[#24061] Recovered lock in DdsPipe + solved error in Windows

Signed-off-by: danipiza <dpizarrogallego@gmail.com>

Author: Danipiza

ddspipe_core/src/cpp/core/DdsPipe.cpp

@@ -303,17 +303,22 @@ void DdsPipe::discovered_endpoint_nts_(
         // update the track of the topic to
         // add the partition in the reader if it is in the filter
 
-        const auto bridge_it = bridges_.find(utils::Heritable<DdsTopic>::make_heritable(endpoint.topic));
-        // add the specific partition of the endpoint in the bridges topic.
-        if (bridge_it != bridges_.end())
+        // update partitions under bridges_mutex_
         {
-            std::ostringstream guid_ss;
-            guid_ss << endpoint.guid;
+            std::lock_guard<std::mutex> lock(bridges_mutex_);
 
-            const auto part_it = endpoint.specific_partitions.find(guid_ss.str());
-            if (part_it != endpoint.specific_partitions.end())
+            const auto bridge_it = bridges_.find(utils::Heritable<DdsTopic>::make_heritable(endpoint.topic));
+            // add the specific partition of the endpoint in the bridges topic.
+            if (bridge_it != bridges_.end())
             {
-                bridge_it->second->add_partition_to_topic(guid_ss.str(), part_it->second);
+                std::ostringstream guid_ss;
+                guid_ss << endpoint.guid;
+
+                const auto part_it = endpoint.specific_partitions.find(guid_ss.str());
+                if (part_it != endpoint.specific_partitions.end())
+                {
+                    bridge_it->second->add_partition_to_topic(guid_ss.str(), part_it->second);
+                }
             }
         }
 
@@ -648,6 +653,9 @@ void DdsPipe::update_content_filter(
 void DdsPipe::update_filter(
         const std::set<std::string> filter_partition_set)
 {
+    // Avoid possible datarace with partitions filter
+    std::lock_guard<std::mutex> lock(bridges_mutex_);
+
     filter_partition_ = std::move(filter_partition_set);
 }