Refs #21055. PDP::disable method automatically unmatches remote par…

…ticipants.

Signed-off-by: Miguel Company <miguelcompany@eprosima.com>

src/cpp/rtps/builtin/discovery/participant/PDP.cpp

@@ -431,6 +431,20 @@ bool PDP::enable()
 
 void PDP::disable()
 {
+    // Extract all the participant proxies excluding first one (ourselves)
+    std::vector<ParticipantProxyData*> participants;
+    {
+        std::lock_guard<std::recursive_mutex> guardPDP(*this->mp_mutex);
+        participants.insert(participants.end(), participant_proxies_.begin() + 1, participant_proxies_.end());
+        participant_proxies_.erase(participant_proxies_.begin() + 1, participant_proxies_.end());
+    }
+
+    // Unmatch all remote participants
+    for (ParticipantProxyData* pdata : participants)
+    {
+        remote_participant_removed(pdata, pdata->m_guid,
+            ParticipantDiscoveryInfo::DISCOVERY_STATUS::REMOVED_PARTICIPANT, nullptr);
+    }
 }
 
 void PDP::announceParticipantState(