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;
         }
 
@@ -1721,17 +1721,24 @@ void DiscoveryDataBase::AckedFunctor::operator () (
             {
                 if (reader_proxy->guid().guidPrefix == *it)
                 {
-                    // 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
-                    // skip it and leave it as acked
+                    /*
+                     * 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 has happenned (participant is not in DB)
+                     * we should not wait for it to ack this data, or it could get stucked in an endless loop
+                     * (this Remote Server could not exist and/or never be discovered)
+                     * Nevertheless, the ack is still pending for this participant and once it is discovered this
+                     * data will be sent again
+                     */
                     auto remote_server_it = db_->participants_.find(*it);
                     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;
                     }
+
+                    break;
                 }
             }
 
@@ -1748,32 +1755,20 @@ void DiscoveryDataBase::unmatch_participant_(
 {
     logInfo(DISCOVERY_DATABASE, "unmatching participant: " << guid_prefix);
 
-    auto pit = participants_.find(guid_prefix);
-    if (pit == participants_.end())
+    // 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_)
     {
-        logWarning(DISCOVERY_DATABASE,
-                "Attempting to unmatch an unexisting participant: " << guid_prefix);
+        participant_it.second.remove_participant(guid_prefix);
     }
-
-    // For each relevant participant make not relevant
-    for (eprosima::fastrtps::rtps::GuidPrefix_t relevant_participant : pit->second.relevant_participants())
+    for (auto& writer_it : writers_)
     {
-        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);
-            }
-        }
+        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/PDPServerListener.cpp

@@ -63,6 +63,8 @@ void PDPServerListener::onNewCacheChangeAdded(
     // Get PDP reader to release change
     auto pdp_reader = pdp_server()->mp_PDPReader;
 
+    bool routine_should_be_awake = false;
+
     // Create a delete function to clear the data associated with the unique pointer in case the change is not passed
     // to the database.
     auto deleter = [pdp_history](CacheChange_t* p)
@@ -262,7 +264,7 @@ void PDPServerListener::onNewCacheChangeAdded(
                     // The server does not have to postpone the execution of the routine if a change is received, i.e.
                     // the server routine is triggered instantly as the default value of the interval that the server has
                     // to wait is 0.
-                    pdp_server()->awake_routine_thread();
+                    routine_should_be_awake = true;
 
                     // TODO: when the DiscoveryDataBase allows updating capabilities we can dismissed old PDP processing
                 }
@@ -380,7 +382,7 @@ void PDPServerListener::onNewCacheChangeAdded(
             // The server does not have to postpone the execution of the routine if a change is received, i.e.
             // the server routine is triggered instantly as the default value of the interval that the server has
             // to wait is 0.
-            pdp_server()->awake_routine_thread();
+            routine_should_be_awake = true;
 
             // From here on, the discovery database takes ownership of the CacheChange_t. Henceforth there are no
             // references to the change. Take change ownership away from the unique pointer, so that its destruction
@@ -390,13 +392,23 @@ void PDPServerListener::onNewCacheChangeAdded(
 
         // Remove participant from proxies
         reader->getMutex().unlock();
-        if (pdp_server()->remove_remote_participant(guid, ParticipantDiscoveryInfo::REMOVED_PARTICIPANT))
-        {
-            reader->getMutex().lock();
-            return;
-        }
+        pdp_server()->remove_remote_participant(guid, ParticipantDiscoveryInfo::REMOVED_PARTICIPANT);
         reader->getMutex().lock();
     }
+
+    /*
+     * Awake routine thread if needed.
+     * Thread is awaken at the end of the listener as it is required to have created the Proxies before
+     * the data is processed and the new messages added to history.
+     * If not, could happen that a message is added to history in order to be sent to a relevant participant, and
+     * this Participant still not have a ReaderProxy associated, and so it will miss the message and it wont be
+     * sent again (because if there are no changes PDP is no sent again).
+     */
+    if (routine_should_be_awake)
+    {
+        pdp_server()->awake_routine_thread();
+    }
+
     // cache is removed from history (if it's still there) and returned to the pool on leaving the scope, since the
     // unique pointer destruction grants it. If the ownership has been taken away from the unique pointer, then nothing
     // happens at this point