From c898d85d05e41814acade9eccd2b3e3f52bdfb8d Mon Sep 17 00:00:00 2001
From: Miguel Company <miguelcompany@eprosima.com>
Date: Mon, 24 Jun 2024 10:24:39 +0200
Subject: [PATCH] Refs #21189. Fix StatelessReader.

Signed-off-by: Miguel Company <miguelcompany@eprosima.com>
---
 src/cpp/rtps/reader/StatelessReader.cpp | 61 +++++++++++++------------
 1 file changed, 33 insertions(+), 28 deletions(-)

diff --git a/src/cpp/rtps/reader/StatelessReader.cpp b/src/cpp/rtps/reader/StatelessReader.cpp
index 86c07c2ff65..6f81edd2629 100644
--- a/src/cpp/rtps/reader/StatelessReader.cpp
+++ b/src/cpp/rtps/reader/StatelessReader.cpp
@@ -230,33 +230,8 @@ bool StatelessReader::matched_writer_remove(
         const GUID_t& writer_guid,
         bool removed_by_lease)
 {
-    if (liveliness_lease_duration_ < c_TimeInfinite)
-    {
-        auto wlp = mp_RTPSParticipant->wlp();
-        if ( wlp != nullptr)
-        {
-            LivelinessData::WriterStatus writer_liveliness_status;
-            wlp->sub_liveliness_manager_->remove_writer(
-                writer_guid,
-                liveliness_kind_,
-                liveliness_lease_duration_,
-                writer_liveliness_status);
+    bool ret_val = false;
 
-            if (writer_liveliness_status == LivelinessData::WriterStatus::ALIVE)
-            {
-                update_liveliness_changed_status(writer_guid, -1, 0);
-            }
-            else if (writer_liveliness_status == LivelinessData::WriterStatus::NOT_ALIVE)
-            {
-                update_liveliness_changed_status(writer_guid, 0, -1);
-            }
-        }
-        else
-        {
-            EPROSIMA_LOG_ERROR(RTPS_LIVELINESS,
-                    "Finite liveliness lease duration but WLP not enabled, cannot remove writer");
-        }
-    }
     {
         std::unique_lock<RecursiveTimedMutex> guard(mp_mutex);
 
@@ -296,11 +271,41 @@ bool StatelessReader::matched_writer_remove(
                 }
 #endif //FASTDDS_STATISTICS
 
-                return true;
+                ret_val = true;
+                break;
             }
         }
     }
-    return false;
+
+    if (ret_val && liveliness_lease_duration_ < c_TimeInfinite)
+    {
+        auto wlp = mp_RTPSParticipant->wlp();
+        if ( wlp != nullptr)
+        {
+            LivelinessData::WriterStatus writer_liveliness_status;
+            wlp->sub_liveliness_manager_->remove_writer(
+                writer_guid,
+                liveliness_kind_,
+                liveliness_lease_duration_,
+                writer_liveliness_status);
+
+            if (writer_liveliness_status == LivelinessData::WriterStatus::ALIVE)
+            {
+                update_liveliness_changed_status(writer_guid, -1, 0);
+            }
+            else if (writer_liveliness_status == LivelinessData::WriterStatus::NOT_ALIVE)
+            {
+                update_liveliness_changed_status(writer_guid, 0, -1);
+            }
+        }
+        else
+        {
+            EPROSIMA_LOG_ERROR(RTPS_LIVELINESS,
+                    "Finite liveliness lease duration but WLP not enabled, cannot remove writer");
+        }
+    }
+
+    return ret_val;
 }
 
 bool StatelessReader::matched_writer_is_matched(