Adding assert_liveliness to participant [5771]

include/fastrtps/participant/Participant.h

@@ -95,6 +95,11 @@ class RTPS_DllAPI Participant
                 const rtps::GUID_t& readerGuid,
                 rtps::ReaderProxyData& returnedInfo);
 
+        /**
+         * @brief Asserts liveliness of manual by participant publishers
+         */
+        void assert_liveliness();
+
     private:
         Participant();
 

include/fastrtps/rtps/builtin/liveliness/WLP.h

@@ -126,6 +126,12 @@ class WLP
             LivelinessQosPolicyKind kind,
             Duration_t lease_duration);
 
+    /**
+     * @brief A method to assert liveliness of MANUAL_BY_PARTICIPANT writers
+     * @return True if there were any MANUAL_BY_PARTICIPANT writers
+     */
+    bool assert_liveliness_manual_by_participant();
+
     /**
      * Get the builtin protocols
      * @return Builtin protocols

src/cpp/participant/Participant.cpp

@@ -70,3 +70,8 @@ bool Participant::get_remote_reader_info(
 {
     return mp_impl->get_remote_reader_info(readerGuid, returnedInfo);
 }
+
+void Participant::assert_liveliness()
+{
+    mp_impl->assert_liveliness();
+}

src/cpp/participant/ParticipantImpl.cpp

@@ -41,6 +41,7 @@
 #include <fastrtps/transport/UDPv4Transport.h>
 #include <fastrtps/transport/UDPv6Transport.h>
 #include <fastrtps/transport/test_UDPv4Transport.h>
+#include <fastrtps/rtps/builtin/liveliness/WLP.h>
 
 #include <fastrtps/log/Log.h>
 
@@ -516,3 +517,15 @@ ResourceEvent& ParticipantImpl::get_resource_event() const
 {
     return mp_rtpsParticipant->get_resource_event();
 }
+
+void ParticipantImpl::assert_liveliness()
+{
+    if (mp_rtpsParticipant->wlp() != nullptr)
+    {
+        mp_rtpsParticipant->wlp()->assert_liveliness_manual_by_participant();
+    }
+    else
+    {
+        logError(PARTICIPANT, "Invalid WLP, cannot assert liveliness of participant");
+    }
+}

src/cpp/participant/ParticipantImpl.h

@@ -160,6 +160,11 @@ class ParticipantImpl
 
     rtps::ResourceEvent& get_resource_event() const;
 
+    /**
+     * @brief Asserts liveliness of manual by participant readers
+     */
+    void assert_liveliness();
+
     private:
     //!Participant Attributes
     ParticipantAttributes m_att;

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

@@ -822,6 +822,15 @@ bool WLP::assert_liveliness(
                 lease_duration);
 }
 
+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 false;
+}
+
 void WLP::pub_liveliness_changed(
         const GUID_t& writer,
         const LivelinessQosPolicyKind& kind,

test/blackbox/BlackboxTestsLivelinessQos.cpp

@@ -1552,3 +1552,45 @@ TEST(LivelinessQos, LivelinessChangedStatus_NotAlive_Unmatched)
     EXPECT_EQ(status.not_alive_count, 0);
     EXPECT_EQ(status.not_alive_count_change, -1);
 }
+
+
+//! Tests the assert_liveliness on the participant
+//! A participant with three publishers, two MANUAL_BY_PARTICIPANT liveliness, one MANUAL_BY_TOPIC
+TEST(LivelinessQos, AssertLivelinessParticipant)
+{
+    unsigned int num_pub = 3;
+    unsigned int lease_duration_ms = 100;
+    unsigned int announcement_period_ms = 10;
+
+    // Publishers
+    PubSubParticipant<HelloWorldType> publishers(num_pub, 0u, 0u, 0u);
+    ASSERT_TRUE(publishers.init_participant());
+    publishers.pub_topic_name(TEST_TOPIC_NAME)
+            .reliability(RELIABLE_RELIABILITY_QOS)
+            .pub_liveliness_announcement_period(announcement_period_ms * 1e-3)
+            .pub_liveliness_lease_duration(lease_duration_ms * 1e-3)
+            .pub_liveliness_kind(MANUAL_BY_PARTICIPANT_LIVELINESS_QOS);
+    ASSERT_TRUE(publishers.init_publisher(0u));
+    publishers.pub_topic_name(TEST_TOPIC_NAME)
+            .reliability(RELIABLE_RELIABILITY_QOS)
+            .pub_liveliness_announcement_period(announcement_period_ms * 1e-3)
+            .pub_liveliness_lease_duration(lease_duration_ms * 1e-3)
+            .pub_liveliness_kind(MANUAL_BY_PARTICIPANT_LIVELINESS_QOS);
+    ASSERT_TRUE(publishers.init_publisher(1u));
+    publishers.pub_topic_name(TEST_TOPIC_NAME)
+            .reliability(RELIABLE_RELIABILITY_QOS)
+            .pub_liveliness_announcement_period(announcement_period_ms * 1e-3)
+            .pub_liveliness_lease_duration(lease_duration_ms * 1e-3)
+            .pub_liveliness_kind(MANUAL_BY_TOPIC_LIVELINESS_QOS);
+    ASSERT_TRUE(publishers.init_publisher(1u));
+
+    // Assert liveliness
+    publishers.assert_liveliness_participant();
+
+    // Wait for alive publishers (only the two MANUAL_BY_PARTICIPANT publishers should be alive) to lose liveliness
+    std::this_thread::sleep_for(std::chrono::milliseconds(lease_duration_ms * 4));
+
+    // Only the two MANUAL_BY_PARTICIPANT publishers will have lost liveliness, as the
+    // MANUAL_BY_TOPIC was never asserted
+    EXPECT_EQ(publishers.pub_times_liveliness_lost(), 2u);
+}

test/blackbox/PubSubParticipant.hpp

@@ -110,6 +110,7 @@ class PubSubParticipant
         {
             (void)sub;
             (status.alive_count_change == 1) ? participant_->sub_liveliness_recovered() : participant_->sub_liveliness_lost();
+
         }
 
     private:
@@ -225,6 +226,11 @@ class PubSubParticipant
         return publishers_[index]->write((void*)&msg);
     }
 
+    void assert_liveliness_participant()
+    {
+        participant_->assert_liveliness();
+    }
+
     void assert_liveliness(unsigned int index = 0)
     {
         publishers_[index]->assert_liveliness();