[#24620] Added regression tests

ddsrouter_core/test/blackbox/ddsrouter_core/dds/repeater/CMakeLists.txt

@@ -36,7 +36,39 @@ set(TEST_NEEDED_SOURCES
     )
 
 set(TEST_EXTRA_HEADERS
-    ${PROJECT_SOURCE_DIR}/test/blackbox/ddsrouter_core/dds/types/HelloWorld
+    ${PROJECT_SOURCE_DIR}/test/blackbox/ddsrouter_core/dds/types)
+
+add_blackbox_executable(
+    "${TEST_NAME}"
+    "${TEST_SOURCES}"
+    "${TEST_LIST}"
+    "${TEST_NEEDED_SOURCES}"
+    "${TEST_EXTRA_HEADERS}")
+
+#################################
+# DDS Test Repeater Dispose Key #
+#################################
+
+set(TEST_NAME
+    DDSTestRepeaterDisposeKey)
+
+set(TEST_SOURCES
+    DDSTestRepeaterDisposeKey.cpp
+    ${PROJECT_SOURCE_DIR}/test/blackbox/ddsrouter_core/dds/types/HelloWorld/HelloWorldPubSubTypes.cxx
+    ${PROJECT_SOURCE_DIR}/test/blackbox/ddsrouter_core/dds/types/HelloWorld/HelloWorldCdrAux.ipp
+    ${PROJECT_SOURCE_DIR}/test/blackbox/ddsrouter_core/dds/types/HelloWorld/HelloWorldTypeObjectSupport.cxx
+    ${PROJECT_SOURCE_DIR}/test/blackbox/ddsrouter_core/dds/types/HelloWorldKeyed/HelloWorldKeyedPubSubTypes.cxx
+    ${PROJECT_SOURCE_DIR}/test/blackbox/ddsrouter_core/dds/types/HelloWorldKeyed/HelloWorldKeyedCdrAux.ipp
+    ${PROJECT_SOURCE_DIR}/test/blackbox/ddsrouter_core/dds/types/HelloWorldKeyed/HelloWorldKeyedTypeObjectSupport.cxx)
+
+set(TEST_LIST
+        end_to_end_xml_repeater_key_dispose
+    )
+
+set(TEST_NEEDED_SOURCES
+    )
+
+set(TEST_EXTRA_HEADERS
     ${PROJECT_SOURCE_DIR}/test/blackbox/ddsrouter_core/dds/types)
 
 add_blackbox_executable(

ddsrouter_core/test/blackbox/ddsrouter_core/dds/repeater/DDSTestRepeaterDisposeKey.cpp

@@ -0,0 +1,189 @@
+// Copyright 2026 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <atomic>
+#include <thread>
+
+#include <fastdds/dds/core/detail/DDSReturnCode.hpp>
+
+#include <cpp_utils/Log.hpp>
+#include <cpp_utils/testing/gtest_aux.hpp>
+
+#include <ddspipe_core/types/topic/filter/WildcardDdsFilterTopic.hpp>
+
+#include <ddspipe_participants/configuration/SimpleParticipantConfiguration.hpp>
+#include <ddspipe_participants/configuration/XmlParticipantConfiguration.hpp>
+
+#include <ddsrouter_core/core/DdsRouter.hpp>
+#include <ddsrouter_core/types/ParticipantKind.hpp>
+
+#include <test_participants.hpp>
+
+#include <gtest/gtest.h>
+
+using namespace eprosima;
+using namespace eprosima::ddspipe;
+using namespace eprosima::ddsrouter::core;
+
+namespace test {
+
+constexpr const uint32_t DEFAULT_SAMPLES_TO_RECEIVE = 5;
+constexpr const uint32_t DEFAULT_MILLISECONDS_PUBLISH_LOOP = 100;
+constexpr const uint32_t DEFAULT_MESSAGE_SIZE = 1; // x50 bytes
+
+// Maximum time to wait for the forwarded dispose to be received by the subscriber.
+constexpr const uint32_t MAX_MILLISECONDS_WAIT_DISPOSE = 5000;
+constexpr const uint32_t MILLISECONDS_WAIT_STEP = 100;
+
+/**
+ * @brief Create a DDS Router configuration that bridges \c TOPIC_NAME between:
+ *   - a Simple participant in domain 0 (publisher side), and
+ *   - an XML (DDS) participant in domain 1 (subscriber side) configured as a REPEATER.
+ *
+ * The XML participant is the one that exercises the buggy code path: as a repeater its
+ * DataWriter installs a \c dds::RepeaterDataFilter prefilter. When the dispose/unregister
+ * sample produced by the publisher is forwarded to the subscriber through this writer, the
+ * prefilter is evaluated for a sample whose \c user_write_data is null (dispose/unregister
+ * are sent through DataWriter::dispose / unregister_instance, which cannot carry WriteParams).
+ *
+ * Note: no participant_profile is set on the XML participant, so XmlParticipant falls back to
+ * the configured domain (1) — this keeps the test self-contained (no external XML profile file).
+ */
+DdsRouterConfiguration xml_repeater_dispose_configuration()
+{
+    DdsRouterConfiguration conf;
+
+    // -- Filter the test topic by name ---------------------------------------
+    // (any type, keyed or not)
+    core::types::WildcardDdsFilterTopic topic;
+    topic.topic_name.set_value(TOPIC_NAME);
+    conf.ddspipe_configuration.allowlist.insert(
+        utils::Heritable<core::types::WildcardDdsFilterTopic>::make_heritable(topic));
+
+    // -- Create the participants ---------------------------------------------
+
+    // Simple participant in domain 0 (publisher side)
+    {
+        auto part = std::make_shared<participants::SimpleParticipantConfiguration>();
+        part->id = core::types::ParticipantId("simple_participant_0");
+        part->domain.domain_id = 0u;
+        conf.participants_configurations.insert({types::ParticipantKind::simple, part});
+    }
+
+    // XML (DDS) participant in domain 1 (subscriber side), in REPEATER mode.
+    {
+        auto part = std::make_shared<participants::XmlParticipantConfiguration>();
+        part->id = core::types::ParticipantId("xml_repeater_participant_1");
+        part->domain.domain_id = 1u;
+        part->is_repeater = true;
+        conf.participants_configurations.insert({types::ParticipantKind::xml, part});
+    }
+
+    return conf;
+}
+
+/**
+ * Regression test for the segfault in dds::RepeaterDataFilter::evaluate when forwarding a
+ * dispose/unregister sample (null user_write_data) through a repeater XML participant.
+ *
+ * Without the fix the router process crashes (SIGSEGV) while forwarding the dispose, so this
+ * test aborts. With the fix the dispose is forwarded and received by the subscriber.
+ */
+void test_xml_repeater_key_dispose(
+        DdsRouterConfiguration ddsrouter_configuration,
+        uint32_t samples_to_receive = DEFAULT_SAMPLES_TO_RECEIVE,
+        uint32_t time_between_samples = DEFAULT_MILLISECONDS_PUBLISH_LOOP,
+        uint32_t msg_size = DEFAULT_MESSAGE_SIZE)
+{
+    uint32_t samples_sent = 0;
+    std::atomic<uint32_t> samples_received(0);
+
+    HelloWorldKeyed msg;
+    HelloWorldKeyedPubSubType type;
+
+    std::string msg_str;
+    for (uint32_t i = 0; i < msg_size; i++)
+    {
+        msg_str += "Testing DdsRouter Blackbox Repeater Dispose ...";
+    }
+    msg.message(msg_str);
+    msg.id(666);
+
+    // -- Create keyed Publisher, Subscriber & Router -------------------------
+
+    // Publisher (domain 0)
+    TestPublisher<HelloWorldKeyed> publisher(type.is_compute_key_provided);
+    ASSERT_TRUE(publisher.init(0));
+
+    // Subscriber (domain 1)
+    TestSubscriber<HelloWorldKeyed> subscriber(type.is_compute_key_provided);
+    ASSERT_TRUE(subscriber.init(1, &msg, &samples_received));
+
+    // Create and start the DDS Router
+    DdsRouter router(ddsrouter_configuration);
+    router.start();
+
+    // -- Publish some messages -----------------------------------------------
+    while (samples_received.load() < samples_to_receive)
+    {
+        msg.index(++samples_sent);
+        ASSERT_EQ(publisher.publish(msg), fastdds::dds::RETCODE_OK) << samples_sent;
+
+        if (time_between_samples > 0)
+        {
+            std::this_thread::sleep_for(std::chrono::milliseconds(time_between_samples));
+        }
+    }
+
+    // -- Dispose the keyed publisher -----------------------------------------
+
+    // The dispose is routed to the XML repeater participant's writer,
+    // whose RepeaterDataFilter prefilter is evaluated with a null user_write_data.
+    // >>> Without the fix the router segfaults at this point. <<<
+    ASSERT_EQ(publisher.dispose_key(msg), fastdds::dds::RETCODE_OK);
+
+    // With the fix, the dispose is considered relevant and forwarded to the subscriber
+    uint32_t waited = 0;
+    while (subscriber.n_disposed() < 1u && waited < MAX_MILLISECONDS_WAIT_DISPOSE)
+    {
+        std::this_thread::sleep_for(std::chrono::milliseconds(MILLISECONDS_WAIT_STEP));
+        waited += MILLISECONDS_WAIT_STEP;
+    }
+
+    ASSERT_GE(subscriber.n_disposed(), 1u);
+
+    router.stop();
+}
+
+} /* namespace test */
+
+/**
+ * Test that a dispose forwarded through a repeater XML (DDS) participant does not crash the router
+ * and is correctly received by the subscriber.
+ *
+ * Regression test for the null user_write_data dereference in dds::RepeaterDataFilter::evaluate.
+ */
+TEST(DDSTestRepeaterDisposeKey, end_to_end_xml_repeater_key_dispose)
+{
+    test::test_xml_repeater_key_dispose(
+        test::xml_repeater_dispose_configuration());
+}
+
+int main(
+        int argc,
+        char** argv)
+{
+    ::testing::InitGoogleTest(&argc, argv);
+    return RUN_ALL_TESTS();
+}