Refs #21841: Update MonitorService class

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

src/cpp/statistics/rtps/monitor-service/MonitorService.cpp

@@ -159,13 +159,26 @@ bool MonitorService::disable_monitor_service()
 bool MonitorService::remove_local_entity(
         const fastdds::rtps::EntityId_t& entity_id)
 {
+    // Remove the entity from the extended incompatible QoS collection
+    {
+        std::lock_guard<std::mutex> lock(extended_incompatible_qos_mtx_);
+        GUID_t entity_guid = {local_participant_guid_.guidPrefix, entity_id};
+        extended_incompatible_qos_collection_.erase(entity_guid);
+    }
+
+    // Remove the entity from the local entities
     {
         std::lock_guard<std::mutex> lock (mtx_);
 
         //! Add the entity to the changed entities if was not already present
         if (!local_entities_[entity_id].second)
         {
             changed_entities_.push_back(entity_id);
+            if (!timer_active_.load())
+            {
+                event_->restart_timer();
+                timer_active_.store(true);
+            }
         }
 
         //! But remove it from the collection of entities
@@ -326,6 +339,12 @@ bool MonitorService::write_status(
                         status_retrieved = status_queryable_.get_monitoring_status(local_entity_guid, data);
                         break;
                     }
+                    case StatusKind::EXTENDED_INCOMPATIBLE_QOS:
+                    {
+                        std::lock_guard<std::mutex> lock(extended_incompatible_qos_mtx_);
+                        data.extended_incompatible_qos_status(extended_incompatible_qos_collection_[local_entity_guid]);
+                        break;
+                    }
                     default:
                     {
                         EPROSIMA_LOG_ERROR(MONITOR_SERVICE, "Referring to an unknown status");

src/cpp/statistics/rtps/monitor-service/MonitorService.hpp

@@ -71,6 +71,8 @@ class MonitorService
 {
     static constexpr int MIN_TIME_BETWEEN_PUBS_MS = 500;
 
+    friend class MonitorServiceListener;
+
 public:
 
     using endpoint_creator_t = std::function<bool (fastdds::rtps::RTPSWriter**,
@@ -257,6 +259,13 @@ class MonitorService
     endpoint_registrator_t endpoint_registrator_;
 
     MonitorServiceStatusDataPubSubType type_;
+
+    // Stores the current extended incompatible qos status
+    // of local entities with remote entities and their policies.
+    std::map<fastdds::rtps::GUID_t, ExtendedIncompatibleQoSStatusSeq_s>
+        extended_incompatible_qos_collection_;
+
+    std::mutex extended_incompatible_qos_mtx_;
 };
 
 #endif // FASTDDS_STATISTICS