From f0b972fa02df0ce961661e05afe54e823ce95e2c Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Ricardo=20Gonz=C3=A1lez?= <ricardo@richiware.dev>
Date: Wed, 13 Jul 2022 07:26:08 +0200
Subject: [PATCH] Fix resetting of `LivelinessLostStatus::total_changes`
 (#2782)

* Refs #14982. Fix `DataWriter::get_liveliness_lost_status()`

* Apply suggestions from code review

Co-authored-by: Eduardo Ponz Segrelles <eduardoponz@eprosima.com>

Co-authored-by: Eduardo Ponz Segrelles <eduardoponz@eprosima.com>
(cherry picked from commit b5f87dd5c696461fbbaef95e54a1c00a53da11d6)

# Conflicts:
#	src/cpp/fastdds/publisher/DataWriterImpl.cpp
Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com>
---
 src/cpp/fastdds/publisher/DataWriterImpl.cpp | 27 ++++++++++++++++++--
 src/cpp/fastdds/publisher/DataWriterImpl.hpp | 14 +++++++++-
 2 files changed, 38 insertions(+), 3 deletions(-)

diff --git a/src/cpp/fastdds/publisher/DataWriterImpl.cpp b/src/cpp/fastdds/publisher/DataWriterImpl.cpp
index d9567455277..fc0c1c95c88 100644
--- a/src/cpp/fastdds/publisher/DataWriterImpl.cpp
+++ b/src/cpp/fastdds/publisher/DataWriterImpl.cpp
@@ -720,11 +720,20 @@ void DataWriterImpl::InnerDataWriterListener::on_liveliness_lost(
         fastrtps::rtps::RTPSWriter* /*writer*/,
         const fastrtps::LivelinessLostStatus& status)
 {
+<<<<<<< HEAD
     DataWriterListener* listener = data_writer_->get_listener_for(StatusMask::liveliness_lost());
+=======
+    data_writer_->update_liveliness_lost_status(status);
+    StatusMask notify_status = StatusMask::liveliness_lost();
+    DataWriterListener* listener = data_writer_->get_listener_for(notify_status);
+>>>>>>> b5f87dd5c (Fix resetting of `LivelinessLostStatus::total_changes` (#2782))
     if (listener != nullptr)
     {
-        listener->on_liveliness_lost(
-            data_writer_->user_datawriter_, status);
+        LivelinessLostStatus callback_status;
+        if (ReturnCode_t::RETCODE_OK == data_writer_->get_liveliness_lost_status(callback_status))
+        {
+            listener->on_liveliness_lost(data_writer_->user_datawriter_, callback_status);
+        }
     }
 }
 
@@ -869,10 +878,16 @@ ReturnCode_t DataWriterImpl::get_liveliness_lost_status(
 
     std::unique_lock<RecursiveTimedMutex> lock(writer_->getMutex());
 
+<<<<<<< HEAD
     status.total_count = writer_->liveliness_lost_status_.total_count;
     status.total_count_change = writer_->liveliness_lost_status_.total_count_change;
 
     writer_->liveliness_lost_status_.total_count_change = 0u;
+=======
+        status = liveliness_lost_status_;
+        liveliness_lost_status_.total_count_change = 0u;
+    }
+>>>>>>> b5f87dd5c (Fix resetting of `LivelinessLostStatus::total_changes` (#2782))
 
     return ReturnCode_t::RETCODE_OK;
 }
@@ -952,6 +967,14 @@ OfferedIncompatibleQosStatus& DataWriterImpl::update_offered_incompatible_qos(
     return offered_incompatible_qos_status_;
 }
 
+LivelinessLostStatus& DataWriterImpl::update_liveliness_lost_status(
+        const fastrtps::LivelinessLostStatus& liveliness_lost_status)
+{
+    liveliness_lost_status_.total_count = liveliness_lost_status.total_count;
+    liveliness_lost_status_.total_count_change += liveliness_lost_status.total_count_change;
+    return liveliness_lost_status_;
+}
+
 void DataWriterImpl::set_qos(
         DataWriterQos& to,
         const DataWriterQos& from,
diff --git a/src/cpp/fastdds/publisher/DataWriterImpl.hpp b/src/cpp/fastdds/publisher/DataWriterImpl.hpp
index 939566bb3bf..768af9339e8 100644
--- a/src/cpp/fastdds/publisher/DataWriterImpl.hpp
+++ b/src/cpp/fastdds/publisher/DataWriterImpl.hpp
@@ -294,7 +294,10 @@ class DataWriterImpl
     fastrtps::rtps::InstanceHandle_t timer_owner_;
 
     //! The offered deadline missed status
-    fastrtps::OfferedDeadlineMissedStatus deadline_missed_status_;
+    OfferedDeadlineMissedStatus deadline_missed_status_;
+
+    //! The liveliness lost status
+    LivelinessLostStatus liveliness_lost_status_;
 
     //! The offered incompatible qos status
     OfferedIncompatibleQosStatus offered_incompatible_qos_status_;
@@ -398,6 +401,15 @@ class DataWriterImpl
     OfferedIncompatibleQosStatus& update_offered_incompatible_qos(
             PolicyMask incompatible_policies);
 
+    /*!
+     * @brief Updates liveliness lost status.
+     *
+     * @param[in] liveliness_lost_status Liveliness lost status coming from RTPS layer.
+     * @return Current liveliness lost status.
+     */
+    LivelinessLostStatus& update_liveliness_lost_status(
+            const fastrtps::LivelinessLostStatus& liveliness_lost_status);
+
     /**
      * Returns the most appropriate listener to handle the callback for the given status,
      * or nullptr if there is no appropriate listener.