[21670] Fix Data Races on DDS-Pipe

[cferreiragonz]

This PR is a follow up of eProsima/DDS-Router#509 to fix tsan tests of the DDS Router. It fixes two data races:

• First, it uses the enabled_ atomic boolean of the BaseReader to ensure that the on_data_available_lambda_ is only called when the class has been properly enabled, that is, when the lambda has already been set. This change is not mandatory, but TSAN stops reporting a false positive related to a data race with the the mentioned lambda .
• Then, it uses DDS/Rtps Listeners as attributes rather than inheriting from them. In this way, a data race between the on_participant_discovery callback and the destructor is avoided (data race on vptr (ctor/dtor vs virtual call)). This data rece occurs when a thread makes a call to a virtual method ("dds.udp" calls listener_->on_participant_discovery) while at the same time the destructor of the object that owns the virtual method is called (~CommonParticipant). Calling set_listener(nullptr) within the destructor does not prevent the data race, because the vtable is modified in the prologue of the destructor.
• It also prevents several data races by avoiding calling set_listener after the Reader initialization.

[codecov-commenter]

Codecov Report

❌ Patch coverage is 31.94444% with 49 lines in your changes missing coverage. Please review.
✅ Project coverage is 37.96%. Comparing base (d0008a6) to head (2277ab2).
⚠️ Report is 24 commits behind head on main.

Files with missing lines	Patch %	Lines
...ants/src/cpp/participant/dds/CommonParticipant.cpp	42.30%	3 Missing and 12 partials ⚠️
.../participant/dynamic_types/DynTypesParticipant.cpp	0.00%	12 Missing ⚠️
...nts/src/cpp/participant/rtps/CommonParticipant.cpp	47.82%	3 Missing and 9 partials ⚠️
...e_participants/src/cpp/reader/dds/CommonReader.cpp	12.50%	6 Missing and 1 partial ⚠️
.../participant/dynamic_types/DynTypesParticipant.hpp	0.00%	2 Missing ⚠️
...articipants/src/cpp/reader/auxiliar/BaseReader.cpp	0.00%	0 Missing and 1 partial ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main     #145      +/-   ##
==========================================
+ Coverage   36.49%   37.96%   +1.46%     
==========================================
  Files         170      154      -16     
  Lines       11657     7020    -4637     
  Branches     5327     2788    -2539     
==========================================
- Hits         4254     2665    -1589     
+ Misses       4645     2954    -1691     
+ Partials     2758     1401    -1357     

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[cferreiragonz]

As internally agreed, I have disabled the auto-enabling of the DataReader at DDS level and now we manually enable it. This is not mandatory tho, it only protects against highly unlikely changes in future Fast DDS releases.

[cferreiragonz]

Revision applied on commit 71631b6. I also rebased on top of master

[juanlofer-eprosima]

LGTM

[cferreiragonz]

@Mergifyio backport 0.x

[mergify]

backport 0.x

✅ Backports have been created

Details

• #152 [21670] Fix Data Races on DDS-Pipe (backport #145) has been created for branch 0.x but encountered conflicts