// Copyright 2023 Proyectos y Sistemas de Mantenimiento SL (eProsima).
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#include <fastdds/dds/builtin/topic/PublicationBuiltinTopicData.hpp>
#include <fastdds/dds/builtin/topic/SubscriptionBuiltinTopicData.hpp>
#include <fastdds/rtps/transport/test_UDPv4TransportDescriptor.hpp>
#include <fastdds/statistics/dds/domain/DomainParticipant.hpp>
#include <fastdds/statistics/topic_names.hpp>
#include <gtest/gtest.h>

// TODO(jlbueno): remove private header
#include <fastdds/dds/builtin/topic/ParticipantBuiltinTopicData.hpp>
#include <statistics/rtps/StatisticsBase.hpp>
#include "../types/statistics/monitorservice_typesPubSubTypes.hpp"
#include "BlackboxTests.hpp"
#include "PubSubReader.hpp"
#include "PubSubWriter.hpp"

using namespace eprosima::fastdds;
using namespace eprosima::fastdds::dds;
using namespace eprosima::fastdds::rtps;

enum communication_type
{
    TRANSPORT,
    INTRAPROCESS,
    DATASHARING
};

using MonitorServiceType = eprosima::fastdds::statistics::MonitorServiceStatusDataPubSubType;
using GUIDList = std::vector<GUID_t>;
using StatisticsGUIDList = std::vector<statistics::detail::GUID_s>;

struct SampleValidator;

#ifdef FASTDDS_STATISTICS

void validator_selector(
        statistics::dds::DomainParticipant* participant,
        SampleValidator*& validator,
        const statistics::StatusKind::StatusKind status_kind,
        SampleInfo& info,
        MonitorServiceType::type& data,
        std::list<MonitorServiceType::type>& total_msgs,
        std::atomic<size_t>& processed_count,
        std::condition_variable& cv);

class MonitorServiceParticipant
{

public:

    enum CallbackIndex
    {
        OFFERED_DEADLINE_MISSED_IDX,
        OFFERED_INCOMPATIBLE_QOS_IDX,
        LIVELINESS_LOST_IDX,
        PUBLICATION_MATCHED_IDX,
        REQUESTED_DEADLINE_MISSED_IDX,
        REQUESTED_INCOMPATIBLE_QOS_IDX,
        LIVELINESS_CHANGED_IDX,
        SUBSCRIPTION_MATCHED_IDX,
        SAMPLE_LOST_IDX,
        MAX_SIZE
    };

    MonitorServiceParticipant()
        : type_support_(new HelloWorldPubSubType())
    {

    }

    ~MonitorServiceParticipant()
    {
        auto dpf = DomainParticipantFactory::get_instance();
        if (nullptr != statistics_part_)
        {
            statistics_part_->delete_contained_entities();
            dpf->delete_participant(statistics_part_);
        }
    }

    void setup(
            const DomainParticipantQos& qos)
    {
        auto participant = DomainParticipantFactory::get_instance()->
                        create_participant((uint32_t)GET_PID() % 230, qos);

        setup(participant);
    }

    void setup(
            std::string profiles_file,
            std::string profile,
            uint32_t domain_id)
    {
        //! Load XML profiles
        eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->load_XML_profiles_file(profiles_file);

        eprosima::fastdds::dds::DomainParticipant* participant =
                eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->
                        create_participant_with_profile(domain_id, profile);

        setup(participant);
    }

    void setup()
    {
        DomainParticipantQos pqos;
        pqos.name() = "Monitor_Service_Participant";
        auto participant = DomainParticipantFactory::get_instance()->
                        create_participant((uint32_t)GET_PID() % 230, pqos);

        setup(participant);
    }

    void setup(
            DomainParticipant* participant)
    {
        statistics_part_ = statistics::dds::DomainParticipant::narrow(participant);
        ASSERT_NE(statistics_part_, nullptr);

        type_support_.register_type(participant);

        publisher_ = statistics_part_->create_publisher(PUBLISHER_QOS_DEFAULT);
        ASSERT_NE(publisher_, nullptr);

        subscriber_ = statistics_part_->create_subscriber(SUBSCRIBER_QOS_DEFAULT);
        ASSERT_NE(subscriber_, nullptr);

        create_topic();
    }

    void assert_liveliness()
    {
        for (auto& writer : writers_)
        {
            writer->assert_liveliness();
        }
    }

    const StatisticsGUIDList& get_writer_guids()
    {
        return writer_stat_guids_;
    }

    const StatisticsGUIDList& get_reader_guids()
    {
        return reader_stat_guids_;
    }

    statistics::detail::GUID_s get_participant_guid()
    {
        return statistics::to_statistics_type(statistics_part_->guid());
    }

    ReturnCode_t enable_monitor_service()
    {
        return statistics_part_->enable_monitor_service();
    }

    ReturnCode_t disable_monitor_service()
    {
        return statistics_part_->disable_monitor_service();
    }

    const uint32_t& get_cb_count(
            CallbackIndex cb_idx)
    {
        return listener_.get_cb_count_of(cb_idx);
    }

    void create_topic(
            int topic_number = 0)
    {
        topics_.emplace_back(statistics_part_->create_topic("test_" + std::to_string(topic_number),
                type_support_.get_type_name(), TOPIC_QOS_DEFAULT));
        ASSERT_NE(topics_.back(), nullptr);
    }

    void create_and_add_writer(
            const DataWriterQos& qos = DATAWRITER_QOS_DEFAULT)
    {
        writers_.emplace_back(publisher_->create_datawriter(topics_.back(), qos, &listener_));
        ASSERT_NE(writers_.back(), nullptr);

        writer_stat_guids_.push_back(statistics::to_statistics_type(writers_.back()->guid()));

        std::cout << "Created datawriter " << writers_.back()->guid() << " for topic " <<
            topics_.back()->get_name() << std::endl;
    }

    void create_and_add_reader(
            const DataReaderQos& qos = DATAREADER_QOS_DEFAULT)
    {
        DataReaderQos dr_qos{qos};

        if (enable_datasharing)
        {
            dr_qos.data_sharing().automatic();
        }
        else
        {
            dr_qos.data_sharing().off();
        }

        readers_.emplace_back(subscriber_->create_datareader(topics_.back(), dr_qos, &listener_));
        ASSERT_NE(readers_.back(), nullptr);

        reader_stat_guids_.push_back(statistics::to_statistics_type(readers_.back()->guid()));

        std::cout << "Created datareader " << readers_.back()->guid() << " for topic " <<
            topics_.back()->get_name() << std::endl;
    }

    bool delete_writer()
    {
        if (!writers_.empty())
        {
            writer_stat_guids_.pop_back();
            return (eprosima::fastdds::dds::RETCODE_OK == publisher_->delete_datawriter(writers_.back()));
        }

        return false;
    }

    bool delete_reader()
    {
        if (!readers_.empty())
        {
            reader_stat_guids_.pop_back();
            return (eprosima::fastdds::dds::RETCODE_OK == subscriber_->delete_datareader(readers_.back()));
        }

        return false;
    }

    void send(
            std::list<HelloWorld>& msgs,
            uint32_t milliseconds = 0)
    {
        auto it = msgs.begin();

        bool writing_failed {false};
        while (it != msgs.end() && !writing_failed)
        {
            for (auto& writer : writers_)
            {
                if (RETCODE_OK == writer->write((void*)&(*it)))
                {
                    default_send_print<HelloWorld>(*it);
                    it = msgs.erase(it);
                    if (milliseconds > 0)
                    {
                        std::this_thread::sleep_for(std::chrono::milliseconds(milliseconds));
                    }
                }
                else
                {
                    writing_failed = true;
                    break;
                }
            }
        }
    }

    bool write_sample(
            HelloWorld& sample)
    {
        if (!writers_.empty())
        {
            return (RETCODE_OK == writers_.back()->write(&sample));
        }

        return false;
    }

    void reset()
    {
        ASSERT_EQ(eprosima::fastdds::dds::RETCODE_OK, statistics_part_->delete_contained_entities());
        ASSERT_EQ(eprosima::fastdds::dds::RETCODE_OK,
                DomainParticipantFactory::get_instance()->delete_participant(statistics_part_));
        statistics_part_ = nullptr;
    }

protected:

    statistics::dds::DomainParticipant* statistics_part_;

    Publisher* publisher_;
    Subscriber* subscriber_;

    std::vector<Topic*> topics_;

    std::vector<DataWriter*> writers_;
    std::vector<DataReader*> readers_;

    StatisticsGUIDList writer_stat_guids_;
    StatisticsGUIDList reader_stat_guids_;

    TypeSupport type_support_;

    struct MonitorServiceParticipantListener : public DataReaderListener,
        public DataWriterListener
    {
        MonitorServiceParticipantListener()
        {
            cb_counters_.fill(0);
        }

        MonitorServiceParticipantListener(
                const MonitorServiceParticipantListener& other)
        {
            std::unique_lock<std::mutex> lock(other.mtx_);
            this->cb_counters_ = other.cb_counters_;
        }

        MonitorServiceParticipantListener(
                MonitorServiceParticipantListener&& other)
        {
            std::unique_lock<std::mutex> lock(other.mtx_);
            this->cb_counters_ = std::move(other.cb_counters_);
        }

        virtual ~MonitorServiceParticipantListener()
        {
        }

        void on_offered_deadline_missed (
                DataWriter* writer,
                const OfferedDeadlineMissedStatus& status) override
        {
            {
                std::unique_lock<std::mutex> lock(mtx_);
                ++cb_counters_[OFFERED_DEADLINE_MISSED_IDX];
            }

            std::cout << "on_offered_deadline_missed() " << writer->guid() << " total_count " << status.total_count <<
                std::endl;
        }

        void on_offered_incompatible_qos (
                DataWriter* writer,
                const OfferedIncompatibleQosStatus& status) override
        {
            {
                std::unique_lock<std::mutex> lock(mtx_);
                ++cb_counters_[OFFERED_INCOMPATIBLE_QOS_IDX];
            }

            std::cout << "on_offered_incompatible_qos " << writer->guid() << " total_count " << status.total_count <<
                std::endl;
        }

        void on_liveliness_lost (
                DataWriter* writer,
                const LivelinessLostStatus& status) override
        {
            {
                std::unique_lock<std::mutex> lock(mtx_);
                ++cb_counters_[LIVELINESS_LOST_IDX];
            }

            std::cout << "on_liveliness_lost " << writer->guid() << " total_count " << status.total_count << std::endl;
        }

        void on_publication_matched (
                DataWriter* writer,
                const PublicationMatchedStatus& status) override
        {
            {
                std::unique_lock<std::mutex> lock(mtx_);
                ++cb_counters_[PUBLICATION_MATCHED_IDX];
            }

            std::cout << "on_publication_matched " << writer->guid() << " total_count " << status.total_count <<
                std::endl;
        }

        void on_requested_deadline_missed (
                DataReader* reader,
                const RequestedDeadlineMissedStatus& status) override
        {
            {
                std::unique_lock<std::mutex> lock(mtx_);
                ++cb_counters_[REQUESTED_DEADLINE_MISSED_IDX];
            }

            std::cout << "on_requested_deadline_missed" << reader->guid() << " total_count " << status.total_count <<
                std::endl;
        }

        void on_requested_incompatible_qos (
                DataReader* reader,
                const RequestedIncompatibleQosStatus& status) override
        {
            {
                std::unique_lock<std::mutex> lock(mtx_);
                ++cb_counters_[REQUESTED_INCOMPATIBLE_QOS_IDX];
            }

            std::cout << "on_requested_incompatible_qos" << reader->guid() << " total_count " << status.total_count <<
                std::endl;
        }

        void on_liveliness_changed (
                DataReader* reader,
                const LivelinessChangedStatus& status) override
        {
            {
                std::unique_lock<std::mutex> lock(mtx_);
                ++cb_counters_[LIVELINESS_CHANGED_IDX];
            }

            std::cout << "on_liveliness_changed " << reader->guid() << " not_alive_count " << status.not_alive_count <<
                std::endl;
        }

        void on_subscription_matched (
                DataReader* reader,
                const SubscriptionMatchedStatus& status) override
        {
            {
                std::unique_lock<std::mutex> lock(mtx_);
                ++cb_counters_[SUBSCRIPTION_MATCHED_IDX];
            }

            std::cout << "on_subscription_matched " << reader->guid() << " total_count " << status.total_count <<
                std::endl;
        }

        void on_sample_lost (
                DataReader* reader,
                const SampleLostStatus& status) override
        {
            {
                std::unique_lock<std::mutex> lock(mtx_);
                ++cb_counters_[SAMPLE_LOST_IDX];
            }

            std::cout << "on_sample_lost " << reader->guid() << " total_count " << status.total_count << std::endl;
        }

        const uint32_t& get_cb_count_of(
                CallbackIndex cb_idx)
        {
            std::unique_lock<std::mutex> lock(mtx_);
            return cb_counters_[cb_idx];
        }

    private:

        mutable std::mutex mtx_;
        std::array<uint32_t, CallbackIndex::MAX_SIZE> cb_counters_;

    }
    listener_;
};

struct SampleValidator
{
    SampleValidator()
        : assert_on_non_expected_msgs_(true)
    {
        validation_mask.set();
    }

    SampleValidator(
            std::bitset<statistics::StatusKind::STATUSES_SIZE>& val_mask)
        : validation_mask(val_mask)
        , assert_on_non_expected_msgs_(true)
    {
    }

    SampleValidator(
            std::bitset<statistics::StatusKind::STATUSES_SIZE>& val_mask,
            bool assert_on_non_expected_msgs)
        : validation_mask(val_mask)
        , assert_on_non_expected_msgs_(assert_on_non_expected_msgs)
    {
    }

    //! Avoid declaring it as virtual
    //! in order to correctly apply static_cast
    void validate(
            SampleInfo&,
            MonitorServiceType::type&,
            std::list<MonitorServiceType::type>&,
            std::atomic<size_t>&,
            std::condition_variable&,
            statistics::dds::DomainParticipant*&)
    {
    }

    void update_processed_msgs(
            std::list<MonitorServiceType::type>::iterator& it,
            std::list<MonitorServiceType::type>& expected_msgs,
            std::atomic<size_t>& processed_count,
            std::condition_variable& cv,
            bool& was_expected)
    {
        was_expected = false;

        if (it != expected_msgs.end())
        {
            was_expected = true;
            expected_msgs.erase(it);
            ++processed_count;
            cv.notify_one();
        }
        else if (assert_on_non_expected_msgs_)
        {
            ASSERT_TRUE(false);
        }
    }

    std::bitset<statistics::StatusKind::STATUSES_SIZE> validation_mask;
    bool assert_on_non_expected_msgs_;

};

class MonitorServiceConsumer : protected PubSubReader<MonitorServiceType>
{

public:

    MonitorServiceConsumer()
        : PubSubReader<MonitorServiceType>(statistics::MONITOR_SERVICE_TOPIC, true, true)
        , sample_validator_( new SampleValidator())
        , reader_history_kind_(eprosima::fastdds::dds::KEEP_LAST_HISTORY_QOS)
    {

    }

    MonitorServiceConsumer(
            std::bitset<statistics::StatusKind::STATUSES_SIZE>& val_mask)
        : PubSubReader<MonitorServiceType>(statistics::MONITOR_SERVICE_TOPIC, true, true)
        , sample_validator_( new SampleValidator(val_mask))
        , reader_history_kind_(eprosima::fastdds::dds::KEEP_LAST_HISTORY_QOS)
    {

    }

    MonitorServiceConsumer(
            std::bitset<statistics::StatusKind::STATUSES_SIZE>& val_mask,
            bool assert_on_non_expected_msgs)
        : PubSubReader<MonitorServiceType>(statistics::MONITOR_SERVICE_TOPIC, true, true)
        , sample_validator_( new SampleValidator(val_mask, assert_on_non_expected_msgs))
        , reader_history_kind_(eprosima::fastdds::dds::KEEP_LAST_HISTORY_QOS)
    {

    }

    virtual ~MonitorServiceConsumer()
    {
        //! reset received function
        take_ = read_ = false;

        stopReception();
        destroy();

        if (nullptr != sample_validator_)
        {
            std::lock_guard<std::mutex> lock(validator_mtx_);
            delete sample_validator_;
            sample_validator_ = nullptr;
        }
    }

    GUID_t get_participant_guid()
    {
        return statistics_part_->guid();
    }

    void init_monitor_service_reader()
    {
        reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS);
        durability_kind(eprosima::fastdds::dds::TRANSIENT_LOCAL_DURABILITY_QOS);
        history_kind(reader_history_kind_);
        resource_limits_max_samples(4000);
        resource_limits_max_samples_per_instance(100);
        resource_limits_max_instances(30);
        init();

        statistics_part_ = statistics::dds::DomainParticipant::narrow(get_participant());
    }

    void init_monitor_service_reader(
            const uint32_t& domain_id)
    {
        reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS);
        durability_kind(eprosima::fastdds::dds::TRANSIENT_LOCAL_DURABILITY_QOS);
        history_kind(reader_history_kind_);
        history_depth(1);

        participant_ = DomainParticipantFactory::get_instance()->create_participant(
            domain_id,
            participant_qos_,
            &participant_listener_,
            eprosima::fastdds::dds::StatusMask::none());

        init();

        statistics_part_ = statistics::dds::DomainParticipant::narrow(get_participant());
    }

    MonitorServiceConsumer& set_reader_history_kind(
            HistoryQosPolicyKind kind)
    {
        reader_history_kind_ = kind;
        return *this;
    }

    SequenceNumber_t start_reception(
            const std::list<MonitorServiceType::type>& msgs)
    {
        return startReception(msgs);
    }

    template<class _Rep,
            class _Period>
    size_t block_for_all(
            const std::chrono::duration<_Rep, _Period>& time)
    {
        return PubSubReader<MonitorServiceType>::block_for_all(time);
    }

    void stop()
    {
        destroy();
    }

    unsigned int get_participants_matched()
    {
        return participant_matched_;
    }

protected:

    void receive_one(
            eprosima::fastdds::dds::DataReader* datareader,
            bool& returnedValue) override
    {
        returnedValue = false;
        type data;
        eprosima::fastdds::dds::SampleInfo info;

        ReturnCode_t success = datareader->take_next_sample((void*)&data, &info);

        if (eprosima::fastdds::dds::RETCODE_OK == success)
        {
            returnedValue = true;

            std::unique_lock<std::mutex> lock(mutex_);

            // Check order of changes
            LastSeqInfo seq_info{ info.instance_handle, info.sample_identity.writer_guid() };
            ASSERT_LT(last_seq[seq_info], info.sample_identity.sequence_number());
            last_seq[seq_info] = info.sample_identity.sequence_number();

            {
                std::lock_guard<std::mutex> guard(validator_mtx_);
                if (nullptr != sample_validator_)
                {
                    validator_selector(statistics_part_, sample_validator_,
                            data.status_kind(), info, data, total_msgs_, current_processed_count_, cv_);
                }
            }
        }
    }

    SampleValidator* sample_validator_;

    std::mutex validator_mtx_;

    statistics::dds::DomainParticipant* statistics_part_;

    HistoryQosPolicyKind reader_history_kind_;
};

struct ProxySampleValidator : public SampleValidator
{
    void validate(
            SampleInfo& info,
            MonitorServiceType::type& data,
            std::list<MonitorServiceType::type>& total_msgs,
            std::atomic<size_t>& processed_count,
            std::condition_variable& cv,
            statistics::dds::DomainParticipant* participant = nullptr)
    {
        if (validation_mask[statistics::StatusKind::PROXY]
                && info.valid_data
                && info.instance_state == eprosima::fastdds::dds::ALIVE_INSTANCE_STATE)
        {
            auto it = std::find_if(total_msgs.begin(), total_msgs.end(),
                            [&](const MonitorServiceType::type& elem)
                            {
                                return (data.status_kind() == elem.status_kind()) &&
                                data.local_entity() == elem.local_entity();
                            });

            bool msgs_was_expected = false;
            update_processed_msgs(it, total_msgs, processed_count, cv, msgs_was_expected);
            // If this proxy is not expected, avoid further processing and return
            if (!msgs_was_expected)
            {
                std::cout << "Unexpected proxy " << statistics::to_fastdds_type(data.local_entity()) <<
                    data.status_kind() << std::endl;
                return;
            }

            GUID_t guid = statistics::to_fastdds_type(data.local_entity());

            if (!data.value().entity_proxy().empty())
            {
                std::cout << "Received Proxy on local_entity "
                          << statistics::to_fastdds_type(data.local_entity()) << std::endl;

                if (guid.entityId == c_EntityId_RTPSParticipant)
                {
                    eprosima::fastdds::rtps::ParticipantBuiltinTopicData pdata;

                    ASSERT_EQ(participant->fill_discovery_data_from_cdr_message(pdata,
                            data),
                            eprosima::fastdds::dds::RETCODE_OK);

                    auto part_names = participant->get_participant_names();
                    auto it_names =
                            std::find(part_names.begin(), part_names.end(), pdata.participant_name.to_string());
                    ASSERT_TRUE(it_names != part_names.end());
                }
                else if (guid.entityId.is_reader())
                {
                    SubscriptionBuiltinTopicData rdata;

                    ASSERT_EQ(participant->fill_discovery_data_from_cdr_message(rdata,
                            data),
                            eprosima::fastdds::dds::RETCODE_OK);

                }
                else if (guid.entityId.is_writer())
                {
                    PublicationBuiltinTopicData wdata;

                    ASSERT_EQ(participant->fill_discovery_data_from_cdr_message(wdata,
                            data),
                            eprosima::fastdds::dds::RETCODE_OK);
                }
                else
                {
                    EPROSIMA_LOG_ERROR(BBTestsMonitorService, "Invalid entity guid " << guid);
                }
            }
            else
            {
                std::cout << "Received Entity disposal of entity "
                          << statistics::to_fastdds_type(data.local_entity()) << std::endl;
            }
        }
        else if (validation_mask[statistics::StatusKind::PROXY])
        {
            auto it = std::find_if(total_msgs.begin(), total_msgs.end(),
                            [&](const MonitorServiceType::type& elem)
                            {
                                return (data.status_kind() == elem.status_kind()) &&
                                data.local_entity() == elem.local_entity();
                            });

            std::cout << "Received unregistration of instance "
                      << info.instance_handle << std::endl;

            bool msg_was_expected = false;
            update_processed_msgs(it, total_msgs, processed_count, cv, msg_was_expected);
        }
    }

};

struct ConnectionListSampleValidator : public SampleValidator
{
    void validate(
            SampleInfo& info,
            MonitorServiceType::type& data,
            std::list<MonitorServiceType::type>& total_msgs,
            std::atomic<size_t>& processed_count,
            std::condition_variable& cv)
    {
        if (validation_mask[statistics::StatusKind::CONNECTION_LIST]
                && info.valid_data
                && info.instance_state == eprosima::fastdds::dds::ALIVE_INSTANCE_STATE)
        {
            std::cout << "Received ConnectionList on local_entity "
                      << statistics::to_fastdds_type(data.local_entity()) << std::endl;

            for (auto& connection : data.value().connection_list())
            {
                std::cout << "Received Connection: \n\tMode: " << static_cast<uint32_t>(connection.mode()) <<
                    "\n\tGuid " << statistics::to_fastdds_type(connection.guid()) << "\n\t"
                          << "Announced Locators: ";
                for (auto& locator : connection.used_locators())
                {
                    std::cout << "\n\t " << statistics::to_fastdds_type(locator) << std::endl;
                }
            }

            std::cout << std::endl;

            auto it = std::find_if(total_msgs.begin(), total_msgs.end(),
                            [&](const MonitorServiceType::type& total_msgs_elem)
                            {
                                if ((data.status_kind() == total_msgs_elem.status_kind()) &&
                                (data.local_entity() == total_msgs_elem.local_entity()))
                                {
                                    //! Check for connections
                                    bool expected_locators_found = true;
                                    for (auto& data_connection : data.value().connection_list())
                                    {
                                        //! Find the first Connection that matches with the incoming, with same
                                        //! mode and same locators
                                        auto conn_it = std::find_if(total_msgs_elem.value().connection_list().begin(),
                                        total_msgs_elem.value().connection_list().end(),
                                        [&](const statistics::Connection&  total_msgs_elem_connection)
                                        {
                                            if (total_msgs_elem_connection.mode() == data_connection.mode()
                                            && total_msgs_elem_connection.guid() == data_connection.guid())
                                            {
                                                //! check locators
                                                bool same_locators = true;
                                                for (size_t i = 0;
                                                i < total_msgs_elem_connection.announced_locators().size(); i++)
                                                {
                                                    bool locator_found = false;
                                                    for (size_t j = 0;
                                                    j < data_connection.announced_locators().size(); j++)
                                                    {
                                                        //! provided comparison operator
                                                        if (total_msgs_elem_connection.announced_locators()[i] ==
                                                        data_connection.announced_locators()[j])
                                                        {
                                                            locator_found = true;
                                                        }
                                                    }

                                                    if (!locator_found)
                                                    {
                                                        EPROSIMA_LOG_ERROR(BBTestsMonitorService,
                                                        "Locator not found in sample msg "
                                                            << statistics::to_fastdds_type(total_msgs_elem_connection.
                                                                announced_locators()[i]) <<
                                                            " for local entity " <<
                                                            statistics::to_fastdds_type(total_msgs_elem.local_entity()));
                                                        same_locators = false;
                                                        break;
                                                    }
                                                }

                                                return same_locators;
                                            }
                                            else
                                            {
                                                return false;
                                            }
                                        });

                                        //! Check return connection is the last (valid connection NOT found)
                                        if (conn_it == total_msgs_elem.value().connection_list().end())
                                        {
                                            expected_locators_found = false;
                                            break;
                                        }
                                    }

                                    return expected_locators_found;
                                }

                                return false;
                            });

            bool msg_was_expected = false;
            update_processed_msgs(it, total_msgs, processed_count, cv, msg_was_expected);
        }
    }

};

struct IncompatibleQoSSampleValidator : public SampleValidator
{
    void validate(
            SampleInfo& info,
            MonitorServiceType::type& data,
            std::list<MonitorServiceType::type>& total_msgs,
            std::atomic<size_t>& processed_count,
            std::condition_variable& cv)
    {
        if (validation_mask[statistics::StatusKind::INCOMPATIBLE_QOS]
                && info.valid_data
                && info.instance_state == eprosima::fastdds::dds::ALIVE_INSTANCE_STATE)
        {
            auto it = std::find_if(total_msgs.begin(), total_msgs.end(),
                            [&](const MonitorServiceType::type& elem)
                            {
                                return (data.status_kind() == elem.status_kind()) &&
                                (data.local_entity() == elem.local_entity()) &&
                                (data.value().incompatible_qos_status().last_policy_id()
                                == elem.value().incompatible_qos_status().last_policy_id());
                            });

            bool msg_was_expected = false;
            update_processed_msgs(it, total_msgs, processed_count, cv, msg_was_expected);

            std::cout << "Received QoS Incompatibility on local_entity "
                      << statistics::to_fastdds_type(data.local_entity())
                      << "\n\tLast policy id: " << data.value().incompatible_qos_status().last_policy_id()
                      << std::endl;
        }
    }

};

struct LivelinessLostSampleValidator : public SampleValidator
{
    void validate(
            SampleInfo& info,
            MonitorServiceType::type& data,
            std::list<MonitorServiceType::type>& total_msgs,
            std::atomic<size_t>& processed_count,
            std::condition_variable& cv)
    {
        if (validation_mask[statistics::StatusKind::LIVELINESS_LOST]
                && info.valid_data
                && info.instance_state == eprosima::fastdds::dds::ALIVE_INSTANCE_STATE)
        {
            auto it = std::find_if(total_msgs.begin(), total_msgs.end(),
                            [&](const MonitorServiceType::type& elem)
                            {
                                return (data.status_kind() == elem.status_kind()) &&
                                (data.local_entity() == elem.local_entity()) &&
                                (data.value().liveliness_lost_status().total_count()
                                == elem.value().liveliness_lost_status().total_count());
                            });

            if (assert_on_non_expected_msgs_)
            {
                ASSERT_NE(it, total_msgs.end());
            }

            bool msg_was_expected = false;
            update_processed_msgs(it, total_msgs, processed_count, cv, msg_was_expected);

            std::cout << "Received QoS Incompatibility on local_entity "
                      << statistics::to_fastdds_type(data.local_entity())
                      << "\n\tLiveliness Lost Count: " << data.value().liveliness_lost_status().total_count()
                      << std::endl;
        }
    }

};

struct LivelinessChangedSampleValidator : public SampleValidator
{
    void validate(
            SampleInfo& info,
            MonitorServiceType::type& data,
            std::list<MonitorServiceType::type>& total_msgs,
            std::atomic<size_t>& processed_count,
            std::condition_variable& cv)
    {
        if (validation_mask[statistics::StatusKind::LIVELINESS_CHANGED]
                && info.valid_data
                && info.instance_state == eprosima::fastdds::dds::ALIVE_INSTANCE_STATE)
        {
            auto it = std::find_if(total_msgs.begin(), total_msgs.end(),
                            [&](const MonitorServiceType::type& elem)
                            {
                                return (data.status_kind() == elem.status_kind()) &&
                                (data.local_entity() == elem.local_entity()) &&
                                (data.value().liveliness_changed_status().not_alive_count()
                                >= elem.value().liveliness_changed_status().not_alive_count());
                            });

            std::cout << "Received Liveliness Changed on local_entity "
                      << statistics::to_fastdds_type(data.local_entity())
                      << "\n\tNot Alive Count: " << data.value().liveliness_changed_status().not_alive_count()
                      << std::endl;

            bool msg_was_expected = false;
            update_processed_msgs(it, total_msgs, processed_count, cv, msg_was_expected);
        }
    }

};

struct DeadlineMissedSampleValidator : public SampleValidator
{
    void validate(
            SampleInfo& info,
            MonitorServiceType::type& data,
            std::list<MonitorServiceType::type>& total_msgs,
            std::atomic<size_t>& processed_count,
            std::condition_variable& cv)
    {
        std::cout << "Received Deadline Missed on local_entity "
                  << statistics::to_fastdds_type(data.local_entity())
                  << "\n\tTotal Count: " << data.value().deadline_missed_status().total_count()
                  << std::endl;

        if (validation_mask[statistics::StatusKind::DEADLINE_MISSED]
                && info.valid_data
                && info.instance_state == eprosima::fastdds::dds::ALIVE_INSTANCE_STATE)
        {
            auto it = std::find_if(total_msgs.begin(), total_msgs.end(),
                            [&](const MonitorServiceType::type& elem)
                            {
                                return (data.status_kind() == elem.status_kind()) &&
                                (data.local_entity() == elem.local_entity()) &&
                                (data.value().deadline_missed_status().total_count()
                                >= elem.value().deadline_missed_status().total_count());
                            });

            std::cout << "Received Deadline Missed on local_entity "
                      << statistics::to_fastdds_type(data.local_entity())
                      << "\n\tTotal Count: " << data.value().deadline_missed_status().total_count()
                      << std::endl;

            bool msg_was_expected = false;
            update_processed_msgs(it, total_msgs, processed_count, cv, msg_was_expected);
        }
    }

};

struct SampleLostSampleValidator : public SampleValidator
{
    void validate(
            SampleInfo& info,
            MonitorServiceType::type& data,
            std::list<MonitorServiceType::type>& total_msgs,
            std::atomic<size_t>& processed_count,
            std::condition_variable& cv)
    {
        if (validation_mask[statistics::StatusKind::SAMPLE_LOST]
                && info.valid_data
                && info.instance_state == eprosima::fastdds::dds::ALIVE_INSTANCE_STATE)
        {
            auto it = std::find_if(total_msgs.begin(), total_msgs.end(),
                            [&](const MonitorServiceType::type& elem)
                            {
                                return (data.status_kind() == elem.status_kind()) &&
                                (data.local_entity() == elem.local_entity()) &&
                                (data.value().sample_lost_status().total_count() >= 1);
                            });

            std::cout << "Received Sample Lost on local_entity "
                      << statistics::to_fastdds_type(data.local_entity())
                      << "\n\tLast policy id: " << data.value().sample_lost_status().total_count()
                      << std::endl;


            bool msg_was_expected = false;
            update_processed_msgs(it, total_msgs, processed_count, cv, msg_was_expected);
        }
    }

};

struct ExtendedIncompatibleQoSValidator : public SampleValidator
{
    void validate(
            SampleInfo& info,
            MonitorServiceType::type& data,
            std::list<MonitorServiceType::type>& total_msgs,
            std::atomic<size_t>& processed_count,
            std::condition_variable& cv)
    {
        if (validation_mask[statistics::StatusKind::EXTENDED_INCOMPATIBLE_QOS]
                && info.valid_data
                && info.instance_state == eprosima::fastdds::dds::ALIVE_INSTANCE_STATE)
        {
            auto it = std::find_if(total_msgs.begin(), total_msgs.end(),
                            [&](const MonitorServiceType::type& elem)
                            {
                                return (data.status_kind() == elem.status_kind()) &&
                                (data.local_entity() == elem.local_entity()) &&
                                (data.value().extended_incompatible_qos_status() ==
                                elem.value().extended_incompatible_qos_status());
                            });

            std::cout << "Received Extended Incompatible QoS on local_entity "
                      << statistics::to_fastdds_type(data.local_entity());

            for (auto& incompatibility : data.value().extended_incompatible_qos_status())
            {
                std::cout << "\n\tAgainst remote GUID: " << statistics::to_fastdds_type(incompatibility.remote_guid())
                          << "\n\tIncom. policies: ";
                for (auto& policy : incompatibility.current_incompatible_policies())
                {
                    std::cout << "\n\t\tPolicy: " << policy;
                }
            }

            std::cout << std::endl;

            bool msg_was_expected = false;
            update_processed_msgs(it, total_msgs, processed_count, cv, msg_was_expected);
        }
    }

};

void validator_selector(
        statistics::dds::DomainParticipant* participant,
        SampleValidator*& validator,
        const statistics::StatusKind::StatusKind status_kind,
        SampleInfo& info,
        MonitorServiceType::type& data,
        std::list<MonitorServiceType::type>& total_msgs,
        std::atomic<size_t>& processed_count,
        std::condition_variable& cv)
{
    switch (status_kind)
    {
        case statistics::StatusKind::PROXY:
        {
            auto sample_validator = static_cast<ProxySampleValidator*>(validator);
            sample_validator->validate(info, data, total_msgs, processed_count, cv, participant);
            break;
        }
        case statistics::StatusKind::CONNECTION_LIST:
        {
            auto sample_validator = static_cast<ConnectionListSampleValidator*>(validator);
            sample_validator->validate(info, data, total_msgs, processed_count, cv);
            break;
        }
        case statistics::StatusKind::INCOMPATIBLE_QOS:
        {
            auto sample_validator = static_cast<IncompatibleQoSSampleValidator*>(validator);
            sample_validator->validate(info, data, total_msgs, processed_count, cv);
            break;
        }
        case statistics::StatusKind::INCONSISTENT_TOPIC:
        {
            break;
        }
        case statistics::StatusKind::LIVELINESS_LOST:
        {
            auto sample_validator = static_cast<LivelinessLostSampleValidator*>(validator);
            sample_validator->validate(info, data, total_msgs, processed_count, cv);
            break;
        }
        case statistics::StatusKind::LIVELINESS_CHANGED:
        {
            auto sample_validator = static_cast<LivelinessChangedSampleValidator*>(validator);
            sample_validator->validate(info, data, total_msgs, processed_count, cv);
            break;
        }
        case statistics::StatusKind::DEADLINE_MISSED:
        {
            auto sample_validator = static_cast<DeadlineMissedSampleValidator*>(validator);
            sample_validator->validate(info, data, total_msgs, processed_count, cv);
            break;
        }
        case statistics::StatusKind::SAMPLE_LOST:
        {
            auto sample_validator = static_cast<SampleLostSampleValidator*>(validator);
            sample_validator->validate(info, data, total_msgs, processed_count, cv);
            break;
        }
        case statistics::StatusKind::EXTENDED_INCOMPATIBLE_QOS:
        {
            auto sample_validator = static_cast<ExtendedIncompatibleQoSValidator*>(validator);
            sample_validator->validate(info, data, total_msgs, processed_count, cv);
            break;
        }
        default:
            break;
    }
}

#endif //FASTDDS_STATISTICS

/*
 * Abbreviations
 * +--------+----------------------------+
 * | Abbr   |  Description               |
 * +--------+----------------------------+
 * | MS     | Monitor Service            |
 * +--------+----------------------------+
 * | MSC    | Monitor Service Consumer   |
 * +--------+----------------------------+
 * | MSP    | Monitor Service Participant|
 * +--------+----------------------------+
 * | MSP    | Monitor Service Topic      |
 * +--------+----------------------------+
 */

/**
 * Refers to DDS-MS-API-01 from the test plan.
 *
 * Check enable() disable() operations
 */
TEST(DDSMonitorServiceTest, monitor_service_enable_disable_api)
{
#ifdef FASTDDS_STATISTICS
    //! Setup
    MonitorServiceParticipant MSP;

    //! Procedure
    MSP.setup();

    //! Assertions
    ASSERT_EQ(eprosima::fastdds::dds::RETCODE_NOT_ENABLED, MSP.disable_monitor_service());
    ASSERT_EQ(eprosima::fastdds::dds::RETCODE_OK, MSP.enable_monitor_service());
    ASSERT_EQ(eprosima::fastdds::dds::RETCODE_OK, MSP.disable_monitor_service());
    ASSERT_EQ(eprosima::fastdds::dds::RETCODE_NOT_ENABLED, MSP.disable_monitor_service());
#endif //FASTDDS_STATISTICS
}

/**
 * Refers to DDS-MS-API-02 from the test plan.
 *
 * Checks fastdds.enable_monitor_service property and fastdds.statistics with the MONITOR_SERVICE_TOPIC
 */
TEST(DDSMonitorServiceTest, monitor_service_property)
{
#ifdef FASTDDS_STATISTICS
    //! Setup
    std::string xml_file = "MonitorServiceDomainParticipant_profile.xml";
    std::pair<std::string, std::string> participant_profile_names = {
        "monitor_service_property_participant", "monitor_service_statistics_property_participant" };

    MonitorServiceParticipant MSP;

    //! Procedure
    MSP.setup(xml_file, participant_profile_names.first, 0);
    ASSERT_EQ(eprosima::fastdds::dds::RETCODE_OK, MSP.disable_monitor_service());

    MSP.reset();
    MSP.setup(xml_file, participant_profile_names.second, 0);

    //! Assertions
    ASSERT_EQ(eprosima::fastdds::dds::RETCODE_OK, MSP.disable_monitor_service());
#endif //FASTDDS_STATISTICS
}

/**
 * Refers to DDS-MS-API-03 from the test plan.
 *
 * Checks that appending MONITOR_SERVICE_TOPIC reserved name
 * in FASTDDS_STATISTICS enviroment variable properly initializes
 * the service.
 */
TEST(DDSMonitorServiceTest, monitor_service_environment_variable)
{
#ifdef FASTDDS_STATISTICS
    //! Set environment variable and create participant using Qos set by code
    const char* value = "NETWORK_LATENCY_TOPIC;MONITOR_SERVICE_TOPIC";

    #ifdef _WIN32
    ASSERT_EQ(0, _putenv_s("FASTDDS_STATISTICS", value));
    #else
    ASSERT_EQ(0, setenv("FASTDDS_STATISTICS", value, 1));
    #endif // ifdef _WIN32

    //! Setup
    MonitorServiceParticipant MSP;

    //! Procedure
    MSP.setup();

    //! Assertions
    ASSERT_EQ(eprosima::fastdds::dds::RETCODE_OK, MSP.disable_monitor_service());
#endif //FASTDDS_STATISTICS
}

/**
 * Refers to DDS-MS-API-04 from the test plan.
 *
 * Appending the fastdds.enable_monitor_service to the DomainParticipant
 * properties in the C++ API correctly creates a MSP.
 */
TEST(DDSMonitorServiceTest, monitor_service_properties_cpp_api)
{
#ifdef FASTDDS_STATISTICS
    //! Setup
    MonitorServiceParticipant MSP;

    //! Procedure
    DomainParticipantQos pqos;
    pqos.properties().properties().push_back({"fastdds.enable_monitor_service", "true"});
    MSP.setup(pqos);

    //! Assertions
    ASSERT_EQ(eprosima::fastdds::dds::RETCODE_OK, MSP.disable_monitor_service());
#endif //FASTDDS_STATISTICS
}

/**
 * Refers to DDS-MS-SIMPLE-01 from the test plan.
 *
 * A MSC correctly shall receive the corresponding proxy update in the MST after creating
 * an endpoint in a MSP
 */
TEST(DDSMonitorServiceTest, monitor_service_simple_proxy)
{
#ifdef FASTDDS_STATISTICS

    //! Validate PROXY samples only
    std::bitset<statistics::StatusKind::STATUSES_SIZE> validation_mask;
    validation_mask[statistics::StatusKind::PROXY] = true;

    //! Setup
    MonitorServiceParticipant MSP;
    MonitorServiceConsumer MSC(validation_mask);

    MSP.setup();

    //! Procedure
    MSC.init_monitor_service_reader();
    MSP.enable_monitor_service();

    std::list<MonitorServiceType::type> expected_msgs;

    MonitorServiceType::type participant_proxy_msg, writer_proxy_msg;

    participant_proxy_msg.status_kind(eprosima::fastdds::statistics::StatusKind::PROXY);
    participant_proxy_msg.local_entity(MSP.get_participant_guid());

    expected_msgs.push_back(participant_proxy_msg);

    MSP.create_and_add_writer();

    writer_proxy_msg.status_kind(eprosima::fastdds::statistics::StatusKind::PROXY);
    StatisticsGUIDList guids = MSP.get_writer_guids();

    ASSERT_EQ(guids.size(), 1u);
    writer_proxy_msg.local_entity(guids.back());

    expected_msgs.push_back(writer_proxy_msg);

    MSC.start_reception(expected_msgs);

    //! Assertions
    //! The assertion checking whether the on_data_availble() was called is assumed in the following one
    ASSERT_EQ(MSC.block_for_all(std::chrono::seconds(3)), expected_msgs.size());
#endif //FASTDDS_STATISTICS
}

/**
 * Refers to DDS-MS-SIMPLE-02 from the test plan.
 *
 * A MSC correctly shall receive the corresponding connection list update in the MST
 * after creating two MSP with a pair of matched endpoints.
 *
 * TODO: Extend the connection list test cases (or make it TEST_P)
 * in order to check for intraprocess and datasharing
 * connection modes
 *
 */
TEST(DDSMonitorServiceTest, monitor_service_simple_connection_list)
{
#ifdef FASTDDS_STATISTICS
    //! Validate CONNECTION_LIST samples only
    std::bitset<statistics::StatusKind::STATUSES_SIZE> validation_mask;
    validation_mask[statistics::StatusKind::CONNECTION_LIST] = true;

    //! Setup
    MonitorServiceParticipant MSP1, MSP2;
    MonitorServiceConsumer MSC(validation_mask);

    //! Procedure
    //force domain id 0 to share at least the multicast port set in the
    //xml config port mapping
    MSC.init_monitor_service_reader(0);

    std::string xml_profile = "MonitorServiceConnectionList_profile.xml";
    std::pair<std::string, std::string> participant_profiles =
    {"monitor_service_connections_list_participant_1", "monitor_service_connections_list_participant_2"};

    MSP1.setup(xml_profile, participant_profiles.first, 0);
    MSP2.setup(xml_profile, participant_profiles.second, 0);

    MSP1.enable_monitor_service();
    MSP2.enable_monitor_service();

    std::list<MonitorServiceType::type> expected_msgs;

    MonitorServiceType::type participant_connection_msg, endpoint_connections_msg;

    participant_connection_msg.status_kind(eprosima::fastdds::statistics::StatusKind::CONNECTION_LIST);
    participant_connection_msg.local_entity(MSP1.get_participant_guid());

    std::vector<statistics::detail::Locator_s> locators;
    statistics::detail::Locator_s loc;

    //! For the participant, assert the unicast locators
    constexpr const char* LOCAL_ADDRESS = "127.0.0.1";
    constexpr const char* MULTICAST_ADDRESS = "239.255.0.1";
    Locator_t metatraffic_unicast_local_addr_locator(LOCATOR_KIND_UDPv4, 7399);
    IPLocator::setIPv4(metatraffic_unicast_local_addr_locator, LOCAL_ADDRESS);
    Locator_t default_unicast_local_addr_locator(LOCATOR_KIND_UDPv4, 2020);
    IPLocator::setIPv4(default_unicast_local_addr_locator, LOCAL_ADDRESS);
    Locator_t metatraffic_multicast_addr_locator(LOCATOR_KIND_UDPv4, 7400);
    IPLocator::setIPv4(metatraffic_multicast_addr_locator, MULTICAST_ADDRESS);

    std::vector<statistics::Connection> connection_list;
    statistics::Connection conn;

    conn.guid() = statistics::to_statistics_type(MSC.get_participant_guid());
    conn.mode() = statistics::ConnectionMode::TRANSPORT;
    Locator_t msc_locator_unicast(LOCATOR_KIND_UDPv4, 7410);
    IPLocator::setIPv4(msc_locator_unicast, LOCAL_ADDRESS);
    locators.push_back(statistics::to_statistics_type(msc_locator_unicast));
    msc_locator_unicast.port = 7411;
    locators.push_back(statistics::to_statistics_type(msc_locator_unicast));
    conn.announced_locators(locators);
    connection_list.push_back(conn);

    conn.guid() = MSP2.get_participant_guid();
    conn.mode() = statistics::ConnectionMode::TRANSPORT;
    locators.clear();
    locators.push_back(statistics::to_statistics_type(metatraffic_unicast_local_addr_locator));
    locators.push_back(statistics::to_statistics_type(default_unicast_local_addr_locator));
    // The avoid_builtin_multicast prevents the multicast locator list to be filled
    // in the participant proxy, avoid expecting it
    //locators.push_back(statistics::to_statistics_type(metatraffic_multicast_addr_locator));
    conn.announced_locators(locators);
    connection_list.push_back(conn);

    participant_connection_msg.value().connection_list(connection_list);

    expected_msgs.push_back(participant_connection_msg);

    participant_connection_msg.status_kind(eprosima::fastdds::statistics::StatusKind::CONNECTION_LIST);
    participant_connection_msg.local_entity(MSP2.get_participant_guid());

    ASSERT_FALSE(participant_connection_msg.value().connection_list().empty());
    ASSERT_EQ(participant_connection_msg.value().connection_list().back().announced_locators().size(), 2u);

    participant_connection_msg.value().connection_list().back().guid() = MSP1.get_participant_guid();
    participant_connection_msg.value().connection_list().back().mode() = statistics::ConnectionMode::TRANSPORT;
    participant_connection_msg.value().connection_list().back().announced_locators()[0].port() = 7398;//unicast
    participant_connection_msg.value().connection_list().back().announced_locators()[1].port() = 2019;//unicast

    expected_msgs.push_back(participant_connection_msg);

    DataReaderQos dr_qos;
    dr_qos.reliability().kind = eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS;
    MSP1.create_and_add_writer();
    MSP2.create_and_add_reader(dr_qos);

    StatisticsGUIDList w_guids, r_guids;
    endpoint_connections_msg.status_kind(eprosima::fastdds::statistics::StatusKind::CONNECTION_LIST);
    w_guids = MSP1.get_writer_guids();
    ASSERT_EQ(w_guids.size(), 1);
    r_guids = MSP2.get_reader_guids();
    ASSERT_EQ(r_guids.size(), 1);

    //! dw and dr have one connection only (with each other)
    endpoint_connections_msg.local_entity(w_guids.back());
    endpoint_connections_msg.value().connection_list(connection_list);
    endpoint_connections_msg.value().connection_list().pop_back();
    endpoint_connections_msg.value().connection_list().back().guid() = r_guids.back();
    endpoint_connections_msg.value().connection_list().back().mode() = statistics::ConnectionMode::TRANSPORT;
    endpoint_connections_msg.value().connection_list().back().announced_locators()[0].port() = 2020;//unicast
    metatraffic_multicast_addr_locator.port = 2022;
    endpoint_connections_msg.value().connection_list().back().announced_locators()[1] =
            statistics::to_statistics_type(metatraffic_multicast_addr_locator); //multicast

    expected_msgs.push_back(endpoint_connections_msg);

    //! An stateful reader only announces its unicast locator
    //! An stateless reader, nothing, as the writer does not need to communicate with it
    endpoint_connections_msg.local_entity(r_guids.back());
    endpoint_connections_msg.value().connection_list().back().announced_locators().pop_back();
    endpoint_connections_msg.value().connection_list().back().guid() = w_guids.back();
    endpoint_connections_msg.value().connection_list().back().mode() = statistics::ConnectionMode::TRANSPORT;
    endpoint_connections_msg.value().connection_list().back().announced_locators()[0].port() = 2019;//unicast

    expected_msgs.push_back(endpoint_connections_msg);

    MSC.start_reception(expected_msgs);

    //! Assertions
    //! The assertion checking whether the on_data_availble() was called is assumed in the following one
    ASSERT_EQ(MSC.block_for_all(std::chrono::seconds(3)), expected_msgs.size());
#endif //FASTDDS_STATISTICS
}

/**
 * Refers to DDS-MS-SIMPLE-03 from the test plan.
 *
 * MSC correctly receives a QoS incompatibility after adding a pair of reader/writer
 */
TEST(DDSMonitorServiceTest, monitor_service_simple_qos_incompatibility_status)
{
#ifdef FASTDDS_STATISTICS
    //! Validate INCOMPATIBLE_QOS samples only
    std::bitset<statistics::StatusKind::STATUSES_SIZE> validation_mask;
    validation_mask[statistics::StatusKind::INCOMPATIBLE_QOS] = true;

    //! Setup
    MonitorServiceParticipant MSP;
    //! We may receive EXTENDED_INCOMPATIBLE_QOS samples as well
    //! prevent them from being validated
    MonitorServiceConsumer MSC(validation_mask, false);

    //! Procedure
    MSC.init_monitor_service_reader();

    MSP.setup();

    MSP.enable_monitor_service();

    DataReaderQos dr_qos;
    DataWriterQos dw_qos;

    dr_qos.reliability().kind = eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS;
    dw_qos.reliability().kind = eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS;

    MSP.create_and_add_writer(dw_qos);
    MSP.create_and_add_reader(dr_qos);

    std::list<MonitorServiceType::type> expected_msgs;
    MonitorServiceType::type endpoint_qos_msg;
    StatisticsGUIDList w_guids, r_guids;

    endpoint_qos_msg.status_kind(eprosima::fastdds::statistics::StatusKind::INCOMPATIBLE_QOS);
    w_guids = MSP.get_writer_guids();
    ASSERT_EQ(w_guids.size(), 1);
    endpoint_qos_msg.local_entity(w_guids.back());

    statistics::IncompatibleQoSStatus_s incompatible_qos;
    statistics::QosPolicyCount_s policy;
    policy.policy_id(RELIABILITY_QOS_POLICY_ID);
    incompatible_qos.policies().push_back(policy);
    endpoint_qos_msg.value().incompatible_qos_status(incompatible_qos);
    endpoint_qos_msg.value().incompatible_qos_status().last_policy_id() = RELIABILITY_QOS_POLICY_ID;
    expected_msgs.push_back(endpoint_qos_msg);

    endpoint_qos_msg.status_kind(eprosima::fastdds::statistics::StatusKind::INCOMPATIBLE_QOS);
    r_guids = MSP.get_reader_guids();
    ASSERT_EQ(r_guids.size(), 1);
    endpoint_qos_msg.local_entity(r_guids.back());

    expected_msgs.push_back(endpoint_qos_msg);

    MSC.start_reception(expected_msgs);
    //! Assertions
    //! The assertion checking whether the on_data_availble() was called is assumed in the following one
    ASSERT_EQ(MSC.block_for_all(std::chrono::seconds(3)), expected_msgs.size());
#endif //FASTDDS_STATISTICS
}

/**
 * Refers to DDS-MS-SIMPLE-04 from the test plan.
 *
 * To implement when InconsistentTopciStatus is fully supported

   TEST(DDSMonitorServiceTest, monitor_service_simple_inconsistent_topic)
   {
   }
 */

/**
 * Refers to DDS-MS-SIMPLE-05 from the test plan.
 *
 * The lease duration of a writer created in the MSP expires and the liveliness lost status
 * is correctly notified to the MSC
 */
TEST(DDSMonitorServiceTest, monitor_service_simple_liveliness_lost_status)
{
#ifdef FASTDDS_STATISTICS
    //! Validate LIVELINESS_LOST samples only
    std::bitset<statistics::StatusKind::STATUSES_SIZE> validation_mask;
    validation_mask[statistics::StatusKind::LIVELINESS_LOST] = true;

    //! Setup
    MonitorServiceParticipant MSP;
    MonitorServiceConsumer MSC(validation_mask);

    //! Procedure
    MSC.init_monitor_service_reader();

    MSP.setup();

    MSP.enable_monitor_service();

    DataWriterQos dw_qos;

    dw_qos.liveliness().kind = eprosima::fastdds::dds::MANUAL_BY_TOPIC_LIVELINESS_QOS;
    dw_qos.liveliness().lease_duration = eprosima::fastdds::dds::Time_t{1, 0};

    MSP.create_and_add_writer(dw_qos);
    MSP.assert_liveliness();

    std::list<MonitorServiceType::type> expected_msgs;
    MonitorServiceType::type endpoint_liveliness_msg;
    StatisticsGUIDList w_guids;

    endpoint_liveliness_msg.status_kind(eprosima::fastdds::statistics::StatusKind::LIVELINESS_LOST);
    w_guids = MSP.get_writer_guids();
    ASSERT_EQ(w_guids.size(), 1);
    endpoint_liveliness_msg.local_entity(w_guids.back());

    statistics::LivelinessLostStatus_s liv_lost_status;
    liv_lost_status.total_count() = 1;
    endpoint_liveliness_msg.value().liveliness_lost_status(liv_lost_status);

    expected_msgs.push_back(endpoint_liveliness_msg);

    MSC.start_reception(expected_msgs);

    //! Assertions
    //! The assertion checking whether the on_data_availble() was called is assumed in the following one
    ASSERT_EQ(MSC.block_for_all(std::chrono::seconds(3)), expected_msgs.size());
    ASSERT_TRUE(MSP.get_cb_count(MonitorServiceParticipant::LIVELINESS_LOST_IDX) > 0);
#endif //FASTDDS_STATISTICS
}

/**
 * Refers to DDS-MS-SIMPLE-06 from the test plan.
 *
 * In a MSP, the liveliness of a reader changes and the status is correctly notified to the
 * MSC.
 */
TEST(DDSMonitorServiceTest, monitor_service_simple_liveliness_changed_status)
{
#ifdef FASTDDS_STATISTICS
    //! Validate LIVELINESS_CHANGED samples only
    std::bitset<statistics::StatusKind::STATUSES_SIZE> validation_mask;
    validation_mask[statistics::StatusKind::LIVELINESS_CHANGED] = true;

    //! Setup
    MonitorServiceParticipant MSP;
    MonitorServiceConsumer MSC(validation_mask);

    //! Procedure
    MSC.init_monitor_service_reader();

    MSP.setup();

    MSP.enable_monitor_service();

    DataReaderQos dr_qos;

    dr_qos.reliability().kind = eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS;
    dr_qos.liveliness().kind = eprosima::fastdds::dds::MANUAL_BY_TOPIC_LIVELINESS_QOS;
    dr_qos.liveliness().lease_duration = eprosima::fastdds::dds::Time_t{1, 0};

    DataWriterQos dw_qos;

    dw_qos.liveliness().kind = eprosima::fastdds::dds::MANUAL_BY_TOPIC_LIVELINESS_QOS;
    dw_qos.liveliness().lease_duration = eprosima::fastdds::dds::Time_t{1, 0};

    MSP.create_and_add_reader(dr_qos);
    MSP.create_and_add_writer(dw_qos);

    MSP.assert_liveliness();

    std::list<MonitorServiceType::type> expected_msgs;
    MonitorServiceType::type endpoint_liveliness_msg;
    StatisticsGUIDList r_guids;

    endpoint_liveliness_msg.status_kind(eprosima::fastdds::statistics::StatusKind::LIVELINESS_CHANGED);
    r_guids = MSP.get_reader_guids();
    ASSERT_EQ(r_guids.size(), 1);
    endpoint_liveliness_msg.local_entity(r_guids.back());

    statistics::LivelinessChangedStatus_s liv_changed_status;
    endpoint_liveliness_msg.value().liveliness_changed_status(liv_changed_status);

    expected_msgs.push_back(endpoint_liveliness_msg);

    MSC.start_reception(expected_msgs);

    //! Assertions
    //! The assertion checking whether the on_data_availble() was called is assumed in the following one
    ASSERT_EQ(MSC.block_for_all(std::chrono::seconds(5)), expected_msgs.size());
    ASSERT_TRUE(MSP.get_cb_count(MonitorServiceParticipant::LIVELINESS_CHANGED_IDX) > 0);
#endif //FASTDDS_STATISTICS
}

/**
 * Refers to DDS-MS-SIMPLE-07 from the test plan.
 *
 * The deadline is forced to be missed in an entity of the MSP and the status is correctly
 * notified to the MSC.
 */
TEST(DDSMonitorServiceTest, monitor_service_simple_deadline_missed_status)
{
#ifdef FASTDDS_STATISTICS

    //! Validate DEADLINE_MISSED samples only
    std::bitset<statistics::StatusKind::STATUSES_SIZE> validation_mask;
    validation_mask[statistics::StatusKind::DEADLINE_MISSED] = true;

    //! Setup
    MonitorServiceParticipant MSP;
    MonitorServiceConsumer MSC(validation_mask);

    //! Procedure
    MSC.init_monitor_service_reader();

    MSP.setup();
    MSP.enable_monitor_service();

    DataReaderQos dr_qos;
    DataWriterQos dw_qos;

    dr_qos.deadline().period = eprosima::fastdds::dds::Time_t{1, 0};
    dw_qos.deadline().period = eprosima::fastdds::dds::Time_t{1, 0};

    MSP.create_and_add_reader(dr_qos);
    MSP.create_and_add_writer(dw_qos);

    std::list<MonitorServiceType::type> expected_msgs;
    MonitorServiceType::type endpoint_deadline_msg;
    StatisticsGUIDList r_guids, w_guids;

    endpoint_deadline_msg.status_kind(eprosima::fastdds::statistics::StatusKind::DEADLINE_MISSED);
    r_guids = MSP.get_reader_guids();
    ASSERT_EQ(r_guids.size(), 1);
    endpoint_deadline_msg.local_entity(r_guids.back());

    statistics::DeadlineMissedStatus_s deadline_missed_status;
    deadline_missed_status.total_count() = 1;
    endpoint_deadline_msg.value().deadline_missed_status(deadline_missed_status);

    expected_msgs.push_back(endpoint_deadline_msg);

    w_guids = MSP.get_writer_guids();
    ASSERT_EQ(w_guids.size(), 1);
    endpoint_deadline_msg.local_entity(w_guids.back());

    expected_msgs.push_back(endpoint_deadline_msg);

    MSC.start_reception(expected_msgs);

    HelloWorld hello;
    ASSERT_TRUE(MSP.write_sample(hello));


    //! Assertions
    //! The assertion checking whether the on_data_availble() was called is assumed in the following one
    ASSERT_EQ(MSC.block_for_all(std::chrono::seconds(3)), expected_msgs.size());
    ASSERT_TRUE(MSP.get_cb_count(MonitorServiceParticipant::OFFERED_DEADLINE_MISSED_IDX) > 0);
    ASSERT_TRUE(MSP.get_cb_count(MonitorServiceParticipant::REQUESTED_DEADLINE_MISSED_IDX) > 0);
#endif //FASTDDS_STATISTICS
}

/**
 * Refers to DDS-MS-SIMPLE-08 from the test plan.
 *
 * Making use of the test transport, force loosing a sample in the MSP so that the lost
 * sample status is correctly notified to the MSC.
 */
TEST(DDSMonitorServiceTest, monitor_service_simple_sample_lost_status)
{
#ifdef FASTDDS_STATISTICS

    //! Validate SAMPLE_LOST samples only
    std::bitset<statistics::StatusKind::STATUSES_SIZE> validation_mask;
    validation_mask[statistics::StatusKind::SAMPLE_LOST] = true;

    //! Setup
    MonitorServiceParticipant MSP1, MSP2;
    MonitorServiceConsumer MSC(validation_mask);

    //! Procedure
    DomainParticipantQos dqos;

    auto testTransport = std::make_shared<eprosima::fastdds::rtps::test_UDPv4TransportDescriptor>();
    testTransport->drop_data_messages_filter_ = [](eprosima::fastdds::rtps::CDRMessage_t& msg)-> bool
            {
                uint32_t old_pos = msg.pos;

                EntityId_t readerID, writerID;
                SequenceNumber_t sn;

                msg.pos += 2; // flags
                msg.pos += 2; // octets to inline qos
                CDRMessage::readEntityId(&msg, &readerID);
                CDRMessage::readEntityId(&msg, &writerID);
                CDRMessage::readSequenceNumber(&msg, &sn);

                // restore buffer pos
                msg.pos = old_pos;

                // generate losses
                if ((writerID.value[3] & 0xC0) == 0 // only user endpoints
                        && (sn == SequenceNumber_t{0, 2} ||
                        sn == SequenceNumber_t(0, 3) ||
                        sn == SequenceNumber_t(0, 4) ||
                        sn == SequenceNumber_t(0, 6) ||
                        sn == SequenceNumber_t(0, 8) ||
                        sn == SequenceNumber_t(0, 10) ||
                        sn == SequenceNumber_t(0, 11) ||
                        sn == SequenceNumber_t(0, 13)))
                {
                    return true;
                }

                return false;
            };

    dqos.transport().use_builtin_transports = false;
    dqos.transport().user_transports.push_back(testTransport);

    MSC.init_monitor_service_reader();

    MSP1.setup(dqos);
    MSP1.enable_monitor_service();

    MSP2.setup();
    MSP2.enable_monitor_service();

    DataReaderQos dr_qos;
    DataWriterQos dw_qos;

    MSP1.create_and_add_writer(dw_qos);
    MSP2.create_and_add_reader(dr_qos);

    std::list<MonitorServiceType::type> expected_msgs;
    MonitorServiceType::type endpoint_sample_lost_msg;
    StatisticsGUIDList r_guids;

    endpoint_sample_lost_msg.status_kind(eprosima::fastdds::statistics::StatusKind::SAMPLE_LOST);
    r_guids = MSP2.get_reader_guids();
    ASSERT_EQ(r_guids.size(), 1);
    endpoint_sample_lost_msg.local_entity(r_guids.back());

    expected_msgs.push_back(endpoint_sample_lost_msg);

    MSC.start_reception(expected_msgs);

    auto data = default_helloworld_data_generator();
    MSP1.send(data, 50);


    //! Assertions
    //! The assertion checking whether the on_data_availble() was called is assumed in the following one
    ASSERT_EQ(MSC.block_for_all(std::chrono::seconds(5)), expected_msgs.size());
    ASSERT_TRUE(MSP2.get_cb_count(MonitorServiceParticipant::SAMPLE_LOST_IDX) > 0);
#endif //FASTDDS_STATISTICS
}

/**
 * Refers to DDS-MS-SIMPLE-09 from the test plan.
 *
 * Removing a previously created endpoint in the MSP makes MSC to receive the corre-
 * sponding instance disposals.
 */
TEST(DDSMonitorServiceTest, monitor_service_simple_instance_disposals)
{
#ifdef FASTDDS_STATISTICS

    //! Validate PROXY samples only
    std::bitset<statistics::StatusKind::STATUSES_SIZE> validation_mask;
    validation_mask[statistics::StatusKind::PROXY] = true;

    //! Setup
    MonitorServiceParticipant MSP;
    MonitorServiceConsumer MSC(validation_mask);

    MSP.setup();

    //! Procedure
    MSC.init_monitor_service_reader();
    MSP.enable_monitor_service();

    MSP.create_and_add_writer();

    std::list<MonitorServiceType::type> expected_msgs;

    MonitorServiceType::type proxy_msg;
    auto writers = MSP.get_writer_guids();
    ASSERT_TRUE(writers.size());

    //! expect 2 proxies, one empty proxy (disposal)
    //! and 8 statuses kind unregistered
    proxy_msg.local_entity() = writers.back();
    expected_msgs.push_back(proxy_msg);

    proxy_msg.local_entity() = MSP.get_participant_guid();
    expected_msgs.push_back(proxy_msg);

    //! Expect one unregister for each of the statuses
    for (uint32_t i = 0; i < statistics::StatusKind::STATUSES_SIZE; i++)
    {
        proxy_msg.local_entity() = statistics::to_statistics_type(c_Guid_Unknown);
        expected_msgs.push_back(proxy_msg);
    }

    MSC.start_reception(expected_msgs);
    MSP.delete_writer();
    std::this_thread::sleep_for(std::chrono::seconds(2));
    //! For the moment, until fake instances feature is available
    //! expect a discovery callback for the matching status to deduce
    //! the dispose of the participant
    MSP.reset();

    //! Assertions
    //! The assertion checking whether the on_data_availble() was called is assumed in the following one
    ASSERT_EQ(MSC.block_for_all(std::chrono::seconds(3)), expected_msgs.size());
    ASSERT_FALSE(MSC.get_participants_matched());

#endif //FASTDDS_STATISTICS
}

/**
 * Refers to DDS-MS-SIMPLE-10 from the test plan.
 *
 * MSC late joins a MSP with an already enabled MS.
 */
TEST(DDSMonitorServiceTest, monitor_service_simple_late_joiner)
{
#ifdef FASTDDS_STATISTICS

    //! Validate PROXY samples only
    std::bitset<statistics::StatusKind::STATUSES_SIZE> validation_mask;
    validation_mask[statistics::StatusKind::PROXY] = true;

    //! Setup
    MonitorServiceParticipant MSP;
    MonitorServiceConsumer MSC(validation_mask);

    MSP.setup();

    //! Procedure
    MSP.enable_monitor_service();

    std::list<MonitorServiceType::type> expected_msgs;

    MonitorServiceType::type participant_proxy_msg, entity_proxy_msg;

    participant_proxy_msg.status_kind(eprosima::fastdds::statistics::StatusKind::PROXY);
    participant_proxy_msg.local_entity(MSP.get_participant_guid());

    expected_msgs.push_back(participant_proxy_msg);

    MSP.create_and_add_writer();
    MSP.create_and_add_reader();

    entity_proxy_msg.status_kind(eprosima::fastdds::statistics::StatusKind::PROXY);
    StatisticsGUIDList w_guids = MSP.get_writer_guids();

    ASSERT_EQ(w_guids.size(), 1);
    entity_proxy_msg.local_entity(w_guids.back());

    expected_msgs.push_back(entity_proxy_msg);

    entity_proxy_msg.status_kind(eprosima::fastdds::statistics::StatusKind::PROXY);
    StatisticsGUIDList r_guids = MSP.get_reader_guids();

    ASSERT_EQ(r_guids.size(), 1);
    entity_proxy_msg.local_entity(r_guids.back());

    expected_msgs.push_back(entity_proxy_msg);

    std::this_thread::sleep_for(std::chrono::seconds(5));

    MSC.init_monitor_service_reader();
    MSC.start_reception(expected_msgs);

    //! Assertions
    //! The assertion checking whether the on_data_availble() was called is assumed in the following one
    ASSERT_EQ(MSC.block_for_all(std::chrono::seconds(3)), expected_msgs.size());

#endif //FASTDDS_STATISTICS
}

/**
 * Refers to DDS-MS-SIMPLE-11 from the test plan.
 *
 * Enabling the MS, disabling it, making some updates and re-enabling it shall correctly
 * behave.
 */
TEST(DDSMonitorServiceTest, monitor_service_simple_enable_disable_enable)
{
#ifdef FASTDDS_STATISTICS

    //! Validate PROXY samples only
    std::bitset<statistics::StatusKind::STATUSES_SIZE> validation_mask;
    validation_mask[statistics::StatusKind::PROXY] = true;

    //! Setup
    MonitorServiceParticipant MSP;
    MonitorServiceConsumer MSC(validation_mask);

    //! Procedure
    MSP.setup();

    MSC.init_monitor_service_reader();
    MSP.enable_monitor_service();

    MSP.create_and_add_writer();
    MSP.disable_monitor_service();

    MSP.create_and_add_writer();
    MSP.create_and_add_reader();

    std::list<MonitorServiceType::type> expected_msgs;

    MonitorServiceType::type participant_proxy_msg, entity_proxy_msg;

    participant_proxy_msg.status_kind(eprosima::fastdds::statistics::StatusKind::PROXY);
    participant_proxy_msg.local_entity(MSP.get_participant_guid());

    expected_msgs.push_back(participant_proxy_msg);

    entity_proxy_msg.status_kind(eprosima::fastdds::statistics::StatusKind::PROXY);
    StatisticsGUIDList w_guids = MSP.get_writer_guids();
    StatisticsGUIDList r_guids = MSP.get_reader_guids();

    ASSERT_EQ(w_guids.size(), 2);
    entity_proxy_msg.local_entity(w_guids.front());
    expected_msgs.push_back(entity_proxy_msg);
    entity_proxy_msg.local_entity(w_guids.back());
    expected_msgs.push_back(entity_proxy_msg);

    ASSERT_EQ(r_guids.size(), 1);
    entity_proxy_msg.local_entity(r_guids.back());

    expected_msgs.push_back(entity_proxy_msg);

    std::this_thread::sleep_for(std::chrono::seconds(1));

    MSP.enable_monitor_service();

    MSC.start_reception(expected_msgs);

    //! Assertions
    //! The assertion checking whether the on_data_availble() was called is assumed in the following one
    ASSERT_EQ(MSC.block_for_all(std::chrono::seconds(3)), expected_msgs.size());
#endif //FASTDDS_STATISTICS
}

/**
 * Refers to DDS-MS-SIMPLE-11 from the test plan.
 *
 * A pair of MSPs correctly notify MSC with proper extended QoS incompatibility
 * after creating a pair of reader/writer sharing the same topic with an incompatible
 * configuration.
 */
TEST(DDSMonitorServiceTest, monitor_service_simple_extended_incompatible_qos)
{
#ifdef FASTDDS_STATISTICS
    using namespace eprosima::fastdds::statistics;

    //! Validate PROXY samples
    //! Validate EXTENDED_INCOMPATIBLE_QOS samples
    std::bitset<statistics::StatusKind::STATUSES_SIZE> validation_mask;
    validation_mask[statistics::StatusKind::PROXY] = true;
    validation_mask[statistics::StatusKind::EXTENDED_INCOMPATIBLE_QOS] = true;

    //! Setup
    MonitorServiceParticipant MSP;
    //! We will receive extra msgs such as instance unregistrations but we are not interested in
    //! them in this test, so we set assert_on_non_expected_msgs to false
    MonitorServiceConsumer MSC(validation_mask, false);

    //! Procedure
    MSP.setup();

    MSC.init_monitor_service_reader();
    MSP.enable_monitor_service();

    DataReaderQos dr_qos;
    DataWriterQos dw_qos;

    dr_qos.reliability().kind = eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS;
    dw_qos.reliability().kind = eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS;

    MSP.create_and_add_writer(dw_qos);
    MSP.create_and_add_reader(dr_qos);

    std::list<MonitorServiceType::type> expected_msgs;

    // Expected messages for the new entities discovering
    MonitorServiceType::type participant_proxy_msg, entity_proxy_msg, endpoint_ext_incmpqos_msg;

    participant_proxy_msg.status_kind(StatusKind::PROXY);
    participant_proxy_msg.local_entity(MSP.get_participant_guid());

    expected_msgs.push_back(participant_proxy_msg);

    entity_proxy_msg.status_kind(StatusKind::PROXY);
    StatisticsGUIDList w_guids = MSP.get_writer_guids();
    StatisticsGUIDList r_guids = MSP.get_reader_guids();

    ASSERT_EQ(w_guids.size(), 1);
    entity_proxy_msg.local_entity(w_guids.back());
    expected_msgs.push_back(entity_proxy_msg);

    ASSERT_EQ(r_guids.size(), 1);
    entity_proxy_msg.local_entity(r_guids.back());
    expected_msgs.push_back(entity_proxy_msg);

    // Expected messages for the extended qos incompatibilities
    endpoint_ext_incmpqos_msg.status_kind(StatusKind::EXTENDED_INCOMPATIBLE_QOS);
    endpoint_ext_incmpqos_msg.local_entity(w_guids.back());

    // Writer extended incompatibility for reliability
    statistics::ExtendedIncompatibleQoSStatusSeq_s ext_incompatible_qos_seq;
    statistics::ExtendedIncompatibleQoSStatus_s ext_incompatible_qos;
    std::vector<uint32_t> incompatible_policies;

    ext_incompatible_qos.remote_guid(r_guids.back());
    incompatible_policies.push_back(RELIABILITY_QOS_POLICY_ID);
    ext_incompatible_qos.current_incompatible_policies(incompatible_policies);
    ext_incompatible_qos_seq.push_back(ext_incompatible_qos);
    endpoint_ext_incmpqos_msg.value().extended_incompatible_qos_status(ext_incompatible_qos_seq);
    expected_msgs.push_back(endpoint_ext_incmpqos_msg);

    // Reader extended incompatibility for reliability
    r_guids = MSP.get_reader_guids();
    ASSERT_EQ(r_guids.size(), 1);
    endpoint_ext_incmpqos_msg.local_entity(r_guids.back());
    ext_incompatible_qos_seq.at(0).remote_guid(w_guids.back());
    endpoint_ext_incmpqos_msg.value().extended_incompatible_qos_status(ext_incompatible_qos_seq);
    expected_msgs.push_back(endpoint_ext_incmpqos_msg);

    MSC.start_reception(expected_msgs);

    ASSERT_EQ(MSC.block_for_all(std::chrono::seconds(3)), expected_msgs.size());
    expected_msgs.clear();

    // When the reader is destroyed, the MSP's writer should notify
    // with an empty extended incompatible qos list. Add it to
    // the expected messages
    MonitorServiceType::type empty_ext_incmpqos_msg;
    empty_ext_incmpqos_msg.status_kind(StatusKind::EXTENDED_INCOMPATIBLE_QOS);
    empty_ext_incmpqos_msg.local_entity(w_guids.back());
    empty_ext_incmpqos_msg.value().extended_incompatible_qos_status(statistics::ExtendedIncompatibleQoSStatusSeq_s());
    expected_msgs.push_back(empty_ext_incmpqos_msg);

    // Additionally, we should receive an empty proxy status kind for the reader
    // meaning that the reader has been disposed
    MonitorServiceType::type reader_disposal_msg;
    reader_disposal_msg.local_entity(r_guids.back());
    expected_msgs.push_back(reader_disposal_msg);

    MSC.start_reception(expected_msgs);

    MSP.delete_reader();

    ASSERT_EQ(MSC.block_for_all(std::chrono::seconds(3)), expected_msgs.size());
    expected_msgs.clear();

    dr_qos.reliability().kind = eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS;
    MSP.create_and_add_reader(dr_qos);

    // Expect only the new reader's discovery proxy one
    r_guids = MSP.get_reader_guids();
    ASSERT_EQ(r_guids.size(), 1);
    entity_proxy_msg.local_entity(r_guids.back());
    expected_msgs.push_back(entity_proxy_msg);

    MSC.start_reception(expected_msgs);

    ASSERT_EQ(MSC.block_for_all(std::chrono::seconds(3)), expected_msgs.size());
#endif //FASTDDS_STATISTICS
}

/**
 * Refers to DDS-MS-ADV-01 from the test plan.
 *
 * A MSC shall correctly receive the corresponding proxies from different MSPs.
 */
TEST(DDSMonitorServiceTest, monitor_service_advanced_proxy)
{
#ifdef FASTDDS_STATISTICS
    //! Validate PROXY samples only
    std::bitset<statistics::StatusKind::STATUSES_SIZE> validation_mask;
    validation_mask[statistics::StatusKind::PROXY] = true;

    //! Setup
    size_t n_participants = 3;
    std::vector<MonitorServiceParticipant> MSPs;
    MSPs.resize(n_participants);

    MonitorServiceConsumer MSC(validation_mask);

    //! Procedure
    MSC.init_monitor_service_reader();

    std::list<MonitorServiceType::type> expected_msgs;

    int topic_idx = 1;
    for (auto& MSP : MSPs)
    {
        MSP.setup();
        MSP.enable_monitor_service();

        MSP.create_topic(topic_idx);
        topic_idx++;

        MSP.create_and_add_writer();
        MSP.create_and_add_reader();

        MonitorServiceType::type participant_proxy_msg, entity_proxy_msg;

        participant_proxy_msg.status_kind(eprosima::fastdds::statistics::StatusKind::PROXY);
        participant_proxy_msg.local_entity(MSP.get_participant_guid());

        expected_msgs.push_back(participant_proxy_msg);

        entity_proxy_msg.status_kind(eprosima::fastdds::statistics::StatusKind::PROXY);
        StatisticsGUIDList w_guids = MSP.get_writer_guids();
        StatisticsGUIDList r_guids = MSP.get_reader_guids();

        ASSERT_EQ(w_guids.size(), 1);
        entity_proxy_msg.local_entity(w_guids.back());
        expected_msgs.push_back(entity_proxy_msg);

        ASSERT_EQ(r_guids.size(), 1);
        entity_proxy_msg.local_entity(r_guids.back());

        expected_msgs.push_back(entity_proxy_msg);
    }

    MSC.start_reception(expected_msgs);

    //! Assertions
    //! The assertion checking whether the on_data_availble() was called is assumed in the following one
    ASSERT_EQ(MSC.block_for_all(std::chrono::seconds(10)), expected_msgs.size());
#endif //FASTDDS_STATISTICS
}

/**
 * Refers to DDS-MS-ADV-02 from the test plan.
 *
 * A MSC shall correctly receive the corresponding instance disposals after deleting one
 * of the MSP.
 */
TEST(DDSMonitorServiceTest, monitor_service_advanced_instance_disposals)
{
#ifdef FASTDDS_STATISTICS
    //! Setup
    size_t n_participants = 3;
    std::vector<MonitorServiceParticipant> MSPs;
    MSPs.resize(n_participants);

    //! Validate PROXY samples only
    std::bitset<statistics::StatusKind::STATUSES_SIZE> validation_mask;
    validation_mask[statistics::StatusKind::PROXY] = true;

    MonitorServiceConsumer MSC (validation_mask);

    //! Procedure
    MSC.init_monitor_service_reader();

    std::list<MonitorServiceType::type> expected_msgs;

    int topic_idx = 1;
    for (auto& MSP : MSPs)
    {
        MonitorServiceType::type msg;

        MSP.setup();
        MSP.enable_monitor_service();

        MSP.create_topic(topic_idx);
        topic_idx++;

        MSP.create_and_add_writer();
        MSP.create_and_add_reader();

        //! Participant entity + writer + reader proxies
        msg.local_entity() = MSP.get_participant_guid();
        expected_msgs.push_back(msg);
        msg.local_entity() = MSP.get_reader_guids().back();
        expected_msgs.push_back(msg);
        msg.local_entity() = MSP.get_writer_guids().back();
        expected_msgs.push_back(msg);
    }

    ASSERT_EQ(3, MSPs.size());

    //! Expect 6 empty proxies (disposals) (3 entities per each)
    for (auto& MSP : MSPs)
    {
        MonitorServiceType::type msg;
        msg.local_entity(MSP.get_reader_guids().back());
        expected_msgs.push_back(msg);
        msg.local_entity(MSP.get_writer_guids().back());
        expected_msgs.push_back(msg);
    }

    //! Plus 48 instance disposals (8 per instance)
    for (uint32_t i = 0; i < 6 * statistics::StatusKind::STATUSES_SIZE; i++)
    {
        expected_msgs.push_back(MonitorServiceType::type());
    }

    MSC.start_reception(expected_msgs);

    //! Give some time to receive the proxies
    //! Otherwise, if we suddendy delete the entities, the monitor
    //! service will not say nothing about that entity and the
    //! expected_msgs list will not be correct
    std::this_thread::sleep_for(std::chrono::seconds(3));

    for (auto& MSP : MSPs)
    {
        MSP.delete_reader();
        MSP.delete_writer();
    }

    //! Assertions
    //! The assertion checking whether the on_data_availble() was called is assumed in the following one
    ASSERT_EQ(MSC.block_for_all(std::chrono::seconds(5)), expected_msgs.size());
#endif //FASTDDS_STATISTICS
}

/**
 * Refers to DDS-MS-ADV-03 from the test plan.
 *
 * A MSC shall correctly receive the updates after late joining.
 */
TEST(DDSMonitorServiceTest, monitor_service_advanced_single_late_joiner)
{
#ifdef FASTDDS_STATISTICS

    //! Validate INCOMPATIBLE_QOS samples only
    std::bitset<statistics::StatusKind::STATUSES_SIZE> validation_mask;
    validation_mask[statistics::StatusKind::INCOMPATIBLE_QOS] = true;

    //! Setup
    size_t n_participants = 3;
    std::vector<MonitorServiceParticipant> MSPs;
    MSPs.resize(n_participants);
    //! We may receive EXTENDED_INCOMPATIBLE_QOS samples as well
    //! prevent them from being validated
    MonitorServiceConsumer MSC(validation_mask, false);

    //! Procedure
    std::list<MonitorServiceType::type> expected_msgs;

    int topic_idx = 1;
    for (auto& MSP : MSPs)
    {
        MSP.setup();
        MSP.enable_monitor_service();

        DataReaderQos dr_qos;
        DataWriterQos dw_qos;

        dr_qos.reliability().kind = eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS;
        dw_qos.reliability().kind = eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS;

        MSP.create_topic(topic_idx);
        topic_idx++;

        MSP.create_and_add_writer(dw_qos);
        MSP.create_and_add_reader(dr_qos);

        MonitorServiceType::type endpoint_qos_msg;
        StatisticsGUIDList w_guids, r_guids;

        endpoint_qos_msg.status_kind(eprosima::fastdds::statistics::StatusKind::INCOMPATIBLE_QOS);
        w_guids = MSP.get_writer_guids();
        ASSERT_EQ(w_guids.size(), 1);
        endpoint_qos_msg.local_entity(w_guids.back());

        statistics::IncompatibleQoSStatus_s incompatible_qos;
        incompatible_qos.last_policy_id(RELIABILITY_QOS_POLICY_ID);
        endpoint_qos_msg.value().incompatible_qos_status(incompatible_qos);

        expected_msgs.push_back(endpoint_qos_msg);

        endpoint_qos_msg.status_kind(eprosima::fastdds::statistics::StatusKind::INCOMPATIBLE_QOS);
        r_guids = MSP.get_reader_guids();
        ASSERT_EQ(r_guids.size(), 1);
        endpoint_qos_msg.local_entity(r_guids.back());

        expected_msgs.push_back(endpoint_qos_msg);
    }

    std::this_thread::sleep_for(std::chrono::seconds(5));
    MSC.init_monitor_service_reader();
    MSC.start_reception(expected_msgs);

    //! Assertions
    //! The assertion checking whether the on_data_availble() was called is assumed in the following one
    ASSERT_EQ(MSC.block_for_all(std::chrono::seconds(5)), expected_msgs.size());
#endif //FASTDDS_STATISTICS
}

/**
 * Refers to DDS-MS-ADV-04 from the test plan.
 *
 * Multiple MSC shall correctly receive the updates after late joining.
 */
TEST(DDSMonitorServiceTest, monitor_service_advanced_multiple_late_joiners)
{
#ifdef FASTDDS_STATISTICS
    //! Setup
    MonitorServiceParticipant MSP;
    size_t n_participants = 3;

    //! Procedure
    std::list<MonitorServiceType::type> expected_msgs;

    MSP.setup();
    MSP.enable_monitor_service();

    DataReaderQos dr_qos;
    DataWriterQos dw_qos;

    dr_qos.reliability().kind = eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS;
    dw_qos.reliability().kind = eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS;

    MSP.create_and_add_writer(dw_qos);
    MSP.create_and_add_reader(dr_qos);

    MonitorServiceType::type endpoint_qos_msg;
    StatisticsGUIDList w_guids, r_guids;

    endpoint_qos_msg.status_kind(eprosima::fastdds::statistics::StatusKind::INCOMPATIBLE_QOS);
    w_guids = MSP.get_writer_guids();
    ASSERT_EQ(w_guids.size(), 1);
    endpoint_qos_msg.local_entity(w_guids.back());

    statistics::IncompatibleQoSStatus_s incompatible_qos;
    incompatible_qos.last_policy_id(RELIABILITY_QOS_POLICY_ID);
    endpoint_qos_msg.value().incompatible_qos_status(incompatible_qos);

    expected_msgs.push_back(endpoint_qos_msg);

    endpoint_qos_msg.status_kind(eprosima::fastdds::statistics::StatusKind::INCOMPATIBLE_QOS);
    r_guids = MSP.get_reader_guids();
    ASSERT_EQ(r_guids.size(), 1);
    endpoint_qos_msg.local_entity(r_guids.back());

    expected_msgs.push_back(endpoint_qos_msg);

    std::this_thread::sleep_for(std::chrono::seconds(3));

    for (size_t i = 0; i < n_participants; i++)
    {
        //! Validate INCOMPATIBLE_QOS samples only
        std::bitset<statistics::StatusKind::STATUSES_SIZE> validation_mask;
        validation_mask[statistics::StatusKind::INCOMPATIBLE_QOS] = true;

        MonitorServiceConsumer MSC(validation_mask);

        MSC.init_monitor_service_reader();
        MSC.start_reception(expected_msgs);

        //! Assertions
        //! The assertion checking whether the on_data_availble() was called is assumed in the following one
        ASSERT_EQ(MSC.block_for_all(std::chrono::seconds(3)), expected_msgs.size());
    }
#endif //FASTDDS_STATISTICS
}

/**
 * Refers to DDS-MS-ADV-05 from the test plan.
 *
 * Multiple MSPs notifiy MSC with the correct extended QoS incompatibilities. 4 MSPs
 * are created, one with a writer and the others with one an incompatible qos reader
 * in the same topic. It is checked that the MSC receives the corresponding extended
 * incompatibility notifications.
 */

void add_extended_incompatible_policy(
        std::list<MonitorServiceType::type>& expected_msgs,
        const statistics::detail::GUID_s& source_entity_guid,
        const std::vector<std::pair<statistics::detail::GUID_s,
        std::vector<uint32_t>>>& remote_entity_guids_and_policies)
{
    MonitorServiceType::type endpoint_ext_incmpqos_msg;
    StatisticsGUIDList r_guids;
    statistics::ExtendedIncompatibleQoSStatusSeq_s ext_incompatible_qos_seq;
    statistics::ExtendedIncompatibleQoSStatus_s ext_incompatible_qos;

    endpoint_ext_incmpqos_msg.status_kind(eprosima::fastdds::statistics::StatusKind::EXTENDED_INCOMPATIBLE_QOS);
    endpoint_ext_incmpqos_msg.local_entity(source_entity_guid);

    for (const auto& remote_entity_guid_and_policies : remote_entity_guids_and_policies)
    {
        ext_incompatible_qos.remote_guid(remote_entity_guid_and_policies.first);
        ext_incompatible_qos.current_incompatible_policies(remote_entity_guid_and_policies.second);
        ext_incompatible_qos_seq.push_back(ext_incompatible_qos);
    }

    endpoint_ext_incmpqos_msg.value().extended_incompatible_qos_status(ext_incompatible_qos_seq);
    expected_msgs.push_back(endpoint_ext_incmpqos_msg);
}

TEST(DDSMonitorServiceTest, monitor_service_advanced_extended_incompatible_qos)
{
#ifdef FASTDDS_STATISTICS

    //! Validate EXTENDED_INCOMPATIBLE_QOS and PROXY samples only
    std::bitset<statistics::StatusKind::STATUSES_SIZE> validation_mask;
    //! In this test we will only expect the disposal proxy samples, not discovery ones
    validation_mask[statistics::StatusKind::PROXY] = true;
    validation_mask[statistics::StatusKind::EXTENDED_INCOMPATIBLE_QOS] = true;

    //! Setup
    size_t n_participants = 4;
    std::vector<MonitorServiceParticipant> MSPs;
    MSPs.resize(n_participants);
    //! By validating PROXY we will receive extra msgs such as discovery proxies or instance unregistrations
    //! (We are only interested in the disposals from the PROXY status kind)
    //! but we are not interested in them in this test, so we set assert_on_non_expected_msgs to false
    MonitorServiceConsumer MSC(validation_mask, false);
    MSC.init_monitor_service_reader();

    //! Procedure
    std::list<MonitorServiceType::type> expected_msgs;

    size_t idx = 0;
    statistics::detail::GUID_s w_guid;
    for (auto& MSP : MSPs)
    {
        MSP.setup();
        MSP.enable_monitor_service();

        switch (idx)
        {
            case 0:
            {
                DataWriterQos dw_qos;
                dw_qos.durability().kind = eprosima::fastdds::dds::VOLATILE_DURABILITY_QOS;

                MSP.create_and_add_writer(dw_qos);

                ASSERT_EQ(MSP.get_writer_guids().size(), 1);
                w_guid = MSP.get_writer_guids().back();

                break;
            }
            case 1:
            {
                DataReaderQos dr_qos;
                dr_qos.durability().kind = TRANSIENT_LOCAL_DURABILITY_QOS;

                MSP.create_and_add_reader(dr_qos);

                //! Add extended qos incompatibilities
                //! for the reader (reader -> writer)
                add_extended_incompatible_policy(
                    expected_msgs,
                    MSP.get_reader_guids().back(),
                    {{w_guid, {DURABILITY_QOS_POLICY_ID}}}
                    );

                break;
            }
            case 2:
            {
                DataReaderQos dr_qos;
                dr_qos.liveliness().kind = eprosima::fastdds::dds::MANUAL_BY_PARTICIPANT_LIVELINESS_QOS;

                MSP.create_and_add_reader(dr_qos);

                //! Add extended qos incompatibilities
                //! for the reader (reader -> writer)
                add_extended_incompatible_policy(
                    expected_msgs,
                    MSP.get_reader_guids().back(),
                    {{w_guid, {LIVELINESS_QOS_POLICY_ID}}}
                    );

                break;
            }
            case 3:
            {
                DataReaderQos dr_qos;
                dr_qos.ownership().kind = eprosima::fastdds::dds::EXCLUSIVE_OWNERSHIP_QOS;

                MSP.create_and_add_reader(dr_qos);

                //! Add extended qos incompatibilities
                //! for the reader (reader -> writer)
                add_extended_incompatible_policy(
                    expected_msgs,
                    MSP.get_reader_guids().back(),
                    {{w_guid, {OWNERSHIP_QOS_POLICY_ID}}}
                    );

                break;
            }
        }

        idx++;
    }

    //! Finally, add the extended incompatibility for the writer
    //! Note: we may receive intermediate incompatibility messages like
    //!      {MSPs[1].get_reader_guids().back(), {DURABILITY_QOS_POLICY_ID}},
    //! and
    //!      {MSPs[1].get_reader_guids().back(), {DURABILITY_QOS_POLICY_ID}},
    //!      {MSPs[2].get_reader_guids().back(), {LIVELINESS_QOS_POLICY_ID}},
    //! but the important thing is that we receive the folowing one
    add_extended_incompatible_policy(
        expected_msgs,
        w_guid,
    {
        {MSPs[1].get_reader_guids().back(), {DURABILITY_QOS_POLICY_ID}},
        {MSPs[2].get_reader_guids().back(), {LIVELINESS_QOS_POLICY_ID}},
        {MSPs[3].get_reader_guids().back(), {OWNERSHIP_QOS_POLICY_ID}}});

    MSC.start_reception(expected_msgs);

    //! Assertions
    ASSERT_EQ(MSC.block_for_all(std::chrono::seconds(5)), expected_msgs.size());

    expected_msgs.clear();

    //! Now we are about to remove readers, prepare the expected messages.
    //! Empty extended incompatible qos lists
    add_extended_incompatible_policy(
        expected_msgs,
        w_guid,
        {});

    //! readers disposals
    for (size_t i = 1; i < n_participants; i++)
    {
        MonitorServiceType::type reader_disposal_msg;
        reader_disposal_msg.local_entity(MSPs[i].get_reader_guids().back());
        expected_msgs.push_back(reader_disposal_msg);
    }

    MSC.start_reception(expected_msgs);

    for (size_t i = 1; i < n_participants; i++)
    {
        MSPs[i].delete_reader();
    }

    //! Assertions
    ASSERT_EQ(MSC.block_for_all(std::chrono::seconds(5)), expected_msgs.size());

#endif //FASTDDS_STATISTICS
}

/**
 * Regression test for Redmine issue #20625.
 *
 * The monitor service writer must correctly handle instances, removing old changes
 * when its going to publish a new change in the same instance since it is
 * defined as KEEP_LAST 1.
 */
TEST(DDSMonitorServiceTest,  monitor_service_properly_handles_topic_instances)
{
#ifdef FASTDDS_STATISTICS

    // In this test we do not need to enforce the validation of samples
    std::bitset<statistics::StatusKind::STATUSES_SIZE> validation_mask;

    // Setup consumer participant
    MonitorServiceConsumer MSC(validation_mask);

    MSC.init_monitor_service_reader();

    // Setup participant with monitor service enabled
    MonitorServiceParticipant MSP;
    auto test_transport = std::make_shared<eprosima::fastdds::rtps::test_UDPv4TransportDescriptor>();

    std::atomic<uint8_t> n_gap_messages{0};

    // Prepare filter to intercept gap messages
    test_transport->drop_gap_messages_filter_ = [&n_gap_messages](CDRMessage_t& msg)
            {

                // Jump the reader entity id
                msg.pos += 4;
                // Read the writer's entity id
                eprosima::fastdds::rtps::EntityId_t writer_entity_id;
                eprosima::fastdds::rtps::CDRMessage::readEntityId(&msg, &writer_entity_id);

                if (ENTITYID_MONITOR_SERVICE_WRITER == writer_entity_id)
                {
                    n_gap_messages.fetch_add(1);
                }

                return false;
            };

    DomainParticipantQos participant_qos;
    participant_qos.transport().user_transports.push_back(test_transport);
    participant_qos.transport().use_builtin_transports = false;

    MSP.setup(participant_qos);
    MSP.enable_monitor_service();

    DataReaderQos dr_qos;
    DataWriterQos dw_qos;

    //! Set deadline as 1 sec
    dr_qos.deadline().period = eprosima::fastdds::dds::Time_t{1, 000000000};
    dw_qos.deadline().period = eprosima::fastdds::dds::Time_t{1, 000000000};

    MSP.create_and_add_reader(dr_qos);
    MSP.create_and_add_writer(dw_qos);

    MSC.start_reception(std::list<MonitorServiceType::type>());

    auto samples = default_helloworld_data_generator(4);
    // Default heartbeat period is 3 secs.
    // Ensure that the monitor service writer sends at least one
    // waiting 1150 milliseconds between samples
    MSP.send(samples, 1150);

    ASSERT_TRUE(n_gap_messages > 0u);
#endif //FASTDDS_STATISTICS
}

/**
 * Regression test for Redmine issue #20625.
 *
 * A monitor service consumer receives only the last instance status when late joins.
 */
TEST(DDSMonitorServiceTest,  monitor_service_late_joiner_consumer_receives_only_the_latest_instance_statuses)
{
#ifdef FASTDDS_STATISTICS

    // In this test we enforce validating DeadlineMissed samples only
    std::bitset<statistics::StatusKind::STATUSES_SIZE> validation_mask;
    validation_mask[statistics::StatusKind::DEADLINE_MISSED] = true;

    // Setup
    MonitorServiceConsumer MSC(validation_mask, false);
    MonitorServiceParticipant MSP;

    MSP.setup();
    MSP.enable_monitor_service();

    DataReaderQos dr_qos;
    DataWriterQos dw_qos;

    // Set deadline as 0,5 secs to continously keep missing the deadline later
    dr_qos.deadline().period = eprosima::fastdds::dds::Time_t{0, 500000000};
    dw_qos.deadline().period = eprosima::fastdds::dds::Time_t{0, 500000000};

    MSP.create_and_add_reader(dr_qos);
    MSP.create_and_add_writer(dw_qos);

    std::list<MonitorServiceType::type> non_expected_msgs;
    MonitorServiceType::type endpoint_deadline_msg;
    StatisticsGUIDList r_guids, w_guids;

    // Prepare the expected messages or, in this case, the non-expected one
    // since we should never receive a deadline missed status with a total count of 2
    // That will prove that only the last update of the instance is being received and, in turn,
    // verify that the monitor service datawriter is not holding past samples of the same instance.
    r_guids = MSP.get_reader_guids();
    ASSERT_EQ(r_guids.size(), 1);
    endpoint_deadline_msg.local_entity(r_guids.back());

    statistics::DeadlineMissedStatus_s deadline_missed_status;
    deadline_missed_status.total_count() = 2;
    endpoint_deadline_msg.value().deadline_missed_status(deadline_missed_status);

    non_expected_msgs.push_back(endpoint_deadline_msg);

    w_guids = MSP.get_writer_guids();
    ASSERT_EQ(w_guids.size(), 1);
    endpoint_deadline_msg.local_entity(w_guids.back());

    non_expected_msgs.push_back(endpoint_deadline_msg);

    auto samples = default_helloworld_data_generator(5);

    //send a sample every 600 milliseconds (more than the deadline period)
    MSP.send(samples, 600);

    // Late joiner consumer
    MSC.set_reader_history_kind(eprosima::fastdds::dds::KEEP_ALL_HISTORY_QOS)
            .init_monitor_service_reader();

    MSC.start_reception(non_expected_msgs);

    // We expect not to have received any deadline missed status
    // with a total_count less than 5
    ASSERT_FALSE(MSC.block_for_all(std::chrono::seconds(5)));
#endif //FASTDDS_STATISTICS
}

