[23986] Undefined InstanceHandle forwarded as defined

[emiliocuestaf]

Description

The issue that started this investigation was the case where a Safe DDS Writer and a Safe DDS Reader in different domains talked to one another through a DDS Router in a KEYED topic.

• If the router had RTPS participants, samples were all written in the same instance (the default) in the Safe DDS Reader, because they were sent as being valid
• If the router had DDS participants, the issue was in the DDS Router participants. The Writer placed all changes in the same instance (default), the Reader rejected because the instance had never been initialised, but the rejection reason was misleading

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	instanceHandle (in change/write)	compute_key	current behavior	expected result	notes (on the expected result)
RTPSWriter	NULL or UNDEF	X	provided KEY_HASH sent (it was read as valid*)	no KEY_HASH sent but message is sent anyway	Case required to allow forwarding in router with RTPS participants
OK	X	inlineQoS KEY_HASH sent in message	inlineQoS KEY_HASH sent in message
DDSWriter	NULL or UNDEF	TRUE	computed KEY_HASH sent in message	computed KEY_HASH sent in message
OK	TRUE	In Release: The key is not recomputedIn Debug: The key is recomputed, if they differ, PRECONDITION_NOT_MET	In Release: The key is not recomputedIn Debug: The key is recomputed, if they differ, PRECONDITION_NOT_MET
NULL or UNDEF	FALSE (or returned undef handle)	provided KEY_HASH sent (it was read as valid*)	PRECONDITION NOT MET	If we don't throw error, we don't know in which history each sample should be stored and samples are at risk of being overwritten
OK	FALSE (or returned undef handle)	In Release: The key is not recomputedIn Debug: The key is recomputed, if they differ, PRECONDITION_NOT_MET	In Release: The key is not recomputedIn Debug: The key is recomputed, if they differ, PRECONDITION_NOT_MET

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	instanceHandle (from msg)	compute_key	current behavior	expected result	notes (on the expected result)
RTPSReader	NULL or UNDEF	X	ok	ok	Case required to allow forwarding in router with RTPS participants
OK	X	ok	ok
DDSReader	NULL or UNDEF	TRUE	uses computed key	uses computed key
OK	TRUE	uses provided key	uses provided key	Could recompute and check for an error?
NULL or UNDEF	FALSE (or returned undef handle)	REJECTED_BY_INSTANCES_LIMIT	REJECTED_BY_UNKNOWN_INSTANCE	Added category to be more explicit
OK	FALSE (or returned undef handle)	uses provided key	uses provided key

Contributor Checklist

• Commit messages follow the project guidelines.
• The code follows the style guidelines of this project.
• Tests that thoroughly check the new feature have been added/Regression tests checking the bug and its fix have been added; the added tests pass locally
• Any new/modified methods have been properly documented using Doxygen.
• Any new configuration API has an equivalent XML API (with the corresponding XSD extension)
• Changes are backport compatible: they do NOT break ABI nor change library core behavior.
• Changes are API compatible.
• New feature has been added to the versions.md file (if applicable).
• New feature has been documented/Current behavior is correctly described in the documentation.
• Applicable backports have been included in the description.

Reviewer Checklist

• The PR has a milestone assigned.
• The title and description correctly express the PR's purpose.
• Check contributor checklist is correct.
• If this is a critical bug fix, backports to the critical-only supported branches have been requested.
• Check CI results: changes do not issue any warning.
• Check CI results: failing tests are unrelated with the changes.

[mergify]

🧪 CI Insights

Here's what we observed from your CI run for ae0a3f2.

❌ Job Failures

Pipeline	Job	Health on master	Retries	🔍 CI Insights	📄 Logs
Fast DDS MacOS CI	mac-ci / fastdds_test ()		0	View	View
Fast DDS Windows CI	windows-ci / fastdds_test (RelWithDebInfo, examples), v142		0	View	View
	windows-ci / fastdds_test (RelWithDebInfo, examples), v143		1	View	View