[20584] Effectively assert automatic/manual_by_participant liveliness

include/fastdds/rtps/writer/LivelinessManager.h

@@ -105,12 +105,14 @@ class LivelinessManager
             Duration_t lease_duration);
 
     /**
-     * @brief Asserts liveliness of writers with given liveliness kind
+     * @brief Asserts liveliness of writers with given liveliness kind and GuidPrefix
      * @param kind Liveliness kind
+     * @param guid_prefix The guid prefix of the writers to assert liveliness of
      * @return True if liveliness was successfully asserted
      */
     bool assert_liveliness(
-            LivelinessQosPolicyKind kind);
+            LivelinessQosPolicyKind kind,
+            GuidPrefix_t guid_prefix);
 
     /**
      * @brief A method to check any writer of the given kind is alive

src/cpp/rtps/builtin/liveliness/WLP.cpp

@@ -974,7 +974,9 @@ bool WLP::assert_liveliness_manual_by_participant()
 {
     if (manual_by_participant_writers_.size() > 0)
     {
-        return pub_liveliness_manager_->assert_liveliness(MANUAL_BY_PARTICIPANT_LIVELINESS_QOS);
+        return pub_liveliness_manager_->assert_liveliness(
+            MANUAL_BY_PARTICIPANT_LIVELINESS_QOS,
+            mp_participant->getGuid().guidPrefix);
     }
     return false;
 }

src/cpp/rtps/builtin/liveliness/WLPListener.cpp

@@ -145,11 +145,11 @@ void WLPListener::onNewCacheChangeAdded(
     history->getMutex()->unlock();
     if (mp_WLP->automatic_readers_)
     {
-        mp_WLP->sub_liveliness_manager_->assert_liveliness(AUTOMATIC_LIVELINESS_QOS);
+        mp_WLP->sub_liveliness_manager_->assert_liveliness(AUTOMATIC_LIVELINESS_QOS, guidP);
     }
     if (livelinessKind == MANUAL_BY_PARTICIPANT_LIVELINESS_QOS)
     {
-        mp_WLP->sub_liveliness_manager_->assert_liveliness(MANUAL_BY_PARTICIPANT_LIVELINESS_QOS);
+        mp_WLP->sub_liveliness_manager_->assert_liveliness(MANUAL_BY_PARTICIPANT_LIVELINESS_QOS, guidP);
     }
     mp_WLP->mp_builtinProtocols->mp_PDP->getMutex()->unlock();
     history->getMutex()->lock();

src/cpp/rtps/writer/LivelinessManager.cpp

@@ -187,7 +187,8 @@ bool LivelinessManager::assert_liveliness(
                 {
                     for (LivelinessData& w: writers_)
                     {
-                        if (w.kind == writer.kind)
+                        if (w.kind == writer.kind &&
+                                w.guid.guidPrefix == guid.guidPrefix)
                         {
                             assert_writer_liveliness(w);
                         }
@@ -232,7 +233,8 @@ bool LivelinessManager::assert_liveliness(
 }
 
 bool LivelinessManager::assert_liveliness(
-        LivelinessQosPolicyKind kind)
+        LivelinessQosPolicyKind kind,
+        GuidPrefix_t guid_prefix)
 {
 
     if (!manage_automatic_ && kind == LivelinessQosPolicyKind::AUTOMATIC_LIVELINESS_QOS)
@@ -253,7 +255,8 @@ bool LivelinessManager::assert_liveliness(
 
         for (LivelinessData& writer: writers_)
         {
-            if (writer.kind == kind)
+            if (writer.kind == kind &&
+                    guid_prefix == writer.guid.guidPrefix)
             {
                 assert_writer_liveliness(writer);
             }

test/blackbox/api/dds-pim/PubSubParticipant.hpp

@@ -613,6 +613,22 @@ class PubSubParticipant
                 });
     }
 
+    template<class _Rep,
+            class _Period
+            >
+    size_t sub_wait_liveliness_lost_for(
+            unsigned int expected_num_lost,
+            const std::chrono::duration<_Rep, _Period>& max_wait)
+    {
+        std::unique_lock<std::mutex> lock(sub_liveliness_mutex_);
+        sub_liveliness_cv_.wait_for(lock, max_wait, [this, &expected_num_lost]() -> bool
+                {
+                    return sub_times_liveliness_lost_ >= expected_num_lost;
+                });
+
+        return sub_times_liveliness_lost_;
+    }
+
     PubSubParticipant& property_policy(
             const eprosima::fastrtps::rtps::PropertyPolicy property_policy)
     {

test/blackbox/api/fastrtps_deprecated/PubSubParticipant.hpp

@@ -401,6 +401,22 @@ class PubSubParticipant
                 });
     }
 
+    template<class _Rep,
+            class _Period
+            >
+    size_t sub_wait_liveliness_lost_for(
+            unsigned int expected_num_lost,
+            const std::chrono::duration<_Rep, _Period>& max_wait)
+    {
+        std::unique_lock<std::mutex> lock(sub_liveliness_mutex_);
+        sub_liveliness_cv_.wait_for(lock, max_wait, [this, &expected_num_lost]() -> bool
+                {
+                    return sub_times_liveliness_lost_ >= expected_num_lost;
+                });
+
+        return sub_times_liveliness_lost_;
+    }
+
     PubSubParticipant& property_policy(
             const eprosima::fastrtps::rtps::PropertyPolicy property_policy)
     {

test/blackbox/common/BlackboxTestsLivelinessQos.cpp

@@ -26,6 +26,8 @@
 #include <gtest/gtest.h>
 #include <fastrtps/xmlparser/XMLProfileManager.h>
 
+#include <rtps/transport/test_UDPv4Transport.h>
+
 using namespace eprosima::fastrtps;
 using namespace eprosima::fastrtps::rtps;
 
@@ -1946,6 +1948,56 @@ TEST(LivelinessTests, Detect_Deadlock_ManualByParticipant_Intraprocess)
     // Test failure is due to timeout
 }
 
+// Regression test of Refs #20584, github issue #4373
+TEST(LivelinessTests, Reader_Successfully_Asserts_Liveliness_on_a_Disconnected_Writer)
+{
+    // Create a TestTransport to simulate a network shutdown (Ctrl+C)
+    auto testTransport = std::make_shared<eprosima::fastdds::rtps::test_UDPv4TransportDescriptor>();
+
+    // Create two writer participants
+    PubSubWriter<HelloWorldPubSubType> writer_1(TEST_TOPIC_NAME);
+    PubSubWriter<HelloWorldPubSubType> writer_2(TEST_TOPIC_NAME + "2");
+
+    // Create a reader participant containing 2 subscribers and readers
+    PubSubParticipant<HelloWorldPubSubType> reader(0, 2, 0, 2);
+
+    reader.init_participant();
+    // Define the reader's lease duration in 1.6 secs
+    reader.sub_liveliness_lease_duration(eprosima::fastrtps::Time_t(1, 600000000));
+
+    // Create Subscribers and readers, one for each writer
+    reader.sub_topic_name(TEST_TOPIC_NAME);
+    reader.init_subscriber(0);
+    reader.sub_topic_name(TEST_TOPIC_NAME + "2");
+    reader.init_subscriber(1);
+
+    // Create writers
+    writer_1.disable_builtin_transport()
+            .lease_duration(c_TimeInfinite, 1)
+            .add_user_transport_to_pparams(testTransport)
+            .liveliness_lease_duration(eprosima::fastrtps::Time_t(1, 0))
+            .liveliness_kind(eprosima::fastdds::dds::AUTOMATIC_LIVELINESS_QOS)
+            .liveliness_announcement_period(eprosima::fastrtps::Time_t(0, 500000000))
+            .init();
+
+    writer_2.lease_duration(c_TimeInfinite, 1)
+            .liveliness_lease_duration(eprosima::fastrtps::Time_t(1, 0))
+            .liveliness_kind(eprosima::fastdds::dds::AUTOMATIC_LIVELINESS_QOS)
+            .liveliness_announcement_period(eprosima::fastrtps::Time_t(0, 500000000))
+            .init();
+
+    // Wait for discovery to occur. Liveliness should be recovered twice,
+    // one per matched reader.
+    reader.sub_wait_liveliness_recovered(2);
+
+    // Simulate a Ctrl+C in one of the writers
+    eprosima::fastdds::rtps::test_UDPv4Transport::test_UDPv4Transport_ShutdownAllNetwork = true;
+
+    // After 1.6 secs, we should receive a on_liveliness_changed(status lost)
+    // in the TEST_TOPIC_NAME reader that was matched with the disconnected writer_1
+    ASSERT_EQ(reader.sub_wait_liveliness_lost_for(1, std::chrono::seconds(4)), 1u);
+}
+
 #ifdef INSTANTIATE_TEST_SUITE_P
 #define GTEST_INSTANTIATE_TEST_MACRO(x, y, z, w) INSTANTIATE_TEST_SUITE_P(x, y, z, w)
 #else