RTPS Cleanup, Part 2

1. Convert more proto_tree_add_text to proto_tree_add_<something else>/expert_info.  checkAPIs.pl is happy (for packet-rtps.c), but the raw number is a bit deceiving because of macros and wrappers. 
2. Fixed the offending "uses snprintf + strlen to assemble strings" in packet-rtps.c.  The exact same code is used in packet-rtps2.c, so just proper refactoring will fix it.  There is still too much unnecessary use of g_snprintf/g_strlcpy/strlen, but that's for a later date.
3. Removed most of the "useless" wrapper functions.  Again, the number of proto_tree_add_text is deceiving, so the number of hfs that really need to be created is much larger.  
4. Whitespace cleanup.   Removed a lot of whitespace so I could see more code on the screen, to help determine duplication between packet-rtps.c and packet-rtps2.c  Comments/descriptions of fields remain untouched.

The more I trim, the more I think this should all be in a single dissector file, which will be the goal of the next update.  Trying to patch this in somewhat manageable chunks.

Also need to submit sample traces generated for (fuzz)testing.

svn path=/trunk/; revision=48206

4 files changed, 1167 insertions, 3814 deletions

diff --git a/epan/dissectors/packet-rtps.c b/epan/dissectors/packet-rtps.c
index 2706b3f498..f15622c30a 100644
--- a/epan/dissectors/packet-rtps.c
+++ b/epan/dissectors/packet-rtps.c
@@ -128,11 +128,11 @@ static int hf_rtps_sm_wrentity_id_key           = -1;
 static int hf_rtps_sm_wrentity_id_kind          = -1;
 static int hf_rtps_sm_seq_number                = -1;
 
+static int hf_rtps_info_src_ip                  = -1;
+static int hf_rtps_info_src_unused              = -1;
+
 static int hf_rtps_parameter_id                 = -1;
 static int hf_rtps_parameter_length             = -1;
-static int hf_rtps_param_ntpt                   = -1;
-static int hf_rtps_param_ntpt_sec               = -1;
-static int hf_rtps_param_ntpt_fraction          = -1;
 static int hf_rtps_param_topic_name             = -1;
 static int hf_rtps_param_strength               = -1;
 static int hf_rtps_param_type_name              = -1;
@@ -143,6 +143,51 @@ static int hf_rtps_param_content_filter_name    = -1;
 static int hf_rtps_param_related_topic_name     = -1;
 static int hf_rtps_param_filter_name            = -1;
 static int hf_rtps_issue_data                   = -1;
+static int hf_rtps_durability_service_cleanup_delay = -1;
+static int hf_rtps_liveliness_lease_duration    = -1;
+static int hf_rtps_participant_lease_duration   = -1;
+static int hf_rtps_time_based_filter_minimum_separation = -1;
+static int hf_rtps_reliability_max_blocking_time= -1;
+static int hf_rtps_deadline_period              = -1;
+static int hf_rtps_latency_budget_duration      = -1;
+static int hf_rtps_lifespan_duration            = -1;
+static int hf_rtps_persistence                  = -1;
+static int hf_rtps_info_ts_timestamp            = -1;
+static int hf_rtps_locator_kind                 = -1;
+static int hf_rtps_locator_port                 = -1;
+static int hf_rtps_locator_ipv4                 = -1;
+static int hf_rtps_locator_ipv6                 = -1;
+static int hf_rtps_participant_builtin_endpoints= -1;
+static int hf_rtps_participant_manual_liveliness_count = -1;
+static int hf_rtps_history_depth                = -1;
+static int hf_rtps_resource_limit_max_samples   = -1;
+static int hf_rtps_resource_limit_max_instances = -1;
+static int hf_rtps_resource_limit_max_samples_per_instances = -1;
+static int hf_rtps_filter_bitmap                = -1;
+static int hf_rtps_type_checksum                = -1;
+static int hf_rtps_queue_size                   = -1;
+static int hf_rtps_acknack_counter              = -1;
+static int hf_rtps_durability_service_history_kind = -1;
+static int hf_rtps_durability_service_history_depth = -1;
+static int hf_rtps_durability_service_max_samples = -1;
+static int hf_rtps_durability_service_max_instances = -1;
+static int hf_rtps_durability_service_max_samples_per_instances = -1;
+static int hf_rtps_liveliness_kind              = -1;
+static int hf_rtps_manager_key                  = -1;
+static int hf_rtps_locator_udp_v4               = -1;
+static int hf_rtps_locator_udp_v4_port          = -1;
+static int hf_param_ip_address                  = -1;
+static int hf_rtps_param_port                   = -1;
+static int hf_rtps_expects_inline_qos           = -1;
+static int hf_rtps_presentation_coherent_access = -1;
+static int hf_rtps_presentation_ordered_access  = -1;
+static int hf_rtps_expects_ack                  = -1;
+static int hf_rtps_reliability_kind             = -1;
+static int hf_rtps_durability                   = -1;
+static int hf_rtps_ownership                    = -1;
+static int hf_rtps_presentation_access_scope    = -1;
+static int hf_rtps_destination_order            = -1;
+static int hf_rtps_history_kind                 = -1;
 
 /* Subtree identifiers */
 static gint ett_rtps                            = -1;
@@ -164,9 +209,19 @@ static gint ett_rtps_ntp_time                   = -1;
 static gint ett_rtps_bitmap                     = -1;
 static gint ett_rtps_seq_string                 = -1;
 static gint ett_rtps_seq_ulong                  = -1;
+static gint ett_rtps_resource_limit             = -1;
+static gint ett_rtps_durability_service         = -1;
+static gint ett_rtps_liveliness                 = -1;
+static gint ett_rtps_manager_key                = -1;
 
 /***************************************************************************/
 /* Value-to-String Tables */
+static const value_string vendor_vals[] = {
+  { RTPS_VENDOR_RTI,         RTPS_VENDOR_RTI_STRING},
+  { RTPS_VENDOR_TOC,         RTPS_VENDOR_TOC_STRING},
+  { 0, NULL }
+};
+
 static const value_string entity_id_vals[] = {
   { ENTITYID_UNKNOWN,                           "ENTITYID_UNKNOWN" },
   { ENTITYID_BUILTIN_TOPIC_WRITER,              "ENTITYID_BUILTIN_TOPIC_WRITER" },
@@ -225,6 +280,13 @@ static const value_string app_kind_vals[] = {
   { 0, NULL }
 };
 
+static const value_string rtps_locator_kind_vals[] = {
+  { LOCATOR_KIND_UDPV4,        "LOCATOR_KIND_UDPV4" },
+  { LOCATOR_KIND_UDPV6,        "LOCATOR_KIND_UDPV6" },
+  { LOCATOR_KIND_INVALID,      "LOCATOR_KIND_INVALID" },
+  { LOCATOR_KIND_RESERVED,     "LOCATOR_KIND_RESERVED" },
+  { 0, NULL }
+};
 
 static const value_string submessage_id_vals[] = {
   { PAD,                                "PAD" },
@@ -324,11 +386,11 @@ static const value_string parameter_id_vals[] = {
   { PID_HISTORY,                        "PID_HISTORY" },
   { PID_RESOURCE_LIMIT,                 "PID_RESOURCE_LIMIT" },
   { PID_METATRAFFIC_MULTICAST_PORT,     "PID_METATRAFFIC_MULTICAST_PORT" },
-  { PID_DEFAULT_EXPECTS_INLINE_QOS,     "PID_DEFAULT_EXPECTS_INLINE_QOS" },
+  { PID_EXPECTS_INLINE_QOS,             "PID_EXPECTS_INLINE_QOS" },
   { PID_METATRAFFIC_UNICAST_IPADDRESS,  "PID_METATRAFFIC_UNICAST_IPADDRESS" },
   { PID_PARTICIPANT_BUILTIN_ENDPOINTS,  "PID_PARTICIPANT_BUILTIN_ENDPOINTS" },
   { PID_CONTENT_FILTER_PROPERTY,        "PID_CONTENT_FILTER_PROPERTY" },
-  { PID_PROPERTY_LIST,                  "PID_PROPERTY_LIST" },
+  { PID_PROPERTY_LIST_OLD,              "PID_PROPERTY_LIST" },
   { PID_FILTER_SIGNATURE,               "PID_FILTER_SIGNATURE" },
   { PID_COHERENT_SET,                   "PID_COHERENT_SET" },
   { PID_TYPECODE,                       "PID_TYPECODE" },
@@ -529,57 +591,14 @@ static const struct Flag_definition INFO_REPLY_FLAGS[] = {
  */
 
 /* Utility to add elements to the protocol tree */
-static void rtps_util_format_ipv6(guint8 *, guint8 *, gint);
-static void rtps_util_add_protocol_version(proto_tree *, tvbuff_t *, gint);
-static void rtps_util_add_vendor_id(proto_tree *, tvbuff_t *,
-                        gint, guint8 *, gint);
-static void rtps_util_add_locator_t(proto_tree *, tvbuff_t *,
-                        gint, int, const guint8 *, guint8 *, gint);
-static void rtps_util_add_locator_list(proto_tree *, tvbuff_t *,
-                        gint, const guint8 *, int);
-static void rtps_util_add_ipv4_address_t(proto_tree *, tvbuff_t *,
-                        gint, int, const guint8 *, guint8 *, gint);
-static void rtps_util_add_locator_udp_v4(proto_tree *, tvbuff_t *,
-                        gint, const guint8 *, int);
 static void rtps_util_add_guid_prefix(proto_tree *, tvbuff_t *,
-                        gint, int, int, int, int, int, const guint8 *,
-                        guint8 *, gint);
-static int rtps_util_add_entity_id(proto_tree *, tvbuff_t *,
-                        gint, int, int, int, int, const char *, guint32 *);
-static void rtps_util_add_generic_entity_id(proto_tree *, tvbuff_t *,
-                        gint, const char *,
-                        guint8 *, gint);
+                        gint, int, int, int, int, int, const guint8 *);
 static void rtps_util_add_generic_guid(proto_tree *, tvbuff_t *,
                         gint, const char *, guint8 *, gint);
-static guint64 rtps_util_add_seq_number(proto_tree *, tvbuff_t *,
-                        gint, int, const char *);
-static void rtps_util_add_ntp_time(proto_tree *, tvbuff_t *,
-                        gint, int, const char *, guint8 *, gint);
-static gint rtps_util_add_string(proto_tree *, tvbuff_t *,
-                        gint, int, int, const guint8 *, guint8 *, size_t);
-static void rtps_util_add_long(proto_tree *, tvbuff_t *,
-                        gint, int, int, gboolean, gboolean, const char *,
-                        guint8 *, size_t);
-static void rtps_util_add_port(proto_tree *, tvbuff_t *,
-                        gint, int, const char *, guint8 *, gint);
-static void rtps_util_add_boolean(proto_tree *, tvbuff_t *,
-                        gint, const char *, guint8 *, size_t);
-static void rtps_util_add_durability_service_qos(proto_tree *, tvbuff_t *,
-                        gint, int, guint8 *, gint);
-static void rtps_util_add_liveliness_qos(proto_tree *, tvbuff_t *,
-                        gint, int, guint8 *, gint);
-static void rtps_util_add_kind_qos(proto_tree *, tvbuff_t *,
-                        gint, int, const char *, const value_string *, guint8 *, size_t);
-static gint rtps_util_add_seq_string(proto_tree *, tvbuff_t *,
-                        gint, int, int, const char *, guint8 *, gint);
-static void rtps_util_add_seq_octets(proto_tree *, tvbuff_t *,
-                        gint, int, int, int, guint8 *, gint);
 static int rtps_util_add_bitmap(proto_tree *, tvbuff_t *,
                         gint, int, const char *);
 static void rtps_util_decode_flags(proto_tree *, tvbuff_t *,
                         gint, guint8, const struct Flag_definition *);
-static gint rtps_util_add_seq_ulong(proto_tree *, tvbuff_t *,
-                        gint, int, int, int, int, const char *);
 
 
 /***************************************************************************/
@@ -593,68 +612,24 @@ static gint rtps_util_add_seq_ulong(proto_tree *, tvbuff_t *,
 
 
 /* *********************************************************************** */
-/* Format the given address (16 octects) as an IPv6 address
- */
-static void rtps_util_format_ipv6(guint8 *addr,
-                        guint8 *buffer,
-                        gint    buffer_size) {
-  guint32 i;
-  guint8 temp[5]; /* Contains a 4-digit hex value */
-
-  buffer[0] = '\0';
-  for (i = 0; i < 16; i+=2) {
-    /* Unfortunately %x is the same thing as %02x all the time... sigh */
-    g_snprintf(temp, 5, "%02x%02x", addr[i], addr[i+1]);
-    if (temp[0] == '0') {
-      if (temp[1] == '0') {
-        if (temp[2] == '0') {
-          g_strlcat(buffer, &temp[3], buffer_size);
-        } else {
-          g_strlcat(buffer, &temp[2], buffer_size);
-        }
-      } else {
-        g_strlcat(buffer, &temp[1], buffer_size);
-      }
-    } else {
-      g_strlcat(buffer, temp, buffer_size);
-    }
-    if (i < 14) {
-      g_strlcat(buffer, ":", buffer_size);
-    }
-  }
-}
-
-
-/* *********************************************************************** */
-static void rtps_util_add_protocol_version(proto_tree *tree, /* Can NOT be NULL */
+guint16 rtps_util_add_protocol_version(proto_tree *tree, /* Can NOT be NULL */
                         tvbuff_t *  tvb,
                         gint        offset) {
   proto_item * ti;
   proto_tree * version_tree;
+  guint16 version;
 
-  ti = proto_tree_add_none_format(tree,
-                        hf_rtps_protocol_version,
-                        tvb,
-                        offset,
-                        2,
-                        "Protocol version: %d.%d",
-                        tvb_get_guint8(tvb, offset),
-                        tvb_get_guint8(tvb, offset+1));
-  version_tree = proto_item_add_subtree(ti,
-                        ett_rtps_proto_version);
-  proto_tree_add_item(version_tree,
-                        hf_rtps_protocol_version_major,
-                        tvb,
-                        offset,
-                        1,
-                        ENC_BIG_ENDIAN);
-  proto_tree_add_item(version_tree,
-                        hf_rtps_protocol_version_minor,
-                        tvb,
-                        offset+1,
-                        1,
-                        ENC_BIG_ENDIAN);
+  version = tvb_get_ntohs(tvb, offset);
+
+  ti = proto_tree_add_uint_format(tree, hf_rtps_protocol_version, tvb, offset, 2,
+                        version, "Protocol version: %d.%d", 
+                        tvb_get_guint8(tvb, offset), tvb_get_guint8(tvb, offset+1));
+  version_tree = proto_item_add_subtree(ti, ett_rtps_proto_version);
 
+  proto_tree_add_item(version_tree, hf_rtps_protocol_version_major, tvb, offset, 1, ENC_NA);
+  proto_tree_add_item(version_tree, hf_rtps_protocol_version_minor, tvb, offset+1, 1, ENC_NA);
+
+  return version;
 }
 
 
@@ -662,44 +637,19 @@ static void rtps_util_add_protocol_version(proto_tree *tree, /* Can NOT be NULL
 /* Interpret the next bytes as vendor ID. If proto_tree and field ID is
  * provided, it can also set.
  */
-static void rtps_util_add_vendor_id(proto_tree *tree,   /* Can be NULL */
+void rtps_util_add_vendor_id(proto_tree *tree,
                         tvbuff_t * tvb,
-                        gint       offset,
-                        guint8 *   buffer,              /* Can be NULL */
-                        gint       buffer_size) {       /* Can be 0 */
+                        gint       offset) {
   guint8 major, minor;
-  guint32 vendor_id = 0;
-  guint8 vendor_name[MAX_VENDOR_ID_SIZE];
+  guint16 vendor_id;
 
   major = tvb_get_guint8(tvb, offset);
   minor = tvb_get_guint8(tvb, offset+1);
-  vendor_id = (major<<8) | minor;
-  switch(vendor_id) {
-    case RTPS_VENDOR_UNKNOWN:
-      g_strlcpy(vendor_name, RTPS_VENDOR_UNKNOWN_STRING, MAX_VENDOR_ID_SIZE);
-      break;
-
-    case RTPS_VENDOR_RTI:
-      g_strlcpy(vendor_name, RTPS_VENDOR_RTI_STRING, MAX_VENDOR_ID_SIZE);
-      break;
-
-    default:
-      g_snprintf(vendor_name, MAX_VENDOR_ID_SIZE, "%d.%d", major, minor);
-  }
+  vendor_id = tvb_get_ntohs(tvb, offset);
 
-  if (tree != NULL) {
-    proto_tree_add_uint_format(tree,
-                        hf_rtps_vendor_id,
-                        tvb,
-                        offset,
-                        2,
-                        vendor_id,
-                        "vendor: %s",
-                        vendor_name);
-  }
-  if (buffer != NULL) {
-    g_strlcpy(buffer, vendor_name, buffer_size);
-  }
+  proto_tree_add_uint_format_value(tree, hf_rtps_vendor_id, tvb, offset, 2, vendor_id,
+                        "%02d.%02d (%s)", major, minor,
+                        val_to_str_const(vendor_id, vendor_vals, "Unknown"));
 }
 
 
@@ -714,109 +664,29 @@ static void rtps_util_add_vendor_id(proto_tree *tree,   /* Can be NULL */
  *    octet[16] address;
  * } Locator_t;
  */
-static void rtps_util_add_locator_t(proto_tree *tree, /* Can NOT be NULL */
-                        tvbuff_t * tvb,
-                        gint       offset,
-                        gboolean   little_endian,
-                        const guint8 * label,
-                        guint8 *   buffer,              /* Can be NULL */
-                        gint       buffer_size) {       /* Can be 0 */
+void rtps_util_add_locator_t(proto_tree *tree, packet_info *pinfo, tvbuff_t * tvb, gint offset,
+                             gboolean little_endian, const guint8 * label) {
 
   proto_item * ti;
   proto_tree * locator_tree;
   gint32  kind;
-  guint8  addr[16];
   guint32 port;
-  char temp_buff[MAX_LOCATOR_SIZE];
-  char addr_buff[MAX_IPV6_SIZE];
-  const char *kind_string = NULL;
-  int i;
 
+  ti = proto_tree_add_text(tree, tvb, offset, 24, "%s", label);
+  locator_tree = proto_item_add_subtree(ti, ett_rtps_locator);
 
-  kind    = NEXT_guint32(tvb, offset, little_endian);
+  kind = NEXT_guint32(tvb, offset, little_endian);
   port = NEXT_guint32(tvb, offset+4, little_endian);
-  for (i = 0; i < 16; ++i) {
-    addr[i] = tvb_get_guint8(tvb, offset + 8 + i);
-  }
 
+  proto_tree_add_uint(locator_tree, hf_rtps_locator_kind, tvb, offset, 4, kind);
+  ti = proto_tree_add_int(locator_tree, hf_rtps_locator_port, tvb, offset+4, 4, port);
+  if (port == 0)
+    expert_add_info_format(pinfo, ti, PI_PROTOCOL, PI_WARN, "Invalid Port");
 
-  switch(kind) {
-    case LOCATOR_KIND_UDPV4:
-        kind_string = "LOCATOR_KIND_UDPV4";
-        g_snprintf(addr_buff, MAX_IPV6_SIZE,
-                        "%d.%d.%d.%d",
-                        addr[12],
-                        addr[13],
-                        addr[14],
-                        addr[15]);
-        g_snprintf(temp_buff, MAX_LOCATOR_SIZE, "%s:%d",
-                        addr_buff,
-                        port);
-        break;
-
-    case LOCATOR_KIND_UDPV6:
-        kind_string = "LOCATOR_KIND_UDPV6";
-        rtps_util_format_ipv6(addr, &addr_buff[0], MAX_IPV6_SIZE);
-        g_snprintf(temp_buff, MAX_LOCATOR_SIZE,
-                        "IPv6: { addr=%s, port=%d }",
-                        addr_buff,
-                        port);
-        break;
-
-    case LOCATOR_KIND_INVALID:
-        kind_string = "LOCATOR_KIND_INVALID";
-
-    case LOCATOR_KIND_RESERVED:
-        if (!kind_string)  /* Need to guard overrides (no break before) */
-          kind_string = "LOCATOR_KIND_RESERVED";
-
-    default:
-        if (!kind_string)  /* Need to guard overrides (no break before) */
-          kind_string = "(unknown)";
-        g_snprintf(temp_buff, MAX_LOCATOR_SIZE,
-                        "{ kind=%02x, port=%d, addr=%02x %02x %02x ... %02x %02x }",
-                        kind,
-                        port,
-                        addr[0],
-                        addr[1],
-                        addr[2],
-                        /* ... */
-                        addr[14],
-                        addr[15]);
-  }
-
-  ti = proto_tree_add_text(tree,
-                        tvb,
-                        offset,
-                        24,
-                        "%s: %s",
-                        label,
-                        temp_buff);
-
-  locator_tree = proto_item_add_subtree(ti,
-                        ett_rtps_locator);
-  proto_tree_add_text(locator_tree,
-                        tvb,
-                        offset,
-                        4,
-                        "kind: %02x (%s)",
-                        kind,
-                        kind_string);
-  proto_tree_add_text(locator_tree,
-                        tvb,
-                        offset+4,
-                        4,
-                        "port: %d%s",
-                        port,
-                        (port == 0) ? " (PORT_INVALID)" : "");
-  proto_tree_add_text(locator_tree,
-                        tvb,
-                        offset + 8,
-                        16,
-                        "address: %s",
-                        addr_buff);
-  if (buffer) {
-    g_strlcpy(buffer, temp_buff, buffer_size);
+  if (kind == LOCATOR_KIND_UDPV4) {
+    proto_tree_add_item(locator_tree, hf_rtps_locator_ipv4, tvb, offset+20, 4, ENC_BIG_ENDIAN);
+  } else {
+    proto_tree_add_item(locator_tree, hf_rtps_locator_ipv6, tvb, offset+8, 16, ENC_NA);
   }
 }
 
@@ -828,96 +698,63 @@ static void rtps_util_add_locator_t(proto_tree *tree, /* Can NOT be NULL */
  *   - locator 2
  *   - ...
  *   - locator n
+ * Returns the new offset after parsing the locator list
  */
-static void rtps_util_add_locator_list(proto_tree *tree,
-                        tvbuff_t * tvb,
-                        gint       offset,
-                        const guint8 * label,
-                        gboolean   little_endian) {
+int rtps_util_add_locator_list(proto_tree *tree, packet_info *pinfo, tvbuff_t * tvb,
+                                gint offset, const guint8* label, gboolean little_endian) {
 
   proto_item *ti;
   proto_tree *locator_tree;
   guint32 num_locators;
 
   num_locators = NEXT_guint32(tvb, offset, little_endian);
-  ti = proto_tree_add_text(tree,
+  if (tree) {
+    ti = proto_tree_add_text(tree,
                         tvb,
                         offset,
                         4,
                         "%s: %d Locators",
                         label,
                         num_locators);
-
+  } else {
+    return offset + 4 + ((num_locators > 0) ? (24 * num_locators) : 0);
+  }
+  offset += 4;
   if (num_locators > 0) {
     guint32 i;
     char temp_buff[20];
 
-    locator_tree = proto_item_add_subtree(ti,
-                        ett_rtps_locator_udp_v4);
+    locator_tree = proto_item_add_subtree(ti, ett_rtps_locator_udp_v4);
 
     for (i = 0; i < num_locators; ++i) {
       g_snprintf(temp_buff, 20, "Locator[%d]", i);
       rtps_util_add_locator_t(locator_tree,
+                        pinfo,
                         tvb,
-                        offset + 4 + (i * 24),
+                        offset,
                         little_endian,
-                        temp_buff,
-                        NULL,
-                        0);
+                        temp_buff);
+      offset += 24;
     }
   }
+  return offset;
 }
 
 
 /* ------------------------------------------------------------------------- */
 /* Insert in the protocol tree the next 4 bytes interpreted as IPV4Address_t
  */
-static void rtps_util_add_ipv4_address_t(proto_tree *tree, /* Can be NULL */
-                        tvbuff_t * tvb,
-                        gint       offset,
-                        gboolean   little_endian,
-                        const guint8 * label,
-                        guint8 *   buffer,              /* Can be NULL */
-                        gint       buffer_size) {       /* Can be 0 */
+void rtps_util_add_ipv4_address_t(proto_tree *tree, packet_info *pinfo, tvbuff_t * tvb, gint offset,
+                                  gboolean little_endian, int hf_item) {
 
   guint32 addr;
+  proto_item* ti;
 
   addr = NEXT_guint32(tvb, offset, little_endian);
-  if (addr == IPADDRESS_INVALID) {
-    if (buffer) {
-      g_strlcpy(buffer, IPADDRESS_INVALID_STRING, buffer_size);
-    }
-    if (tree) {
-      proto_tree_add_text(tree,
-                        tvb,
-                        offset,
-                        4,
-                        "%s: %s",
-                        label,
-                        IPADDRESS_INVALID_STRING);
-    }
-  } else {
-    if (buffer) {
-      g_snprintf(buffer, buffer_size,
-                        "%d.%d.%d.%d",
-                        (addr >> 24) & 0xff,
-                        (addr >> 16) & 0xff,
-                        (addr >> 8) & 0xff,
-                        addr & 0xff);
-    }
-    if (tree) {
-      proto_tree_add_text(tree,
-                        tvb,
-                        offset,
-                        4,
-                        "%s: %d.%d.%d.%d",
-                        label,
-                        (addr >> 24) & 0xff,
-                        (addr >> 16) & 0xff,
-                        (addr >> 8) & 0xff,
-                        addr & 0xff);
-    }
-  }
+  
+  ti = proto_tree_add_ipv4(tree, hf_item, tvb, offset, 4, addr);
+  if (addr == IPADDRESS_INVALID)
+    expert_add_info_format(pinfo, ti, PI_PROTOCOL, PI_WARN, IPADDRESS_INVALID_STRING);
 }
 
 
@@ -932,50 +769,23 @@ static void rtps_util_add_ipv4_address_t(proto_tree *tree, /* Can be NULL */
  * } LocatorUDPv4_t;
  *
  */
-static void rtps_util_add_locator_udp_v4(proto_tree *tree, /* Can NOT be NULL */
-                        tvbuff_t * tvb,
-                        gint       offset,
-                        const guint8 * label,
-                        gboolean   little_endian) {
+void rtps_util_add_locator_udp_v4(proto_tree *tree, packet_info *pinfo, tvbuff_t * tvb,
+                                  gint offset, const guint8 * label, gboolean little_endian) {
 
   proto_item * ti;
   proto_tree * locator_tree;
   guint32 port;
-  char portLabel[MAX_PORT_SIZE];
-  char addr[MAX_IPV4_ADDRESS_SIZE];
-
-  port = NEXT_guint32(tvb, offset+4, little_endian);
-
-  if (port == PORT_INVALID) {
-    g_snprintf(portLabel, MAX_PORT_SIZE, "%s (0x00000000)", PORT_INVALID_STRING);
-  } else {
-    g_snprintf(portLabel, MAX_PORT_SIZE, "%u", port);
-  }
 
-  ti = proto_tree_add_text(tree,
-                        tvb,
-                        offset,
-                        8,
-                        "addr"); /* Add text later */
+  ti = proto_tree_add_text(tree, tvb, offset, 8, "%s", label);
   locator_tree = proto_item_add_subtree(ti, ett_rtps_locator_udp_v4);
-  rtps_util_add_ipv4_address_t(locator_tree,
-                        tvb,
-                        offset,
-                        little_endian,
-                        "address",
-                        addr,
-                        MAX_IPV4_ADDRESS_SIZE);
-  proto_tree_add_text(locator_tree,
-                        tvb,
-                        offset + 4,
-                        4,
-                        "port: %s",
-                        portLabel);
 
-  proto_item_set_text(ti, "%s: { address=%s, port=%s }",
-                        label,
-                        addr,
-                        portLabel);
+  rtps_util_add_ipv4_address_t(locator_tree, pinfo, tvb, offset,
+                               little_endian, hf_rtps_locator_udp_v4);
+
+  port = NEXT_guint32(tvb, offset+4, little_endian);
+  ti = proto_tree_add_uint(locator_tree, hf_rtps_locator_udp_v4_port, tvb, offset, 4, port);
+  if (port == PORT_INVALID)
+    expert_add_info_format(pinfo, ti, PI_PROTOCOL, PI_WARN, PORT_INVALID_STRING);
 }
 
 
@@ -999,109 +809,41 @@ static void rtps_util_add_guid_prefix(proto_tree *tree, /* Can be NULL */
                         int        hf_app_id,
                         int        hf_app_id_instance_id,
                         int        hf_app_id_app_kind,
-                        const guint8 * label,           /* Can be NULL */
-                        guint8 *   buffer,              /* Can be NULL */
-                        gint       buffer_size) {
-  guint32  host_id;
-  guint32  app_id;
-  guint32  instance_id;
+                        const guint8 * label) {
+  guint64 prefix;
+  guint32  host_id, app_id, instance_id;
   guint8   app_kind;
-  guint8 * temp_buff;
-  guint8   guid_prefix[8];
-  const guint8 * safe_label;
-  int i;
-
-  safe_label = (label == NULL) ? (const guint8 *)"guidPrefix" : label;
+  proto_item *ti;
+  proto_tree *guid_tree, *appid_tree;
+  const guint8 * safe_label = (label == NULL) ? (const guint8 *)"guidPrefix" : label;
 
   /* Read values from TVB */
+  prefix = tvb_get_ntoh64(tvb, offset);
   host_id   = tvb_get_ntohl(tvb, offset);
   app_id    = tvb_get_ntohl(tvb, offset + 4);
-  for (i = 0; i < 8; ++i) {
-    guid_prefix[i] = tvb_get_guint8(tvb, offset+i);
-  }
   instance_id = (app_id >> 8);
   app_kind    = (app_id & 0xff);
 
-  /* Format the string */
-  temp_buff = (guint8 *)ep_alloc(MAX_GUID_PREFIX_SIZE);
-  g_snprintf(temp_buff, MAX_GUID_PREFIX_SIZE,
-                        "%s=%02x%02x%02x%02x %02x%02x%02x%02x"
-                        " { hostId=%08x, appId=%08x"
-                        " (%s: %06x) }",
-                        safe_label,
-                        guid_prefix[0],
-                        guid_prefix[1],
-                        guid_prefix[2],
-                        guid_prefix[3],
-                        guid_prefix[4],
-                        guid_prefix[5],
-                        guid_prefix[6],
-                        guid_prefix[7],
-                        host_id,
-                        app_id,
+  if (tree != NULL) {
+    ti = proto_tree_add_uint64_format(tree, hf_prefix, tvb, offset, 8, prefix,
+                        "%s=%08x %08x { hostId=%08x, appId=%08x (%s: %06x) }",
+                        safe_label, host_id, app_id, host_id, app_id,
                         val_to_str(app_kind, app_kind_vals, "%02x"),
                         instance_id);
 
-  if (tree != NULL) {
-    proto_item * ti, *hidden_item;
-    proto_tree * guid_tree;
-    proto_tree * appid_tree;
-
-    /* The numeric value (used for searches) */
-    hidden_item = proto_tree_add_item(tree,
-                        hf_prefix,
-                        tvb,
-                        offset,
-                        8,
-                        ENC_NA);
-    PROTO_ITEM_SET_HIDDEN(hidden_item);
-
-    /* The text node (root of the guid prefix sub-tree) */
-    ti = proto_tree_add_text(tree,
-                        tvb,
-                        offset,
-                        8, "%s",
-                        temp_buff);
-
-    guid_tree = proto_item_add_subtree(ti,
-                        ett_rtps_guid_prefix);
+    guid_tree = proto_item_add_subtree(ti, ett_rtps_guid_prefix);
 
     /* Host Id */
-    proto_tree_add_item(guid_tree,
-                        hf_host_id,
-                        tvb,
-                        offset,
-                        4,
-                        ENC_BIG_ENDIAN);
+    proto_tree_add_item(guid_tree, hf_host_id, tvb, offset, 4, ENC_BIG_ENDIAN);
 
-    /* AppId (root of the app_id sub-tree */
-    ti = proto_tree_add_item(guid_tree,
-                        hf_app_id,
-                        tvb,
-                        offset+4,
-                        4,
-                        ENC_BIG_ENDIAN);
-    appid_tree = proto_item_add_subtree(ti,
-                        ett_rtps_app_id);
+    /* AppId (root of the app_id sub-tree) */
+    ti = proto_tree_add_item(guid_tree, hf_app_id, tvb, offset+4, 4, ENC_BIG_ENDIAN);
+    appid_tree = proto_item_add_subtree(ti, ett_rtps_app_id);
 
     /* InstanceId */
-    proto_tree_add_item(appid_tree,
-                        hf_app_id_instance_id,
-                        tvb,
-                        offset+4,
-                        3,
-                        ENC_BIG_ENDIAN);
+    proto_tree_add_item(appid_tree, hf_app_id_instance_id, tvb, offset+4, 3, ENC_BIG_ENDIAN);
     /* AppKind */
-    proto_tree_add_item(appid_tree,
-                        hf_app_id_app_kind,
-                        tvb,
-                        offset+7,
-                        1,
-                        ENC_BIG_ENDIAN);
-  }
-
-  if (buffer != NULL) {
-    g_strlcpy(buffer, temp_buff, buffer_size);
+    proto_tree_add_item(appid_tree, hf_app_id_app_kind, tvb, offset+7, 1, ENC_BIG_ENDIAN);
   }
 }
 
@@ -1113,15 +855,9 @@ static void rtps_util_add_guid_prefix(proto_tree *tree, /* Can be NULL */
   * sub-components), as well as the label identifying it.
   * Returns true if the entityKind is one of the NDDS built-in entities.
   */
-static int rtps_util_add_entity_id(proto_tree *tree,
-                        tvbuff_t * tvb,
-                        gint       offset,
-                        int        hf_item,
-                        int        hf_item_entity_key,
-                        int        hf_item_entity_kind,
-                        int        subtree_entity_id,
-                        const char *label,
-                        guint32 *  entity_id_out) {             /* Can be NULL */
+int rtps_util_add_entity_id(proto_tree *tree, tvbuff_t * tvb, gint offset,
+                            int hf_item, int hf_item_entity_key, int hf_item_entity_kind,
+                            int subtree_entity_id, const char *label, guint32* entity_id_out) {
   guint32 entity_id   = tvb_get_ntohl(tvb, offset);
   guint32 entity_key  = (entity_id >> 8);
   guint8  entity_kind = (entity_id & 0xff);
@@ -1131,53 +867,27 @@ static int rtps_util_add_entity_id(proto_tree *tree,
     *entity_id_out = entity_id;
   }
 
-
   if (tree != NULL) {
     proto_tree * entity_tree;
     proto_item * ti;
 
     if (str_predef == NULL) {
       /* entityId is not a predefined value, format it */
-      ti = proto_tree_add_uint_format(tree,
-                        hf_item,
-                        tvb,
-                        offset,
-                        4,
-                        entity_id,
+      ti = proto_tree_add_uint_format(tree, hf_item, tvb, offset, 4, entity_id,
                         "%s: 0x%08x (%s: 0x%06x)",
-                        label,
-                        entity_id,
-                        val_to_str(entity_kind, entity_kind_vals,
-                                        "unknown (%02x)"),
+                        label, entity_id, 
+                        val_to_str(entity_kind, entity_kind_vals, "unknown kind (%02x)"),
                         entity_key);
     } else {
       /* entityId is a predefined value */
-      ti = proto_tree_add_uint_format(tree,
-                        hf_item,
-                        tvb,
-                        offset,
-                        4,
-                        entity_id,
+      ti = proto_tree_add_uint_format(tree, hf_item, tvb, offset, 4, entity_id,
                         "%s: %s (0x%08x)", label, str_predef, entity_id);
     }
 
-    entity_tree = proto_item_add_subtree(ti,
-                        subtree_entity_id);
-
-    proto_tree_add_item(entity_tree,
-                        hf_item_entity_key,
-                        tvb,
-                        offset,
-                        3,
-                        ENC_BIG_ENDIAN);
-
-    proto_tree_add_item(entity_tree,
-                        hf_item_entity_kind,
-                        tvb,
-                        offset+3,
-                        1,
-                        ENC_BIG_ENDIAN);
+    entity_tree = proto_item_add_subtree(ti, subtree_entity_id);
 
+    proto_tree_add_item(entity_tree, hf_item_entity_key, tvb, offset, 3, ENC_BIG_ENDIAN);
+    proto_tree_add_item(entity_tree, hf_item_entity_kind, tvb, offset+3, 1, ENC_BIG_ENDIAN);
   }
 
   /* is a built-in entity if the bit M and R (5 and 6) of the entityKind are set */
@@ -1197,7 +907,7 @@ static int rtps_util_add_entity_id(proto_tree *tree,
   * to any protocol field). It simply insert the content as a simple text entry
   * and returns in the passed buffer only the value (without the label).
   */
-static void rtps_util_add_generic_entity_id(proto_tree *tree,
+void rtps_util_add_generic_entity_id(proto_tree *tree,
                         tvbuff_t * tvb,
                         gint       offset,
                         const char *label,
@@ -1310,24 +1020,18 @@ static void rtps_util_add_generic_guid(proto_tree *tree,                /* Canno
 /* Insert in the protocol tree the next 8 bytes interpreted as sequence
  * number.
  */
-static guint64 rtps_util_add_seq_number(proto_tree *tree,
+guint64 rtps_util_add_seq_number(proto_tree *tree,
                         tvbuff_t * tvb,
                         gint       offset,
                         gboolean   little_endian,
-                        const char *label _U_) {
+                        const char *label) {
   guint64 hi = (guint64)NEXT_guint32(tvb, offset, little_endian);
   guint64 lo = (guint64)NEXT_guint32(tvb, offset+4, little_endian);
   guint64 all = (hi << 32) | lo;
 
-  if (tree != NULL) {
-    proto_tree_add_int64_format(tree,
-                        hf_rtps_sm_seq_number,
-                        tvb,
-                        offset,
-                        8,
-                        all,
-                        "%s: %" G_GINT64_MODIFIER "u", label, all);
-  }
+  proto_tree_add_int64_format(tree, hf_rtps_sm_seq_number, tvb, offset, 8,
+                        all, "%s: %" G_GINT64_MODIFIER "u", label, all);
+
   return all;
 }
 
@@ -1335,64 +1039,22 @@ static guint64 rtps_util_add_seq_number(proto_tree *tree,
 /* ------------------------------------------------------------------------- */
 /* Insert in the protocol tree the next 8 bytes interpreted as NtpTime
  */
-static void rtps_util_add_ntp_time(proto_tree *tree,    /* Can be NULL */
+void rtps_util_add_ntp_time(proto_tree *tree,
                         tvbuff_t * tvb,
                         gint       offset,
                         gboolean   little_endian,
-                        const char * label,
-                        guint8 *   buffer,              /* Can be NULL */
-                        gint       buffer_size) {
-  guint8  tempBuffer[MAX_NTP_TIME_SIZE];
-
-  gint32 sec = NEXT_guint32(tvb, offset, little_endian);
-  guint32 frac = NEXT_guint32(tvb, offset+4, little_endian);
-  double absolute;
+                        int hf_time) {
 
-  if ((sec == 0x7fffffff) && (frac == 0xffffffff)) {
-    g_strlcpy(tempBuffer, "INFINITE", MAX_NTP_TIME_SIZE);
-  } else if ((sec == 0) && (frac == 0)) {
-    g_strlcpy(tempBuffer, "0 sec", MAX_NTP_TIME_SIZE);
-  } else {
-    absolute = (double)sec + (double)frac / ((double)(0x80000000) * 2.0);
-    g_snprintf(tempBuffer, MAX_NTP_TIME_SIZE,
-                        "%f sec (%ds + 0x%08x)", absolute, sec, frac);
-  }
-  if (tree != NULL) {
-    proto_item * ti;
-    proto_tree *time_tree;
+  proto_tree_add_item(tree, hf_time, tvb, offset, 8, 
+                      ENC_TIME_NTP|(little_endian ? ENC_LITTLE_ENDIAN : ENC_BIG_ENDIAN));
 
-    ti = proto_tree_add_none_format(tree,
-                        hf_rtps_param_ntpt,
-                        tvb,
-                        offset,
-                        8,
-                        "%s: %s",
-                        label,
-                        tempBuffer);
-    time_tree = proto_item_add_subtree(ti, ett_rtps_ntp_time);
-    proto_tree_add_item(time_tree,
-                        hf_rtps_param_ntpt_sec,
-                        tvb,
-                        offset,
-                        4,
-                        little_endian ? ENC_LITTLE_ENDIAN : ENC_BIG_ENDIAN);
-    proto_tree_add_item(time_tree,
-                        hf_rtps_param_ntpt_fraction,
-                        tvb,
-                        offset+4,
-                        4,
-                        little_endian ? ENC_LITTLE_ENDIAN : ENC_BIG_ENDIAN);
-  }
-  if (buffer != NULL) {
-    g_strlcpy(buffer, tempBuffer, buffer_size);
-  }
 }
 
 /* ------------------------------------------------------------------------- */
 /* Insert in the protocol tree the next data interpreted as a String
  * Returns the new offset (after reading the string)
  */
-static gint rtps_util_add_string(proto_tree *tree,      /* Can be NULL */
+gint rtps_util_add_string(proto_tree *tree,      /* Can be NULL */
                         tvbuff_t * tvb,
                         gint       offset,
                         int        hf_item,             /* Can be -1 (if label!=NULL) */
@@ -1445,113 +1107,18 @@ static gint rtps_util_add_string(proto_tree *tree,      /* Can be NULL */
   return offset + 4 + ((size + 3) & 0xfffffffc);
 }
 
-
-/* ------------------------------------------------------------------------- */
-/* Insert in the protocol tree the next data interpreted as a signed long.
- */
-static void rtps_util_add_long(proto_tree *tree,        /* Can be NULL */
-                        tvbuff_t * tvb,
-                        gint       offset,
-                        int        hf_item,             /* Can be -1 */
-                        gboolean   little_endian,
-                        gboolean   is_hex,              /* Format as 0x... */
-                        gboolean   is_signed,           /* Signed/Unsigned */
-                        const char *label,              /* Can be NULL */
-                        guint8 *   buffer,
-                        size_t     buffer_size) {
-
-  char temp_buff[16];
-
-  g_snprintf(temp_buff, 16,
-                        (is_hex ? "0x%08x" : (is_signed ? "%d" : "%u")),
-                        NEXT_guint32(tvb, offset, little_endian));
-  if (tree != NULL) {
-    if (hf_item != -1) {
-      proto_tree_add_item(tree,
-                        hf_item,
-                        tvb,
-                        offset,
-                        4,
-                        little_endian ? ENC_LITTLE_ENDIAN : ENC_BIG_ENDIAN);
-    } else if (label != NULL) {
-      proto_tree_add_text(tree,
-                        tvb,
-                        offset,
-                        4,
-                        "%s: %s",
-                        label,
-                        temp_buff);
-    }
-  }
-  if (buffer != NULL) {
-    g_strlcpy(buffer, temp_buff, (gulong) buffer_size);
-  }
-}
-
 /* ------------------------------------------------------------------------- */
 /* Insert in the protocol tree the next data interpreted as a port (unsigned
  * 32-bit integer)
  */
-static void rtps_util_add_port(proto_tree *tree,        /* Can be NULL */
-                        tvbuff_t * tvb,
-                        gint       offset,
-                        gboolean   little_endian,
-                        const char *label,
-                        guint8 *   buffer,              /* Can be NULL */
-                        gint       buffer_size) {
-  guint8 tempBuffer[MAX_PORT_SIZE];
-  guint32 value = NEXT_guint32(tvb, offset, little_endian);
-
-  if (value == PORT_INVALID) {
-    g_snprintf(buffer, buffer_size, "%s (0x00000000)", PORT_INVALID_STRING);
-  } else {
-    g_snprintf(tempBuffer, MAX_PORT_SIZE, "%u", value);
-  }
-
-  if (tree != NULL) {
-    proto_tree_add_text(tree,
-                        tvb,
-                        offset,
-                        4,
-                        "%s: %s",
-                        label,
-                        tempBuffer);
-  }
-  if (buffer != NULL) {
-    g_strlcpy(buffer, tempBuffer, buffer_size);
-  }
-}
-
-
-/* ------------------------------------------------------------------------- */
-/* Insert in the protocol tree the next data interpreted as a boolean
- * Returns the pointer to a dynamically allocated buffer containing the
- * formatted version of the value.
- */
-static void rtps_util_add_boolean(proto_tree *tree,     /* Can be NULL */
-                        tvbuff_t * tvb,
-                        gint       offset,
-                        const char *label,
-                        guint8 *   buffer,              /* Can be NULL */
-                        size_t     buffer_size) {
-  const char *str;
-  guint8 value = tvb_get_guint8(tvb, offset);
-
-  str = value ? "TRUE" : "FALSE";
-
-  if (buffer) {
-    g_strlcpy(buffer, str, (gulong) buffer_size);
-  }
-
-  if (tree) {
-    proto_tree_add_text(tree,
-                        tvb,
-                        offset,
-                        1,
-                        "%s: %s",
-                        label,
-                        str);
-  }
+void rtps_util_add_port(proto_tree *tree, packet_info *pinfo, tvbuff_t * tvb,
+                        gint offset, gboolean little_endian, int hf_item) {
+  proto_item* ti;
+  guint32 port = NEXT_guint32(tvb, offset+4, little_endian);
+
+  ti = proto_tree_add_uint(tree, hf_item, tvb, offset, 4, port);
+  if (port == PORT_INVALID)
+    expert_add_info_format(pinfo, ti, PI_PROTOCOL, PI_WARN, PORT_INVALID_STRING);
 }
 
 
@@ -1559,156 +1126,53 @@ static void rtps_util_add_boolean(proto_tree *tree,     /* Can be NULL */
 /* Insert in the protocol tree the next bytes interpreted as
  * DurabilityServiceQosPolicy
  */
-static void rtps_util_add_durability_service_qos(proto_tree *tree,
+void rtps_util_add_durability_service_qos(proto_tree *tree,
                         tvbuff_t * tvb,
                         gint       offset,
-                        gboolean   little_endian,
-                        guint8 *   buffer,
-                        gint       buffer_size) {
-  guint8 temp_buffer[MAX_NTP_TIME_SIZE];
-  gint32 kind  = NEXT_guint32(tvb, offset+8, little_endian);
-  gint32 history_depth = NEXT_guint32(tvb, offset+12, little_endian);
-  gint32 max_samples   = NEXT_guint32(tvb, offset+16, little_endian);
-  gint32 max_instances = NEXT_guint32(tvb, offset+20, little_endian);
-  gint32 max_spi       = NEXT_guint32(tvb, offset+24, little_endian);
-
-  rtps_util_add_ntp_time(NULL,
-                        tvb,
-                        offset,
-                        little_endian,
-                        NULL,
-                        temp_buffer,
-                        MAX_NTP_TIME_SIZE);
-
-  g_snprintf(buffer, buffer_size,
-                        "{ service_cleanup_delay=%s, history_kind='%s', "
-                        "history_depth=%d, max_samples=%d, max_instances=%d, "
-                        "max_samples_per_instances=%d }",
-                        temp_buffer,
-                        val_to_str(kind, history_qos_vals, "0x%08x"),
-                        history_depth,
-                        max_samples,
-                        max_instances,
-                        max_spi);
-
-  rtps_util_add_ntp_time(tree,
-                        tvb,
-                        offset,
-                        little_endian,
-                        "service_cleanup_delay",
-                        NULL,
-                        0);
-  proto_tree_add_text(tree,
-                        tvb,
-                        offset+8,
-                        4,
-                        "history_kind: %s",
-                        val_to_str(kind, history_qos_vals, "0x%08x"));
-  proto_tree_add_text(tree,
-                        tvb,
-                        offset+12,
-                        4,
-                        "history_depth: %d",
-                        history_depth);
-  proto_tree_add_text(tree,
-                        tvb,
-                        offset+16,
-                        4,
-                        "max_samples: %d",
-                        max_samples);
-  proto_tree_add_text(tree,
-                        tvb,
-                        offset+20,
-                        4,
-                        "max_instances: %d",
-                        max_instances);
-  proto_tree_add_text(tree,
-                        tvb,
-                        offset+24,
-                        4,
-                        "max_samples_per_instances: %d",
-                        max_spi);
-
+                        gboolean   little_endian) {
+  proto_item *ti;
+  proto_tree *subtree;
+
+  ti = proto_tree_add_text(tree, tvb, offset, 28, "PID_DURABILITY_SERVICE");
+  subtree = proto_item_add_subtree(ti, ett_rtps_durability_service);
+
+  rtps_util_add_ntp_time(subtree, tvb, offset, little_endian, hf_rtps_durability_service_cleanup_delay);
+  proto_tree_add_item(subtree, hf_rtps_durability_service_history_kind, tvb, offset+8, 4,
+                            little_endian ? ENC_LITTLE_ENDIAN : ENC_BIG_ENDIAN);
+  proto_tree_add_item(subtree, hf_rtps_durability_service_history_depth, tvb, offset+12, 4,
+                            little_endian ? ENC_LITTLE_ENDIAN : ENC_BIG_ENDIAN);
+  proto_tree_add_item(subtree, hf_rtps_durability_service_max_samples, tvb, offset+16, 4,
+                            little_endian ? ENC_LITTLE_ENDIAN : ENC_BIG_ENDIAN);
+  proto_tree_add_item(subtree, hf_rtps_durability_service_max_instances, tvb, offset+20, 4,
+                            little_endian ? ENC_LITTLE_ENDIAN : ENC_BIG_ENDIAN);
+  proto_tree_add_item(subtree, hf_rtps_durability_service_max_samples_per_instances, tvb, offset+24, 4,
+                            little_endian ? ENC_LITTLE_ENDIAN : ENC_BIG_ENDIAN);
 }
 
 /* ------------------------------------------------------------------------- */
 /* Insert in the protocol tree the next bytes interpreted as Liveliness
  * QoS Policy structure.
  */
-static void rtps_util_add_liveliness_qos(proto_tree *tree,
-                        tvbuff_t * tvb,
-                        gint       offset,
-                        gboolean   little_endian,
-                        guint8 *   buffer,
-                        gint       buffer_size) {
-  guint8  temp_buffer[MAX_NTP_TIME_SIZE];
-  guint32 kind = NEXT_guint32(tvb, offset, little_endian);
+void rtps_util_add_liveliness_qos(proto_tree *tree, tvbuff_t * tvb, gint offset, gboolean little_endian) {
 
-  rtps_util_add_ntp_time(NULL,
-                        tvb,
-                        offset+4,
-                        little_endian,
-                        NULL,
-                        temp_buffer,
-                        MAX_NTP_TIME_SIZE);
-
-  g_snprintf(buffer, buffer_size,
-                    "{ kind=%s, lease_duration=%s }",
-                    val_to_str(kind, liveliness_qos_vals, "0x%08x"),
-                    temp_buffer);
-
-  proto_tree_add_text(tree,
-                        tvb,
-                        offset,
-                        4,
-                        "kind: %s",
-                        val_to_str(kind, liveliness_qos_vals, "0x%08x"));
-  rtps_util_add_ntp_time(tree,
-                        tvb,
-                        offset+4,
-                        little_endian,
-                        "lease_duration",
-                        NULL,
-                        0);
-}
-
-/* ------------------------------------------------------------------------- */
-/* Insert in the protocol tree the next bytes interpreted as enum type.
- */
-static void rtps_util_add_kind_qos(proto_tree *tree,    /* Can be NULL */
-                        tvbuff_t * tvb,
-                        gint       offset,
-                        gboolean   little_endian,
-                        const char *label,
-                        const value_string *vals,
-                        guint8 *   buffer,              /* Can be NULL */
-                        size_t     buffer_size) {
-  guint32 kind = NEXT_guint32(tvb, offset, little_endian);
+  proto_item *ti;
+  proto_tree *subtree;
 
-  if (buffer) {
-    g_strlcpy(buffer, val_to_str(kind, vals, "0x%08x"),
-                        (gulong) buffer_size);
-  }
+  ti = proto_tree_add_text(tree, tvb, offset, 12, "PID_LIVELINESS");
+  subtree = proto_item_add_subtree(ti, ett_rtps_liveliness);
 
-  if (tree) {
-    proto_tree_add_text(tree,
-                        tvb,
-                        offset,
-                        4,
-                        "%s: %s",
-                        label,
-                        buffer);
-  }
+  proto_tree_add_item(subtree, hf_rtps_liveliness_kind, tvb, offset, 4,
+                            little_endian ? ENC_LITTLE_ENDIAN : ENC_BIG_ENDIAN);
+  rtps_util_add_ntp_time(subtree, tvb, offset+4, little_endian, hf_rtps_liveliness_lease_duration);
 }
 
-
 /* ------------------------------------------------------------------------- */
 /* Insert in the protocol tree the next bytes interpreted as Sequence of
  * Strings.
  * The formatted buffer is: "string1", "string2", "string3", ...
  * Returns the new updated offset
  */
-static gint rtps_util_add_seq_string(proto_tree *tree,  /* Can NOT be NULL */
+gint rtps_util_add_seq_string(proto_tree *tree,  /* Can NOT be NULL */
                         tvbuff_t * tvb,
                         gint       offset,
                         gboolean   little_endian,
@@ -1771,55 +1235,24 @@ static gint rtps_util_add_seq_string(proto_tree *tree,  /* Can NOT be NULL */
  * The formatted buffer is: val1, val2, val3, ...
  * Returns the new updated offset
  */
-static gint rtps_util_add_seq_ulong(proto_tree *tree,   /* Can NOT be NULL */
-                        tvbuff_t * tvb,
-                        gint       offset,
-                        gboolean   little_endian,
-                        int        param_length,
-                        int        is_hex,
-                        int        is_signed,
-                        const char *label) {
+gint rtps_util_add_seq_ulong(proto_tree *tree, tvbuff_t * tvb, gint offset, int hf_item,
+                        gboolean little_endian, int param_length, const char *label) {
   guint32 num_elem;
   guint32 i;
   proto_tree *string_tree;
   proto_item *ti;
-  char temp_buff[MAX_LABEL_SIZE];
-  char overview_buff[MAX_PARAM_SIZE];
 
   num_elem = NEXT_guint32(tvb, offset, little_endian);
   offset += 4;
 
   /* Create the string node with an empty string, the replace it later */
-  ti = proto_tree_add_text(tree,
-                        tvb,
-                        offset,
-                        param_length-8,
-                        "Seq");
+  ti = proto_tree_add_text(tree, tvb, offset, num_elem*4, "%s (%d elements)", label, num_elem);
   string_tree = proto_item_add_subtree(ti, ett_rtps_seq_ulong);
 
-  overview_buff[0] = '\0';
-
   for (i = 0; i < num_elem; ++i) {
-    g_snprintf(temp_buff, MAX_LABEL_SIZE,
-                        "%s[%d]",
-                        label,
-                        i);
-    rtps_util_add_long( string_tree,
-                        tvb,
-                        offset,
-                        -1,
-                        little_endian,
-                        is_hex,
-                        is_signed,
-                        temp_buff,
-                        overview_buff+strlen(overview_buff),
-                        MAX_PARAM_SIZE-strlen(overview_buff));
+    proto_tree_add_item(tree, hf_item, tvb, offset, 4, little_endian ? ENC_LITTLE_ENDIAN : ENC_BIG_ENDIAN);
     offset += 4;
   }
-  proto_item_set_text(ti,
-                        "%s: %s",
-                        label,
-                        overview_buff);
 
   return offset;
 }
@@ -2525,68 +1958,23 @@ static gint rtps_util_add_typecode(proto_tree *tree,
  * The maximum number of elements displayed is 10, after that a '...' is
  * inserted.
  */
-static void rtps_util_add_seq_octets(proto_tree *tree,
-                        tvbuff_t * tvb,
-                        gint       offset,
-                        gboolean   little_endian,
-                        int        param_length,
-                        int        hf_id,
-                        guint8 *   buffer,
-                        gint       buffer_size) {
-  gint idx = 0;
+void rtps_util_add_seq_octets(proto_tree *tree, packet_info *pinfo, tvbuff_t* tvb,
+                              gint offset, gboolean little_endian, int param_length, int hf_id) {
   guint32 seq_length;
-  guint32 i;
-  gint original_offset = offset;
-  guint32 original_seq_length;
+  proto_item *ti;
 
-  original_seq_length = seq_length = NEXT_guint32(tvb, offset, little_endian);
+  seq_length = NEXT_guint32(tvb, offset, little_endian);
+
+  ti = proto_tree_add_text(tree, tvb, offset, 4, "sequenceSize: %d octects", seq_length);
 
   offset += 4;
   if (param_length < 4 + (int)seq_length) {
-    g_strlcpy(buffer,
-                        "RTPS PROTOCOL ERROR: parameter value too small",
-                        buffer_size);
-    proto_tree_add_text(tree,
-                      tvb,
-                      offset,
-                      param_length, "%s",
-                      buffer);
-    return ;
-  }
-
-  /* Limit the number of octects displayed to MAX_SEQ_OCTETS_PRINTED */
-  if (seq_length > MAX_SEQ_OCTETS_PRINTED) {
-    seq_length = MAX_SEQ_OCTETS_PRINTED;
-  }
-  for (i = 0; i < seq_length; ++i) {
-    idx += g_snprintf(&buffer[idx],
-                        buffer_size - idx - 1,
-                        "%02x",
-                        tvb_get_guint8(tvb, offset++));
-    if (idx >= buffer_size) {
-        break;
-    }
-  }
-  if (seq_length != original_seq_length) {
-    /* seq_length was reduced, add '...' */
-    g_strlcat(buffer, "...", buffer_size);
+    expert_add_info_format(pinfo, ti, PI_PROTOCOL, PI_WARN, "ERROR: Parameter value too small");
+    return;
   }
 
-  if (tree != NULL) {
-    proto_tree_add_text(tree,
-                        tvb,
-                        original_offset,
-                        4,
-                        "sequenceSize: %d octects",
-                        original_seq_length);
-    proto_tree_add_item(tree,
-                        hf_id,
-                        tvb,
-                        original_offset+4,
-                        original_seq_length,
-                        little_endian ? ENC_LITTLE_ENDIAN : ENC_BIG_ENDIAN);
-
-  }
+  proto_tree_add_item(tree, hf_id, tvb, offset+4, seq_length,
+                      little_endian ? ENC_LITTLE_ENDIAN : ENC_BIG_ENDIAN);
 }
 
 
@@ -2757,48 +2145,36 @@ static void rtps_util_decode_flags(proto_tree * tree,
  * current packet).
  * If no error occurred, the returned value is ALWAYS > than the offset passed.
  */
-#define ENSURE_LENGTH(size)                                             \
-        if (param_length < size) {                                      \
-          proto_tree_add_text(rtps_parameter_tree,                      \
-                        tvb, offset, param_length,                      \
-                        "RTPS PROTOCOL ERROR: parameter value too small"\
-                        " (must be at least %d octects)", size);        \
-          break;                                                        \
+#define ENSURE_LENGTH(size)                                                          \
+        if (param_length < size) {                                                   \
+          expert_add_info_format(pinfo, param_len_item, PI_PROTOCOL, PI_WARN,        \
+            "ERROR: parameter value too small (must be at least %d octects)", size); \
+          break;                                                                     \
         }
 
 static gint dissect_parameter_sequence(proto_tree *tree,
+                        packet_info *pinfo,
                         tvbuff_t *tvb,
                         gint offset,
                         gboolean little_endian,
                         int octects_to_next_header,
                         const char * label) {
-  proto_item * ti;
-  proto_tree * rtps_parameter_sequence_tree;
-  proto_tree * rtps_parameter_tree;
+  proto_item *ti, *param_item, *param_len_item = NULL;
+  proto_tree *rtps_parameter_sequence_tree, *rtps_parameter_tree, *subtree;
   guint16      parameter, param_length;
   guint8       buffer[MAX_PARAM_SIZE];
   gint         max_param_section = offset + octects_to_next_header;
 
   buffer[0] = '\0';
 
-  ti = proto_tree_add_text(tree,
-                        tvb,
-                        offset,
-                        -1,
-                        "%s:", label);
-  rtps_parameter_sequence_tree = proto_item_add_subtree(ti,
-                        ett_rtps_parameter_sequence);
-
+  ti = proto_tree_add_text(tree, tvb, offset, -1, "%s:", label);
+  rtps_parameter_sequence_tree = proto_item_add_subtree(ti, ett_rtps_parameter_sequence);
 
   /* Loop through all the parameters defined until PID_SENTINEL is found */
   do {
     if (max_param_section-offset < 4) {
-      proto_tree_add_text(tree,
-                        tvb,
-                        offset,
-                        1,
-                        "RTPS PROTOCOL ERROR: not enough bytes to read "
-                                                " the next parameter");
+      expert_add_info_format(pinfo, (param_len_item == NULL) ? ti : param_len_item,
+                             PI_PROTOCOL, PI_WARN, "ERROR: not enough bytes to read the next parameter");
       return 0;
     }
 
@@ -2807,30 +2183,17 @@ static gint dissect_parameter_sequence(proto_tree *tree,
      * be set later...
      */
     parameter = NEXT_guint16(tvb, offset, little_endian);
-    ti = proto_tree_add_text(rtps_parameter_sequence_tree,
-                        tvb,
-                        offset,
-                        -1,
-                        "%s",
-                        val_to_str(parameter, parameter_id_vals,
-                                "Unknown (0x%04x)"));
-    rtps_parameter_tree = proto_item_add_subtree(ti, ett_rtps_parameter);
-    proto_tree_add_uint_format(rtps_parameter_tree,
-                        hf_rtps_parameter_id,
-                        tvb,
-                        offset,
-                        2,
-                        parameter,
-                        "parameterId: 0x%04x (%s)",
-                        parameter,
-                        val_to_str(parameter, parameter_id_vals,
-                                        "unknown %04x"));
+    param_item = proto_tree_add_text(rtps_parameter_sequence_tree, tvb, offset, -1,
+                        "%s", val_to_str(parameter, parameter_id_vals, "Unknown (0x%04x)"));
+    rtps_parameter_tree = proto_item_add_subtree(param_item, ett_rtps_parameter);
 
+    proto_tree_add_uint(rtps_parameter_tree, hf_rtps_parameter_id,
+                        tvb, offset, 2, parameter);
     offset += 2;
 
     /* parameter length */
     param_length = NEXT_guint16(tvb, offset, little_endian);
-    proto_tree_add_item(rtps_parameter_tree,
+    param_len_item = proto_tree_add_item(rtps_parameter_tree,
                         hf_rtps_parameter_length,
                         tvb,
                         offset,
@@ -2841,17 +2204,12 @@ static gint dissect_parameter_sequence(proto_tree *tree,
     /* Make sure we have enough bytes for the param value */
     if ((max_param_section-offset < param_length) &&
         (parameter != PID_SENTINEL)) {
-      proto_tree_add_text(tree,
-                        tvb,
-                        offset,
-                        1,
-                        "RTPS PROTOCOL ERROR: not enough bytes to read "
-                                                " the parameter value");
+      expert_add_info_format(pinfo, param_len_item, PI_PROTOCOL, PI_WARN, "Not enough bytes to read the parameter value");
       return 0;
     }
 
     /* Sets the end of this item (now we know it!) */
-    proto_item_set_len(ti, param_length+4);
+    proto_item_set_len(param_item, param_length+4);
 
     switch(parameter) {
 
@@ -2866,13 +2224,8 @@ static gint dissect_parameter_sequence(proto_tree *tree,
        */
       case PID_PARTICIPANT_LEASE_DURATION:
         ENSURE_LENGTH(8);
-        rtps_util_add_ntp_time(rtps_parameter_tree,
-                        tvb,
-                        offset,
-                        little_endian,
-                        "duration",
-                        buffer,
-                        MAX_PARAM_SIZE);
+        rtps_util_add_ntp_time(rtps_parameter_tree, tvb, offset,
+                               little_endian, hf_rtps_participant_lease_duration);
         break;
 
 
@@ -2887,13 +2240,8 @@ static gint dissect_parameter_sequence(proto_tree *tree,
        */
       case PID_TIME_BASED_FILTER:
         ENSURE_LENGTH(8);
-        rtps_util_add_ntp_time(rtps_parameter_tree,
-                        tvb,
-                        offset,
-                        little_endian,
-                        "minimum_separation",
-                        buffer,
-                        MAX_PARAM_SIZE);
+        rtps_util_add_ntp_time(rtps_parameter_tree, tvb, offset,
+                               little_endian, hf_rtps_time_based_filter_minimum_separation);
         break;
 
       /* 0...2...........7...............15.............23...............31
@@ -2928,16 +2276,7 @@ static gint dissect_parameter_sequence(proto_tree *tree,
        */
       case PID_OWNERSHIP_STRENGTH:
         ENSURE_LENGTH(4);
-        rtps_util_add_long(rtps_parameter_tree,
-                        tvb,
-                        offset,
-                        hf_rtps_param_strength,
-                        little_endian,
-                        FALSE,  /* Is Hex ? */
-                        TRUE,   /* Is Signed ? */
-                        NULL,   /* No Label, use the protocol item ID */
-                        buffer,
-                        MAX_PARAM_SIZE);
+        proto_tree_add_item(rtps_parameter_tree, hf_rtps_param_strength, tvb, offset, 4, little_endian ? ENC_LITTLE_ENDIAN : ENC_BIG_ENDIAN);
         break;
 
       /* 0...2...........7...............15.............23...............31
@@ -2975,32 +2314,22 @@ static gint dissect_parameter_sequence(proto_tree *tree,
       case PID_METATRAFFIC_UNICAST_PORT:
       case PID_DEFAULT_UNICAST_PORT:
         ENSURE_LENGTH(4);
-        rtps_util_add_port(rtps_parameter_tree,
-                        tvb,
-                        offset,
-                        little_endian,
-                        "port",
-                        buffer,
-                        MAX_PARAM_SIZE);
+        rtps_util_add_port(rtps_parameter_tree, pinfo, tvb, offset,
+                        little_endian, hf_rtps_param_port);
         break;
 
 
 
       /* 0...2...........7...............15.............23...............31
        * +-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
-       * | PID_DEFAULT_EXPECTS_INLINE_QOS|            0x0004             |
+       * | PID_EXPECTS_INLINE_QOS        |            0x0004             |
        * +---------------+---------------+---------------+---------------+
        * |    boolean    |       N O T      U S E D                      |
        * +---------------+---------------+---------------+---------------+
        */
-      case PID_DEFAULT_EXPECTS_INLINE_QOS:
+      case PID_EXPECTS_INLINE_QOS:
         ENSURE_LENGTH(1);
-        rtps_util_add_boolean(rtps_parameter_tree,
-                        tvb,
-                        offset,
-                        "inline_qos",
-                        buffer,
-                        MAX_PARAM_SIZE);
+        proto_tree_add_item(rtps_parameter_tree, hf_rtps_expects_inline_qos, tvb, offset, 1, ENC_NA );
         break;
 
       /* 0...2...........7...............15.............23...............31
@@ -3014,13 +2343,8 @@ static gint dissect_parameter_sequence(proto_tree *tree,
       case PID_DEFAULT_UNICAST_IPADDRESS:
       case PID_MULTICAST_IPADDRESS:
       case PID_METATRAFFIC_UNICAST_IPADDRESS:
-        rtps_util_add_ipv4_address_t(rtps_parameter_tree,
-                        tvb,
-                        offset,
-                        little_endian,
-                        "address",
-                        buffer,
-                        MAX_PARAM_SIZE);
+        rtps_util_add_ipv4_address_t(rtps_parameter_tree, pinfo, tvb, offset,
+                                     little_endian, hf_param_ip_address);
         break;
 
 
@@ -3033,19 +2357,8 @@ static gint dissect_parameter_sequence(proto_tree *tree,
        * +---------------+---------------+---------------+---------------+
        */
       case PID_PROTOCOL_VERSION: {
-        guint8 major = 0;
-        guint8 minor = 0;
-
         ENSURE_LENGTH(2);
-        major = tvb_get_guint8(tvb, offset);
-        minor = tvb_get_guint8(tvb, offset+1);
-        g_snprintf(buffer, MAX_PARAM_SIZE, "%d.%d", major, minor);
-        proto_tree_add_text(rtps_parameter_tree,
-                        tvb,
-                        offset,
-                        param_length,
-                        "protocolVersion: %s",
-                        buffer);
+        rtps_util_add_protocol_version(rtps_parameter_tree, tvb, offset);
         break;
       }
 
@@ -3058,18 +2371,7 @@ static gint dissect_parameter_sequence(proto_tree *tree,
        */
       case PID_VENDOR_ID:
         ENSURE_LENGTH(2);
-        rtps_util_add_vendor_id(NULL,
-                        tvb,
-                        offset,
-                        buffer,
-                        MAX_PARAM_SIZE);
-        proto_tree_add_text(rtps_parameter_tree,
-                        tvb,
-                        offset,
-                        2,
-                        "vendorId: %s",
-                        buffer);
-
+        rtps_util_add_vendor_id(NULL, tvb, offset);
         break;
 
 
@@ -3083,27 +2385,16 @@ static gint dissect_parameter_sequence(proto_tree *tree,
       case PID_RELIABILITY_OFFERED: /* Deprecated */
       case PID_RELIABILITY:
         ENSURE_LENGTH(4);
-        rtps_util_add_kind_qos(rtps_parameter_tree,
-                        tvb,
-                        offset,
-                        little_endian,
-                        "kind",
-                        reliability_qos_vals,
-                        buffer,
-                        MAX_PARAM_SIZE);
+        proto_tree_add_item(rtps_parameter_tree, hf_rtps_reliability_kind, tvb, offset, 4,
+                            little_endian ? ENC_LITTLE_ENDIAN : ENC_BIG_ENDIAN);
 
         /* Older version of the protocol (and for PID_RELIABILITY_OFFERED)
          * this parameter was carrying also a NtpTime called
          * 'maxBlockingTime'.
          */
         if (octects_to_next_header == 12) {
-          rtps_util_add_ntp_time(rtps_parameter_tree,
-                        tvb,
-                        offset + 4,
-                        little_endian,
-                        "maxBlockingTime",
-                        NULL,
-                        0);
+          rtps_util_add_ntp_time(rtps_parameter_tree, tvb, offset + 4,
+                        little_endian, hf_rtps_reliability_max_blocking_time);
         }
         break;
 
@@ -3124,12 +2415,7 @@ static gint dissect_parameter_sequence(proto_tree *tree,
       case PID_LIVELINESS_OFFERED: /* Deprecated */
       case PID_LIVELINESS:
         ENSURE_LENGTH(12);
-        rtps_util_add_liveliness_qos(rtps_parameter_tree,
-                        tvb,
-                        offset,
-                        little_endian,
-                        buffer,
-                        MAX_PARAM_SIZE);
+        rtps_util_add_liveliness_qos(rtps_parameter_tree, tvb, offset, little_endian);
         break;
 
 
@@ -3142,14 +2428,8 @@ static gint dissect_parameter_sequence(proto_tree *tree,
        */
       case PID_DURABILITY:
         ENSURE_LENGTH(4);
-        rtps_util_add_kind_qos(rtps_parameter_tree,
-                        tvb,
-                        offset,
-                        little_endian,
-                        "durability",
-                        durability_qos_vals,
-                        buffer,
-                        MAX_PARAM_SIZE);
+        proto_tree_add_item(rtps_parameter_tree, hf_rtps_durability, tvb, offset, 4,
+                            little_endian ? ENC_LITTLE_ENDIAN : ENC_BIG_ENDIAN);
         break;
 
       /* 0...2...........7...............15.............23...............31
@@ -3173,12 +2453,7 @@ static gint dissect_parameter_sequence(proto_tree *tree,
        */
       case PID_DURABILITY_SERVICE:
         ENSURE_LENGTH(28);
-        rtps_util_add_durability_service_qos(rtps_parameter_tree,
-                        tvb,
-                        offset,
-                        little_endian,
-                        buffer,
-                        MAX_PARAM_SIZE);
+        rtps_util_add_durability_service_qos(rtps_parameter_tree, tvb, offset, little_endian);
         break;
 
 
@@ -3192,14 +2467,8 @@ static gint dissect_parameter_sequence(proto_tree *tree,
       case PID_OWNERSHIP_OFFERED: /* Deprecated */
       case PID_OWNERSHIP:
         ENSURE_LENGTH(4);
-        rtps_util_add_kind_qos(rtps_parameter_tree,
-                        tvb,
-                        offset,
-                        little_endian,
-                        "kind",
-                        ownership_qos_vals,
-                        buffer,
-                        MAX_PARAM_SIZE);
+        proto_tree_add_item(rtps_parameter_tree, hf_rtps_ownership, tvb, offset, 4,
+                            little_endian ? ENC_LITTLE_ENDIAN : ENC_BIG_ENDIAN);
         break;
 
 
@@ -3215,30 +2484,10 @@ static gint dissect_parameter_sequence(proto_tree *tree,
       case PID_PRESENTATION_OFFERED: /* Deprecated */
       case PID_PRESENTATION:
         ENSURE_LENGTH(6);
-        g_strlcpy(buffer, "{ ", MAX_PARAM_SIZE);
-        rtps_util_add_kind_qos(rtps_parameter_tree,
-                        tvb,
-                        offset,
-                        little_endian,
-                        "access_scope",
-                        presentation_qos_vals,
-                        buffer+strlen(buffer),
-                        MAX_PARAM_SIZE-strlen(buffer));
-        g_strlcat(buffer, ", ", MAX_PARAM_SIZE);
-        rtps_util_add_boolean(rtps_parameter_tree,
-                        tvb,
-                        offset+4,
-                        "coherent_access",
-                        buffer+strlen(buffer),
-                        MAX_PARAM_SIZE-strlen(buffer));
-        g_strlcat(buffer, ", ", MAX_PARAM_SIZE);
-        rtps_util_add_boolean(rtps_parameter_tree,
-                        tvb,
-                        offset+4,
-                        "ordered_access",
-                        buffer+strlen(buffer),
-                        MAX_PARAM_SIZE-strlen(buffer));
-        g_strlcat(buffer, " }", MAX_PARAM_SIZE);
+        proto_tree_add_item(rtps_parameter_tree, hf_rtps_presentation_access_scope, tvb, offset, 4,
+                            little_endian ? ENC_LITTLE_ENDIAN : ENC_BIG_ENDIAN);
+        proto_tree_add_item(rtps_parameter_tree, hf_rtps_presentation_coherent_access, tvb, offset+4, 1, ENC_NA );
+        proto_tree_add_item(rtps_parameter_tree, hf_rtps_presentation_ordered_access, tvb, offset+5, 1, ENC_NA );
         break;
 
 
@@ -3254,13 +2503,8 @@ static gint dissect_parameter_sequence(proto_tree *tree,
       case PID_DEADLINE_OFFERED: /* Deprecated */
       case PID_DEADLINE:
         ENSURE_LENGTH(8);
-        rtps_util_add_ntp_time(rtps_parameter_tree,
-                        tvb,
-                        offset,
-                        little_endian,
-                        "period",
-                        buffer,
-                        MAX_PARAM_SIZE);
+        rtps_util_add_ntp_time(rtps_parameter_tree, tvb, offset,
+                        little_endian, hf_rtps_deadline_period);
         break;
 
       /* 0...2...........7...............15.............23...............31
@@ -3273,14 +2517,8 @@ static gint dissect_parameter_sequence(proto_tree *tree,
       case PID_DESTINATION_ORDER_OFFERED: /* Deprecated */
       case PID_DESTINATION_ORDER:
         ENSURE_LENGTH(4);
-        rtps_util_add_kind_qos(rtps_parameter_tree,
-                        tvb,
-                        offset,
-                        little_endian,
-                        "kind",
-                        destination_order_qos_vals,
-                        buffer,
-                        MAX_PARAM_SIZE);
+        proto_tree_add_item(rtps_parameter_tree, hf_rtps_destination_order, tvb, offset, 4,
+                            little_endian ? ENC_LITTLE_ENDIAN : ENC_BIG_ENDIAN);
         break;
 
 
@@ -3296,13 +2534,8 @@ static gint dissect_parameter_sequence(proto_tree *tree,
       case PID_LATENCY_BUDGET_OFFERED:
       case PID_LATENCY_BUDGET:
         ENSURE_LENGTH(8);
-        rtps_util_add_ntp_time(rtps_parameter_tree,
-                        tvb,
-                        offset,
-                        little_endian,
-                        "duration",
-                        buffer,
-                        MAX_PARAM_SIZE);
+        rtps_util_add_ntp_time(rtps_parameter_tree, tvb, offset,
+                        little_endian, hf_rtps_latency_budget_duration);
         break;
 
 
@@ -3344,14 +2577,8 @@ static gint dissect_parameter_sequence(proto_tree *tree,
        */
       case PID_LIFESPAN:
         ENSURE_LENGTH(8);
-        rtps_util_add_ntp_time(rtps_parameter_tree,
-                        tvb,
-                        offset,
-                        little_endian,
-                        "duration",
-                        buffer,
-                        MAX_PARAM_SIZE);
-
+        rtps_util_add_ntp_time(rtps_parameter_tree, tvb, offset,
+                        little_endian, hf_rtps_lifespan_duration);
         break;
 
       /* 0...2...........7...............15.............23...............31
@@ -3367,15 +2594,8 @@ static gint dissect_parameter_sequence(proto_tree *tree,
        */
       case PID_USER_DATA:
         ENSURE_LENGTH(4);
-        rtps_util_add_seq_octets(rtps_parameter_tree,
-                        tvb,
-                        offset,
-                        little_endian,
-                        param_length,
-                        hf_rtps_param_user_data,
-                        buffer,
-                        MAX_PARAM_SIZE);
-
+        rtps_util_add_seq_octets(rtps_parameter_tree, pinfo, tvb, offset,
+                        little_endian, param_length, hf_rtps_param_user_data);
         break;
 
       /* 0...2...........7...............15.............23...............31
@@ -3391,14 +2611,8 @@ static gint dissect_parameter_sequence(proto_tree *tree,
        */
       case PID_GROUP_DATA:
         ENSURE_LENGTH(4);
-        rtps_util_add_seq_octets(rtps_parameter_tree,
-                        tvb,
-                        offset,
-                        little_endian,
-                        param_length,
-                        hf_rtps_param_group_data,
-                        buffer,
-                        MAX_PARAM_SIZE);
+        rtps_util_add_seq_octets(rtps_parameter_tree, pinfo, tvb, offset,
+                        little_endian, param_length, hf_rtps_param_group_data);
         break;
 
       /* 0...2...........7...............15.............23...............31
@@ -3414,14 +2628,8 @@ static gint dissect_parameter_sequence(proto_tree *tree,
        */
      case PID_TOPIC_DATA:
         ENSURE_LENGTH(4);
-        rtps_util_add_seq_octets(rtps_parameter_tree,
-                        tvb,
-                        offset,
-                        little_endian,
-                        param_length,
-                        hf_rtps_param_topic_data,
-                        buffer,
-                        MAX_PARAM_SIZE);
+        rtps_util_add_seq_octets(rtps_parameter_tree, pinfo, tvb, offset,
+                        little_endian, param_length, hf_rtps_param_topic_data);
         break;
 
       /* 0...2...........7...............15.............23...............31
@@ -3443,14 +2651,8 @@ static gint dissect_parameter_sequence(proto_tree *tree,
        */
      case PID_UNICAST_LOCATOR:
         ENSURE_LENGTH(24);
-        rtps_util_add_locator_t(rtps_parameter_tree,
-                        tvb,
-                        offset,
-                        little_endian,
-                        "locator",
-                        buffer,
-                        MAX_PARAM_SIZE);
-
+        rtps_util_add_locator_t(rtps_parameter_tree, pinfo, tvb,
+                        offset, little_endian, "locator");
         break;
 
       /* 0...2...........7...............15.............23...............31
@@ -3472,14 +2674,8 @@ static gint dissect_parameter_sequence(proto_tree *tree,
        */
      case PID_MULTICAST_LOCATOR:
         ENSURE_LENGTH(24);
-        rtps_util_add_locator_t(rtps_parameter_tree,
-                        tvb,
-                        offset,
-                        little_endian,
-                        "locator",
-                        buffer,
-                        MAX_PARAM_SIZE);
-
+        rtps_util_add_locator_t(rtps_parameter_tree, pinfo, tvb,
+                        offset, little_endian, "locator");
         break;
 
       /* 0...2...........7...............15.............23...............31
@@ -3501,14 +2697,8 @@ static gint dissect_parameter_sequence(proto_tree *tree,
        */
      case PID_DEFAULT_UNICAST_LOCATOR:
         ENSURE_LENGTH(24);
-        rtps_util_add_locator_t(rtps_parameter_tree,
-                        tvb,
-                        offset,
-                        little_endian,
-                        "locator",
-                        buffer,
-                        MAX_PARAM_SIZE);
-
+        rtps_util_add_locator_t(rtps_parameter_tree, pinfo, tvb,
+                        offset, little_endian, "locator");
         break;
 
       /* 0...2...........7...............15.............23...............31
@@ -3530,14 +2720,8 @@ static gint dissect_parameter_sequence(proto_tree *tree,
        */
      case PID_METATRAFFIC_UNICAST_LOCATOR:
         ENSURE_LENGTH(24);
-        rtps_util_add_locator_t(rtps_parameter_tree,
-                        tvb,
-                        offset,
-                        little_endian,
-                        "locator",
-                        buffer,
-                        MAX_PARAM_SIZE);
-
+        rtps_util_add_locator_t(rtps_parameter_tree, pinfo, tvb,
+                        offset, little_endian, "locator");
         break;
 
       /* 0...2...........7...............15.............23...............31
@@ -3559,14 +2743,8 @@ static gint dissect_parameter_sequence(proto_tree *tree,
        */
      case PID_METATRAFFIC_MULTICAST_LOCATOR:
         ENSURE_LENGTH(24);
-        rtps_util_add_locator_t(rtps_parameter_tree,
-                        tvb,
-                        offset,
-                        little_endian,
-                        "locator",
-                        buffer,
-                        MAX_PARAM_SIZE);
-
+        rtps_util_add_locator_t(rtps_parameter_tree, pinfo, tvb,
+                        offset, little_endian, "locator");
         break;
 
       /* 0...2...........7...............15.............23...............31
@@ -3577,18 +2755,15 @@ static gint dissect_parameter_sequence(proto_tree *tree,
        * +---------------+---------------+---------------+---------------+
        */
       case PID_PARTICIPANT_BUILTIN_ENDPOINTS:
+        ENSURE_LENGTH(4);
+        proto_tree_add_item(rtps_parameter_tree, hf_rtps_participant_builtin_endpoints, tvb, offset, 4,
+                            little_endian ? ENC_LITTLE_ENDIAN : ENC_BIG_ENDIAN);
+        break;
+
       case PID_PARTICIPANT_MANUAL_LIVELINESS_COUNT:
         ENSURE_LENGTH(4);
-        rtps_util_add_long(rtps_parameter_tree,
-                        tvb,
-                        offset,
-                        -1,     /* No protocol ID, use label below */
-                        little_endian,
-                        TRUE,   /* Is Hex ? */
-                        FALSE,  /* Is Signed ? */
-                        "value",
-                        buffer,
-                        MAX_PARAM_SIZE);
+        proto_tree_add_item(rtps_parameter_tree, hf_rtps_participant_manual_liveliness_count, tvb, offset, 4,
+                            little_endian ? ENC_LITTLE_ENDIAN : ENC_BIG_ENDIAN);
         break;
 
       /* 0...2...........7...............15.............23...............31
@@ -3602,28 +2777,10 @@ static gint dissect_parameter_sequence(proto_tree *tree,
        */
       case PID_HISTORY:
         ENSURE_LENGTH(8);
-        g_strlcpy(buffer, "{ ", MAX_PARAM_SIZE);
-        rtps_util_add_kind_qos(rtps_parameter_tree,
-                        tvb,
-                        offset,
-                        little_endian,
-                        "kind",
-                        history_qos_vals,
-                        buffer+strlen(buffer),
-                        MAX_PARAM_SIZE-strlen(buffer));
-        g_strlcat(buffer, ", ", MAX_PARAM_SIZE);
-
-        rtps_util_add_long(rtps_parameter_tree,
-                        tvb,
-                        offset+4,
-                        -1,     /* No protocol ID, use label below */
-                        little_endian,
-                        FALSE,  /* Is Hex ? */
-                        TRUE,  /* Is Signed ? */
-                        "depth",
-                        buffer + strlen(buffer),
-                        MAX_PARAM_SIZE-strlen(buffer));
-        g_strlcat(buffer, " }", MAX_PARAM_SIZE);
+        proto_tree_add_item(rtps_parameter_tree, hf_rtps_history_kind, tvb, offset, 4,
+                            little_endian ? ENC_LITTLE_ENDIAN : ENC_BIG_ENDIAN);
+        proto_tree_add_item(rtps_parameter_tree, hf_rtps_history_depth, tvb, offset+4, 4,
+                            little_endian ? ENC_LITTLE_ENDIAN : ENC_BIG_ENDIAN);
         break;
 
 
@@ -3640,41 +2797,11 @@ static gint dissect_parameter_sequence(proto_tree *tree,
        */
       case PID_RESOURCE_LIMIT:
         ENSURE_LENGTH(12);
-        g_strlcpy(buffer, "{ ", MAX_PARAM_SIZE);
-        rtps_util_add_long(rtps_parameter_tree,
-                        tvb,
-                        offset,
-                        -1,     /* No protocol ID, use label below */
-                        little_endian,
-                        FALSE,  /* Is Hex ? */
-                        TRUE,  /* Is Signed ? */
-                        "max_samples",
-                        buffer + strlen(buffer),
-                        MAX_PARAM_SIZE-strlen(buffer));
-        g_strlcat(buffer, ", ", MAX_PARAM_SIZE);
-        rtps_util_add_long(rtps_parameter_tree,
-                        tvb,
-                        offset+4,
-                        -1,     /* No protocol ID, use label below */
-                        little_endian,
-                        FALSE,  /* Is Hex ? */
-                        TRUE,  /* Is Signed ? */
-                        "max_instances",
-                        buffer + strlen(buffer),
-                        MAX_PARAM_SIZE-strlen(buffer));
-        g_strlcat(buffer, ", ", MAX_PARAM_SIZE);
-
-        rtps_util_add_long(rtps_parameter_tree,
-                        tvb,
-                        offset+8,
-                        -1,     /* No protocol ID, use label below */
-                        little_endian,
-                        FALSE,  /* Is Hex ? */
-                        TRUE,  /* Is Signed ? */
-                        "max_samples_per_instances",
-                        buffer + strlen(buffer),
-                        MAX_PARAM_SIZE-strlen(buffer));
-        g_strlcat(buffer, " }", MAX_PARAM_SIZE);
+        ti = proto_tree_add_text(rtps_parameter_tree, tvb, offset, 12, "Resource Limit");
+        subtree = proto_item_add_subtree(ti, ett_rtps_resource_limit);
+        proto_tree_add_item(subtree, hf_rtps_resource_limit_max_samples, tvb, offset, 4, little_endian ? ENC_LITTLE_ENDIAN : ENC_BIG_ENDIAN);
+        proto_tree_add_item(subtree, hf_rtps_resource_limit_max_instances, tvb, offset+4, 4, little_endian ? ENC_LITTLE_ENDIAN : ENC_BIG_ENDIAN);
+        proto_tree_add_item(subtree, hf_rtps_resource_limit_max_samples_per_instances, tvb, offset+8, 4, little_endian ? ENC_LITTLE_ENDIAN : ENC_BIG_ENDIAN);
         break;
 
 
@@ -3795,7 +2922,7 @@ static gint dissect_parameter_sequence(proto_tree *tree,
        *    };
        *
        */
-      case PID_PROPERTY_LIST:
+      case PID_PROPERTY_LIST_OLD:
         ENSURE_LENGTH(4);
         {
           guint32 prev_offset;
@@ -3876,14 +3003,8 @@ static gint dissect_parameter_sequence(proto_tree *tree,
         ENSURE_LENGTH(8);
 
         /* Dissect filter bitmap */
-        temp_offset = rtps_util_add_seq_ulong(rtps_parameter_tree,
-                        tvb,
-                        offset,
-                        little_endian,
-                        param_length,
-                        TRUE,           /* is_hex */
-                        FALSE,          /* filterSignature: is_signed */
-                        "filterBitmap");
+        temp_offset = rtps_util_add_seq_ulong(rtps_parameter_tree, tvb, offset, 
+                        hf_rtps_filter_bitmap, little_endian, param_length, "filterBitmap");
 
         /* Dissect sequence of FILTER_SIGNATURE */
         fs_elem = NEXT_guint32(tvb, temp_offset, little_endian);
@@ -4045,56 +3166,33 @@ static gint dissect_parameter_sequence(proto_tree *tree,
                         tvb,
                         offset,
                         little_endian,
-                        "persistence",
-                        buffer,
-                        MAX_PARAM_SIZE);
+                        hf_rtps_persistence);
         break;
 
       case PID_TYPE_CHECKSUM:
         ENSURE_LENGTH(4);
-        rtps_util_add_long(rtps_parameter_tree,
-                        tvb,
-                        offset,
-                        -1,
-                        little_endian,
-                        TRUE,   /* Is Hex? */
-                        FALSE,  /* Is signed ? */
-                        "checksum",
-                        buffer,
-                        MAX_PARAM_SIZE);
+        proto_tree_add_item(rtps_parameter_tree, hf_rtps_type_checksum, tvb, offset, 4, little_endian ? ENC_LITTLE_ENDIAN : ENC_BIG_ENDIAN);
         break;
 
       case PID_EXPECTS_ACK:
         ENSURE_LENGTH(1);
-        rtps_util_add_boolean(rtps_parameter_tree,
-                        tvb,
-                        offset,
-                        "expectsAck",
-                        buffer,
-                        MAX_PARAM_SIZE);
+        proto_tree_add_item(rtps_parameter_tree, hf_rtps_expects_ack, tvb, offset, 1, ENC_NA );
         break;
 
       case PID_MANAGER_KEY: {
         int i = 0;
-        char sep = ':';
         guint32 manager_key;
 
-        buffer[0] = '\0';
+        ti = proto_tree_add_text(rtps_parameter_tree, tvb, offset, param_length, "Manager Keys");
+        subtree = proto_item_add_subtree(ti, ett_rtps_manager_key);
+
         while (param_length >= 4) {
           manager_key = NEXT_guint32(tvb, offset, little_endian);
-          g_snprintf(buffer+strlen(buffer),
-                        MAX_PARAM_SIZE-(gulong) strlen(buffer),
-                        "%c 0x%08x",
-                        sep,
-                        manager_key);
-          proto_tree_add_text(rtps_parameter_tree,
-                        tvb,
-                        offset,
-                        param_length,
-                        "Key[%d]: 0x%X", i, manager_key);
+          proto_tree_add_uint_format(subtree, hf_rtps_manager_key, tvb, offset, 4,
+                                      manager_key, "Key[%d]: 0x%X", i, manager_key);
+
           ++i;
           offset +=4;
-          sep = ',';
           param_length -= 4; /* decrement count */
         }
         offset += param_length;
@@ -4105,16 +3203,7 @@ static gint dissect_parameter_sequence(proto_tree *tree,
       case PID_RECV_QUEUE_SIZE:
       case PID_SEND_QUEUE_SIZE:
         ENSURE_LENGTH(4);
-        rtps_util_add_long(rtps_parameter_tree,
-                        tvb,
-                        offset,
-                        -1,
-                        little_endian,
-                        TRUE,   /* Is Hex? */
-                        FALSE,  /* Is signed ? */
-                        "queueSize",
-                        buffer,
-                        MAX_PARAM_SIZE);
+        proto_tree_add_item(rtps_parameter_tree, hf_rtps_queue_size, tvb, offset, 4, little_endian ? ENC_LITTLE_ENDIAN : ENC_BIG_ENDIAN);
         break;
 
 
@@ -4159,7 +3248,7 @@ static gint dissect_parameter_sequence(proto_tree *tree,
     } /* End switch */
 
     if (buffer[0]) {
-      proto_item_append_text(ti, ": %s", buffer);
+      proto_item_append_text(param_item, ": %s", buffer);
       buffer[0] = '\0';
     }
     offset += param_length;
@@ -4170,12 +3259,23 @@ static gint dissect_parameter_sequence(proto_tree *tree,
 #undef ENSURE_LENGTH
 
 
+gboolean rtps_is_ping(tvbuff_t *tvb, packet_info *pinfo, gint offset)
+{
+  gboolean is_ping = FALSE;
+
+  if (!tvb_strneql(tvb, offset, "NDDSPING", 8))
+    is_ping = TRUE;
+
+  if (is_ping)
+    col_add_str(pinfo->cinfo, COL_INFO, "PING");
 
+  return is_ping;
+}
 
 /* *********************************************************************** */
 /* *                                 P A D                               * */
 /* *********************************************************************** */
-static void dissect_PAD(tvbuff_t *tvb,
+void dissect_PAD(tvbuff_t *tvb,
                 packet_info *pinfo,
                 gint offset,
                 guint8 flags,
@@ -4301,27 +3401,15 @@ static void dissect_DATA(tvbuff_t *tvb,
   offset += 4;
 
   /* readerEntityId */
-  is_builtin_entity |= rtps_util_add_entity_id(tree,
-                        tvb,
-                        offset,
-                        hf_rtps_sm_rdentity_id,
-                        hf_rtps_sm_rdentity_id_key,
-                        hf_rtps_sm_rdentity_id_kind,
-                        ett_rtps_rdentity,
-                        "readerEntityId",
-                        NULL);
+  is_builtin_entity |= rtps_util_add_entity_id(tree, tvb, offset,
+                        hf_rtps_sm_rdentity_id, hf_rtps_sm_rdentity_id_key, hf_rtps_sm_rdentity_id_kind,
+                        ett_rtps_rdentity, "readerEntityId", NULL);
   offset += 4;
 
   /* writerEntityId */
-  is_builtin_entity |= rtps_util_add_entity_id(tree,
-                        tvb,
-                        offset,
-                        hf_rtps_sm_wrentity_id,
-                        hf_rtps_sm_wrentity_id_key,
-                        hf_rtps_sm_wrentity_id_kind,
-                        ett_rtps_wrentity,
-                        "writerEntityId",
-                        &wid);
+  is_builtin_entity |= rtps_util_add_entity_id(tree, tvb, offset,
+                        hf_rtps_sm_wrentity_id, hf_rtps_sm_wrentity_id_key, hf_rtps_sm_wrentity_id_kind,
+                        ett_rtps_wrentity, "writerEntityId", &wid);
   offset += 4;
 
   /* Checks for predefined declarations
@@ -4359,17 +3447,10 @@ static void dissect_DATA(tvbuff_t *tvb,
 
   /* If flag H is defined, read the HostId and AppId fields */
   if ((flags & FLAG_DATA_H) != 0) {
-    rtps_util_add_guid_prefix(tree,
-                        tvb,
-                        offset,
-                        hf_rtps_sm_guid_prefix,
-                        hf_rtps_sm_host_id,
-                        hf_rtps_sm_app_id,
-                        hf_rtps_sm_instance_id,
-                        hf_rtps_sm_app_kind,
-                        "keyHashPrefix",
-                        NULL,
-                        0);
+    rtps_util_add_guid_prefix(tree, tvb, offset,
+                        hf_rtps_sm_guid_prefix, hf_rtps_sm_host_id, hf_rtps_sm_app_id,
+                        hf_rtps_sm_instance_id, hf_rtps_sm_app_kind,
+                        "keyHashPrefix");
 
     offset += 8;
   } else {
@@ -4398,23 +3479,15 @@ static void dissect_DATA(tvbuff_t *tvb,
 
   /* InlineQos */
   if ((flags & FLAG_DATA_Q) != 0) {
-    offset = dissect_parameter_sequence(tree,
-                        tvb,
-                        offset,
-                        little_endian,
-                        octets_to_next_header,
-                        "inlineQos");
+    offset = dissect_parameter_sequence(tree, pinfo, tvb, offset,
+                        little_endian, octets_to_next_header, "inlineQos");
   }
 
   /* SerializedData */
   if ((flags & FLAG_DATA_D) != 0) {
     if (is_builtin_entity) {
-      offset = dissect_parameter_sequence(tree,
-                        tvb,
-                        offset,
-                        little_endian,
-                        octets_to_next_header,
-                        "serializedData");
+      offset = dissect_parameter_sequence(tree, pinfo, tvb, offset,
+                        little_endian, octets_to_next_header, "serializedData");
     } else {
       proto_tree_add_item(tree,
                         hf_rtps_issue_data,
@@ -4542,12 +3615,8 @@ static void dissect_NOKEY_DATA(tvbuff_t *tvb,
 
   /* Parameters */
   if ((flags & FLAG_NOKEY_DATA_Q) != 0) {
-    offset = dissect_parameter_sequence(tree,
-                        tvb,
-                        offset,
-                        little_endian,
-                        octets_to_next_header,
-                        "inlineQos");
+    offset = dissect_parameter_sequence(tree, pinfo, tvb, offset,
+                        little_endian, octets_to_next_header, "inlineQos");
 
   }
 
@@ -4663,16 +3732,7 @@ static void dissect_ACKNACK(tvbuff_t *tvb,
    */
   if (offset + 4 == original_offset + octets_to_next_header) {
     /* Count is present */
-    rtps_util_add_long(tree,
-                  tvb,
-                  offset,
-                  -1,
-                  little_endian,
-                  FALSE,        /* Is Hex ? */
-                  TRUE,         /* Is Signed ? */
-                  "counter",    /* No Label, use the protocol item ID */
-                  NULL,
-                  0);
+    proto_tree_add_item(tree, hf_rtps_acknack_counter, tvb, offset, 4, little_endian ? ENC_LITTLE_ENDIAN : ENC_BIG_ENDIAN);
   } else if (offset < original_offset + octets_to_next_header) {
     /* In this case there must be something wrong in the bitmap: there
      * are some extra bytes that we don't know how to decode
@@ -4882,27 +3942,15 @@ static void dissect_GAP(tvbuff_t *tvb,
   offset += 4;
 
   /* readerEntityId */
-  rtps_util_add_entity_id(tree,
-                        tvb,
-                        offset,
-                        hf_rtps_sm_rdentity_id,
-                        hf_rtps_sm_rdentity_id_key,
-                        hf_rtps_sm_rdentity_id_kind,
-                        ett_rtps_rdentity,
-                        "readerEntityId",
-                        NULL);
+  rtps_util_add_entity_id(tree, tvb, offset,
+                        hf_rtps_sm_rdentity_id, hf_rtps_sm_rdentity_id_key, hf_rtps_sm_rdentity_id_kind,
+                        ett_rtps_rdentity, "readerEntityId", NULL);
   offset += 4;
 
   /* writerEntityId */
-  rtps_util_add_entity_id(tree,
-                        tvb,
-                        offset,
-                        hf_rtps_sm_wrentity_id,
-                        hf_rtps_sm_wrentity_id_key,
-                        hf_rtps_sm_wrentity_id_kind,
-                        ett_rtps_wrentity,
-                        "writerEntityId",
-                        NULL);
+  rtps_util_add_entity_id(tree, tvb, offset,
+                        hf_rtps_sm_wrentity_id, hf_rtps_sm_wrentity_id_key, hf_rtps_sm_wrentity_id_kind,
+                        ett_rtps_wrentity, "writerEntityId", NULL);
   offset += 4;
 
 
@@ -4926,7 +3974,7 @@ static void dissect_GAP(tvbuff_t *tvb,
 /* *********************************************************************** */
 /* *                           I N F O _ T S                             * */
 /* *********************************************************************** */
-static void dissect_INFO_TS(tvbuff_t *tvb,
+void dissect_INFO_TS(tvbuff_t *tvb,
                 packet_info *pinfo,
                 gint offset,
                 guint8 flags,
@@ -4981,9 +4029,7 @@ static void dissect_INFO_TS(tvbuff_t *tvb,
                         tvb,
                         offset,
                         little_endian,
-                        "timestamp",
-                        NULL,
-                        0);
+                        hf_rtps_info_ts_timestamp);
   }
 }
 
@@ -4991,7 +4037,7 @@ static void dissect_INFO_TS(tvbuff_t *tvb,
 /* *********************************************************************** */
 /* *                           I N F O _ S R C                           * */
 /* *********************************************************************** */
-static void dissect_INFO_SRC(tvbuff_t *tvb,
+void dissect_INFO_SRC(tvbuff_t *tvb,
                 packet_info *pinfo,
                 gint offset,
                 guint8 flags,
@@ -5027,6 +4073,8 @@ static void dissect_INFO_SRC(tvbuff_t *tvb,
    * +---------------+---------------+---------------+---------------+
    */
   proto_item* octet_item;
+  guint32 ip;
+  guint16 version;
 
   rtps_util_decode_flags(tree, tvb, offset + 1, flags, INFO_SRC_FLAGS);
 
@@ -5044,89 +4092,29 @@ static void dissect_INFO_SRC(tvbuff_t *tvb,
 
   offset += 4;
 
-  /* Ip Address */
-  {
-    guint32 ip = NEXT_guint32(tvb, offset, little_endian);
-    proto_tree_add_text(tree,
-                        tvb,
-                        offset,
-                        4,
-                        "unused: 0x%08x (appIpAddress: %d.%d.%d.%d)",
-                        ip,
-                        (ip >> 24) & 0xff,
-                        (ip >> 16) & 0xff,
-                        (ip >> 8) & 0xff,
-                        ip & 0xff);
-    offset += 4;
+  ip = NEXT_guint32(tvb, offset, little_endian);
+
+  /* Use version field to determine what to display */
+  version = tvb_get_ntohs(tvb, offset+4);
+  if (version < 0x102) {
+    octet_item = proto_tree_add_ipv4(tree, hf_rtps_info_src_ip, tvb, offset, 4, ip);
+  } else {
+    octet_item = proto_tree_add_uint(tree, hf_rtps_info_src_unused, tvb, offset, 4, ip);
   }
 
-  /* Version */
-  {
-    guint8 major = 0;
-    guint8 minor = 0;
-    major = tvb_get_guint8(tvb, offset);
-    minor = tvb_get_guint8(tvb, offset+1);
+  offset += 4;
 
-    proto_tree_add_text(tree,
-                        tvb,
-                        offset,
-                        2,
-                        "version: %d.%d",
-                        major,
-                        minor);
-    offset += 2;
-  }
+  rtps_util_add_protocol_version(tree, tvb, offset);
+  offset += 2;
 
   /* Vendor ID */
-  {
-    guint8 vendor[MAX_VENDOR_ID_SIZE];
-    rtps_util_add_vendor_id(NULL,
-                        tvb,
-                        offset,
-                        vendor,
-                        MAX_VENDOR_ID_SIZE);
-    proto_tree_add_text(tree,
-                        tvb,
-                        offset,
-                        2,
-                        "vendor: %s",
-                        vendor);
-    offset += 2;
-  }
-
-  {
-    /* guint8 temp_buffer[MAX_GUID_PREFIX_SIZE]; */
-    rtps_util_add_guid_prefix(tree,
-                        tvb,
-                        offset,
-                        hf_rtps_sm_guid_prefix,
-                        hf_rtps_sm_host_id,
-                        hf_rtps_sm_app_id,
-                        hf_rtps_sm_instance_id,
-                        hf_rtps_sm_app_kind,
-                        NULL,   /* Use default 'guidPrefix' */
-                        NULL,
-                        0);
-#if 0
-    rtps_util_add_guid_prefix(tree,
-                        tvb,
-                        offset,
-                        hf_rtps_sm_guid_prefix,
-                        hf_rtps_sm_host_id,
-                        hf_rtps_sm_app_id,
-                        hf_rtps_sm_instance_id,
-                        hf_rtps_sm_app_kind,
-                        NULL,   /* Use default 'guidPrefix' */
-                        &temp_buffer[0],
-                        MAX_GUID_PREFIX_SIZE);
-    proto_tree_add_text(tree,
-                        tvb,
-                        offset,
-                        8,
-                        temp_buffer);
-#endif
-  }
+  rtps_util_add_vendor_id(NULL, tvb, offset);
+  offset += 2;
 
+  rtps_util_add_guid_prefix(tree, tvb, offset,
+                        hf_rtps_sm_guid_prefix, hf_rtps_sm_host_id, hf_rtps_sm_app_id,
+                        hf_rtps_sm_instance_id, hf_rtps_sm_app_kind,
+                        NULL);   /* Use default 'guidPrefix' */
 }
 
 
@@ -5192,21 +4180,15 @@ static void dissect_INFO_REPLY_IP4(tvbuff_t *tvb,
 
 
   /* unicastReplyLocator */
-  rtps_util_add_locator_udp_v4(tree,
-                        tvb,
-                        offset,
-                        "unicastReplyLocator",
-                        little_endian);
+  rtps_util_add_locator_udp_v4(tree, pinfo, tvb, offset,
+                        "unicastReplyLocator", little_endian);
 
   offset += 8;
 
   /* multicastReplyLocator */
   if ((flags & FLAG_INFO_REPLY_IP4_M) != 0) {
-    rtps_util_add_locator_udp_v4(tree,
-                        tvb,
-                        offset,
-                        "multicastReplyLocator",
-                        little_endian);
+    rtps_util_add_locator_udp_v4(tree, pinfo, tvb, offset,
+                        "multicastReplyLocator", little_endian);
     offset += 8;
   }
 }
@@ -5259,17 +4241,10 @@ static void dissect_INFO_DST(tvbuff_t *tvb,
 
   offset += 4;
 
-  rtps_util_add_guid_prefix(tree,
-                        tvb,
-                        offset,
-                        hf_rtps_sm_guid_prefix,
-                        hf_rtps_sm_host_id,
-                        hf_rtps_sm_app_id,
-                        hf_rtps_sm_instance_id,
-                        hf_rtps_sm_app_kind,
-                        NULL,
-                        NULL,
-                        0);
+  rtps_util_add_guid_prefix(tree, tvb, offset,
+                        hf_rtps_sm_guid_prefix, hf_rtps_sm_host_id, hf_rtps_sm_app_id,
+                        hf_rtps_sm_instance_id, hf_rtps_sm_app_kind,
+                        NULL);
 }
 
 
@@ -5325,21 +4300,12 @@ static void dissect_INFO_REPLY(tvbuff_t *tvb,
   offset += 4;
 
   /* unicastReplyLocatorList */
-  rtps_util_add_locator_list(tree,
-                        tvb,
-                        offset,
-                        "unicastReplyLocatorList",
-                        little_endian);
-
+  rtps_util_add_locator_list(tree, pinfo, tvb, offset, "unicastReplyLocatorList", little_endian);
   offset += 8;
 
   /* multicastReplyLocatorList */
   if ((flags & FLAG_INFO_REPLY_M) != 0) {
-    rtps_util_add_locator_list(tree,
-                        tvb,
-                        offset,
-                        "multicastReplyLocatorList",
-                        little_endian);
+    rtps_util_add_locator_list(tree, pinfo, tvb, offset, "multicastReplyLocatorList", little_endian);
     offset += 8;
   }
 }
@@ -5356,14 +4322,11 @@ static gboolean dissect_rtps(tvbuff_t *tvb,
                         proto_tree *tree,
                         void *data _U_) 
 {
-  proto_item       *ti = NULL;
-  proto_tree       *rtps_tree=NULL;
+  proto_item       *ti;
+  proto_tree       *rtps_tree, *rtps_submessage_tree;
   gint             offset = 0;
-  proto_tree       *rtps_submessage_tree;
-  guint8           submessageId;
-  guint8           flags;
-  gboolean         little_endian;
-  gboolean         is_ping = FALSE;
+  guint8           submessageId, flags;
+  gboolean         little_endian, is_ping;
   gint             next_submsg, octects_to_next_header;
   const gboolean is_tcp = (pinfo->ptype == PT_TCP);
 
@@ -5383,96 +4346,49 @@ static gboolean dissect_rtps(tvbuff_t *tvb,
   /* Distinguish between RTPS 1.x and 2.x here */
   if (tvb_get_guint8(tvb,offset+4) != 1) return FALSE;
 
-  /* --- Make entries in Protocol column ---*/
   col_set_str(pinfo->cinfo, COL_PROTOCOL, "RTPS");
-
   col_clear(pinfo->cinfo, COL_INFO);
 
+  /* create display subtree for the protocol */
+  ti = proto_tree_add_item(tree, proto_rtps, tvb, 0, -1, ENC_NA);
+  rtps_tree = proto_item_add_subtree(ti, ett_rtps);
 
-  if (tree) {
-    guint8 nddsPing[8];
-    /* create display subtree for the protocol */
-    ti = proto_tree_add_item(tree, proto_rtps, tvb, 0, -1, ENC_NA);
-    rtps_tree = proto_item_add_subtree(ti, ett_rtps);
-
-    /*  Protocol Version */
-    rtps_util_add_protocol_version(rtps_tree, tvb, offset+4);
-
-    /*  Vendor Id  */
-    rtps_util_add_vendor_id(rtps_tree, tvb, offset+6, NULL, 0);
-
-    tvb_memcpy(tvb, nddsPing, offset+8, 8);
-    if (nddsPing[0] == 'N' &&
-        nddsPing[1] == 'D' &&
-        nddsPing[2] == 'D' &&
-        nddsPing[3] == 'S' &&
-        nddsPing[4] == 'P' &&
-        nddsPing[5] == 'I' &&
-        nddsPing[6] == 'N' &&
-        nddsPing[7] == 'G') {
-      is_ping = TRUE;
-    }
+  /*  Protocol Version */
+  rtps_util_add_protocol_version(rtps_tree, tvb, offset+4);
 
-    if (!is_ping) {
-      rtps_util_add_guid_prefix(rtps_tree,
-                        tvb,
-                        offset+8,
-                        hf_rtps_guid_prefix,
-                        hf_rtps_host_id,
-                        hf_rtps_app_id,
-                        hf_rtps_app_id_instance_id,
-                        hf_rtps_app_id_app_kind,
-                        NULL,
-                        NULL,
-                        0);
-    }
-  }
+  /*  Vendor Id  */
+  rtps_util_add_vendor_id(rtps_tree, tvb, offset+6);
 
-  if (is_ping)
-      col_add_str(pinfo->cinfo, COL_INFO, "PING");
+  is_ping = rtps_is_ping(tvb, pinfo, offset+8);
+
+  if (!is_ping)
+    rtps_util_add_guid_prefix(rtps_tree, tvb, offset+8,
+                        hf_rtps_guid_prefix, hf_rtps_host_id, hf_rtps_app_id,
+                        hf_rtps_app_id_instance_id, hf_rtps_app_id_app_kind, NULL);
 
   /* Extract the domain id and participant index */
   {
-    int domain_id;
-    int participant_idx;
-    int nature;
-    proto_item *ti2;
+    int domain_id, participant_idx, nature;
     proto_tree *mapping_tree;
 
     domain_id = ((pinfo->destport - PORT_BASE)/10) % 100;
     participant_idx = (pinfo->destport - PORT_BASE) / 1000;
     nature    = (pinfo->destport % 10);
 
-    ti2 = proto_tree_add_text(rtps_tree,
-                        tvb,
-                        0,
-                        4,
+    ti = proto_tree_add_text(rtps_tree, tvb, 0, 0,
                         "Default port mapping: domainId=%d, "
                         "participantIdx=%d, nature=%s",
                         domain_id,
                         participant_idx,
                         val_to_str(nature, nature_type_vals, "%02x"));
 
-    mapping_tree = proto_item_add_subtree(ti2, ett_rtps_default_mapping);
-    proto_tree_add_uint(mapping_tree,
-                        hf_rtps_domain_id,
-                        tvb,
-                        0,
-                        4,
-                        domain_id);
-    proto_tree_add_uint(mapping_tree,
-                        hf_rtps_participant_idx,
-                        tvb,
-                        0,
-                        4,
-                        participant_idx);
-    proto_tree_add_uint(mapping_tree,
-                        hf_rtps_nature_type,
-                        tvb,
-                        0,
-                        4,
-                        nature);
-
+    mapping_tree = proto_item_add_subtree(ti, ett_rtps_default_mapping);
+    ti = proto_tree_add_uint(mapping_tree, hf_rtps_domain_id, tvb, 0, 0, domain_id);
+    PROTO_ITEM_SET_GENERATED(ti);
+    ti = proto_tree_add_uint(mapping_tree, hf_rtps_participant_idx, tvb, 0, 0, participant_idx);
+    PROTO_ITEM_SET_GENERATED(ti);
+    ti = proto_tree_add_uint(mapping_tree, hf_rtps_nature_type, tvb, 0, 0, nature);
+    PROTO_ITEM_SET_GENERATED(ti);
   }
 
   /* offset behind RTPS's Header (need to be set in case tree=NULL)*/
@@ -5486,39 +4402,21 @@ static gboolean dissect_rtps(tvbuff_t *tvb,
 
     /* Creates the subtree 'Submessage: XXXX' */
     if (submessageId & 0x80) {
-      ti = proto_tree_add_text(rtps_tree,
-                              tvb,
-                              offset,
-                              -1,
-                              "Submessage: %s",
-                              val_to_str(submessageId, submessage_id_vals,
-                                    "Vendor-specific (0x%02x)"));
-    } else {
-      ti = proto_tree_add_text(rtps_tree,
-                              tvb,
-                              offset,
-                              -1,
-                              "Submessage: %s",
-                              val_to_str(submessageId, submessage_id_vals,
-                                        "Unknown (0x%02x)"));
-    }
-    rtps_submessage_tree = proto_item_add_subtree(ti, ett_rtps_submessage);
-
-    /* Decode the submessage ID */
-    if (submessageId & 0x80) {
-      proto_tree_add_uint_format(rtps_submessage_tree,
+      ti = proto_tree_add_uint_format_value(rtps_tree,
                               hf_rtps_sm_id,
                               tvb,
                               offset,
                               1,
                               submessageId,
-                              "submessageId: Vendor-specific (0x%02x)",
+                              "Vendor-specific (0x%02x)",
                               submessageId);
     } else {
-      proto_tree_add_uint(rtps_submessage_tree, hf_rtps_sm_id,
+      ti = proto_tree_add_uint(rtps_tree, hf_rtps_sm_id,
                         tvb, offset, 1, submessageId);
     }
 
+    rtps_submessage_tree = proto_item_add_subtree(ti, ett_rtps_submessage);
+
     /* Gets the flags */
     flags = tvb_get_guint8(tvb, offset + 1);
 
@@ -5542,114 +4440,47 @@ static gboolean dissect_rtps(tvbuff_t *tvb,
     switch (submessageId)
     {
       case PAD:
-        dissect_PAD(tvb,
-                        pinfo,
-                        offset,
-                        flags,
-                        little_endian,
-                        octects_to_next_header,
-                        rtps_submessage_tree);
+        dissect_PAD(tvb, pinfo, offset, flags, little_endian, octects_to_next_header, rtps_submessage_tree);
         break;
 
       case DATA:
-        dissect_DATA(tvb,
-                        pinfo,
-                        offset,
-                        flags,
-                        little_endian,
-                        octects_to_next_header,
-                        rtps_submessage_tree);
+        dissect_DATA(tvb, pinfo, offset, flags, little_endian, octects_to_next_header, rtps_submessage_tree);
         break;
 
       case NOKEY_DATA:
-        dissect_NOKEY_DATA(tvb,
-                        pinfo,
-                        offset,
-                        flags,
-                        little_endian,
-                        octects_to_next_header,
-                        rtps_submessage_tree);
+        dissect_NOKEY_DATA(tvb, pinfo, offset, flags, little_endian, octects_to_next_header, rtps_submessage_tree);
         break;
 
       case ACKNACK:
-        dissect_ACKNACK(tvb,
-                        pinfo,
-                        offset,
-                        flags,
-                        little_endian,
-                        octects_to_next_header,
-                        rtps_submessage_tree,
-                        ti);
+        dissect_ACKNACK(tvb, pinfo, offset, flags, little_endian, octects_to_next_header, rtps_submessage_tree, ti);
         break;
 
       case HEARTBEAT:
-        dissect_HEARTBEAT(tvb,
-                        pinfo,
-                        offset,
-                        flags,
-                        little_endian,
-                        octects_to_next_header,
-                        rtps_submessage_tree);
+        dissect_HEARTBEAT(tvb, pinfo, offset, flags, little_endian, octects_to_next_header, rtps_submessage_tree);
         break;
 
       case GAP:
-        dissect_GAP(tvb,
-                        pinfo,
-                        offset,
-                        flags,
-                        little_endian,
-                        octects_to_next_header,
-                        rtps_submessage_tree);
+        dissect_GAP(tvb, pinfo, offset, flags, little_endian, octects_to_next_header, rtps_submessage_tree);
         break;
 
       case INFO_TS:
-         dissect_INFO_TS(tvb,
-                        pinfo,
-                        offset,
-                        flags,
-                        little_endian,
-                        octects_to_next_header,
-                        rtps_submessage_tree);
+        dissect_INFO_TS(tvb, pinfo, offset, flags, little_endian, octects_to_next_header, rtps_submessage_tree);
         break;
 
       case INFO_SRC:
-        dissect_INFO_SRC(tvb,
-                        pinfo,
-                        offset,
-                        flags,
-                        little_endian,
-                        octects_to_next_header,
-                        rtps_submessage_tree);
+        dissect_INFO_SRC(tvb, pinfo, offset, flags, little_endian, octects_to_next_header, rtps_submessage_tree);
         break;
 
       case INFO_REPLY_IP4:
-        dissect_INFO_REPLY_IP4(tvb,
-                        pinfo,
-                        offset,
-                        flags,
-                        little_endian,
-                        octects_to_next_header,
-                        rtps_submessage_tree);
+        dissect_INFO_REPLY_IP4(tvb, pinfo, offset, flags, little_endian, octects_to_next_header, rtps_submessage_tree);
         break;
 
       case INFO_DST:
-        dissect_INFO_DST(tvb,
-                        pinfo,
-                        offset,
-                        flags,
-                        little_endian,
-                        octects_to_next_header,
-                        rtps_submessage_tree);
+        dissect_INFO_DST(tvb, pinfo, offset, flags, little_endian, octects_to_next_header, rtps_submessage_tree);
         break;
 
       case INFO_REPLY:
-        dissect_INFO_REPLY(tvb,
-                        pinfo,
-                        offset,
-                        flags,
-                        little_endian,
-                        octects_to_next_header,
-                        rtps_submessage_tree);
+        dissect_INFO_REPLY(tvb, pinfo, offset, flags, little_endian, octects_to_next_header, rtps_submessage_tree);
         break;
 
       default:
@@ -5674,40 +4505,16 @@ static gboolean dissect_rtps(tvbuff_t *tvb,
 }  /* dissect_rtps(...) */
 
 
-
-
-
-/***************************************************************************
- * Register the protocol with Wireshark
- * ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
- */
 void proto_register_rtps(void) {
 
-  /* Definition of the protocol tree items:
-   * This section declares all the protocol items that are parsed in the
-   * dissectors.
-   * Structure of each element:
-   *  {
-   *    item_id,  {
-   *        name,      // As appears in the GUI tree
-   *        abbrev,    // Referenced by filters (rtps.xxxx[.yyyy])
-   *        type,      // FT_BOOLEAN, FT_UINT8, ...
-   *        display,   // BASE_HEX | BASE_DEC | BASE_OCT or other meanings
-   *        strings,   // String table (for enums) or NULL
-   *        bitmask,   // only for bitfields
-   *        blurb,     // Complete description of this item
-   *        HFILL
-   *    }
-   *  }
-   */
   static hf_register_info hf[] = {
 
     /* Protocol Version (composed as major.minor) -------------------------- */
     { &hf_rtps_protocol_version, {
         "version",
         "rtps.version",
-        FT_NONE,
-        BASE_NONE,
+        FT_UINT16,
+        BASE_HEX,
         NULL,
         0,
         "RTPS protocol version number",
@@ -5783,8 +4590,8 @@ void proto_register_rtps(void) {
     { &hf_rtps_guid_prefix, {
         "guidPrefix",
         "rtps.guidPrefix",
-        FT_BYTES,
-        BASE_NONE,
+        FT_UINT64,
+        BASE_HEX,
         NULL,
         0,
         "GuidPrefix of the RTPS packet",
@@ -5877,8 +4684,8 @@ void proto_register_rtps(void) {
     { &hf_rtps_sm_guid_prefix, {
         "guidPrefix",
         "rtps.sm.guidPrefix",
-        FT_BYTES,
-        BASE_NONE,
+        FT_UINT64,
+        BASE_HEX,
         NULL,
         0,
         "a generic guidPrefix that is transmitted inside the submessage (this is NOT the guidPrefix described in the packet header",
@@ -6036,6 +4843,28 @@ void proto_register_rtps(void) {
         HFILL }
     },
 
+    { &hf_rtps_info_src_ip, {
+        "appIpAddress",
+        "rtps.info_src.ip",
+        FT_IPv4,
+        BASE_NONE,
+        NULL,
+        0,
+        NULL,
+        HFILL }
+    },
+
+    { &hf_rtps_info_src_unused, {
+        "Unused",
+        "rtps.info_src.unused",
+        FT_UINT32,
+        BASE_HEX,
+        NULL,
+        0,
+        NULL,
+        HFILL }
+    },
+
     /* Parameter Id -------------------------------------------------------- */
     { &hf_rtps_parameter_id, {
         "parameterId",
@@ -6060,39 +4889,6 @@ void proto_register_rtps(void) {
         HFILL }
     },
 
-    /* Parameter / NtpTime ------------------------------------------------- */
-    { &hf_rtps_param_ntpt, {
-        "ntpTime",
-        "rtps.param.ntpTime",
-        FT_NONE,
-        BASE_NONE,
-        NULL,
-        0,
-        "Time using the NTP standard format",
-        HFILL }
-    },
-    { &hf_rtps_param_ntpt_sec, {
-        "seconds",
-        "rtps.param.ntpTime.sec",
-        FT_INT32,
-        BASE_DEC,
-        NULL,
-        0,
-        "The 'second' component of a NTP time",
-        HFILL }
-    },
-    { &hf_rtps_param_ntpt_fraction, {
-        "fraction",
-        "rtps.param.ntpTime.fraction",
-        FT_UINT32,
-        BASE_DEC,
-        NULL,
-        0,
-        "The 'fraction' component of a NTP time",
-        HFILL }
-    },
-
-
     /* Parameter / Topic --------------------------------------------------- */
     { &hf_rtps_param_topic_name, {
         "topic",
@@ -6198,6 +4994,275 @@ void proto_register_rtps(void) {
         HFILL }
     },
 
+    { &hf_rtps_durability_service_cleanup_delay, 
+      { "Service Cleanup Delay", "rtps.durability.service_cleanup_delay",
+        FT_ABSOLUTE_TIME, ABSOLUTE_TIME_UTC, NULL, 0,
+        "Time using the NTP standard format", HFILL }
+    },
+
+    { &hf_rtps_liveliness_lease_duration, 
+      { "Lease Duration", "rtps.liveliness.lease_duration",
+        FT_ABSOLUTE_TIME, ABSOLUTE_TIME_UTC, NULL, 0,
+        "Time using the NTP standard format", HFILL }
+    },
+
+    { &hf_rtps_participant_lease_duration, 
+      { "Duration", "rtps.participant_lease_duration",
+        FT_ABSOLUTE_TIME, ABSOLUTE_TIME_UTC, NULL, 0,
+        "Time using the NTP standard format", HFILL }
+    },
+
+    { &hf_rtps_time_based_filter_minimum_separation, 
+      { "Minimum Separation", "rtps.time_based_filter.minimum_separation",
+        FT_ABSOLUTE_TIME, ABSOLUTE_TIME_UTC, NULL, 0,
+        "Time using the NTP standard format", HFILL }
+    },
+
+    { &hf_rtps_reliability_max_blocking_time, 
+      { "Max Blocking Time", "rtps.reliability.max_blocking_time",
+        FT_ABSOLUTE_TIME, ABSOLUTE_TIME_UTC, NULL, 0,
+        "Time using the NTP standard format", HFILL }
+    },
+
+    { &hf_rtps_deadline_period, 
+      { "Period", "rtps.deadline_period",
+        FT_ABSOLUTE_TIME, ABSOLUTE_TIME_UTC, NULL, 0,
+        "Time using the NTP standard format", HFILL }
+    },
+
+    { &hf_rtps_latency_budget_duration, 
+      { "Duration", "rtps.latency_budget.duration",
+        FT_ABSOLUTE_TIME, ABSOLUTE_TIME_UTC, NULL, 0,
+        "Time using the NTP standard format", HFILL }
+    },
+
+    { &hf_rtps_lifespan_duration, 
+      { "Duration", "rtps.lifespan",
+        FT_ABSOLUTE_TIME, ABSOLUTE_TIME_UTC, NULL, 0,
+        "Time using the NTP standard format", HFILL }
+    },
+
+    { &hf_rtps_persistence, 
+      { "Persistence", "rtps.persistence",
+        FT_ABSOLUTE_TIME, ABSOLUTE_TIME_UTC, NULL, 0,
+        "Time using the NTP standard format", HFILL }
+    },
+
+    { &hf_rtps_info_ts_timestamp, 
+      { "Timestamp", "rtps.info_ts.timestamp",
+        FT_ABSOLUTE_TIME, ABSOLUTE_TIME_UTC, NULL, 0,
+        "Time using the NTP standard format", HFILL }
+    },
+
+    { &hf_rtps_locator_kind, 
+      { "Kind", "rtps.locator.kind",
+        FT_UINT32, BASE_HEX, VALS(rtps_locator_kind_vals), 0,
+        NULL, HFILL }
+    },
+
+    { &hf_rtps_locator_port, 
+      { "Port", "rtps.locator.port",
+        FT_INT32, BASE_DEC, NULL, 0,
+        NULL, HFILL }
+    },
+
+    { &hf_rtps_locator_ipv4, 
+      { "Address", "rtps.locator.ipv4",
+        FT_IPv4, BASE_NONE, NULL, 0,
+        NULL, HFILL }
+    },
+
+    { &hf_rtps_locator_ipv6, 
+      { "Address", "rtps.locator.ipv6",
+        FT_IPv6, BASE_NONE, NULL, 0,
+        NULL, HFILL }
+    },
+
+    { &hf_rtps_participant_builtin_endpoints, 
+      { "BuiltIn Endpoint", "rtps.participant_builtin_endpoints",
+        FT_UINT32, BASE_HEX, NULL, 0,
+        NULL, HFILL }
+    },
+
+    { &hf_rtps_participant_manual_liveliness_count, 
+      { "Manual Liveliness Count", "rtps.participant_manual_liveliness_count",
+        FT_UINT32, BASE_HEX, NULL, 0,
+        NULL, HFILL }
+    },
+
+    { &hf_rtps_history_depth, 
+      { "Depth", "rtps.history_depth",
+        FT_INT32, BASE_DEC, NULL, 0,
+        NULL, HFILL }
+    },
+
+    { &hf_rtps_resource_limit_max_samples, 
+      { "Max Samples", "rtps.resource_limit.max_samples",
+        FT_INT32, BASE_DEC, NULL, 0,
+        NULL, HFILL }
+    },
+
+    { &hf_rtps_resource_limit_max_instances, 
+      { "Max Instances", "rtps.resource_limit.max_instances",
+        FT_INT32, BASE_DEC, NULL, 0,
+        NULL, HFILL }
+    },
+
+    { &hf_rtps_resource_limit_max_samples_per_instances, 
+      { "Max Samples Per Instance", "rtps.resource_limit.max_samples_per_instance",
+        FT_INT32, BASE_DEC, NULL, 0,
+        NULL, HFILL }
+    },
+
+    { &hf_rtps_filter_bitmap, 
+      { "Filter Bitmap", "rtps.filter_bitmap",
+        FT_UINT32, BASE_HEX, NULL, 0,
+        NULL, HFILL }
+    },
+
+    { &hf_rtps_type_checksum, 
+      { "Checksum", "rtps.type_checksum",
+        FT_UINT32, BASE_HEX, NULL, 0,
+        NULL, HFILL }
+    },
+
+    { &hf_rtps_queue_size, 
+      { "queueSize", "rtps.queue_size",
+        FT_UINT32, BASE_HEX, NULL, 0,
+        NULL, HFILL }
+    },
+
+    { &hf_rtps_acknack_counter, 
+      { "Counter", "rtps.acknack.counter",
+        FT_INT32, BASE_DEC, NULL, 0,
+        NULL, HFILL }
+    },
+
+    { &hf_rtps_durability_service_history_kind, 
+      { "History Kind", "rtps.durability_service.history_kind",
+        FT_UINT32, BASE_HEX, VALS(history_qos_vals), 0,
+        NULL, HFILL }
+    },
+
+    { &hf_rtps_durability_service_history_depth, 
+      { "History Depth", "rtps.durability_service.history_depth",
+        FT_INT32, BASE_DEC, NULL, 0,
+        NULL, HFILL }
+    },
+
+    { &hf_rtps_durability_service_max_samples, 
+      { "Max Samples", "rtps.durability_service.max_samples",
+        FT_INT32, BASE_DEC, NULL, 0,
+        NULL, HFILL }
+    },
+
+    { &hf_rtps_durability_service_max_instances, 
+      { "Max Instances", "rtps.durability_service.max_instances",
+        FT_INT32, BASE_DEC, NULL, 0,
+        NULL, HFILL }
+    },
+
+    { &hf_rtps_durability_service_max_samples_per_instances, 
+      { "Max Samples Per Instance", "rtps.durability_service.max_samples_per_instance",
+        FT_INT32, BASE_DEC, NULL, 0,
+        NULL, HFILL }
+    },
+
+    { &hf_rtps_liveliness_kind, 
+      { "Kind", "rtps.liveliness.kind",
+        FT_UINT32, BASE_HEX, VALS(liveliness_qos_vals), 0,
+        NULL, HFILL }
+    },
+
+    { &hf_rtps_manager_key, 
+      { "Key", "rtps.manager_key",
+        FT_UINT32, BASE_HEX, NULL, 0,
+        NULL, HFILL }
+    },
+
+    { &hf_rtps_locator_udp_v4, 
+      { "Address", "rtps.locator_udp_v4.ip",
+        FT_IPv4, BASE_NONE, NULL, 0,
+        NULL, HFILL }
+    },
+
+    { &hf_rtps_locator_udp_v4_port, 
+      { "Port", "rtps.locator_udp_v4.port",
+        FT_UINT32, BASE_HEX, NULL, 0,
+        NULL, HFILL }
+    },
+
+    { &hf_param_ip_address, 
+      { "Address", "rtps.param.ip_address",
+        FT_IPv4, BASE_NONE, NULL, 0,
+        NULL, HFILL }
+    },
+
+    { &hf_rtps_param_port, 
+      { "Port", "rtps.param.port",
+        FT_UINT32, BASE_HEX, NULL, 0,
+        NULL, HFILL }
+    },
+
+    { &hf_rtps_expects_inline_qos, 
+      { "Inline QoS", "rtps.expects_inline_qos",
+        FT_BOOLEAN, 8, TFS(&tfs_true_false), 0,
+        NULL, HFILL }
+    },
+
+    { &hf_rtps_presentation_coherent_access, 
+      { "Coherent Access", "rtps.presentation.coherent_access",
+        FT_BOOLEAN, 8, TFS(&tfs_true_false), 0,
+        NULL, HFILL }
+    },
+
+    { &hf_rtps_presentation_ordered_access, 
+      { "Ordered Access", "rtps.presentation.ordered_access",
+        FT_BOOLEAN, 8, TFS(&tfs_true_false), 0,
+        NULL, HFILL }
+    },
+
+    { &hf_rtps_expects_ack, 
+      { "expectsAck", "rtps.expects_ack",
+        FT_BOOLEAN, 8, TFS(&tfs_true_false), 0,
+        NULL, HFILL }
+    },
+
+    { &hf_rtps_reliability_kind, 
+      { "Kind", "rtps.reliability_kind",
+        FT_UINT32, BASE_HEX, VALS(reliability_qos_vals), 0,
+        NULL, HFILL }
+    },
+
+    { &hf_rtps_durability, 
+      { "Durability", "rtps.durability",
+        FT_UINT32, BASE_HEX, VALS(durability_qos_vals), 0,
+        NULL, HFILL }
+    },
+
+    { &hf_rtps_ownership, 
+      { "Kind", "rtps.ownership",
+        FT_UINT32, BASE_HEX, VALS(ownership_qos_vals), 0,
+        NULL, HFILL }
+    },
+
+    { &hf_rtps_presentation_access_scope, 
+      { "Access Scope", "rtps.presentation.access_scope",
+        FT_UINT32, BASE_HEX, VALS(presentation_qos_vals), 0,
+        NULL, HFILL }
+    },
+
+    { &hf_rtps_destination_order, 
+      { "Kind", "rtps.destination_order",
+        FT_UINT32, BASE_HEX, VALS(destination_order_qos_vals), 0,
+        NULL, HFILL }
+    },
+
+    { &hf_rtps_history_kind, 
+      { "Kind", "rtps.history.kind",
+        FT_UINT32, BASE_HEX, VALS(history_qos_vals), 0,
+        NULL, HFILL }
+    },
 
     /* Finally the raw issue data ------------------------------------------ */
     { &hf_rtps_issue_data, {
@@ -6232,6 +5297,10 @@ void proto_register_rtps(void) {
     &ett_rtps_bitmap,
     &ett_rtps_seq_string,
     &ett_rtps_seq_ulong,
+    &ett_rtps_resource_limit,
+    &ett_rtps_durability_service,
+    &ett_rtps_liveliness,
+    &ett_rtps_manager_key
   };
 
   proto_rtps = proto_register_protocol(
diff --git a/epan/dissectors/packet-rtps.h b/epan/dissectors/packet-rtps.h
index 894d37c7a1..864d209133 100644
--- a/epan/dissectors/packet-rtps.h
+++ b/epan/dissectors/packet-rtps.h
@@ -59,7 +59,7 @@ extern "C" {
 
 
 typedef enum {
-    RTI_CDR_TK_NULL,
+    RTI_CDR_TK_NULL = 0,
     RTI_CDR_TK_SHORT,
     RTI_CDR_TK_LONG,
     RTI_CDR_TK_USHORT,
@@ -81,7 +81,8 @@ typedef enum {
     RTI_CDR_TK_LONGDOUBLE,
     RTI_CDR_TK_WCHAR,
     RTI_CDR_TK_WSTRING,
-    RTI_CDR_TK_VALUE
+    RTI_CDR_TK_VALUE,
+    RTI_CDR_TK_VALUE_PARARM
 } RTICdrTCKind;
 
 
@@ -146,10 +147,10 @@ typedef enum {
 #define PID_METATRAFFIC_MULTICAST_LOCATOR       (0x33)
 #define PID_PARTICIPANT_MANUAL_LIVELINESS_COUNT (0x34)
 #define PID_CONTENT_FILTER_PROPERTY             (0x35)
-#define PID_PROPERTY_LIST                       (0x36)
+#define PID_PROPERTY_LIST_OLD                   (0x36) /* For compatibility between 4.2d and 4.2e */
 #define PID_HISTORY                             (0x40)
 #define PID_RESOURCE_LIMIT                      (0x41)
-#define PID_DEFAULT_EXPECTS_INLINE_QOS          (0x43)
+#define PID_EXPECTS_INLINE_QOS                  (0x43)
 #define PID_PARTICIPANT_BUILTIN_ENDPOINTS       (0x44)
 #define PID_METATRAFFIC_UNICAST_IPADDRESS       (0x45)
 #define PID_METATRAFFIC_MULTICAST_PORT          (0x46)
@@ -162,14 +163,6 @@ typedef enum {
 #define PID_COHERENT_SET                        (0x56)
 
 /* The following QoS are deprecated */
-#define PID_RELIABILITY_OFFERED                 (0x19)
-#define PID_LIVELINESS_OFFERED                  (0x1c)
-#define PID_OWNERSHIP_OFFERED                   (0x20)
-#define PID_PRESENTATION_OFFERED                (0x22)
-#define PID_DEADLINE_OFFERED                    (0x24)
-#define PID_DESTINATION_ORDER_OFFERED           (0x26)
-#define PID_LATENCY_BUDGET_OFFERED              (0x28)
-#define PID_PARTITION_OFFERED                   (0x2a)
 #define PID_PERSISTENCE                         (0x03)
 #define PID_TYPE_CHECKSUM                       (0x08)
 #define PID_TYPE2_NAME                          (0x09)
@@ -178,9 +171,17 @@ typedef enum {
 #define PID_EXPECTS_ACK                         (0x10)
 #define PID_MANAGER_KEY                         (0x12)
 #define PID_SEND_QUEUE_SIZE                     (0x13)
+#define PID_RELIABILITY_ENABLED                 (0x14)
 #define PID_RECV_QUEUE_SIZE                     (0x18)
 #define PID_VARGAPPS_SEQUENCE_NUMBER_LAST       (0x17)
-#define PID_RELIABILITY_ENABLED                 (0x14)
+#define PID_RELIABILITY_OFFERED                 (0x19)
+#define PID_LIVELINESS_OFFERED                  (0x1c)
+#define PID_OWNERSHIP_OFFERED                   (0x20)
+#define PID_PRESENTATION_OFFERED                (0x22)
+#define PID_DEADLINE_OFFERED                    (0x24)
+#define PID_DESTINATION_ORDER_OFFERED           (0x26)
+#define PID_LATENCY_BUDGET_OFFERED              (0x28)
+#define PID_PARTITION_OFFERED                   (0x2a)
 
 /* appId.appKind possible values */
 #define APPKIND_UNKNOWN                         (0x00)
@@ -246,7 +247,7 @@ typedef enum {
  * Make sure the _STRING macro is bigger than a normal IP
  */
 #define IPADDRESS_INVALID               (0)
-#define IPADDRESS_INVALID_STRING        "ADDRESS_INVALID (0x00000000)"
+#define IPADDRESS_INVALID_STRING        "ADDRESS_INVALID"
 
 /* Identifies the value of an invalid port number:
  * Make sure the _STRING macro is bigger than a normal port
@@ -259,6 +260,9 @@ typedef enum {
 #define RTPS_VENDOR_UNKNOWN_STRING      "VENDOR_ID_UNKNOWN (0x0000)"
 #define RTPS_VENDOR_RTI                 (0x0101)
 #define RTPS_VENDOR_RTI_STRING          "Real-Time Innovations, Inc."
+#define RTPS_VENDOR_TOC                 (0x0106)
+#define RTPS_VENDOR_TOC_STRING          "Twin Oaks Computing, Inc."
+
 
 /* Parameter Liveliness */
 #define LIVELINESS_AUTOMATIC            (0)
@@ -298,10 +302,51 @@ typedef enum {
 #define BY_RECEPTION_TIMESTAMP          (0)
 #define BY_SOURCE_TIMESTAMP             (1)
 
-
-
-
-
+/* Utilities to add elements to the protocol tree for packet-rtps.h and packet-rtps2.h */
+extern guint16 rtps_util_add_protocol_version(proto_tree *tree, tvbuff_t* tvb, gint offset);
+extern void rtps_util_add_vendor_id(proto_tree *tree, tvbuff_t * tvb, gint offset);
+extern void rtps_util_add_locator_t(proto_tree *tree, packet_info *pinfo, tvbuff_t * tvb, gint offset,
+                             gboolean little_endian, const guint8 * label);
+extern int rtps_util_add_locator_list(proto_tree *tree, packet_info *pinfo, tvbuff_t * tvb,
+                                gint offset, const guint8* label, gboolean little_endian);
+extern void rtps_util_add_ipv4_address_t(proto_tree *tree, packet_info *pinfo, tvbuff_t * tvb, gint offset,
+                                         gboolean little_endian, int hf_item);
+extern void rtps_util_add_locator_udp_v4(proto_tree *tree, packet_info *pinfo, tvbuff_t * tvb,
+                                  gint offset, const guint8 * label, gboolean little_endian);
+extern int rtps_util_add_entity_id(proto_tree *tree, tvbuff_t * tvb, gint offset,
+                            int hf_item, int hf_item_entity_key, int hf_item_entity_kind,
+                            int subtree_entity_id, const char *label, guint32* entity_id_out);
+extern void rtps_util_add_generic_entity_id(proto_tree *, tvbuff_t *,
+                        gint, const char *,
+                        guint8 *, gint);
+extern guint64 rtps_util_add_seq_number(proto_tree *, tvbuff_t *,
+                        gint, int, const char *);
+extern void rtps_util_add_ntp_time(proto_tree *tree, tvbuff_t * tvb, gint offset,
+                                   gboolean little_endian, int hf_time);
+extern gint rtps_util_add_string(proto_tree *, tvbuff_t *,
+                        gint, int, int, const guint8 *, guint8 *, size_t);
+extern void rtps_util_add_port(proto_tree *tree, packet_info *pinfo, tvbuff_t * tvb,
+                        gint offset, gboolean little_endian, int hf_item);
+extern void rtps_util_add_durability_service_qos(proto_tree *tree, tvbuff_t * tvb,
+                                                 gint offset, gboolean little_endian);
+extern void rtps_util_add_liveliness_qos(proto_tree *tree, tvbuff_t * tvb, gint offset,
+                                         gboolean little_endian);
+extern gint rtps_util_add_seq_string(proto_tree *, tvbuff_t *,
+                        gint, int, int, const char *, guint8 *, gint);
+extern void rtps_util_add_seq_octets(proto_tree *tree, packet_info *pinfo, tvbuff_t* tvb,
+                              gint offset, gboolean little_endian, int param_length, int hf_id);
+extern gint rtps_util_add_seq_ulong(proto_tree *tree, tvbuff_t * tvb, gint offset, int hf_item,
+                        gboolean little_endian, int param_length, const char *label);
+
+extern gboolean rtps_is_ping(tvbuff_t *tvb, packet_info *pinfo, gint offset);
+
+/* Shared submessage dissection */
+extern void dissect_PAD(tvbuff_t *tvb, packet_info *pinfo, gint offset, guint8 flags, 
+                        gboolean little_endian, int octects_to_next_header, proto_tree *tree);
+extern void dissect_INFO_SRC(tvbuff_t *tvb, packet_info *pinfo, gint offset, guint8 flags,
+                        gboolean little_endian, int octets_to_next_header, proto_tree *tree);
+extern void dissect_INFO_TS(tvbuff_t *tvb, packet_info *pinfo, gint offset, guint8 flags,
+                        gboolean little_endian, int octets_to_next_header, proto_tree *tree);
 
 
 #ifdef __cplusplus
diff --git a/epan/dissectors/packet-rtps2.c b/epan/dissectors/packet-rtps2.c
index f5e7effc56..308c5dfb0e 100644
--- a/epan/dissectors/packet-rtps2.c
+++ b/epan/dissectors/packet-rtps2.c
@@ -63,6 +63,7 @@
 
 
 #include "packet-rtps2.h"
+#include "packet-rtps.h"
 
 /* Size of the temp buffers used to format various part of the protocol.
  * Note: Some of those values are bigger than expected. The reason is
@@ -90,10 +91,6 @@
 /***************************************************************************/
 /* Protocol Fields Identifiers */
 static int proto_rtps                           = -1;
-static int hf_rtps_protocol_version             = -1;
-static int hf_rtps_protocol_version_major       = -1;
-static int hf_rtps_protocol_version_minor       = -1;
-static int hf_rtps_vendor_id                    = -1;
 
 static int hf_rtps_domain_id                    = -1;
 static int hf_rtps_participant_idx              = -1;
@@ -122,13 +119,9 @@ static int hf_rtps_sm_rdentity_id_kind          = -1;
 static int hf_rtps_sm_wrentity_id               = -1;
 static int hf_rtps_sm_wrentity_id_key           = -1;
 static int hf_rtps_sm_wrentity_id_kind          = -1;
-static int hf_rtps_sm_seq_number                = -1;
 
 static int hf_rtps_parameter_id                 = -1;
 static int hf_rtps_parameter_length             = -1;
-static int hf_rtps_param_ntpt                   = -1;
-static int hf_rtps_param_ntpt_sec               = -1;
-static int hf_rtps_param_ntpt_fraction          = -1;
 static int hf_rtps_param_topic_name             = -1;
 static int hf_rtps_param_entity_name            = -1;
 static int hf_rtps_param_strength               = -1;
@@ -142,6 +135,36 @@ static int hf_rtps_param_filter_name            = -1;
 static int hf_rtps_issue_data                   = -1;
 static int hf_rtps_param_status_info            = -1;
 
+static int hf_rtps_participant_lease_duration   = -1;
+static int hf_rtps_time_based_filter_minimum_separation = -1;
+static int hf_rtps_deadline_period              = -1;
+static int hf_rtps_latency_budget_duration      = -1;
+static int hf_rtps_lifespan_duration            = -1;
+static int hf_rtps_persistence                  = -1;
+static int hf_rtps_data_batch_timestamp         = -1;
+static int hf_rtps_participant_builtin_endpoints= -1;
+static int hf_rtps_participant_manual_liveliness_count = -1;
+static int hf_rtps_history_depth                = -1;
+static int hf_rtps_resource_limit_max_samples   = -1;
+static int hf_rtps_resource_limit_max_instances = -1;
+static int hf_rtps_resource_limit_max_samples_per_instances = -1;
+static int hf_rtps_filter_bitmap                = -1;
+static int hf_rtps_type_checksum                = -1;
+static int hf_rtps_queue_size                   = -1;
+static int hf_param_ip_address                  = -1;
+static int hf_rtps_param_port                   = -1;
+static int hf_rtps_expects_inline_qos           = -1;
+static int hf_rtps_presentation_coherent_access = -1;
+static int hf_rtps_presentation_ordered_access  = -1;
+static int hf_rtps_expects_ack                  = -1;
+static int hf_rtps_disable_positive_ack         = -1;
+static int hf_rtps_reliability_kind             = -1;
+static int hf_rtps_durability                   = -1;
+static int hf_rtps_ownership                    = -1;
+static int hf_rtps_presentation_access_scope    = -1;
+static int hf_rtps_destination_order            = -1;
+static int hf_rtps_history_kind                 = -1;
+
 
 /* Subtree identifiers */
 static gint ett_rtps                            = -1;
@@ -170,6 +193,7 @@ static gint ett_rtps_sample_info                = -1;
 static gint ett_rtps_sample_batch_list          = -1;
 static gint ett_rtps_locator_filter_channel     = -1;
 static gint ett_rtps_locator_filter_locator     = -1;
+static gint ett_rtps_resource_limit             = -1;
 
 /***************************************************************************/
 /* Value-to-String Tables */
@@ -355,7 +379,7 @@ static const value_string parameter_id_vals[] = {
   { PID_PLUGIN_PROMISCUITY_KIND,        "PID_PLUGIN_PROMISCUITY_KIND" },
   { PID_ENTITY_VIRTUAL_GUID,            "PID_ENTITY_VIRTUAL_GUID" },
   { PID_SERVICE_KIND,                   "PID_SERVICE_KIND" },
-  { PID_TYPECODE,                       "PID_TYPECODE" },
+  { PID_TYPECODE_RTPS2,                 "PID_TYPECODE" },
   { PID_DISABLE_POSITIVE_ACKS,          "PID_DISABLE_POSITIVE_ACKS" },
   { PID_LOCATOR_FILTER_LIST,            "PID_LOCATOR_FILTER_LIST" },
 
@@ -467,17 +491,6 @@ struct Flag_definition {
 #define RESERVEDFLAG_CHAR               ('_')
 #define RESERVEDFLAG_STRING             ("reserved bit")
 
-static const struct Flag_definition PAD_FLAGS[] = {
-  { RESERVEDFLAG_CHAR, RESERVEDFLAG_STRING },   /* Bit 7 */
-  { RESERVEDFLAG_CHAR, RESERVEDFLAG_STRING },   /* Bit 6 */
-  { RESERVEDFLAG_CHAR, RESERVEDFLAG_STRING },   /* Bit 5 */
-  { RESERVEDFLAG_CHAR, RESERVEDFLAG_STRING },   /* Bit 4 */
-  { RESERVEDFLAG_CHAR, RESERVEDFLAG_STRING },   /* Bit 3 */
-  { RESERVEDFLAG_CHAR, RESERVEDFLAG_STRING },   /* Bit 2 */
-  { RESERVEDFLAG_CHAR, RESERVEDFLAG_STRING },   /* Bit 1 */
-  { 'E', "Endianness bit" }                     /* Bit 0 */
-};
-
 static const struct Flag_definition DATA_FLAGS[] = {
   { RESERVEDFLAG_CHAR, RESERVEDFLAG_STRING },   /* Bit 7 */
   { RESERVEDFLAG_CHAR, RESERVEDFLAG_STRING },   /* Bit 6 */
@@ -719,72 +732,27 @@ static const struct Flag_definition RTPS_SAMPLE_INFO_FLAGS16[] = {
  */
 
 /* Utility to add elements to the protocol tree */
-static void rtps_util_format_ipv6(guint8 *, guint8 *, gint);
-static void rtps_util_add_protocol_version(proto_tree *, tvbuff_t *, gint);
-static void rtps_util_add_vendor_id(proto_tree *, tvbuff_t *,
-                        gint, guint8 *, gint);
-static void rtps_util_add_locator_t(proto_tree *, tvbuff_t *,
-                        gint, int, const guint8 *, guint8 *, gint);
-static int  rtps_util_add_locator_list(proto_tree *, tvbuff_t *,
-                        gint, const guint8 *, int);
-static void rtps_util_add_ipv4_address_t(proto_tree *, tvbuff_t *,
-                        gint, int, const guint8 *, guint8 *, gint);
-static void rtps_util_add_locator_udp_v4(proto_tree *, tvbuff_t *,
-                        gint, const guint8 *, int);
 static void rtps_util_add_guid_prefix(proto_tree *, tvbuff_t *,
                         gint, int, int, int, int, const guint8 *,
                         guint8 *, gint);
-static void rtps_util_add_entity_id(proto_tree *, tvbuff_t *,
-                        gint, int, int, int, int, const char *, guint32 *);
-static void rtps_util_add_generic_entity_id(proto_tree *, tvbuff_t *,
-                        gint, const char *,
-                        guint8 *, gint);
 static void rtps_util_add_generic_guid(proto_tree *, tvbuff_t *,
                         gint, const char *, guint8 *, gint);
-static guint64 rtps_util_add_seq_number(proto_tree *, tvbuff_t *,
-                        gint, int, const char *);
-static void rtps_util_add_ntp_time(proto_tree *, tvbuff_t *,
-                        gint, int, const char *, guint8 *, gint);
-static gint rtps_util_add_string(proto_tree *, tvbuff_t *,
-                        gint, int, int, const guint8 *, guint8 *, size_t);
-static guint32 rtps_util_add_long(proto_tree *, tvbuff_t *,
-                        gint, int, int, gboolean, gboolean, const char *,
-                        guint8 *, size_t);
 static guint16 rtps_util_add_short(proto_tree *, tvbuff_t *,
                         gint, int, int, gboolean, gboolean, const char *,
                         guint8 *, gint);
-static void rtps_util_add_port(proto_tree *, tvbuff_t *,
-                        gint, int, const char *, guint8 *, gint);
-static void rtps_util_add_boolean(proto_tree *, tvbuff_t *,
-                        gint, const char *, guint8 *, size_t);
-static void rtps_util_add_durability_service_qos(proto_tree *, tvbuff_t *,
-                        gint, int, guint8 *, gint);
-static void rtps_util_add_liveliness_qos(proto_tree *, tvbuff_t *,
-                        gint, int, guint8 *, gint);
-static void rtps_util_add_kind_qos(proto_tree *, tvbuff_t *,
-                        gint, int, const char *, const value_string *, guint8 *, size_t);
-static gint rtps_util_add_seq_string(proto_tree *, tvbuff_t *,
-                        gint, int, int, const char *, guint8 *, gint);
-static void rtps_util_add_seq_octets(proto_tree *, tvbuff_t *,
-                        gint, int, int, int, guint8 *, gint);
 static int rtps_util_add_bitmap(proto_tree *, tvbuff_t *,
                         gint, int, const char *);
 static int rtps_util_add_fragment_number_set(proto_tree *, tvbuff_t *,
                         gint, int, const char *, gint);
-static gint rtps_util_add_seq_ulong(proto_tree *, tvbuff_t *,
-                        gint, int, int, int, int, const char *);
 static void rtps_util_add_extra_flags(proto_tree *, tvbuff_t *,
                         gint, const char *);
 
 /* The data (payload) dissector */
-static void dissect_serialized_data(proto_tree *, tvbuff_t *,
-                        gint, int, const char *, guint16 vendor_id);
-
 static void dissect_octet_seq(proto_tree *, tvbuff_t *,
                         gint, const char *);
 
 /* The data (payload) dissector for parameter sequences */
-static gint dissect_parameter_sequence(proto_tree *, tvbuff_t *,
+static gint dissect_parameter_sequence(proto_tree *, packet_info *pinfo, tvbuff_t *,
                         gint, int, int, const char *, guint32 *, guint16 vendor_id);
 
 
@@ -879,41 +847,6 @@ static void info_summary_append_ex(packet_info *pinfo,
 
 
 
-/* *********************************************************************** */
-/* Format the given address (16 octets) as an IPv6 address
- */
-static void rtps_util_format_ipv6(guint8 *addr,
-                        guint8 *buffer,
-                        gint    buffer_size) {
-  guint32 i;
-  guint8 temp[5]; /* Contains a 4-digit hex value */
-
-  buffer[0] = '\0';
-  for (i = 0; i < 16; i+=2) {
-    /* Unfortunately %x is the same thing as %02x all the time... sigh */
-    g_snprintf(temp, 5, "%02x%02x", addr[i], addr[i+1]);
-    if (temp[0] == '0') {
-      if (temp[1] == '0') {
-        if (temp[2] == '0') {
-          g_strlcat(buffer, &temp[3], buffer_size);
-        } else {
-          g_strlcat(buffer, &temp[2], buffer_size);
-        }
-      } else {
-        g_strlcat(buffer, &temp[1], buffer_size);
-      }
-    } else {
-      g_strlcat(buffer, temp, buffer_size);
-    }
-    if (i < 14) {
-      g_strlcat(buffer, ":", buffer_size);
-    }
-  }
-}
-
-
-
-
 /* !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
  * NOTE:
  * In general those utility functions (they all starts with 'rtps_util')
@@ -953,373 +886,6 @@ static void rtps_util_add_extra_flags(proto_tree *tree,
   }
 }
 
-/* *********************************************************************** */
-static void rtps_util_add_protocol_version(proto_tree *tree,
-                        tvbuff_t *  tvb,
-                        gint        offset) {
-  if (tree) {
-    proto_item * ti;
-    proto_tree * version_tree;
-
-    ti = proto_tree_add_none_format(tree,
-                          hf_rtps_protocol_version,
-                          tvb,
-                          offset,
-                          2,
-                          "Protocol version: %d.%d",
-                          tvb_get_guint8(tvb, offset),
-                          tvb_get_guint8(tvb, offset+1));
-    version_tree = proto_item_add_subtree(ti,
-                          ett_rtps_proto_version);
-    proto_tree_add_item(version_tree,
-                          hf_rtps_protocol_version_major,
-                          tvb,
-                          offset,
-                          1,
-                          ENC_BIG_ENDIAN);
-    proto_tree_add_item(version_tree,
-                          hf_rtps_protocol_version_minor,
-                          tvb,
-                          offset+1,
-                          1,
-                          ENC_BIG_ENDIAN);
-  }
-}
-
-
-/* ------------------------------------------------------------------------- */
-/* Interpret the next bytes as vendor ID. If proto_tree and field ID is
- * provided, it can also set.
- */
-static void rtps_util_add_vendor_id(proto_tree *tree,
-                        tvbuff_t * tvb,
-                        gint       offset,
-                        guint8 *   buffer,              /* Can be NULL */
-                        gint       buffer_size) {       /* Can be 0 */
-  guint8 major, minor;
-  guint32 vendor_id = 0;
-  guint8 vendor_name[MAX_VENDOR_ID_SIZE];
-
-  major = tvb_get_guint8(tvb, offset);
-  minor = tvb_get_guint8(tvb, offset+1);
-  vendor_id = (major<<8) | minor;
-  switch(vendor_id) {
-    case RTPS_VENDOR_UNKNOWN:
-      g_strlcpy(vendor_name, RTPS_VENDOR_UNKNOWN_STRING, MAX_VENDOR_ID_SIZE);
-      break;
-
-    case RTPS_VENDOR_RTI:
-      g_strlcpy(vendor_name, RTPS_VENDOR_RTI_STRING, MAX_VENDOR_ID_SIZE);
-      break;
-
-    case RTPS_VENDOR_TOC:
-      g_strlcpy(vendor_name, RTPS_VENDOR_TOC_STRING, MAX_VENDOR_ID_SIZE);
-      break;
-
-    default:
-      g_snprintf(vendor_name, MAX_VENDOR_ID_SIZE, "%d.%d", major, minor);
-  }
-
-  if (tree) {
-    proto_tree_add_uint_format(tree,
-                        hf_rtps_vendor_id,
-                        tvb,
-                        offset,
-                        2,
-                        vendor_id,
-                        "vendor: %s",
-                        vendor_name);
-  }
-  if (buffer != NULL) {
-    g_strlcpy(buffer, vendor_name, buffer_size);
-  }
-}
-
-
-
-/* ------------------------------------------------------------------------- */
-/* Insert in the protocol tree the next 8 bytes interpreted as Locator_t
- *
- * Locator_t is a struct defined as:
- * struct {
- *    long kind;                // kind of locator
- *    unsigned long port;
- *    octet[16] address;
- * } Locator_t;
- */
-static void rtps_util_add_locator_t(proto_tree *tree,
-                        tvbuff_t * tvb,
-                        gint       offset,
-                        gboolean   little_endian,
-                        const guint8 * label,
-                        guint8 *   buffer,              /* Can be NULL */
-                        gint       buffer_size) {       /* Can be 0 */
-
-  proto_item * ti;
-  proto_tree * locator_tree;
-  gint32  kind;
-  guint8  addr[16];
-  guint32 port;
-  char temp_buff[MAX_LOCATOR_SIZE];
-  char addr_buff[MAX_IPV6_SIZE];
-  const char *kind_string = NULL;
-  int i;
-
-
-  kind    = NEXT_guint32(tvb, offset, little_endian);
-  port = NEXT_guint32(tvb, offset+4, little_endian);
-  for (i = 0; i < 16; ++i) {
-    addr[i] = tvb_get_guint8(tvb, offset + 8 + i);
-  }
-
-
-  switch(kind) {
-    case LOCATOR_KIND_UDPV4:
-        kind_string = "LOCATOR_KIND_UDPV4";
-        g_snprintf(addr_buff, MAX_IPV6_SIZE,
-                        "%d.%d.%d.%d",
-                        addr[12],
-                        addr[13],
-                        addr[14],
-                        addr[15]);
-        g_snprintf(temp_buff, MAX_LOCATOR_SIZE, "%s:%d",
-                        addr_buff,
-                        port);
-        break;
-
-    case LOCATOR_KIND_UDPV6:
-        kind_string = "LOCATOR_KIND_UDPV6";
-        rtps_util_format_ipv6(addr, &addr_buff[0], MAX_IPV6_SIZE);
-        g_snprintf(temp_buff, MAX_LOCATOR_SIZE,
-                        "IPv6: { addr=%s, port=%d }",
-                        addr_buff,
-                        port);
-        break;
-
-    case LOCATOR_KIND_INVALID:
-        kind_string = "LOCATOR_KIND_INVALID";
-
-    case LOCATOR_KIND_RESERVED:
-        if (!kind_string)  /* Need to guard overrides (no break before) */
-          kind_string = "LOCATOR_KIND_RESERVED";
-
-    default:
-        if (!kind_string)  /* Need to guard overrides (no break before) */
-          kind_string = "(unknown)";
-        g_snprintf(temp_buff, MAX_LOCATOR_SIZE,
-                        "{ kind=%02x, port=%d, addr=%02x %02x %02x ... %02x %02x }",
-                        kind,
-                        port,
-                        addr[0],
-                        addr[1],
-                        addr[2],
-                        /* ... */
-                        addr[14],
-                        addr[15]);
-  }
-  if (tree) {
-    ti = proto_tree_add_text(tree,
-                        tvb,
-                        offset,
-                        24,
-                        "%s: %s",
-                        label,
-                        temp_buff);
-
-    locator_tree = proto_item_add_subtree(ti,
-                        ett_rtps_locator);
-    proto_tree_add_text(locator_tree,
-                        tvb,
-                        offset,
-                        4,
-                        "kind: %02x (%s)",
-                        kind,
-                        kind_string);
-    proto_tree_add_text(locator_tree,
-                        tvb,
-                        offset+4,
-                        4,
-                        "port: %d%s",
-                        port,
-                        (port == 0) ? " (PORT_INVALID)" : "");
-    proto_tree_add_text(locator_tree,
-                        tvb,
-                        offset + 8,
-                        16,
-                        "address: %s",
-                        addr_buff);
-  }
-  if (buffer) {
-    g_strlcpy(buffer, temp_buff, buffer_size);
-  }
-}
-
-/* ------------------------------------------------------------------------- */
-/* Insert in the protocol tree the next bytes interpreted as a list of
- * Locators:
- *   - unsigned long numLocators
- *   - locator 1
- *   - locator 2
- *   - ...
- *   - locator n
- * Returns the new offset after parsing the locator list
- */
-static int rtps_util_add_locator_list(proto_tree *tree,
-                        tvbuff_t * tvb,
-                        gint       offset,
-                        const guint8 * label,
-                        gboolean   little_endian) {
-
-  proto_item *ti;
-  proto_tree *locator_tree;
-  guint32 num_locators;
-
-  num_locators = NEXT_guint32(tvb, offset, little_endian);
-  if (tree) {
-    ti = proto_tree_add_text(tree,
-                        tvb,
-                        offset,
-                        4,
-                        "%s: %d Locators",
-                        label,
-                        num_locators);
-  } else {
-    return offset + 4 + ((num_locators > 0) ? (24 * num_locators) : 0);
-  }
-  offset += 4;
-  if (num_locators > 0) {
-    guint32 i;
-    char temp_buff[20];
-
-    locator_tree = proto_item_add_subtree(ti,
-                        ett_rtps_locator_udp_v4);
-
-    for (i = 0; i < num_locators; ++i) {
-      g_snprintf(temp_buff, 20, "Locator[%d]", i);
-      rtps_util_add_locator_t(locator_tree,
-                        tvb,
-                        offset,
-                        little_endian,
-                        temp_buff,
-                        NULL,
-                        0);
-      offset += 24;
-    }
-  }
-  return offset;
-}
-
-
-/* ------------------------------------------------------------------------- */
-/* Insert in the protocol tree the next 4 bytes interpreted as IPV4Address_t
- */
-static void rtps_util_add_ipv4_address_t(proto_tree *tree,
-                        tvbuff_t * tvb,
-                        gint       offset,
-                        gboolean   little_endian,
-                        const guint8 * label,
-                        guint8 *   buffer,              /* Can be NULL */
-                        gint       buffer_size) {       /* Can be 0 */
-
-  guint32 addr;
-
-  addr = NEXT_guint32(tvb, offset, little_endian);
-  if (addr == IPADDRESS_INVALID) {
-    if (buffer) {
-      g_strlcpy(buffer, IPADDRESS_INVALID_STRING, buffer_size);
-    }
-    if (tree) {
-      proto_tree_add_text(tree,
-                        tvb,
-                        offset,
-                        4,
-                        "%s: %s",
-                        label,
-                        IPADDRESS_INVALID_STRING);
-    }
-  } else {
-    if (buffer) {
-      g_snprintf(buffer, buffer_size,
-                        "%d.%d.%d.%d",
-                        (addr >> 24) & 0xff,
-                        (addr >> 16) & 0xff,
-                        (addr >> 8) & 0xff,
-                        addr & 0xff);
-    }
-    if (tree) {
-      proto_tree_add_text(tree,
-                        tvb,
-                        offset,
-                        4,
-                        "%s: %d.%d.%d.%d",
-                        label,
-                        (addr >> 24) & 0xff,
-                        (addr >> 16) & 0xff,
-                        (addr >> 8) & 0xff,
-                        addr & 0xff);
-    }
-  }
-}
-
-
-
-/* ------------------------------------------------------------------------- */
-/* Insert in the protocol tree the next 8 bytes interpreted as LocatorUDPv4
- *
- * LocatorUDPv4 is a struct defined as:
- * struct {
- *    unsigned long address;
- *    unsigned long port;
- * } LocatorUDPv4_t;
- *
- */
-static void rtps_util_add_locator_udp_v4(proto_tree *tree,
-                        tvbuff_t * tvb,
-                        gint       offset,
-                        const guint8 * label,
-                        gboolean   little_endian) {
-  if (tree) {
-    proto_item * ti;
-    proto_tree * locator_tree;
-    guint32 port;
-    char portLabel[MAX_PORT_SIZE];
-    char addr[MAX_IPV4_ADDRESS_SIZE];
-
-    port = NEXT_guint32(tvb, offset+4, little_endian);
-
-    if (port == PORT_INVALID) {
-      g_snprintf(portLabel, MAX_PORT_SIZE, "%s (0x00000000)", PORT_INVALID_STRING);
-    } else {
-      g_snprintf(portLabel, MAX_PORT_SIZE, "%u", port);
-    }
-
-    ti = proto_tree_add_text(tree,
-                          tvb,
-                          offset,
-                          8,
-                          "addr"); /* Add text later */
-    locator_tree = proto_item_add_subtree(ti, ett_rtps_locator_udp_v4);
-    rtps_util_add_ipv4_address_t(locator_tree,
-                          tvb,
-                          offset,
-                          little_endian,
-                          "address",
-                          addr,
-                          MAX_IPV4_ADDRESS_SIZE);
-    proto_tree_add_text(locator_tree,
-                          tvb,
-                          offset + 4,
-                          4,
-                          "port: %s",
-                          portLabel);
-
-    proto_item_set_text(ti, "%s: { address=%s, port=%s }",
-                          label,
-                          addr,
-                          portLabel);
-  }
-}
-
 
 /* ------------------------------------------------------------------------- */
 /* Insert in the protocol tree the next 12 bytes interpreted as GuidPrefix
@@ -1436,131 +1002,6 @@ static void rtps_util_add_guid_prefix(proto_tree *tree,
   }
 }
 
-
-
-/* ------------------------------------------------------------------------- */
- /* Insert the entityId from the next 4 bytes. Since there are more than
-  * one entityId, we need to specify also the IDs of the entityId (and its
-  * sub-components), as well as the label identifying it.
-  */
-static void rtps_util_add_entity_id(proto_tree *tree,
-                        tvbuff_t * tvb,
-                        gint       offset,
-                        int        hf_item,
-                        int        hf_item_entity_key,
-                        int        hf_item_entity_kind,
-                        int        subtree_entity_id,
-                        const char *label,
-                        guint32 *  entity_id_out) {             /* Can be NULL */
-  guint32 entity_id   = tvb_get_ntohl(tvb, offset);
-  guint32 entity_key  = (entity_id >> 8);
-  guint8  entity_kind = (entity_id & 0xff);
-  const char *str_predef = match_strval(entity_id, entity_id_vals);
-
-  if (entity_id_out != NULL) {
-    *entity_id_out = entity_id;
-  }
-
-
-  if (tree) {
-    proto_tree * entity_tree;
-    proto_item * ti;
-
-    if (str_predef == NULL) {
-      /* entityId is not a predefined value, format it */
-      ti = proto_tree_add_uint_format(tree,
-                        hf_item,
-                        tvb,
-                        offset,
-                        4,
-                        entity_id,
-                        "%s: 0x%08x (%s: 0x%06x)",
-                        label,
-                        entity_id,
-                        val_to_str(entity_kind, entity_kind_vals,
-                                        "unknown kind (%02x)"),
-                        entity_key);
-    } else {
-      /* entityId is a predefined value */
-      ti = proto_tree_add_uint_format(tree,
-                        hf_item,
-                        tvb,
-                        offset,
-                        4,
-                        entity_id,
-                        "%s: %s (0x%08x)", label, str_predef, entity_id);
-    }
-
-    entity_tree = proto_item_add_subtree(ti,
-                        subtree_entity_id);
-
-    proto_tree_add_item(entity_tree,
-                        hf_item_entity_key,
-                        tvb,
-                        offset,
-                        3,
-                        ENC_BIG_ENDIAN);
-
-    proto_tree_add_item(entity_tree,
-                        hf_item_entity_kind,
-                        tvb,
-                        offset+3,
-                        1,
-                        ENC_BIG_ENDIAN);
-
-  }
-}
-
-/* ------------------------------------------------------------------------- */
- /* Insert the entityId from the next 4 bytes as a generic one (not connected
-  * to any protocol field). It simply insert the content as a simple text entry
-  * and returns in the passed buffer only the value (without the label).
-  */
-static void rtps_util_add_generic_entity_id(proto_tree *tree,
-                        tvbuff_t * tvb,
-                        gint       offset,
-                        const char *label,
-                        guint8 *   buffer,                      /* Can be NULL */
-                        gint       buffer_size) {
-  guint32 entity_id   = tvb_get_ntohl(tvb, offset);
-  guint32 entity_key  = (entity_id >> 8);
-  guint8  entity_kind = (entity_id & 0xff);
-  const char *str_predef = match_strval(entity_id, entity_id_vals);
-  guint8  temp_buffer[MAX_GUID_SIZE];
-
-  if (str_predef == NULL) {
-    /* entityId is not a predefined value, format it */
-    g_snprintf(temp_buffer, MAX_GUID_SIZE,
-                        "0x%08x (%s: 0x%06x)",
-                        entity_id,
-                        val_to_str(entity_kind, entity_kind_vals,
-                                      "unknown kind (%02x)"),
-                        entity_key);
-  } else {
-    /* entityId is a predefined value */
-    g_snprintf(temp_buffer, MAX_GUID_SIZE,
-                        "%s (0x%08x)",
-                        str_predef,
-                        entity_id);
-  }
-
-  if (tree) {
-      proto_tree_add_text(tree,
-                        tvb,
-                        offset,
-                        4,
-                        "%s: %s",
-                        label,
-                        temp_buffer);
-  }
-
-  if (buffer != NULL) {
-      g_strlcpy(buffer, temp_buffer, buffer_size);
-  }
-}
-
-
-
 /* ------------------------------------------------------------------------- */
  /* Interpret the next 16 octets as a generic GUID and insert it in the protocol
   * tree as simple text (no reference fields are set).
@@ -1626,150 +1067,9 @@ static void rtps_util_add_generic_guid(proto_tree *tree,
 
 
 /* ------------------------------------------------------------------------- */
-/* Insert in the protocol tree the next 8 bytes interpreted as sequence
- * number.
- */
-static guint64 rtps_util_add_seq_number(proto_tree *tree,
-                        tvbuff_t * tvb,
-                        gint       offset,
-                        gboolean   little_endian,
-                        const char *label _U_) {
-  guint64 hi = (guint64)NEXT_guint32(tvb, offset, little_endian);
-  guint64 lo = (guint64)NEXT_guint32(tvb, offset+4, little_endian);
-  guint64 all = (hi << 32) | lo;
-
-  if (tree) {
-    proto_tree_add_int64_format(tree,
-                        hf_rtps_sm_seq_number,
-                        tvb,
-                        offset,
-                        8,
-                        all,
-                        "%s: %" G_GINT64_MODIFIER "u", label, all);
-  }
-  return all;
-}
-
-
-/* ------------------------------------------------------------------------- */
-/* Insert in the protocol tree the next 8 bytes interpreted as NtpTime
- */
-static void rtps_util_add_ntp_time(proto_tree *tree,
-                        tvbuff_t * tvb,
-                        gint       offset,
-                        gboolean   little_endian,
-                        const char * label,
-                        guint8 *   buffer,              /* Can be NULL */
-                        gint       buffer_size) {
-  guint8  tempBuffer[MAX_NTP_TIME_SIZE];
-
-  gint32 sec = NEXT_guint32(tvb, offset, little_endian);
-  guint32 frac = NEXT_guint32(tvb, offset+4, little_endian);
-  double absolute;
-
-  if ((sec == 0x7fffffff) && (frac == 0xffffffff)) {
-    g_strlcpy(tempBuffer, "INFINITE", MAX_NTP_TIME_SIZE);
-  } else if ((sec == 0) && (frac == 0)) {
-    g_strlcpy(tempBuffer, "0 sec", MAX_NTP_TIME_SIZE);
-  } else {
-    absolute = (double)sec + (double)frac / ((double)(0x80000000) * 2.0);
-    g_snprintf(tempBuffer, MAX_NTP_TIME_SIZE,
-                        "%f sec (%ds + 0x%08x)", absolute, sec, frac);
-  }
-  if (tree) {
-    proto_item * ti;
-    proto_tree *time_tree;
-
-    ti = proto_tree_add_none_format(tree,
-                        hf_rtps_param_ntpt,
-                        tvb,
-                        offset,
-                        8,
-                        "%s: %s",
-                        label,
-                        tempBuffer);
-    time_tree = proto_item_add_subtree(ti, ett_rtps_ntp_time);
-    proto_tree_add_item(time_tree,
-                        hf_rtps_param_ntpt_sec,
-                        tvb,
-                        offset,
-                        4,
-                        little_endian ? ENC_LITTLE_ENDIAN : ENC_BIG_ENDIAN);
-    proto_tree_add_item(time_tree,
-                        hf_rtps_param_ntpt_fraction,
-                        tvb,
-                        offset+4,
-                        4,
-                        little_endian ? ENC_LITTLE_ENDIAN : ENC_BIG_ENDIAN);
-  }
-  if (buffer != NULL) {
-    g_strlcpy(buffer, tempBuffer, buffer_size);
-  }
-}
-
-/* ------------------------------------------------------------------------- */
-/* Insert in the protocol tree the next data interpreted as a String
- * Returns the new offset (after reading the string)
- */
-static gint rtps_util_add_string(proto_tree *tree,
-                        tvbuff_t * tvb,
-                        gint       offset,
-                        int        hf_item,             /* Can be -1 (if label!=NULL) */
-                        gboolean   little_endian,
-                        const guint8 * label,           /* Can be NULL (if hf_item!=-1) */
-                        guint8 *   buffer,              /* Can be NULL */
-                        size_t     buffer_size) {
-  guint8 * retVal = NULL;
-  guint32 size = NEXT_guint32(tvb, offset, little_endian);
-
-  if (size > 0) {
-    retVal = tvb_get_ephemeral_string(tvb, offset+4, size);
-  }
-
-  if (tree) {
-    if (hf_item != -1) {
-      proto_item * hidden_item;
-      hidden_item = proto_tree_add_string(tree,
-                        hf_item,
-                        tvb,
-                        offset,
-                        size+4,
-                        (size == 0) ? (guint8 *)"" : retVal);
-      PROTO_ITEM_SET_HIDDEN(hidden_item);
-    }
-    proto_tree_add_text(tree,
-                        tvb,
-                        offset,
-                        size+4,
-                        "%s: \"%s\"",
-                        ((label != NULL) ? label : (const guint8 *)"value") ,
-                        (size == 0) ? (guint8 *)"" : retVal);
-  }
-  if (buffer != NULL) {
-    if (size == 0) {
-        buffer[0] = '\0';
-    } else {
-      g_snprintf(buffer, (gulong) buffer_size, "%s", retVal);
-    }
-  }
-
-  /* NDDS align strings at 4-bytes word. So:
-   *  string_length: 4 -> buffer_length = 4;
-   *  string_length: 5 -> buffer_length = 8;
-   *  string_length: 6 -> buffer_length = 8;
-   *  string_length: 7 -> buffer_length = 8;
-   *  string_length: 8 -> buffer_length = 8;
-   * ...
-   */
-  return offset + 4 + ((size + 3) & 0xfffffffc);
-}
-
-
-/* ------------------------------------------------------------------------- */
-/* Insert in the protocol tree the next data interpreted as a signed long.
- * Returns the value inserted as a guint32
+/* Insert in the protocol tree the next data interpreted as a 16-bit short
  */
-static guint32 rtps_util_add_long(proto_tree *tree,
+static guint16 rtps_util_add_short(proto_tree *tree,
                         tvbuff_t * tvb,
                         gint       offset,
                         int        hf_item,             /* Can be -1 */
@@ -1778,42 +1078,41 @@ static guint32 rtps_util_add_long(proto_tree *tree,
                         gboolean   is_signed,           /* Signed/Unsigned */
                         const char *label,              /* Can be NULL */
                         guint8 *   buffer,
-                        size_t     buffer_size) {
+                        gint       buffer_size) {
 
   char temp_buff[16];
-
-  guint32 retVal = NEXT_guint32(tvb, offset, little_endian);
+  guint16 retVal = NEXT_guint16(tvb, offset, little_endian);
   g_snprintf(temp_buff, 16,
-                        (is_hex ? "0x%08x" : (is_signed ? "%d" : "%u")),
-                        NEXT_guint32(tvb, offset, little_endian));
+                        (is_hex ? "0x%04x" : (is_signed ? "%d" : "%u")),
+                        retVal);
   if (tree != NULL) {
     if (hf_item != -1) {
       proto_tree_add_item(tree,
                         hf_item,
                         tvb,
                         offset,
-                        4,
+                        2,
                         little_endian ? ENC_LITTLE_ENDIAN : ENC_BIG_ENDIAN);
     } else if (label != NULL) {
       proto_tree_add_text(tree,
                         tvb,
                         offset,
-                        4,
+                        2,
                         "%s: %s",
                         label,
                         temp_buff);
     }
   }
   if (buffer != NULL) {
-    g_strlcpy(buffer, temp_buff, (gulong) buffer_size);
+    g_strlcpy(buffer, temp_buff, buffer_size);
   }
   return retVal;
 }
 
 /* ------------------------------------------------------------------------- */
-/* Insert in the protocol tree the next data interpreted as a 16-bit short
+/* Insert in the protocol tree the next data interpreted as a signed long.
  */
-static guint16 rtps_util_add_short(proto_tree *tree,
+static guint32 rtps_util_add_long(proto_tree *tree,        /* Can be NULL */
                         tvbuff_t * tvb,
                         gint       offset,
                         int        hf_item,             /* Can be -1 */
@@ -1822,382 +1121,37 @@ static guint16 rtps_util_add_short(proto_tree *tree,
                         gboolean   is_signed,           /* Signed/Unsigned */
                         const char *label,              /* Can be NULL */
                         guint8 *   buffer,
-                        gint       buffer_size) {
+                        size_t     buffer_size) {
 
   char temp_buff[16];
-  guint16 retVal = NEXT_guint16(tvb, offset, little_endian);
+  guint32 retVal = NEXT_guint32(tvb, offset, little_endian);
+
   g_snprintf(temp_buff, 16,
-                        (is_hex ? "0x%04x" : (is_signed ? "%d" : "%u")),
-                        retVal);
+                        (is_hex ? "0x%08x" : (is_signed ? "%d" : "%u")), retVal);
+
   if (tree != NULL) {
     if (hf_item != -1) {
       proto_tree_add_item(tree,
                         hf_item,
                         tvb,
                         offset,
-                        2,
+                        4,
                         little_endian ? ENC_LITTLE_ENDIAN : ENC_BIG_ENDIAN);
     } else if (label != NULL) {
       proto_tree_add_text(tree,
                         tvb,
                         offset,
-                        2,
+                        4,
                         "%s: %s",
                         label,
                         temp_buff);
     }
   }
   if (buffer != NULL) {
-    g_strlcpy(buffer, temp_buff, buffer_size);
-  }
-  return retVal;
-}
-
-
-
-/* ------------------------------------------------------------------------- */
-/* Insert in the protocol tree the next data interpreted as a port (unsigned
- * 32-bit integer)
- */
-static void rtps_util_add_port(proto_tree *tree,
-                        tvbuff_t * tvb,
-                        gint       offset,
-                        gboolean   little_endian,
-                        const char *label,
-                        guint8 *   buffer,              /* Can be NULL */
-                        gint       buffer_size) {
-  guint8 tempBuffer[MAX_PORT_SIZE];
-  guint32 value = NEXT_guint32(tvb, offset, little_endian);
-
-  if (value == PORT_INVALID) {
-    g_snprintf(buffer, buffer_size, "%s (0x00000000)", PORT_INVALID_STRING);
-  } else {
-    g_snprintf(tempBuffer, MAX_PORT_SIZE, "%u", value);
-  }
-
-  if (tree != NULL) {
-    proto_tree_add_text(tree,
-                        tvb,
-                        offset,
-                        4,
-                        "%s: %s",
-                        label,
-                        tempBuffer);
-  }
-  if (buffer != NULL) {
-    g_strlcpy(buffer, tempBuffer, buffer_size);
-  }
-}
-
-
-/* ------------------------------------------------------------------------- */
-/* Insert in the protocol tree the next data interpreted as a boolean
- * Returns the pointer to a dynamically allocated buffer containing the
- * formatted version of the value.
- */
-static void rtps_util_add_boolean(proto_tree *tree,
-                        tvbuff_t * tvb,
-                        gint       offset,
-                        const char *label,
-                        guint8 *   buffer,              /* Can be NULL */
-                        size_t     buffer_size) {
-  const char *str;
-  guint8 value = tvb_get_guint8(tvb, offset);
-
-  str = value ? "TRUE" : "FALSE";
-
-  if (buffer) {
-    g_strlcpy(buffer, str, (gulong) buffer_size);
-  }
-
-  if (tree) {
-    proto_tree_add_text(tree,
-                        tvb,
-                        offset,
-                        1,
-                        "%s: %s",
-                        label,
-                        str);
-  }
-}
-
-
-/* ------------------------------------------------------------------------- */
-/* Insert in the protocol tree the next bytes interpreted as
- * DurabilityServiceQosPolicy
- */
-static void rtps_util_add_durability_service_qos(proto_tree *tree,
-                        tvbuff_t * tvb,
-                        gint       offset,
-                        gboolean   little_endian,
-                        guint8 *   buffer,
-                        gint       buffer_size) {
-  guint8 temp_buffer[MAX_NTP_TIME_SIZE];
-  gint32 kind  = NEXT_guint32(tvb, offset+8, little_endian);
-  gint32 history_depth = NEXT_guint32(tvb, offset+12, little_endian);
-  gint32 max_samples   = NEXT_guint32(tvb, offset+16, little_endian);
-  gint32 max_instances = NEXT_guint32(tvb, offset+20, little_endian);
-  gint32 max_spi       = NEXT_guint32(tvb, offset+24, little_endian);
-
-  rtps_util_add_ntp_time(NULL,
-                        tvb,
-                        offset,
-                        little_endian,
-                        NULL,
-                        temp_buffer,
-                        MAX_NTP_TIME_SIZE);
-
-  g_snprintf(buffer, buffer_size,
-                        "{ service_cleanup_delay=%s, history_kind='%s', "
-                        "history_depth=%d, max_samples=%d, max_instances=%d, "
-                        "max_samples_per_instances=%d }",
-                        temp_buffer,
-                        val_to_str(kind, history_qos_vals, "0x%08x"),
-                        history_depth,
-                        max_samples,
-                        max_instances,
-                        max_spi);
-  if (tree) {
-    rtps_util_add_ntp_time(tree,
-                        tvb,
-                        offset,
-                        little_endian,
-                        "service_cleanup_delay",
-                        NULL,
-                        0);
-    proto_tree_add_text(tree,
-                        tvb,
-                        offset+8,
-                        4,
-                        "history_kind: %s",
-                        val_to_str(kind, history_qos_vals, "0x%08x"));
-    proto_tree_add_text(tree,
-                        tvb,
-                        offset+12,
-                        4,
-                        "history_depth: %d",
-                        history_depth);
-    proto_tree_add_text(tree,
-                        tvb,
-                        offset+16,
-                        4,
-                        "max_samples: %d",
-                        max_samples);
-    proto_tree_add_text(tree,
-                        tvb,
-                        offset+20,
-                        4,
-                        "max_instances: %d",
-                        max_instances);
-    proto_tree_add_text(tree,
-                        tvb,
-                        offset+24,
-                        4,
-                        "max_samples_per_instances: %d",
-                        max_spi);
-  }
-}
-
-/* ------------------------------------------------------------------------- */
-/* Insert in the protocol tree the next bytes interpreted as Liveliness
- * QoS Policy structure.
- */
-static void rtps_util_add_liveliness_qos(proto_tree *tree,
-                        tvbuff_t * tvb,
-                        gint       offset,
-                        gboolean   little_endian,
-                        guint8 *   buffer,
-                        gint       buffer_size) {
-  guint8  temp_buffer[MAX_NTP_TIME_SIZE];
-  guint32 kind = NEXT_guint32(tvb, offset, little_endian);
-
-  rtps_util_add_ntp_time(NULL,
-                        tvb,
-                        offset+4,
-                        little_endian,
-                        NULL,
-                        temp_buffer,
-                        MAX_NTP_TIME_SIZE);
-
-  g_snprintf(buffer, buffer_size,
-                    "{ kind=%s, lease_duration=%s }",
-                    val_to_str(kind, liveliness_qos_vals, "0x%08x"),
-                    temp_buffer);
-  if (tree) {
-    proto_tree_add_text(tree,
-                        tvb,
-                        offset,
-                        4,
-                        "kind: %s",
-                        val_to_str(kind, liveliness_qos_vals, "0x%08x"));
-    rtps_util_add_ntp_time(tree,
-                        tvb,
-                        offset+4,
-                        little_endian,
-                        "lease_duration",
-                        NULL,
-                        0);
-  }
-}
-
-/* ------------------------------------------------------------------------- */
-/* Insert in the protocol tree the next bytes interpreted as enum type.
- */
-static void rtps_util_add_kind_qos(proto_tree *tree,
-                        tvbuff_t * tvb,
-                        gint       offset,
-                        gboolean   little_endian,
-                        const char *label,
-                        const value_string *vals,
-                        guint8 *   buffer,              /* Can be NULL */
-                        size_t     buffer_size) {
-  guint32 kind = NEXT_guint32(tvb, offset, little_endian);
-
-  if (buffer) {
-    g_strlcpy(buffer, val_to_str(kind, vals, "0x%08x"),
-                        (gulong) buffer_size);
-  }
-
-  if (tree) {
-    proto_tree_add_text(tree,
-                        tvb,
-                        offset,
-                        4,
-                        "%s: %s",
-                        label,
-                        buffer);
-  }
-}
-
-
-/* ------------------------------------------------------------------------- */
-/* Insert in the protocol tree the next bytes interpreted as Sequence of
- * Strings.
- * The formatted buffer is: "string1", "string2", "string3", ...
- * Returns the new updated offset
- */
-static gint rtps_util_add_seq_string(proto_tree *tree,
-                        tvbuff_t * tvb,
-                        gint       offset,
-                        gboolean   little_endian,
-                        int        param_length,
-                        const char *label,
-                        guint8 *   buffer,              /* Can NOT be NULL */
-                        gint       buffer_size) {
-  guint32 num_strings;
-  guint32 i;
-  proto_tree *string_tree = NULL;
-  proto_item *ti = NULL;
-  char temp_buff[MAX_LABEL_SIZE];
-  guint8 overview_buffer[MAX_LABEL_SIZE];
-
-  num_strings = NEXT_guint32(tvb, offset, little_endian);
-  proto_tree_add_text(tree,
-                        tvb,
-                        offset,
-                        4,
-                        "size: %d", num_strings);
-  offset += 4;
-
-  /* Create the string node with a fake string, then replace it later */
-  if (tree) {
-    ti = proto_tree_add_text(tree,
-                        tvb,
-                        offset,
-                        param_length-8,
-                        "Strings");
-    string_tree = proto_item_add_subtree(ti, ett_rtps_seq_string);
-  }
-
-  overview_buffer[0] = '\0';
-
-  for (i = 0; i < num_strings; ++i) {
-    g_snprintf(temp_buff, MAX_LABEL_SIZE,
-                        "%s[%d]",
-                        label,
-                        i);
-    /* This call safe with string_tree=NULL and is required to calculate offset */
-    offset = rtps_util_add_string(string_tree,
-                        tvb,
-                        offset,
-                        -1,
-                        little_endian,
-                        temp_buff,
-                        overview_buffer+strlen(overview_buffer),
-                        MAX_LABEL_SIZE-strlen(overview_buffer));
-  }
-  if (tree) {
-    proto_item_set_text(ti,
-                        "%s: %s",
-                        label,
-                        overview_buffer);
-  }
-  if (buffer != NULL) {
-    g_strlcpy(buffer, overview_buffer, buffer_size);
-  }
-  return offset;
-}
-
-/* ------------------------------------------------------------------------- */
-/* Insert in the protocol tree the next bytes interpreted as Sequence of
- * longs.
- * The formatted buffer is: val1, val2, val3, ...
- * Returns the new updated offset
- */
-static gint rtps_util_add_seq_ulong(proto_tree *tree,
-                        tvbuff_t * tvb,
-                        gint       offset,
-                        gboolean   little_endian,
-                        int        param_length,
-                        int        is_hex,
-                        int        is_signed,
-                        const char *label) {
-  guint32 num_elem;
-  guint32 i;
-  proto_tree *string_tree;
-  proto_item *ti;
-  char temp_buff[MAX_LABEL_SIZE];
-  char overview_buff[MAX_PARAM_SIZE];
-
-  num_elem = NEXT_guint32(tvb, offset, little_endian);
-  offset += 4;
-
-  /* Create the string node with an empty string, the replace it later */
-  if (tree) {
-    ti = proto_tree_add_text(tree,
-                        tvb,
-                        offset,
-                        param_length-8,
-                        "Seq");
-    string_tree = proto_item_add_subtree(ti, ett_rtps_seq_ulong);
-  } else {
-    return offset + 4*num_elem;
+    g_strlcpy(buffer, temp_buff, (gulong) buffer_size);
   }
 
-  overview_buff[0] = '\0';
-
-  for (i = 0; i < num_elem; ++i) {
-    g_snprintf(temp_buff, MAX_LABEL_SIZE,
-                        "%s[%d]",
-                        label,
-                        i);
-    rtps_util_add_long( string_tree,
-                        tvb,
-                        offset,
-                        -1,
-                        little_endian,
-                        is_hex,
-                        is_signed,
-                        temp_buff,
-                        overview_buff+strlen(overview_buff),
-                        MAX_PARAM_SIZE-strlen(overview_buff));
-    offset += 4;
-  }
-  proto_item_set_text(ti,
-                        "%s: %s",
-                        label,
-                        overview_buff);
-  return offset;
+  return retVal;
 }
 
 
@@ -2914,83 +1868,6 @@ static gint rtps_util_add_typecode(proto_tree *tree,
   return retVal;
 }
 
-
-/* ------------------------------------------------------------------------- */
-/* Insert in the protocol tree the next bytes interpreted as Sequence of
- * Octets.
- * The formatted buffer is: [ 0x01, 0x02, 0x03, 0x04, ...]
- * The maximum number of elements displayed is 10, after that a '...' is
- * inserted.
- */
-static void rtps_util_add_seq_octets(proto_tree *tree,
-                        tvbuff_t * tvb,
-                        gint       offset,
-                        gboolean   little_endian,
-                        int        param_length,
-                        int        hf_id,
-                        guint8 *   buffer,
-                        gint       buffer_size) {
-  gint idx = 0;
-  guint32 seq_length;
-  guint32 i;
-  gint original_offset = offset;
-  guint32 original_seq_length;
-
-
-  original_seq_length = seq_length = NEXT_guint32(tvb, offset, little_endian);
-
-  offset += 4;
-  if (param_length < 4 + (int)seq_length) {
-    g_strlcpy(buffer, "RTPS PROTOCOL ERROR: parameter value too small", buffer_size);
-    if (tree) {
-      proto_tree_add_text(tree,
-                        tvb,
-                        offset,
-                        param_length,
-                        "%s",
-                        buffer);
-    }
-    return ;
-  }
-
-  /* Limit the number of octets displayed to MAX_SEQ_OCTETS_PRINTED */
-  if (seq_length > MAX_SEQ_OCTETS_PRINTED) {
-    seq_length = MAX_SEQ_OCTETS_PRINTED;
-  }
-  for (i = 0; i < seq_length; ++i) {
-    idx += g_snprintf(&buffer[idx],
-                        buffer_size - idx - 1,
-                        "%02x",
-                        tvb_get_guint8(tvb, offset++));
-    if (idx >= buffer_size) {
-        break;
-    }
-  }
-  if (seq_length != original_seq_length) {
-    /* seq_length was reduced, add '...' */
-    g_strlcat(buffer, "...", buffer_size);
-  }
-
-  if (tree) {
-    proto_tree_add_text(tree,
-                        tvb,
-                        original_offset,
-                        4,
-                        "sequenceSize: %d octets",
-                        original_seq_length);
-    proto_tree_add_item(tree,
-                        hf_id,
-                        tvb,
-                        original_offset+4,
-                        original_seq_length,
-                        little_endian ? ENC_LITTLE_ENDIAN : ENC_BIG_ENDIAN);
-
-  }
-}
-
-
-
-
 /* ------------------------------------------------------------------------- */
 /* Insert in the protocol tree the next bytes interpreted as a Bitmap
  * struct {
@@ -3325,20 +2202,13 @@ static void rtps_util_decode_flags_16bit(proto_tree * tree,
 /* Note: the encapsulation header is ALWAYS big endian, then the encapsulation
  * type specified the type of endianess of the payload.
  */
-static void dissect_serialized_data(proto_tree *tree,
-                        tvbuff_t *tvb,
-                        gint offset,
-                        int  size,
-                        const char * label,
-                        guint16 vendor_id) {
+static void dissect_serialized_data(proto_tree *tree, packet_info *pinfo, tvbuff_t *tvb, gint offset,
+                        int  size, const char * label, guint16 vendor_id) {
   proto_item * ti;
   proto_tree * rtps_parameter_sequence_tree;
   guint16 encapsulation_id;
   guint16 encapsulation_len;
   gboolean encapsulation_little_endian = FALSE;
-  if (tree == NULL) {
-    return;
-  }
 
   /* Creates the sub-tree */
   ti = proto_tree_add_text(tree,
@@ -3392,12 +2262,8 @@ static void dissect_serialized_data(proto_tree *tree,
 
     case ENCAPSULATION_PL_CDR_LE:
     case ENCAPSULATION_PL_CDR_BE:
-          dissect_parameter_sequence(rtps_parameter_sequence_tree,
-                        tvb,
-                        offset,
-                        encapsulation_little_endian,
-                        size,
-                        label, NULL, vendor_id);
+          dissect_parameter_sequence(rtps_parameter_sequence_tree, pinfo, tvb, offset,
+                        encapsulation_little_endian, size, label, NULL, vendor_id);
           break;
 
     default:
@@ -3484,6 +2350,7 @@ static void dissect_octet_seq(proto_tree *tree,
         }
 
 static gint dissect_parameter_sequence(proto_tree *tree,
+                        packet_info *pinfo, 
                         tvbuff_t *tvb,
                         gint offset,
                         gboolean  little_endian,
@@ -3491,23 +2358,20 @@ static gint dissect_parameter_sequence(proto_tree *tree,
                         const char * label,
                         guint32 *pStatusInfo,
                         guint16 vendor_id) {
-  proto_item * ti = NULL;
-  proto_tree * rtps_parameter_sequence_tree = NULL;
-  proto_tree * rtps_parameter_tree = NULL;
+  proto_item *ti, *param_item;
+  proto_tree *rtps_parameter_sequence_tree, *rtps_parameter_tree, *subtree;
   guint16      parameter, param_length;
   guint8       buffer[MAX_PARAM_SIZE];
   gint         original_offset = offset;
 
   buffer[0] = '\0';
-  if (tree) {
-    ti = proto_tree_add_text(tree,
+
+  ti = proto_tree_add_text(tree,
                         tvb,
                         offset,
                         -1,
                         "%s:", label);
-    rtps_parameter_sequence_tree = proto_item_add_subtree(ti,
-                        ett_rtps_parameter_sequence);
-  }
+  rtps_parameter_sequence_tree = proto_item_add_subtree(ti, ett_rtps_parameter_sequence);
 
   /* Loop through all the parameters defined until PID_SENTINEL is found */
   for (;;) {
@@ -3528,26 +2392,12 @@ static gint dissect_parameter_sequence(proto_tree *tree,
      * be set later...
      */
     parameter = NEXT_guint16(tvb, offset, little_endian);
-    if (tree) {
-      ti = proto_tree_add_text(rtps_parameter_sequence_tree,
-                        tvb,
-                        offset,
-                        -1,
-                        "%s",
-                        val_to_str(parameter, parameter_id_vals,
-                                "Unknown (0x%04x)"));
-      rtps_parameter_tree = proto_item_add_subtree(ti, ett_rtps_parameter);
-      proto_tree_add_uint_format(rtps_parameter_tree,
-                        hf_rtps_parameter_id,
-                        tvb,
-                        offset,
-                        2,
-                        parameter,
-                        "parameterId: 0x%04x (%s)",
-                        parameter,
-                        val_to_str(parameter, parameter_id_vals,
-                                        "unknown %04x"));
-    }
+    param_item = proto_tree_add_text(rtps_parameter_sequence_tree, tvb, offset, -1,
+                        "%s", val_to_str(parameter, parameter_id_vals, "Unknown (0x%04x)"));
+    rtps_parameter_tree = proto_item_add_subtree(param_item, ett_rtps_parameter);
+
+    proto_tree_add_uint(rtps_parameter_tree, hf_rtps_parameter_id,
+                        tvb, offset, 2, parameter);
     offset += 2;
 
     if (parameter == PID_SENTINEL) {
@@ -3607,20 +2457,11 @@ static gint dissect_parameter_sequence(proto_tree *tree,
        * +---------------+---------------+---------------+---------------+
        */
       case PID_STATUS_INFO: {
-        guint32 si = 0xffffffff;
         ENSURE_LENGTH(4);
-        si = rtps_util_add_long(rtps_parameter_tree,
-                        tvb,
-                        offset,
-                        hf_rtps_param_status_info,
-                        FALSE,  /* ALWAYS in network byte order (big endian) */
-                        TRUE,   /* Is Hex ? */
-                        FALSE,  /* Is Signed ? */
-                        NULL,   /* No Label, use the protocol item ID */
-                        buffer,
-                        MAX_PARAM_SIZE);
+        proto_tree_add_item(rtps_parameter_tree, hf_rtps_param_status_info, tvb, offset, 4, little_endian ? ENC_LITTLE_ENDIAN : ENC_BIG_ENDIAN);
+
         if (pStatusInfo != NULL) {
-          *pStatusInfo = si;
+          *pStatusInfo = NEXT_guint32(tvb, offset, little_endian);
         }
         break;
       }
@@ -3719,13 +2560,7 @@ static gint dissect_parameter_sequence(proto_tree *tree,
        */
       case PID_PARTICIPANT_LEASE_DURATION:
         ENSURE_LENGTH(8);
-        rtps_util_add_ntp_time(rtps_parameter_tree,
-                        tvb,
-                        offset,
-                        little_endian,
-                        "duration",
-                        buffer,
-                        MAX_PARAM_SIZE);
+        rtps_util_add_ntp_time(rtps_parameter_tree, tvb, offset, little_endian, hf_rtps_participant_lease_duration);
         break;
 
 
@@ -3744,9 +2579,7 @@ static gint dissect_parameter_sequence(proto_tree *tree,
                         tvb,
                         offset,
                         little_endian,
-                        "minimum_separation",
-                        buffer,
-                        MAX_PARAM_SIZE);
+                        hf_rtps_time_based_filter_minimum_separation);
         break;
 
       /* 0...2...........7...............15.............23...............31
@@ -3781,16 +2614,7 @@ static gint dissect_parameter_sequence(proto_tree *tree,
        */
       case PID_OWNERSHIP_STRENGTH:
         ENSURE_LENGTH(4);
-        rtps_util_add_long(rtps_parameter_tree,
-                        tvb,
-                        offset,
-                        hf_rtps_param_strength,
-                        little_endian,
-                        FALSE,  /* Is Hex ? */
-                        TRUE,   /* Is Signed ? */
-                        NULL,   /* No Label, use the protocol item ID */
-                        buffer,
-                        MAX_PARAM_SIZE);
+        proto_tree_add_item(rtps_parameter_tree, hf_rtps_param_strength, tvb, offset, 4, little_endian ? ENC_LITTLE_ENDIAN : ENC_BIG_ENDIAN);
         break;
 
       /* 0...2...........7...............15.............23...............31
@@ -3828,13 +2652,8 @@ static gint dissect_parameter_sequence(proto_tree *tree,
       case PID_METATRAFFIC_UNICAST_PORT:
       case PID_DEFAULT_UNICAST_PORT:
         ENSURE_LENGTH(4);
-        rtps_util_add_port(rtps_parameter_tree,
-                        tvb,
-                        offset,
-                        little_endian,
-                        "port",
-                        buffer,
-                        MAX_PARAM_SIZE);
+        rtps_util_add_port(rtps_parameter_tree, pinfo, tvb, offset,
+                        little_endian, hf_rtps_param_port);
         break;
 
 
@@ -3848,12 +2667,7 @@ static gint dissect_parameter_sequence(proto_tree *tree,
        */
       case PID_EXPECTS_INLINE_QOS:
         ENSURE_LENGTH(1);
-        rtps_util_add_boolean(rtps_parameter_tree,
-                        tvb,
-                        offset,
-                        "inline_qos",
-                        buffer,
-                        MAX_PARAM_SIZE);
+        proto_tree_add_item(rtps_parameter_tree, hf_rtps_expects_inline_qos, tvb, offset, 1, ENC_NA );
         break;
 
       /* 0...2...........7...............15.............23...............31
@@ -3867,13 +2681,8 @@ static gint dissect_parameter_sequence(proto_tree *tree,
       case PID_DEFAULT_UNICAST_IPADDRESS:
       case PID_MULTICAST_IPADDRESS:
       case PID_METATRAFFIC_UNICAST_IPADDRESS:
-        rtps_util_add_ipv4_address_t(rtps_parameter_tree,
-                        tvb,
-                        offset,
-                        little_endian,
-                        "address",
-                        buffer,
-                        MAX_PARAM_SIZE);
+        rtps_util_add_ipv4_address_t(rtps_parameter_tree, pinfo, tvb, offset,
+                                     little_endian, hf_param_ip_address);
         break;
 
 
@@ -3913,16 +2722,7 @@ static gint dissect_parameter_sequence(proto_tree *tree,
         ENSURE_LENGTH(2);
         rtps_util_add_vendor_id(NULL,
                         tvb,
-                        offset,
-                        buffer,
-                        MAX_PARAM_SIZE);
-        proto_tree_add_text(rtps_parameter_tree,
-                        tvb,
-                        offset,
-                        2,
-                        "vendorId: %s",
-                        buffer);
-
+                        offset);
         break;
 
 
@@ -3936,14 +2736,8 @@ static gint dissect_parameter_sequence(proto_tree *tree,
       case PID_RELIABILITY_OFFERED: /* Deprecated */
       case PID_RELIABILITY:
         ENSURE_LENGTH(4);
-        rtps_util_add_kind_qos(rtps_parameter_tree,
-                        tvb,
-                        offset,
-                        little_endian,
-                        "kind",
-                        reliability_qos_vals,
-                        buffer,
-                        MAX_PARAM_SIZE);
+        proto_tree_add_item(rtps_parameter_tree, hf_rtps_reliability_kind, tvb, offset, 4,
+                            little_endian ? ENC_LITTLE_ENDIAN : ENC_BIG_ENDIAN);
         break;
 
 
@@ -3966,9 +2760,7 @@ static gint dissect_parameter_sequence(proto_tree *tree,
         rtps_util_add_liveliness_qos(rtps_parameter_tree,
                         tvb,
                         offset,
-                        little_endian,
-                        buffer,
-                        MAX_PARAM_SIZE);
+                        little_endian);
         break;
 
 
@@ -3981,14 +2773,8 @@ static gint dissect_parameter_sequence(proto_tree *tree,
        */
       case PID_DURABILITY:
         ENSURE_LENGTH(4);
-        rtps_util_add_kind_qos(rtps_parameter_tree,
-                        tvb,
-                        offset,
-                        little_endian,
-                        "durability",
-                        durability_qos_vals,
-                        buffer,
-                        MAX_PARAM_SIZE);
+        proto_tree_add_item(rtps_parameter_tree, hf_rtps_durability, tvb, offset, 4,
+                            little_endian ? ENC_LITTLE_ENDIAN : ENC_BIG_ENDIAN);
         break;
 
       /* 0...2...........7...............15.............23...............31
@@ -4012,12 +2798,7 @@ static gint dissect_parameter_sequence(proto_tree *tree,
        */
       case PID_DURABILITY_SERVICE:
         ENSURE_LENGTH(28);
-        rtps_util_add_durability_service_qos(rtps_parameter_tree,
-                        tvb,
-                        offset,
-                        little_endian,
-                        buffer,
-                        MAX_PARAM_SIZE);
+        rtps_util_add_durability_service_qos(rtps_parameter_tree, tvb, offset, little_endian);
         break;
 
 
@@ -4031,14 +2812,8 @@ static gint dissect_parameter_sequence(proto_tree *tree,
       case PID_OWNERSHIP_OFFERED: /* Deprecated */
       case PID_OWNERSHIP:
         ENSURE_LENGTH(4);
-        rtps_util_add_kind_qos(rtps_parameter_tree,
-                        tvb,
-                        offset,
-                        little_endian,
-                        "kind",
-                        ownership_qos_vals,
-                        buffer,
-                        MAX_PARAM_SIZE);
+        proto_tree_add_item(rtps_parameter_tree, hf_rtps_ownership, tvb, offset, 4,
+                            little_endian ? ENC_LITTLE_ENDIAN : ENC_BIG_ENDIAN);
         break;
 
 
@@ -4075,30 +2850,10 @@ static gint dissect_parameter_sequence(proto_tree *tree,
       case PID_PRESENTATION_OFFERED: /* Deprecated */
       case PID_PRESENTATION:
         ENSURE_LENGTH(6);
-        g_strlcpy(buffer, "{ ", MAX_PARAM_SIZE);
-        rtps_util_add_kind_qos(rtps_parameter_tree,
-                        tvb,
-                        offset,
-                        little_endian,
-                        "access_scope",
-                        presentation_qos_vals,
-                        buffer+strlen(buffer),
-                        MAX_PARAM_SIZE-strlen(buffer));
-        g_strlcat(buffer, ", ", MAX_PARAM_SIZE);
-        rtps_util_add_boolean(rtps_parameter_tree,
-                        tvb,
-                        offset+4,
-                        "coherent_access",
-                        buffer+strlen(buffer),
-                        MAX_PARAM_SIZE-strlen(buffer));
-        g_strlcat(buffer, ", ", MAX_PARAM_SIZE);
-        rtps_util_add_boolean(rtps_parameter_tree,
-                        tvb,
-                        offset+4,
-                        "ordered_access",
-                        buffer+strlen(buffer),
-                        MAX_PARAM_SIZE-strlen(buffer));
-        g_strlcat(buffer, " }", MAX_PARAM_SIZE);
+        proto_tree_add_item(rtps_parameter_tree, hf_rtps_presentation_access_scope, tvb, offset, 4,
+                            little_endian ? ENC_LITTLE_ENDIAN : ENC_BIG_ENDIAN);
+        proto_tree_add_item(rtps_parameter_tree, hf_rtps_presentation_coherent_access, tvb, offset+4, 1, ENC_NA );
+        proto_tree_add_item(rtps_parameter_tree, hf_rtps_presentation_ordered_access, tvb, offset+5, 1, ENC_NA );
         break;
 
 
@@ -4118,9 +2873,7 @@ static gint dissect_parameter_sequence(proto_tree *tree,
                         tvb,
                         offset,
                         little_endian,
-                        "period",
-                        buffer,
-                        MAX_PARAM_SIZE);
+                        hf_rtps_deadline_period);
         break;
 
       /* 0...2...........7...............15.............23...............31
@@ -4133,14 +2886,8 @@ static gint dissect_parameter_sequence(proto_tree *tree,
       case PID_DESTINATION_ORDER_OFFERED: /* Deprecated */
       case PID_DESTINATION_ORDER:
         ENSURE_LENGTH(4);
-        rtps_util_add_kind_qos(rtps_parameter_tree,
-                        tvb,
-                        offset,
-                        little_endian,
-                        "kind",
-                        destination_order_qos_vals,
-                        buffer,
-                        MAX_PARAM_SIZE);
+        proto_tree_add_item(rtps_parameter_tree, hf_rtps_destination_order, tvb, offset, 4,
+                            little_endian ? ENC_LITTLE_ENDIAN : ENC_BIG_ENDIAN);
         break;
 
 
@@ -4160,9 +2907,7 @@ static gint dissect_parameter_sequence(proto_tree *tree,
                         tvb,
                         offset,
                         little_endian,
-                        "duration",
-                        buffer,
-                        MAX_PARAM_SIZE);
+                        hf_rtps_latency_budget_duration);
         break;
 
 
@@ -4208,10 +2953,7 @@ static gint dissect_parameter_sequence(proto_tree *tree,
                         tvb,
                         offset,
                         little_endian,
-                        "duration",
-                        buffer,
-                        MAX_PARAM_SIZE);
-
+                        hf_rtps_lifespan_duration);
         break;
 
       /* 0...2...........7...............15.............23...............31
@@ -4227,15 +2969,8 @@ static gint dissect_parameter_sequence(proto_tree *tree,
        */
       case PID_USER_DATA:
         ENSURE_LENGTH(4);
-        rtps_util_add_seq_octets(rtps_parameter_tree,
-                        tvb,
-                        offset,
-                        little_endian,
-                        param_length,
-                        hf_rtps_param_user_data,
-                        buffer,
-                        MAX_PARAM_SIZE);
-
+        rtps_util_add_seq_octets(rtps_parameter_tree, pinfo, tvb, offset,
+                        little_endian, param_length, hf_rtps_param_user_data);
         break;
 
       /* 0...2...........7...............15.............23...............31
@@ -4251,14 +2986,8 @@ static gint dissect_parameter_sequence(proto_tree *tree,
        */
       case PID_GROUP_DATA:
         ENSURE_LENGTH(4);
-        rtps_util_add_seq_octets(rtps_parameter_tree,
-                        tvb,
-                        offset,
-                        little_endian,
-                        param_length,
-                        hf_rtps_param_group_data,
-                        buffer,
-                        MAX_PARAM_SIZE);
+        rtps_util_add_seq_octets(rtps_parameter_tree, pinfo, tvb, offset,
+                        little_endian, param_length, hf_rtps_param_group_data);
         break;
 
       /* 0...2...........7...............15.............23...............31
@@ -4274,14 +3003,8 @@ static gint dissect_parameter_sequence(proto_tree *tree,
        */
      case PID_TOPIC_DATA:
         ENSURE_LENGTH(4);
-        rtps_util_add_seq_octets(rtps_parameter_tree,
-                        tvb,
-                        offset,
-                        little_endian,
-                        param_length,
-                        hf_rtps_param_topic_data,
-                        buffer,
-                        MAX_PARAM_SIZE);
+        rtps_util_add_seq_octets(rtps_parameter_tree, pinfo, tvb, offset,
+                        little_endian, param_length, hf_rtps_param_topic_data);
         break;
 
       /* 0...2...........7...............15.............23...............31
@@ -4303,14 +3026,7 @@ static gint dissect_parameter_sequence(proto_tree *tree,
        */
      case PID_UNICAST_LOCATOR:
         ENSURE_LENGTH(24);
-        rtps_util_add_locator_t(rtps_parameter_tree,
-                        tvb,
-                        offset,
-                        little_endian,
-                        "locator",
-                        buffer,
-                        MAX_PARAM_SIZE);
-
+        rtps_util_add_locator_t(rtps_parameter_tree, pinfo, tvb, offset, little_endian, "locator");
         break;
 
       /* 0...2...........7...............15.............23...............31
@@ -4332,14 +3048,7 @@ static gint dissect_parameter_sequence(proto_tree *tree,
        */
      case PID_DEFAULT_MULTICAST_LOCATOR:
         ENSURE_LENGTH(24);
-        rtps_util_add_locator_t(rtps_parameter_tree,
-                        tvb,
-                        offset,
-                        little_endian,
-                        "locator",
-                        buffer,
-                        MAX_PARAM_SIZE);
-
+        rtps_util_add_locator_t(rtps_parameter_tree, pinfo, tvb, offset, little_endian, "locator");
         break;
 
 
@@ -4362,14 +3071,7 @@ static gint dissect_parameter_sequence(proto_tree *tree,
        */
      case PID_MULTICAST_LOCATOR:
         ENSURE_LENGTH(24);
-        rtps_util_add_locator_t(rtps_parameter_tree,
-                        tvb,
-                        offset,
-                        little_endian,
-                        "locator",
-                        buffer,
-                        MAX_PARAM_SIZE);
-
+        rtps_util_add_locator_t(rtps_parameter_tree, pinfo, tvb, offset, little_endian, "locator");
         break;
 
       /* 0...2...........7...............15.............23...............31
@@ -4391,14 +3093,7 @@ static gint dissect_parameter_sequence(proto_tree *tree,
        */
      case PID_DEFAULT_UNICAST_LOCATOR:
         ENSURE_LENGTH(24);
-        rtps_util_add_locator_t(rtps_parameter_tree,
-                        tvb,
-                        offset,
-                        little_endian,
-                        "locator",
-                        buffer,
-                        MAX_PARAM_SIZE);
-
+        rtps_util_add_locator_t(rtps_parameter_tree, pinfo, tvb, offset, little_endian, "locator");
         break;
 
       /* 0...2...........7...............15.............23...............31
@@ -4420,14 +3115,7 @@ static gint dissect_parameter_sequence(proto_tree *tree,
        */
      case PID_METATRAFFIC_UNICAST_LOCATOR:
         ENSURE_LENGTH(24);
-        rtps_util_add_locator_t(rtps_parameter_tree,
-                        tvb,
-                        offset,
-                        little_endian,
-                        "locator",
-                        buffer,
-                        MAX_PARAM_SIZE);
-
+        rtps_util_add_locator_t(rtps_parameter_tree, pinfo, tvb, offset, little_endian, "locator");
         break;
 
       /* 0...2...........7...............15.............23...............31
@@ -4449,14 +3137,7 @@ static gint dissect_parameter_sequence(proto_tree *tree,
        */
      case PID_METATRAFFIC_MULTICAST_LOCATOR:
         ENSURE_LENGTH(24);
-        rtps_util_add_locator_t(rtps_parameter_tree,
-                        tvb,
-                        offset,
-                        little_endian,
-                        "locator",
-                        buffer,
-                        MAX_PARAM_SIZE);
-
+        rtps_util_add_locator_t(rtps_parameter_tree, pinfo, tvb, offset, little_endian, "locator");
         break;
 
       /* 0...2...........7...............15.............23...............31
@@ -4467,18 +3148,15 @@ static gint dissect_parameter_sequence(proto_tree *tree,
        * +---------------+---------------+---------------+---------------+
        */
       case PID_PARTICIPANT_BUILTIN_ENDPOINTS:
+        ENSURE_LENGTH(4);
+        proto_tree_add_item(rtps_parameter_tree, hf_rtps_participant_builtin_endpoints, tvb, offset, 4,
+                            little_endian ? ENC_LITTLE_ENDIAN : ENC_BIG_ENDIAN);
+        break;
+
       case PID_PARTICIPANT_MANUAL_LIVELINESS_COUNT:
         ENSURE_LENGTH(4);
-        rtps_util_add_long(rtps_parameter_tree,
-                        tvb,
-                        offset,
-                        -1,     /* No protocol ID, use label below */
-                        little_endian,
-                        TRUE,   /* Is Hex ? */
-                        FALSE,  /* Is Signed ? */
-                        "value",
-                        buffer,
-                        MAX_PARAM_SIZE);
+        proto_tree_add_item(rtps_parameter_tree, hf_rtps_participant_manual_liveliness_count, tvb, offset, 4,
+                            little_endian ? ENC_LITTLE_ENDIAN : ENC_BIG_ENDIAN);
         break;
 
       /* 0...2...........7...............15.............23...............31
@@ -4492,28 +3170,9 @@ static gint dissect_parameter_sequence(proto_tree *tree,
        */
       case PID_HISTORY:
         ENSURE_LENGTH(8);
-        g_strlcpy(buffer, "{ ", MAX_PARAM_SIZE);
-        rtps_util_add_kind_qos(rtps_parameter_tree,
-                        tvb,
-                        offset,
-                        little_endian,
-                        "kind",
-                        history_qos_vals,
-                        buffer+strlen(buffer),
-                        MAX_PARAM_SIZE-strlen(buffer));
-        g_strlcat(buffer, ", ", MAX_PARAM_SIZE);
-
-        rtps_util_add_long(rtps_parameter_tree,
-                        tvb,
-                        offset+4,
-                        -1,     /* No protocol ID, use label below */
-                        little_endian,
-                        FALSE,  /* Is Hex ? */
-                        TRUE,  /* Is Signed ? */
-                        "depth",
-                        buffer + strlen(buffer),
-                        MAX_PARAM_SIZE-strlen(buffer));
-        g_strlcat(buffer, " }", MAX_PARAM_SIZE);
+        proto_tree_add_item(rtps_parameter_tree, hf_rtps_history_kind, tvb, offset, 4,
+                            little_endian ? ENC_LITTLE_ENDIAN : ENC_BIG_ENDIAN);
+        proto_tree_add_item(rtps_parameter_tree, hf_rtps_history_depth, tvb, offset+4, 4, little_endian ? ENC_LITTLE_ENDIAN : ENC_BIG_ENDIAN);
         break;
 
 
@@ -4530,41 +3189,11 @@ static gint dissect_parameter_sequence(proto_tree *tree,
        */
       case PID_RESOURCE_LIMIT:
         ENSURE_LENGTH(12);
-        g_strlcpy(buffer, "{ ", MAX_PARAM_SIZE);
-        rtps_util_add_long(rtps_parameter_tree,
-                        tvb,
-                        offset,
-                        -1,     /* No protocol ID, use label below */
-                        little_endian,
-                        FALSE,  /* Is Hex ? */
-                        TRUE,  /* Is Signed ? */
-                        "max_samples",
-                        buffer + strlen(buffer),
-                        MAX_PARAM_SIZE-strlen(buffer));
-        g_strlcat(buffer, ", ", MAX_PARAM_SIZE);
-        rtps_util_add_long(rtps_parameter_tree,
-                        tvb,
-                        offset+4,
-                        -1,     /* No protocol ID, use label below */
-                        little_endian,
-                        FALSE,  /* Is Hex ? */
-                        TRUE,  /* Is Signed ? */
-                        "max_instances",
-                        buffer + strlen(buffer),
-                        MAX_PARAM_SIZE-strlen(buffer));
-        g_strlcat(buffer, ", ", MAX_PARAM_SIZE);
-
-        rtps_util_add_long(rtps_parameter_tree,
-                        tvb,
-                        offset+8,
-                        -1,     /* No protocol ID, use label below */
-                        little_endian,
-                        FALSE,  /* Is Hex ? */
-                        TRUE,  /* Is Signed ? */
-                        "max_samples_per_instances",
-                        buffer + strlen(buffer),
-                        MAX_PARAM_SIZE-strlen(buffer));
-        g_strlcat(buffer, " }", MAX_PARAM_SIZE);
+        ti = proto_tree_add_text(rtps_parameter_tree, tvb, offset, 12, "Resource Limit");
+        subtree = proto_item_add_subtree(ti, ett_rtps_resource_limit);
+        proto_tree_add_item(subtree, hf_rtps_resource_limit_max_samples, tvb, offset, 4, little_endian ? ENC_LITTLE_ENDIAN : ENC_BIG_ENDIAN);
+        proto_tree_add_item(subtree, hf_rtps_resource_limit_max_instances, tvb, offset+4, 4, little_endian ? ENC_LITTLE_ENDIAN : ENC_BIG_ENDIAN);
+        proto_tree_add_item(subtree, hf_rtps_resource_limit_max_samples_per_instances, tvb, offset+8, 4, little_endian ? ENC_LITTLE_ENDIAN : ENC_BIG_ENDIAN);
         break;
 
 
@@ -4767,14 +3396,8 @@ static gint dissect_parameter_sequence(proto_tree *tree,
         ENSURE_LENGTH(8);
 
         /* Dissect filter bitmap */
-        temp_offset = rtps_util_add_seq_ulong(rtps_parameter_tree,
-                        tvb,
-                        offset,
-                        little_endian,
-                        param_length,
-                        TRUE,           /* is_hex */
-                        FALSE,          /* filterSignature: is_signed */
-                        "filterBitmap");
+        temp_offset = rtps_util_add_seq_ulong(rtps_parameter_tree, tvb, offset, 
+                        hf_rtps_filter_bitmap, little_endian, param_length, "filterBitmap");
 
         /* Dissect sequence of FILTER_SIGNATURE */
         fs_elem = NEXT_guint32(tvb, temp_offset, little_endian);
@@ -5042,33 +3665,17 @@ static gint dissect_parameter_sequence(proto_tree *tree,
                         tvb,
                         offset,
                         little_endian,
-                        "persistence",
-                        buffer,
-                        MAX_PARAM_SIZE);
+                        hf_rtps_persistence);
         break;
 
       case PID_TYPE_CHECKSUM:
         ENSURE_LENGTH(4);
-        rtps_util_add_long(rtps_parameter_tree,
-                        tvb,
-                        offset,
-                        -1,
-                        little_endian,
-                        TRUE,   /* Is Hex? */
-                        FALSE,  /* Is signed ? */
-                        "checksum",
-                        buffer,
-                        MAX_PARAM_SIZE);
+        proto_tree_add_item(rtps_parameter_tree, hf_rtps_type_checksum, tvb, offset, 4, little_endian ? ENC_LITTLE_ENDIAN : ENC_BIG_ENDIAN);
         break;
 
       case PID_EXPECTS_ACK:
         ENSURE_LENGTH(1);
-        rtps_util_add_boolean(rtps_parameter_tree,
-                        tvb,
-                        offset,
-                        "expectsAck",
-                        buffer,
-                        MAX_PARAM_SIZE);
+        proto_tree_add_item(rtps_parameter_tree, hf_rtps_expects_ack, tvb, offset, 1, ENC_NA );
         break;
 
       case PID_MANAGER_KEY: {
@@ -5102,16 +3709,7 @@ static gint dissect_parameter_sequence(proto_tree *tree,
       case PID_RECV_QUEUE_SIZE:
       case PID_SEND_QUEUE_SIZE:
         ENSURE_LENGTH(4);
-        rtps_util_add_long(rtps_parameter_tree,
-                        tvb,
-                        offset,
-                        -1,
-                        little_endian,
-                        TRUE,   /* Is Hex? */
-                        FALSE,  /* Is signed ? */
-                        "queueSize",
-                        buffer,
-                        MAX_PARAM_SIZE);
+        proto_tree_add_item(rtps_parameter_tree, hf_rtps_queue_size, tvb, offset, 4, little_endian ? ENC_LITTLE_ENDIAN : ENC_BIG_ENDIAN);
         break;
 
 
@@ -5263,14 +3861,14 @@ static gint dissect_parameter_sequence(proto_tree *tree,
 
             /* 0...2...........7...............15.............23...............31
              * +-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
-             * | PID_TYPECODE                  |            length             |
+             * | PID_TYPECODE_RTPS2            |            length             |
              * +---------------+---------------+---------------+---------------+
              * |                                                               |
              * +                    Type code description                      +
              * |                                                               |
              * +---------------+---------------+---------------+---------------+
              */
-            case PID_TYPECODE:
+            case PID_TYPECODE_RTPS2:
               rtps_util_add_typecode(rtps_parameter_tree,
                         tvb,
                         offset,
@@ -5295,12 +3893,7 @@ static gint dissect_parameter_sequence(proto_tree *tree,
              */
             case PID_DISABLE_POSITIVE_ACKS:
               ENSURE_LENGTH(1);
-              rtps_util_add_boolean(rtps_parameter_tree,
-                        tvb,
-                        offset,
-                        "disablePositiveAcks",
-                        buffer,
-                        MAX_PARAM_SIZE);
+              proto_tree_add_item(rtps_parameter_tree, hf_rtps_disable_positive_ack, tvb, offset, 1, ENC_NA );
               break;
 
             /* 0...2...........7...............15.............23...............31
@@ -5369,11 +3962,7 @@ static gint dissect_parameter_sequence(proto_tree *tree,
                     temp_buff);
                   channel_tree = proto_item_add_subtree(ti_channel, ett_rtps_locator_filter_channel);
                 }
-                off = rtps_util_add_locator_list(channel_tree,
-                  tvb,
-                  off,
-                  temp_buff,
-                  little_endian);
+                off = rtps_util_add_locator_list(channel_tree, pinfo, tvb, off, temp_buff, little_endian);
                 /* Filter expression */
                 off = rtps_util_add_string(channel_tree,
                   tvb,
@@ -5397,14 +3986,14 @@ static gint dissect_parameter_sequence(proto_tree *tree,
           switch(parameter) {
             /* 0...2...........7...............15.............23...............31
              * +-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
-             * | PID_TYPECODE                  |            length             |
+             * | PID_TYPECODE_RTPS2            |            length             |
              * +---------------+---------------+---------------+---------------+
              * |                                                               |
              * +                    Type code description                      +
              * |                                                               |
              * +---------------+---------------+---------------+---------------+
              */
-            case PID_TYPECODE:
+            case PID_TYPECODE_RTPS2:
               rtps_util_add_typecode(rtps_parameter_tree,
                         tvb,
                         offset,
@@ -5451,41 +4040,6 @@ static gint dissect_parameter_sequence(proto_tree *tree,
 #undef ENSURE_LENGTH
 
 
-
-
-/* *********************************************************************** */
-/* *                                 P A D                               * */
-/* *********************************************************************** */
-static void dissect_PAD(tvbuff_t *tvb,
-                packet_info *pinfo,
-                gint offset,
-                guint8 flags,
-                gboolean little_endian,
-                int octets_to_next_header _U_,
-                proto_tree *tree) {
-  proto_item* item;
-  /* 0...2...........7...............15.............23...............31
-   * +-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
-   * |   PAD         |X|X|X|X|X|X|X|E|      octetsToNextHeader       |
-   * +---------------+---------------+---------------+---------------+
-   */
-  rtps_util_decode_flags(tree, tvb, offset + 1, flags, PAD_FLAGS);
-
-  item = proto_tree_add_item(tree,
-                          hf_rtps_sm_octets_to_next_header,
-                          tvb,
-                          offset + 2,
-                          2,
-                          little_endian ? ENC_LITTLE_ENDIAN : ENC_BIG_ENDIAN);
-  if (NEXT_guint16(tvb, offset + 2, little_endian) != 0) {
-    expert_add_info_format(pinfo, item, PI_PROTOCOL, PI_WARN, "Should be ZERO");
-  }
-}
-
-
-
-
-
 /* *********************************************************************** */
 /* *                               D A T A                               * */
 /* *********************************************************************** */
@@ -5547,8 +4101,8 @@ static void dissect_DATA(tvbuff_t *tvb,
 
   /* Calculates the minimum length for this submessage */
   min_len = 20;
-  if ((flags & FLAG_DATA_Q) != 0) min_len += 4;
-  if ((flags & FLAG_DATA_D) != 0) min_len += 4;
+  if ((flags & FLAG_DATA_Q_RTPS2) != 0) min_len += 4;
+  if ((flags & FLAG_DATA_D_RTPS2) != 0) min_len += 4;
   if ((flags & FLAG_DATA_H) != 0) min_len += 12;
 
   if (octets_to_next_header < min_len) {
@@ -5655,25 +4209,17 @@ static void dissect_DATA(tvbuff_t *tvb,
   }
 
   /* InlineQos */
-  if ((flags & FLAG_DATA_Q) != 0) {
-    offset = dissect_parameter_sequence(tree,
-                        tvb,
-                        offset,
-                        little_endian,
+  if ((flags & FLAG_DATA_Q_RTPS2) != 0) {
+    offset = dissect_parameter_sequence(tree, pinfo, tvb, offset, little_endian,
                         octets_to_next_header - (offset - old_offset) + 4,
-                        "inlineQos",
-                        NULL,
-                        vendor_id);
+                        "inlineQos", NULL, vendor_id);
   }
 
   /* SerializedData */
-  if ((flags & FLAG_DATA_D) != 0) {
-    dissect_serialized_data(tree,
-                        tvb,
-                        offset,
+  if ((flags & FLAG_DATA_D_RTPS2) != 0) {
+    dissect_serialized_data(tree, pinfo, tvb, offset,
                         octets_to_next_header - (offset - old_offset) + 4,
-                        "serializedData",
-                        vendor_id);
+                        "serializedData", vendor_id);
   }
   info_summary_append_ex(pinfo, wid, status_info);
 }
@@ -5875,25 +4421,17 @@ static void dissect_DATA_FRAG(tvbuff_t *tvb,
   offset += 4;
 
   /* InlineQos */
-  if ((flags & FLAG_DATA_Q) != 0) {
-    offset = dissect_parameter_sequence(tree,
-                        tvb,
-                        offset,
-                        little_endian,
+  if ((flags & FLAG_DATA_Q_RTPS2) != 0) {
+    offset = dissect_parameter_sequence(tree, pinfo, tvb, offset, little_endian,
                         octets_to_next_header - (offset - old_offset) + 4,
-                        "inlineQos",
-                        NULL,
-                        vendor_id);
+                        "inlineQos", NULL, vendor_id);
   }
 
   /* SerializedData */
-  if ((flags & FLAG_DATA_D) != 0) {
-    dissect_serialized_data(tree,
-                        tvb,
-                        offset,
+  if ((flags & FLAG_DATA_D_RTPS2) != 0) {
+    dissect_serialized_data(tree, pinfo, tvb, offset,
                         octets_to_next_header - (offset - old_offset) + 4,
-                        "serializedData",
-                        vendor_id);
+                        "serializedData", vendor_id);
   }
 }
 
@@ -5997,25 +4535,17 @@ static void dissect_NOKEY_DATA(tvbuff_t *tvb,
   offset += 8;
 
   /* InlineQos */
-  if ((flags & FLAG_DATA_Q) != 0) {
-    offset = dissect_parameter_sequence(tree,
-                        tvb,
-                        offset,
-                        little_endian,
+  if ((flags & FLAG_DATA_Q_RTPS2) != 0) {
+    offset = dissect_parameter_sequence(tree, pinfo, tvb, offset, little_endian,
                         octets_to_next_header - (offset - old_offset) + 4,
-                        "inlineQos",
-                        NULL,
-                        vendor_id);
+                        "inlineQos", NULL, vendor_id);
   }
 
   /* SerializedData */
-  if ((flags & FLAG_DATA_D) != 0) {
-    dissect_serialized_data(tree,
-                        tvb,
-                        offset,
+  if ((flags & FLAG_DATA_D_RTPS2) != 0) {
+    dissect_serialized_data(tree, pinfo, tvb, offset,
                         octets_to_next_header - (offset - old_offset) + 4,
-                        "serializedData",
-                        vendor_id);
+                        "serializedData", vendor_id);
   }
 }
 
@@ -6161,25 +4691,17 @@ static void dissect_NOKEY_DATA_FRAG(tvbuff_t *tvb,
   offset += 2;
 
   /* InlineQos */
-  if ((flags & FLAG_DATA_Q) != 0) {
-    offset = dissect_parameter_sequence(tree,
-                        tvb,
-                        offset,
-                        little_endian,
+  if ((flags & FLAG_DATA_Q_RTPS2) != 0) {
+    offset = dissect_parameter_sequence(tree, pinfo, tvb, offset, little_endian,
                         octets_to_next_header - (offset - old_offset) + 4,
-                        "inlineQos",
-                        NULL,
-                        vendor_id);
+                        "inlineQos", NULL, vendor_id);
   }
 
   /* SerializedData */
-  if ((flags & FLAG_DATA_D) != 0) {
-    dissect_serialized_data(tree,
-                        tvb,
-                        offset,
+  if ((flags & FLAG_DATA_D_RTPS2) != 0) {
+    dissect_serialized_data(tree, pinfo, tvb,offset,
                         octets_to_next_header - (offset - old_offset) + 4,
-                        "serializedData",
-                        vendor_id);
+                        "serializedData", vendor_id);
   }
 }
 
@@ -6866,181 +5388,6 @@ static void dissect_GAP(tvbuff_t *tvb,
 
 
 /* *********************************************************************** */
-/* *                           I N F O _ T S                             * */
-/* *********************************************************************** */
-static void dissect_INFO_TS(tvbuff_t *tvb,
-                packet_info *pinfo,
-                gint offset,
-                guint8 flags,
-                gboolean little_endian,
-                int octets_to_next_header,
-                proto_tree *tree) {
-  /*
-   * 0...2...........7...............15.............23...............31
-   * +-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
-   * |   INFO_TS     |X|X|X|X|X|X|I|E|      octetsToNextHeader       |
-   * +---------------+---------------+---------------+---------------+
-   * |                                                               |
-   * + Timestamp timestamp [only if I==1]                            +
-   * |                                                               |
-   * +---------------+---------------+---------------+---------------+
-   */
-
-  int min_len;
-  proto_item* octet_item;
-
-  rtps_util_decode_flags(tree, tvb, offset + 1, flags, INFO_TS_FLAGS);
-
-  octet_item = proto_tree_add_item(tree,
-                        hf_rtps_sm_octets_to_next_header,
-                        tvb,
-                        offset + 2,
-                        2,
-                        little_endian ? ENC_LITTLE_ENDIAN : ENC_BIG_ENDIAN);
-
-  min_len = 0;
-  if ((flags & FLAG_INFO_TS_T) == 0) min_len += 8;
-
-  if (octets_to_next_header != min_len) {
-    expert_add_info_format(pinfo, octet_item, PI_PROTOCOL, PI_WARN, "(Error: should be == %u)", min_len);
-    return;
-  }
-
-  /* Skip decoding the entire packet if (tree == NULL) */
-  if (tree == NULL) {
-    return;
-  }
-
-  offset += 4;
-
-  if ((flags & FLAG_INFO_TS_T) == 0) {
-    rtps_util_add_ntp_time(tree,
-                        tvb,
-                        offset,
-                        little_endian,
-                        "timestamp",
-                        NULL,
-                        0);
-  }
-}
-
-
-/* *********************************************************************** */
-/* *                           I N F O _ S R C                           * */
-/* *********************************************************************** */
-static void dissect_INFO_SRC(tvbuff_t *tvb,
-                packet_info *pinfo,
-                gint offset,
-                guint8 flags,
-                gboolean little_endian,
-                int octets_to_next_header,
-                proto_tree *tree) {
-  /*
-   * 0...2...........7...............15.............23...............31
-   * +-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
-   * |   INFO_SRC    |X|X|X|X|X|X|X|E|      octetsToNextHeader       |
-   * +---------------+---------------+---------------+---------------+
-   * | long unused                                                   |
-   * +---------------+---------------+---------------+---------------+
-   * | ProtocolVersion version       | VendorId vendor               |
-   * +---------------+---------------+---------------+---------------+
-   * |                                                               |
-   * +                                                               +
-   * | GuidPrefix guidPrefix                                         |
-   * +                                                               +
-   * |                                                               |
-   * +---------------+---------------+---------------+---------------+
-   */
-  proto_item* octet_item;
-
-  rtps_util_decode_flags(tree, tvb, offset + 1, flags, INFO_SRC_FLAGS);
-
-  octet_item = proto_tree_add_item(tree,
-                        hf_rtps_sm_octets_to_next_header,
-                        tvb,
-                        offset + 2,
-                        2,
-                        little_endian ? ENC_LITTLE_ENDIAN : ENC_BIG_ENDIAN);
-
-  if (octets_to_next_header != 16) {
-    expert_add_info_format(pinfo, octet_item, PI_PROTOCOL, PI_WARN, "(Error: should be == 16)");
-    return;
-  }
-
-  /* Skip decoding the entire packet if (tree == NULL) */
-  if (tree == NULL) {
-    return;
-  }
-
-  offset += 4;
-
-  /* Ip Address */
-  {
-    guint32 ip = NEXT_guint32(tvb, offset, little_endian);
-    proto_tree_add_text(tree,
-                        tvb,
-                        offset,
-                        4,
-                        "unused: 0x%08x (appIpAddress: %d.%d.%d.%d)",
-                        ip,
-                        (ip >> 24) & 0xff,
-                        (ip >> 16) & 0xff,
-                        (ip >> 8) & 0xff,
-                        ip & 0xff);
-    offset += 4;
-  }
-
-  /* Version */
-  {
-    guint8 major = 0;
-    guint8 minor = 0;
-    major = tvb_get_guint8(tvb, offset);
-    minor = tvb_get_guint8(tvb, offset+1);
-
-    proto_tree_add_text(tree,
-                        tvb,
-                        offset,
-                        2,
-                        "version: %d.%d",
-                        major,
-                        minor);
-    offset += 2;
-  }
-
-  /* Vendor ID */
-  {
-    guint8 vendor[MAX_VENDOR_ID_SIZE];
-    rtps_util_add_vendor_id(NULL,
-                        tvb,
-                        offset,
-                        vendor,
-                        MAX_VENDOR_ID_SIZE);
-    proto_tree_add_text(tree,
-                        tvb,
-                        offset,
-                        2,
-                        "vendor: %s",
-                        vendor);
-    offset += 2;
-  }
-
-  {
-    /* guint8 temp_buffer[MAX_GUID_PREFIX_SIZE]; */
-    rtps_util_add_guid_prefix(tree,
-                        tvb,
-                        offset,
-                        hf_rtps_sm_guid_prefix,
-                        hf_rtps_sm_host_id,
-                        hf_rtps_sm_app_id,
-                        hf_rtps_sm_counter,
-                        NULL,   /* Use default 'guidPrefix' */
-                        NULL,
-                        0);
-  }
-}
-
-
-/* *********************************************************************** */
 /* *                    I N F O _ R E P L Y _ I P 4                      * */
 /* *********************************************************************** */
 static void dissect_INFO_REPLY_IP4(tvbuff_t *tvb,
@@ -7093,21 +5440,15 @@ static void dissect_INFO_REPLY_IP4(tvbuff_t *tvb,
 
 
   /* unicastReplyLocator */
-  rtps_util_add_locator_udp_v4(tree,
-                        tvb,
-                        offset,
-                        "unicastReplyLocator",
-                        little_endian);
+  rtps_util_add_locator_udp_v4(tree, pinfo, tvb, offset,
+                        "unicastReplyLocator", little_endian);
 
   offset += 8;
 
   /* multicastReplyLocator */
   if ((flags & FLAG_INFO_REPLY_IP4_M) != 0) {
-    rtps_util_add_locator_udp_v4(tree,
-                        tvb,
-                        offset,
-                        "multicastReplyLocator",
-                        little_endian);
+    rtps_util_add_locator_udp_v4(tree, pinfo, tvb, offset,
+                        "multicastReplyLocator", little_endian);
     offset += 8;
   }
 }
@@ -7224,20 +5565,11 @@ static void dissect_INFO_REPLY(tvbuff_t *tvb,
 
 
   /* unicastReplyLocatorList */
-  offset = rtps_util_add_locator_list(tree,
-                        tvb,
-                        offset,
-                        "unicastReplyLocatorList",
-                        little_endian);
-
+  offset = rtps_util_add_locator_list(tree, pinfo, tvb, offset, "unicastReplyLocatorList", little_endian);
 
   /* multicastReplyLocatorList */
   if ((flags & FLAG_INFO_REPLY_M) != 0) {
-    offset = rtps_util_add_locator_list(tree,
-                        tvb,
-                        offset,
-                        "multicastReplyLocatorList",
-                        little_endian);
+    offset = rtps_util_add_locator_list(tree, pinfo, tvb, offset, "multicastReplyLocatorList", little_endian);
   }
 }
 
@@ -7346,14 +5678,9 @@ static void dissect_RTPS_DATA(tvbuff_t *tvb,
 
     offset += 12;
     if ((flags & FLAG_RTPS_DATA_Q) != 0) {
-      offset = dissect_parameter_sequence(tree,
-                        tvb,
-                        offset,
-                        little_endian,
+      offset = dissect_parameter_sequence(tree, pinfo, tvb, offset, little_endian,
                         octets_to_next_header - (offset - old_offset) + 4,
-                        "inlineQos",
-                        &status_info,
-                        vendor_id);
+                        "inlineQos", &status_info, vendor_id);
     }
     info_summary_append_ex(pinfo, wid, status_info);
     return;
@@ -7428,14 +5755,9 @@ static void dissect_RTPS_DATA(tvbuff_t *tvb,
 
   /* InlineQos */
   if ((flags & FLAG_RTPS_DATA_Q) != 0) {
-    offset = dissect_parameter_sequence(tree,
-                        tvb,
-                        offset,
-                        little_endian,
+    offset = dissect_parameter_sequence(tree, pinfo, tvb, offset, little_endian,
                         octets_to_next_header - (offset - old_offset) + 4,
-                        "inlineQos",
-                        &status_info,
-                        vendor_id);
+                        "inlineQos", &status_info, vendor_id);
   }
 
   /* SerializedData */
@@ -7532,12 +5854,9 @@ static void dissect_RTPS_DATA(tvbuff_t *tvb,
       }
 
       /* At the end still dissect the rest of the bytes as raw data */
-      dissect_serialized_data(tree,
-                        tvb,
-                        offset,
+      dissect_serialized_data(tree, pinfo, tvb, offset,
                         octets_to_next_header - (offset - old_offset) + 4,
-                        label,
-                        vendor_id);
+                        label, vendor_id);
     }
   }
 
@@ -7623,14 +5942,9 @@ static void dissect_RTPS_DATA_FRAG(tvbuff_t *tvb,
 
     offset += 24;
     if ((flags & FLAG_RTPS_DATA_FRAG_Q) != 0) {
-      offset = dissect_parameter_sequence(tree,
-                        tvb,
-                        offset,
-                        little_endian,
+      offset = dissect_parameter_sequence(tree, pinfo, tvb, offset, little_endian,
                         octets_to_next_header - (offset - old_offset) + 4,
-                        "inlineQos",
-                        &status_info,
-                        vendor_id);
+                        "inlineQos", &status_info, vendor_id);
     }
     info_summary_append_ex(pinfo, wid, status_info);
     return;
@@ -7743,14 +6057,9 @@ static void dissect_RTPS_DATA_FRAG(tvbuff_t *tvb,
 
   /* InlineQos */
   if ((flags & FLAG_RTPS_DATA_FRAG_Q) != 0) {
-    offset = dissect_parameter_sequence(tree,
-                        tvb,
-                        offset,
-                        little_endian,
+    offset = dissect_parameter_sequence(tree, pinfo, tvb, offset, little_endian,
                         octets_to_next_header - (offset - old_offset) + 4,
-                        "inlineQos",
-                        &status_info,
-                        vendor_id);
+                        "inlineQos", &status_info, vendor_id);
   }
 
   /* SerializedData */
@@ -7759,12 +6068,9 @@ static void dissect_RTPS_DATA_FRAG(tvbuff_t *tvb,
     if ((flags & FLAG_RTPS_DATA_FRAG_K) != 0) {
       label = "serializedKey";
     }
-    dissect_serialized_data(tree,
-                        tvb,
-                        offset,
+    dissect_serialized_data(tree, pinfo, tvb, offset,
                         octets_to_next_header - (offset - old_offset) + 4,
-                        label,
-                        vendor_id);
+                        label, vendor_id);
   }
   info_summary_append_ex(pinfo, wid, status_info);
 }
@@ -7894,15 +6200,10 @@ static void dissect_RTPS_DATA_BATCH(tvbuff_t *tvb,
     wid = NEXT_guint32(tvb, offset, little_endian);
 
     offset += 24;
-    if ((flags & FLAG_DATA_Q) != 0) {
-      offset = dissect_parameter_sequence(tree,
-                        tvb,
-                        offset,
-                        little_endian,
-                        octets_to_next_header - (offset - old_offset) + 4,
-                        "inlineQos",
-                        &status_info,
-                        vendor_id);
+    if ((flags & FLAG_DATA_Q_RTPS2) != 0) {
+      offset = dissect_parameter_sequence(tree, pinfo, tvb, offset,
+                        little_endian, octets_to_next_header - (offset - old_offset) + 4,
+                        "inlineQos", &status_info, vendor_id);
     }
     info_summary_append_ex(pinfo, wid, status_info);
     return;
@@ -7998,14 +6299,9 @@ static void dissect_RTPS_DATA_BATCH(tvbuff_t *tvb,
   /* Parameter list (if Q==1) */
   /* InlineQos */
   if ((flags & FLAG_RTPS_DATA_BATCH_Q) != 0) {
-    offset = dissect_parameter_sequence(tree,
-                        tvb,
-                        offset,
-                        little_endian,
+    offset = dissect_parameter_sequence(tree, pinfo, tvb, offset, little_endian,
                         octets_to_next_header - (offset - old_offset) + 4,
-                        "batchInlineQos",
-                        &status_info,
-                        vendor_id);
+                        "batchInlineQos", &status_info, vendor_id);
   }
 
   /* octetsToSLEncapsulationId */
@@ -8120,9 +6416,7 @@ static void dissect_RTPS_DATA_BATCH(tvbuff_t *tvb,
                         tvb,
                         offset,
                         little_endian,
-                        "timestamp",
-                        NULL,
-                        0);
+                        hf_rtps_data_batch_timestamp);
         offset += 8;
       }
 
@@ -8143,14 +6437,9 @@ static void dissect_RTPS_DATA_BATCH(tvbuff_t *tvb,
 
       /* Parameter list [only if Q==1] */
       if ((flags2 & FLAG_SAMPLE_INFO_Q) != 0) {
-        offset = dissect_parameter_sequence(si_tree,
-                        tvb,
-                        offset,
-                        little_endian,
+        offset = dissect_parameter_sequence(si_tree, pinfo, tvb, offset, little_endian,
                         octets_to_next_header - (offset - old_offset) + 4,
-                        "sampleInlineQos",
-                        &status_info,
-                        vendor_id);
+                        "sampleInlineQos", &status_info, vendor_id);
       }
       proto_item_set_len(ti, offset - offset_begin_sampleinfo);
       sample_info_count++;
@@ -8261,18 +6550,7 @@ static gboolean dissect_rtps(tvbuff_t *tvb,
   col_clear(pinfo->cinfo, COL_INFO);
 
   /* Check if is NDDSPING */
-  {
-    guint8 nddsPing[8];
-    tvb_memcpy(tvb, nddsPing, offset+8, 8);
-    is_ping = (nddsPing[0] == 'N' &&
-               nddsPing[1] == 'D' &&
-               nddsPing[2] == 'D' &&
-               nddsPing[3] == 'S' &&
-               nddsPing[4] == 'P' &&
-               nddsPing[5] == 'I' &&
-               nddsPing[6] == 'N' &&
-               nddsPing[7] == 'G');
-  }
+  is_ping = rtps_is_ping(tvb, pinfo, offset+8);
 
   /* create display subtree for the protocol */
   ti = proto_tree_add_item(tree, proto_rtps, tvb, 0, -1, ENC_NA);
@@ -8283,7 +6561,7 @@ static gboolean dissect_rtps(tvbuff_t *tvb,
 
   /*  Vendor Id  */
   vendor_id = NEXT_guint16(tvb, offset+6, FALSE);
-  rtps_util_add_vendor_id(rtps_tree, tvb, offset+6, NULL, 0);
+  rtps_util_add_vendor_id(rtps_tree, tvb, offset+6);
 
   /* If is not PING, the next 12 bytes are the GUID prefix */
   if (!is_ping) {
@@ -8299,9 +6577,6 @@ static gboolean dissect_rtps(tvbuff_t *tvb,
                         0);
   }
 
-  if (is_ping) {
-    col_add_str(pinfo->cinfo, COL_INFO, "PING");
-  }
 #ifdef RTI_BUILD
   else {
     pinfo->guid_prefix_host = tvb_get_ntohl(tvb, offset + 8);
@@ -8731,38 +7006,6 @@ void proto_register_rtps2(void) {
    */
   static hf_register_info hf[] = {
 
-    /* Protocol Version (composed as major.minor) -------------------------- */
-    { &hf_rtps_protocol_version, {
-        "version",
-        "rtps2.version",
-        FT_NONE,
-        BASE_NONE,
-        NULL,
-        0,
-        "RTPS protocol version number",
-        HFILL }
-    },
-    { &hf_rtps_protocol_version_major, {
-        "major",
-        "rtps2.version.major",
-        FT_INT8,
-        BASE_DEC,
-        NULL,
-        0,
-        "RTPS major protocol version number",
-        HFILL }
-    },
-    { &hf_rtps_protocol_version_minor, {
-        "minor",
-        "rtps2.version.minor",
-        FT_INT8,
-        BASE_DEC,
-        NULL,
-        0,
-        "RTPS minor protocol version number",
-        HFILL }
-    },
-
     /* Domain Participant and Participant Index ---------------------------- */
     { &hf_rtps_domain_id, {
         "domain_id",
@@ -8796,18 +7039,6 @@ void proto_register_rtps2(void) {
         HFILL }
     },
 
-    /* Vendor ID ----------------------------------------------------------- */
-    { &hf_rtps_vendor_id, {
-        "vendorId",
-        "rtps2.vendorId",
-        FT_UINT16,
-        BASE_HEX,
-        NULL,
-        0,
-        "Unique identifier of the DDS vendor that generated this packet",
-        HFILL }
-    },
-
     /* Guid Prefix for the Packet ------------------------------------------ */
     { &hf_rtps_guid_prefix, {
         "guidPrefix",
@@ -9057,20 +7288,6 @@ void proto_register_rtps2(void) {
         HFILL }
     },
 
-
-
-    /* Sequence number ----------------------------------------------------- */
-    { &hf_rtps_sm_seq_number, {
-        "writerSeqNumber",
-        "rtps2.sm.seqNumber",
-        FT_INT64,
-        BASE_DEC,
-        NULL,
-        0,
-        "Writer sequence number",
-        HFILL }
-    },
-
     /* Parameter Id -------------------------------------------------------- */
     { &hf_rtps_parameter_id, {
         "parameterId",
@@ -9107,39 +7324,6 @@ void proto_register_rtps2(void) {
         HFILL }
     },
 
-    /* Parameter / NtpTime ------------------------------------------------- */
-    { &hf_rtps_param_ntpt, {
-        "ntpTime",
-        "rtps2.param.ntpTime",
-        FT_NONE,
-        BASE_NONE,
-        NULL,
-        0,
-        "Time using the NTP standard format",
-        HFILL }
-    },
-    { &hf_rtps_param_ntpt_sec, {
-        "seconds",
-        "rtps2.param.ntpTime.sec",
-        FT_INT32,
-        BASE_DEC,
-        NULL,
-        0,
-        "The 'second' component of a NTP time",
-        HFILL }
-    },
-    { &hf_rtps_param_ntpt_fraction, {
-        "fraction",
-        "rtps2.param.ntpTime.fraction",
-        FT_UINT32,
-        BASE_DEC,
-        NULL,
-        0,
-        "The 'fraction' component of a NTP time",
-        HFILL }
-    },
-
-
     /* Parameter / Topic --------------------------------------------------- */
     { &hf_rtps_param_topic_name, {
         "topic",
@@ -9270,6 +7454,179 @@ void proto_register_rtps2(void) {
         HFILL }
     },
 
+    { &hf_rtps_participant_lease_duration, 
+      { "Duration", "rtps2.participant_lease_duration",
+        FT_ABSOLUTE_TIME, ABSOLUTE_TIME_UTC, NULL, 0,
+        "Time using the NTP standard format", HFILL }
+    },
+
+    { &hf_rtps_time_based_filter_minimum_separation, 
+      { "Minimum Separation", "rtps2.time_based_filter.minimum_separation",
+        FT_ABSOLUTE_TIME, ABSOLUTE_TIME_UTC, NULL, 0,
+        "Time using the NTP standard format", HFILL }
+    },
+
+    { &hf_rtps_deadline_period, 
+      { "Period", "rtps2.deadline_period",
+        FT_ABSOLUTE_TIME, ABSOLUTE_TIME_UTC, NULL, 0,
+        "Time using the NTP standard format", HFILL }
+    },
+
+    { &hf_rtps_latency_budget_duration, 
+      { "Duration", "rtps2.latency_budget.duration",
+        FT_ABSOLUTE_TIME, ABSOLUTE_TIME_UTC, NULL, 0,
+        "Time using the NTP standard format", HFILL }
+    },
+
+    { &hf_rtps_lifespan_duration, 
+      { "Duration", "rtps2.lifespan",
+        FT_ABSOLUTE_TIME, ABSOLUTE_TIME_UTC, NULL, 0,
+        "Time using the NTP standard format", HFILL }
+    },
+
+    { &hf_rtps_persistence, 
+      { "Persistence", "rtps2.persistence",
+        FT_ABSOLUTE_TIME, ABSOLUTE_TIME_UTC, NULL, 0,
+        "Time using the NTP standard format", HFILL }
+    },
+
+    { &hf_rtps_data_batch_timestamp, 
+      { "Timestamp", "rtps2.data_batch.timestamp",
+        FT_ABSOLUTE_TIME, ABSOLUTE_TIME_UTC, NULL, 0,
+        "Time using the NTP standard format", HFILL }
+    },
+
+    { &hf_rtps_participant_builtin_endpoints, 
+      { "BuiltIn Endpoint", "rtps.participant_builtin_endpoints",
+        FT_UINT32, BASE_HEX, NULL, 0,
+        NULL, HFILL }
+    },
+
+    { &hf_rtps_participant_manual_liveliness_count, 
+      { "Manual Liveliness Count", "rtps.participant_manual_liveliness_count",
+        FT_UINT32, BASE_HEX, NULL, 0,
+        NULL, HFILL }
+    },
+
+    { &hf_rtps_history_depth, 
+      { "Depth", "rtps.history_depth",
+        FT_INT32, BASE_DEC, NULL, 0,
+        NULL, HFILL }
+    },
+
+    { &hf_rtps_resource_limit_max_samples, 
+      { "Max Samples", "rtps.resource_limit.max_samples",
+        FT_INT32, BASE_DEC, NULL, 0,
+        NULL, HFILL }
+    },
+
+    { &hf_rtps_resource_limit_max_instances, 
+      { "Max Instances", "rtps.resource_limit.max_instances",
+        FT_INT32, BASE_DEC, NULL, 0,
+        NULL, HFILL }
+    },
+
+    { &hf_rtps_resource_limit_max_samples_per_instances, 
+      { "Max Samples Per Instance", "rtps.resource_limit.max_samples_per_instance",
+        FT_INT32, BASE_DEC, NULL, 0,
+        NULL, HFILL }
+    },
+
+    { &hf_rtps_filter_bitmap, 
+      { "Filter Bitmap", "rtps.filter_bitmap",
+        FT_UINT32, BASE_HEX, NULL, 0,
+        NULL, HFILL }
+    },
+
+    { &hf_rtps_type_checksum, 
+      { "Checksum", "rtps.type_checksum",
+        FT_UINT32, BASE_HEX, NULL, 0,
+        NULL, HFILL }
+    },
+
+    { &hf_rtps_queue_size, 
+      { "queueSize", "rtps.queue_size",
+        FT_UINT32, BASE_HEX, NULL, 0,
+        NULL, HFILL }
+    },
+
+    { &hf_param_ip_address, 
+      { "Address", "rtps.param.ip_address",
+        FT_IPv4, BASE_NONE, NULL, 0,
+        NULL, HFILL }
+    },
+
+    { &hf_rtps_param_port, 
+      { "Port", "rtps.param.port",
+        FT_UINT32, BASE_HEX, NULL, 0,
+        NULL, HFILL }
+    },
+
+    { &hf_rtps_expects_inline_qos, 
+      { "Inline QoS", "rtps.expects_inline_qos",
+        FT_BOOLEAN, 8, TFS(&tfs_true_false), 0,
+        NULL, HFILL }
+    },
+
+    { &hf_rtps_presentation_coherent_access, 
+      { "Coherent Access", "rtps.presentation.coherent_access",
+        FT_BOOLEAN, 8, TFS(&tfs_true_false), 0,
+        NULL, HFILL }
+    },
+
+    { &hf_rtps_presentation_ordered_access, 
+      { "Ordered Access", "rtps.presentation.ordered_access",
+        FT_BOOLEAN, 8, TFS(&tfs_true_false), 0,
+        NULL, HFILL }
+    },
+
+    { &hf_rtps_expects_ack, 
+      { "expectsAck", "rtps.expects_ack",
+        FT_BOOLEAN, 8, TFS(&tfs_true_false), 0,
+        NULL, HFILL }
+    },
+
+    { &hf_rtps_disable_positive_ack, 
+      { "disablePositiveAcks", "rtps.disable_positive_ack",
+        FT_BOOLEAN, 8, TFS(&tfs_true_false), 0,
+        NULL, HFILL }
+    },
+
+    { &hf_rtps_reliability_kind, 
+      { "Kind", "rtps.reliability_kind",
+        FT_UINT32, BASE_HEX, VALS(reliability_qos_vals), 0,
+        NULL, HFILL }
+    },
+
+    { &hf_rtps_durability, 
+      { "Durability", "rtps.durability",
+        FT_UINT32, BASE_HEX, VALS(durability_qos_vals), 0,
+        NULL, HFILL }
+    },
+
+    { &hf_rtps_ownership, 
+      { "Kind", "rtps.ownership",
+        FT_UINT32, BASE_HEX, VALS(ownership_qos_vals), 0,
+        NULL, HFILL }
+    },
+
+    { &hf_rtps_presentation_access_scope, 
+      { "Access Scope", "rtps.presentation.access_scope",
+        FT_UINT32, BASE_HEX, VALS(presentation_qos_vals), 0,
+        NULL, HFILL }
+    },
+
+    { &hf_rtps_destination_order, 
+      { "Kind", "rtps.destination_order",
+        FT_UINT32, BASE_HEX, VALS(destination_order_qos_vals), 0,
+        NULL, HFILL }
+    },
+
+    { &hf_rtps_history_kind, 
+      { "Kind", "rtps.history.kind",
+        FT_UINT32, BASE_HEX, VALS(history_qos_vals), 0,
+        NULL, HFILL }
+    },
   };
 
   static gint *ett[] = {
@@ -9298,7 +7655,8 @@ void proto_register_rtps2(void) {
     &ett_rtps_sample_info,
     &ett_rtps_sample_batch_list,
     &ett_rtps_locator_filter_channel,
-    &ett_rtps_locator_filter_locator
+    &ett_rtps_locator_filter_locator,
+    &ett_rtps_resource_limit
   };
   module_t *rtps_module;
 
diff --git a/epan/dissectors/packet-rtps2.h b/epan/dissectors/packet-rtps2.h
index 1f229197e4..6b69385152 100644
--- a/epan/dissectors/packet-rtps2.h
+++ b/epan/dissectors/packet-rtps2.h
@@ -57,34 +57,6 @@ extern "C" {
 #endif
 
 
-typedef enum {
-    RTI_CDR_TK_NULL=0,
-    RTI_CDR_TK_SHORT,
-    RTI_CDR_TK_LONG,
-    RTI_CDR_TK_USHORT,
-    RTI_CDR_TK_ULONG,
-    RTI_CDR_TK_FLOAT,
-    RTI_CDR_TK_DOUBLE,
-    RTI_CDR_TK_BOOLEAN,
-    RTI_CDR_TK_CHAR,
-    RTI_CDR_TK_OCTET,
-    RTI_CDR_TK_STRUCT,
-    RTI_CDR_TK_UNION,
-    RTI_CDR_TK_ENUM,
-    RTI_CDR_TK_STRING,
-    RTI_CDR_TK_SEQUENCE,
-    RTI_CDR_TK_ARRAY,
-    RTI_CDR_TK_ALIAS,
-    RTI_CDR_TK_LONGLONG,
-    RTI_CDR_TK_ULONGLONG,
-    RTI_CDR_TK_LONGDOUBLE,
-    RTI_CDR_TK_WCHAR,
-    RTI_CDR_TK_WSTRING,
-    RTI_CDR_TK_VALUE,
-    RTI_CDR_TK_VALUE_PARARM
-} RTICdrTCKind;
-
-
 
 /* Traffic type */
 #define PORT_BASE                       (7400)
@@ -95,8 +67,8 @@ typedef enum {
 
 /* Flags defined in the 'flag' bitmask of a submessage */
 #define FLAG_E                  (0x01)  /* Common to all the submessages */
-#define FLAG_DATA_Q             (0x02)
-#define FLAG_DATA_D             (0x04)
+#define FLAG_DATA_Q_RTPS2       (0x02)
+#define FLAG_DATA_D_RTPS2       (0x04)
 #define FLAG_DATA_H             (0x08)
 #define FLAG_DATA_I             (0x10)
 
@@ -137,56 +109,9 @@ typedef enum {
 
 
 /* The following PIDs are defined since RTPS 1.0 */
-#define PID_PAD                                 (0x0000)
-#define PID_SENTINEL                            (0x0001)
-#define PID_PARTICIPANT_LEASE_DURATION          (0x0002)
-#define PID_TIME_BASED_FILTER                   (0x0004)
-#define PID_TOPIC_NAME                          (0x0005)
-#define PID_OWNERSHIP_STRENGTH                  (0x0006)
-#define PID_TYPE_NAME                           (0x0007)
-#define PID_METATRAFFIC_MULTICAST_IPADDRESS     (0x000b)
-#define PID_DEFAULT_UNICAST_IPADDRESS           (0x000c)
-#define PID_METATRAFFIC_UNICAST_PORT            (0x000d)
-#define PID_DEFAULT_UNICAST_PORT                (0x000e)
-#define PID_MULTICAST_IPADDRESS                 (0x0011)
-#define PID_PROTOCOL_VERSION                    (0x0015)
-#define PID_VENDOR_ID                           (0x0016)
-#define PID_RELIABILITY                         (0x001a)
-#define PID_LIVELINESS                          (0x001b)
-#define PID_DURABILITY                          (0x001d)
-#define PID_DURABILITY_SERVICE                  (0x001e)
-#define PID_OWNERSHIP                           (0x001f)
-#define PID_PRESENTATION                        (0x0021)
-#define PID_DEADLINE                            (0x0023)
-#define PID_DESTINATION_ORDER                   (0x0025)
-#define PID_LATENCY_BUDGET                      (0x0027)
-#define PID_PARTITION                           (0x0029)
-#define PID_LIFESPAN                            (0x002b)
-#define PID_USER_DATA                           (0x002c)
-#define PID_GROUP_DATA                          (0x002d)
-#define PID_TOPIC_DATA                          (0x002e)
-#define PID_UNICAST_LOCATOR                     (0x002f)
-#define PID_MULTICAST_LOCATOR                   (0x0030)
-#define PID_DEFAULT_UNICAST_LOCATOR             (0x0031)
-#define PID_METATRAFFIC_UNICAST_LOCATOR         (0x0032)
-#define PID_METATRAFFIC_MULTICAST_LOCATOR       (0x0033)
-#define PID_PARTICIPANT_MANUAL_LIVELINESS_COUNT (0x0034)
-#define PID_CONTENT_FILTER_PROPERTY             (0x0035)
-#define PID_PROPERTY_LIST_OLD                   (0x0036)        /* For compatibility between 4.2d and 4.2e */
-#define PID_HISTORY                             (0x0040)
-#define PID_RESOURCE_LIMIT                      (0x0041)
-#define PID_EXPECTS_INLINE_QOS                  (0x0043)
-#define PID_PARTICIPANT_BUILTIN_ENDPOINTS       (0x0044)
-#define PID_METATRAFFIC_UNICAST_IPADDRESS       (0x0045)
-#define PID_METATRAFFIC_MULTICAST_PORT          (0x0046)
 #define PID_DEFAULT_MULTICAST_LOCATOR           (0x0048)
 #define PID_TRANSPORT_PRIORITY                  (0x0049)
-#define PID_PARTICIPANT_GUID                    (0x0050)
-#define PID_PARTICIPANT_ENTITY_ID               (0x0051)
-#define PID_GROUP_GUID                          (0x0052)
-#define PID_GROUP_ENTITY_ID                     (0x0053)
 #define PID_CONTENT_FILTER_INFO                 (0x0055)
-#define PID_COHERENT_SET                        (0x0056)
 #define PID_DIRECTED_WRITE                      (0x0057)
 #define PID_BUILTIN_ENDPOINT_SET                (0x0058)
 #define PID_PROPERTY_LIST                       (0x0059)        /* RTI DDS 4.2e and newer */
@@ -202,34 +127,11 @@ typedef enum {
 #define PID_PLUGIN_PROMISCUITY_KIND             (0x8001)
 #define PID_ENTITY_VIRTUAL_GUID                 (0x8002)
 #define PID_SERVICE_KIND                        (0x8003)
-#define PID_TYPECODE                            (0x8004)        /* Was: 0x47 in RTPS 1.2 */
+#define PID_TYPECODE_RTPS2                      (0x8004)        /* Was: 0x47 in RTPS 1.2 */
 #define PID_DISABLE_POSITIVE_ACKS               (0x8005)
 #define PID_LOCATOR_FILTER_LIST                 (0x8006)
 
 
-/* The following QoS are deprecated (used in RTPS 1.0 and older) */
-#define PID_PERSISTENCE                         (0x0003)
-#define PID_TYPE_CHECKSUM                       (0x0008)
-#define PID_TYPE2_NAME                          (0x0009)
-#define PID_TYPE2_CHECKSUM                      (0x000a)
-#define PID_IS_RELIABLE                         (0x000f)
-#define PID_EXPECTS_ACK                         (0x0010)
-#define PID_MANAGER_KEY                         (0x0012)
-#define PID_SEND_QUEUE_SIZE                     (0x0013)
-#define PID_RECV_QUEUE_SIZE                     (0x0018)
-#define PID_VARGAPPS_SEQUENCE_NUMBER_LAST       (0x0017)
-#define PID_RELIABILITY_ENABLED                 (0x0014)
-#define PID_RELIABILITY_OFFERED                 (0x0019)
-#define PID_LIVELINESS_OFFERED                  (0x001c)
-#define PID_OWNERSHIP_OFFERED                   (0x0020)
-#define PID_PRESENTATION_OFFERED                (0x0022)
-#define PID_DEADLINE_OFFERED                    (0x0024)
-#define PID_DESTINATION_ORDER_OFFERED           (0x0026)
-#define PID_LATENCY_BUDGET_OFFERED              (0x0028)
-#define PID_PARTITION_OFFERED                   (0x002a)
-
-
-
 /* appId.appKind possible values */
 #define APPKIND_UNKNOWN                         (0x00)
 #define APPKIND_MANAGED_APPLICATION             (0x01)
@@ -312,27 +214,6 @@ typedef enum {
 #define ENCAPSULATION_PL_CDR_BE         (0x0002)
 #define ENCAPSULATION_PL_CDR_LE         (0x0003)
 
-
-/* An invalid IP Address: 
- * Make sure the _STRING macro is bigger than a normal IP
- */
-#define IPADDRESS_INVALID               (0)
-#define IPADDRESS_INVALID_STRING        "ADDRESS_INVALID (0x00000000)"
-
-/* Identifies the value of an invalid port number:
- * Make sure the _STRING macro is bigger than a normal port
- */
-#define PORT_INVALID                    (0)
-#define PORT_INVALID_STRING             "PORT_INVALID"
-
-/* Protocol Vendor Information (guint16) */
-#define RTPS_VENDOR_UNKNOWN             (0x0000)
-#define RTPS_VENDOR_UNKNOWN_STRING      "VENDOR_ID_UNKNOWN (0x0000)"
-#define RTPS_VENDOR_RTI                 (0x0101)
-#define RTPS_VENDOR_RTI_STRING          "Real-Time Innovations, Inc."
-#define RTPS_VENDOR_TOC                 (0x0106)
-#define RTPS_VENDOR_TOC_STRING          "Twin Oaks Computing, Inc."
-
 /* Parameter Liveliness */
 #define LIVELINESS_AUTOMATIC            (0)
 #define LIVELINESS_BY_PARTICIPANT       (1)