Discovery Server fix reconnection [12522]

src/cpp/rtps/builtin/discovery/database/DiscoveryDataBase.cpp

@@ -870,7 +870,7 @@ void DiscoveryDataBase::create_writers_from_change_(
         }
         else
         {
-            logError(DISCOVERY_DATABASE, "Writer " << writer_guid << " as no associated participant. Skipping");
+            logError(DISCOVERY_DATABASE, "Writer " << writer_guid << " has no associated participant. Skipping");
             return;
         }
 
@@ -987,7 +987,7 @@ void DiscoveryDataBase::create_readers_from_change_(
         }
         else
         {
-            logError(DISCOVERY_DATABASE, "Writer " << reader_guid << " as no associated participant. Skipping");
+            logError(DISCOVERY_DATABASE, "Reader " << reader_guid << " has no associated participant. Skipping");
             return;
         }
 
@@ -1723,14 +1723,14 @@ void DiscoveryDataBase::AckedFunctor::operator () (
                 {
                     // If the participant is already in the DB it means it has answered to the pinging
                     // or that is pinging us and we have already received its DATA(p)
-                    // If neither of both has happenned we should not wait for it to ack this data, so we
+                    // If either of both has happenned we should not wait for it to ack this data, so we
                     // skip it and leave it as acked
                     auto remote_server_it = db_->participants_.find(*it);
-                    if (remote_server_it == db_->participants_.end())
+                    if (remote_server_it != db_->participants_.end())
                     {
                         logInfo(DISCOVERY_DATABASE, "Change " << change_->instanceHandle <<
                                 "check as acked for " << reader_proxy->guid() << " as it has not answered pinging yet");
-                        return;
+                        remote_server_it->second.add_or_update_ack_participant(db_->server_guid_prefix_, true);
                     }
                 }
             }
@@ -1755,25 +1755,20 @@ void DiscoveryDataBase::unmatch_participant_(
                 "Attempting to unmatch an unexisting participant: " << guid_prefix);
     }
 
-    // For each relevant participant make not relevant
-    for (eprosima::fastrtps::rtps::GuidPrefix_t relevant_participant : pit->second.relevant_participants())
+    // For each participant remove it
+    // IMPORTANT: This is not for every relevant participant, as participant A could be in other participant's B info
+    // and B not be relevant for A. So it must be done for every Participant.
+    for (auto& participant_it : participants_)
     {
-        if (relevant_participant != guid_prefix)
-        {
-            auto rpit = participants_.find(relevant_participant);
-            if (rpit == participants_.end())
-            {
-                // This is not an error. Remote participants will try to unmatch with participants even
-                // when the match is not reciprocal
-                logInfo(DISCOVERY_DATABASE,
-                        "Participant " << relevant_participant << " matched with an unexisting participant: " <<
-                        guid_prefix);
-            }
-            else
-            {
-                rpit->second.remove_participant(guid_prefix);
-            }
-        }
+        participant_it.second.remove_participant(guid_prefix);
+    }
+    for (auto& writer_it : writers_)
+    {
+        writer_it.second.remove_participant(guid_prefix);
+    }
+    for (auto& reader_it : readers_)
+    {
+        reader_it.second.remove_participant(guid_prefix);
     }
 }
 

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

@@ -801,6 +801,32 @@ bool get_server_client_default_guidPrefix(
     return false;
 }
 
+bool PDPClient::remove_remote_participant(
+        const GUID_t& partGUID,
+        ParticipantDiscoveryInfo::DISCOVERY_STATUS reason)
+{
+    if (PDP::remove_remote_participant(partGUID, reason))
+    {
+        // If it works fine, return
+        return true;
+    }
+
+    // Erase Proxies created before having the Participant
+    GUID_t wguid;
+    wguid.guidPrefix = partGUID.guidPrefix;
+    wguid.entityId = c_EntityId_SPDPWriter;
+    mp_PDPReader->matched_writer_remove(wguid);
+
+    GUID_t rguid;
+    rguid.guidPrefix = partGUID.guidPrefix;
+    rguid.entityId = c_EntityId_SPDPReader;
+    mp_PDPWriter->matched_reader_remove(rguid);
+
+    update_remote_servers_list();
+
+    return false;
+}
+
 } /* namespace rtps */
 } /* namespace fastdds */
 } /* namespace eprosima */

src/cpp/rtps/builtin/discovery/participant/PDPClient.h

@@ -122,6 +122,16 @@ class PDPClient : public PDP
     void notifyAboveRemoteEndpoints(
             const ParticipantProxyData& pdata) override;
 
+    /**
+     * This method removes a remote RTPSParticipant and all its writers and readers.
+     * @param participant_guid GUID_t of the remote RTPSParticipant.
+     * @param reason Why the participant is being removed (dropped vs removed)
+     * @return true if correct.
+     */
+    bool remove_remote_participant(
+            const GUID_t& participant_guid,
+            ParticipantDiscoveryInfo::DISCOVERY_STATUS reason) override;
+
     /**
      * Matching server EDP endpoints
      * @return true if all servers have been discovered

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

@@ -1255,6 +1255,10 @@ bool PDPServer::process_to_send_lists()
         logInfo(RTPS_PDP_SERVER, "Processing pdp_to_send");
         process_to_send_list(discovery_db_.pdp_to_send(), mp_PDPWriter, mp_PDPWriterHistory);
     }
+    else if (!discovery_db_.server_acked_by_all())
+    {
+        announceParticipantState(false);
+    }
     else
     {
         logInfo(RTPS_PDP_SERVER, "Skiping sending PDP data because no entities have been discovered or updated");