From 8c601830b5a8657bae3fdebe0d2ea42cef7b146a Mon Sep 17 00:00:00 2001
From: lobmo <1162431386@qq.com>
Date: Thu, 21 May 2026 16:21:53 +0800
Subject: [PATCH] git commit -m "PDP: release locks and remove change on
 domain-id mismatch When a received Participant DATA has a different
 domain_id, return path left reader and PDP mutexes held and did not remove
 the change from history. Ensure locks are released and change removed before
 returning."

---
 src/cpp/rtps/builtin/discovery/participant/PDPListener.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/src/cpp/rtps/builtin/discovery/participant/PDPListener.cpp b/src/cpp/rtps/builtin/discovery/participant/PDPListener.cpp
index 70be0165018..7132234d596 100644
--- a/src/cpp/rtps/builtin/discovery/participant/PDPListener.cpp
+++ b/src/cpp/rtps/builtin/discovery/participant/PDPListener.cpp
@@ -115,11 +115,13 @@ void PDPListener::on_new_cache_change_added(
 
             if (part->is_participant_ignored(guid.guidPrefix))
             {
+                parent_pdp_->builtin_endpoints_->remove_from_pdp_reader_history(change);
                 return;
             }
 
             if (!check_discovery_conditions(temp_participant_data_))
             {
+                parent_pdp_->builtin_endpoints_->remove_from_pdp_reader_history(change);
                 return;
             }