Fix windows example tests in Debug and mitigate rtps example flakiness (#5744)

* Refs #22592: Fix windows Debug example tests

Signed-off-by: Mario-DL <mariodominguez@eprosima.com>

* Refs #22592: Initialize samples_received_ in rtps example ReaderApp

Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com>

* Refs #22592: fix rtps example: Include a mechanism to ensure that the first sample is acked by all the matched readers and to prevent the next sample to piss it

Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com>

* TODO: REMOVE THIS COMMIT. (Dis)Enable workflows for windows testing

Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com>

* Revert "TODO: REMOVE THIS COMMIT. (Dis)Enable workflows for windows testing"

This reverts commit 7c4b08c.

Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com>

* Refs #22592: Apply Miguels rev

Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com>

* Refs #22592: Decrease HB period for hello_world publisher

Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com>

---------

Signed-off-by: Mario-DL <mariodominguez@eprosima.com>
Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com>

Author: Mario-DL

examples/cpp/hello_world/PublisherApp.cpp

@@ -85,6 +85,7 @@ PublisherApp::PublisherApp(
 
     // Create the data writer
     DataWriterQos writer_qos = DATAWRITER_QOS_DEFAULT;
+    writer_qos.history().depth = 5;
     publisher_->get_default_datawriter_qos(writer_qos);
     writer_ = publisher_->create_datawriter(topic_, writer_qos, this, StatusMask::all());
     if (writer_ == nullptr)
@@ -135,6 +136,17 @@ void PublisherApp::run()
         {
             std::cout << "Message: '" << hello_.message() << "' with index: '" << hello_.index()
                       << "' SENT" << std::endl;
+
+            if (hello_.index() == 1u)
+            {
+                ReturnCode_t acked = RETCODE_ERROR;
+                do
+                {
+                    dds::Duration_t acked_wait{1, 0};
+                    acked = writer_->wait_for_acknowledgments(acked_wait);
+                }
+                while (acked != RETCODE_OK);
+            }
         }
         // Wait for period or stop event
         std::unique_lock<std::mutex> period_lock(mutex_);

examples/cpp/hello_world/hello_world_profile.xml

@@ -26,6 +26,12 @@
                 <max_samples_per_instance>100</max_samples_per_instance>
             </resourceLimitsQos>
         </topic>
+        <times>
+            <heartbeat_period>
+                <sec>0</sec>
+                <nanosec>100000000</nanosec>
+            </heartbeat_period>
+        </times>
     </data_writer>
 
     <data_reader profile_name="hello_world_datareader_profile" is_default_profile="true">

examples/cpp/rtps/ReaderApp.cpp

@@ -78,6 +78,7 @@ ReaderApp::ReaderApp(
         const CLIParser::rtps_config& config,
         const std::string& topic_name)
     : samples_(config.samples)
+    , samples_received_(0)
     , rtps_participant_(nullptr)
     , rtps_reader_(nullptr)
     , reader_history_(nullptr)

examples/cpp/rtps/WriterApp.cpp

@@ -154,6 +154,17 @@ void WriterApp::run()
             std::cout << "Message " << data_->message() << " with index " << data_->index() << " SENT" << std::endl;
         }
 
+        if (data_->index() == 1u)
+        {
+            bool sample_acked = false;
+            do
+            {
+                dds::Duration_t acked_wait{1, 0};
+                sample_acked = rtps_writer_->wait_for_all_acked(acked_wait);
+            }
+            while (!sample_acked);
+        }
+
         // Wait for period or stop event
         std::unique_lock<std::mutex> period_lock(terminate_cv_mtx_);
         terminate_cv_.wait_for(period_lock, std::chrono::milliseconds(period_ms_), [&]()

test/examples/windows/Dockerfile

@@ -10,3 +10,6 @@ RUN choco install -y vcredist140
 
 # Install OpenSSL latest
 RUN choco install -y openssl
+
+#Install Runtime Debug Libraries
+RUN choco install -y visualstudio2022buildtools --package-parameters '--includeRecommended --includeOptional --add Microsoft.VisualStudio.Component.VC.Tools.x86.x64 --add Microsoft.Component.VC.Runtime.UCRTSDK' --no-progress