait_discovery();
+
+    data = default_helloworld_data_generator();
+    reader.startReception(data);
+
+    // Send data
+    writer2.send(data);
+    // In this test all data should be sent.
+    ASSERT_TRUE(data.empty());
+    // Block reader until reception finished or timeout.
+    reader.block_for_all();
+}
+
 INSTANTIATE_TEST_CASE_P(Discovery,
         Discovery,
         testing::Values(false, true),

test/blackbox/PubSubReader.hpp

@@ -295,6 +295,7 @@ class PubSubReader
         total_msgs_ = msgs;
         number_samples_expected_ = total_msgs_.size();
         current_received_count_ = 0;
+        last_seq = eprosima::fastrtps::rtps::SequenceNumber_t();
         mutex_.unlock();
 
         bool ret = false;