[24094] Force history QoS consistency and change resource limits default values

include/fastdds/dds/core/policy/QosPolicies.hpp

@@ -1729,27 +1729,27 @@ class ResourceLimitsQosPolicy : public Parameter_t, public QosPolicy
      * @brief Specifies the maximum number of data-samples the DataWriter (or DataReader) can manage across all the
      * instances associated with it. Represents the maximum samples the middleware can store for any one DataWriter
      * (or DataReader). <br>
-     * Value less or equal to 0 means infinite resources. By default, 5000.
+     * Value less or equal to 0 means infinite resources. By default, LENGTH_UNLIMITED.
      *
      * @warning It is inconsistent if `max_samples < (max_instances * max_samples_per_instance)`.
      */
     int32_t max_samples;
     /**
      * @brief Represents the maximum number of instances DataWriter (or DataReader) can manage. <br>
-     * Value less or equal to 0 means infinite resources. By default, 10.
+     * Value less or equal to 0 means infinite resources. By default, LENGTH_UNLIMITED.
      *
      * @warning It is inconsistent if `(max_instances * max_samples_per_instance) > max_samples`.
      */
     int32_t max_instances;
     /**
      * @brief Represents the maximum number of samples of any one instance a DataWriter(or DataReader) can manage. <br>
-     * Value less or equal to 0 means infinite resources. By default, 400.
+     * Value less or equal to 0 means infinite resources. By default, LENGTH_UNLIMITED.
      *
      * @warning It is inconsistent if `(max_instances * max_samples_per_instance) > max_samples`.
      */
     int32_t max_samples_per_instance;
     /**
-     * @brief Number of samples currently allocated. <br>
+     * @brief Number of samples initially allocated. <br>
      * By default, 100.
      */
     int32_t allocated_samples;
@@ -1765,9 +1765,9 @@ class ResourceLimitsQosPolicy : public Parameter_t, public QosPolicy
     FASTDDS_EXPORTED_API ResourceLimitsQosPolicy()
         : Parameter_t(PID_RESOURCE_LIMITS, 4 * 5)
         , QosPolicy(false)
-        , max_samples(5000)
-        , max_instances(10)
-        , max_samples_per_instance(400)
+        , max_samples(LENGTH_UNLIMITED)
+        , max_instances(LENGTH_UNLIMITED)
+        , max_samples_per_instance(LENGTH_UNLIMITED)
         , allocated_samples(100)
         , extra_samples(1)
     {

src/cpp/fastdds/publisher/DataWriterHistory.cpp

@@ -27,6 +27,7 @@
 #include <fastdds/rtps/common/Time_t.hpp>
 #include <fastdds/rtps/writer/RTPSWriter.hpp>
 
+#include <rtps/history/HistoryAttributesExtension.hpp>
 #include <rtps/writer/BaseWriter.hpp>
 
 namespace eprosima {
@@ -51,10 +52,17 @@ HistoryAttributes DataWriterHistory::to_history_attributes(
         max_samples = history_qos.depth;
         if (topic_kind != NO_KEY)
         {
-            max_samples *= resource_limits_qos.max_instances;
+            if (0 < resource_limits_qos.max_instances)
+            {
+                max_samples *= resource_limits_qos.max_instances;
+            }
+            else
+            {
+                max_samples = LENGTH_UNLIMITED;
+            }
         }
 
-        initial_samples = std::min(initial_samples, max_samples);
+        initial_samples = get_min_max_samples(initial_samples, max_samples);
     }
 
     return HistoryAttributes(mempolicy, payloadMaxSize, initial_samples, max_samples, extra_samples);

src/cpp/fastdds/publisher/DataWriterImpl.cpp

@@ -338,6 +338,20 @@ ReturnCode_t DataWriterImpl::enable()
             datasharing.add_domain_id(utils::default_domain_id());
         }
         w_att.endpoint.set_data_sharing_configuration(datasharing);
+
+        // Update pool config for KEEP_ALL when max_samples is infinite
+        if ((0 == pool_config_.maximum_size) && (KEEP_ALL_HISTORY_QOS == qos_.history().kind))
+        {
+            // Override infinite with old default value for max_samples + extra samples
+            pool_config_.maximum_size = 5000;
+            if (0 < qos_.resource_limits().extra_samples)
+            {
+                pool_config_.maximum_size += static_cast<uint32_t>(qos_.resource_limits().extra_samples);
+            }
+            EPROSIMA_LOG_ERROR(DATA_WRITER,
+                    "DataWriter with KEEP_ALL history and infinite max_samples is not compatible with DataSharing. "
+                    "Setting max_samples to " << pool_config_.maximum_size);
+        }
     }
     else
     {
@@ -2124,31 +2138,30 @@ ReturnCode_t DataWriterImpl::check_qos(
             qos.resource_limits().max_samples_per_instance > 0 &&
             qos.history().depth > qos.resource_limits().max_samples_per_instance)
     {
-        EPROSIMA_LOG_WARNING(RTPS_QOS_CHECK,
-                "HISTORY DEPTH '" << qos.history().depth <<
-                "' is inconsistent with max_samples_per_instance: '" << qos.resource_limits().max_samples_per_instance <<
-                "'. Consistency rule: depth <= max_samples_per_instance." <<
-                " Effectively using max_samples_per_instance as depth.");
+        EPROSIMA_LOG_ERROR(RTPS_QOS_CHECK,
+                "HISTORY DEPTH '" << qos.history().depth << "' is higher than max_samples_per_instance " <<
+                "'" << qos.resource_limits().max_samples_per_instance << "'.");
+        return RETCODE_INCONSISTENT_POLICY;
     }
     return RETCODE_OK;
 }
 
 ReturnCode_t DataWriterImpl::check_allocation_consistency(
         const DataWriterQos& qos)
 {
-    if ((qos.resource_limits().max_samples > 0) &&
-            (qos.resource_limits().max_samples <
-            (qos.resource_limits().max_instances * qos.resource_limits().max_samples_per_instance)))
+    if ((qos.resource_limits().max_instances <= 0 || qos.resource_limits().max_samples_per_instance <= 0) &&
+            (qos.resource_limits().max_samples > 0))
     {
         EPROSIMA_LOG_ERROR(DDS_QOS_CHECK,
-                "max_samples should be greater than max_instances * max_samples_per_instance");
+                "max_samples should be infinite when max_instances or max_samples_per_instance are infinite");
         return RETCODE_INCONSISTENT_POLICY;
     }
-    if ((qos.resource_limits().max_instances <= 0 || qos.resource_limits().max_samples_per_instance <= 0) &&
-            (qos.resource_limits().max_samples > 0))
+    if ((qos.resource_limits().max_samples > 0) &&
+            (qos.resource_limits().max_samples <
+            (qos.resource_limits().max_instances * qos.resource_limits().max_samples_per_instance)))
     {
         EPROSIMA_LOG_ERROR(DDS_QOS_CHECK,
-                "max_samples should be infinite when max_instances or max_samples_per_instance are infinite");
+                "max_samples should be greater than max_instances * max_samples_per_instance");
         return RETCODE_INCONSISTENT_POLICY;
     }
     return RETCODE_OK;

src/cpp/fastdds/subscriber/DataReaderImpl.cpp

@@ -1620,31 +1620,30 @@ ReturnCode_t DataReaderImpl::check_qos(
             qos.resource_limits().max_samples_per_instance > 0 &&
             qos.history().depth > qos.resource_limits().max_samples_per_instance)
     {
-        EPROSIMA_LOG_WARNING(RTPS_QOS_CHECK,
-                "HISTORY DEPTH '" << qos.history().depth <<
-                "' is inconsistent with max_samples_per_instance: '" << qos.resource_limits().max_samples_per_instance <<
-                "'. Consistency rule: depth <= max_samples_per_instance." <<
-                " Effectively using max_samples_per_instance as depth.");
+        EPROSIMA_LOG_ERROR(RTPS_QOS_CHECK,
+                "HISTORY DEPTH '" << qos.history().depth << "' is higher than max_samples_per_instance " <<
+                "'" << qos.resource_limits().max_samples_per_instance << "'.");
+        return RETCODE_INCONSISTENT_POLICY;
     }
     return RETCODE_OK;
 }
 
 ReturnCode_t DataReaderImpl::check_allocation_consistency(
         const DataReaderQos& qos)
 {
-    if ((qos.resource_limits().max_samples > 0) &&
-            (qos.resource_limits().max_samples <
-            (qos.resource_limits().max_instances * qos.resource_limits().max_samples_per_instance)))
+    if ((qos.resource_limits().max_instances <= 0 || qos.resource_limits().max_samples_per_instance <= 0) &&
+            (qos.resource_limits().max_samples > 0))
     {
         EPROSIMA_LOG_ERROR(DDS_QOS_CHECK,
-                "max_samples should be greater than max_instances * max_samples_per_instance");
+                "max_samples should be infinite when max_instances or max_samples_per_instance are infinite");
         return RETCODE_INCONSISTENT_POLICY;
     }
-    if ((qos.resource_limits().max_instances <= 0 || qos.resource_limits().max_samples_per_instance <= 0) &&
-            (qos.resource_limits().max_samples > 0))
+    if ((qos.resource_limits().max_samples > 0) &&
+            (qos.resource_limits().max_samples <
+            (qos.resource_limits().max_instances * qos.resource_limits().max_samples_per_instance)))
     {
         EPROSIMA_LOG_ERROR(DDS_QOS_CHECK,
-                "max_samples should be infinite when max_instances or max_samples_per_instance are infinite");
+                "max_samples should be greater than max_instances * max_samples_per_instance");
         return RETCODE_INCONSISTENT_POLICY;
     }
     return RETCODE_OK;

src/cpp/fastdds/subscriber/history/DataReaderHistory.cpp

@@ -96,9 +96,16 @@ DataReaderHistory::DataReaderHistory(
     {
         resource_limited_qos_.max_instances = 1;
         resource_limited_qos_.max_samples_per_instance = resource_limited_qos_.max_samples;
-        key_changes_allocation_.initial = resource_limited_qos_.allocated_samples;
-        key_changes_allocation_.maximum = resource_limited_qos_.max_samples;
 
+        if (0 < resource_limited_qos_.allocated_samples)
+        {
+            key_changes_allocation_.initial = resource_limited_qos_.allocated_samples;
+        }
+
+        if (resource_limited_qos_.max_samples_per_instance < std::numeric_limits<int32_t>::max())
+        {
+            key_changes_allocation_.maximum = resource_limited_qos_.max_samples_per_instance;
+        }
         instances_.emplace(c_InstanceHandle_Unknown,
                 std::make_shared<DataReaderInstance>(key_changes_allocation_, key_writers_allocation_));
         data_available_instances_[c_InstanceHandle_Unknown] = instances_[c_InstanceHandle_Unknown];

src/cpp/rtps/history/HistoryAttributesExtension.hpp

@@ -49,6 +49,21 @@ static inline ResourceLimitedContainerConfig resource_limits_from_history(
         };
 }
 
+/**
+ * Get the minimum value between two sample counts, considering that <= 0 means unlimited.
+ *
+ * @param a First sample count.
+ * @param b Second sample count.
+ *
+ * @return Minimum sample count.
+ */
+static constexpr int32_t get_min_max_samples(
+        int32_t a,
+        int32_t b)
+{
+    return (0 < a && 0 < b) ? (a < b ? a : b) : (0 < a ? a : b);
+}
+
 } // namespace rtps
 } // namespace fastdds
 } // namespace eprosima

test/blackbox/common/BlackboxTestsReliability.cpp

@@ -58,6 +58,9 @@ void reliability_disable_heartbeat_piggyback(
     writer.reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS)
             .history_kind(eprosima::fastdds::dds::KEEP_LAST_HISTORY_QOS)
             .history_depth(1)
+            .resource_limits_max_samples_per_instance(1)
+            .resource_limits_max_instances(10)
+            .resource_limits_max_samples(10)
             .heartbeat_period_seconds(180000)
             .disable_heartbeat_piggyback(disable_heartbeat_piggyback)
             .disable_builtin_transport()

test/mock/dds/DataWriterHistory/fastdds/publisher/DataWriterHistory.hpp

@@ -60,7 +60,14 @@ class DataWriterHistory : public WriterHistory
             max_samples = history_qos.depth;
             if (topic_kind != NO_KEY)
             {
-                max_samples *= resource_limits_qos.max_instances;
+                if (0 < resource_limits_qos.max_instances)
+                {
+                    max_samples *= resource_limits_qos.max_instances;
+                }
+                else
+                {
+                    max_samples = std::numeric_limits<int32_t>::max();
+                }
             }
 
             initial_samples = std::min(initial_samples, max_samples);