From 258078dd377e9706ec731aa28789a88d90ce8de6 Mon Sep 17 00:00:00 2001
From: Miguel Company <miguelcompany@eprosima.com>
Date: Thu, 6 Jun 2024 11:40:46 +0200
Subject: [PATCH] Refs #21120. Fix discovery server tests.

Signed-off-by: Miguel Company <miguelcompany@eprosima.com>
---
 src/cpp/rtps/builtin/discovery/participant/PDPClient.cpp | 6 +++++-
 src/cpp/rtps/builtin/discovery/participant/PDPServer.cpp | 6 ++++--
 src/cpp/rtps/reader/BaseReader.hpp                       | 5 +++++
 3 files changed, 14 insertions(+), 3 deletions(-)

diff --git a/src/cpp/rtps/builtin/discovery/participant/PDPClient.cpp b/src/cpp/rtps/builtin/discovery/participant/PDPClient.cpp
index 30d392a02f..0c179ee41c 100644
--- a/src/cpp/rtps/builtin/discovery/participant/PDPClient.cpp
+++ b/src/cpp/rtps/builtin/discovery/participant/PDPClient.cpp
@@ -44,6 +44,7 @@
 #include <rtps/builtin/discovery/participant/timedevent/DSClientEvent.h>
 #include <rtps/builtin/liveliness/WLP.hpp>
 #include <rtps/participant/RTPSParticipantImpl.h>
+#include <rtps/reader/BaseReader.hpp>
 #include <rtps/reader/StatefulReader.hpp>
 #include <rtps/writer/StatefulWriter.hpp>
 #include <utils/shared_mutex.hpp>
@@ -348,7 +349,6 @@ bool PDPClient::create_ds_pdp_reliable_endpoints(
     ratt.endpoint.reliabilityKind = RELIABLE;
     ratt.times.heartbeatResponseDelay = pdp_heartbeat_response_delay;
 #if HAVE_SECURITY
-    ratt.accept_messages_from_unkown_writers = !is_discovery_protected && mp_RTPSParticipant->is_secure();
     if (is_discovery_protected)
     {
         ratt.endpoint.security_attributes().is_submessage_protected = true;
@@ -460,6 +460,10 @@ bool PDPClient::create_ds_pdp_reliable_endpoints(
                 match_pdp_writer_nts_(it);
                 match_pdp_reader_nts_(it);
             }
+            else if (!is_discovery_protected)
+            {
+                BaseReader::downcast(endpoints.reader.reader_)->allow_unknown_writers();
+            }
 #else
             if (!is_discovery_protected)
             {
diff --git a/src/cpp/rtps/builtin/discovery/participant/PDPServer.cpp b/src/cpp/rtps/builtin/discovery/participant/PDPServer.cpp
index 93c9537653..42689c8561 100644
--- a/src/cpp/rtps/builtin/discovery/participant/PDPServer.cpp
+++ b/src/cpp/rtps/builtin/discovery/participant/PDPServer.cpp
@@ -45,6 +45,7 @@
 #include <rtps/builtin/discovery/participant/timedevent/DServerEvent.hpp>
 #include <rtps/builtin/liveliness/WLP.hpp>
 #include <rtps/participant/RTPSParticipantImpl.h>
+#include <rtps/reader/BaseReader.hpp>
 #include <rtps/reader/StatefulReader.hpp>
 #include <rtps/writer/StatefulWriter.hpp>
 #include <utils/TimeConversion.hpp>
@@ -401,13 +402,14 @@ bool PDPServer::create_ds_pdp_reliable_endpoints(
 #else
     EntityId_t reader_entity = c_EntityId_SPDPReader;
 #endif // if HAVE_SECURITY
-    // Enable unknown clients to reach this reader
-    ratt.accept_messages_from_unkown_writers = true;
     if (mp_RTPSParticipant->createReader(&reader, ratt, endpoints.reader.history_.get(),
             endpoints.reader.listener_.get(), reader_entity, true, false))
     {
         endpoints.reader.reader_ = dynamic_cast<fastrtps::rtps::StatefulReader*>(reader);
 
+        // Enable unknown clients to reach this reader
+        BaseReader::downcast(endpoints.reader.reader_)->allow_unknown_writers();
+
 #if HAVE_SECURITY
         mp_RTPSParticipant->set_endpoint_rtps_protection_supports(reader, false);
 #endif // if HAVE_SECURITY
diff --git a/src/cpp/rtps/reader/BaseReader.hpp b/src/cpp/rtps/reader/BaseReader.hpp
index 9694c8221b..fd95cc5ad8 100644
--- a/src/cpp/rtps/reader/BaseReader.hpp
+++ b/src/cpp/rtps/reader/BaseReader.hpp
@@ -126,6 +126,11 @@ class BaseReader
         trusted_writer_entity_id_ = writer;
     }
 
+    void allow_unknown_writers()
+    {
+        accept_messages_from_unkown_writers_ = true;
+    }
+
     /**
      * Whether the reader accepts messages directed to unknown readers.
      *