// Copyright 2016 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 <chrono>
#include <fstream>
#include <memory>
#include <string>
#include <thread>

#include <fastcdr/Cdr.h>
#include <gmock/gmock.h>
#include <gtest/gtest.h>

#include <dds/core/types.hpp>
#include <dds/domain/DomainParticipant.hpp>
#include <dds/domain/qos/DomainParticipantQos.hpp>
#include <dds/pub/Publisher.hpp>
#include <dds/pub/qos/PublisherQos.hpp>
#include <dds/sub/qos/SubscriberQos.hpp>
#include <dds/sub/Subscriber.hpp>
#include <dds/topic/Topic.hpp>
#include <fastdds/dds/builtin/topic/ParticipantBuiltinTopicData.hpp>
#include <fastdds/dds/builtin/topic/TopicBuiltinTopicData.hpp>
#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
#include <fastdds/dds/domain/DomainParticipantListener.hpp>
#include <fastdds/dds/domain/qos/DomainParticipantQos.hpp>
#include <fastdds/dds/log/Log.hpp>
#include <fastdds/dds/publisher/DataWriter.hpp>
#include <fastdds/dds/publisher/Publisher.hpp>
#include <fastdds/dds/publisher/qos/PublisherQos.hpp>
#include <fastdds/dds/subscriber/DataReader.hpp>
#include <fastdds/dds/subscriber/qos/SubscriberQos.hpp>
#include <fastdds/dds/subscriber/Subscriber.hpp>
#include <fastdds/dds/topic/qos/TopicQos.hpp>
#include <fastdds/rtps/attributes/RTPSParticipantAttributes.h>
#include <fastdds/rtps/attributes/ServerAttributes.h>
#include <fastdds/rtps/common/Locator.h>
#include <fastdds/rtps/participant/RTPSParticipant.h>
#include <fastrtps/attributes/PublisherAttributes.h>
#include <fastrtps/attributes/SubscriberAttributes.h>
#include <fastrtps/types/DynamicDataFactory.h>
#include <fastrtps/types/DynamicType.h>
#include <fastrtps/types/DynamicTypePtr.h>
#include <fastrtps/types/TypeDescriptor.h>
#include <fastrtps/types/TypeObjectFactory.h>
#include <fastrtps/utils/IPLocator.h>
#include <fastrtps/xmlparser/XMLProfileManager.h>

#include <fastdds/domain/DomainParticipantImpl.hpp>
#include <utils/SystemInfo.hpp>

#include "../../common/GTestPrinters.hpp"
#include "../../logging/mock/MockConsumer.h"

namespace eprosima {
namespace fastdds {
namespace dds {

using fastrtps::ParticipantAttributes;
using fastrtps::PublisherAttributes;
using fastrtps::SubscriberAttributes;
using fastrtps::types::DynamicData_ptr;
using fastrtps::types::DynamicDataFactory;
using fastrtps::types::DynamicType_ptr;
using fastrtps::types::DynamicTypeBuilder_ptr;
using fastrtps::types::DynamicTypeBuilderFactory;
using fastrtps::types::TypeDescriptor;
using fastrtps::xmlparser::XMLP_ret;
using fastrtps::xmlparser::XMLProfileManager;


// Mocked TopicDataType for Topic creation tests
class TopicDataTypeMock : public TopicDataType
{
public:

    TopicDataTypeMock()
        : TopicDataType()
    {
        m_typeSize = 4u;
        setName("footype");
    }

    bool serialize(
            void* /*data*/,
            fastrtps::rtps::SerializedPayload_t* /*payload*/) override
    {
        return true;
    }

    bool deserialize(
            fastrtps::rtps::SerializedPayload_t* /*payload*/,
            void* /*data*/) override
    {
        return true;
    }

    std::function<uint32_t()> getSerializedSizeProvider(
            void* /*data*/) override
    {
        return std::function<uint32_t()>();
    }

    void* createData() override
    {
        return nullptr;
    }

    void deleteData(
            void* /*data*/) override
    {
    }

    bool getKey(
            void* /*data*/,
            fastrtps::rtps::InstanceHandle_t* /*ihandle*/,
            bool /*force_md5*/) override
    {
        return true;
    }

    void clearName()
    {
        setName("");
    }

};

class LoanableTopicDataTypeMock : public TopicDataType
{
public:

    LoanableTopicDataTypeMock()
        : TopicDataType()
    {
        m_typeSize = 4u;
        setName("loanablefootype");
    }

    bool serialize(
            void* /*data*/,
            fastrtps::rtps::SerializedPayload_t* /*payload*/) override
    {
        return true;
    }

    bool deserialize(
            fastrtps::rtps::SerializedPayload_t* /*payload*/,
            void* /*data*/) override
    {
        return true;
    }

    std::function<uint32_t()> getSerializedSizeProvider(
            void* /*data*/) override
    {
        return std::function<uint32_t()>();
    }

    void* createData() override
    {
        return nullptr;
    }

    void deleteData(
            void* /*data*/) override
    {
    }

    inline bool is_bounded() const override
    {
        return true;
    }

    inline bool is_plain() const override
    {
        return true;
    }

    bool getKey(
            void* /*data*/,
            fastrtps::rtps::InstanceHandle_t* /*ihandle*/,
            bool /*force_md5*/) override
    {
        return true;
    }

};

class BarType
{
public:

    inline uint32_t index() const
    {
        return index_;
    }

    inline uint32_t& index()
    {
        return index_;
    }

    inline void index(
            uint32_t value)
    {
        index_ = value;
    }

    inline const std::array<char, 256>& message() const
    {
        return message_;
    }

    inline std::array<char, 256>& message()
    {
        return message_;
    }

    inline void message(
            const std::array<char, 256>& value)
    {
        message_ = value;
    }

    inline void serialize(
            eprosima::fastcdr::Cdr& scdr) const
    {
        scdr << index_;
        scdr << message_;
    }

    inline void deserialize(
            eprosima::fastcdr::Cdr& dcdr)
    {
        dcdr >> index_;
        dcdr >> message_;
    }

    inline bool isKeyDefined()
    {
        return true;
    }

    inline void serializeKey(
            eprosima::fastcdr::Cdr& scdr) const
    {
        scdr << index_;
    }

    inline bool operator ==(
            const BarType& other) const
    {
        return (index_ == other.index_) && (message_ == other.message_);
    }

private:

    uint32_t index_ = 0;
    std::array<char, 256> message_;
};


TEST(ParticipantTests, DomainParticipantFactoryGetInstance)
{
    DomainParticipantFactory* factory = DomainParticipantFactory::get_instance();

    ASSERT_NE(factory, nullptr);
    ASSERT_EQ(factory, DomainParticipantFactory::get_instance());
}

TEST(ParticipantTests, ChangeDomainParticipantFactoryQos)
{
    DomainParticipantFactoryQos qos;
    DomainParticipantFactory::get_instance()->get_qos(qos);

    ASSERT_EQ(qos.entity_factory().autoenable_created_entities, true);

    EntityFactoryQosPolicy entity_factory = qos.entity_factory();
    entity_factory.autoenable_created_entities = false;
    qos.entity_factory(entity_factory);

    ASSERT_TRUE(DomainParticipantFactory::get_instance()->set_qos(qos) == ReturnCode_t::RETCODE_OK);
    DomainParticipantFactoryQos fqos;
    DomainParticipantFactory::get_instance()->get_qos(fqos);

    ASSERT_EQ(qos, fqos);
    ASSERT_EQ(fqos.entity_factory().autoenable_created_entities, false);
}

TEST(ParticipantTests, CreateDomainParticipant)
{
    DomainParticipant* participant =
            DomainParticipantFactory::get_instance()->create_participant(0, PARTICIPANT_QOS_DEFAULT);

    ASSERT_NE(participant, nullptr);
    EXPECT_EQ(participant->get_listener(), nullptr);

    ASSERT_TRUE(DomainParticipantFactory::get_instance()->delete_participant(participant) == ReturnCode_t::RETCODE_OK);

}

/**
 * @brief Check whether two @ref DomainParticipantQos are equivalent property-wise and equal elsewhere.
 *
 * @c qos_1 and @c qos_2 have equivalent properties if:
 *
 * 1. They have equal binary properties
 * 2. All the non-binary properties of @c qos_2 are present (by name) in @c qos_1
 *
 * @param[in] qos_1 LHS @ref DomainParticipantQos
 * @param[in] qos_2 RHS @ref DomainParticipantQos
 */
void check_equivalent_qos(
        const DomainParticipantQos& qos_1,
        const DomainParticipantQos& qos_2)
{
    ASSERT_EQ(qos_1.user_data(), qos_2.user_data());
    ASSERT_EQ(qos_1.entity_factory(), qos_2.entity_factory());
    ASSERT_EQ(qos_1.allocation(), qos_2.allocation());
    for (auto property : qos_2.properties().properties())
    {
        ASSERT_NE(nullptr, fastrtps::rtps::PropertyPolicyHelper::find_property(qos_1.properties(), property.name()));
    }
    ASSERT_EQ(qos_1.properties().binary_properties(), qos_2.properties().binary_properties());
    ASSERT_EQ(qos_1.wire_protocol(), qos_2.wire_protocol());
    ASSERT_EQ(qos_1.transport(), qos_2.transport());
    ASSERT_EQ(qos_1.name(), qos_2.name());
    ASSERT_EQ(qos_1.flow_controllers(), qos_2.flow_controllers());
}

void check_participant_with_profile (
        DomainParticipant* participant,
        const std::string& profile_name)
{
    DomainParticipantQos qos;
    participant->get_qos(qos);

    ParticipantAttributes participant_atts;
    XMLProfileManager::fillParticipantAttributes(profile_name, participant_atts);

    /* Values taken from profile */
    ASSERT_TRUE(qos.allocation() == participant_atts.rtps.allocation);
    // Check that all the non-binary properties in participant_atts are present (by name) in qos
    for (auto property : participant_atts.rtps.properties.properties())
    {
        ASSERT_NE(nullptr, fastrtps::rtps::PropertyPolicyHelper::find_property(qos.properties(), property.name()));
    }
    ASSERT_TRUE(qos.properties().binary_properties() == participant_atts.rtps.properties.binary_properties());
    ASSERT_TRUE(qos.name().to_string() == participant_atts.rtps.getName());
    ASSERT_TRUE(qos.wire_protocol().prefix == participant_atts.rtps.prefix);
    ASSERT_TRUE(qos.wire_protocol().participant_id == participant_atts.rtps.participantID);
    ASSERT_TRUE(qos.wire_protocol().builtin == participant_atts.rtps.builtin);
    ASSERT_TRUE(qos.wire_protocol().port == participant_atts.rtps.port);
    ASSERT_TRUE(qos.wire_protocol().throughput_controller == participant_atts.rtps.throughputController);
    ASSERT_TRUE(qos.wire_protocol().default_unicast_locator_list ==
            participant_atts.rtps.defaultUnicastLocatorList);
    ASSERT_TRUE(qos.wire_protocol().default_multicast_locator_list ==
            participant_atts.rtps.defaultMulticastLocatorList);
    ASSERT_TRUE(qos.transport().user_transports == participant_atts.rtps.userTransports);
    ASSERT_TRUE(qos.transport().use_builtin_transports == participant_atts.rtps.useBuiltinTransports);
    ASSERT_TRUE(qos.transport().send_socket_buffer_size == participant_atts.rtps.sendSocketBufferSize);
    ASSERT_TRUE(qos.transport().listen_socket_buffer_size == participant_atts.rtps.listenSocketBufferSize);
    ASSERT_TRUE(qos.user_data().data_vec() == participant_atts.rtps.userData);

    //Values not implemented on attributes (taken from default QoS)
    ASSERT_TRUE(qos.entity_factory() == PARTICIPANT_QOS_DEFAULT.entity_factory());
}

/**
 * This test checks two different things depending on whether FASTDDS_STATISTICS is defined when compiling the test:
 *
 * 1. In the case of disabled Statistics, none of the physical data related properties are present in a default
 *    constructed DomainParticipantQos.
 * 2. In the case of enabled Statistics, all of the physical data related properties are present in a default
 *    constructed DomainParticipantQos, and that their default value is empty.
 */
TEST(ParticipantTests, DomainParticipantQosPhysicalProperties)
{
    std::vector<std::string> property_names = {
        parameter_policy_physical_data_host,
        parameter_policy_physical_data_user,
        parameter_policy_physical_data_process
    };
#ifndef FASTDDS_STATISTICS
    /* Check the behaviour when FASTDDS_STATISTICS is NOT defined */
    DomainParticipantQos qos_1;
    for (std::string property_name : property_names)
    {
        std::string* property = fastrtps::rtps::PropertyPolicyHelper::find_property(qos_1.properties(), property_name);
        ASSERT_EQ(nullptr, property);
    }
#else
    /* Check the behaviour when FASTDDS_STATISTICS is defined */
    DomainParticipantQos qos_2;
    for (std::string property_name : property_names)
    {
        std::string* property = fastrtps::rtps::PropertyPolicyHelper::find_property(qos_2.properties(), property_name);
        ASSERT_NE(nullptr, property);
        ASSERT_TRUE(property->empty());
    }
#endif // ifndef FASTDDS_STATISTICS
}

TEST(ParticipantTests, CreateDomainParticipantWithProfile)
{
    DomainParticipantFactory::get_instance()->load_XML_profiles_file("test_xml_profiles.xml");

    //participant using the default profile
    DomainParticipant* default_participant =
            DomainParticipantFactory::get_instance()->create_participant(0, PARTICIPANT_QOS_DEFAULT);
    ASSERT_NE(default_participant, nullptr);
    ASSERT_EQ(default_participant->get_domain_id(), 0u); //Keep the DID given to the method, not the one on the profile
    check_participant_with_profile(default_participant, "test_default_participant_profile");
    ASSERT_TRUE(DomainParticipantFactory::get_instance()->delete_participant(
                default_participant) == ReturnCode_t::RETCODE_OK);

    //participant using non-default profile
    DomainParticipant* participant =
            DomainParticipantFactory::get_instance()->create_participant_with_profile(0, "test_participant_profile");
    ASSERT_NE(participant, nullptr);
    ASSERT_EQ(participant->get_domain_id(), 0u); //Keep the DID given to the method, not the one on the profile
    check_participant_with_profile(participant, "test_participant_profile");
    ASSERT_TRUE(DomainParticipantFactory::get_instance()->delete_participant(participant) == ReturnCode_t::RETCODE_OK);
}

TEST(ParticipantTests, GetParticipantProfileQos)
{
    DomainParticipantFactory::get_instance()->load_XML_profiles_file("test_xml_profiles.xml");
    DomainParticipantQos qos;
    EXPECT_EQ(
        DomainParticipantFactory::get_instance()->get_participant_qos_from_profile("test_participant_profile", qos),
        ReturnCode_t::RETCODE_OK);

    // Extract ParticipantQos from profile
    DomainParticipant* participant =
            DomainParticipantFactory::get_instance()->create_participant(0, qos);
    ASSERT_NE(participant, nullptr);

    check_participant_with_profile(participant, "test_participant_profile");

    // Test return when a non-existent profile is used
    EXPECT_EQ(
        DomainParticipantFactory::get_instance()->get_participant_qos_from_profile("incorrect_profile_name", qos),
        ReturnCode_t::RETCODE_BAD_PARAMETER);

    // Clean up
    ASSERT_EQ(DomainParticipantFactory::get_instance()->delete_participant(participant), ReturnCode_t::RETCODE_OK);
}


TEST(ParticipantTests, CreatePSMDomainParticipant)
{
    ::dds::domain::DomainParticipant participant = ::dds::core::null;
    participant = ::dds::domain::DomainParticipant(0, PARTICIPANT_QOS_DEFAULT);

    ASSERT_NE(participant, ::dds::core::null);
}

TEST(ParticipantTests, DeleteDomainParticipant)
{
    DomainParticipant* participant =
            DomainParticipantFactory::get_instance()->create_participant(0, PARTICIPANT_QOS_DEFAULT);

    ASSERT_TRUE(DomainParticipantFactory::get_instance()->delete_participant(participant) == ReturnCode_t::RETCODE_OK);
}

TEST(ParticipantTests, DeleteDomainParticipantWithEntities)
{
    DomainParticipant* participant =
            DomainParticipantFactory::get_instance()->create_participant(0, PARTICIPANT_QOS_DEFAULT);

    Subscriber* subscriber = participant->create_subscriber(SUBSCRIBER_QOS_DEFAULT);
    ASSERT_NE(subscriber, nullptr);

    ASSERT_EQ(DomainParticipantFactory::get_instance()->delete_participant(
                participant), ReturnCode_t::RETCODE_PRECONDITION_NOT_MET);
    ASSERT_EQ(participant->delete_subscriber(subscriber), ReturnCode_t::RETCODE_OK);
    ASSERT_EQ(DomainParticipantFactory::get_instance()->delete_participant(participant), ReturnCode_t::RETCODE_OK);

    participant = DomainParticipantFactory::get_instance()->create_participant(0, PARTICIPANT_QOS_DEFAULT);

    Publisher* publisher = participant->create_publisher(PUBLISHER_QOS_DEFAULT);
    ASSERT_NE(publisher, nullptr);

    ASSERT_EQ(DomainParticipantFactory::get_instance()->delete_participant(
                participant), ReturnCode_t::RETCODE_PRECONDITION_NOT_MET);
    ASSERT_EQ(participant->delete_publisher(publisher), ReturnCode_t::RETCODE_OK);
    ASSERT_EQ(DomainParticipantFactory::get_instance()->delete_participant(participant), ReturnCode_t::RETCODE_OK);

    participant = DomainParticipantFactory::get_instance()->create_participant(0, PARTICIPANT_QOS_DEFAULT);

    TypeSupport type(new TopicDataTypeMock());
    type.register_type(participant);

    Topic* topic = participant->create_topic("footopic", type.get_type_name(), TOPIC_QOS_DEFAULT);
    ASSERT_NE(topic, nullptr);

    ASSERT_EQ(DomainParticipantFactory::get_instance()->delete_participant(
                participant), ReturnCode_t::RETCODE_PRECONDITION_NOT_MET);
    ASSERT_EQ(participant->delete_topic(topic), ReturnCode_t::RETCODE_OK);
    ASSERT_EQ(DomainParticipantFactory::get_instance()->delete_participant(participant), ReturnCode_t::RETCODE_OK);
}

TEST(ParticipantTests, ChangeDefaultParticipantQos)
{
    DomainParticipantQos qos;
    DomainParticipantFactory::get_instance()->get_default_participant_qos(qos);

    ASSERT_EQ(qos, PARTICIPANT_QOS_DEFAULT);

    EntityFactoryQosPolicy entity_factory = qos.entity_factory();
    entity_factory.autoenable_created_entities = false;
    qos.entity_factory(entity_factory);

    ASSERT_TRUE(DomainParticipantFactory::get_instance()->set_default_participant_qos(qos) == ReturnCode_t::RETCODE_OK);
    DomainParticipantQos pqos;
    DomainParticipantFactory::get_instance()->get_default_participant_qos(pqos);

    ASSERT_EQ(qos, pqos);
    ASSERT_EQ(pqos.entity_factory().autoenable_created_entities, false);

    ASSERT_TRUE(DomainParticipantFactory::get_instance()->set_default_participant_qos(
                PARTICIPANT_QOS_DEFAULT) == ReturnCode_t::RETCODE_OK);
}

TEST(ParticipantTests, ChangePSMDefaultParticipantQos)
{
    ::dds::domain::DomainParticipant participant = ::dds::domain::DomainParticipant(0, PARTICIPANT_QOS_DEFAULT);

    ::dds::domain::qos::DomainParticipantQos qos = participant.default_participant_qos();

    ASSERT_EQ(qos, PARTICIPANT_QOS_DEFAULT);

    EntityFactoryQosPolicy entity_factory = qos.entity_factory();
    entity_factory.autoenable_created_entities = false;
    qos.entity_factory(entity_factory);

    ASSERT_NO_THROW(participant.default_participant_qos(qos));
    ::dds::domain::qos::DomainParticipantQos pqos = participant.default_participant_qos();

    ASSERT_EQ(qos, pqos);
    ASSERT_EQ(pqos.entity_factory().autoenable_created_entities, false);

    ASSERT_NO_THROW(participant.default_participant_qos(PARTICIPANT_QOS_DEFAULT));
}

TEST(ParticipantTests, ChangeDomainParticipantQos)
{
    DomainParticipant* participant =
            DomainParticipantFactory::get_instance()->create_participant(0, PARTICIPANT_QOS_DEFAULT);
    DomainParticipantQos qos;
    participant->get_qos(qos);

    check_equivalent_qos(qos, PARTICIPANT_QOS_DEFAULT);

    qos.entity_factory().autoenable_created_entities = false;
    ASSERT_TRUE(participant->set_qos(qos) == ReturnCode_t::RETCODE_OK);
    DomainParticipantQos pqos;
    participant->get_qos(pqos);

    ASSERT_FALSE(pqos == PARTICIPANT_QOS_DEFAULT);
    ASSERT_EQ(qos, pqos);
    ASSERT_EQ(qos.entity_factory().autoenable_created_entities, false);

    ASSERT_TRUE(DomainParticipantFactory::get_instance()->delete_participant(participant) == ReturnCode_t::RETCODE_OK);

}

TEST(ParticipantTests, ChangePSMDomainParticipantQos)
{
    ::dds::domain::DomainParticipant participant = ::dds::core::null;
    participant = ::dds::domain::DomainParticipant(0, PARTICIPANT_QOS_DEFAULT);
    ::dds::domain::qos::DomainParticipantQos qos = participant.qos();

    check_equivalent_qos(qos, PARTICIPANT_QOS_DEFAULT);

    qos.entity_factory().autoenable_created_entities = false;
    ASSERT_NO_THROW(participant.qos(qos));
    ::dds::domain::qos::DomainParticipantQos pqos;
    pqos = participant.qos();

    ASSERT_FALSE(pqos == PARTICIPANT_QOS_DEFAULT);
    ASSERT_EQ(qos, pqos);
    ASSERT_EQ(qos.entity_factory().autoenable_created_entities, false);

}

class DomainParticipantTest : public DomainParticipant
{
public:

    const DomainParticipantImpl* get_impl() const
    {
        return impl_;
    }

};

void get_rtps_attributes(
        const DomainParticipant* participant,
        fastrtps::rtps::RTPSParticipantAttributes& att)
{
    const DomainParticipantTest* participant_test = static_cast<const DomainParticipantTest*>(participant);
    ASSERT_NE(nullptr, participant_test);
    const DomainParticipantImpl* participant_impl = participant_test->get_impl();
    ASSERT_NE(nullptr, participant_impl);
    att = participant_impl->rtps_participant()->getRTPSParticipantAttributes();
}

void helper_wait_for_at_least_entries(
        const MockConsumer* mockConsumer,
        uint32_t amount)
{
    const uint32_t AsyncTries = 5;
    const uint32_t AsyncWaitMs = 25;
    size_t entries = 0;
    for (uint32_t i = 0; i != AsyncTries; i++)
    {
        entries = mockConsumer->ConsumedEntries().size();
        if (entries >= amount)
        {
            break;
        }
        std::this_thread::sleep_for(std::chrono::milliseconds(AsyncWaitMs));
    }
    EXPECT_LE(amount, mockConsumer->ConsumedEntries().size());
}

void expected_remote_server_list_output(
        rtps::RemoteServerList_t& output)
{
    rtps::RemoteServerAttributes server;
    fastrtps::rtps::Locator_t locator;
    fastrtps::rtps::IPLocator::setIPv4(locator, "84.22.253.128");
    locator.port = 8888;
    server.metatrafficUnicastLocatorList.push_back(locator);
    get_server_client_default_guidPrefix(0, server.guidPrefix);
    output.push_back(server);

    server.clear();
    fastrtps::rtps::IPLocator::setIPv4(locator, "127.0.0.1");
    locator.port = 1234;
    server.metatrafficUnicastLocatorList.push_back(locator);
    get_server_client_default_guidPrefix(2, server.guidPrefix);
    output.push_back(server);
}

void set_participant_qos(
        DomainParticipantQos& qos,
        rtps::RemoteServerList_t& output)
{
    rtps::RemoteServerAttributes server;
    fastrtps::rtps::Locator_t locator;
    server.ReadguidPrefix("44.53.00.5f.45.50.52.4f.53.49.4d.00");
    fastrtps::rtps::IPLocator::setIPv4(locator, "192.168.1.133");
    locator.port = 64863;
    server.metatrafficUnicastLocatorList.push_back(locator);
    qos.wire_protocol().builtin.discovery_config.m_DiscoveryServers.push_back(server);
    output.push_back(server);
}

void set_server_qos(
        DomainParticipantQos& qos)
{
    rtps::RemoteServerAttributes server;
    fastrtps::rtps::Locator_t locator;
    server.ReadguidPrefix(rtps::DEFAULT_ROS2_SERVER_GUIDPREFIX);
    fastrtps::rtps::IPLocator::setIPv4(locator, "172.17.0.5");
    locator.port = 4321;
    server.metatrafficUnicastLocatorList.push_back(locator);
    qos.wire_protocol().builtin.discovery_config.m_DiscoveryServers.push_back(server);
    qos.wire_protocol().builtin.discovery_config.discoveryProtocol = fastrtps::rtps::DiscoveryProtocol::SERVER;
    fastrtps::rtps::IPLocator::setIPv4(locator, "127.0.0.1");
    locator.port = 5432;
    qos.wire_protocol().builtin.metatrafficUnicastLocatorList.push_back(locator);
    std::istringstream(rtps::DEFAULT_ROS2_SERVER_GUIDPREFIX) >> qos.wire_protocol().prefix;
}

void set_environment_variable()
{
    std::string environment_servers = "84.22.253.128:8888;;localhost:1234";
#ifdef _WIN32
    ASSERT_EQ(0, _putenv_s(rtps::DEFAULT_ROS2_MASTER_URI, environment_servers.c_str()));
#else
    ASSERT_EQ(0, setenv(rtps::DEFAULT_ROS2_MASTER_URI, environment_servers.c_str(), 1));
#endif // _WIN32
}

void set_environment_file(
        const std::string& filename)
{
#ifdef _WIN32
    ASSERT_EQ(0, _putenv_s(FASTDDS_ENVIRONMENT_FILE_ENV_VAR, filename.c_str()));
#else
    ASSERT_EQ(0, setenv(FASTDDS_ENVIRONMENT_FILE_ENV_VAR, filename.c_str(), 1));
#endif // _WIN32
}

/**
 * Test that checks a SIMPLE participant is transformed into a CLIENT.
 * It also checks that the environment variable has priority over the coded QoS settings.
 */
TEST(ParticipantTests, SimpleParticipantRemoteServerListConfiguration)
{
    set_environment_variable();

    rtps::RemoteServerList_t output;
    rtps::RemoteServerList_t qos_output;
    expected_remote_server_list_output(output);

    DomainParticipantQos qos;
    set_participant_qos(qos, qos_output);

    DomainParticipant* participant = DomainParticipantFactory::get_instance()->create_participant(0, qos);
    ASSERT_NE(nullptr, participant);

    fastrtps::rtps::RTPSParticipantAttributes attributes;
    get_rtps_attributes(participant, attributes);
    EXPECT_EQ(attributes.builtin.discovery_config.discoveryProtocol, fastrtps::rtps::DiscoveryProtocol::CLIENT);
    EXPECT_EQ(attributes.builtin.discovery_config.m_DiscoveryServers, output);

    DomainParticipantQos result_qos = participant->get_qos();
    EXPECT_EQ(result_qos.wire_protocol().builtin.discovery_config.m_DiscoveryServers, qos_output);
    EXPECT_EQ(ReturnCode_t::RETCODE_OK, participant->set_qos(result_qos));

    EXPECT_EQ(ReturnCode_t::RETCODE_OK, DomainParticipantFactory::get_instance()->delete_participant(participant));
}

/**
 * This test checks the dynamic addition of remote servers to a SIMPLE participant that has been transformed to a CLIENT
 */
TEST(ParticipantTests, SimpleParticipantDynamicAdditionRemoteServers)
{
    std::string filename = "environment_file.json";
    set_environment_variable();
    set_environment_file(filename);

    rtps::RemoteServerList_t output;
    rtps::RemoteServerList_t qos_output;
    expected_remote_server_list_output(output);

    DomainParticipantQos qos;
    set_participant_qos(qos, qos_output);

    // Create environment file so the watch file is initialized
    std::ofstream file;
    file.open(filename);
    file.close();
    DomainParticipant* participant = DomainParticipantFactory::get_instance()->create_participant(0, qos);
    ASSERT_NE(nullptr, participant);
    fastrtps::rtps::RTPSParticipantAttributes attributes;
    get_rtps_attributes(participant, attributes);
    // As the environment file does not have the ROS_DISCOVERY_SERVER variable set, this variable has been loaded from
    // the environment
    EXPECT_EQ(attributes.builtin.discovery_config.m_DiscoveryServers, output);
    // Modify environment file
#ifndef __APPLE__
    std::this_thread::sleep_for(std::chrono::milliseconds(1100));
    file.open(filename);
    file << "{\"ROS_DISCOVERY_SERVER\": \"84.22.253.128:8888;192.168.1.133:64863;localhost:1234\"}";
    file.close();
    std::this_thread::sleep_for(std::chrono::milliseconds(1100));
    get_rtps_attributes(participant, attributes);

    rtps::RemoteServerAttributes server;
    fastrtps::rtps::Locator_t locator;
    fastrtps::rtps::IPLocator::setIPv4(locator, "192.168.1.133");
    locator.port = 64863;
    server.metatrafficUnicastLocatorList.push_back(locator);
    get_server_client_default_guidPrefix(1, server.guidPrefix);
    output.push_back(server);
    EXPECT_EQ(attributes.builtin.discovery_config.m_DiscoveryServers, output);
#endif // APPLE
    DomainParticipantQos result_qos = participant->get_qos();
    EXPECT_EQ(ReturnCode_t::RETCODE_OK, participant->set_qos(result_qos));
    EXPECT_EQ(ReturnCode_t::RETCODE_OK, DomainParticipantFactory::get_instance()->delete_participant(participant));
    std::remove(filename.c_str());
}

/**
 * This test checks that a CLIENT Participant is not affected by the environment variable
 */
TEST(ParticipantTests, ClientParticipantRemoteServerListConfiguration)
{
    set_environment_variable();

    DomainParticipantQos qos;
    rtps::RemoteServerList_t qos_output;
    set_participant_qos(qos, qos_output);

    qos.wire_protocol().builtin.discovery_config.discoveryProtocol = fastrtps::rtps::DiscoveryProtocol::CLIENT;
    DomainParticipant* participant = DomainParticipantFactory::get_instance()->create_participant(0, qos);
    ASSERT_NE(nullptr, participant);
    fastrtps::rtps::RTPSParticipantAttributes attributes;
    get_rtps_attributes(participant, attributes);
    EXPECT_EQ(attributes.builtin.discovery_config.discoveryProtocol, fastrtps::rtps::DiscoveryProtocol::CLIENT);
    EXPECT_EQ(attributes.builtin.discovery_config.m_DiscoveryServers, qos_output);
    DomainParticipantQos result_qos = participant->get_qos();
    EXPECT_EQ(ReturnCode_t::RETCODE_OK, participant->set_qos(result_qos));
    EXPECT_EQ(ReturnCode_t::RETCODE_OK, DomainParticipantFactory::get_instance()->delete_participant(participant));
}

/**
 * SERVER Participant without initial remote server list set by QoS.
 * The environment variable applies and adds those remote servers to the list even though the attributes are not
 * updated.
 */
TEST(ParticipantTests, ServerParticipantEnvironmentConfiguration)
{
    set_environment_variable();

    DomainParticipantQos server_qos;
    server_qos.wire_protocol().builtin.discovery_config.discoveryProtocol = fastrtps::rtps::DiscoveryProtocol::SERVER;
    // Listening locator: requirement for SERVERs
    fastrtps::rtps::Locator_t locator;
    fastrtps::rtps::IPLocator::setIPv4(locator, "127.0.0.1");
    locator.port = 5432;
    server_qos.wire_protocol().builtin.metatrafficUnicastLocatorList.push_back(locator);
    std::istringstream(rtps::DEFAULT_ROS2_SERVER_GUIDPREFIX) >> server_qos.wire_protocol().prefix;
    DomainParticipant* participant = DomainParticipantFactory::get_instance()->create_participant(0, server_qos);
    ASSERT_NE(nullptr, participant);
    fastrtps::rtps::RTPSParticipantAttributes attributes;
    get_rtps_attributes(participant, attributes);
    EXPECT_EQ(attributes.builtin.discovery_config.discoveryProtocol, fastrtps::rtps::DiscoveryProtocol::SERVER);
    EXPECT_TRUE(attributes.builtin.discovery_config.m_DiscoveryServers.empty());
    DomainParticipantQos result_qos = participant->get_qos();
    EXPECT_EQ(ReturnCode_t::RETCODE_OK, participant->set_qos(result_qos));
    EXPECT_EQ(ReturnCode_t::RETCODE_OK, DomainParticipantFactory::get_instance()->delete_participant(participant));
}

/**
 * SERVER Participant with initial remote server list
 * Servers set with the environment variable are added but not updated in the attributes
 */
TEST(ParticipantTests, ServerParticipantRemoteServerListConfiguration)
{
    set_environment_variable();

    DomainParticipantQos qos;
    rtps::RemoteServerList_t qos_output;
    fastrtps::rtps::Locator_t locator;
    set_participant_qos(qos, qos_output);
    qos.wire_protocol().builtin.discovery_config.discoveryProtocol = fastrtps::rtps::DiscoveryProtocol::SERVER;
    fastrtps::rtps::IPLocator::setIPv4(locator, "127.0.0.1");
    locator.port = 5432;
    qos.wire_protocol().builtin.metatrafficUnicastLocatorList.push_back(locator);
    std::istringstream(rtps::DEFAULT_ROS2_SERVER_GUIDPREFIX) >> qos.wire_protocol().prefix;

    DomainParticipant* participant = DomainParticipantFactory::get_instance()->create_participant(0, qos);
    ASSERT_NE(nullptr, participant);
    fastrtps::rtps::RTPSParticipantAttributes attributes;
    get_rtps_attributes(participant, attributes);
    EXPECT_EQ(attributes.builtin.discovery_config.discoveryProtocol, fastrtps::rtps::DiscoveryProtocol::SERVER);
    EXPECT_EQ(attributes.builtin.discovery_config.m_DiscoveryServers, qos_output);
    DomainParticipantQos result_qos = participant->get_qos();
    EXPECT_EQ(ReturnCode_t::RETCODE_OK, participant->set_qos(result_qos));
    EXPECT_EQ(ReturnCode_t::RETCODE_OK, DomainParticipantFactory::get_instance()->delete_participant(participant));
}

/**
 * SERVER Participant with initial server with inconsistent GUID prefix.
 * Dynamic addition of servers failure.
 */
TEST(ParticipantTests, ServerParticipantInconsistentRemoteServerListConfiguration)
{
    Log::ClearConsumers();
    MockConsumer* mockConsumer = new MockConsumer("RTPS_QOS_CHECK");
    Log::RegisterConsumer(std::unique_ptr<LogConsumer>(mockConsumer));
    Log::SetVerbosity(Log::Warning);

    std::string filename = "environment_file.json";
    set_environment_file(filename);

    std::ofstream file;
    file.open(filename);
    file << "{\"ROS_DISCOVERY_SERVER\": \"84.22.253.128:8888;;localhost:1234\"}";
    file.close();

    DomainParticipantQos qos;
    rtps::RemoteServerList_t qos_output;
    fastrtps::rtps::Locator_t locator;
    set_participant_qos(qos, qos_output);
    qos.wire_protocol().builtin.discovery_config.discoveryProtocol = fastrtps::rtps::DiscoveryProtocol::SERVER;
    fastrtps::rtps::IPLocator::setIPv4(locator, "127.0.0.1");
    locator.port = 5432;
    qos.wire_protocol().builtin.metatrafficUnicastLocatorList.push_back(locator);
    std::istringstream(rtps::DEFAULT_ROS2_SERVER_GUIDPREFIX) >> qos.wire_protocol().prefix;

    DomainParticipant* participant = DomainParticipantFactory::get_instance()->create_participant(0, qos);
    ASSERT_NE(nullptr, participant);
    fastrtps::rtps::RTPSParticipantAttributes attributes;
    get_rtps_attributes(participant, attributes);
    EXPECT_EQ(attributes.builtin.discovery_config.discoveryProtocol, fastrtps::rtps::DiscoveryProtocol::SERVER);
    EXPECT_EQ(attributes.builtin.discovery_config.m_DiscoveryServers, qos_output);

    // Modify environment file: fails cause the initial guid prefix did not comply with the schema
    std::this_thread::sleep_for(std::chrono::milliseconds(1100));
    file.open(filename);
    file << "{\"ROS_DISCOVERY_SERVER\": \"84.22.253.128:8888;192.168.1.133:64863;localhost:1234\"}";
    file.close();
    std::this_thread::sleep_for(std::chrono::milliseconds(1100));
    get_rtps_attributes(participant, attributes);
    EXPECT_EQ(attributes.builtin.discovery_config.m_DiscoveryServers, qos_output);
    // Capture log warning
#ifndef __APPLE__
    helper_wait_for_at_least_entries(mockConsumer, 1);
#endif // APPLE
    DomainParticipantQos result_qos = participant->get_qos();
    EXPECT_EQ(ReturnCode_t::RETCODE_OK, participant->set_qos(result_qos));
    EXPECT_EQ(ReturnCode_t::RETCODE_OK, DomainParticipantFactory::get_instance()->delete_participant(participant));
    std::remove(filename.c_str());
}

/**
 * SERVER Participant with same server in QoS and in environment file, but with different locators.
 * There is no conflict: it is treated as two different servers though the environment variable locator seems to be the
 * one pinged.
 * However, the locator which is checked in order to add a new server is the one set by QoS.
 */
TEST(ParticipantTests, ServerParticipantInconsistentLocatorsRemoteServerListConfiguration)
{
    std::string filename = "environment_file.json";
    set_environment_file(filename);

    DomainParticipantQos qos;
    set_server_qos(qos);

    rtps::RemoteServerList_t output;
    rtps::RemoteServerAttributes server;
    fastrtps::rtps::Locator_t locator;
    server.clear();
    fastrtps::rtps::IPLocator::setIPv4(locator, "172.17.0.5");
    locator.port = 4321;
    server.metatrafficUnicastLocatorList.push_back(locator);
    get_server_client_default_guidPrefix(0, server.guidPrefix);
    output.push_back(server);
    server.clear();
    fastrtps::rtps::IPLocator::setIPv4(locator, "192.168.1.133");
    locator.port = 64863;
    server.metatrafficUnicastLocatorList.push_back(locator);
    get_server_client_default_guidPrefix(1, server.guidPrefix);
    output.push_back(server);

    std::ofstream file;
    file.open(filename);
    file << "{\"ROS_DISCOVERY_SERVER\": \"localhost:1234\"}";
    file.close();

    DomainParticipant* participant = DomainParticipantFactory::get_instance()->create_participant(0, qos);
    ASSERT_NE(nullptr, participant);
    // Try adding a new remote server
#ifndef __APPLE__
    std::this_thread::sleep_for(std::chrono::milliseconds(1100));
    file.open(filename);
    file << "{\"ROS_DISCOVERY_SERVER\": \"172.17.0.5:4321;192.168.1.133:64863\"}";
    file.close();
    std::this_thread::sleep_for(std::chrono::milliseconds(1100));
    fastrtps::rtps::RTPSParticipantAttributes attributes;
    get_rtps_attributes(participant, attributes);
    EXPECT_EQ(attributes.builtin.discovery_config.m_DiscoveryServers, output);
#endif // APPLE
    DomainParticipantQos result_qos = participant->get_qos();
    EXPECT_EQ(ReturnCode_t::RETCODE_OK, participant->set_qos(result_qos));
    EXPECT_EQ(ReturnCode_t::RETCODE_OK, DomainParticipantFactory::get_instance()->delete_participant(participant));
    std::remove(filename.c_str());
}

/**
 * SERVER Participant: intended use
 */
TEST(ParticipantTests, ServerParticipantCorrectRemoteServerListConfiguration)
{
    std::string filename = "environment_file.json";
    set_environment_file(filename);

    std::ofstream file;
    file.open(filename);
    file << "{\"ROS_DISCOVERY_SERVER\": \";localhost:1234\"}";
    file.close();

    DomainParticipantQos qos;
    set_server_qos(qos);

    rtps::RemoteServerList_t output;
    rtps::RemoteServerAttributes server;
    fastrtps::rtps::Locator_t locator;
    fastrtps::rtps::IPLocator::setIPv4(locator, "172.17.0.5");
    locator.port = 4321;
    server.metatrafficUnicastLocatorList.push_back(locator);
    get_server_client_default_guidPrefix(0, server.guidPrefix);
    output.push_back(server);

    DomainParticipant* participant = DomainParticipantFactory::get_instance()->create_participant(0, qos);
    ASSERT_NE(nullptr, participant);
    fastrtps::rtps::RTPSParticipantAttributes attributes;
    get_rtps_attributes(participant, attributes);
    EXPECT_EQ(attributes.builtin.discovery_config.m_DiscoveryServers, output);
    // Add new server through environment file
    // Even though the server added previously through the environment file is being pinged, it is not really being
    // checked because it is not included in the attributes.
    DomainParticipantQos result_qos;
#ifndef __APPLE__
    std::this_thread::sleep_for(std::chrono::milliseconds(1100));
    file.open(filename);
    file << "{\"ROS_DISCOVERY_SERVER\": \"172.17.0.5:4321;;192.168.1.133:64863\"}";
    file.close();
    std::this_thread::sleep_for(std::chrono::milliseconds(1100));
    server.clear();
    fastrtps::rtps::IPLocator::setIPv4(locator, "192.168.1.133");
    locator.port = 64863;
    server.metatrafficUnicastLocatorList.push_back(locator);
    get_server_client_default_guidPrefix(2, server.guidPrefix);
    output.push_back(server);
    get_rtps_attributes(participant, attributes);
    EXPECT_EQ(attributes.builtin.discovery_config.m_DiscoveryServers, output);
    // Try to be consistent: add already known server
    std::this_thread::sleep_for(std::chrono::milliseconds(1100));
    file.open(filename);
    file << "{\"ROS_DISCOVERY_SERVER\": \"172.17.0.5:4321;localhost:1234;192.168.1.133:64863\"}";
    file.close();
    std::this_thread::sleep_for(std::chrono::milliseconds(1100));
    server.clear();
    fastrtps::rtps::IPLocator::setIPv4(locator, "127.0.0.1");
    locator.port = 1234;
    server.metatrafficUnicastLocatorList.push_back(locator);
    get_server_client_default_guidPrefix(1, server.guidPrefix);
    output.push_back(server);
    get_rtps_attributes(participant, attributes);
    EXPECT_EQ(attributes.builtin.discovery_config.m_DiscoveryServers, output);
    result_qos = participant->get_qos();
    EXPECT_EQ(ReturnCode_t::RETCODE_OK, participant->set_qos(result_qos));
    // Add new server using API
    result_qos.wire_protocol().builtin.discovery_config.m_DiscoveryServers.push_back(server);
    // RTPS layer issues a Warning because a server has been removed. However, DDS layer returns OK
    EXPECT_EQ(ReturnCode_t::RETCODE_OK, participant->set_qos(result_qos));
    server.clear();
    fastrtps::rtps::IPLocator::setIPv4(locator, "192.168.1.133");
    locator.port = 64863;
    server.metatrafficUnicastLocatorList.push_back(locator);
    get_server_client_default_guidPrefix(2, server.guidPrefix);
    result_qos.wire_protocol().builtin.discovery_config.m_DiscoveryServers.push_back(server);
    server.clear();
    fastrtps::rtps::IPLocator::setIPv4(locator, "84.22.253.128");
    locator.port = 8888;
    server.metatrafficUnicastLocatorList.push_back(locator);
    get_server_client_default_guidPrefix(3, server.guidPrefix);
    result_qos.wire_protocol().builtin.discovery_config.m_DiscoveryServers.push_back(server);
    EXPECT_EQ(ReturnCode_t::RETCODE_OK, participant->set_qos(result_qos));
    output.push_back(server);
    get_rtps_attributes(participant, attributes);
    EXPECT_EQ(attributes.builtin.discovery_config.m_DiscoveryServers, output);
#endif // APPLE
    result_qos = participant->get_qos();
    EXPECT_EQ(ReturnCode_t::RETCODE_OK, participant->set_qos(result_qos));
    EXPECT_EQ(ReturnCode_t::RETCODE_OK, DomainParticipantFactory::get_instance()->delete_participant(participant));
    std::remove(filename.c_str());
}

/** This test checks that the only mutable element in WireProtocolQosPolicy is the list of remote servers.
 * The checks exclude:
 *    1. wire_protocol().port since its data member cannot be neither initialized nor get
 *    2. wire_protocol().builtin.discovery_config.m_PDPFactory since it is a deprecated interface for RTPS
 *       applications to implement a different discovery mechanism.
 */
TEST(ParticipantTests, ChangeWireProtocolQos)
{
    DomainParticipant* participant =
            DomainParticipantFactory::get_instance()->create_participant(0, PARTICIPANT_QOS_DEFAULT);
    DomainParticipantQos qos;
    participant->get_qos(qos);

    check_equivalent_qos(qos, PARTICIPANT_QOS_DEFAULT);

    // Check that just adding two servers is OK
    rtps::RemoteServerAttributes server;
    server.ReadguidPrefix("44.53.00.5f.45.50.52.4f.53.49.4d.41");
    fastrtps::rtps::Locator_t locator;
    fastrtps::rtps::IPLocator::setIPv4(locator, 192, 168, 1, 133);
    locator.port = 64863;
    server.metatrafficUnicastLocatorList.push_back(locator);
    qos.wire_protocol().builtin.discovery_config.m_DiscoveryServers.push_back(server);

    rtps::RemoteServerAttributes server_2;
    server_2.ReadguidPrefix("44.53.00.5f.45.50.52.4f.53.49.4d.42");
    fastrtps::rtps::Locator_t locator_2;
    fastrtps::rtps::IPLocator::setIPv4(locator_2, 192, 168, 1, 134);
    locator_2.port = 64862;
    server_2.metatrafficUnicastLocatorList.push_back(locator_2);
    qos.wire_protocol().builtin.discovery_config.m_DiscoveryServers.push_back(server_2);

    ASSERT_TRUE(participant->set_qos(qos) == ReturnCode_t::RETCODE_OK);
    DomainParticipantQos set_qos;
    participant->get_qos(set_qos);
    ASSERT_EQ(set_qos, qos);

    // Check that removing one server is NOT OK
    qos.wire_protocol().builtin.discovery_config.m_DiscoveryServers.pop_front();
    ASSERT_FALSE(participant->set_qos(qos) == ReturnCode_t::RETCODE_OK);
    participant->get_qos(set_qos);
    ASSERT_FALSE(set_qos == qos);

    // Check that removing all servers is NOT OK
    fastdds::rtps::RemoteServerList_t servers;
    qos.wire_protocol().builtin.discovery_config.m_DiscoveryServers = servers;
    ASSERT_FALSE(participant->set_qos(qos) == ReturnCode_t::RETCODE_OK);
    participant->get_qos(set_qos);
    ASSERT_FALSE(set_qos == qos);

    // Check changing wire_protocol().prefix is NOT OK
    participant->get_qos(qos);
    std::istringstream("44.53.00.5f.45.50.52.4f.53.49.4d.41") >> qos.wire_protocol().prefix;
    ASSERT_TRUE(participant->set_qos(qos) == ReturnCode_t::RETCODE_IMMUTABLE_POLICY);
    participant->get_qos(set_qos);
    ASSERT_FALSE(set_qos == qos);

    // Check changing wire_protocol().participant_id is NOT OK
    participant->get_qos(qos);
    qos.wire_protocol().participant_id = 7;
    ASSERT_TRUE(participant->set_qos(qos) == ReturnCode_t::RETCODE_IMMUTABLE_POLICY);
    participant->get_qos(set_qos);
    ASSERT_FALSE(set_qos == qos);

    // Check changing wire_protocol().throughput_controller is NOT OK
    participant->get_qos(qos);
    fastrtps::rtps::ThroughputControllerDescriptor controller{300000, 1000};
    qos.wire_protocol().throughput_controller = controller;
    ASSERT_TRUE(participant->set_qos(qos) == ReturnCode_t::RETCODE_IMMUTABLE_POLICY);
    participant->get_qos(set_qos);
    ASSERT_FALSE(set_qos == qos);

    // Check changing wire_protocol().default_unicast_locator_list is NOT OK
    participant->get_qos(qos);
    fastrtps::rtps::Locator_t loc;
    fastrtps::rtps::IPLocator::setIPv4(loc, "192.0.0.0");
    loc.port = static_cast<uint16_t>(12);
    qos.wire_protocol().default_unicast_locator_list.push_back(loc);
    ASSERT_TRUE(participant->set_qos(qos) == ReturnCode_t::RETCODE_IMMUTABLE_POLICY);
    participant->get_qos(set_qos);
    ASSERT_FALSE(set_qos == qos);

    // Check changing wire_protocol().default_multicast_locator_list is NOT OK
    participant->get_qos(qos);
    qos.wire_protocol().default_multicast_locator_list.push_back(loc);
    ASSERT_TRUE(participant->set_qos(qos) == ReturnCode_t::RETCODE_IMMUTABLE_POLICY);
    participant->get_qos(set_qos);
    ASSERT_FALSE(set_qos == qos);

    // Check changing wire_protocol().builtin.use_WriterLivelinessProtocol is NOT OK
    participant->get_qos(qos);
    qos.wire_protocol().builtin.use_WriterLivelinessProtocol ^= true;
    ASSERT_TRUE(participant->set_qos(qos) == ReturnCode_t::RETCODE_IMMUTABLE_POLICY);
    participant->get_qos(set_qos);
    ASSERT_FALSE(set_qos == qos);

    // Check changing wire_protocol().builtin.typelookup_config.use_client is NOT OK
    participant->get_qos(qos);
    qos.wire_protocol().builtin.typelookup_config.use_client ^= true;
    ASSERT_TRUE(participant->set_qos(qos) == ReturnCode_t::RETCODE_IMMUTABLE_POLICY);
    participant->get_qos(set_qos);
    ASSERT_FALSE(set_qos == qos);

    // Check changing wire_protocol().builtin.typelookup_config.use_server is NOT OK
    participant->get_qos(qos);
    qos.wire_protocol().builtin.typelookup_config.use_server ^= true;
    ASSERT_TRUE(participant->set_qos(qos) == ReturnCode_t::RETCODE_IMMUTABLE_POLICY);
    participant->get_qos(set_qos);
    ASSERT_FALSE(set_qos == qos);

    // Check changing wire_protocol().builtin.metatrafficUnicastLocatorList is NOT OK
    participant->get_qos(qos);
    qos.wire_protocol().builtin.metatrafficUnicastLocatorList.push_back(loc);
    ASSERT_TRUE(participant->set_qos(qos) == ReturnCode_t::RETCODE_IMMUTABLE_POLICY);
    participant->get_qos(set_qos);
    ASSERT_FALSE(set_qos == qos);

    // Check changing wire_protocol().builtin.metatrafficMulticastLocatorList is NOT OK
    participant->get_qos(qos);
    qos.wire_protocol().builtin.metatrafficMulticastLocatorList.push_back(loc);
    ASSERT_TRUE(participant->set_qos(qos) == ReturnCode_t::RETCODE_IMMUTABLE_POLICY);
    participant->get_qos(set_qos);
    ASSERT_FALSE(set_qos == qos);

    // Check changing wire_protocol().builtin.initialPeersList is NOT OK
    participant->get_qos(qos);
    qos.wire_protocol().builtin.initialPeersList.push_back(loc);
    ASSERT_TRUE(participant->set_qos(qos) == ReturnCode_t::RETCODE_IMMUTABLE_POLICY);
    participant->get_qos(set_qos);
    ASSERT_FALSE(set_qos == qos);

    // Check changing wire_protocol().builtin.readerHistoryMemoryPolicy is NOT OK
    participant->get_qos(qos);
    qos.wire_protocol().builtin.readerHistoryMemoryPolicy =
            fastrtps::rtps::MemoryManagementPolicy_t::DYNAMIC_RESERVE_MEMORY_MODE;
    ASSERT_TRUE(participant->set_qos(qos) == ReturnCode_t::RETCODE_IMMUTABLE_POLICY);
    participant->get_qos(set_qos);
    ASSERT_FALSE(set_qos == qos);

    // Check changing wire_protocol().builtin.readerPayloadSize is NOT OK
    participant->get_qos(qos);
    qos.wire_protocol().builtin.readerPayloadSize = 27;
    ASSERT_TRUE(participant->set_qos(qos) == ReturnCode_t::RETCODE_IMMUTABLE_POLICY);
    participant->get_qos(set_qos);
    ASSERT_FALSE(set_qos == qos);

    // Check changing wire_protocol().builtin.writerHistoryMemoryPolicy is NOT OK
    participant->get_qos(qos);
    qos.wire_protocol().builtin.writerHistoryMemoryPolicy =
            fastrtps::rtps::MemoryManagementPolicy_t::DYNAMIC_RESERVE_MEMORY_MODE;
    ASSERT_TRUE(participant->set_qos(qos) == ReturnCode_t::RETCODE_IMMUTABLE_POLICY);
    participant->get_qos(set_qos);
    ASSERT_FALSE(set_qos == qos);

    // Check changing wire_protocol().builtin.writerPayloadSize is NOT OK
    participant->get_qos(qos);
    qos.wire_protocol().builtin.writerPayloadSize = 27;
    ASSERT_TRUE(participant->set_qos(qos) == ReturnCode_t::RETCODE_IMMUTABLE_POLICY);
    participant->get_qos(set_qos);
    ASSERT_FALSE(set_qos == qos);

    // Check changing wire_protocol().builtin.mutation_tries is NOT OK
    participant->get_qos(qos);
    qos.wire_protocol().builtin.mutation_tries = 27;
    ASSERT_TRUE(participant->set_qos(qos) == ReturnCode_t::RETCODE_IMMUTABLE_POLICY);
    participant->get_qos(set_qos);
    ASSERT_FALSE(set_qos == qos);

    // Check changing wire_protocol().builtin.avoid_builtin_multicast is NOT OK
    participant->get_qos(qos);
    qos.wire_protocol().builtin.avoid_builtin_multicast ^= true;
    ASSERT_TRUE(participant->set_qos(qos) == ReturnCode_t::RETCODE_IMMUTABLE_POLICY);
    participant->get_qos(set_qos);
    ASSERT_FALSE(set_qos == qos);

    // Check changing wire_protocol().builtin.discovery_config.discoveryProtocol is NOT OK
    participant->get_qos(qos);
    qos.wire_protocol().builtin.discovery_config.discoveryProtocol = fastrtps::rtps::DiscoveryProtocol_t::NONE;
    ASSERT_TRUE(participant->set_qos(qos) == ReturnCode_t::RETCODE_IMMUTABLE_POLICY);
    participant->get_qos(set_qos);
    ASSERT_FALSE(set_qos == qos);

    // Check changing wire_protocol().builtin.discovery_config.use_SIMPLE_EndpointDiscoveryProtocol is NOT OK
    participant->get_qos(qos);
    qos.wire_protocol().builtin.discovery_config.use_SIMPLE_EndpointDiscoveryProtocol ^= true;
    ASSERT_TRUE(participant->set_qos(qos) == ReturnCode_t::RETCODE_IMMUTABLE_POLICY);
    participant->get_qos(set_qos);
    ASSERT_FALSE(set_qos == qos);

    // Check changing wire_protocol().builtin.discovery_config.use_STATIC_EndpointDiscoveryProtocol is NOT OK
    participant->get_qos(qos);
    qos.wire_protocol().builtin.discovery_config.use_STATIC_EndpointDiscoveryProtocol ^= true;
    ASSERT_TRUE(participant->set_qos(qos) == ReturnCode_t::RETCODE_IMMUTABLE_POLICY);
    participant->get_qos(set_qos);
    ASSERT_FALSE(set_qos == qos);

    // Check changing wire_protocol().builtin.discovery_config.discoveryServer_client_syncperiod is NOT OK
    participant->get_qos(qos);
    qos.wire_protocol().builtin.discovery_config.discoveryServer_client_syncperiod = { 27, 27};
    ASSERT_TRUE(participant->set_qos(qos) == ReturnCode_t::RETCODE_IMMUTABLE_POLICY);
    participant->get_qos(set_qos);
    ASSERT_FALSE(set_qos == qos);

    // Check changing wire_protocol().builtin.discovery_config.leaseDuration is NOT OK
    participant->get_qos(qos);
    qos.wire_protocol().builtin.discovery_config.leaseDuration = { 27, 27};
    ASSERT_TRUE(participant->set_qos(qos) == ReturnCode_t::RETCODE_IMMUTABLE_POLICY);
    participant->get_qos(set_qos);
    ASSERT_FALSE(set_qos == qos);

    // Check changing wire_protocol().builtin.discovery_config.leaseDuration_announcementperiod is NOT OK
    participant->get_qos(qos);
    qos.wire_protocol().builtin.discovery_config.leaseDuration_announcementperiod = { 27, 27};
    ASSERT_TRUE(participant->set_qos(qos) == ReturnCode_t::RETCODE_IMMUTABLE_POLICY);
    participant->get_qos(set_qos);
    ASSERT_FALSE(set_qos == qos);

    // Check changing wire_protocol().builtin.discovery_config.initial_announcements is NOT OK
    participant->get_qos(qos);
    qos.wire_protocol().builtin.discovery_config.initial_announcements.count = 27;
    qos.wire_protocol().builtin.discovery_config.initial_announcements.period = {27, 27};
    ASSERT_TRUE(participant->set_qos(qos) == ReturnCode_t::RETCODE_IMMUTABLE_POLICY);
    participant->get_qos(set_qos);
    ASSERT_FALSE(set_qos == qos);

    // Check changing wire_protocol().builtin.discovery_config.m_simpleEDP is NOT OK
    participant->get_qos(qos);
    qos.wire_protocol().builtin.discovery_config.m_simpleEDP.use_PublicationWriterANDSubscriptionReader ^= true;
    qos.wire_protocol().builtin.discovery_config.m_simpleEDP.use_PublicationReaderANDSubscriptionWriter ^= true;
#if HAVE_SECURITY
    qos.wire_protocol().builtin.discovery_config.m_simpleEDP.
            enable_builtin_secure_publications_writer_and_subscriptions_reader ^= true;
    qos.wire_protocol().builtin.discovery_config.m_simpleEDP.
            enable_builtin_secure_subscriptions_writer_and_publications_reader ^= true;
#endif // if HAVE_SECURITY
    ASSERT_TRUE(participant->set_qos(qos) == ReturnCode_t::RETCODE_IMMUTABLE_POLICY);
    participant->get_qos(set_qos);
    ASSERT_FALSE(set_qos == qos);

    // Check changing wire_protocol().builtin.discovery_config.static_edp_xml_config() is NOT OK
    participant->get_qos(qos);
    std::string static_xml = "data://<?xml version=\"1.0\" encoding=\"utf-8\"?>" \
            "<staticdiscovery>" \
            "<participant profile_name=\"participant_profile_static_edp\">" \
            "<rtps>" \
            "<builtin>" \
            "<discovery_config>" \
            "<EDP>STATIC</EDP>" \
            "</discovery_config>" \
            "</builtin>" \
            "</rtps>" \
            "</participant>" \
            "</staticdiscovery>";
    qos.wire_protocol().builtin.discovery_config.static_edp_xml_config(static_xml.c_str());
    ASSERT_TRUE(participant->set_qos(qos) == ReturnCode_t::RETCODE_IMMUTABLE_POLICY);
    participant->get_qos(set_qos);
    ASSERT_FALSE(set_qos == qos);

    // Check changing wire_protocol().builtin.discovery_config.ignoreParticipantFlags is NOT OK
    participant->get_qos(qos);
    qos.wire_protocol().builtin.discovery_config.ignoreParticipantFlags =
            fastrtps::rtps::ParticipantFilteringFlags::FILTER_DIFFERENT_HOST;
    ASSERT_TRUE(participant->set_qos(qos) == ReturnCode_t::RETCODE_IMMUTABLE_POLICY);
    participant->get_qos(set_qos);
    ASSERT_FALSE(set_qos == qos);

    ASSERT_TRUE(DomainParticipantFactory::get_instance()->delete_participant(participant) == ReturnCode_t::RETCODE_OK);
}

TEST(ParticipantTests, EntityFactoryBehavior)
{
    DomainParticipantFactory* factory = DomainParticipantFactory::get_instance();

    {
        DomainParticipantFactoryQos qos;
        qos.entity_factory().autoenable_created_entities = false;

        ASSERT_TRUE(factory->set_qos(qos) == ReturnCode_t::RETCODE_OK);
    }

    // Ensure that participant is created disabled.
    DomainParticipant* participant = factory->create_participant(0, PARTICIPANT_QOS_DEFAULT);
    ASSERT_NE(nullptr, participant);
    ASSERT_FALSE(participant->is_enabled());

    // Participant is disabled. This means we can change an inmutable qos.
    DomainParticipantQos qos = PARTICIPANT_QOS_DEFAULT;
    qos.wire_protocol().builtin.avoid_builtin_multicast = !qos.wire_protocol().builtin.avoid_builtin_multicast;
    EXPECT_EQ(ReturnCode_t::RETCODE_OK, participant->set_qos(qos));

    // Creating lower entities should create them disabled
    Publisher* pub = participant->create_publisher(PUBLISHER_QOS_DEFAULT);
    ASSERT_NE(nullptr, pub);
    EXPECT_FALSE(pub->is_enabled());

    Subscriber* sub = participant->create_subscriber(SUBSCRIBER_QOS_DEFAULT);
    ASSERT_NE(nullptr, sub);
    EXPECT_FALSE(sub->is_enabled());

    TypeSupport type(new TopicDataTypeMock());
    type.register_type(participant);
    Topic* topic = participant->create_topic("footopic", type.get_type_name(), TOPIC_QOS_DEFAULT);
    ASSERT_NE(topic, nullptr);
    EXPECT_FALSE(topic->is_enabled());

    // Enabling should fail on lower entities until participant is enabled
    EXPECT_EQ(ReturnCode_t::RETCODE_PRECONDITION_NOT_MET, pub->enable());
    EXPECT_EQ(ReturnCode_t::RETCODE_PRECONDITION_NOT_MET, sub->enable());

    // Enable participant and check idempotency of enable
    EXPECT_EQ(ReturnCode_t::RETCODE_OK, participant->enable());
    EXPECT_TRUE(participant->is_enabled());
    EXPECT_EQ(ReturnCode_t::RETCODE_OK, participant->enable());

    // As the participant was created with the default value for ENTITY_FACTORY,
    // lower entities should have been automatically enabled.
    EXPECT_TRUE(pub->is_enabled());
    EXPECT_TRUE(sub->is_enabled());

    // Now that participant is enabled, we should not be able change an inmutable qos.
    ASSERT_EQ(ReturnCode_t::RETCODE_IMMUTABLE_POLICY, participant->set_qos(PARTICIPANT_QOS_DEFAULT));

    // Created entities should now be automatically enabled
    Subscriber* sub2 = participant->create_subscriber(SUBSCRIBER_QOS_DEFAULT);
    ASSERT_NE(nullptr, sub2);
    EXPECT_TRUE(sub2->is_enabled());

    // We can change ENTITY_FACTORY on the participant
    qos.entity_factory().autoenable_created_entities = false;
    ASSERT_EQ(ReturnCode_t::RETCODE_OK, participant->set_qos(qos));

    // Lower entities should now be created disabled
    Publisher* pub2 = participant->create_publisher(PUBLISHER_QOS_DEFAULT);
    ASSERT_NE(nullptr, pub2);
    EXPECT_FALSE(pub2->is_enabled());

    // But could be enabled afterwards
    EXPECT_EQ(ReturnCode_t::RETCODE_OK, pub2->enable());
    EXPECT_TRUE(pub2->is_enabled());

    // Check idempotency of enable on entities
    EXPECT_EQ(ReturnCode_t::RETCODE_OK, pub->enable());
    EXPECT_EQ(ReturnCode_t::RETCODE_OK, pub2->enable());
    EXPECT_EQ(ReturnCode_t::RETCODE_OK, sub->enable());
    EXPECT_EQ(ReturnCode_t::RETCODE_OK, sub2->enable());

    // Delete lower entities
    EXPECT_EQ(ReturnCode_t::RETCODE_OK, participant->delete_subscriber(sub2));
    EXPECT_EQ(ReturnCode_t::RETCODE_OK, participant->delete_publisher(pub2));
    EXPECT_EQ(ReturnCode_t::RETCODE_OK, participant->delete_subscriber(sub));
    EXPECT_EQ(ReturnCode_t::RETCODE_OK, participant->delete_publisher(pub));
    EXPECT_EQ(ReturnCode_t::RETCODE_OK, participant->delete_topic(topic));
    EXPECT_EQ(ReturnCode_t::RETCODE_OK, DomainParticipantFactory::get_instance()->delete_participant(participant));
}

TEST(ParticipantTests, CreatePublisher)
{
    DomainParticipant* participant =
            DomainParticipantFactory::get_instance()->create_participant(0, PARTICIPANT_QOS_DEFAULT);
    Publisher* publisher = participant->create_publisher(PUBLISHER_QOS_DEFAULT);

    ASSERT_NE(publisher, nullptr);

    ASSERT_TRUE(participant->delete_publisher(publisher) == ReturnCode_t::RETCODE_OK);
    ASSERT_TRUE(DomainParticipantFactory::get_instance()->delete_participant(participant) == ReturnCode_t::RETCODE_OK);
}

void check_publisher_with_profile (
        Publisher* publisher,
        const std::string& profile_name)
{
    PublisherQos qos;
    publisher->get_qos(qos);

    PublisherAttributes publisher_atts;
    XMLProfileManager::fillPublisherAttributes(profile_name, publisher_atts);

    //Values taken from profile
    ASSERT_TRUE(qos.group_data().dataVec() == publisher_atts.qos.m_groupData.dataVec());
    ASSERT_TRUE(qos.partition() == publisher_atts.qos.m_partition);
    ASSERT_TRUE(qos.presentation() == publisher_atts.qos.m_presentation);

    //Values not implemented on attributes (taken from default QoS)
    ASSERT_TRUE(qos.entity_factory() == PUBLISHER_QOS_DEFAULT.entity_factory());
}

TEST(ParticipantTests, CreatePublisherWithProfile)
{
    DomainParticipantFactory::get_instance()->load_XML_profiles_file("test_xml_profiles.xml");
    DomainParticipant* participant =
            DomainParticipantFactory::get_instance()->create_participant(0, PARTICIPANT_QOS_DEFAULT);

    //publisher using the default profile
    Publisher* default_publisher = participant->create_publisher(PUBLISHER_QOS_DEFAULT);
    ASSERT_NE(default_publisher, nullptr);
    check_publisher_with_profile(default_publisher, "test_default_publisher_profile");
    ASSERT_TRUE(participant->delete_publisher(default_publisher) == ReturnCode_t::RETCODE_OK);

    //participant using non-default profile
    Publisher* publisher = participant->create_publisher_with_profile("test_publisher_profile");
    ASSERT_NE(publisher, nullptr);
    check_publisher_with_profile(publisher, "test_publisher_profile");
    ASSERT_TRUE(participant->delete_publisher(publisher) == ReturnCode_t::RETCODE_OK);

    ASSERT_TRUE(DomainParticipantFactory::get_instance()->delete_participant(participant) == ReturnCode_t::RETCODE_OK);
}

TEST(ParticipantTests, CreatePSMPublisher)
{
    ::dds::domain::DomainParticipant participant = ::dds::domain::DomainParticipant(0, PARTICIPANT_QOS_DEFAULT);
    ::dds::pub::Publisher publisher = ::dds::core::null;
    publisher = ::dds::pub::Publisher(participant);

    ASSERT_NE(publisher, ::dds::core::null);
}

TEST(ParticipantTests, ChangeDefaultPublisherQos)
{
    DomainParticipant* participant =
            DomainParticipantFactory::get_instance()->create_participant(0, PARTICIPANT_QOS_DEFAULT);

    ASSERT_TRUE(participant->set_default_publisher_qos(PUBLISHER_QOS_DEFAULT) == ReturnCode_t::RETCODE_OK);

    PublisherQos qos;
    ASSERT_TRUE(participant->get_default_publisher_qos(qos) == ReturnCode_t::RETCODE_OK);

    ASSERT_EQ(qos, PUBLISHER_QOS_DEFAULT);

    qos.entity_factory().autoenable_created_entities = false;

    ASSERT_TRUE(participant->set_default_publisher_qos(qos) == ReturnCode_t::RETCODE_OK);

    PublisherQos pqos;
    ASSERT_TRUE(participant->get_default_publisher_qos(pqos) == ReturnCode_t::RETCODE_OK);

    ASSERT_TRUE(qos == pqos);
    ASSERT_EQ(pqos.entity_factory().autoenable_created_entities, false);

    ASSERT_TRUE(DomainParticipantFactory::get_instance()->delete_participant(participant) == ReturnCode_t::RETCODE_OK);
}

TEST(ParticipantTests, ChangePSMDefaultPublisherQos)
{
    ::dds::domain::DomainParticipant participant = ::dds::domain::DomainParticipant(0, PARTICIPANT_QOS_DEFAULT);
    ::dds::pub::qos::PublisherQos qos = participant.default_publisher_qos();
    ASSERT_EQ(qos, PUBLISHER_QOS_DEFAULT);

    qos.entity_factory().autoenable_created_entities = false;

    ASSERT_NO_THROW(participant.default_publisher_qos(qos));

    ::dds::pub::qos::PublisherQos pqos = participant.default_publisher_qos();

    ASSERT_TRUE(qos == pqos);
    ASSERT_EQ(pqos.entity_factory().autoenable_created_entities, false);
}

TEST(ParticipantTests, CreateSubscriber)
{
    DomainParticipant* participant =
            DomainParticipantFactory::get_instance()->create_participant(0, PARTICIPANT_QOS_DEFAULT);
    ASSERT_NE(participant, nullptr);
    Subscriber* subscriber = participant->create_subscriber(SUBSCRIBER_QOS_DEFAULT);
    ASSERT_NE(subscriber, nullptr);

    ASSERT_TRUE(participant->delete_subscriber(subscriber) == ReturnCode_t::RETCODE_OK);
    ASSERT_TRUE(DomainParticipantFactory::get_instance()->delete_participant(participant) == ReturnCode_t::RETCODE_OK);
}

void check_subscriber_with_profile (
        Subscriber* subscriber,
        const std::string& profile_name)
{
    SubscriberQos qos;
    subscriber->get_qos(qos);

    SubscriberAttributes subscriber_atts;
    XMLProfileManager::fillSubscriberAttributes(profile_name, subscriber_atts);

    //Values taken from profile
    ASSERT_TRUE(qos.group_data().dataVec() == subscriber_atts.qos.m_groupData.dataVec());
    ASSERT_TRUE(qos.partition() == subscriber_atts.qos.m_partition);
    ASSERT_TRUE(qos.presentation() == subscriber_atts.qos.m_presentation);

    //Values not implemented on attributes (taken from default QoS)
    ASSERT_TRUE(qos.entity_factory() == SUBSCRIBER_QOS_DEFAULT.entity_factory());
}

TEST(ParticipantTests, GetSubscriberProfileQos)
{
    DomainParticipantFactory::get_instance()->load_XML_profiles_file("test_xml_profiles.xml");
    DomainParticipant* participant =
            DomainParticipantFactory::get_instance()->create_participant(0, PARTICIPANT_QOS_DEFAULT);
    ASSERT_NE(participant, nullptr);

    // Extract qos from profile
    SubscriberQos qos;
    EXPECT_EQ(
        participant->get_subscriber_qos_from_profile("test_subscriber_profile", qos),
        ReturnCode_t::RETCODE_OK);

    Subscriber* subscriber = participant->create_subscriber(qos);
    ASSERT_NE(subscriber, nullptr);

    check_subscriber_with_profile(subscriber, "test_subscriber_profile");

    // Test return when a non-existent profile is used
    EXPECT_EQ(
        participant->get_subscriber_qos_from_profile("incorrect_profile_name", qos),
        ReturnCode_t::RETCODE_BAD_PARAMETER);

    // Clean up
    ASSERT_EQ(participant->delete_subscriber(subscriber), ReturnCode_t::RETCODE_OK);
    ASSERT_EQ(DomainParticipantFactory::get_instance()->delete_participant(participant), ReturnCode_t::RETCODE_OK);
}

TEST(ParticipantTests, CreateSubscriberWithProfile)
{
    DomainParticipantFactory::get_instance()->load_XML_profiles_file("test_xml_profiles.xml");
    DomainParticipant* participant =
            DomainParticipantFactory::get_instance()->create_participant(0, PARTICIPANT_QOS_DEFAULT);

    //subscriber using the default profile
    Subscriber* default_subscriber = participant->create_subscriber(SUBSCRIBER_QOS_DEFAULT);
    ASSERT_NE(default_subscriber, nullptr);
    check_subscriber_with_profile(default_subscriber, "test_default_subscriber_profile");
    ASSERT_TRUE(participant->delete_subscriber(default_subscriber) == ReturnCode_t::RETCODE_OK);

    //participant using non-default profile
    Subscriber* subscriber = participant->create_subscriber_with_profile("test_subscriber_profile");
    ASSERT_NE(subscriber, nullptr);
    check_subscriber_with_profile(subscriber, "test_subscriber_profile");
    ASSERT_TRUE(participant->delete_subscriber(subscriber) == ReturnCode_t::RETCODE_OK);

    ASSERT_TRUE(DomainParticipantFactory::get_instance()->delete_participant(participant) == ReturnCode_t::RETCODE_OK);
}

TEST(ParticipantTests, GetPublisherProfileQos)
{
    DomainParticipantFactory::get_instance()->load_XML_profiles_file("test_xml_profiles.xml");
    DomainParticipant* participant =
            DomainParticipantFactory::get_instance()->create_participant(0, PARTICIPANT_QOS_DEFAULT);
    ASSERT_NE(participant, nullptr);

    // Extract qos from profile
    PublisherQos qos;
    EXPECT_EQ(
        participant->get_publisher_qos_from_profile("test_publisher_profile", qos),
        ReturnCode_t::RETCODE_OK);

    Publisher* publisher = participant->create_publisher(qos);
    ASSERT_NE(publisher, nullptr);

    check_publisher_with_profile(publisher, "test_publisher_profile");

    // Test return when a non-existent profile is used
    EXPECT_EQ(
        participant->get_publisher_qos_from_profile("incorrect_profile_name", qos),
        ReturnCode_t::RETCODE_BAD_PARAMETER);

    // Clean up
    ASSERT_EQ(participant->delete_publisher(publisher), ReturnCode_t::RETCODE_OK);
    ASSERT_EQ(DomainParticipantFactory::get_instance()->delete_participant(participant), ReturnCode_t::RETCODE_OK);
}


TEST(ParticipantTests, CreatePSMSubscriber)
{
    ::dds::domain::DomainParticipant participant = ::dds::domain::DomainParticipant(0, PARTICIPANT_QOS_DEFAULT);
    ::dds::sub::Subscriber subscriber = ::dds::core::null;
    subscriber = ::dds::sub::Subscriber(participant, SUBSCRIBER_QOS_DEFAULT);

    ASSERT_NE(subscriber, ::dds::core::null);
}

TEST(ParticipantTests, DeletePublisher)
{
    DomainParticipant* participant =
            DomainParticipantFactory::get_instance()->create_participant(0, PARTICIPANT_QOS_DEFAULT);
    ASSERT_NE(participant, nullptr);
    Publisher* publisher = participant->create_publisher(PUBLISHER_QOS_DEFAULT);
    ASSERT_NE(publisher, nullptr);

    ASSERT_TRUE(participant->delete_publisher(publisher) == ReturnCode_t::RETCODE_OK);
    ASSERT_TRUE(DomainParticipantFactory::get_instance()->delete_participant(participant) == ReturnCode_t::RETCODE_OK);
}

TEST(ParticipantTests, DeleteSubscriber)
{
    DomainParticipant* participant =
            DomainParticipantFactory::get_instance()->create_participant(0, PARTICIPANT_QOS_DEFAULT);
    ASSERT_NE(participant, nullptr);
    Subscriber* subscriber = participant->create_subscriber(SUBSCRIBER_QOS_DEFAULT);
    ASSERT_NE(subscriber, nullptr);

    ASSERT_TRUE(participant->delete_subscriber(subscriber) == ReturnCode_t::RETCODE_OK);
    ASSERT_TRUE(DomainParticipantFactory::get_instance()->delete_participant(participant) == ReturnCode_t::RETCODE_OK);
}

TEST(ParticipantTests, ChangeDefaultSubscriberQos)
{
    DomainParticipant* participant =
            DomainParticipantFactory::get_instance()->create_participant(0, PARTICIPANT_QOS_DEFAULT);

    ASSERT_EQ(participant->set_default_subscriber_qos(SUBSCRIBER_QOS_DEFAULT), ReturnCode_t::RETCODE_OK);

    SubscriberQos qos;
    ASSERT_EQ(participant->get_default_subscriber_qos(qos), ReturnCode_t::RETCODE_OK);

    ASSERT_EQ(qos, SUBSCRIBER_QOS_DEFAULT);

    qos.entity_factory().autoenable_created_entities = false;

    ASSERT_EQ(participant->set_default_subscriber_qos(qos), ReturnCode_t::RETCODE_OK);

    SubscriberQos pqos;
    ASSERT_EQ(participant->get_default_subscriber_qos(pqos), ReturnCode_t::RETCODE_OK);

    ASSERT_TRUE(pqos == qos);
    ASSERT_EQ(pqos.entity_factory().autoenable_created_entities, false);

    ASSERT_TRUE(DomainParticipantFactory::get_instance()->delete_participant(participant) == ReturnCode_t::RETCODE_OK);
}

TEST(ParticipantTests, ChangePSMDefaultSubscriberQos)
{
    ::dds::domain::DomainParticipant participant = ::dds::domain::DomainParticipant(0, PARTICIPANT_QOS_DEFAULT);
    ::dds::sub::qos::SubscriberQos qos = participant.default_subscriber_qos();
    ASSERT_EQ(qos, SUBSCRIBER_QOS_DEFAULT);

    qos.entity_factory().autoenable_created_entities = false;

    ASSERT_NO_THROW(participant.default_subscriber_qos(qos));

    ::dds::sub::qos::SubscriberQos pqos = participant.default_subscriber_qos();

    ASSERT_TRUE(qos == pqos);
    ASSERT_EQ(pqos.entity_factory().autoenable_created_entities, false);
}

TEST(ParticipantTests, ChangeDefaultTopicQos)
{
    DomainParticipant* participant =
            DomainParticipantFactory::get_instance()->create_participant(0, PARTICIPANT_QOS_DEFAULT);

    ASSERT_TRUE(participant->set_default_topic_qos(TOPIC_QOS_DEFAULT) == ReturnCode_t::RETCODE_OK);

    TopicQos qos;
    participant->get_default_topic_qos(qos);

    ASSERT_EQ(qos, TOPIC_QOS_DEFAULT);

    qos.reliability().kind = BEST_EFFORT_RELIABILITY_QOS;

    ASSERT_TRUE(participant->set_default_topic_qos(qos) == ReturnCode_t::RETCODE_OK);

    TopicQos tqos;
    participant->get_default_topic_qos(tqos);

    ASSERT_EQ(qos, tqos);
    ASSERT_EQ(tqos.reliability().kind, BEST_EFFORT_RELIABILITY_QOS);

    qos.durability().kind = PERSISTENT_DURABILITY_QOS;
    ASSERT_FALSE(participant->set_default_topic_qos(qos) == ReturnCode_t::RETCODE_OK);

    ASSERT_TRUE(DomainParticipantFactory::get_instance()->delete_participant(participant) == ReturnCode_t::RETCODE_OK);
}

TEST(ParticipantTests, ChangePSMDefaultTopicQos)
{
    ::dds::domain::DomainParticipant participant = ::dds::domain::DomainParticipant(0, PARTICIPANT_QOS_DEFAULT);
    ::dds::topic::qos::TopicQos qos = participant.default_topic_qos();

    ASSERT_EQ(qos, TOPIC_QOS_DEFAULT);

    qos.ownership().kind = EXCLUSIVE_OWNERSHIP_QOS;

    ASSERT_NO_THROW(participant.default_topic_qos(qos));

    ::dds::topic::qos::TopicQos tqos = participant.default_topic_qos();
    ASSERT_EQ(qos, tqos);
    ASSERT_EQ(tqos.ownership().kind, EXCLUSIVE_OWNERSHIP_QOS);
}

void check_topic_with_profile (
        Topic* topic,
        const std::string& profile_name)
{
    TopicQos qos;
    topic->get_qos(qos);

    TopicAttributesQos topic_atts;
    XMLProfileManager::fillTopicAttributes(profile_name, topic_atts);

    //Values taken from profile
    ASSERT_TRUE(qos.history() == topic_atts.historyQos);
    ASSERT_TRUE(qos.resource_limits() == topic_atts.resourceLimitsQos);
}

TEST(ParticipantTests, GetTopicProfileQos)
{
    DomainParticipantFactory::get_instance()->load_XML_profiles_file("test_xml_profiles.xml");
    DomainParticipant* participant =
            DomainParticipantFactory::get_instance()->create_participant(0, PARTICIPANT_QOS_DEFAULT);
    ASSERT_NE(participant, nullptr);
    TypeSupport type(new TopicDataTypeMock());
    type.register_type(participant);

    // Extract qos from profile
    TopicQos qos;
    EXPECT_EQ(
        participant->get_topic_qos_from_profile("test_topic_profile", qos),
        ReturnCode_t::RETCODE_OK);

    Topic* topic = participant->create_topic("footopic", type.get_type_name(), qos);
    ASSERT_NE(topic, nullptr);


    check_topic_with_profile(topic, "test_topic_profile");

    // Test return when a non-existent profile is used
    EXPECT_EQ(
        participant->get_topic_qos_from_profile("incorrect_profile_name", qos),
        ReturnCode_t::RETCODE_BAD_PARAMETER);

    // Clean up
    ASSERT_EQ(participant->delete_topic(topic), ReturnCode_t::RETCODE_OK);
    ASSERT_EQ(DomainParticipantFactory::get_instance()->delete_participant(participant), ReturnCode_t::RETCODE_OK);
}

TEST(ParticipantTests, CreateTopic)
{
    DomainParticipantFactory::get_instance()->load_XML_profiles_file("test_xml_profiles.xml");
    DomainParticipant* participant =
            DomainParticipantFactory::get_instance()->create_participant(0, PARTICIPANT_QOS_DEFAULT);

    TypeSupport type(new TopicDataTypeMock());
    type.register_type(participant, "footype");

    // Topic using the default profile
    Topic* topic = participant->create_topic("footopic", "footype", TOPIC_QOS_DEFAULT);
    ASSERT_NE(topic, nullptr);

    // Try to create the same topic twice
    Topic* topic_duplicated = participant->create_topic("footopic", "footype", TOPIC_QOS_DEFAULT);
    ASSERT_EQ(topic_duplicated, nullptr);

    ASSERT_TRUE(participant->delete_topic(topic) == ReturnCode_t::RETCODE_OK);

    // Topic using non-default profile
    Topic* topic_profile = participant->create_topic_with_profile("footopic", "footype", "test_topic_profile");
    ASSERT_NE(topic_profile, nullptr);
    check_topic_with_profile(topic_profile, "test_topic_profile");
    ASSERT_TRUE(participant->delete_topic(topic_profile) == ReturnCode_t::RETCODE_OK);

    ASSERT_TRUE(DomainParticipantFactory::get_instance()->delete_participant(participant) == ReturnCode_t::RETCODE_OK);
}

TEST(ParticipantTests, PSMCreateTopic)
{
    ::dds::domain::DomainParticipant participant = ::dds::domain::DomainParticipant(0, PARTICIPANT_QOS_DEFAULT);

    TypeSupport type(new TopicDataTypeMock());
    type.register_type(participant.delegate().get(), "footype");

    ::dds::topic::Topic topic = ::dds::core::null;
    topic = ::dds::topic::Topic(participant, "footopic", "footype", TOPIC_QOS_DEFAULT);

    ASSERT_NE(topic, ::dds::core::null);
}

TEST(ParticipantTests, DeleteTopic)
{
    DomainParticipant* participant =
            DomainParticipantFactory::get_instance()->create_participant(0, PARTICIPANT_QOS_DEFAULT);
    DomainParticipant* participant2 =
            DomainParticipantFactory::get_instance()->create_participant(1, PARTICIPANT_QOS_DEFAULT);

    TypeSupport type(new TopicDataTypeMock());
    type.register_type(participant, "footype");

    Topic* topic = participant->create_topic("footopic", "footype", TOPIC_QOS_DEFAULT);

    ASSERT_TRUE(participant->delete_topic(nullptr) == ReturnCode_t::RETCODE_BAD_PARAMETER);
    ASSERT_TRUE(participant2->delete_topic(topic) == ReturnCode_t::RETCODE_PRECONDITION_NOT_MET);
    ASSERT_TRUE(participant->delete_topic(topic) == ReturnCode_t::RETCODE_OK);
    ASSERT_TRUE(DomainParticipantFactory::get_instance()->delete_participant(participant) == ReturnCode_t::RETCODE_OK);
    ASSERT_TRUE(DomainParticipantFactory::get_instance()->delete_participant(participant2) == ReturnCode_t::RETCODE_OK);
}

TEST(ParticipantTests, LookupTopicDescription)
{
    DomainParticipant* participant =
            DomainParticipantFactory::get_instance()->create_participant(0, PARTICIPANT_QOS_DEFAULT);

    const std::string topic_name("footopic");

    // Topic not created yet. Should return nil
    ASSERT_EQ(participant->lookup_topicdescription(topic_name), nullptr);

    // After topic creation ...
    TypeSupport type(new TopicDataTypeMock());
    type.register_type(participant, "footype");
    Topic* topic = participant->create_topic(topic_name, "footype", TOPIC_QOS_DEFAULT);
    EXPECT_NE(topic, nullptr);

    // ... the topic should be returned.
    ASSERT_EQ(participant->lookup_topicdescription(topic_name), topic);

    // After topic deletion, should return nil
    EXPECT_TRUE(participant->delete_topic(topic) == ReturnCode_t::RETCODE_OK);
    ASSERT_EQ(participant->lookup_topicdescription(topic_name), nullptr);

    ASSERT_TRUE(DomainParticipantFactory::get_instance()->delete_participant(participant) == ReturnCode_t::RETCODE_OK);
}

TEST(ParticipantTests, DeleteTopicInUse)
{
    DomainParticipant* participant =
            DomainParticipantFactory::get_instance()->create_participant(0, PARTICIPANT_QOS_DEFAULT);

    TypeSupport type(new TopicDataTypeMock());
    type.register_type(participant, "footype");

    Topic* topic = participant->create_topic("footopic", "footype", TOPIC_QOS_DEFAULT);

    ContentFilteredTopic* content_filtered_topic = participant->create_contentfilteredtopic("contentfilteredtopic",
                    topic, "", {});
    ASSERT_NE(content_filtered_topic, nullptr);

    Subscriber* subscriber = participant->create_subscriber(SUBSCRIBER_QOS_DEFAULT);
    ASSERT_NE(subscriber, nullptr);

    DataReader* data_reader = subscriber->create_datareader(topic, DATAREADER_QOS_DEFAULT);
    ASSERT_NE(data_reader, nullptr);

    ASSERT_EQ(participant->delete_topic(topic), ReturnCode_t::RETCODE_PRECONDITION_NOT_MET);

    ASSERT_EQ(subscriber->delete_datareader(data_reader), ReturnCode_t::RETCODE_OK);
    ASSERT_EQ(participant->delete_topic(topic), ReturnCode_t::RETCODE_PRECONDITION_NOT_MET);
    ASSERT_EQ(participant->delete_contentfilteredtopic(content_filtered_topic), ReturnCode_t::RETCODE_OK);
    ASSERT_EQ(participant->delete_topic(topic), ReturnCode_t::RETCODE_OK);
    ASSERT_EQ(participant->delete_subscriber(subscriber), ReturnCode_t::RETCODE_OK);

    topic = participant->create_topic("footopic", "footype", TOPIC_QOS_DEFAULT);

    Publisher* publisher = participant->create_publisher(PUBLISHER_QOS_DEFAULT);
    ASSERT_NE(publisher, nullptr);

    DataWriter* data_writer = publisher->create_datawriter(topic, DATAWRITER_QOS_DEFAULT);
    ASSERT_NE(data_writer, nullptr);

    ASSERT_EQ(participant->delete_topic(topic), ReturnCode_t::RETCODE_PRECONDITION_NOT_MET);

    ASSERT_EQ(publisher->delete_datawriter(data_writer), ReturnCode_t::RETCODE_OK);
    ASSERT_EQ(participant->delete_topic(topic), ReturnCode_t::RETCODE_OK);

    ASSERT_EQ(participant->delete_publisher(publisher), ReturnCode_t::RETCODE_OK);
    ASSERT_EQ(DomainParticipantFactory::get_instance()->delete_participant(participant), ReturnCode_t::RETCODE_OK);
}


void set_listener_test (
        DomainParticipant* participant,
        DomainParticipantListener* listener,
        StatusMask mask)
{
    ASSERT_EQ(participant->set_listener(listener, mask), ReturnCode_t::RETCODE_OK);
    ASSERT_EQ(participant->get_status_mask(), mask);
}

class CustomListener : public DomainParticipantListener
{

};

TEST(ParticipantTests, SetListener)
{
    CustomListener listener;

    DomainParticipant* participant =
            DomainParticipantFactory::get_instance()->create_participant(0, PARTICIPANT_QOS_DEFAULT, &listener);
    ASSERT_NE(participant, nullptr);
    ASSERT_EQ(participant->get_status_mask(), StatusMask::all());

    std::vector<std::tuple<DomainParticipant*, DomainParticipantListener*, StatusMask>> testing_cases{
        //statuses, one by one
        { participant, &listener, StatusMask::liveliness_lost() },
        { participant, &listener, StatusMask::offered_deadline_missed() },
        { participant, &listener, StatusMask::offered_incompatible_qos() },
        { participant, &listener, StatusMask::publication_matched() },
        { participant, &listener, StatusMask::data_on_readers() },
        { participant, &listener, StatusMask::data_available() },
        { participant, &listener, StatusMask::sample_rejected() },
        { participant, &listener, StatusMask::liveliness_changed() },
        { participant, &listener, StatusMask::requested_deadline_missed() },
        { participant, &listener, StatusMask::requested_incompatible_qos() },
        { participant, &listener, StatusMask::subscription_matched() },
        { participant, &listener, StatusMask::sample_lost() },
        //all except one
        { participant, &listener, StatusMask::all() >> StatusMask::liveliness_lost() },
        { participant, &listener, StatusMask::all() >> StatusMask::offered_deadline_missed() },
        { participant, &listener, StatusMask::all() >> StatusMask::offered_incompatible_qos() },
        { participant, &listener, StatusMask::all() >> StatusMask::publication_matched() },
        { participant, &listener, StatusMask::all() >> StatusMask::data_on_readers() },
        { participant, &listener, StatusMask::all() >> StatusMask::data_available() },
        { participant, &listener, StatusMask::all() >> StatusMask::sample_rejected() },
        { participant, &listener, StatusMask::all() >> StatusMask::liveliness_changed() },
        { participant, &listener, StatusMask::all() >> StatusMask::requested_deadline_missed() },
        { participant, &listener, StatusMask::all() >> StatusMask::requested_incompatible_qos() },
        { participant, &listener, StatusMask::all() >> StatusMask::subscription_matched() },
        { participant, &listener, StatusMask::all() >> StatusMask::sample_lost() },
        //all and none
        { participant, &listener, StatusMask::all() },
        { participant, &listener, StatusMask::none() }
    };

    for (auto testing_case : testing_cases)
    {
        set_listener_test(std::get<0>(testing_case),
                std::get<1>(testing_case),
                std::get<2>(testing_case));
    }

    ASSERT_EQ(DomainParticipantFactory::get_instance()->delete_participant(participant), ReturnCode_t::RETCODE_OK);
}

/*
 * This test checks the negative cases of the check_qos() function.
 * 1. User data is set to be a 5-element size octet vector.
 * 2. The participant's qos are set to save these the user data.
 * 3. Change the ParticipantResourceLimitsQos to a maximum user data value less than the current user data size.
 * 4. Check that the previous operation returns an Inconsistent Policy error code
 */
TEST(ParticipantTests, CheckDomainParticipantQos)
{
    // Create the participant factory
    DomainParticipantFactory* factory = DomainParticipantFactory::get_instance();

    // Disable automatic entity enablement on the participant
    {
        DomainParticipantFactoryQos qos;
        qos.entity_factory().autoenable_created_entities = false;

        ASSERT_TRUE(factory->set_qos(qos) == ReturnCode_t::RETCODE_OK);
    }

    // Create the participant
    DomainParticipant* participant =
            DomainParticipantFactory::get_instance()->create_participant(0, PARTICIPANT_QOS_DEFAULT);

    // Get the participant qos
    DomainParticipantQos qos;
    ASSERT_TRUE(participant->get_qos(qos) == ReturnCode_t::RETCODE_OK);

    // Change the user data
    qos.user_data().set_max_size(5);
    std::vector<eprosima::fastrtps::rtps::octet> my_data {0, 1, 2, 3, 4};
    qos.user_data().setValue(my_data);
    ASSERT_TRUE(participant->set_qos(qos) == ReturnCode_t::RETCODE_OK);

    // Change the ParticipantResourceLimitsQos to a maximum user data value less than the current user data size
    // This should return an Inconsistent Policy error code
    qos.allocation().data_limits.max_user_data = 1;
    ASSERT_EQ(qos.allocation().data_limits.max_user_data, 1ul);
    ASSERT_TRUE(participant->set_qos(qos) == ReturnCode_t::RETCODE_INCONSISTENT_POLICY);

    // Enable the participant
    EXPECT_EQ(ReturnCode_t::RETCODE_OK, participant->enable());

    // Remove the participant
    ASSERT_TRUE(DomainParticipantFactory::get_instance()->delete_participant(participant) == ReturnCode_t::RETCODE_OK);
}

/*
 * This test checks the cases in which the allocation QoS is modified.
 * 1. Check that the qos is modified if the participant is not enabled.
 * 2. Check that the qos is not changed and it generates an error code if the participant is already enabled.
 */
TEST(ParticipantTests, ChangeAllocationDomainParticipantQos)
{
    DomainParticipantFactory* factory = DomainParticipantFactory::get_instance();
    DomainParticipantFactoryQos pfqos;
    pfqos.entity_factory().autoenable_created_entities = false;
    ASSERT_EQ(factory->set_qos(pfqos), ReturnCode_t::RETCODE_OK);

    DomainParticipant* participant =
            DomainParticipantFactory::get_instance()->create_participant(0, PARTICIPANT_QOS_DEFAULT);
    ASSERT_FALSE(participant->is_enabled());
    DomainParticipantQos qos;
    participant->get_qos(qos);

    check_equivalent_qos(qos, PARTICIPANT_QOS_DEFAULT);

    qos.allocation().data_limits.max_properties = 10;
    ASSERT_EQ(participant->set_qos(qos), ReturnCode_t::RETCODE_OK);
    DomainParticipantQos pqos;
    participant->get_qos(pqos);

    ASSERT_FALSE(pqos == PARTICIPANT_QOS_DEFAULT);
    ASSERT_EQ(qos, pqos);
    ASSERT_EQ(pqos.allocation().data_limits.max_properties, 10ul);

    participant->enable();
    ASSERT_TRUE(participant->is_enabled());
    participant->get_qos(pqos);
    pqos.allocation().data_limits.max_properties = 20;
    ASSERT_EQ(participant->set_qos(pqos), ReturnCode_t::RETCODE_IMMUTABLE_POLICY);

    ASSERT_EQ(DomainParticipantFactory::get_instance()->delete_participant(participant), ReturnCode_t::RETCODE_OK);
}

/*
 * This test checks the cases in which the participant name is modified.
 * 1. Check that the name is modified if the participant is not enabled.
 * 2. Check that the name is not changed and it generates an error code if the participant is already enabled.
 */
TEST(ParticipantTests, ChangeDomainParcipantName)
{
    DomainParticipantFactory* factory = DomainParticipantFactory::get_instance();
    DomainParticipantFactoryQos pfqos;
    pfqos.entity_factory().autoenable_created_entities = false;
    ASSERT_EQ(factory->set_qos(pfqos), ReturnCode_t::RETCODE_OK);

    DomainParticipant* participant =
            DomainParticipantFactory::get_instance()->create_participant(0, PARTICIPANT_QOS_DEFAULT);
    ASSERT_FALSE(participant->is_enabled());
    DomainParticipantQos qos;
    participant->get_qos(qos);

    check_equivalent_qos(qos, PARTICIPANT_QOS_DEFAULT);

    qos.name() = "part1";
    ASSERT_EQ(participant->set_qos(qos), ReturnCode_t::RETCODE_OK);
    DomainParticipantQos pqos;
    participant->get_qos(pqos);

    ASSERT_FALSE(pqos == PARTICIPANT_QOS_DEFAULT);
    ASSERT_EQ(qos, pqos);
    ASSERT_EQ(pqos.name(), "part1");

    participant->enable();
    ASSERT_TRUE(participant->is_enabled());
    participant->get_qos(pqos);
    pqos.name() = "new_part1";
    ASSERT_EQ(participant->set_qos(pqos), ReturnCode_t::RETCODE_IMMUTABLE_POLICY);

    ASSERT_EQ(DomainParticipantFactory::get_instance()->delete_participant(participant), ReturnCode_t::RETCODE_OK);
}

/*
 * This test checks the scenarios in which an error is given at trying to delete the publisher and subscriber entites.
 */
TEST(ParticipantTests, DeleteEntitiesNegativeClauses)
{
    // Create two participants
    DomainParticipant* participant_1 =
            DomainParticipantFactory::get_instance()->create_participant(0, PARTICIPANT_QOS_DEFAULT);
    DomainParticipant* participant_2 =
            DomainParticipantFactory::get_instance()->create_participant(0, PARTICIPANT_QOS_DEFAULT);

    // Create a subscriber in the first participant
    Subscriber* subscriber_1 = participant_1->create_subscriber(SUBSCRIBER_QOS_DEFAULT);
    ASSERT_NE(subscriber_1, nullptr);
    // Try to delete this subscriber using the second partipant. This should return a RETCODE_PRECONDITION_NOT_MET
    // error code as this subscriber does not belong to the second participant
    ASSERT_EQ(participant_2->delete_subscriber(subscriber_1), ReturnCode_t::RETCODE_PRECONDITION_NOT_MET);
    ASSERT_EQ(participant_1->delete_subscriber(subscriber_1), ReturnCode_t::RETCODE_OK);

    // Create a publisher in the first participant
    Publisher* publisher_1 = participant_1->create_publisher(PUBLISHER_QOS_DEFAULT);
    ASSERT_NE(publisher_1, nullptr);
    // Try to delete this publisher using the second partipant. This should return a RETCODE_PRECONDITION_NOT_MET
    // error code as this publisher does not belong to the second participant
    ASSERT_EQ(participant_2->delete_publisher(publisher_1), ReturnCode_t::RETCODE_PRECONDITION_NOT_MET);
    ASSERT_EQ(participant_1->delete_publisher(publisher_1), ReturnCode_t::RETCODE_OK);

    // Remove both participants
    ASSERT_EQ(DomainParticipantFactory::get_instance()->delete_participant(participant_1), ReturnCode_t::RETCODE_OK);
    ASSERT_EQ(DomainParticipantFactory::get_instance()->delete_participant(participant_2), ReturnCode_t::RETCODE_OK);
}

/*
 * This test checks that the participant's child entities are not created if an empty profile if provided for these
 * entities.
 */
TEST(ParticipantTests, CreateEntitiesWithProfileNegativeClauses)
{
    DomainParticipant* participant =
            DomainParticipantFactory::get_instance()->create_participant(0, PARTICIPANT_QOS_DEFAULT);

    // Create publisher with an empty profile should return nullptr
    Publisher* publisher = participant->create_publisher_with_profile("");
    ASSERT_EQ(publisher, nullptr);

    // Create subscriber with an empty profile should return nullptr
    Subscriber* subscriber = participant->create_subscriber_with_profile("");
    ASSERT_EQ(subscriber, nullptr);

    // Create topic with an empty profile should return nullptr
    Topic* topic = participant->create_topic_with_profile("footopic", "footype", "");
    ASSERT_EQ(topic, nullptr);

    // Remove the participant
    ASSERT_EQ(DomainParticipantFactory::get_instance()->delete_participant(participant), ReturnCode_t::RETCODE_OK);
}

/*
 * This test checks that an error is given when registering a TypeSupport with an empty name in the TopicDataType.
 */
TEST(ParticipantTests, RegisterTypeNegativeClauses)
{
    DomainParticipantFactory::get_instance()->load_XML_profiles_file("test_xml_profiles.xml");
    DomainParticipant* participant =
            DomainParticipantFactory::get_instance()->create_participant(0, PARTICIPANT_QOS_DEFAULT);

    // Create the TopicDataType and delete the topic data type name
    TopicDataTypeMock* data_type = new TopicDataTypeMock();
    data_type->clearName();

    // Create the TypeSupport with the TopicDataType with an empty name
    TypeSupport type(data_type);
    // Register the type shoul return a RETCODE_BAD_PARAMETER return code
    EXPECT_EQ(type.register_type(participant), ReturnCode_t::RETCODE_BAD_PARAMETER);

    // Remove the participant
    ASSERT_EQ(DomainParticipantFactory::get_instance()->delete_participant(participant), ReturnCode_t::RETCODE_OK);
}

/*
 * This test checks that an error is given when trying to assert the liveliness.
 * 1. Check that an error is given at trying to assert the livelines from a non enabled participant.
 * 2. Check that an error is given at trying to assert the livelines from a participant with a disabled
 *    Writer Liveliness Protocol (WLP writer is not defined).
 */
TEST(ParticipantTests, AssertLivelinesNegativeClauses)
{
    // Do not enable entities on creation
    DomainParticipantFactory* factory = DomainParticipantFactory::get_instance();
    DomainParticipantFactoryQos qos;
    qos.entity_factory().autoenable_created_entities = false;
    ASSERT_EQ(factory->set_qos(qos), ReturnCode_t::RETCODE_OK);

    // Create a disabled participant
    DomainParticipant* participant =
            DomainParticipantFactory::get_instance()->create_participant(0, PARTICIPANT_QOS_DEFAULT);
    ASSERT_NE(nullptr, participant);
    ASSERT_FALSE(participant->is_enabled());

    // Assert liveliness from a disabled participant should return a RETCODE_NOT_ENABLED return code.
    ASSERT_EQ(participant->assert_liveliness(), ReturnCode_t::RETCODE_NOT_ENABLED);

    // Change the participant QoS to disable the Writer Liveliness Protocol
    DomainParticipantQos pqos;
    ASSERT_EQ(participant->get_qos(pqos), ReturnCode_t::RETCODE_OK);
    pqos.wire_protocol().builtin.use_WriterLivelinessProtocol = false;
    ASSERT_EQ(participant->set_qos(pqos), ReturnCode_t::RETCODE_OK);

    // Enable the participant
    EXPECT_EQ(ReturnCode_t::RETCODE_OK, participant->enable());
    EXPECT_TRUE(participant->is_enabled());
    // Check that an error is given at trying to assert the livelines from a participant with a disabled
    // Writer Liveliness Protocol (WLP writer is not defined).
    ASSERT_EQ(participant->assert_liveliness(), ReturnCode_t::RETCODE_ERROR);

    // Remove the participant
    ASSERT_EQ(DomainParticipantFactory::get_instance()->delete_participant(participant), ReturnCode_t::RETCODE_OK);
}

/*
 * This test check the get_current_time public member function of the DomainParticipant.
 */
TEST(ParticipantTests, GetCurrentTime)
{
    DomainParticipant* participant =
            DomainParticipantFactory::get_instance()->create_participant(0, PARTICIPANT_QOS_DEFAULT);

    eprosima::fastrtps::Time_t now;
    ASSERT_EQ(participant->get_current_time(now), ReturnCode_t::RETCODE_OK);
    ASSERT_EQ(DomainParticipantFactory::get_instance()->delete_participant(participant), ReturnCode_t::RETCODE_OK);
}

/*
 * This test checks that a constant pointer to the DomainParticipant is returned when calling the get_participant()
 * function from a publisher of this participant.
 */
TEST(ParticipantTests, GetParticipantConst)
{
    // Create the participant
    DomainParticipant* participant =
            DomainParticipantFactory::get_instance()->create_participant(0, PARTICIPANT_QOS_DEFAULT);

    // Create the publisher
    Publisher* publisher = participant->create_publisher(PUBLISHER_QOS_DEFAULT);
    ASSERT_NE(publisher, nullptr);

    // Call the get_participant() Publisher member function
    const DomainParticipant* participant_pub = publisher->get_participant();

    // Check that the GUIDs of the created DomainParticipant and the returned one match.
    ASSERT_EQ(participant_pub->guid(), participant->guid());

    // Remove the publisher and the participant
    ASSERT_EQ(participant->delete_publisher(publisher), ReturnCode_t::RETCODE_OK);
    ASSERT_EQ(DomainParticipantFactory::get_instance()->delete_participant(participant), ReturnCode_t::RETCODE_OK);
}


/*
 * This test checks the get_participant_names() DomainParticipant member function.
 * 1. Check that the participant name is empty if the participant is not enabled.
 * 2. Check that the participant name is filled when the participant is enabled.
 */
TEST(ParticipantTests, GetParticipantNames)
{
    // Do not enable entities on creation
    DomainParticipantFactory* factory = DomainParticipantFactory::get_instance();
    DomainParticipantFactoryQos qos;
    qos.entity_factory().autoenable_created_entities = false;
    ASSERT_EQ(factory->set_qos(qos), ReturnCode_t::RETCODE_OK);

    // Create a disabled participant
    DomainParticipant* participant =
            DomainParticipantFactory::get_instance()->create_participant(0, PARTICIPANT_QOS_DEFAULT);
    ASSERT_NE(nullptr, participant);
    ASSERT_FALSE(participant->is_enabled());

    // Check that the participant name is empty if the participant is not enabled
    std::vector<std::string> participant_names = participant->get_participant_names();
    ASSERT_TRUE(participant_names.empty());

    // Enable the participant
    EXPECT_EQ(ReturnCode_t::RETCODE_OK, participant->enable());
    EXPECT_TRUE(participant->is_enabled());

    // Check that the participant name is filled when the participant is enabled
    participant_names = participant->get_participant_names();
    ASSERT_FALSE(participant_names.empty());

    // Remove the participant
    ASSERT_EQ(DomainParticipantFactory::get_instance()->delete_participant(participant), ReturnCode_t::RETCODE_OK);
}

/*
 * This test checks that a topic is not created with a wrong settings.
 * 1. Check that the topic is not created if a wrong type name is provided.
 * 2. Check that the topic is not created if a non supported durability QoS is provided.
 */
TEST(ParticipantTests, CreateTopicNegativeClauses)
{
    // Create the participant
    DomainParticipant* participant =
            DomainParticipantFactory::get_instance()->create_participant(0, PARTICIPANT_QOS_DEFAULT);

    // Register the type
    TypeSupport type(new TopicDataTypeMock());
    type.register_type(participant);

    // Check that the topic is not created if a wrong type name is provided
    Topic* topic;
    topic = participant->create_topic("footopic", "fake_type_name", TOPIC_QOS_DEFAULT);
    ASSERT_EQ(topic, nullptr);

    // Check that the topic is not created if a non supported durability QoS is provided
    TopicQos tqos;
    participant->get_default_topic_qos(tqos);
    tqos.durability().kind = PERSISTENT_DURABILITY_QOS;
    topic = participant->create_topic("footopic", type.get_type_name(), tqos);
    ASSERT_EQ(topic, nullptr);

    // Remove the participant
    ASSERT_EQ(DomainParticipantFactory::get_instance()->delete_participant(participant), ReturnCode_t::RETCODE_OK);
}

/*
 * This test checks the contais_entity() DomainParticipant member function.
 * 1. Check that the participant contains an already created topic in this participant.
 * 2. Check that the participant contains an already created publisher in this participant.
 * 3. Check that the participant contains an already created subscriber in this participant.
 * 4. Check that the participant contains an already created data_writer in this participant.
 * 5. Check that the participant contains an already created data_reader in this participant.
 * 6. Check that the participant does not contains a removed publisher.
 */
TEST(ParticipantTests, ContainsEntity)
{
    // Create the participant
    DomainParticipant* participant =
            DomainParticipantFactory::get_instance()->create_participant(0, PARTICIPANT_QOS_DEFAULT);

    TypeSupport type(new TopicDataTypeMock());
    type.register_type(participant);

    // Create the topic
    Topic* topic = participant->create_topic("footopic", type.get_type_name(), TOPIC_QOS_DEFAULT);
    ASSERT_NE(topic, nullptr);
    eprosima::fastrtps::rtps::InstanceHandle_t topic_ihandle = topic->get_instance_handle();
    // Check that the participant contains an already created topic in this participant
    ASSERT_TRUE(participant->contains_entity(topic_ihandle, false));

    // Create the publisher
    Publisher* publisher = participant->create_publisher(PUBLISHER_QOS_DEFAULT);
    ASSERT_NE(publisher, nullptr);
    eprosima::fastrtps::rtps::InstanceHandle_t pub_ihandle = publisher->get_instance_handle();
    // Check that the participant contains an already created publisher in this participant
    ASSERT_TRUE(participant->contains_entity(pub_ihandle, false));

    // Create the subscriber
    Subscriber* subscriber = participant->create_subscriber(SUBSCRIBER_QOS_DEFAULT);
    ASSERT_NE(subscriber, nullptr);
    eprosima::fastrtps::rtps::InstanceHandle_t sub_ihandle = subscriber->get_instance_handle();
    // Check that the participant contains an already created subscriber in this participant
    ASSERT_TRUE(participant->contains_entity(sub_ihandle, false));

    // Create the data_writer
    DataWriter* data_writer = publisher->create_datawriter(topic, DATAWRITER_QOS_DEFAULT);
    ASSERT_NE(data_writer, nullptr);
    eprosima::fastrtps::rtps::InstanceHandle_t data_writer_ihandle = data_writer->get_instance_handle();
    // Check that the participant contains an already created data_writer in this participant
    ASSERT_TRUE(participant->contains_entity(data_writer_ihandle, true));

    // Create the data_reader
    DataReader* data_reader = subscriber->create_datareader(topic, DATAREADER_QOS_DEFAULT);
    ASSERT_NE(data_reader, nullptr);
    eprosima::fastrtps::rtps::InstanceHandle_t data_reader_ihandle = data_reader->get_instance_handle();
    // Check that the participant contains an already created data_reader in this participant
    ASSERT_TRUE(participant->contains_entity(data_reader_ihandle, true));

    // Remove data_writer, data_reader, publisher, subscriber and topic entities.
    ASSERT_EQ(publisher->delete_datawriter(data_writer), ReturnCode_t::RETCODE_OK);
    ASSERT_EQ(subscriber->delete_datareader(data_reader), ReturnCode_t::RETCODE_OK);
    ASSERT_EQ(participant->delete_publisher(publisher), ReturnCode_t::RETCODE_OK);
    ASSERT_EQ(participant->delete_subscriber(subscriber), ReturnCode_t::RETCODE_OK);
    ASSERT_EQ(participant->delete_topic(topic), ReturnCode_t::RETCODE_OK);

    // Check that the participant does not contains a removed publisher
    ASSERT_FALSE(participant->contains_entity(pub_ihandle, false));

    ASSERT_EQ(DomainParticipantFactory::get_instance()->delete_participant(participant), ReturnCode_t::RETCODE_OK);
}

/*
 * This test checks the unregister_type() DomainParticipant member function.
 * 1. Check that an error is given at trying to unregister a type with an empty name.
 * 2. Check that no error is given at trying to unregister a non registered type.
 * 3. Check that an error is given at trying to unregister a type that is been used by a data_reader/data_writer.
 * 4. Check that no errors result when an unused topic is unregistered.
 */
TEST(ParticipantTests, UnregisterType)
{
    // Create the participant
    DomainParticipant* participant =
            DomainParticipantFactory::get_instance()->create_participant(0, PARTICIPANT_QOS_DEFAULT);

    // Check that an error is given at trying to unregister a type with an empty name
    ASSERT_EQ(participant->unregister_type(""), ReturnCode_t::RETCODE_BAD_PARAMETER);

    // Check that no error is given at trying to unregister a non registered type
    ASSERT_EQ(participant->unregister_type("missing_type"), ReturnCode_t::RETCODE_OK);

    TypeSupport type(new TopicDataTypeMock());
    type.register_type(participant);

    Topic* topic = participant->create_topic("footopic", type.get_type_name(), TOPIC_QOS_DEFAULT);
    ASSERT_NE(topic, nullptr);

    // Create the subscriber and a data_reader that use the above topic
    Subscriber* subscriber = participant->create_subscriber(SUBSCRIBER_QOS_DEFAULT);
    ASSERT_NE(subscriber, nullptr);
    DataReader* data_reader = subscriber->create_datareader(topic, DATAREADER_QOS_DEFAULT);
    ASSERT_NE(data_reader, nullptr);
    // Check that an error is given at trying to unregister a type that is been used by a data_reader
    ASSERT_EQ(participant->unregister_type(type.get_type_name()), ReturnCode_t::RETCODE_PRECONDITION_NOT_MET);

    ASSERT_EQ(subscriber->delete_datareader(data_reader), ReturnCode_t::RETCODE_OK);
    ASSERT_EQ(participant->delete_subscriber(subscriber), ReturnCode_t::RETCODE_OK);

    // Create the publisher and a data_writer that use the above topic
    Publisher* publisher = participant->create_publisher(PUBLISHER_QOS_DEFAULT);
    ASSERT_NE(publisher, nullptr);
    DataWriter* data_writer = publisher->create_datawriter(topic, DATAWRITER_QOS_DEFAULT);
    ASSERT_NE(data_writer, nullptr);
    // Check that an error is given at trying to unregister a type that is been used by a data_writer
    ASSERT_EQ(participant->unregister_type(type.get_type_name()), ReturnCode_t::RETCODE_PRECONDITION_NOT_MET);

    ASSERT_EQ(publisher->delete_datawriter(data_writer), ReturnCode_t::RETCODE_OK);
    ASSERT_EQ(participant->delete_publisher(publisher), ReturnCode_t::RETCODE_OK);

    ASSERT_EQ(participant->delete_topic(topic), ReturnCode_t::RETCODE_OK);

    // At this point, the type is not been used by any entity.
    // Check that no errors result when an unused topic is unregistered
    ASSERT_EQ(participant->unregister_type(type.get_type_name()), ReturnCode_t::RETCODE_OK);

    // Remove the participant
    ASSERT_EQ(DomainParticipantFactory::get_instance()->delete_participant(participant), ReturnCode_t::RETCODE_OK);
}

/*
 * This test checks the negative clauses of new_remote_endpoint_discovered() DomainParticipant memeber function
 * used in the STATIC discovery.
 * 1. Check that the remote endpoint is not registered in a disabled participant.
 * 2. Check that a remote WRITER endpoint is not registered in an enabled participant if the discovery protocol is
 *    SIMPLE.
 * 3. Check that a remote READER endpoint is not registered in an enabled participant if the discovery protocol is
 *    SIMPLE.
 */
TEST(ParticipantTests, NewRemoteEndpointDiscovered)
{
    // Do not enable entities on creation
    DomainParticipantFactory* factory = DomainParticipantFactory::get_instance();
    DomainParticipantFactoryQos qos;
    qos.entity_factory().autoenable_created_entities = false;
    ASSERT_TRUE(factory->set_qos(qos) == ReturnCode_t::RETCODE_OK);

    // Create a disabled participant
    DomainParticipant* participant =
            DomainParticipantFactory::get_instance()->create_participant(0, PARTICIPANT_QOS_DEFAULT);
    ASSERT_NE(nullptr, participant);
    ASSERT_FALSE(participant->is_enabled());

    eprosima::fastrtps::rtps::GUID_t remote_endpoint_guid;
    std::istringstream("72.61.75.6c.5f.73.61.6e.63.68.65.7a") >> remote_endpoint_guid;

    // Check that the remote endpoint is not registered in a disabled participant
    ASSERT_FALSE(participant->new_remote_endpoint_discovered(
                remote_endpoint_guid, 1, eprosima::fastrtps::rtps::EndpointKind_t::WRITER));

    // Enable the participant
    ASSERT_EQ(ReturnCode_t::RETCODE_OK, participant->enable());
    ASSERT_TRUE(participant->is_enabled());

    // Check that a WRITER remote endpoint is not registered in an enabled participant
    ASSERT_FALSE(participant->new_remote_endpoint_discovered(
                remote_endpoint_guid, 1, eprosima::fastrtps::rtps::EndpointKind_t::WRITER));
    // Check that a READER remote endpoint is not registered in an enabled participant
    ASSERT_FALSE(participant->new_remote_endpoint_discovered(
                remote_endpoint_guid, 1, eprosima::fastrtps::rtps::EndpointKind_t::READER));

    // Remove the participant
    ASSERT_EQ(DomainParticipantFactory::get_instance()->delete_participant(participant), ReturnCode_t::RETCODE_OK);
}

/*
 * This test checks the set_qos() DomainParticipant member function for the PropertyPolicyQos and TransportConfigQos.
 */
TEST(ParticipantTests, SetDomainParticipantQos)
{
    // Create the DomainParticipantQos object
    DomainParticipantQos pqos;
    // Change in the DomainParticipantQos object the persistence guid property
    pqos.properties().properties().emplace_back("dds.persistence.guid", "72.61.75.6c.5f.73.61.6e.63.68.65.7a");
    // Change in the DomainParticipantQos object the listening socket buffer size setting of the transport qos
    pqos.transport().listen_socket_buffer_size = 262144;
    // Set the modified participant qos as the default qos
    ASSERT_EQ(DomainParticipantFactory::get_instance()->set_default_participant_qos(pqos), ReturnCode_t::RETCODE_OK);

    DomainParticipant* participant =
            DomainParticipantFactory::get_instance()->create_participant(0, pqos);

    DomainParticipantQos qos;
    participant->get_qos(qos);

    // Check that the participant QoS are the modified qos
    const std::string* persistence_property_old =
            eprosima::fastrtps::rtps::PropertyPolicyHelper::find_property(pqos.properties(), "dds.persistence.guid");
    ASSERT_NE(persistence_property_old, nullptr);
    eprosima::fastrtps::rtps::GUID_t persistence_guid_old;
    std::istringstream(persistence_property_old->c_str()) >> persistence_guid_old;
    const std::string* persistence_property_new =
            eprosima::fastrtps::rtps::PropertyPolicyHelper::find_property(qos.properties(), "dds.persistence.guid");
    ASSERT_NE(persistence_property_new, nullptr);
    eprosima::fastrtps::rtps::GUID_t persistence_guid_new;
    std::istringstream(persistence_property_old->c_str()) >> persistence_guid_new;
    ASSERT_EQ(persistence_guid_new, persistence_guid_old);

    ASSERT_EQ(qos.transport().listen_socket_buffer_size, pqos.transport().listen_socket_buffer_size);

    // Remove the participant
    ASSERT_TRUE(DomainParticipantFactory::get_instance()->delete_participant(participant) == ReturnCode_t::RETCODE_OK);
}

/*
 * This test checks that the PropertyPolicyQos and TransportConfigQos are immutable policy qos, i.e. these can not be
 * changed in an enabled participant
 */
TEST(ParticipantTests, UpdatableDomainParticipantQos)
{

    DomainParticipant* participant =
            DomainParticipantFactory::get_instance()->create_participant(0, PARTICIPANT_QOS_DEFAULT);

    DomainParticipantQos pqos;

    // Check that the PropertyPolicyQos can not be changed in an enabled participant
    participant->get_qos(pqos);
    pqos.properties().properties().emplace_back("dds.persistence.guid", "72.61.75.6c.5f.73.61.6e.63.68.65.7a");
    ASSERT_EQ(participant->set_qos(pqos), ReturnCode_t::RETCODE_IMMUTABLE_POLICY);

    // Check that the TransportConfigQos can not be changed in an enabled participant
    participant->get_qos(pqos);
    pqos.transport().listen_socket_buffer_size = 262144;
    ASSERT_EQ(participant->set_qos(pqos), ReturnCode_t::RETCODE_IMMUTABLE_POLICY);

    ASSERT_EQ(DomainParticipantFactory::get_instance()->delete_participant(participant), ReturnCode_t::RETCODE_OK);
}

/*
 * This test adds a complete dynamic type to the participant dynamic type factories
 */
TEST(ParticipantTests, RegisterDynamicTypeToFactories)
{
    // Do not enable entities on creation
    DomainParticipantFactoryQos factory_qos;
    factory_qos.entity_factory().autoenable_created_entities = false;
    DomainParticipantFactory::get_instance()->set_qos(factory_qos);

    // Create a disabled participant
    DomainParticipant* participant =
            DomainParticipantFactory::get_instance()->create_participant(0, PARTICIPANT_QOS_DEFAULT);

    // Create the dynamic type builder
    DynamicType_ptr base_type = DynamicTypeBuilderFactory::get_instance()->create_uint32_type();
    DynamicTypeBuilder_ptr builder = DynamicTypeBuilderFactory::get_instance()->create_struct_builder();
    builder->add_member(0, "uint", base_type);
    // Build the complete dynamic type
    DynamicType_ptr dyn_type = builder->build();
    // Create the data instance
    DynamicData_ptr data(DynamicDataFactory::get_instance()->create_data(dyn_type));
    // Register the type
    TypeSupport type(new eprosima::fastrtps::types::DynamicPubSubType(dyn_type));
    // Activating the auto_fill_type_information or the auto_fill_type_object settings, the participant will try to
    // add the type dynamic type factories
    type->auto_fill_type_information(true);
    type->auto_fill_type_object(true);
    ASSERT_EQ(type.register_type(participant), ReturnCode_t::RETCODE_OK);

    // Remove the participant
    ASSERT_EQ(DomainParticipantFactory::get_instance()->delete_participant(participant), ReturnCode_t::RETCODE_OK);
}

/*
 * This test adds a complete dynamic type to the participant dynamic type factories without enabling the
 * auto_fill_type_information setting
 */
TEST(ParticipantTests, RegisterDynamicTypeToFactoriesNotFillTypeInfo)
{
    // Do not enable entities on creation
    DomainParticipantFactoryQos factory_qos;
    factory_qos.entity_factory().autoenable_created_entities = false;
    DomainParticipantFactory::get_instance()->set_qos(factory_qos);

    // Create a disabled participant
    DomainParticipant* participant =
            DomainParticipantFactory::get_instance()->create_participant(0, PARTICIPANT_QOS_DEFAULT);

    // Create the dynamic type builder
    DynamicType_ptr base_type = DynamicTypeBuilderFactory::get_instance()->create_uint32_type();
    DynamicTypeBuilder_ptr builder = DynamicTypeBuilderFactory::get_instance()->create_struct_builder();
    builder->add_member(0, "uint", base_type);

    // Build the complete dynamic type
    DynamicType_ptr dyn_type = builder->build();
    // Create the data instance
    DynamicData_ptr data(DynamicDataFactory::get_instance()->create_data(dyn_type));

    // Register the type
    TypeSupport type(new eprosima::fastrtps::types::DynamicPubSubType(dyn_type));
    type->auto_fill_type_information(false);
    type->auto_fill_type_object(true);
    ASSERT_EQ(type.register_type(participant), ReturnCode_t::RETCODE_OK);

    // Remove the participant
    ASSERT_EQ(DomainParticipantFactory::get_instance()->delete_participant(participant), ReturnCode_t::RETCODE_OK);
}

// Mocked DynamicType for DynamicType creation tests
class DynamicTypeMock : public eprosima::fastrtps::types::DynamicType
{
public:

    DynamicTypeMock(
            const eprosima::fastrtps::types::TypeDescriptor* descriptor)
        : eprosima::fastrtps::types::DynamicType(descriptor)
    {
    }

    DynamicType_ptr get_base_type_wrapper() const
    {
        return get_base_type();
    }

};

/*
 * This test attempts to add a non supported custom dynamic type to the participant dynamic type factories. The type
 * should be registered in the participant but not added to the dynamic types factories.
 */
TEST(ParticipantTests, RegisterDynamicTypeToFactoriesNotTypeIdentifier)
{
    // Do not enable entities on creation
    DomainParticipantFactoryQos factory_qos;
    factory_qos.entity_factory().autoenable_created_entities = false;
    DomainParticipantFactory::get_instance()->set_qos(factory_qos);

    // Create a disabled participant
    DomainParticipant* participant =
            DomainParticipantFactory::get_instance()->create_participant(0, PARTICIPANT_QOS_DEFAULT);

    // Create a not supported TypeDescriptor
    const TypeDescriptor* myDescriptor = new TypeDescriptor("my_descriptor", 0x11);
    // Create the base type for the dynamic type
    DynamicType_ptr base_type(new DynamicTypeMock(myDescriptor));
    // Create a custom dynamic type builder using the wrong TypeDescriptor
    DynamicTypeBuilder_ptr builder =
            DynamicTypeBuilderFactory::get_instance()->create_custom_builder(myDescriptor, "my_dynamic_type");
    builder->add_member(0, "uint", base_type);
    // Create the dynamic type
    DynamicType_ptr dyn_type = builder->build();
    // Create the data instance
    DynamicData_ptr data(DynamicDataFactory::get_instance()->create_data(dyn_type));

    // Register the type
    TypeSupport type(new eprosima::fastrtps::types::DynamicPubSubType(dyn_type));
    type->auto_fill_type_information(true);
    type->auto_fill_type_object(true);
    type.register_type(participant);

    TypeSupport ret_type = participant->find_type("my_dynamic_type");

    // The type is registered in the participant but not in the dynamic types factories
    ASSERT_FALSE(ret_type.empty());

    // Remove TypeDescriptor before closing
    delete myDescriptor;

    // Remove the participant
    ASSERT_EQ(DomainParticipantFactory::get_instance()->delete_participant(participant), ReturnCode_t::RETCODE_OK);
}

/*
 * This test create a sequence of TypeIdentifiers to call the get_types() DomainParticipant function. It should return
 * the TypeObjects associated with the TypeIdentifiers. Finally, the test checks that the writer guid prefix given by
 * the TypeObject is the same as the DomainPartipant guid prefix.
 */
TEST(ParticipantTests, GetTypes)
{
    // Create the participant
    DomainParticipantQos pqos;
    pqos.wire_protocol().builtin.typelookup_config.use_client = true;
    DomainParticipant* participant =
            DomainParticipantFactory::get_instance()->create_participant(0, pqos);

    // Create the dynamic type builder
    DynamicTypeBuilder_ptr builder_string = DynamicTypeBuilderFactory::get_instance()->create_string_builder(100);
    // Create the dynamic type
    DynamicType_ptr dyn_type_string = builder_string->build();
    TypeSupport type_string(new eprosima::fastrtps::types::DynamicPubSubType(dyn_type_string));
    // Create the data instance
    DynamicData_ptr data_string(DynamicDataFactory::get_instance()->create_data(dyn_type_string));
    data_string->set_string_value("Dynamic String");

    // Register the type
    type_string->auto_fill_type_information(true);
    type_string->auto_fill_type_object(true);
    type_string.register_type(participant);

    // Create the sequence of TypeIdentifiers
    const fastrtps::types::TypeIdentifier* indentifier_string =
            fastrtps::types::TypeObjectFactory::get_instance()->get_type_identifier_trying_complete(
        type_string.get_type_name());

    fastrtps::types::TypeIdentifierSeq types;
    types.push_back(*indentifier_string);

    // Checks that the writer guid prefix given by the TypeObject is the same as the DomainPartipant guid prefix
    ASSERT_EQ(participant->guid().guidPrefix, participant->get_types(types).writer_guid().guidPrefix);

    // Remove the participant
    ASSERT_EQ(DomainParticipantFactory::get_instance()->delete_participant(participant), ReturnCode_t::RETCODE_OK);
}

/*
 * This test create a sequence of TypeIdentifiers to call the get_type_dependencies() DomainParticipant function.
 * Finally, the test checks that the writer guid prefix given by the TypeObject is the same as the DomainPartipant
 * guid prefix.
 */
TEST(ParticipantTests, GetTypeDependencies)
{
    // Create the participant
    DomainParticipantQos pqos;
    pqos.wire_protocol().builtin.typelookup_config.use_client = true;
    DomainParticipant* participant =
            DomainParticipantFactory::get_instance()->create_participant(0, pqos);

    // Create the dynamic type builder
    DynamicTypeBuilder_ptr builder_string = DynamicTypeBuilderFactory::get_instance()->create_string_builder(100);
    // Create the dynamic type
    DynamicType_ptr dyn_type_string = builder_string->build();
    TypeSupport type_string(new eprosima::fastrtps::types::DynamicPubSubType(dyn_type_string));
    // Create the data instance
    DynamicData_ptr data_string(DynamicDataFactory::get_instance()->create_data(dyn_type_string));
    data_string->set_string_value("Dynamic String");

    // Register the type
    type_string->auto_fill_type_information(true);
    type_string->auto_fill_type_object(true);
    type_string.register_type(participant);

    // Create the sequence of TypeIdentifiers
    const fastrtps::types::TypeIdentifier* indentifier_string =
            fastrtps::types::TypeObjectFactory::get_instance()->get_type_identifier_trying_complete(
        type_string.get_type_name());

    fastrtps::types::TypeIdentifierSeq types;
    types.push_back(*indentifier_string);

    // Checks that the writer guid prefix given by the TypeObject is the same as the DomainPartipant guid prefix
    ASSERT_EQ(participant->guid().guidPrefix, participant->get_type_dependencies(types).writer_guid().guidPrefix);

    // Remove the participant
    ASSERT_EQ(DomainParticipantFactory::get_instance()->delete_participant(participant), ReturnCode_t::RETCODE_OK);
}

/*
 * This test create two participants which will share a complete dynamic type.
 * 1. The remote participant registers a dynamic type
 * 2. The local participant register the dynamic type of the remote participant using the TypeInformation and the type
 *    name
 * 3. Check that the type is not registered if the local participant is disabled
 * 4. Check that the type is registered if the local participant is enabled
 */
TEST(ParticipantTests, RegisterRemoteTypeComplete)
{
    // Do not enable entities on creation
    DomainParticipantFactoryQos factory_qos;
    factory_qos.entity_factory().autoenable_created_entities = false;
    DomainParticipantFactory::get_instance()->set_qos(factory_qos);

    // Create the remote participant and enable it
    DomainParticipant* remote_participant =
            DomainParticipantFactory::get_instance()->create_participant(0, PARTICIPANT_QOS_DEFAULT);
    EXPECT_EQ(ReturnCode_t::RETCODE_OK, remote_participant->enable());
    EXPECT_TRUE(remote_participant->is_enabled());

    // Create the local participant
    DomainParticipant* participant =
            DomainParticipantFactory::get_instance()->create_participant(0, PARTICIPANT_QOS_DEFAULT);

    // Create the complete dynamic type builder
    DynamicTypeBuilder_ptr int32_builder = DynamicTypeBuilderFactory::get_instance()->create_int32_builder();
    DynamicTypeBuilder_ptr seqLong_builder =
            DynamicTypeBuilderFactory::get_instance()->create_sequence_builder(int32_builder.get());
    DynamicTypeBuilder_ptr mySequenceLong_builder =
            DynamicTypeBuilderFactory::get_instance()->create_alias_builder(seqLong_builder.get(), "MySequenceLong");
    // Build the dynamic type
    DynamicType_ptr dyn_type = mySequenceLong_builder->build();

    // Register the type
    TypeSupport type(new eprosima::fastrtps::types::DynamicPubSubType(dyn_type));
    type.register_type(remote_participant);

    // Retrieve the Typeidentifier, the type name and the TypeInformation from the TypeObjectFactory
    const fastrtps::types::TypeIdentifier* identifier =
            fastrtps::types::TypeObjectFactory::get_instance()->get_type_identifier_trying_complete(
        type.get_type_name());

    std::string type_name = fastrtps::types::TypeObjectFactory::get_instance()->get_type_name(identifier);

    const fastrtps::types::TypeInformation* type_information =
            fastrtps::types::TypeObjectFactory::get_instance()->get_type_information(type_name);

    Topic* topic = remote_participant->create_topic("footopic", type.get_type_name(), TOPIC_QOS_DEFAULT);
    ASSERT_NE(topic, nullptr);

    // Create the functor for the remote type registration
    std::string topic_name = "footopic";
    std::function<void(const std::string&, const fastrtps::types::DynamicType_ptr)> callback =
            [topic_name](const std::string&, const fastrtps::types::DynamicType_ptr type)
            {
                std::cout << "Callback for type: " << type->get_name() << " on topic: " << topic_name << std::endl;
            };

    // Register the remote type in the disabled local participant. This should return a RETCODE_NOT_ENABLED return code
    ASSERT_EQ(participant->register_remote_type(*type_information, type.get_type_name(), callback),
            ReturnCode_t::RETCODE_NOT_ENABLED);

    // Enable the local participant
    EXPECT_EQ(ReturnCode_t::RETCODE_OK, participant->enable());
    EXPECT_TRUE(participant->is_enabled());

    // Register the remote type in the disabled local participant
    ASSERT_EQ(participant->register_remote_type(*type_information, type_name, callback),
            ReturnCode_t::RETCODE_OK);

    // Remove the topic and both participants
    ASSERT_EQ(remote_participant->delete_topic(topic), ReturnCode_t::RETCODE_OK);
    ASSERT_EQ(DomainParticipantFactory::get_instance()->delete_participant(remote_participant),
            ReturnCode_t::RETCODE_OK);
    ASSERT_EQ(DomainParticipantFactory::get_instance()->delete_participant(participant), ReturnCode_t::RETCODE_OK);
}

/*
 * This test create two participants which will share a minimal dynamic type.
 * 1. The remote participant registers a dynamic type
 * 2. The local participant register the dynamic type of the remote participant using the TypeInformation and the type
 *    name
 * 3. Check that the type is not registered if the local participant is disabled
 * 4. Check that the type is registered if the local participant is enabled
 */
TEST(ParticipantTests, RegisterRemoteTypeMinimal)
{
    // Do not enable entities on creation
    DomainParticipantFactoryQos factory_qos;
    factory_qos.entity_factory().autoenable_created_entities = false;
    DomainParticipantFactory::get_instance()->set_qos(factory_qos);

    // Create the remote participant and enable it
    DomainParticipant* remote_participant =
            DomainParticipantFactory::get_instance()->create_participant(0, PARTICIPANT_QOS_DEFAULT);
    EXPECT_EQ(ReturnCode_t::RETCODE_OK, remote_participant->enable());
    EXPECT_TRUE(remote_participant->is_enabled());

    // Create the local participant
    DomainParticipant* participant =
            DomainParticipantFactory::get_instance()->create_participant(0, PARTICIPANT_QOS_DEFAULT);

    // Create the minimal dynamic type builder
    DynamicTypeBuilder_ptr builder = DynamicTypeBuilderFactory::get_instance()->create_char16_builder();
    // Build the dynamic type
    DynamicType_ptr dyn_type = DynamicTypeBuilderFactory::get_instance()->create_type(builder.get());
    DynamicData_ptr data(DynamicDataFactory::get_instance()->create_data(dyn_type));
    data->set_string_value("Dynamic Char16");

    // Register the type
    TypeSupport type(new eprosima::fastrtps::types::DynamicPubSubType(dyn_type));
    type.register_type(remote_participant);

    // Retrieve the Typeidentifier, the type name and the TypeInformation from the TypeObjectFactory
    const fastrtps::types::TypeIdentifier* identifier =
            fastrtps::types::TypeObjectFactory::get_instance()->get_type_identifier_trying_complete(
        type.get_type_name());

    std::string type_name = fastrtps::types::TypeObjectFactory::get_instance()->get_type_name(identifier);

    const fastrtps::types::TypeInformation* type_information =
            fastrtps::types::TypeObjectFactory::get_instance()->get_type_information(type_name);

    Topic* topic = remote_participant->create_topic("footopic", type.get_type_name(), TOPIC_QOS_DEFAULT);
    ASSERT_NE(topic, nullptr);

    // Create the functor for the remote type registration
    std::string topic_name = "footopic";
    std::function<void(const std::string&, const fastrtps::types::DynamicType_ptr)> callback =
            [topic_name](const std::string&, const fastrtps::types::DynamicType_ptr type)
            {
                std::cout << "Callback for type: " << type->get_name() << " on topic: " << topic_name << std::endl;
            };

    // Register the remote type in the disabled local participant. This should return a RETCODE_NOT_ENABLED return code
    ASSERT_EQ(participant->register_remote_type(*type_information, type.get_type_name(), callback),
            ReturnCode_t::RETCODE_NOT_ENABLED);

    // Enable the local participant
    EXPECT_EQ(ReturnCode_t::RETCODE_OK, participant->enable());
    EXPECT_TRUE(participant->is_enabled());

    // Register the remote type in the disabled local participant
    ASSERT_EQ(participant->register_remote_type(*type_information, type_name, callback),
            ReturnCode_t::RETCODE_OK);

    // Remove the topic and both participants
    ASSERT_EQ(remote_participant->delete_topic(topic), ReturnCode_t::RETCODE_OK);
    ASSERT_EQ(DomainParticipantFactory::get_instance()->delete_participant(remote_participant),
            ReturnCode_t::RETCODE_OK);
    ASSERT_EQ(DomainParticipantFactory::get_instance()->delete_participant(participant), ReturnCode_t::RETCODE_OK);
}

/*
 * This test checks that a RETCODE_PRECONDITION_NOT_MET error code is returned when registering a dynamic remote type
 * with an empty TypeInformation
 */
TEST(ParticipantTests, RegisterRemoteTypePreconditionNotMet)
{
    // Create the remote participant
    DomainParticipant* remote_participant =
            DomainParticipantFactory::get_instance()->create_participant(0, PARTICIPANT_QOS_DEFAULT);

    // Create the local participant
    DomainParticipant* participant =
            DomainParticipantFactory::get_instance()->create_participant(0, PARTICIPANT_QOS_DEFAULT);

    // Create the type builder
    DynamicTypeBuilder_ptr int32_builder = DynamicTypeBuilderFactory::get_instance()->create_int32_builder();
    DynamicTypeBuilder_ptr seqLong_builder =
            DynamicTypeBuilderFactory::get_instance()->create_sequence_builder(int32_builder.get());
    DynamicTypeBuilder_ptr mySequenceLong_builder =
            DynamicTypeBuilderFactory::get_instance()->create_alias_builder(seqLong_builder.get(), "MySequenceLong");
    // Build the dynamic type
    DynamicType_ptr dyn_type = mySequenceLong_builder->build();

    // Register the type
    TypeSupport type(new eprosima::fastrtps::types::DynamicPubSubType(dyn_type));
    type.register_type(remote_participant);

    Topic* topic = remote_participant->create_topic("footopic", type.get_type_name(), TOPIC_QOS_DEFAULT);
    ASSERT_NE(topic, nullptr);

    // Create the functor for the remote type registration
    std::string topic_name = "footopic";
    std::function<void(const std::string&, const fastrtps::types::DynamicType_ptr)> callback =
            [topic_name](const std::string&, const fastrtps::types::DynamicType_ptr type)
            {
                std::cout << "Callback for type: " << type->get_name() << " on topic: " << topic_name << std::endl;
            };

    // Create an empty TypeInformation
    fastrtps::types::TypeInformation info = fastrtps::types::TypeInformation();
    // Check that register_remote_type() returns RETCODE_PRECONDITION_NOT_MET if the TypeInformation is empty
    ASSERT_EQ(participant->register_remote_type(info, type.get_type_name(), callback),
            ReturnCode_t::RETCODE_PRECONDITION_NOT_MET);

    // Remove the topic and both participants
    ASSERT_EQ(remote_participant->delete_topic(topic), ReturnCode_t::RETCODE_OK);
    ASSERT_EQ(DomainParticipantFactory::get_instance()->delete_participant(remote_participant),
            ReturnCode_t::RETCODE_OK);
    ASSERT_EQ(DomainParticipantFactory::get_instance()->delete_participant(participant), ReturnCode_t::RETCODE_OK);
}

// Delete contained entities test
TEST(ParticipantTests, DeleteContainedEntities)
{

    // First we set up everything
    DomainParticipant* participant =
            DomainParticipantFactory::get_instance()->create_participant(0, PARTICIPANT_QOS_DEFAULT);
    ASSERT_NE(participant, nullptr);

    TypeSupport type(new TopicDataTypeMock());
    type.register_type(participant);

    Subscriber* subscriber = participant->create_subscriber(SUBSCRIBER_QOS_DEFAULT);
    ASSERT_NE(subscriber, nullptr);

    InstanceHandle_t subscriber_handle = subscriber->get_instance_handle();

    Publisher* publisher = participant->create_publisher(PUBLISHER_QOS_DEFAULT);
    ASSERT_NE(subscriber, nullptr);

    InstanceHandle_t publisher_handle = publisher->get_instance_handle();

    Topic* topic_bar = participant->create_topic("bartopic", type.get_type_name(), TOPIC_QOS_DEFAULT);
    ASSERT_NE(topic_bar, nullptr);

    ContentFilteredTopic* content_filtered_topic_bar = participant->create_contentfilteredtopic("contentfilteredtopic",
                    topic_bar, "", {});
    ASSERT_NE(content_filtered_topic_bar, nullptr);

    DataReader* data_reader_bar = subscriber->create_datareader(topic_bar, DATAREADER_QOS_DEFAULT);
    ASSERT_NE(data_reader_bar, nullptr);

    DataWriter* data_writer_bar = publisher->create_datawriter(topic_bar, DATAWRITER_QOS_DEFAULT);
    ASSERT_NE(data_writer_bar, nullptr);

    InstanceHandle_t handle_nil = HANDLE_NIL;
    BarType data;
    data.index(1);
    type.get_key(&data, &handle_nil);

    TypeSupport loanable_type(new LoanableTopicDataTypeMock());
    loanable_type.register_type(participant);

    Topic* topic_foo = participant->create_topic("footopic", loanable_type.get_type_name(), TOPIC_QOS_DEFAULT);
    ASSERT_NE(topic_foo, nullptr);

    InstanceHandle_t topic_foo_handle = topic_foo->get_instance_handle();
    InstanceHandle_t topic_bar_handle = topic_bar->get_instance_handle();

    DataWriter* data_writer_foo = publisher->create_datawriter(topic_foo, DATAWRITER_QOS_DEFAULT);
    ASSERT_NE(data_writer_foo, nullptr);

    const std::vector<SampleStateKind> mock_sample_state_kind;
    const std::vector<ViewStateKind> mock_view_state_kind;
    const std::vector<InstanceStateKind> mock_instance_states;
    const std::string mock_query_expression;
    const std::vector<std::string> mock_query_parameters;

    LoanableSequence<BarType> mock_coll;
    SampleInfoSeq mock_seq;

    // We test that the readers/writers are properly created

    std::vector<DataWriter*> data_writer_list;
    publisher->get_datawriters(data_writer_list);
    ASSERT_EQ(data_writer_list.size(), 2u);

    std::vector<DataReader*> data_reader_list;
    subscriber->get_datareaders(data_reader_list);
    ASSERT_EQ(data_reader_list.size(), 1u);

    data_reader_list.clear();
    data_writer_list.clear();

    // Setup done, start the actual testing

    void* loan_data;
    ASSERT_EQ(data_writer_foo->loan_sample(loan_data), ReturnCode_t::RETCODE_OK);

    // Writer with active loans. Fail and keep everything as is

    ReturnCode_t retcode = participant->delete_contained_entities();

    EXPECT_TRUE(participant->contains_entity(publisher_handle));
    publisher->get_datawriters(data_writer_list);
    EXPECT_EQ(data_writer_list.size(), 2u);
    subscriber->get_datareaders(data_reader_list);
    EXPECT_EQ(data_reader_list.size(), 1u);
    ASSERT_EQ(retcode, ReturnCode_t::RETCODE_PRECONDITION_NOT_MET);

    data_writer_list.clear();
    data_reader_list.clear();

    data_writer_foo->discard_loan(loan_data);

    // Reader with active loans. Fail and keep everything as is

    EXPECT_EQ(ReturnCode_t::RETCODE_OK, data_writer_bar->write(&data, HANDLE_NIL));
    Duration_t wait_time(1, 0);
    EXPECT_TRUE(data_reader_bar->wait_for_unread_message(wait_time));

    ASSERT_EQ(data_reader_bar->take(mock_coll, mock_seq), ReturnCode_t::RETCODE_OK);

    retcode = participant->delete_contained_entities();

    EXPECT_TRUE(participant->contains_entity(subscriber_handle));
    publisher->get_datawriters(data_writer_list);
    EXPECT_EQ(data_writer_list.size(), 2u);
    subscriber->get_datareaders(data_reader_list);
    EXPECT_EQ(data_reader_list.size(), 1u);

    ASSERT_EQ(retcode, ReturnCode_t::RETCODE_PRECONDITION_NOT_MET);

    data_writer_list.clear();
    data_reader_list.clear();

    ASSERT_EQ(data_reader_bar->return_loan(mock_coll, mock_seq), ReturnCode_t::RETCODE_OK);

    QueryCondition* query_condition = data_reader_bar->create_querycondition(
        mock_sample_state_kind,
        mock_view_state_kind,
        mock_instance_states,
        mock_query_expression,
        mock_query_parameters
        );
    ASSERT_EQ(query_condition, nullptr);

    // Try again with all preconditions met. This should succeed

    retcode = participant->delete_contained_entities();

    EXPECT_FALSE(participant->contains_entity(publisher_handle));
    EXPECT_FALSE(participant->contains_entity(subscriber_handle));
    EXPECT_FALSE(participant->contains_entity(topic_foo_handle));
    EXPECT_FALSE(participant->contains_entity(topic_bar_handle));
    // ContentFilteredTopic is not considered an entity
    EXPECT_EQ(participant->lookup_topicdescription("contentfilteredtopic"), nullptr);

    ASSERT_EQ(retcode, ReturnCode_t::RETCODE_OK);

}

/*
 * This test checks the following methods:
 *  create_contentfilteredtopic
 *  delete_contentfilteredtopic
 *  register_content_filter_factory
 *  lookup_content_filter_factory
 *  unregister_content_filter_factory
 */
TEST(ParticipantTests, ContentFilterInterfaces)
{
    static const char* TEST_FILTER_CLASS = "TESTFILTER";
    static const char* OTHER_FILTER_CLASS = "OTHERFILTER";

    struct MockFilter : public IContentFilter, public IContentFilterFactory
    {
        bool evaluate(
                const SerializedPayload& /*payload*/,
                const FilterSampleInfo& /*sample_info*/,
                const GUID_t& /*reader_guid*/) const override
        {
            return true;
        }

        ReturnCode_t create_content_filter(
                const char* /*filter_class_name*/,
                const char* /*type_name*/,
                const TopicDataType* /*data_type*/,
                const char* filter_expression,
                const ParameterSeq& filter_parameters,
                IContentFilter*& filter_instance) override
        {
            if (nullptr != filter_expression)
            {
                std::string s(filter_expression);
                if (filter_parameters.length() == std::count(s.begin(), s.end(), '%'))
                {
                    filter_instance = this;
                    return ReturnCode_t::RETCODE_OK;
                }
            }

            return ReturnCode_t::RETCODE_BAD_PARAMETER;
        }

        virtual ReturnCode_t delete_content_filter(
                const char* /*filter_class_name*/,
                IContentFilter* filter_instance) override
        {
            if (this == filter_instance)
            {
                return ReturnCode_t::RETCODE_OK;
            }

            return ReturnCode_t::RETCODE_BAD_PARAMETER;
        }

    };

    MockFilter test_filter;
    std::string very_long_name(512, ' ');

    // Create two participants
    DomainParticipant* participant =
            DomainParticipantFactory::get_instance()->create_participant(0, PARTICIPANT_QOS_DEFAULT);
    ASSERT_NE(participant, nullptr);
    DomainParticipant* participant2 =
            DomainParticipantFactory::get_instance()->create_participant(0, PARTICIPANT_QOS_DEFAULT);
    ASSERT_NE(participant2, nullptr);

    // Create a type and a topics
    TypeSupport type(new TopicDataTypeMock());
    ASSERT_EQ(type.register_type(participant), ReturnCode_t::RETCODE_OK);
    ASSERT_EQ(type.register_type(participant2), ReturnCode_t::RETCODE_OK);

    Topic* topic = participant->create_topic("topic", type.get_type_name(), TOPIC_QOS_DEFAULT);
    ASSERT_NE(topic, nullptr);
    Topic* topic2 = participant2->create_topic("topic", type.get_type_name(), TOPIC_QOS_DEFAULT);
    ASSERT_NE(topic2, nullptr);

    // Negative tests for create_contentfilteredtopic and delete_contentfilteredtopic
    {
        EXPECT_EQ(nullptr,
                participant->create_contentfilteredtopic(
                    "contentfilteredtopic",
                    topic,
                    "INVALID SQL EXPRESSION",
                    std::vector<std::string>({ "a", "b" })));
        EXPECT_EQ(nullptr,
                participant->create_contentfilteredtopic(
                    "contentfilteredtopic",
                    nullptr,
                    "INVALID SQL EXPRESSION",
                    std::vector<std::string>({ "a", "b" })));
        EXPECT_EQ(nullptr,
                participant->create_contentfilteredtopic("contentfilteredtopic", topic, "", {}, nullptr));

        EXPECT_EQ(ReturnCode_t::RETCODE_BAD_PARAMETER, participant->delete_contentfilteredtopic(nullptr));
    }

    // Negative tests for register_content_filter_factory
    {
        EXPECT_EQ(ReturnCode_t::RETCODE_BAD_PARAMETER,
                participant->register_content_filter_factory(nullptr, &test_filter));
        EXPECT_EQ(ReturnCode_t::RETCODE_BAD_PARAMETER,
                participant->register_content_filter_factory(very_long_name.c_str(), &test_filter));
        EXPECT_EQ(ReturnCode_t::RETCODE_BAD_PARAMETER,
                participant->register_content_filter_factory(TEST_FILTER_CLASS, nullptr));
        EXPECT_EQ(ReturnCode_t::RETCODE_PRECONDITION_NOT_MET,
                participant->register_content_filter_factory(FASTDDS_SQLFILTER_NAME, &test_filter));
    }

    // Negative tests for lookup_content_filter_factory
    {
        EXPECT_EQ(nullptr, participant->lookup_content_filter_factory(nullptr));
        EXPECT_EQ(nullptr, participant->lookup_content_filter_factory(FASTDDS_SQLFILTER_NAME));
        EXPECT_EQ(nullptr, participant->lookup_content_filter_factory(TEST_FILTER_CLASS));
    }

    // Negative tests for unregister_content_filter_factory
    {
        EXPECT_EQ(ReturnCode_t::RETCODE_BAD_PARAMETER, participant->unregister_content_filter_factory(nullptr));
        EXPECT_EQ(ReturnCode_t::RETCODE_PRECONDITION_NOT_MET,
                participant->unregister_content_filter_factory(FASTDDS_SQLFILTER_NAME));
        EXPECT_EQ(ReturnCode_t::RETCODE_PRECONDITION_NOT_MET,
                participant->unregister_content_filter_factory(TEST_FILTER_CLASS));
    }

    // Custom filter factory registration
    {
        // Register filter factory
        EXPECT_EQ(ReturnCode_t::RETCODE_OK,
                participant->register_content_filter_factory(TEST_FILTER_CLASS, &test_filter));
        // Lookup should return same pointer as the one registered
        EXPECT_EQ(&test_filter, participant->lookup_content_filter_factory(TEST_FILTER_CLASS));
        // But not for other filter class name
        EXPECT_EQ(nullptr, participant->lookup_content_filter_factory(OTHER_FILTER_CLASS));
        // Should not be able to register twice
        EXPECT_EQ(ReturnCode_t::RETCODE_PRECONDITION_NOT_MET,
                participant->register_content_filter_factory(TEST_FILTER_CLASS, &test_filter));
        // Unregister filter factory
        EXPECT_EQ(ReturnCode_t::RETCODE_OK,
                participant->unregister_content_filter_factory(TEST_FILTER_CLASS));
        // Lookup should now return nullptr
        EXPECT_EQ(nullptr, participant->lookup_content_filter_factory(TEST_FILTER_CLASS));
        // Unregister twice should fail
        EXPECT_EQ(ReturnCode_t::RETCODE_PRECONDITION_NOT_MET,
                participant->unregister_content_filter_factory(TEST_FILTER_CLASS));
    }

    // Custom filter registration and creation of filtered topic
    {
        EXPECT_EQ(nullptr,
                participant->create_contentfilteredtopic("contentfilteredtopic", topic, "", {}, TEST_FILTER_CLASS));

        // Register two filter factories to ensure traversal of collections
        EXPECT_EQ(ReturnCode_t::RETCODE_OK,
                participant->register_content_filter_factory(TEST_FILTER_CLASS, &test_filter));
        EXPECT_EQ(ReturnCode_t::RETCODE_OK,
                participant->register_content_filter_factory(OTHER_FILTER_CLASS, &test_filter));

        // Negative tests for custom filtered topic creation
        EXPECT_EQ(nullptr,
                participant->create_contentfilteredtopic(topic->get_name(), topic, "", {}, TEST_FILTER_CLASS));
        EXPECT_EQ(nullptr,
                participant->create_contentfilteredtopic("contentfilteredtopic", topic2, "", {}, TEST_FILTER_CLASS));
        EXPECT_EQ(nullptr,
                participant->create_contentfilteredtopic("contentfilteredtopic", nullptr, "", {}, TEST_FILTER_CLASS));
        EXPECT_EQ(nullptr,
                participant->create_contentfilteredtopic("contentfilteredtopic", topic, "", {""}, TEST_FILTER_CLASS));
        EXPECT_EQ(nullptr,
                participant->create_contentfilteredtopic("contentfilteredtopic", topic, "%%", {""}, TEST_FILTER_CLASS));

        // Possitive test
        ContentFilteredTopic* filtered_topic = participant->create_contentfilteredtopic("contentfilteredtopic", topic,
                        "", {}, TEST_FILTER_CLASS);
        ASSERT_NE(nullptr, filtered_topic);
        EXPECT_EQ(filtered_topic, participant->lookup_topicdescription("contentfilteredtopic"));

        // Should fail to create same filter twice
        EXPECT_EQ(nullptr,
                participant->create_contentfilteredtopic("contentfilteredtopic", topic, "", {}, TEST_FILTER_CLASS));

        // Create on the other filter class to ensure traversal of collections
        ContentFilteredTopic* filtered_topic2 = participant->create_contentfilteredtopic("contentfilteredtopic2",
                        topic, "", {}, OTHER_FILTER_CLASS);
        ASSERT_NE(nullptr, filtered_topic2);
        EXPECT_EQ(filtered_topic2, participant->lookup_topicdescription("contentfilteredtopic2"));

        // Should not be able to delete topic, since it is referenced by filtered_topic
        EXPECT_EQ(ReturnCode_t::RETCODE_PRECONDITION_NOT_MET, participant->delete_topic(topic));

        // Should not be able to unregister filter factory, since it is referenced by filtered_topic
        EXPECT_EQ(ReturnCode_t::RETCODE_PRECONDITION_NOT_MET,
                participant->unregister_content_filter_factory(TEST_FILTER_CLASS));
        EXPECT_EQ(ReturnCode_t::RETCODE_PRECONDITION_NOT_MET,
                participant->unregister_content_filter_factory(OTHER_FILTER_CLASS));

        // Reference filtered_topic by creating a DataReader
        auto subscriber = participant->create_subscriber(SUBSCRIBER_QOS_DEFAULT);
        ASSERT_NE(nullptr, subscriber);
        auto data_reader = subscriber->create_datareader(filtered_topic, DATAREADER_QOS_DEFAULT);
        ASSERT_NE(nullptr, data_reader);

        // Should not be able to delete filtered_topic, since it is referenced by data_reader
        EXPECT_EQ(ReturnCode_t::RETCODE_PRECONDITION_NOT_MET, participant->delete_contentfilteredtopic(filtered_topic));
        EXPECT_EQ(filtered_topic, participant->lookup_topicdescription("contentfilteredtopic"));

        EXPECT_EQ(ReturnCode_t::RETCODE_OK, subscriber->delete_datareader(data_reader));
        EXPECT_EQ(ReturnCode_t::RETCODE_OK, participant->delete_subscriber(subscriber));

        // Should be able to delete filtered_topic, but only on correct participant
        EXPECT_EQ(ReturnCode_t::RETCODE_PRECONDITION_NOT_MET,
                participant2->delete_contentfilteredtopic(filtered_topic));
        EXPECT_EQ(filtered_topic, participant->lookup_topicdescription("contentfilteredtopic"));
        EXPECT_EQ(ReturnCode_t::RETCODE_OK, participant->delete_contentfilteredtopic(filtered_topic));
        EXPECT_EQ(nullptr, participant->lookup_topicdescription("contentfilteredtopic"));
        EXPECT_EQ(ReturnCode_t::RETCODE_OK, participant->delete_contentfilteredtopic(filtered_topic2));

        // Unregister filter factories
        EXPECT_EQ(ReturnCode_t::RETCODE_OK,
                participant->unregister_content_filter_factory(TEST_FILTER_CLASS));
        EXPECT_EQ(ReturnCode_t::RETCODE_OK,
                participant->unregister_content_filter_factory(OTHER_FILTER_CLASS));
    }

    ASSERT_EQ(participant2->delete_topic(topic2), ReturnCode_t::RETCODE_OK);
    ASSERT_EQ(DomainParticipantFactory::get_instance()->delete_participant(participant2), ReturnCode_t::RETCODE_OK);
    ASSERT_EQ(participant->delete_topic(topic), ReturnCode_t::RETCODE_OK);
    ASSERT_EQ(DomainParticipantFactory::get_instance()->delete_participant(participant), ReturnCode_t::RETCODE_OK);
}

/*
 * This test checks that the following methods are not implemented and returns an error
 *  create_multitopic
 *  delete_multitopic
 *  find_topic
 *  get_builtin_subscriber
 *  ignore_participant
 *  ignore_topic
 *  ignore_publication
 *  ignore_subscription
 *  get_discovered_participants
 *  get_discovered_topics
 *
 * Tests missing: get_discovered_participant_data & get_discovered_topic_data
 * These methods cannot be tested because there are no implementation of their parameter classes
 */
TEST(ParticipantTests, UnsupportedMethods)
{
    // Create the participant
    DomainParticipant* participant =
            DomainParticipantFactory::get_instance()->create_participant(0, PARTICIPANT_QOS_DEFAULT);
    ASSERT_NE(participant, nullptr);

    // Create a type and a topic
    TypeSupport type(new TopicDataTypeMock());
    ASSERT_EQ(type.register_type(participant), ReturnCode_t::RETCODE_OK);

    Topic* topic = participant->create_topic("topic", type.get_type_name(), TOPIC_QOS_DEFAULT);
    ASSERT_NE(topic, nullptr);

    ASSERT_EQ(
        participant->create_multitopic(
            "multitopic",
            "type",
            "subscription_expression",
            std::vector<std::string>({"a", "b"})),
        nullptr);

    // nullptr use as there are not such a class
    ASSERT_EQ(participant->delete_multitopic(nullptr), ReturnCode_t::RETCODE_UNSUPPORTED);

    ASSERT_EQ(participant->find_topic("topic", Duration_t(1, 0)), nullptr);

    ASSERT_EQ(participant->get_builtin_subscriber(), nullptr);

    ASSERT_EQ(participant->ignore_participant(InstanceHandle_t()), ReturnCode_t::RETCODE_UNSUPPORTED);
    ASSERT_EQ(participant->ignore_topic(InstanceHandle_t()), ReturnCode_t::RETCODE_UNSUPPORTED);
    ASSERT_EQ(participant->ignore_publication(InstanceHandle_t()), ReturnCode_t::RETCODE_UNSUPPORTED);
    ASSERT_EQ(participant->ignore_subscription(InstanceHandle_t()), ReturnCode_t::RETCODE_UNSUPPORTED);

    // Discovery methods
    std::vector<InstanceHandle_t> handle_vector({InstanceHandle_t()});
    builtin::ParticipantBuiltinTopicData pbtd;
    builtin::TopicBuiltinTopicData tbtd;

    ASSERT_EQ(participant->get_discovered_participants(handle_vector), ReturnCode_t::RETCODE_UNSUPPORTED);
    ASSERT_EQ(
        participant->get_discovered_participant_data(pbtd, InstanceHandle_t()), ReturnCode_t::RETCODE_UNSUPPORTED);

    ASSERT_EQ(participant->get_discovered_topics(handle_vector), ReturnCode_t::RETCODE_UNSUPPORTED);
    ASSERT_EQ(
        participant->get_discovered_topic_data(tbtd, InstanceHandle_t()), ReturnCode_t::RETCODE_UNSUPPORTED);

    ASSERT_EQ(participant->delete_topic(topic), ReturnCode_t::RETCODE_OK);
    ASSERT_EQ(DomainParticipantFactory::get_instance()->delete_participant(participant), ReturnCode_t::RETCODE_OK);
}

} // namespace dds
} // namespace fastdds
} // namespace eprosima

int main(
        int argc,
        char** argv)
{
    testing::InitGoogleMock(&argc, argv);
    return RUN_ALL_TESTS();
}
