Refs #22708. Avoid allocations using a ResourceLimitedVector instead of an std::set

Signed-off-by: Miguel Company <[email protected]>

Author: MiguelCompany

src/cpp/rtps/builtin/discovery/participant/simple/PDPStatelessWriter.cpp

@@ -29,6 +29,7 @@
 #include <fastdds/rtps/common/LocatorList.hpp>
 #include <fastdds/rtps/history/WriterHistory.hpp>
 #include <fastdds/rtps/transport/NetworkBuffer.hpp>
+#include <fastdds/utils/collections/ResourceLimitedVector.hpp>
 #include <fastdds/utils/TimedMutex.hpp>
 
 #include <rtps/builtin/data/ReaderProxyData.hpp>
@@ -47,6 +48,7 @@ PDPStatelessWriter::PDPStatelessWriter(
         WriterHistory* history,
         WriterListener* listener)
     : StatelessWriter(participant, guid, attributes, flow_controller, history, listener)
+    , interested_readers_(participant->get_attributes().allocation.participants)
 {
 }
 
@@ -131,7 +133,8 @@ bool PDPStatelessWriter::is_relevant(
         const fastdds::rtps::CacheChange_t& /* change */,
         const fastdds::rtps::GUID_t& reader_guid) const
 {
-    return interested_readers_.count(reader_guid) > 0;
+    return interested_readers_.end() !=
+           std::find(interested_readers_.begin(), interested_readers_.end(), reader_guid);
 }
 
 void PDPStatelessWriter::mark_all_readers_interested()
@@ -150,16 +153,20 @@ void PDPStatelessWriter::add_interested_reader(
     std::lock_guard<RecursiveTimedMutex> guard(mp_mutex);
     if (!should_reach_all_destinations_)
     {
-        interested_readers_.insert(reader_guid);
-        reader_data_filter(this);
+        auto it = std::find(interested_readers_.begin(), interested_readers_.end(), reader_guid);
+        if (it == interested_readers_.end())
+        {
+            interested_readers_.emplace_back(reader_guid);
+            reader_data_filter(this);
+        }
     }
 }
 
 void PDPStatelessWriter::remove_interested_reader(
         const GUID_t& reader_guid)
 {
     std::lock_guard<RecursiveTimedMutex> guard(mp_mutex);
-    interested_readers_.erase(reader_guid);
+    interested_readers_.remove(reader_guid);
 }
 
 void PDPStatelessWriter::reschedule_all_samples()

src/cpp/rtps/builtin/discovery/participant/simple/PDPStatelessWriter.hpp

@@ -20,10 +20,10 @@
 #define FASTDDS_RTPS_BUILTIN_DISCOVERY_PARTICIPANT_SIMPLE__PDPSTATELESSWRITER_HPP
 
 #include <chrono>
-#include <set>
 
 #include <fastdds/rtps/common/LocatorList.hpp>
 #include <fastdds/rtps/interfaces/IReaderDataFilter.hpp>
+#include <fastdds/utils/collections/ResourceLimitedVector.hpp>
 
 #include <rtps/writer/StatelessWriter.hpp>
 
@@ -141,7 +141,7 @@ class PDPStatelessWriter : public StatelessWriter, private IReaderDataFilter
     //! Configured initial peers
     LocatorList initial_peers_{};
     //! The set of readers interested
-    mutable std::set<GUID_t> interested_readers_{};
+    mutable ResourceLimitedVector<GUID_t> interested_readers_;
     //! Whether we have set that all destinations are interested
     mutable bool should_reach_all_destinations_ = false;