diff --git a/test/profiling/MemoryTestTypes.h b/test/profiling/MemoryTestTypes.h
index 9ba8bb1aa5e..17c8555f938 100644
--- a/test/profiling/MemoryTestTypes.h
+++ b/test/profiling/MemoryTestTypes.h
@@ -177,7 +177,7 @@ class TestCommandDataType : public eprosima::fastdds::dds::TopicDataType
             void* data) override;
 
     bool compute_key(
-            eprosima::fastdds::rtps::SerializedPayload_t* payload,
+            eprosima::fastdds::rtps::SerializedPayload_t* /*payload*/,
             eprosima::fastdds::rtps::InstanceHandle_t* /*ihandle*/,
             bool force_md5 = false) override
     {
diff --git a/test/unittest/dds/subscriber/FooBoundedTypeSupport.hpp b/test/unittest/dds/subscriber/FooBoundedTypeSupport.hpp
index 19e96c99f4d..963b3593e76 100644
--- a/test/unittest/dds/subscriber/FooBoundedTypeSupport.hpp
+++ b/test/unittest/dds/subscriber/FooBoundedTypeSupport.hpp
@@ -138,7 +138,7 @@ class FooBoundedTypeSupport : public TopicDataType
     }
 
     bool compute_key(
-            fastdds::rtps::SerializedPayload_t* payload,
+            fastdds::rtps::SerializedPayload_t* /*payload*/,
             fastdds::rtps::InstanceHandle_t* /*handle*/,
             bool /*force_md5*/) override
     {
diff --git a/test/unittest/dds/xtypes/serializers/idl/types/alias_struct/gen/alias_structPubSubTypes.cxx b/test/unittest/dds/xtypes/serializers/idl/types/alias_struct/gen/alias_structPubSubTypes.cxx
index 5957e1d7df1..5093f253fd8 100644
--- a/test/unittest/dds/xtypes/serializers/idl/types/alias_struct/gen/alias_structPubSubTypes.cxx
+++ b/test/unittest/dds/xtypes/serializers/idl/types/alias_struct/gen/alias_structPubSubTypes.cxx
@@ -33,26 +33,21 @@ using DataRepresentationId_t = eprosima::fastdds::dds::DataRepresentationId_t;
 
 AliasStructPubSubType::AliasStructPubSubType()
 {
-    setName("AliasStruct");
-    uint32_t type_size =
-#if FASTCDR_VERSION_MAJOR == 1
-        static_cast<uint32_t>(AliasStruct::getMaxCdrSerializedSize());
-#else
-        AliasStruct_max_cdr_typesize;
-#endif
+    set_name("AliasStruct");
+    uint32_t type_size = AliasStruct_max_cdr_typesize;
     type_size += static_cast<uint32_t>(eprosima::fastcdr::Cdr::alignment(type_size, 4)); /* possible submessage alignment */
-    m_typeSize = type_size + 4; /*encapsulation*/
-    m_isGetKeyDefined = false;
-    uint32_t keyLength = AliasStruct_max_key_cdr_typesize > 16 ? AliasStruct_max_key_cdr_typesize : 16;
-    m_keyBuffer = reinterpret_cast<unsigned char*>(malloc(keyLength));
-    memset(m_keyBuffer, 0, keyLength);
+    max_serialized_type_size = type_size + 4; /*encapsulation*/
+    is_compute_key_provided = false;
+    uint32_t key_length = AliasStruct_max_key_cdr_typesize > 16 ? AliasStruct_max_key_cdr_typesize : 16;
+    key_buffer_ = reinterpret_cast<unsigned char*>(malloc(key_length));
+    memset(key_buffer_, 0, key_length);
 }
 
 AliasStructPubSubType::~AliasStructPubSubType()
 {
-    if (m_keyBuffer != nullptr)
+    if (key_buffer_ != nullptr)
     {
-        free(m_keyBuffer);
+        free(key_buffer_);
     }
 }
 
@@ -70,12 +65,10 @@ bool AliasStructPubSubType::serialize(
             data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
             eprosima::fastcdr::CdrVersion::XCDRv1 : eprosima::fastcdr::CdrVersion::XCDRv2);
     payload->encapsulation = ser.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS ? CDR_BE : CDR_LE;
-#if FASTCDR_VERSION_MAJOR > 1
     ser.set_encoding_flag(
         data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
         eprosima::fastcdr::EncodingAlgorithmFlag::PLAIN_CDR  :
         eprosima::fastcdr::EncodingAlgorithmFlag::DELIMIT_CDR2);
-#endif // FASTCDR_VERSION_MAJOR > 1
 
     try
     {
@@ -90,11 +83,7 @@ bool AliasStructPubSubType::serialize(
     }
 
     // Get the serialized length
-#if FASTCDR_VERSION_MAJOR == 1
-    payload->length = static_cast<uint32_t>(ser.getSerializedDataLength());
-#else
     payload->length = static_cast<uint32_t>(ser.get_serialized_data_length());
-#endif // FASTCDR_VERSION_MAJOR == 1
     return true;
 }
 
@@ -111,11 +100,7 @@ bool AliasStructPubSubType::deserialize(
         eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(payload->data), payload->length);
 
         // Object that deserializes the data.
-        eprosima::fastcdr::Cdr deser(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN
-#if FASTCDR_VERSION_MAJOR == 1
-                , eprosima::fastcdr::Cdr::CdrType::DDS_CDR
-#endif // FASTCDR_VERSION_MAJOR == 1
-                );
+        eprosima::fastcdr::Cdr deser(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN);
 
         // Deserialize encapsulation.
         deser.read_encapsulation();
@@ -132,52 +117,62 @@ bool AliasStructPubSubType::deserialize(
     return true;
 }
 
-std::function<uint32_t()> AliasStructPubSubType::getSerializedSizeProvider(
+uint32_t AliasStructPubSubType::calculate_serialized_size(
         const void* const data,
         DataRepresentationId_t data_representation)
 {
-    return [data, data_representation]() -> uint32_t
-           {
-#if FASTCDR_VERSION_MAJOR == 1
-               static_cast<void>(data_representation);
-               return static_cast<uint32_t>(type::getCdrSerializedSize(*static_cast<AliasStruct*>(data))) +
-                      4u /*encapsulation*/;
-#else
-               try
-               {
-                   eprosima::fastcdr::CdrSizeCalculator calculator(
-                       data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
-                       eprosima::fastcdr::CdrVersion::XCDRv1 :eprosima::fastcdr::CdrVersion::XCDRv2);
-                   size_t current_alignment {0};
-                   return static_cast<uint32_t>(calculator.calculate_serialized_size(
-                               *static_cast<const AliasStruct*>(data), current_alignment)) +
-                           4u /*encapsulation*/;
-               }
-               catch (eprosima::fastcdr::exception::Exception& /*exception*/)
-               {
-                   return 0;
-               }
-#endif // FASTCDR_VERSION_MAJOR == 1
-           };
+    try
+    {
+        eprosima::fastcdr::CdrSizeCalculator calculator(
+            data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
+            eprosima::fastcdr::CdrVersion::XCDRv1 :eprosima::fastcdr::CdrVersion::XCDRv2);
+        size_t current_alignment {0};
+        return static_cast<uint32_t>(calculator.calculate_serialized_size(
+                    *static_cast<const AliasStruct*>(data), current_alignment)) +
+                4u /*encapsulation*/;
+    }
+    catch (eprosima::fastcdr::exception::Exception& /*exception*/)
+    {
+        return 0;
+    }
 }
 
-void* AliasStructPubSubType::createData()
+void* AliasStructPubSubType::create_data()
 {
     return reinterpret_cast<void*>(new AliasStruct());
 }
 
-void AliasStructPubSubType::deleteData(
+void AliasStructPubSubType::delete_data(
         void* data)
 {
     delete(reinterpret_cast<AliasStruct*>(data));
 }
 
-bool AliasStructPubSubType::getKey(
+bool AliasStructPubSubType::compute_key(
+        SerializedPayload_t* payload,
+        InstanceHandle_t* handle,
+        bool force_md5)
+{
+    if (!is_compute_key_provided)
+    {
+        return false;
+    }
+
+    AliasStruct data;
+    if (deserialize(payload, static_cast<void*>(&data)))
+    {
+        return compute_key(static_cast<void*>(&data), handle, force_md5);
+    }
+
+    return false;
+}
+
+bool AliasStructPubSubType::compute_key(
         const void* const data,
         InstanceHandle_t* handle,
         bool force_md5)
 {
-    if (!m_isGetKeyDefined)
+    if (!is_compute_key_provided)
     {
         return false;
     }
@@ -185,35 +180,27 @@ bool AliasStructPubSubType::getKey(
     const AliasStruct* p_type = static_cast<const AliasStruct*>(data);
 
     // Object that manages the raw buffer.
-    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(m_keyBuffer),
+    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(key_buffer_),
             AliasStruct_max_key_cdr_typesize);
 
     // Object that serializes the data.
     eprosima::fastcdr::Cdr ser(fastbuffer, eprosima::fastcdr::Cdr::BIG_ENDIANNESS, eprosima::fastcdr::CdrVersion::XCDRv1);
-#if FASTCDR_VERSION_MAJOR == 1
-    p_type->serializeKey(ser);
-#else
     eprosima::fastcdr::serialize_key(ser, *p_type);
-#endif // FASTCDR_VERSION_MAJOR == 1
     if (force_md5 || AliasStruct_max_key_cdr_typesize > 16)
     {
-        m_md5.init();
-#if FASTCDR_VERSION_MAJOR == 1
-        m_md5.update(m_keyBuffer, static_cast<unsigned int>(ser.getSerializedDataLength()));
-#else
-        m_md5.update(m_keyBuffer, static_cast<unsigned int>(ser.get_serialized_data_length()));
-#endif // FASTCDR_VERSION_MAJOR == 1
-        m_md5.finalize();
+        md5_.init();
+        md5_.update(key_buffer_, static_cast<unsigned int>(ser.get_serialized_data_length()));
+        md5_.finalize();
         for (uint8_t i = 0; i < 16; ++i)
         {
-            handle->value[i] = m_md5.digest[i];
+            handle->value[i] = md5_.digest[i];
         }
     }
     else
     {
         for (uint8_t i = 0; i < 16; ++i)
         {
-            handle->value[i] = m_keyBuffer[i];
+            handle->value[i] = key_buffer_[i];
         }
     }
     return true;
diff --git a/test/unittest/dds/xtypes/serializers/idl/types/alias_struct/gen/alias_structPubSubTypes.hpp b/test/unittest/dds/xtypes/serializers/idl/types/alias_struct/gen/alias_structPubSubTypes.hpp
index efef4820a40..f5f946356d1 100644
--- a/test/unittest/dds/xtypes/serializers/idl/types/alias_struct/gen/alias_structPubSubTypes.hpp
+++ b/test/unittest/dds/xtypes/serializers/idl/types/alias_struct/gen/alias_structPubSubTypes.hpp
@@ -32,10 +32,10 @@
 #include "alias_struct.hpp"
 
 
-#if !defined(GEN_API_VER) || (GEN_API_VER != 2)
+#if !defined(FASTDDS_GEN_API_VER) || (FASTDDS_GEN_API_VER != 3)
 #error \
     Generated alias_struct is not compatible with current installed Fast DDS. Please, regenerate it with fastddsgen.
-#endif  // GEN_API_VER
+#endif  // FASTDDS_GEN_API_VER
 
 typedef uint32_t MyLong;
 typedef int16_t MyShort;
@@ -57,13 +57,6 @@ class AliasStructPubSubType : public eprosima::fastdds::dds::TopicDataType
 
     eProsima_user_DllExport ~AliasStructPubSubType() override;
 
-    eProsima_user_DllExport bool serialize(
-            const void* const data,
-            eprosima::fastdds::rtps::SerializedPayload_t* payload) override
-    {
-        return serialize(data, payload, eprosima::fastdds::dds::DEFAULT_DATA_REPRESENTATION);
-    }
-
     eProsima_user_DllExport bool serialize(
             const void* const data,
             eprosima::fastdds::rtps::SerializedPayload_t* payload,
@@ -73,24 +66,23 @@ class AliasStructPubSubType : public eprosima::fastdds::dds::TopicDataType
             eprosima::fastdds::rtps::SerializedPayload_t* payload,
             void* data) override;
 
-    eProsima_user_DllExport std::function<uint32_t()> getSerializedSizeProvider(
-            const void* const data) override
-    {
-        return getSerializedSizeProvider(data, eprosima::fastdds::dds::DEFAULT_DATA_REPRESENTATION);
-    }
-
-    eProsima_user_DllExport std::function<uint32_t()> getSerializedSizeProvider(
+    eProsima_user_DllExport uint32_t calculate_serialized_size(
             const void* const data,
             eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
 
-    eProsima_user_DllExport bool getKey(
+    eProsima_user_DllExport bool compute_key(
+            eprosima::fastdds::rtps::SerializedPayload_t* payload,
+            eprosima::fastdds::rtps::InstanceHandle_t* ihandle,
+            bool force_md5 = false) override;
+
+    eProsima_user_DllExport bool compute_key(
             const void* const data,
             eprosima::fastdds::rtps::InstanceHandle_t* ihandle,
             bool force_md5 = false) override;
 
-    eProsima_user_DllExport void* createData() override;
+    eProsima_user_DllExport void* create_data() override;
 
-    eProsima_user_DllExport void deleteData(
+    eProsima_user_DllExport void delete_data(
             void* data) override;
 
     //Register TypeObject representation in Fast DDS TypeObjectRegistry
@@ -105,10 +97,6 @@ class AliasStructPubSubType : public eprosima::fastdds::dds::TopicDataType
 #endif  // TOPIC_DATA_TYPE_API_HAS_IS_BOUNDED
 
 #ifdef TOPIC_DATA_TYPE_API_HAS_IS_PLAIN
-    eProsima_user_DllExport inline bool is_plain() const override
-    {
-        return false;
-    }
 
     eProsima_user_DllExport inline bool is_plain(
             eprosima::fastdds::dds::DataRepresentationId_t data_representation) const override
@@ -129,8 +117,8 @@ class AliasStructPubSubType : public eprosima::fastdds::dds::TopicDataType
 
 #endif  // TOPIC_DATA_TYPE_API_HAS_CONSTRUCT_SAMPLE
 
-    eprosima::fastdds::MD5 m_md5;
-    unsigned char* m_keyBuffer;
+    eprosima::fastdds::MD5 md5_;
+    unsigned char* key_buffer_;
 
 };
 
diff --git a/test/unittest/dds/xtypes/serializers/idl/types/array_struct/gen/array_structPubSubTypes.cxx b/test/unittest/dds/xtypes/serializers/idl/types/array_struct/gen/array_structPubSubTypes.cxx
index 21aa3f8ab17..8f6ee392146 100644
--- a/test/unittest/dds/xtypes/serializers/idl/types/array_struct/gen/array_structPubSubTypes.cxx
+++ b/test/unittest/dds/xtypes/serializers/idl/types/array_struct/gen/array_structPubSubTypes.cxx
@@ -33,26 +33,21 @@ using DataRepresentationId_t = eprosima::fastdds::dds::DataRepresentationId_t;
 
 NestedArrayElementPubSubType::NestedArrayElementPubSubType()
 {
-    setName("NestedArrayElement");
-    uint32_t type_size =
-#if FASTCDR_VERSION_MAJOR == 1
-        static_cast<uint32_t>(NestedArrayElement::getMaxCdrSerializedSize());
-#else
-        NestedArrayElement_max_cdr_typesize;
-#endif
+    set_name("NestedArrayElement");
+    uint32_t type_size = NestedArrayElement_max_cdr_typesize;
     type_size += static_cast<uint32_t>(eprosima::fastcdr::Cdr::alignment(type_size, 4)); /* possible submessage alignment */
-    m_typeSize = type_size + 4; /*encapsulation*/
-    m_isGetKeyDefined = false;
-    uint32_t keyLength = NestedArrayElement_max_key_cdr_typesize > 16 ? NestedArrayElement_max_key_cdr_typesize : 16;
-    m_keyBuffer = reinterpret_cast<unsigned char*>(malloc(keyLength));
-    memset(m_keyBuffer, 0, keyLength);
+    max_serialized_type_size = type_size + 4; /*encapsulation*/
+    is_compute_key_provided = false;
+    uint32_t key_length = NestedArrayElement_max_key_cdr_typesize > 16 ? NestedArrayElement_max_key_cdr_typesize : 16;
+    key_buffer_ = reinterpret_cast<unsigned char*>(malloc(key_length));
+    memset(key_buffer_, 0, key_length);
 }
 
 NestedArrayElementPubSubType::~NestedArrayElementPubSubType()
 {
-    if (m_keyBuffer != nullptr)
+    if (key_buffer_ != nullptr)
     {
-        free(m_keyBuffer);
+        free(key_buffer_);
     }
 }
 
@@ -70,12 +65,10 @@ bool NestedArrayElementPubSubType::serialize(
             data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
             eprosima::fastcdr::CdrVersion::XCDRv1 : eprosima::fastcdr::CdrVersion::XCDRv2);
     payload->encapsulation = ser.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS ? CDR_BE : CDR_LE;
-#if FASTCDR_VERSION_MAJOR > 1
     ser.set_encoding_flag(
         data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
         eprosima::fastcdr::EncodingAlgorithmFlag::PLAIN_CDR  :
         eprosima::fastcdr::EncodingAlgorithmFlag::DELIMIT_CDR2);
-#endif // FASTCDR_VERSION_MAJOR > 1
 
     try
     {
@@ -90,11 +83,7 @@ bool NestedArrayElementPubSubType::serialize(
     }
 
     // Get the serialized length
-#if FASTCDR_VERSION_MAJOR == 1
-    payload->length = static_cast<uint32_t>(ser.getSerializedDataLength());
-#else
     payload->length = static_cast<uint32_t>(ser.get_serialized_data_length());
-#endif // FASTCDR_VERSION_MAJOR == 1
     return true;
 }
 
@@ -111,11 +100,7 @@ bool NestedArrayElementPubSubType::deserialize(
         eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(payload->data), payload->length);
 
         // Object that deserializes the data.
-        eprosima::fastcdr::Cdr deser(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN
-#if FASTCDR_VERSION_MAJOR == 1
-                , eprosima::fastcdr::Cdr::CdrType::DDS_CDR
-#endif // FASTCDR_VERSION_MAJOR == 1
-                );
+        eprosima::fastcdr::Cdr deser(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN);
 
         // Deserialize encapsulation.
         deser.read_encapsulation();
@@ -132,52 +117,62 @@ bool NestedArrayElementPubSubType::deserialize(
     return true;
 }
 
-std::function<uint32_t()> NestedArrayElementPubSubType::getSerializedSizeProvider(
+uint32_t NestedArrayElementPubSubType::calculate_serialized_size(
         const void* const data,
         DataRepresentationId_t data_representation)
 {
-    return [data, data_representation]() -> uint32_t
-           {
-#if FASTCDR_VERSION_MAJOR == 1
-               static_cast<void>(data_representation);
-               return static_cast<uint32_t>(type::getCdrSerializedSize(*static_cast<NestedArrayElement*>(data))) +
-                      4u /*encapsulation*/;
-#else
-               try
-               {
-                   eprosima::fastcdr::CdrSizeCalculator calculator(
-                       data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
-                       eprosima::fastcdr::CdrVersion::XCDRv1 :eprosima::fastcdr::CdrVersion::XCDRv2);
-                   size_t current_alignment {0};
-                   return static_cast<uint32_t>(calculator.calculate_serialized_size(
-                               *static_cast<const NestedArrayElement*>(data), current_alignment)) +
-                           4u /*encapsulation*/;
-               }
-               catch (eprosima::fastcdr::exception::Exception& /*exception*/)
-               {
-                   return 0;
-               }
-#endif // FASTCDR_VERSION_MAJOR == 1
-           };
+    try
+    {
+        eprosima::fastcdr::CdrSizeCalculator calculator(
+            data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
+            eprosima::fastcdr::CdrVersion::XCDRv1 :eprosima::fastcdr::CdrVersion::XCDRv2);
+        size_t current_alignment {0};
+        return static_cast<uint32_t>(calculator.calculate_serialized_size(
+                    *static_cast<const NestedArrayElement*>(data), current_alignment)) +
+                4u /*encapsulation*/;
+    }
+    catch (eprosima::fastcdr::exception::Exception& /*exception*/)
+    {
+        return 0;
+    }
 }
 
-void* NestedArrayElementPubSubType::createData()
+void* NestedArrayElementPubSubType::create_data()
 {
     return reinterpret_cast<void*>(new NestedArrayElement());
 }
 
-void NestedArrayElementPubSubType::deleteData(
+void NestedArrayElementPubSubType::delete_data(
         void* data)
 {
     delete(reinterpret_cast<NestedArrayElement*>(data));
 }
 
-bool NestedArrayElementPubSubType::getKey(
+bool NestedArrayElementPubSubType::compute_key(
+        SerializedPayload_t* payload,
+        InstanceHandle_t* handle,
+        bool force_md5)
+{
+    if (!is_compute_key_provided)
+    {
+        return false;
+    }
+
+    NestedArrayElement data;
+    if (deserialize(payload, static_cast<void*>(&data)))
+    {
+        return compute_key(static_cast<void*>(&data), handle, force_md5);
+    }
+
+    return false;
+}
+
+bool NestedArrayElementPubSubType::compute_key(
         const void* const data,
         InstanceHandle_t* handle,
         bool force_md5)
 {
-    if (!m_isGetKeyDefined)
+    if (!is_compute_key_provided)
     {
         return false;
     }
@@ -185,35 +180,27 @@ bool NestedArrayElementPubSubType::getKey(
     const NestedArrayElement* p_type = static_cast<const NestedArrayElement*>(data);
 
     // Object that manages the raw buffer.
-    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(m_keyBuffer),
+    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(key_buffer_),
             NestedArrayElement_max_key_cdr_typesize);
 
     // Object that serializes the data.
     eprosima::fastcdr::Cdr ser(fastbuffer, eprosima::fastcdr::Cdr::BIG_ENDIANNESS, eprosima::fastcdr::CdrVersion::XCDRv1);
-#if FASTCDR_VERSION_MAJOR == 1
-    p_type->serializeKey(ser);
-#else
     eprosima::fastcdr::serialize_key(ser, *p_type);
-#endif // FASTCDR_VERSION_MAJOR == 1
     if (force_md5 || NestedArrayElement_max_key_cdr_typesize > 16)
     {
-        m_md5.init();
-#if FASTCDR_VERSION_MAJOR == 1
-        m_md5.update(m_keyBuffer, static_cast<unsigned int>(ser.getSerializedDataLength()));
-#else
-        m_md5.update(m_keyBuffer, static_cast<unsigned int>(ser.get_serialized_data_length()));
-#endif // FASTCDR_VERSION_MAJOR == 1
-        m_md5.finalize();
+        md5_.init();
+        md5_.update(key_buffer_, static_cast<unsigned int>(ser.get_serialized_data_length()));
+        md5_.finalize();
         for (uint8_t i = 0; i < 16; ++i)
         {
-            handle->value[i] = m_md5.digest[i];
+            handle->value[i] = md5_.digest[i];
         }
     }
     else
     {
         for (uint8_t i = 0; i < 16; ++i)
         {
-            handle->value[i] = m_keyBuffer[i];
+            handle->value[i] = key_buffer_[i];
         }
     }
     return true;
@@ -226,26 +213,21 @@ void NestedArrayElementPubSubType::register_type_object_representation()
 
 ComplexArrayElementPubSubType::ComplexArrayElementPubSubType()
 {
-    setName("ComplexArrayElement");
-    uint32_t type_size =
-#if FASTCDR_VERSION_MAJOR == 1
-        static_cast<uint32_t>(ComplexArrayElement::getMaxCdrSerializedSize());
-#else
-        ComplexArrayElement_max_cdr_typesize;
-#endif
+    set_name("ComplexArrayElement");
+    uint32_t type_size = ComplexArrayElement_max_cdr_typesize;
     type_size += static_cast<uint32_t>(eprosima::fastcdr::Cdr::alignment(type_size, 4)); /* possible submessage alignment */
-    m_typeSize = type_size + 4; /*encapsulation*/
-    m_isGetKeyDefined = false;
-    uint32_t keyLength = ComplexArrayElement_max_key_cdr_typesize > 16 ? ComplexArrayElement_max_key_cdr_typesize : 16;
-    m_keyBuffer = reinterpret_cast<unsigned char*>(malloc(keyLength));
-    memset(m_keyBuffer, 0, keyLength);
+    max_serialized_type_size = type_size + 4; /*encapsulation*/
+    is_compute_key_provided = false;
+    uint32_t key_length = ComplexArrayElement_max_key_cdr_typesize > 16 ? ComplexArrayElement_max_key_cdr_typesize : 16;
+    key_buffer_ = reinterpret_cast<unsigned char*>(malloc(key_length));
+    memset(key_buffer_, 0, key_length);
 }
 
 ComplexArrayElementPubSubType::~ComplexArrayElementPubSubType()
 {
-    if (m_keyBuffer != nullptr)
+    if (key_buffer_ != nullptr)
     {
-        free(m_keyBuffer);
+        free(key_buffer_);
     }
 }
 
@@ -263,12 +245,10 @@ bool ComplexArrayElementPubSubType::serialize(
             data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
             eprosima::fastcdr::CdrVersion::XCDRv1 : eprosima::fastcdr::CdrVersion::XCDRv2);
     payload->encapsulation = ser.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS ? CDR_BE : CDR_LE;
-#if FASTCDR_VERSION_MAJOR > 1
     ser.set_encoding_flag(
         data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
         eprosima::fastcdr::EncodingAlgorithmFlag::PLAIN_CDR  :
         eprosima::fastcdr::EncodingAlgorithmFlag::DELIMIT_CDR2);
-#endif // FASTCDR_VERSION_MAJOR > 1
 
     try
     {
@@ -283,11 +263,7 @@ bool ComplexArrayElementPubSubType::serialize(
     }
 
     // Get the serialized length
-#if FASTCDR_VERSION_MAJOR == 1
-    payload->length = static_cast<uint32_t>(ser.getSerializedDataLength());
-#else
     payload->length = static_cast<uint32_t>(ser.get_serialized_data_length());
-#endif // FASTCDR_VERSION_MAJOR == 1
     return true;
 }
 
@@ -304,11 +280,7 @@ bool ComplexArrayElementPubSubType::deserialize(
         eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(payload->data), payload->length);
 
         // Object that deserializes the data.
-        eprosima::fastcdr::Cdr deser(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN
-#if FASTCDR_VERSION_MAJOR == 1
-                , eprosima::fastcdr::Cdr::CdrType::DDS_CDR
-#endif // FASTCDR_VERSION_MAJOR == 1
-                );
+        eprosima::fastcdr::Cdr deser(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN);
 
         // Deserialize encapsulation.
         deser.read_encapsulation();
@@ -325,52 +297,62 @@ bool ComplexArrayElementPubSubType::deserialize(
     return true;
 }
 
-std::function<uint32_t()> ComplexArrayElementPubSubType::getSerializedSizeProvider(
+uint32_t ComplexArrayElementPubSubType::calculate_serialized_size(
         const void* const data,
         DataRepresentationId_t data_representation)
 {
-    return [data, data_representation]() -> uint32_t
-           {
-#if FASTCDR_VERSION_MAJOR == 1
-               static_cast<void>(data_representation);
-               return static_cast<uint32_t>(type::getCdrSerializedSize(*static_cast<ComplexArrayElement*>(data))) +
-                      4u /*encapsulation*/;
-#else
-               try
-               {
-                   eprosima::fastcdr::CdrSizeCalculator calculator(
-                       data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
-                       eprosima::fastcdr::CdrVersion::XCDRv1 :eprosima::fastcdr::CdrVersion::XCDRv2);
-                   size_t current_alignment {0};
-                   return static_cast<uint32_t>(calculator.calculate_serialized_size(
-                               *static_cast<const ComplexArrayElement*>(data), current_alignment)) +
-                           4u /*encapsulation*/;
-               }
-               catch (eprosima::fastcdr::exception::Exception& /*exception*/)
-               {
-                   return 0;
-               }
-#endif // FASTCDR_VERSION_MAJOR == 1
-           };
+    try
+    {
+        eprosima::fastcdr::CdrSizeCalculator calculator(
+            data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
+            eprosima::fastcdr::CdrVersion::XCDRv1 :eprosima::fastcdr::CdrVersion::XCDRv2);
+        size_t current_alignment {0};
+        return static_cast<uint32_t>(calculator.calculate_serialized_size(
+                    *static_cast<const ComplexArrayElement*>(data), current_alignment)) +
+                4u /*encapsulation*/;
+    }
+    catch (eprosima::fastcdr::exception::Exception& /*exception*/)
+    {
+        return 0;
+    }
 }
 
-void* ComplexArrayElementPubSubType::createData()
+void* ComplexArrayElementPubSubType::create_data()
 {
     return reinterpret_cast<void*>(new ComplexArrayElement());
 }
 
-void ComplexArrayElementPubSubType::deleteData(
+void ComplexArrayElementPubSubType::delete_data(
         void* data)
 {
     delete(reinterpret_cast<ComplexArrayElement*>(data));
 }
 
-bool ComplexArrayElementPubSubType::getKey(
+bool ComplexArrayElementPubSubType::compute_key(
+        SerializedPayload_t* payload,
+        InstanceHandle_t* handle,
+        bool force_md5)
+{
+    if (!is_compute_key_provided)
+    {
+        return false;
+    }
+
+    ComplexArrayElement data;
+    if (deserialize(payload, static_cast<void*>(&data)))
+    {
+        return compute_key(static_cast<void*>(&data), handle, force_md5);
+    }
+
+    return false;
+}
+
+bool ComplexArrayElementPubSubType::compute_key(
         const void* const data,
         InstanceHandle_t* handle,
         bool force_md5)
 {
-    if (!m_isGetKeyDefined)
+    if (!is_compute_key_provided)
     {
         return false;
     }
@@ -378,35 +360,27 @@ bool ComplexArrayElementPubSubType::getKey(
     const ComplexArrayElement* p_type = static_cast<const ComplexArrayElement*>(data);
 
     // Object that manages the raw buffer.
-    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(m_keyBuffer),
+    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(key_buffer_),
             ComplexArrayElement_max_key_cdr_typesize);
 
     // Object that serializes the data.
     eprosima::fastcdr::Cdr ser(fastbuffer, eprosima::fastcdr::Cdr::BIG_ENDIANNESS, eprosima::fastcdr::CdrVersion::XCDRv1);
-#if FASTCDR_VERSION_MAJOR == 1
-    p_type->serializeKey(ser);
-#else
     eprosima::fastcdr::serialize_key(ser, *p_type);
-#endif // FASTCDR_VERSION_MAJOR == 1
     if (force_md5 || ComplexArrayElement_max_key_cdr_typesize > 16)
     {
-        m_md5.init();
-#if FASTCDR_VERSION_MAJOR == 1
-        m_md5.update(m_keyBuffer, static_cast<unsigned int>(ser.getSerializedDataLength()));
-#else
-        m_md5.update(m_keyBuffer, static_cast<unsigned int>(ser.get_serialized_data_length()));
-#endif // FASTCDR_VERSION_MAJOR == 1
-        m_md5.finalize();
+        md5_.init();
+        md5_.update(key_buffer_, static_cast<unsigned int>(ser.get_serialized_data_length()));
+        md5_.finalize();
         for (uint8_t i = 0; i < 16; ++i)
         {
-            handle->value[i] = m_md5.digest[i];
+            handle->value[i] = md5_.digest[i];
         }
     }
     else
     {
         for (uint8_t i = 0; i < 16; ++i)
         {
-            handle->value[i] = m_keyBuffer[i];
+            handle->value[i] = key_buffer_[i];
         }
     }
     return true;
@@ -419,26 +393,21 @@ void ComplexArrayElementPubSubType::register_type_object_representation()
 
 ArrayStructPubSubType::ArrayStructPubSubType()
 {
-    setName("ArrayStruct");
-    uint32_t type_size =
-#if FASTCDR_VERSION_MAJOR == 1
-        static_cast<uint32_t>(ArrayStruct::getMaxCdrSerializedSize());
-#else
-        ArrayStruct_max_cdr_typesize;
-#endif
+    set_name("ArrayStruct");
+    uint32_t type_size = ArrayStruct_max_cdr_typesize;
     type_size += static_cast<uint32_t>(eprosima::fastcdr::Cdr::alignment(type_size, 4)); /* possible submessage alignment */
-    m_typeSize = type_size + 4; /*encapsulation*/
-    m_isGetKeyDefined = false;
-    uint32_t keyLength = ArrayStruct_max_key_cdr_typesize > 16 ? ArrayStruct_max_key_cdr_typesize : 16;
-    m_keyBuffer = reinterpret_cast<unsigned char*>(malloc(keyLength));
-    memset(m_keyBuffer, 0, keyLength);
+    max_serialized_type_size = type_size + 4; /*encapsulation*/
+    is_compute_key_provided = false;
+    uint32_t key_length = ArrayStruct_max_key_cdr_typesize > 16 ? ArrayStruct_max_key_cdr_typesize : 16;
+    key_buffer_ = reinterpret_cast<unsigned char*>(malloc(key_length));
+    memset(key_buffer_, 0, key_length);
 }
 
 ArrayStructPubSubType::~ArrayStructPubSubType()
 {
-    if (m_keyBuffer != nullptr)
+    if (key_buffer_ != nullptr)
     {
-        free(m_keyBuffer);
+        free(key_buffer_);
     }
 }
 
@@ -456,12 +425,10 @@ bool ArrayStructPubSubType::serialize(
             data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
             eprosima::fastcdr::CdrVersion::XCDRv1 : eprosima::fastcdr::CdrVersion::XCDRv2);
     payload->encapsulation = ser.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS ? CDR_BE : CDR_LE;
-#if FASTCDR_VERSION_MAJOR > 1
     ser.set_encoding_flag(
         data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
         eprosima::fastcdr::EncodingAlgorithmFlag::PLAIN_CDR  :
         eprosima::fastcdr::EncodingAlgorithmFlag::DELIMIT_CDR2);
-#endif // FASTCDR_VERSION_MAJOR > 1
 
     try
     {
@@ -476,11 +443,7 @@ bool ArrayStructPubSubType::serialize(
     }
 
     // Get the serialized length
-#if FASTCDR_VERSION_MAJOR == 1
-    payload->length = static_cast<uint32_t>(ser.getSerializedDataLength());
-#else
     payload->length = static_cast<uint32_t>(ser.get_serialized_data_length());
-#endif // FASTCDR_VERSION_MAJOR == 1
     return true;
 }
 
@@ -497,11 +460,7 @@ bool ArrayStructPubSubType::deserialize(
         eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(payload->data), payload->length);
 
         // Object that deserializes the data.
-        eprosima::fastcdr::Cdr deser(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN
-#if FASTCDR_VERSION_MAJOR == 1
-                , eprosima::fastcdr::Cdr::CdrType::DDS_CDR
-#endif // FASTCDR_VERSION_MAJOR == 1
-                );
+        eprosima::fastcdr::Cdr deser(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN);
 
         // Deserialize encapsulation.
         deser.read_encapsulation();
@@ -518,52 +477,62 @@ bool ArrayStructPubSubType::deserialize(
     return true;
 }
 
-std::function<uint32_t()> ArrayStructPubSubType::getSerializedSizeProvider(
+uint32_t ArrayStructPubSubType::calculate_serialized_size(
         const void* const data,
         DataRepresentationId_t data_representation)
 {
-    return [data, data_representation]() -> uint32_t
-           {
-#if FASTCDR_VERSION_MAJOR == 1
-               static_cast<void>(data_representation);
-               return static_cast<uint32_t>(type::getCdrSerializedSize(*static_cast<ArrayStruct*>(data))) +
-                      4u /*encapsulation*/;
-#else
-               try
-               {
-                   eprosima::fastcdr::CdrSizeCalculator calculator(
-                       data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
-                       eprosima::fastcdr::CdrVersion::XCDRv1 :eprosima::fastcdr::CdrVersion::XCDRv2);
-                   size_t current_alignment {0};
-                   return static_cast<uint32_t>(calculator.calculate_serialized_size(
-                               *static_cast<const ArrayStruct*>(data), current_alignment)) +
-                           4u /*encapsulation*/;
-               }
-               catch (eprosima::fastcdr::exception::Exception& /*exception*/)
-               {
-                   return 0;
-               }
-#endif // FASTCDR_VERSION_MAJOR == 1
-           };
+    try
+    {
+        eprosima::fastcdr::CdrSizeCalculator calculator(
+            data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
+            eprosima::fastcdr::CdrVersion::XCDRv1 :eprosima::fastcdr::CdrVersion::XCDRv2);
+        size_t current_alignment {0};
+        return static_cast<uint32_t>(calculator.calculate_serialized_size(
+                    *static_cast<const ArrayStruct*>(data), current_alignment)) +
+                4u /*encapsulation*/;
+    }
+    catch (eprosima::fastcdr::exception::Exception& /*exception*/)
+    {
+        return 0;
+    }
 }
 
-void* ArrayStructPubSubType::createData()
+void* ArrayStructPubSubType::create_data()
 {
     return reinterpret_cast<void*>(new ArrayStruct());
 }
 
-void ArrayStructPubSubType::deleteData(
+void ArrayStructPubSubType::delete_data(
         void* data)
 {
     delete(reinterpret_cast<ArrayStruct*>(data));
 }
 
-bool ArrayStructPubSubType::getKey(
+bool ArrayStructPubSubType::compute_key(
+        SerializedPayload_t* payload,
+        InstanceHandle_t* handle,
+        bool force_md5)
+{
+    if (!is_compute_key_provided)
+    {
+        return false;
+    }
+
+    ArrayStruct data;
+    if (deserialize(payload, static_cast<void*>(&data)))
+    {
+        return compute_key(static_cast<void*>(&data), handle, force_md5);
+    }
+
+    return false;
+}
+
+bool ArrayStructPubSubType::compute_key(
         const void* const data,
         InstanceHandle_t* handle,
         bool force_md5)
 {
-    if (!m_isGetKeyDefined)
+    if (!is_compute_key_provided)
     {
         return false;
     }
@@ -571,35 +540,27 @@ bool ArrayStructPubSubType::getKey(
     const ArrayStruct* p_type = static_cast<const ArrayStruct*>(data);
 
     // Object that manages the raw buffer.
-    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(m_keyBuffer),
+    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(key_buffer_),
             ArrayStruct_max_key_cdr_typesize);
 
     // Object that serializes the data.
     eprosima::fastcdr::Cdr ser(fastbuffer, eprosima::fastcdr::Cdr::BIG_ENDIANNESS, eprosima::fastcdr::CdrVersion::XCDRv1);
-#if FASTCDR_VERSION_MAJOR == 1
-    p_type->serializeKey(ser);
-#else
     eprosima::fastcdr::serialize_key(ser, *p_type);
-#endif // FASTCDR_VERSION_MAJOR == 1
     if (force_md5 || ArrayStruct_max_key_cdr_typesize > 16)
     {
-        m_md5.init();
-#if FASTCDR_VERSION_MAJOR == 1
-        m_md5.update(m_keyBuffer, static_cast<unsigned int>(ser.getSerializedDataLength()));
-#else
-        m_md5.update(m_keyBuffer, static_cast<unsigned int>(ser.get_serialized_data_length()));
-#endif // FASTCDR_VERSION_MAJOR == 1
-        m_md5.finalize();
+        md5_.init();
+        md5_.update(key_buffer_, static_cast<unsigned int>(ser.get_serialized_data_length()));
+        md5_.finalize();
         for (uint8_t i = 0; i < 16; ++i)
         {
-            handle->value[i] = m_md5.digest[i];
+            handle->value[i] = md5_.digest[i];
         }
     }
     else
     {
         for (uint8_t i = 0; i < 16; ++i)
         {
-            handle->value[i] = m_keyBuffer[i];
+            handle->value[i] = key_buffer_[i];
         }
     }
     return true;
diff --git a/test/unittest/dds/xtypes/serializers/idl/types/array_struct/gen/array_structPubSubTypes.hpp b/test/unittest/dds/xtypes/serializers/idl/types/array_struct/gen/array_structPubSubTypes.hpp
index 0d0672b8fc1..9397608fc4b 100644
--- a/test/unittest/dds/xtypes/serializers/idl/types/array_struct/gen/array_structPubSubTypes.hpp
+++ b/test/unittest/dds/xtypes/serializers/idl/types/array_struct/gen/array_structPubSubTypes.hpp
@@ -32,10 +32,10 @@
 #include "array_struct.hpp"
 
 
-#if !defined(GEN_API_VER) || (GEN_API_VER != 2)
+#if !defined(FASTDDS_GEN_API_VER) || (FASTDDS_GEN_API_VER != 3)
 #error \
     Generated array_struct is not compatible with current installed Fast DDS. Please, regenerate it with fastddsgen.
-#endif  // GEN_API_VER
+#endif  // FASTDDS_GEN_API_VER
 
 
 /*!
@@ -52,13 +52,6 @@ class NestedArrayElementPubSubType : public eprosima::fastdds::dds::TopicDataTyp
 
     eProsima_user_DllExport ~NestedArrayElementPubSubType() override;
 
-    eProsima_user_DllExport bool serialize(
-            const void* const data,
-            eprosima::fastdds::rtps::SerializedPayload_t* payload) override
-    {
-        return serialize(data, payload, eprosima::fastdds::dds::DEFAULT_DATA_REPRESENTATION);
-    }
-
     eProsima_user_DllExport bool serialize(
             const void* const data,
             eprosima::fastdds::rtps::SerializedPayload_t* payload,
@@ -68,24 +61,23 @@ class NestedArrayElementPubSubType : public eprosima::fastdds::dds::TopicDataTyp
             eprosima::fastdds::rtps::SerializedPayload_t* payload,
             void* data) override;
 
-    eProsima_user_DllExport std::function<uint32_t()> getSerializedSizeProvider(
-            const void* const data) override
-    {
-        return getSerializedSizeProvider(data, eprosima::fastdds::dds::DEFAULT_DATA_REPRESENTATION);
-    }
-
-    eProsima_user_DllExport std::function<uint32_t()> getSerializedSizeProvider(
+    eProsima_user_DllExport uint32_t calculate_serialized_size(
             const void* const data,
             eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
 
-    eProsima_user_DllExport bool getKey(
+    eProsima_user_DllExport bool compute_key(
+            eprosima::fastdds::rtps::SerializedPayload_t* payload,
+            eprosima::fastdds::rtps::InstanceHandle_t* ihandle,
+            bool force_md5 = false) override;
+
+    eProsima_user_DllExport bool compute_key(
             const void* const data,
             eprosima::fastdds::rtps::InstanceHandle_t* ihandle,
             bool force_md5 = false) override;
 
-    eProsima_user_DllExport void* createData() override;
+    eProsima_user_DllExport void* create_data() override;
 
-    eProsima_user_DllExport void deleteData(
+    eProsima_user_DllExport void delete_data(
             void* data) override;
 
     //Register TypeObject representation in Fast DDS TypeObjectRegistry
@@ -100,10 +92,6 @@ class NestedArrayElementPubSubType : public eprosima::fastdds::dds::TopicDataTyp
 #endif  // TOPIC_DATA_TYPE_API_HAS_IS_BOUNDED
 
 #ifdef TOPIC_DATA_TYPE_API_HAS_IS_PLAIN
-    eProsima_user_DllExport inline bool is_plain() const override
-    {
-        return false;
-    }
 
     eProsima_user_DllExport inline bool is_plain(
             eprosima::fastdds::dds::DataRepresentationId_t data_representation) const override
@@ -124,8 +112,8 @@ class NestedArrayElementPubSubType : public eprosima::fastdds::dds::TopicDataTyp
 
 #endif  // TOPIC_DATA_TYPE_API_HAS_CONSTRUCT_SAMPLE
 
-    eprosima::fastdds::MD5 m_md5;
-    unsigned char* m_keyBuffer;
+    eprosima::fastdds::MD5 md5_;
+    unsigned char* key_buffer_;
 
 };
 
@@ -143,13 +131,6 @@ class ComplexArrayElementPubSubType : public eprosima::fastdds::dds::TopicDataTy
 
     eProsima_user_DllExport ~ComplexArrayElementPubSubType() override;
 
-    eProsima_user_DllExport bool serialize(
-            const void* const data,
-            eprosima::fastdds::rtps::SerializedPayload_t* payload) override
-    {
-        return serialize(data, payload, eprosima::fastdds::dds::DEFAULT_DATA_REPRESENTATION);
-    }
-
     eProsima_user_DllExport bool serialize(
             const void* const data,
             eprosima::fastdds::rtps::SerializedPayload_t* payload,
@@ -159,24 +140,23 @@ class ComplexArrayElementPubSubType : public eprosima::fastdds::dds::TopicDataTy
             eprosima::fastdds::rtps::SerializedPayload_t* payload,
             void* data) override;
 
-    eProsima_user_DllExport std::function<uint32_t()> getSerializedSizeProvider(
-            const void* const data) override
-    {
-        return getSerializedSizeProvider(data, eprosima::fastdds::dds::DEFAULT_DATA_REPRESENTATION);
-    }
-
-    eProsima_user_DllExport std::function<uint32_t()> getSerializedSizeProvider(
+    eProsima_user_DllExport uint32_t calculate_serialized_size(
             const void* const data,
             eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
 
-    eProsima_user_DllExport bool getKey(
+    eProsima_user_DllExport bool compute_key(
+            eprosima::fastdds::rtps::SerializedPayload_t* payload,
+            eprosima::fastdds::rtps::InstanceHandle_t* ihandle,
+            bool force_md5 = false) override;
+
+    eProsima_user_DllExport bool compute_key(
             const void* const data,
             eprosima::fastdds::rtps::InstanceHandle_t* ihandle,
             bool force_md5 = false) override;
 
-    eProsima_user_DllExport void* createData() override;
+    eProsima_user_DllExport void* create_data() override;
 
-    eProsima_user_DllExport void deleteData(
+    eProsima_user_DllExport void delete_data(
             void* data) override;
 
     //Register TypeObject representation in Fast DDS TypeObjectRegistry
@@ -191,10 +171,6 @@ class ComplexArrayElementPubSubType : public eprosima::fastdds::dds::TopicDataTy
 #endif  // TOPIC_DATA_TYPE_API_HAS_IS_BOUNDED
 
 #ifdef TOPIC_DATA_TYPE_API_HAS_IS_PLAIN
-    eProsima_user_DllExport inline bool is_plain() const override
-    {
-        return false;
-    }
 
     eProsima_user_DllExport inline bool is_plain(
             eprosima::fastdds::dds::DataRepresentationId_t data_representation) const override
@@ -215,8 +191,8 @@ class ComplexArrayElementPubSubType : public eprosima::fastdds::dds::TopicDataTy
 
 #endif  // TOPIC_DATA_TYPE_API_HAS_CONSTRUCT_SAMPLE
 
-    eprosima::fastdds::MD5 m_md5;
-    unsigned char* m_keyBuffer;
+    eprosima::fastdds::MD5 md5_;
+    unsigned char* key_buffer_;
 
 };
 
@@ -234,13 +210,6 @@ class ArrayStructPubSubType : public eprosima::fastdds::dds::TopicDataType
 
     eProsima_user_DllExport ~ArrayStructPubSubType() override;
 
-    eProsima_user_DllExport bool serialize(
-            const void* const data,
-            eprosima::fastdds::rtps::SerializedPayload_t* payload) override
-    {
-        return serialize(data, payload, eprosima::fastdds::dds::DEFAULT_DATA_REPRESENTATION);
-    }
-
     eProsima_user_DllExport bool serialize(
             const void* const data,
             eprosima::fastdds::rtps::SerializedPayload_t* payload,
@@ -250,24 +219,23 @@ class ArrayStructPubSubType : public eprosima::fastdds::dds::TopicDataType
             eprosima::fastdds::rtps::SerializedPayload_t* payload,
             void* data) override;
 
-    eProsima_user_DllExport std::function<uint32_t()> getSerializedSizeProvider(
-            const void* const data) override
-    {
-        return getSerializedSizeProvider(data, eprosima::fastdds::dds::DEFAULT_DATA_REPRESENTATION);
-    }
-
-    eProsima_user_DllExport std::function<uint32_t()> getSerializedSizeProvider(
+    eProsima_user_DllExport uint32_t calculate_serialized_size(
             const void* const data,
             eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
 
-    eProsima_user_DllExport bool getKey(
+    eProsima_user_DllExport bool compute_key(
+            eprosima::fastdds::rtps::SerializedPayload_t* payload,
+            eprosima::fastdds::rtps::InstanceHandle_t* ihandle,
+            bool force_md5 = false) override;
+
+    eProsima_user_DllExport bool compute_key(
             const void* const data,
             eprosima::fastdds::rtps::InstanceHandle_t* ihandle,
             bool force_md5 = false) override;
 
-    eProsima_user_DllExport void* createData() override;
+    eProsima_user_DllExport void* create_data() override;
 
-    eProsima_user_DllExport void deleteData(
+    eProsima_user_DllExport void delete_data(
             void* data) override;
 
     //Register TypeObject representation in Fast DDS TypeObjectRegistry
@@ -282,10 +250,6 @@ class ArrayStructPubSubType : public eprosima::fastdds::dds::TopicDataType
 #endif  // TOPIC_DATA_TYPE_API_HAS_IS_BOUNDED
 
 #ifdef TOPIC_DATA_TYPE_API_HAS_IS_PLAIN
-    eProsima_user_DllExport inline bool is_plain() const override
-    {
-        return false;
-    }
 
     eProsima_user_DllExport inline bool is_plain(
             eprosima::fastdds::dds::DataRepresentationId_t data_representation) const override
@@ -306,8 +270,8 @@ class ArrayStructPubSubType : public eprosima::fastdds::dds::TopicDataType
 
 #endif  // TOPIC_DATA_TYPE_API_HAS_CONSTRUCT_SAMPLE
 
-    eprosima::fastdds::MD5 m_md5;
-    unsigned char* m_keyBuffer;
+    eprosima::fastdds::MD5 md5_;
+    unsigned char* key_buffer_;
 
 };
 
diff --git a/test/unittest/dds/xtypes/serializers/idl/types/bitmask_struct/gen/bitmask_structPubSubTypes.cxx b/test/unittest/dds/xtypes/serializers/idl/types/bitmask_struct/gen/bitmask_structPubSubTypes.cxx
index a42af45f42c..32167de6781 100644
--- a/test/unittest/dds/xtypes/serializers/idl/types/bitmask_struct/gen/bitmask_structPubSubTypes.cxx
+++ b/test/unittest/dds/xtypes/serializers/idl/types/bitmask_struct/gen/bitmask_structPubSubTypes.cxx
@@ -33,26 +33,21 @@ using DataRepresentationId_t = eprosima::fastdds::dds::DataRepresentationId_t;
 
 BitmaskStructPubSubType::BitmaskStructPubSubType()
 {
-    setName("BitmaskStruct");
-    uint32_t type_size =
-#if FASTCDR_VERSION_MAJOR == 1
-        static_cast<uint32_t>(BitmaskStruct::getMaxCdrSerializedSize());
-#else
-        BitmaskStruct_max_cdr_typesize;
-#endif
+    set_name("BitmaskStruct");
+    uint32_t type_size = BitmaskStruct_max_cdr_typesize;
     type_size += static_cast<uint32_t>(eprosima::fastcdr::Cdr::alignment(type_size, 4)); /* possible submessage alignment */
-    m_typeSize = type_size + 4; /*encapsulation*/
-    m_isGetKeyDefined = false;
-    uint32_t keyLength = BitmaskStruct_max_key_cdr_typesize > 16 ? BitmaskStruct_max_key_cdr_typesize : 16;
-    m_keyBuffer = reinterpret_cast<unsigned char*>(malloc(keyLength));
-    memset(m_keyBuffer, 0, keyLength);
+    max_serialized_type_size = type_size + 4; /*encapsulation*/
+    is_compute_key_provided = false;
+    uint32_t key_length = BitmaskStruct_max_key_cdr_typesize > 16 ? BitmaskStruct_max_key_cdr_typesize : 16;
+    key_buffer_ = reinterpret_cast<unsigned char*>(malloc(key_length));
+    memset(key_buffer_, 0, key_length);
 }
 
 BitmaskStructPubSubType::~BitmaskStructPubSubType()
 {
-    if (m_keyBuffer != nullptr)
+    if (key_buffer_ != nullptr)
     {
-        free(m_keyBuffer);
+        free(key_buffer_);
     }
 }
 
@@ -70,12 +65,10 @@ bool BitmaskStructPubSubType::serialize(
             data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
             eprosima::fastcdr::CdrVersion::XCDRv1 : eprosima::fastcdr::CdrVersion::XCDRv2);
     payload->encapsulation = ser.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS ? CDR_BE : CDR_LE;
-#if FASTCDR_VERSION_MAJOR > 1
     ser.set_encoding_flag(
         data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
         eprosima::fastcdr::EncodingAlgorithmFlag::PLAIN_CDR  :
         eprosima::fastcdr::EncodingAlgorithmFlag::DELIMIT_CDR2);
-#endif // FASTCDR_VERSION_MAJOR > 1
 
     try
     {
@@ -90,11 +83,7 @@ bool BitmaskStructPubSubType::serialize(
     }
 
     // Get the serialized length
-#if FASTCDR_VERSION_MAJOR == 1
-    payload->length = static_cast<uint32_t>(ser.getSerializedDataLength());
-#else
     payload->length = static_cast<uint32_t>(ser.get_serialized_data_length());
-#endif // FASTCDR_VERSION_MAJOR == 1
     return true;
 }
 
@@ -111,11 +100,7 @@ bool BitmaskStructPubSubType::deserialize(
         eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(payload->data), payload->length);
 
         // Object that deserializes the data.
-        eprosima::fastcdr::Cdr deser(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN
-#if FASTCDR_VERSION_MAJOR == 1
-                , eprosima::fastcdr::Cdr::CdrType::DDS_CDR
-#endif // FASTCDR_VERSION_MAJOR == 1
-                );
+        eprosima::fastcdr::Cdr deser(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN);
 
         // Deserialize encapsulation.
         deser.read_encapsulation();
@@ -132,52 +117,62 @@ bool BitmaskStructPubSubType::deserialize(
     return true;
 }
 
-std::function<uint32_t()> BitmaskStructPubSubType::getSerializedSizeProvider(
+uint32_t BitmaskStructPubSubType::calculate_serialized_size(
         const void* const data,
         DataRepresentationId_t data_representation)
 {
-    return [data, data_representation]() -> uint32_t
-           {
-#if FASTCDR_VERSION_MAJOR == 1
-               static_cast<void>(data_representation);
-               return static_cast<uint32_t>(type::getCdrSerializedSize(*static_cast<BitmaskStruct*>(data))) +
-                      4u /*encapsulation*/;
-#else
-               try
-               {
-                   eprosima::fastcdr::CdrSizeCalculator calculator(
-                       data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
-                       eprosima::fastcdr::CdrVersion::XCDRv1 :eprosima::fastcdr::CdrVersion::XCDRv2);
-                   size_t current_alignment {0};
-                   return static_cast<uint32_t>(calculator.calculate_serialized_size(
-                               *static_cast<const BitmaskStruct*>(data), current_alignment)) +
-                           4u /*encapsulation*/;
-               }
-               catch (eprosima::fastcdr::exception::Exception& /*exception*/)
-               {
-                   return 0;
-               }
-#endif // FASTCDR_VERSION_MAJOR == 1
-           };
+    try
+    {
+        eprosima::fastcdr::CdrSizeCalculator calculator(
+            data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
+            eprosima::fastcdr::CdrVersion::XCDRv1 :eprosima::fastcdr::CdrVersion::XCDRv2);
+        size_t current_alignment {0};
+        return static_cast<uint32_t>(calculator.calculate_serialized_size(
+                    *static_cast<const BitmaskStruct*>(data), current_alignment)) +
+                4u /*encapsulation*/;
+    }
+    catch (eprosima::fastcdr::exception::Exception& /*exception*/)
+    {
+        return 0;
+    }
 }
 
-void* BitmaskStructPubSubType::createData()
+void* BitmaskStructPubSubType::create_data()
 {
     return reinterpret_cast<void*>(new BitmaskStruct());
 }
 
-void BitmaskStructPubSubType::deleteData(
+void BitmaskStructPubSubType::delete_data(
         void* data)
 {
     delete(reinterpret_cast<BitmaskStruct*>(data));
 }
 
-bool BitmaskStructPubSubType::getKey(
+bool BitmaskStructPubSubType::compute_key(
+        SerializedPayload_t* payload,
+        InstanceHandle_t* handle,
+        bool force_md5)
+{
+    if (!is_compute_key_provided)
+    {
+        return false;
+    }
+
+    BitmaskStruct data;
+    if (deserialize(payload, static_cast<void*>(&data)))
+    {
+        return compute_key(static_cast<void*>(&data), handle, force_md5);
+    }
+
+    return false;
+}
+
+bool BitmaskStructPubSubType::compute_key(
         const void* const data,
         InstanceHandle_t* handle,
         bool force_md5)
 {
-    if (!m_isGetKeyDefined)
+    if (!is_compute_key_provided)
     {
         return false;
     }
@@ -185,35 +180,27 @@ bool BitmaskStructPubSubType::getKey(
     const BitmaskStruct* p_type = static_cast<const BitmaskStruct*>(data);
 
     // Object that manages the raw buffer.
-    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(m_keyBuffer),
+    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(key_buffer_),
             BitmaskStruct_max_key_cdr_typesize);
 
     // Object that serializes the data.
     eprosima::fastcdr::Cdr ser(fastbuffer, eprosima::fastcdr::Cdr::BIG_ENDIANNESS, eprosima::fastcdr::CdrVersion::XCDRv1);
-#if FASTCDR_VERSION_MAJOR == 1
-    p_type->serializeKey(ser);
-#else
     eprosima::fastcdr::serialize_key(ser, *p_type);
-#endif // FASTCDR_VERSION_MAJOR == 1
     if (force_md5 || BitmaskStruct_max_key_cdr_typesize > 16)
     {
-        m_md5.init();
-#if FASTCDR_VERSION_MAJOR == 1
-        m_md5.update(m_keyBuffer, static_cast<unsigned int>(ser.getSerializedDataLength()));
-#else
-        m_md5.update(m_keyBuffer, static_cast<unsigned int>(ser.get_serialized_data_length()));
-#endif // FASTCDR_VERSION_MAJOR == 1
-        m_md5.finalize();
+        md5_.init();
+        md5_.update(key_buffer_, static_cast<unsigned int>(ser.get_serialized_data_length()));
+        md5_.finalize();
         for (uint8_t i = 0; i < 16; ++i)
         {
-            handle->value[i] = m_md5.digest[i];
+            handle->value[i] = md5_.digest[i];
         }
     }
     else
     {
         for (uint8_t i = 0; i < 16; ++i)
         {
-            handle->value[i] = m_keyBuffer[i];
+            handle->value[i] = key_buffer_[i];
         }
     }
     return true;
diff --git a/test/unittest/dds/xtypes/serializers/idl/types/bitmask_struct/gen/bitmask_structPubSubTypes.hpp b/test/unittest/dds/xtypes/serializers/idl/types/bitmask_struct/gen/bitmask_structPubSubTypes.hpp
index df42d2f96aa..33c1e246a47 100644
--- a/test/unittest/dds/xtypes/serializers/idl/types/bitmask_struct/gen/bitmask_structPubSubTypes.hpp
+++ b/test/unittest/dds/xtypes/serializers/idl/types/bitmask_struct/gen/bitmask_structPubSubTypes.hpp
@@ -32,10 +32,10 @@
 #include "bitmask_struct.hpp"
 
 
-#if !defined(GEN_API_VER) || (GEN_API_VER != 2)
+#if !defined(FASTDDS_GEN_API_VER) || (FASTDDS_GEN_API_VER != 3)
 #error \
     Generated bitmask_struct is not compatible with current installed Fast DDS. Please, regenerate it with fastddsgen.
-#endif  // GEN_API_VER
+#endif  // FASTDDS_GEN_API_VER
 
 
 /*!
@@ -52,13 +52,6 @@ class BitmaskStructPubSubType : public eprosima::fastdds::dds::TopicDataType
 
     eProsima_user_DllExport ~BitmaskStructPubSubType() override;
 
-    eProsima_user_DllExport bool serialize(
-            const void* const data,
-            eprosima::fastdds::rtps::SerializedPayload_t* payload) override
-    {
-        return serialize(data, payload, eprosima::fastdds::dds::DEFAULT_DATA_REPRESENTATION);
-    }
-
     eProsima_user_DllExport bool serialize(
             const void* const data,
             eprosima::fastdds::rtps::SerializedPayload_t* payload,
@@ -68,24 +61,23 @@ class BitmaskStructPubSubType : public eprosima::fastdds::dds::TopicDataType
             eprosima::fastdds::rtps::SerializedPayload_t* payload,
             void* data) override;
 
-    eProsima_user_DllExport std::function<uint32_t()> getSerializedSizeProvider(
-            const void* const data) override
-    {
-        return getSerializedSizeProvider(data, eprosima::fastdds::dds::DEFAULT_DATA_REPRESENTATION);
-    }
-
-    eProsima_user_DllExport std::function<uint32_t()> getSerializedSizeProvider(
+    eProsima_user_DllExport uint32_t calculate_serialized_size(
             const void* const data,
             eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
 
-    eProsima_user_DllExport bool getKey(
+    eProsima_user_DllExport bool compute_key(
+            eprosima::fastdds::rtps::SerializedPayload_t* payload,
+            eprosima::fastdds::rtps::InstanceHandle_t* ihandle,
+            bool force_md5 = false) override;
+
+    eProsima_user_DllExport bool compute_key(
             const void* const data,
             eprosima::fastdds::rtps::InstanceHandle_t* ihandle,
             bool force_md5 = false) override;
 
-    eProsima_user_DllExport void* createData() override;
+    eProsima_user_DllExport void* create_data() override;
 
-    eProsima_user_DllExport void deleteData(
+    eProsima_user_DllExport void delete_data(
             void* data) override;
 
     //Register TypeObject representation in Fast DDS TypeObjectRegistry
@@ -100,10 +92,6 @@ class BitmaskStructPubSubType : public eprosima::fastdds::dds::TopicDataType
 #endif  // TOPIC_DATA_TYPE_API_HAS_IS_BOUNDED
 
 #ifdef TOPIC_DATA_TYPE_API_HAS_IS_PLAIN
-    eProsima_user_DllExport inline bool is_plain() const override
-    {
-        return false;
-    }
 
     eProsima_user_DllExport inline bool is_plain(
             eprosima::fastdds::dds::DataRepresentationId_t data_representation) const override
@@ -124,8 +112,8 @@ class BitmaskStructPubSubType : public eprosima::fastdds::dds::TopicDataType
 
 #endif  // TOPIC_DATA_TYPE_API_HAS_CONSTRUCT_SAMPLE
 
-    eprosima::fastdds::MD5 m_md5;
-    unsigned char* m_keyBuffer;
+    eprosima::fastdds::MD5 md5_;
+    unsigned char* key_buffer_;
 
 };
 
diff --git a/test/unittest/dds/xtypes/serializers/idl/types/bitset_struct/gen/bitset_structPubSubTypes.cxx b/test/unittest/dds/xtypes/serializers/idl/types/bitset_struct/gen/bitset_structPubSubTypes.cxx
index d327fd7adb3..6d2156195ce 100644
--- a/test/unittest/dds/xtypes/serializers/idl/types/bitset_struct/gen/bitset_structPubSubTypes.cxx
+++ b/test/unittest/dds/xtypes/serializers/idl/types/bitset_struct/gen/bitset_structPubSubTypes.cxx
@@ -33,26 +33,21 @@ using DataRepresentationId_t = eprosima::fastdds::dds::DataRepresentationId_t;
 
 BitsetStructPubSubType::BitsetStructPubSubType()
 {
-    setName("BitsetStruct");
-    uint32_t type_size =
-#if FASTCDR_VERSION_MAJOR == 1
-        static_cast<uint32_t>(BitsetStruct::getMaxCdrSerializedSize());
-#else
-        BitsetStruct_max_cdr_typesize;
-#endif
+    set_name("BitsetStruct");
+    uint32_t type_size = BitsetStruct_max_cdr_typesize;
     type_size += static_cast<uint32_t>(eprosima::fastcdr::Cdr::alignment(type_size, 4)); /* possible submessage alignment */
-    m_typeSize = type_size + 4; /*encapsulation*/
-    m_isGetKeyDefined = false;
-    uint32_t keyLength = BitsetStruct_max_key_cdr_typesize > 16 ? BitsetStruct_max_key_cdr_typesize : 16;
-    m_keyBuffer = reinterpret_cast<unsigned char*>(malloc(keyLength));
-    memset(m_keyBuffer, 0, keyLength);
+    max_serialized_type_size = type_size + 4; /*encapsulation*/
+    is_compute_key_provided = false;
+    uint32_t key_length = BitsetStruct_max_key_cdr_typesize > 16 ? BitsetStruct_max_key_cdr_typesize : 16;
+    key_buffer_ = reinterpret_cast<unsigned char*>(malloc(key_length));
+    memset(key_buffer_, 0, key_length);
 }
 
 BitsetStructPubSubType::~BitsetStructPubSubType()
 {
-    if (m_keyBuffer != nullptr)
+    if (key_buffer_ != nullptr)
     {
-        free(m_keyBuffer);
+        free(key_buffer_);
     }
 }
 
@@ -70,12 +65,10 @@ bool BitsetStructPubSubType::serialize(
             data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
             eprosima::fastcdr::CdrVersion::XCDRv1 : eprosima::fastcdr::CdrVersion::XCDRv2);
     payload->encapsulation = ser.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS ? CDR_BE : CDR_LE;
-#if FASTCDR_VERSION_MAJOR > 1
     ser.set_encoding_flag(
         data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
         eprosima::fastcdr::EncodingAlgorithmFlag::PLAIN_CDR  :
         eprosima::fastcdr::EncodingAlgorithmFlag::DELIMIT_CDR2);
-#endif // FASTCDR_VERSION_MAJOR > 1
 
     try
     {
@@ -90,11 +83,7 @@ bool BitsetStructPubSubType::serialize(
     }
 
     // Get the serialized length
-#if FASTCDR_VERSION_MAJOR == 1
-    payload->length = static_cast<uint32_t>(ser.getSerializedDataLength());
-#else
     payload->length = static_cast<uint32_t>(ser.get_serialized_data_length());
-#endif // FASTCDR_VERSION_MAJOR == 1
     return true;
 }
 
@@ -111,11 +100,7 @@ bool BitsetStructPubSubType::deserialize(
         eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(payload->data), payload->length);
 
         // Object that deserializes the data.
-        eprosima::fastcdr::Cdr deser(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN
-#if FASTCDR_VERSION_MAJOR == 1
-                , eprosima::fastcdr::Cdr::CdrType::DDS_CDR
-#endif // FASTCDR_VERSION_MAJOR == 1
-                );
+        eprosima::fastcdr::Cdr deser(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN);
 
         // Deserialize encapsulation.
         deser.read_encapsulation();
@@ -132,52 +117,62 @@ bool BitsetStructPubSubType::deserialize(
     return true;
 }
 
-std::function<uint32_t()> BitsetStructPubSubType::getSerializedSizeProvider(
+uint32_t BitsetStructPubSubType::calculate_serialized_size(
         const void* const data,
         DataRepresentationId_t data_representation)
 {
-    return [data, data_representation]() -> uint32_t
-           {
-#if FASTCDR_VERSION_MAJOR == 1
-               static_cast<void>(data_representation);
-               return static_cast<uint32_t>(type::getCdrSerializedSize(*static_cast<BitsetStruct*>(data))) +
-                      4u /*encapsulation*/;
-#else
-               try
-               {
-                   eprosima::fastcdr::CdrSizeCalculator calculator(
-                       data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
-                       eprosima::fastcdr::CdrVersion::XCDRv1 :eprosima::fastcdr::CdrVersion::XCDRv2);
-                   size_t current_alignment {0};
-                   return static_cast<uint32_t>(calculator.calculate_serialized_size(
-                               *static_cast<const BitsetStruct*>(data), current_alignment)) +
-                           4u /*encapsulation*/;
-               }
-               catch (eprosima::fastcdr::exception::Exception& /*exception*/)
-               {
-                   return 0;
-               }
-#endif // FASTCDR_VERSION_MAJOR == 1
-           };
+    try
+    {
+        eprosima::fastcdr::CdrSizeCalculator calculator(
+            data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
+            eprosima::fastcdr::CdrVersion::XCDRv1 :eprosima::fastcdr::CdrVersion::XCDRv2);
+        size_t current_alignment {0};
+        return static_cast<uint32_t>(calculator.calculate_serialized_size(
+                    *static_cast<const BitsetStruct*>(data), current_alignment)) +
+                4u /*encapsulation*/;
+    }
+    catch (eprosima::fastcdr::exception::Exception& /*exception*/)
+    {
+        return 0;
+    }
 }
 
-void* BitsetStructPubSubType::createData()
+void* BitsetStructPubSubType::create_data()
 {
     return reinterpret_cast<void*>(new BitsetStruct());
 }
 
-void BitsetStructPubSubType::deleteData(
+void BitsetStructPubSubType::delete_data(
         void* data)
 {
     delete(reinterpret_cast<BitsetStruct*>(data));
 }
 
-bool BitsetStructPubSubType::getKey(
+bool BitsetStructPubSubType::compute_key(
+        SerializedPayload_t* payload,
+        InstanceHandle_t* handle,
+        bool force_md5)
+{
+    if (!is_compute_key_provided)
+    {
+        return false;
+    }
+
+    BitsetStruct data;
+    if (deserialize(payload, static_cast<void*>(&data)))
+    {
+        return compute_key(static_cast<void*>(&data), handle, force_md5);
+    }
+
+    return false;
+}
+
+bool BitsetStructPubSubType::compute_key(
         const void* const data,
         InstanceHandle_t* handle,
         bool force_md5)
 {
-    if (!m_isGetKeyDefined)
+    if (!is_compute_key_provided)
     {
         return false;
     }
@@ -185,35 +180,27 @@ bool BitsetStructPubSubType::getKey(
     const BitsetStruct* p_type = static_cast<const BitsetStruct*>(data);
 
     // Object that manages the raw buffer.
-    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(m_keyBuffer),
+    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(key_buffer_),
             BitsetStruct_max_key_cdr_typesize);
 
     // Object that serializes the data.
     eprosima::fastcdr::Cdr ser(fastbuffer, eprosima::fastcdr::Cdr::BIG_ENDIANNESS, eprosima::fastcdr::CdrVersion::XCDRv1);
-#if FASTCDR_VERSION_MAJOR == 1
-    p_type->serializeKey(ser);
-#else
     eprosima::fastcdr::serialize_key(ser, *p_type);
-#endif // FASTCDR_VERSION_MAJOR == 1
     if (force_md5 || BitsetStruct_max_key_cdr_typesize > 16)
     {
-        m_md5.init();
-#if FASTCDR_VERSION_MAJOR == 1
-        m_md5.update(m_keyBuffer, static_cast<unsigned int>(ser.getSerializedDataLength()));
-#else
-        m_md5.update(m_keyBuffer, static_cast<unsigned int>(ser.get_serialized_data_length()));
-#endif // FASTCDR_VERSION_MAJOR == 1
-        m_md5.finalize();
+        md5_.init();
+        md5_.update(key_buffer_, static_cast<unsigned int>(ser.get_serialized_data_length()));
+        md5_.finalize();
         for (uint8_t i = 0; i < 16; ++i)
         {
-            handle->value[i] = m_md5.digest[i];
+            handle->value[i] = md5_.digest[i];
         }
     }
     else
     {
         for (uint8_t i = 0; i < 16; ++i)
         {
-            handle->value[i] = m_keyBuffer[i];
+            handle->value[i] = key_buffer_[i];
         }
     }
     return true;
diff --git a/test/unittest/dds/xtypes/serializers/idl/types/bitset_struct/gen/bitset_structPubSubTypes.hpp b/test/unittest/dds/xtypes/serializers/idl/types/bitset_struct/gen/bitset_structPubSubTypes.hpp
index 299306c4338..3aa7ddfdecc 100644
--- a/test/unittest/dds/xtypes/serializers/idl/types/bitset_struct/gen/bitset_structPubSubTypes.hpp
+++ b/test/unittest/dds/xtypes/serializers/idl/types/bitset_struct/gen/bitset_structPubSubTypes.hpp
@@ -32,10 +32,10 @@
 #include "bitset_struct.hpp"
 
 
-#if !defined(GEN_API_VER) || (GEN_API_VER != 2)
+#if !defined(FASTDDS_GEN_API_VER) || (FASTDDS_GEN_API_VER != 3)
 #error \
     Generated bitset_struct is not compatible with current installed Fast DDS. Please, regenerate it with fastddsgen.
-#endif  // GEN_API_VER
+#endif  // FASTDDS_GEN_API_VER
 
 
 /*!
@@ -52,13 +52,6 @@ class BitsetStructPubSubType : public eprosima::fastdds::dds::TopicDataType
 
     eProsima_user_DllExport ~BitsetStructPubSubType() override;
 
-    eProsima_user_DllExport bool serialize(
-            const void* const data,
-            eprosima::fastdds::rtps::SerializedPayload_t* payload) override
-    {
-        return serialize(data, payload, eprosima::fastdds::dds::DEFAULT_DATA_REPRESENTATION);
-    }
-
     eProsima_user_DllExport bool serialize(
             const void* const data,
             eprosima::fastdds::rtps::SerializedPayload_t* payload,
@@ -68,24 +61,23 @@ class BitsetStructPubSubType : public eprosima::fastdds::dds::TopicDataType
             eprosima::fastdds::rtps::SerializedPayload_t* payload,
             void* data) override;
 
-    eProsima_user_DllExport std::function<uint32_t()> getSerializedSizeProvider(
-            const void* const data) override
-    {
-        return getSerializedSizeProvider(data, eprosima::fastdds::dds::DEFAULT_DATA_REPRESENTATION);
-    }
-
-    eProsima_user_DllExport std::function<uint32_t()> getSerializedSizeProvider(
+    eProsima_user_DllExport uint32_t calculate_serialized_size(
             const void* const data,
             eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
 
-    eProsima_user_DllExport bool getKey(
+    eProsima_user_DllExport bool compute_key(
+            eprosima::fastdds::rtps::SerializedPayload_t* payload,
+            eprosima::fastdds::rtps::InstanceHandle_t* ihandle,
+            bool force_md5 = false) override;
+
+    eProsima_user_DllExport bool compute_key(
             const void* const data,
             eprosima::fastdds::rtps::InstanceHandle_t* ihandle,
             bool force_md5 = false) override;
 
-    eProsima_user_DllExport void* createData() override;
+    eProsima_user_DllExport void* create_data() override;
 
-    eProsima_user_DllExport void deleteData(
+    eProsima_user_DllExport void delete_data(
             void* data) override;
 
     //Register TypeObject representation in Fast DDS TypeObjectRegistry
@@ -100,10 +92,6 @@ class BitsetStructPubSubType : public eprosima::fastdds::dds::TopicDataType
 #endif  // TOPIC_DATA_TYPE_API_HAS_IS_BOUNDED
 
 #ifdef TOPIC_DATA_TYPE_API_HAS_IS_PLAIN
-    eProsima_user_DllExport inline bool is_plain() const override
-    {
-        return false;
-    }
 
     eProsima_user_DllExport inline bool is_plain(
             eprosima::fastdds::dds::DataRepresentationId_t data_representation) const override
@@ -124,8 +112,8 @@ class BitsetStructPubSubType : public eprosima::fastdds::dds::TopicDataType
 
 #endif  // TOPIC_DATA_TYPE_API_HAS_CONSTRUCT_SAMPLE
 
-    eprosima::fastdds::MD5 m_md5;
-    unsigned char* m_keyBuffer;
+    eprosima::fastdds::MD5 md5_;
+    unsigned char* key_buffer_;
 
 };
 
diff --git a/test/unittest/dds/xtypes/serializers/idl/types/enum_struct/gen/enum_structPubSubTypes.cxx b/test/unittest/dds/xtypes/serializers/idl/types/enum_struct/gen/enum_structPubSubTypes.cxx
index e6d63cec8b4..a8ca8ab7bce 100644
--- a/test/unittest/dds/xtypes/serializers/idl/types/enum_struct/gen/enum_structPubSubTypes.cxx
+++ b/test/unittest/dds/xtypes/serializers/idl/types/enum_struct/gen/enum_structPubSubTypes.cxx
@@ -33,26 +33,21 @@ using DataRepresentationId_t = eprosima::fastdds::dds::DataRepresentationId_t;
 
 EnumStructPubSubType::EnumStructPubSubType()
 {
-    setName("EnumStruct");
-    uint32_t type_size =
-#if FASTCDR_VERSION_MAJOR == 1
-        static_cast<uint32_t>(EnumStruct::getMaxCdrSerializedSize());
-#else
-        EnumStruct_max_cdr_typesize;
-#endif
+    set_name("EnumStruct");
+    uint32_t type_size = EnumStruct_max_cdr_typesize;
     type_size += static_cast<uint32_t>(eprosima::fastcdr::Cdr::alignment(type_size, 4)); /* possible submessage alignment */
-    m_typeSize = type_size + 4; /*encapsulation*/
-    m_isGetKeyDefined = false;
-    uint32_t keyLength = EnumStruct_max_key_cdr_typesize > 16 ? EnumStruct_max_key_cdr_typesize : 16;
-    m_keyBuffer = reinterpret_cast<unsigned char*>(malloc(keyLength));
-    memset(m_keyBuffer, 0, keyLength);
+    max_serialized_type_size = type_size + 4; /*encapsulation*/
+    is_compute_key_provided = false;
+    uint32_t key_length = EnumStruct_max_key_cdr_typesize > 16 ? EnumStruct_max_key_cdr_typesize : 16;
+    key_buffer_ = reinterpret_cast<unsigned char*>(malloc(key_length));
+    memset(key_buffer_, 0, key_length);
 }
 
 EnumStructPubSubType::~EnumStructPubSubType()
 {
-    if (m_keyBuffer != nullptr)
+    if (key_buffer_ != nullptr)
     {
-        free(m_keyBuffer);
+        free(key_buffer_);
     }
 }
 
@@ -70,12 +65,10 @@ bool EnumStructPubSubType::serialize(
             data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
             eprosima::fastcdr::CdrVersion::XCDRv1 : eprosima::fastcdr::CdrVersion::XCDRv2);
     payload->encapsulation = ser.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS ? CDR_BE : CDR_LE;
-#if FASTCDR_VERSION_MAJOR > 1
     ser.set_encoding_flag(
         data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
         eprosima::fastcdr::EncodingAlgorithmFlag::PLAIN_CDR  :
         eprosima::fastcdr::EncodingAlgorithmFlag::DELIMIT_CDR2);
-#endif // FASTCDR_VERSION_MAJOR > 1
 
     try
     {
@@ -90,11 +83,7 @@ bool EnumStructPubSubType::serialize(
     }
 
     // Get the serialized length
-#if FASTCDR_VERSION_MAJOR == 1
-    payload->length = static_cast<uint32_t>(ser.getSerializedDataLength());
-#else
     payload->length = static_cast<uint32_t>(ser.get_serialized_data_length());
-#endif // FASTCDR_VERSION_MAJOR == 1
     return true;
 }
 
@@ -111,11 +100,7 @@ bool EnumStructPubSubType::deserialize(
         eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(payload->data), payload->length);
 
         // Object that deserializes the data.
-        eprosima::fastcdr::Cdr deser(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN
-#if FASTCDR_VERSION_MAJOR == 1
-                , eprosima::fastcdr::Cdr::CdrType::DDS_CDR
-#endif // FASTCDR_VERSION_MAJOR == 1
-                );
+        eprosima::fastcdr::Cdr deser(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN);
 
         // Deserialize encapsulation.
         deser.read_encapsulation();
@@ -132,52 +117,62 @@ bool EnumStructPubSubType::deserialize(
     return true;
 }
 
-std::function<uint32_t()> EnumStructPubSubType::getSerializedSizeProvider(
+uint32_t EnumStructPubSubType::calculate_serialized_size(
         const void* const data,
         DataRepresentationId_t data_representation)
 {
-    return [data, data_representation]() -> uint32_t
-           {
-#if FASTCDR_VERSION_MAJOR == 1
-               static_cast<void>(data_representation);
-               return static_cast<uint32_t>(type::getCdrSerializedSize(*static_cast<EnumStruct*>(data))) +
-                      4u /*encapsulation*/;
-#else
-               try
-               {
-                   eprosima::fastcdr::CdrSizeCalculator calculator(
-                       data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
-                       eprosima::fastcdr::CdrVersion::XCDRv1 :eprosima::fastcdr::CdrVersion::XCDRv2);
-                   size_t current_alignment {0};
-                   return static_cast<uint32_t>(calculator.calculate_serialized_size(
-                               *static_cast<const EnumStruct*>(data), current_alignment)) +
-                           4u /*encapsulation*/;
-               }
-               catch (eprosima::fastcdr::exception::Exception& /*exception*/)
-               {
-                   return 0;
-               }
-#endif // FASTCDR_VERSION_MAJOR == 1
-           };
+    try
+    {
+        eprosima::fastcdr::CdrSizeCalculator calculator(
+            data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
+            eprosima::fastcdr::CdrVersion::XCDRv1 :eprosima::fastcdr::CdrVersion::XCDRv2);
+        size_t current_alignment {0};
+        return static_cast<uint32_t>(calculator.calculate_serialized_size(
+                    *static_cast<const EnumStruct*>(data), current_alignment)) +
+                4u /*encapsulation*/;
+    }
+    catch (eprosima::fastcdr::exception::Exception& /*exception*/)
+    {
+        return 0;
+    }
 }
 
-void* EnumStructPubSubType::createData()
+void* EnumStructPubSubType::create_data()
 {
     return reinterpret_cast<void*>(new EnumStruct());
 }
 
-void EnumStructPubSubType::deleteData(
+void EnumStructPubSubType::delete_data(
         void* data)
 {
     delete(reinterpret_cast<EnumStruct*>(data));
 }
 
-bool EnumStructPubSubType::getKey(
+bool EnumStructPubSubType::compute_key(
+        SerializedPayload_t* payload,
+        InstanceHandle_t* handle,
+        bool force_md5)
+{
+    if (!is_compute_key_provided)
+    {
+        return false;
+    }
+
+    EnumStruct data;
+    if (deserialize(payload, static_cast<void*>(&data)))
+    {
+        return compute_key(static_cast<void*>(&data), handle, force_md5);
+    }
+
+    return false;
+}
+
+bool EnumStructPubSubType::compute_key(
         const void* const data,
         InstanceHandle_t* handle,
         bool force_md5)
 {
-    if (!m_isGetKeyDefined)
+    if (!is_compute_key_provided)
     {
         return false;
     }
@@ -185,35 +180,27 @@ bool EnumStructPubSubType::getKey(
     const EnumStruct* p_type = static_cast<const EnumStruct*>(data);
 
     // Object that manages the raw buffer.
-    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(m_keyBuffer),
+    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(key_buffer_),
             EnumStruct_max_key_cdr_typesize);
 
     // Object that serializes the data.
     eprosima::fastcdr::Cdr ser(fastbuffer, eprosima::fastcdr::Cdr::BIG_ENDIANNESS, eprosima::fastcdr::CdrVersion::XCDRv1);
-#if FASTCDR_VERSION_MAJOR == 1
-    p_type->serializeKey(ser);
-#else
     eprosima::fastcdr::serialize_key(ser, *p_type);
-#endif // FASTCDR_VERSION_MAJOR == 1
     if (force_md5 || EnumStruct_max_key_cdr_typesize > 16)
     {
-        m_md5.init();
-#if FASTCDR_VERSION_MAJOR == 1
-        m_md5.update(m_keyBuffer, static_cast<unsigned int>(ser.getSerializedDataLength()));
-#else
-        m_md5.update(m_keyBuffer, static_cast<unsigned int>(ser.get_serialized_data_length()));
-#endif // FASTCDR_VERSION_MAJOR == 1
-        m_md5.finalize();
+        md5_.init();
+        md5_.update(key_buffer_, static_cast<unsigned int>(ser.get_serialized_data_length()));
+        md5_.finalize();
         for (uint8_t i = 0; i < 16; ++i)
         {
-            handle->value[i] = m_md5.digest[i];
+            handle->value[i] = md5_.digest[i];
         }
     }
     else
     {
         for (uint8_t i = 0; i < 16; ++i)
         {
-            handle->value[i] = m_keyBuffer[i];
+            handle->value[i] = key_buffer_[i];
         }
     }
     return true;
diff --git a/test/unittest/dds/xtypes/serializers/idl/types/enum_struct/gen/enum_structPubSubTypes.hpp b/test/unittest/dds/xtypes/serializers/idl/types/enum_struct/gen/enum_structPubSubTypes.hpp
index 4a0e3122b01..66bd6bea195 100644
--- a/test/unittest/dds/xtypes/serializers/idl/types/enum_struct/gen/enum_structPubSubTypes.hpp
+++ b/test/unittest/dds/xtypes/serializers/idl/types/enum_struct/gen/enum_structPubSubTypes.hpp
@@ -32,10 +32,10 @@
 #include "enum_struct.hpp"
 
 
-#if !defined(GEN_API_VER) || (GEN_API_VER != 2)
+#if !defined(FASTDDS_GEN_API_VER) || (FASTDDS_GEN_API_VER != 3)
 #error \
     Generated enum_struct is not compatible with current installed Fast DDS. Please, regenerate it with fastddsgen.
-#endif  // GEN_API_VER
+#endif  // FASTDDS_GEN_API_VER
 
 
 /*!
@@ -52,13 +52,6 @@ class EnumStructPubSubType : public eprosima::fastdds::dds::TopicDataType
 
     eProsima_user_DllExport ~EnumStructPubSubType() override;
 
-    eProsima_user_DllExport bool serialize(
-            const void* const data,
-            eprosima::fastdds::rtps::SerializedPayload_t* payload) override
-    {
-        return serialize(data, payload, eprosima::fastdds::dds::DEFAULT_DATA_REPRESENTATION);
-    }
-
     eProsima_user_DllExport bool serialize(
             const void* const data,
             eprosima::fastdds::rtps::SerializedPayload_t* payload,
@@ -68,24 +61,23 @@ class EnumStructPubSubType : public eprosima::fastdds::dds::TopicDataType
             eprosima::fastdds::rtps::SerializedPayload_t* payload,
             void* data) override;
 
-    eProsima_user_DllExport std::function<uint32_t()> getSerializedSizeProvider(
-            const void* const data) override
-    {
-        return getSerializedSizeProvider(data, eprosima::fastdds::dds::DEFAULT_DATA_REPRESENTATION);
-    }
-
-    eProsima_user_DllExport std::function<uint32_t()> getSerializedSizeProvider(
+    eProsima_user_DllExport uint32_t calculate_serialized_size(
             const void* const data,
             eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
 
-    eProsima_user_DllExport bool getKey(
+    eProsima_user_DllExport bool compute_key(
+            eprosima::fastdds::rtps::SerializedPayload_t* payload,
+            eprosima::fastdds::rtps::InstanceHandle_t* ihandle,
+            bool force_md5 = false) override;
+
+    eProsima_user_DllExport bool compute_key(
             const void* const data,
             eprosima::fastdds::rtps::InstanceHandle_t* ihandle,
             bool force_md5 = false) override;
 
-    eProsima_user_DllExport void* createData() override;
+    eProsima_user_DllExport void* create_data() override;
 
-    eProsima_user_DllExport void deleteData(
+    eProsima_user_DllExport void delete_data(
             void* data) override;
 
     //Register TypeObject representation in Fast DDS TypeObjectRegistry
@@ -100,10 +92,6 @@ class EnumStructPubSubType : public eprosima::fastdds::dds::TopicDataType
 #endif  // TOPIC_DATA_TYPE_API_HAS_IS_BOUNDED
 
 #ifdef TOPIC_DATA_TYPE_API_HAS_IS_PLAIN
-    eProsima_user_DllExport inline bool is_plain() const override
-    {
-        return false;
-    }
 
     eProsima_user_DllExport inline bool is_plain(
             eprosima::fastdds::dds::DataRepresentationId_t data_representation) const override
@@ -124,8 +112,8 @@ class EnumStructPubSubType : public eprosima::fastdds::dds::TopicDataType
 
 #endif  // TOPIC_DATA_TYPE_API_HAS_CONSTRUCT_SAMPLE
 
-    eprosima::fastdds::MD5 m_md5;
-    unsigned char* m_keyBuffer;
+    eprosima::fastdds::MD5 md5_;
+    unsigned char* key_buffer_;
 
 };
 
diff --git a/test/unittest/dds/xtypes/serializers/idl/types/extensibility_struct/gen/extensibility_structPubSubTypes.cxx b/test/unittest/dds/xtypes/serializers/idl/types/extensibility_struct/gen/extensibility_structPubSubTypes.cxx
index 87070348864..250dc010571 100644
--- a/test/unittest/dds/xtypes/serializers/idl/types/extensibility_struct/gen/extensibility_structPubSubTypes.cxx
+++ b/test/unittest/dds/xtypes/serializers/idl/types/extensibility_struct/gen/extensibility_structPubSubTypes.cxx
@@ -33,26 +33,21 @@ using DataRepresentationId_t = eprosima::fastdds::dds::DataRepresentationId_t;
 
 FinalStructPubSubType::FinalStructPubSubType()
 {
-    setName("FinalStruct");
-    uint32_t type_size =
-#if FASTCDR_VERSION_MAJOR == 1
-        static_cast<uint32_t>(FinalStruct::getMaxCdrSerializedSize());
-#else
-        FinalStruct_max_cdr_typesize;
-#endif
+    set_name("FinalStruct");
+    uint32_t type_size = FinalStruct_max_cdr_typesize;
     type_size += static_cast<uint32_t>(eprosima::fastcdr::Cdr::alignment(type_size, 4)); /* possible submessage alignment */
-    m_typeSize = type_size + 4; /*encapsulation*/
-    m_isGetKeyDefined = false;
-    uint32_t keyLength = FinalStruct_max_key_cdr_typesize > 16 ? FinalStruct_max_key_cdr_typesize : 16;
-    m_keyBuffer = reinterpret_cast<unsigned char*>(malloc(keyLength));
-    memset(m_keyBuffer, 0, keyLength);
+    max_serialized_type_size = type_size + 4; /*encapsulation*/
+    is_compute_key_provided = false;
+    uint32_t key_length = FinalStruct_max_key_cdr_typesize > 16 ? FinalStruct_max_key_cdr_typesize : 16;
+    key_buffer_ = reinterpret_cast<unsigned char*>(malloc(key_length));
+    memset(key_buffer_, 0, key_length);
 }
 
 FinalStructPubSubType::~FinalStructPubSubType()
 {
-    if (m_keyBuffer != nullptr)
+    if (key_buffer_ != nullptr)
     {
-        free(m_keyBuffer);
+        free(key_buffer_);
     }
 }
 
@@ -70,12 +65,10 @@ bool FinalStructPubSubType::serialize(
             data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
             eprosima::fastcdr::CdrVersion::XCDRv1 : eprosima::fastcdr::CdrVersion::XCDRv2);
     payload->encapsulation = ser.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS ? CDR_BE : CDR_LE;
-#if FASTCDR_VERSION_MAJOR > 1
     ser.set_encoding_flag(
         data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
         eprosima::fastcdr::EncodingAlgorithmFlag::PLAIN_CDR  :
         eprosima::fastcdr::EncodingAlgorithmFlag::PLAIN_CDR2);
-#endif // FASTCDR_VERSION_MAJOR > 1
 
     try
     {
@@ -90,11 +83,7 @@ bool FinalStructPubSubType::serialize(
     }
 
     // Get the serialized length
-#if FASTCDR_VERSION_MAJOR == 1
-    payload->length = static_cast<uint32_t>(ser.getSerializedDataLength());
-#else
     payload->length = static_cast<uint32_t>(ser.get_serialized_data_length());
-#endif // FASTCDR_VERSION_MAJOR == 1
     return true;
 }
 
@@ -111,11 +100,7 @@ bool FinalStructPubSubType::deserialize(
         eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(payload->data), payload->length);
 
         // Object that deserializes the data.
-        eprosima::fastcdr::Cdr deser(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN
-#if FASTCDR_VERSION_MAJOR == 1
-                , eprosima::fastcdr::Cdr::CdrType::DDS_CDR
-#endif // FASTCDR_VERSION_MAJOR == 1
-                );
+        eprosima::fastcdr::Cdr deser(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN);
 
         // Deserialize encapsulation.
         deser.read_encapsulation();
@@ -132,52 +117,62 @@ bool FinalStructPubSubType::deserialize(
     return true;
 }
 
-std::function<uint32_t()> FinalStructPubSubType::getSerializedSizeProvider(
+uint32_t FinalStructPubSubType::calculate_serialized_size(
         const void* const data,
         DataRepresentationId_t data_representation)
 {
-    return [data, data_representation]() -> uint32_t
-           {
-#if FASTCDR_VERSION_MAJOR == 1
-               static_cast<void>(data_representation);
-               return static_cast<uint32_t>(type::getCdrSerializedSize(*static_cast<FinalStruct*>(data))) +
-                      4u /*encapsulation*/;
-#else
-               try
-               {
-                   eprosima::fastcdr::CdrSizeCalculator calculator(
-                       data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
-                       eprosima::fastcdr::CdrVersion::XCDRv1 :eprosima::fastcdr::CdrVersion::XCDRv2);
-                   size_t current_alignment {0};
-                   return static_cast<uint32_t>(calculator.calculate_serialized_size(
-                               *static_cast<const FinalStruct*>(data), current_alignment)) +
-                           4u /*encapsulation*/;
-               }
-               catch (eprosima::fastcdr::exception::Exception& /*exception*/)
-               {
-                   return 0;
-               }
-#endif // FASTCDR_VERSION_MAJOR == 1
-           };
-}
-
-void* FinalStructPubSubType::createData()
+    try
+    {
+        eprosima::fastcdr::CdrSizeCalculator calculator(
+            data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
+            eprosima::fastcdr::CdrVersion::XCDRv1 :eprosima::fastcdr::CdrVersion::XCDRv2);
+        size_t current_alignment {0};
+        return static_cast<uint32_t>(calculator.calculate_serialized_size(
+                    *static_cast<const FinalStruct*>(data), current_alignment)) +
+                4u /*encapsulation*/;
+    }
+    catch (eprosima::fastcdr::exception::Exception& /*exception*/)
+    {
+        return 0;
+    }
+}
+
+void* FinalStructPubSubType::create_data()
 {
     return reinterpret_cast<void*>(new FinalStruct());
 }
 
-void FinalStructPubSubType::deleteData(
+void FinalStructPubSubType::delete_data(
         void* data)
 {
     delete(reinterpret_cast<FinalStruct*>(data));
 }
 
-bool FinalStructPubSubType::getKey(
+bool FinalStructPubSubType::compute_key(
+        SerializedPayload_t* payload,
+        InstanceHandle_t* handle,
+        bool force_md5)
+{
+    if (!is_compute_key_provided)
+    {
+        return false;
+    }
+
+    FinalStruct data;
+    if (deserialize(payload, static_cast<void*>(&data)))
+    {
+        return compute_key(static_cast<void*>(&data), handle, force_md5);
+    }
+
+    return false;
+}
+
+bool FinalStructPubSubType::compute_key(
         const void* const data,
         InstanceHandle_t* handle,
         bool force_md5)
 {
-    if (!m_isGetKeyDefined)
+    if (!is_compute_key_provided)
     {
         return false;
     }
@@ -185,35 +180,27 @@ bool FinalStructPubSubType::getKey(
     const FinalStruct* p_type = static_cast<const FinalStruct*>(data);
 
     // Object that manages the raw buffer.
-    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(m_keyBuffer),
+    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(key_buffer_),
             FinalStruct_max_key_cdr_typesize);
 
     // Object that serializes the data.
     eprosima::fastcdr::Cdr ser(fastbuffer, eprosima::fastcdr::Cdr::BIG_ENDIANNESS, eprosima::fastcdr::CdrVersion::XCDRv1);
-#if FASTCDR_VERSION_MAJOR == 1
-    p_type->serializeKey(ser);
-#else
     eprosima::fastcdr::serialize_key(ser, *p_type);
-#endif // FASTCDR_VERSION_MAJOR == 1
     if (force_md5 || FinalStruct_max_key_cdr_typesize > 16)
     {
-        m_md5.init();
-#if FASTCDR_VERSION_MAJOR == 1
-        m_md5.update(m_keyBuffer, static_cast<unsigned int>(ser.getSerializedDataLength()));
-#else
-        m_md5.update(m_keyBuffer, static_cast<unsigned int>(ser.get_serialized_data_length()));
-#endif // FASTCDR_VERSION_MAJOR == 1
-        m_md5.finalize();
+        md5_.init();
+        md5_.update(key_buffer_, static_cast<unsigned int>(ser.get_serialized_data_length()));
+        md5_.finalize();
         for (uint8_t i = 0; i < 16; ++i)
         {
-            handle->value[i] = m_md5.digest[i];
+            handle->value[i] = md5_.digest[i];
         }
     }
     else
     {
         for (uint8_t i = 0; i < 16; ++i)
         {
-            handle->value[i] = m_keyBuffer[i];
+            handle->value[i] = key_buffer_[i];
         }
     }
     return true;
@@ -226,26 +213,21 @@ void FinalStructPubSubType::register_type_object_representation()
 
 MutableStructPubSubType::MutableStructPubSubType()
 {
-    setName("MutableStruct");
-    uint32_t type_size =
-#if FASTCDR_VERSION_MAJOR == 1
-        static_cast<uint32_t>(MutableStruct::getMaxCdrSerializedSize());
-#else
-        MutableStruct_max_cdr_typesize;
-#endif
+    set_name("MutableStruct");
+    uint32_t type_size = MutableStruct_max_cdr_typesize;
     type_size += static_cast<uint32_t>(eprosima::fastcdr::Cdr::alignment(type_size, 4)); /* possible submessage alignment */
-    m_typeSize = type_size + 4; /*encapsulation*/
-    m_isGetKeyDefined = false;
-    uint32_t keyLength = MutableStruct_max_key_cdr_typesize > 16 ? MutableStruct_max_key_cdr_typesize : 16;
-    m_keyBuffer = reinterpret_cast<unsigned char*>(malloc(keyLength));
-    memset(m_keyBuffer, 0, keyLength);
+    max_serialized_type_size = type_size + 4; /*encapsulation*/
+    is_compute_key_provided = false;
+    uint32_t key_length = MutableStruct_max_key_cdr_typesize > 16 ? MutableStruct_max_key_cdr_typesize : 16;
+    key_buffer_ = reinterpret_cast<unsigned char*>(malloc(key_length));
+    memset(key_buffer_, 0, key_length);
 }
 
 MutableStructPubSubType::~MutableStructPubSubType()
 {
-    if (m_keyBuffer != nullptr)
+    if (key_buffer_ != nullptr)
     {
-        free(m_keyBuffer);
+        free(key_buffer_);
     }
 }
 
@@ -263,12 +245,10 @@ bool MutableStructPubSubType::serialize(
             data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
             eprosima::fastcdr::CdrVersion::XCDRv1 : eprosima::fastcdr::CdrVersion::XCDRv2);
     payload->encapsulation = ser.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS ? CDR_BE : CDR_LE;
-#if FASTCDR_VERSION_MAJOR > 1
     ser.set_encoding_flag(
         data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
         eprosima::fastcdr::EncodingAlgorithmFlag::PL_CDR :
         eprosima::fastcdr::EncodingAlgorithmFlag::PL_CDR2);
-#endif // FASTCDR_VERSION_MAJOR > 1
 
     try
     {
@@ -283,11 +263,7 @@ bool MutableStructPubSubType::serialize(
     }
 
     // Get the serialized length
-#if FASTCDR_VERSION_MAJOR == 1
-    payload->length = static_cast<uint32_t>(ser.getSerializedDataLength());
-#else
     payload->length = static_cast<uint32_t>(ser.get_serialized_data_length());
-#endif // FASTCDR_VERSION_MAJOR == 1
     return true;
 }
 
@@ -304,11 +280,7 @@ bool MutableStructPubSubType::deserialize(
         eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(payload->data), payload->length);
 
         // Object that deserializes the data.
-        eprosima::fastcdr::Cdr deser(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN
-#if FASTCDR_VERSION_MAJOR == 1
-                , eprosima::fastcdr::Cdr::CdrType::DDS_CDR
-#endif // FASTCDR_VERSION_MAJOR == 1
-                );
+        eprosima::fastcdr::Cdr deser(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN);
 
         // Deserialize encapsulation.
         deser.read_encapsulation();
@@ -325,52 +297,62 @@ bool MutableStructPubSubType::deserialize(
     return true;
 }
 
-std::function<uint32_t()> MutableStructPubSubType::getSerializedSizeProvider(
+uint32_t MutableStructPubSubType::calculate_serialized_size(
         const void* const data,
         DataRepresentationId_t data_representation)
 {
-    return [data, data_representation]() -> uint32_t
-           {
-#if FASTCDR_VERSION_MAJOR == 1
-               static_cast<void>(data_representation);
-               return static_cast<uint32_t>(type::getCdrSerializedSize(*static_cast<MutableStruct*>(data))) +
-                      4u /*encapsulation*/;
-#else
-               try
-               {
-                   eprosima::fastcdr::CdrSizeCalculator calculator(
-                       data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
-                       eprosima::fastcdr::CdrVersion::XCDRv1 :eprosima::fastcdr::CdrVersion::XCDRv2);
-                   size_t current_alignment {0};
-                   return static_cast<uint32_t>(calculator.calculate_serialized_size(
-                               *static_cast<const MutableStruct*>(data), current_alignment)) +
-                           4u /*encapsulation*/;
-               }
-               catch (eprosima::fastcdr::exception::Exception& /*exception*/)
-               {
-                   return 0;
-               }
-#endif // FASTCDR_VERSION_MAJOR == 1
-           };
-}
-
-void* MutableStructPubSubType::createData()
+    try
+    {
+        eprosima::fastcdr::CdrSizeCalculator calculator(
+            data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
+            eprosima::fastcdr::CdrVersion::XCDRv1 :eprosima::fastcdr::CdrVersion::XCDRv2);
+        size_t current_alignment {0};
+        return static_cast<uint32_t>(calculator.calculate_serialized_size(
+                    *static_cast<const MutableStruct*>(data), current_alignment)) +
+                4u /*encapsulation*/;
+    }
+    catch (eprosima::fastcdr::exception::Exception& /*exception*/)
+    {
+        return 0;
+    }
+}
+
+void* MutableStructPubSubType::create_data()
 {
     return reinterpret_cast<void*>(new MutableStruct());
 }
 
-void MutableStructPubSubType::deleteData(
+void MutableStructPubSubType::delete_data(
         void* data)
 {
     delete(reinterpret_cast<MutableStruct*>(data));
 }
 
-bool MutableStructPubSubType::getKey(
+bool MutableStructPubSubType::compute_key(
+        SerializedPayload_t* payload,
+        InstanceHandle_t* handle,
+        bool force_md5)
+{
+    if (!is_compute_key_provided)
+    {
+        return false;
+    }
+
+    MutableStruct data;
+    if (deserialize(payload, static_cast<void*>(&data)))
+    {
+        return compute_key(static_cast<void*>(&data), handle, force_md5);
+    }
+
+    return false;
+}
+
+bool MutableStructPubSubType::compute_key(
         const void* const data,
         InstanceHandle_t* handle,
         bool force_md5)
 {
-    if (!m_isGetKeyDefined)
+    if (!is_compute_key_provided)
     {
         return false;
     }
@@ -378,35 +360,27 @@ bool MutableStructPubSubType::getKey(
     const MutableStruct* p_type = static_cast<const MutableStruct*>(data);
 
     // Object that manages the raw buffer.
-    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(m_keyBuffer),
+    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(key_buffer_),
             MutableStruct_max_key_cdr_typesize);
 
     // Object that serializes the data.
     eprosima::fastcdr::Cdr ser(fastbuffer, eprosima::fastcdr::Cdr::BIG_ENDIANNESS, eprosima::fastcdr::CdrVersion::XCDRv1);
-#if FASTCDR_VERSION_MAJOR == 1
-    p_type->serializeKey(ser);
-#else
     eprosima::fastcdr::serialize_key(ser, *p_type);
-#endif // FASTCDR_VERSION_MAJOR == 1
     if (force_md5 || MutableStruct_max_key_cdr_typesize > 16)
     {
-        m_md5.init();
-#if FASTCDR_VERSION_MAJOR == 1
-        m_md5.update(m_keyBuffer, static_cast<unsigned int>(ser.getSerializedDataLength()));
-#else
-        m_md5.update(m_keyBuffer, static_cast<unsigned int>(ser.get_serialized_data_length()));
-#endif // FASTCDR_VERSION_MAJOR == 1
-        m_md5.finalize();
+        md5_.init();
+        md5_.update(key_buffer_, static_cast<unsigned int>(ser.get_serialized_data_length()));
+        md5_.finalize();
         for (uint8_t i = 0; i < 16; ++i)
         {
-            handle->value[i] = m_md5.digest[i];
+            handle->value[i] = md5_.digest[i];
         }
     }
     else
     {
         for (uint8_t i = 0; i < 16; ++i)
         {
-            handle->value[i] = m_keyBuffer[i];
+            handle->value[i] = key_buffer_[i];
         }
     }
     return true;
@@ -419,26 +393,21 @@ void MutableStructPubSubType::register_type_object_representation()
 
 AppendableStructPubSubType::AppendableStructPubSubType()
 {
-    setName("AppendableStruct");
-    uint32_t type_size =
-#if FASTCDR_VERSION_MAJOR == 1
-        static_cast<uint32_t>(AppendableStruct::getMaxCdrSerializedSize());
-#else
-        AppendableStruct_max_cdr_typesize;
-#endif
+    set_name("AppendableStruct");
+    uint32_t type_size = AppendableStruct_max_cdr_typesize;
     type_size += static_cast<uint32_t>(eprosima::fastcdr::Cdr::alignment(type_size, 4)); /* possible submessage alignment */
-    m_typeSize = type_size + 4; /*encapsulation*/
-    m_isGetKeyDefined = false;
-    uint32_t keyLength = AppendableStruct_max_key_cdr_typesize > 16 ? AppendableStruct_max_key_cdr_typesize : 16;
-    m_keyBuffer = reinterpret_cast<unsigned char*>(malloc(keyLength));
-    memset(m_keyBuffer, 0, keyLength);
+    max_serialized_type_size = type_size + 4; /*encapsulation*/
+    is_compute_key_provided = false;
+    uint32_t key_length = AppendableStruct_max_key_cdr_typesize > 16 ? AppendableStruct_max_key_cdr_typesize : 16;
+    key_buffer_ = reinterpret_cast<unsigned char*>(malloc(key_length));
+    memset(key_buffer_, 0, key_length);
 }
 
 AppendableStructPubSubType::~AppendableStructPubSubType()
 {
-    if (m_keyBuffer != nullptr)
+    if (key_buffer_ != nullptr)
     {
-        free(m_keyBuffer);
+        free(key_buffer_);
     }
 }
 
@@ -456,12 +425,10 @@ bool AppendableStructPubSubType::serialize(
             data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
             eprosima::fastcdr::CdrVersion::XCDRv1 : eprosima::fastcdr::CdrVersion::XCDRv2);
     payload->encapsulation = ser.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS ? CDR_BE : CDR_LE;
-#if FASTCDR_VERSION_MAJOR > 1
     ser.set_encoding_flag(
         data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
         eprosima::fastcdr::EncodingAlgorithmFlag::PLAIN_CDR  :
         eprosima::fastcdr::EncodingAlgorithmFlag::DELIMIT_CDR2);
-#endif // FASTCDR_VERSION_MAJOR > 1
 
     try
     {
@@ -476,11 +443,7 @@ bool AppendableStructPubSubType::serialize(
     }
 
     // Get the serialized length
-#if FASTCDR_VERSION_MAJOR == 1
-    payload->length = static_cast<uint32_t>(ser.getSerializedDataLength());
-#else
     payload->length = static_cast<uint32_t>(ser.get_serialized_data_length());
-#endif // FASTCDR_VERSION_MAJOR == 1
     return true;
 }
 
@@ -497,11 +460,7 @@ bool AppendableStructPubSubType::deserialize(
         eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(payload->data), payload->length);
 
         // Object that deserializes the data.
-        eprosima::fastcdr::Cdr deser(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN
-#if FASTCDR_VERSION_MAJOR == 1
-                , eprosima::fastcdr::Cdr::CdrType::DDS_CDR
-#endif // FASTCDR_VERSION_MAJOR == 1
-                );
+        eprosima::fastcdr::Cdr deser(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN);
 
         // Deserialize encapsulation.
         deser.read_encapsulation();
@@ -518,52 +477,62 @@ bool AppendableStructPubSubType::deserialize(
     return true;
 }
 
-std::function<uint32_t()> AppendableStructPubSubType::getSerializedSizeProvider(
+uint32_t AppendableStructPubSubType::calculate_serialized_size(
         const void* const data,
         DataRepresentationId_t data_representation)
 {
-    return [data, data_representation]() -> uint32_t
-           {
-#if FASTCDR_VERSION_MAJOR == 1
-               static_cast<void>(data_representation);
-               return static_cast<uint32_t>(type::getCdrSerializedSize(*static_cast<AppendableStruct*>(data))) +
-                      4u /*encapsulation*/;
-#else
-               try
-               {
-                   eprosima::fastcdr::CdrSizeCalculator calculator(
-                       data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
-                       eprosima::fastcdr::CdrVersion::XCDRv1 :eprosima::fastcdr::CdrVersion::XCDRv2);
-                   size_t current_alignment {0};
-                   return static_cast<uint32_t>(calculator.calculate_serialized_size(
-                               *static_cast<const AppendableStruct*>(data), current_alignment)) +
-                           4u /*encapsulation*/;
-               }
-               catch (eprosima::fastcdr::exception::Exception& /*exception*/)
-               {
-                   return 0;
-               }
-#endif // FASTCDR_VERSION_MAJOR == 1
-           };
-}
-
-void* AppendableStructPubSubType::createData()
+    try
+    {
+        eprosima::fastcdr::CdrSizeCalculator calculator(
+            data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
+            eprosima::fastcdr::CdrVersion::XCDRv1 :eprosima::fastcdr::CdrVersion::XCDRv2);
+        size_t current_alignment {0};
+        return static_cast<uint32_t>(calculator.calculate_serialized_size(
+                    *static_cast<const AppendableStruct*>(data), current_alignment)) +
+                4u /*encapsulation*/;
+    }
+    catch (eprosima::fastcdr::exception::Exception& /*exception*/)
+    {
+        return 0;
+    }
+}
+
+void* AppendableStructPubSubType::create_data()
 {
     return reinterpret_cast<void*>(new AppendableStruct());
 }
 
-void AppendableStructPubSubType::deleteData(
+void AppendableStructPubSubType::delete_data(
         void* data)
 {
     delete(reinterpret_cast<AppendableStruct*>(data));
 }
 
-bool AppendableStructPubSubType::getKey(
+bool AppendableStructPubSubType::compute_key(
+        SerializedPayload_t* payload,
+        InstanceHandle_t* handle,
+        bool force_md5)
+{
+    if (!is_compute_key_provided)
+    {
+        return false;
+    }
+
+    AppendableStruct data;
+    if (deserialize(payload, static_cast<void*>(&data)))
+    {
+        return compute_key(static_cast<void*>(&data), handle, force_md5);
+    }
+
+    return false;
+}
+
+bool AppendableStructPubSubType::compute_key(
         const void* const data,
         InstanceHandle_t* handle,
         bool force_md5)
 {
-    if (!m_isGetKeyDefined)
+    if (!is_compute_key_provided)
     {
         return false;
     }
@@ -571,35 +540,27 @@ bool AppendableStructPubSubType::getKey(
     const AppendableStruct* p_type = static_cast<const AppendableStruct*>(data);
 
     // Object that manages the raw buffer.
-    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(m_keyBuffer),
+    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(key_buffer_),
             AppendableStruct_max_key_cdr_typesize);
 
     // Object that serializes the data.
     eprosima::fastcdr::Cdr ser(fastbuffer, eprosima::fastcdr::Cdr::BIG_ENDIANNESS, eprosima::fastcdr::CdrVersion::XCDRv1);
-#if FASTCDR_VERSION_MAJOR == 1
-    p_type->serializeKey(ser);
-#else
     eprosima::fastcdr::serialize_key(ser, *p_type);
-#endif // FASTCDR_VERSION_MAJOR == 1
     if (force_md5 || AppendableStruct_max_key_cdr_typesize > 16)
     {
-        m_md5.init();
-#if FASTCDR_VERSION_MAJOR == 1
-        m_md5.update(m_keyBuffer, static_cast<unsigned int>(ser.getSerializedDataLength()));
-#else
-        m_md5.update(m_keyBuffer, static_cast<unsigned int>(ser.get_serialized_data_length()));
-#endif // FASTCDR_VERSION_MAJOR == 1
-        m_md5.finalize();
+        md5_.init();
+        md5_.update(key_buffer_, static_cast<unsigned int>(ser.get_serialized_data_length()));
+        md5_.finalize();
         for (uint8_t i = 0; i < 16; ++i)
         {
-            handle->value[i] = m_md5.digest[i];
+            handle->value[i] = md5_.digest[i];
         }
     }
     else
     {
         for (uint8_t i = 0; i < 16; ++i)
         {
-            handle->value[i] = m_keyBuffer[i];
+            handle->value[i] = key_buffer_[i];
         }
     }
     return true;
@@ -612,26 +573,21 @@ void AppendableStructPubSubType::register_type_object_representation()
 
 ExtensibilityStructPubSubType::ExtensibilityStructPubSubType()
 {
-    setName("ExtensibilityStruct");
-    uint32_t type_size =
-#if FASTCDR_VERSION_MAJOR == 1
-        static_cast<uint32_t>(ExtensibilityStruct::getMaxCdrSerializedSize());
-#else
-        ExtensibilityStruct_max_cdr_typesize;
-#endif
+    set_name("ExtensibilityStruct");
+    uint32_t type_size = ExtensibilityStruct_max_cdr_typesize;
     type_size += static_cast<uint32_t>(eprosima::fastcdr::Cdr::alignment(type_size, 4)); /* possible submessage alignment */
-    m_typeSize = type_size + 4; /*encapsulation*/
-    m_isGetKeyDefined = false;
-    uint32_t keyLength = ExtensibilityStruct_max_key_cdr_typesize > 16 ? ExtensibilityStruct_max_key_cdr_typesize : 16;
-    m_keyBuffer = reinterpret_cast<unsigned char*>(malloc(keyLength));
-    memset(m_keyBuffer, 0, keyLength);
+    max_serialized_type_size = type_size + 4; /*encapsulation*/
+    is_compute_key_provided = false;
+    uint32_t key_length = ExtensibilityStruct_max_key_cdr_typesize > 16 ? ExtensibilityStruct_max_key_cdr_typesize : 16;
+    key_buffer_ = reinterpret_cast<unsigned char*>(malloc(key_length));
+    memset(key_buffer_, 0, key_length);
 }
 
 ExtensibilityStructPubSubType::~ExtensibilityStructPubSubType()
 {
-    if (m_keyBuffer != nullptr)
+    if (key_buffer_ != nullptr)
     {
-        free(m_keyBuffer);
+        free(key_buffer_);
     }
 }
 
@@ -649,12 +605,10 @@ bool ExtensibilityStructPubSubType::serialize(
             data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
             eprosima::fastcdr::CdrVersion::XCDRv1 : eprosima::fastcdr::CdrVersion::XCDRv2);
     payload->encapsulation = ser.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS ? CDR_BE : CDR_LE;
-#if FASTCDR_VERSION_MAJOR > 1
     ser.set_encoding_flag(
         data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
         eprosima::fastcdr::EncodingAlgorithmFlag::PLAIN_CDR  :
         eprosima::fastcdr::EncodingAlgorithmFlag::DELIMIT_CDR2);
-#endif // FASTCDR_VERSION_MAJOR > 1
 
     try
     {
@@ -669,11 +623,7 @@ bool ExtensibilityStructPubSubType::serialize(
     }
 
     // Get the serialized length
-#if FASTCDR_VERSION_MAJOR == 1
-    payload->length = static_cast<uint32_t>(ser.getSerializedDataLength());
-#else
     payload->length = static_cast<uint32_t>(ser.get_serialized_data_length());
-#endif // FASTCDR_VERSION_MAJOR == 1
     return true;
 }
 
@@ -690,11 +640,7 @@ bool ExtensibilityStructPubSubType::deserialize(
         eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(payload->data), payload->length);
 
         // Object that deserializes the data.
-        eprosima::fastcdr::Cdr deser(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN
-#if FASTCDR_VERSION_MAJOR == 1
-                , eprosima::fastcdr::Cdr::CdrType::DDS_CDR
-#endif // FASTCDR_VERSION_MAJOR == 1
-                );
+        eprosima::fastcdr::Cdr deser(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN);
 
         // Deserialize encapsulation.
         deser.read_encapsulation();
@@ -711,52 +657,62 @@ bool ExtensibilityStructPubSubType::deserialize(
     return true;
 }
 
-std::function<uint32_t()> ExtensibilityStructPubSubType::getSerializedSizeProvider(
+uint32_t ExtensibilityStructPubSubType::calculate_serialized_size(
         const void* const data,
         DataRepresentationId_t data_representation)
 {
-    return [data, data_representation]() -> uint32_t
-           {
-#if FASTCDR_VERSION_MAJOR == 1
-               static_cast<void>(data_representation);
-               return static_cast<uint32_t>(type::getCdrSerializedSize(*static_cast<ExtensibilityStruct*>(data))) +
-                      4u /*encapsulation*/;
-#else
-               try
-               {
-                   eprosima::fastcdr::CdrSizeCalculator calculator(
-                       data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
-                       eprosima::fastcdr::CdrVersion::XCDRv1 :eprosima::fastcdr::CdrVersion::XCDRv2);
-                   size_t current_alignment {0};
-                   return static_cast<uint32_t>(calculator.calculate_serialized_size(
-                               *static_cast<const ExtensibilityStruct*>(data), current_alignment)) +
-                           4u /*encapsulation*/;
-               }
-               catch (eprosima::fastcdr::exception::Exception& /*exception*/)
-               {
-                   return 0;
-               }
-#endif // FASTCDR_VERSION_MAJOR == 1
-           };
-}
-
-void* ExtensibilityStructPubSubType::createData()
+    try
+    {
+        eprosima::fastcdr::CdrSizeCalculator calculator(
+            data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
+            eprosima::fastcdr::CdrVersion::XCDRv1 :eprosima::fastcdr::CdrVersion::XCDRv2);
+        size_t current_alignment {0};
+        return static_cast<uint32_t>(calculator.calculate_serialized_size(
+                    *static_cast<const ExtensibilityStruct*>(data), current_alignment)) +
+                4u /*encapsulation*/;
+    }
+    catch (eprosima::fastcdr::exception::Exception& /*exception*/)
+    {
+        return 0;
+    }
+}
+
+void* ExtensibilityStructPubSubType::create_data()
 {
     return reinterpret_cast<void*>(new ExtensibilityStruct());
 }
 
-void ExtensibilityStructPubSubType::deleteData(
+void ExtensibilityStructPubSubType::delete_data(
         void* data)
 {
     delete(reinterpret_cast<ExtensibilityStruct*>(data));
 }
 
-bool ExtensibilityStructPubSubType::getKey(
+bool ExtensibilityStructPubSubType::compute_key(
+        SerializedPayload_t* payload,
+        InstanceHandle_t* handle,
+        bool force_md5)
+{
+    if (!is_compute_key_provided)
+    {
+        return false;
+    }
+
+    ExtensibilityStruct data;
+    if (deserialize(payload, static_cast<void*>(&data)))
+    {
+        return compute_key(static_cast<void*>(&data), handle, force_md5);
+    }
+
+    return false;
+}
+
+bool ExtensibilityStructPubSubType::compute_key(
         const void* const data,
         InstanceHandle_t* handle,
         bool force_md5)
 {
-    if (!m_isGetKeyDefined)
+    if (!is_compute_key_provided)
     {
         return false;
     }
@@ -764,35 +720,27 @@ bool ExtensibilityStructPubSubType::getKey(
     const ExtensibilityStruct* p_type = static_cast<const ExtensibilityStruct*>(data);
 
     // Object that manages the raw buffer.
-    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(m_keyBuffer),
+    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(key_buffer_),
             ExtensibilityStruct_max_key_cdr_typesize);
 
     // Object that serializes the data.
     eprosima::fastcdr::Cdr ser(fastbuffer, eprosima::fastcdr::Cdr::BIG_ENDIANNESS, eprosima::fastcdr::CdrVersion::XCDRv1);
-#if FASTCDR_VERSION_MAJOR == 1
-    p_type->serializeKey(ser);
-#else
     eprosima::fastcdr::serialize_key(ser, *p_type);
-#endif // FASTCDR_VERSION_MAJOR == 1
     if (force_md5 || ExtensibilityStruct_max_key_cdr_typesize > 16)
     {
-        m_md5.init();
-#if FASTCDR_VERSION_MAJOR == 1
-        m_md5.update(m_keyBuffer, static_cast<unsigned int>(ser.getSerializedDataLength()));
-#else
-        m_md5.update(m_keyBuffer, static_cast<unsigned int>(ser.get_serialized_data_length()));
-#endif // FASTCDR_VERSION_MAJOR == 1
-        m_md5.finalize();
+        md5_.init();
+        md5_.update(key_buffer_, static_cast<unsigned int>(ser.get_serialized_data_length()));
+        md5_.finalize();
         for (uint8_t i = 0; i < 16; ++i)
         {
-            handle->value[i] = m_md5.digest[i];
+            handle->value[i] = md5_.digest[i];
         }
     }
     else
     {
         for (uint8_t i = 0; i < 16; ++i)
         {
-            handle->value[i] = m_keyBuffer[i];
+            handle->value[i] = key_buffer_[i];
         }
     }
     return true;
diff --git a/test/unittest/dds/xtypes/serializers/idl/types/extensibility_struct/gen/extensibility_structPubSubTypes.hpp b/test/unittest/dds/xtypes/serializers/idl/types/extensibility_struct/gen/extensibility_structPubSubTypes.hpp
index 28ad65cb910..0acf7fdb93c 100644
--- a/test/unittest/dds/xtypes/serializers/idl/types/extensibility_struct/gen/extensibility_structPubSubTypes.hpp
+++ b/test/unittest/dds/xtypes/serializers/idl/types/extensibility_struct/gen/extensibility_structPubSubTypes.hpp
@@ -32,10 +32,10 @@
 #include "extensibility_struct.hpp"
 
 
-#if !defined(GEN_API_VER) || (GEN_API_VER != 2)
+#if !defined(FASTDDS_GEN_API_VER) || (FASTDDS_GEN_API_VER != 3)
 #error \
     Generated extensibility_struct is not compatible with current installed Fast DDS. Please, regenerate it with fastddsgen.
-#endif  // GEN_API_VER
+#endif  // FASTDDS_GEN_API_VER
 
 
 #ifndef SWIG
@@ -85,13 +85,6 @@ class FinalStructPubSubType : public eprosima::fastdds::dds::TopicDataType
 
     eProsima_user_DllExport ~FinalStructPubSubType() override;
 
-    eProsima_user_DllExport bool serialize(
-            const void* const data,
-            eprosima::fastdds::rtps::SerializedPayload_t* payload) override
-    {
-        return serialize(data, payload, eprosima::fastdds::dds::DEFAULT_DATA_REPRESENTATION);
-    }
-
     eProsima_user_DllExport bool serialize(
             const void* const data,
             eprosima::fastdds::rtps::SerializedPayload_t* payload,
@@ -101,24 +94,23 @@ class FinalStructPubSubType : public eprosima::fastdds::dds::TopicDataType
             eprosima::fastdds::rtps::SerializedPayload_t* payload,
             void* data) override;
 
-    eProsima_user_DllExport std::function<uint32_t()> getSerializedSizeProvider(
-            const void* const data) override
-    {
-        return getSerializedSizeProvider(data, eprosima::fastdds::dds::DEFAULT_DATA_REPRESENTATION);
-    }
-
-    eProsima_user_DllExport std::function<uint32_t()> getSerializedSizeProvider(
+    eProsima_user_DllExport uint32_t calculate_serialized_size(
             const void* const data,
             eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
 
-    eProsima_user_DllExport bool getKey(
+    eProsima_user_DllExport bool compute_key(
+            eprosima::fastdds::rtps::SerializedPayload_t* payload,
+            eprosima::fastdds::rtps::InstanceHandle_t* ihandle,
+            bool force_md5 = false) override;
+
+    eProsima_user_DllExport bool compute_key(
             const void* const data,
             eprosima::fastdds::rtps::InstanceHandle_t* ihandle,
             bool force_md5 = false) override;
 
-    eProsima_user_DllExport void* createData() override;
+    eProsima_user_DllExport void* create_data() override;
 
-    eProsima_user_DllExport void deleteData(
+    eProsima_user_DllExport void delete_data(
             void* data) override;
 
     //Register TypeObject representation in Fast DDS TypeObjectRegistry
@@ -133,10 +125,6 @@ class FinalStructPubSubType : public eprosima::fastdds::dds::TopicDataType
 #endif  // TOPIC_DATA_TYPE_API_HAS_IS_BOUNDED
 
 #ifdef TOPIC_DATA_TYPE_API_HAS_IS_PLAIN
-    eProsima_user_DllExport inline bool is_plain() const override
-    {
-        return is_plain_xcdrv1_impl();
-    }
 
     eProsima_user_DllExport inline bool is_plain(
             eprosima::fastdds::dds::DataRepresentationId_t data_representation) const override
@@ -163,8 +151,8 @@ class FinalStructPubSubType : public eprosima::fastdds::dds::TopicDataType
 
 #endif  // TOPIC_DATA_TYPE_API_HAS_CONSTRUCT_SAMPLE
 
-    eprosima::fastdds::MD5 m_md5;
-    unsigned char* m_keyBuffer;
+    eprosima::fastdds::MD5 md5_;
+    unsigned char* key_buffer_;
 
 private:
 
@@ -198,13 +186,6 @@ class MutableStructPubSubType : public eprosima::fastdds::dds::TopicDataType
 
     eProsima_user_DllExport ~MutableStructPubSubType() override;
 
-    eProsima_user_DllExport bool serialize(
-            const void* const data,
-            eprosima::fastdds::rtps::SerializedPayload_t* payload) override
-    {
-        return serialize(data, payload, eprosima::fastdds::dds::DEFAULT_DATA_REPRESENTATION);
-    }
-
     eProsima_user_DllExport bool serialize(
             const void* const data,
             eprosima::fastdds::rtps::SerializedPayload_t* payload,
@@ -214,24 +195,23 @@ class MutableStructPubSubType : public eprosima::fastdds::dds::TopicDataType
             eprosima::fastdds::rtps::SerializedPayload_t* payload,
             void* data) override;
 
-    eProsima_user_DllExport std::function<uint32_t()> getSerializedSizeProvider(
-            const void* const data) override
-    {
-        return getSerializedSizeProvider(data, eprosima::fastdds::dds::DEFAULT_DATA_REPRESENTATION);
-    }
-
-    eProsima_user_DllExport std::function<uint32_t()> getSerializedSizeProvider(
+    eProsima_user_DllExport uint32_t calculate_serialized_size(
             const void* const data,
             eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
 
-    eProsima_user_DllExport bool getKey(
+    eProsima_user_DllExport bool compute_key(
+            eprosima::fastdds::rtps::SerializedPayload_t* payload,
+            eprosima::fastdds::rtps::InstanceHandle_t* ihandle,
+            bool force_md5 = false) override;
+
+    eProsima_user_DllExport bool compute_key(
             const void* const data,
             eprosima::fastdds::rtps::InstanceHandle_t* ihandle,
             bool force_md5 = false) override;
 
-    eProsima_user_DllExport void* createData() override;
+    eProsima_user_DllExport void* create_data() override;
 
-    eProsima_user_DllExport void deleteData(
+    eProsima_user_DllExport void delete_data(
             void* data) override;
 
     //Register TypeObject representation in Fast DDS TypeObjectRegistry
@@ -246,10 +226,6 @@ class MutableStructPubSubType : public eprosima::fastdds::dds::TopicDataType
 #endif  // TOPIC_DATA_TYPE_API_HAS_IS_BOUNDED
 
 #ifdef TOPIC_DATA_TYPE_API_HAS_IS_PLAIN
-    eProsima_user_DllExport inline bool is_plain() const override
-    {
-        return false;
-    }
 
     eProsima_user_DllExport inline bool is_plain(
             eprosima::fastdds::dds::DataRepresentationId_t data_representation) const override
@@ -270,8 +246,8 @@ class MutableStructPubSubType : public eprosima::fastdds::dds::TopicDataType
 
 #endif  // TOPIC_DATA_TYPE_API_HAS_CONSTRUCT_SAMPLE
 
-    eprosima::fastdds::MD5 m_md5;
-    unsigned char* m_keyBuffer;
+    eprosima::fastdds::MD5 md5_;
+    unsigned char* key_buffer_;
 
 };
 
@@ -289,13 +265,6 @@ class AppendableStructPubSubType : public eprosima::fastdds::dds::TopicDataType
 
     eProsima_user_DllExport ~AppendableStructPubSubType() override;
 
-    eProsima_user_DllExport bool serialize(
-            const void* const data,
-            eprosima::fastdds::rtps::SerializedPayload_t* payload) override
-    {
-        return serialize(data, payload, eprosima::fastdds::dds::DEFAULT_DATA_REPRESENTATION);
-    }
-
     eProsima_user_DllExport bool serialize(
             const void* const data,
             eprosima::fastdds::rtps::SerializedPayload_t* payload,
@@ -305,24 +274,23 @@ class AppendableStructPubSubType : public eprosima::fastdds::dds::TopicDataType
             eprosima::fastdds::rtps::SerializedPayload_t* payload,
             void* data) override;
 
-    eProsima_user_DllExport std::function<uint32_t()> getSerializedSizeProvider(
-            const void* const data) override
-    {
-        return getSerializedSizeProvider(data, eprosima::fastdds::dds::DEFAULT_DATA_REPRESENTATION);
-    }
-
-    eProsima_user_DllExport std::function<uint32_t()> getSerializedSizeProvider(
+    eProsima_user_DllExport uint32_t calculate_serialized_size(
             const void* const data,
             eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
 
-    eProsima_user_DllExport bool getKey(
+    eProsima_user_DllExport bool compute_key(
+            eprosima::fastdds::rtps::SerializedPayload_t* payload,
+            eprosima::fastdds::rtps::InstanceHandle_t* ihandle,
+            bool force_md5 = false) override;
+
+    eProsima_user_DllExport bool compute_key(
             const void* const data,
             eprosima::fastdds::rtps::InstanceHandle_t* ihandle,
             bool force_md5 = false) override;
 
-    eProsima_user_DllExport void* createData() override;
+    eProsima_user_DllExport void* create_data() override;
 
-    eProsima_user_DllExport void deleteData(
+    eProsima_user_DllExport void delete_data(
             void* data) override;
 
     //Register TypeObject representation in Fast DDS TypeObjectRegistry
@@ -337,10 +305,6 @@ class AppendableStructPubSubType : public eprosima::fastdds::dds::TopicDataType
 #endif  // TOPIC_DATA_TYPE_API_HAS_IS_BOUNDED
 
 #ifdef TOPIC_DATA_TYPE_API_HAS_IS_PLAIN
-    eProsima_user_DllExport inline bool is_plain() const override
-    {
-        return false;
-    }
 
     eProsima_user_DllExport inline bool is_plain(
             eprosima::fastdds::dds::DataRepresentationId_t data_representation) const override
@@ -361,8 +325,8 @@ class AppendableStructPubSubType : public eprosima::fastdds::dds::TopicDataType
 
 #endif  // TOPIC_DATA_TYPE_API_HAS_CONSTRUCT_SAMPLE
 
-    eprosima::fastdds::MD5 m_md5;
-    unsigned char* m_keyBuffer;
+    eprosima::fastdds::MD5 md5_;
+    unsigned char* key_buffer_;
 
 };
 
@@ -380,13 +344,6 @@ class ExtensibilityStructPubSubType : public eprosima::fastdds::dds::TopicDataTy
 
     eProsima_user_DllExport ~ExtensibilityStructPubSubType() override;
 
-    eProsima_user_DllExport bool serialize(
-            const void* const data,
-            eprosima::fastdds::rtps::SerializedPayload_t* payload) override
-    {
-        return serialize(data, payload, eprosima::fastdds::dds::DEFAULT_DATA_REPRESENTATION);
-    }
-
     eProsima_user_DllExport bool serialize(
             const void* const data,
             eprosima::fastdds::rtps::SerializedPayload_t* payload,
@@ -396,24 +353,23 @@ class ExtensibilityStructPubSubType : public eprosima::fastdds::dds::TopicDataTy
             eprosima::fastdds::rtps::SerializedPayload_t* payload,
             void* data) override;
 
-    eProsima_user_DllExport std::function<uint32_t()> getSerializedSizeProvider(
-            const void* const data) override
-    {
-        return getSerializedSizeProvider(data, eprosima::fastdds::dds::DEFAULT_DATA_REPRESENTATION);
-    }
-
-    eProsima_user_DllExport std::function<uint32_t()> getSerializedSizeProvider(
+    eProsima_user_DllExport uint32_t calculate_serialized_size(
             const void* const data,
             eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
 
-    eProsima_user_DllExport bool getKey(
+    eProsima_user_DllExport bool compute_key(
+            eprosima::fastdds::rtps::SerializedPayload_t* payload,
+            eprosima::fastdds::rtps::InstanceHandle_t* ihandle,
+            bool force_md5 = false) override;
+
+    eProsima_user_DllExport bool compute_key(
             const void* const data,
             eprosima::fastdds::rtps::InstanceHandle_t* ihandle,
             bool force_md5 = false) override;
 
-    eProsima_user_DllExport void* createData() override;
+    eProsima_user_DllExport void* create_data() override;
 
-    eProsima_user_DllExport void deleteData(
+    eProsima_user_DllExport void delete_data(
             void* data) override;
 
     //Register TypeObject representation in Fast DDS TypeObjectRegistry
@@ -428,10 +384,6 @@ class ExtensibilityStructPubSubType : public eprosima::fastdds::dds::TopicDataTy
 #endif  // TOPIC_DATA_TYPE_API_HAS_IS_BOUNDED
 
 #ifdef TOPIC_DATA_TYPE_API_HAS_IS_PLAIN
-    eProsima_user_DllExport inline bool is_plain() const override
-    {
-        return false;
-    }
 
     eProsima_user_DllExport inline bool is_plain(
             eprosima::fastdds::dds::DataRepresentationId_t data_representation) const override
@@ -452,8 +404,8 @@ class ExtensibilityStructPubSubType : public eprosima::fastdds::dds::TopicDataTy
 
 #endif  // TOPIC_DATA_TYPE_API_HAS_CONSTRUCT_SAMPLE
 
-    eprosima::fastdds::MD5 m_md5;
-    unsigned char* m_keyBuffer;
+    eprosima::fastdds::MD5 md5_;
+    unsigned char* key_buffer_;
 
 };
 
diff --git a/test/unittest/dds/xtypes/serializers/idl/types/key_struct/gen/key_structPubSubTypes.cxx b/test/unittest/dds/xtypes/serializers/idl/types/key_struct/gen/key_structPubSubTypes.cxx
index 4a48941b222..6250ac91171 100644
--- a/test/unittest/dds/xtypes/serializers/idl/types/key_struct/gen/key_structPubSubTypes.cxx
+++ b/test/unittest/dds/xtypes/serializers/idl/types/key_struct/gen/key_structPubSubTypes.cxx
@@ -33,26 +33,21 @@ using DataRepresentationId_t = eprosima::fastdds::dds::DataRepresentationId_t;
 
 ImportantStructPubSubType::ImportantStructPubSubType()
 {
-    setName("ImportantStruct");
-    uint32_t type_size =
-#if FASTCDR_VERSION_MAJOR == 1
-        static_cast<uint32_t>(ImportantStruct::getMaxCdrSerializedSize());
-#else
-        ImportantStruct_max_cdr_typesize;
-#endif
+    set_name("ImportantStruct");
+    uint32_t type_size = ImportantStruct_max_cdr_typesize;
     type_size += static_cast<uint32_t>(eprosima::fastcdr::Cdr::alignment(type_size, 4)); /* possible submessage alignment */
-    m_typeSize = type_size + 4; /*encapsulation*/
-    m_isGetKeyDefined = true;
-    uint32_t keyLength = ImportantStruct_max_key_cdr_typesize > 16 ? ImportantStruct_max_key_cdr_typesize : 16;
-    m_keyBuffer = reinterpret_cast<unsigned char*>(malloc(keyLength));
-    memset(m_keyBuffer, 0, keyLength);
+    max_serialized_type_size = type_size + 4; /*encapsulation*/
+    is_compute_key_provided = true;
+    uint32_t key_length = ImportantStruct_max_key_cdr_typesize > 16 ? ImportantStruct_max_key_cdr_typesize : 16;
+    key_buffer_ = reinterpret_cast<unsigned char*>(malloc(key_length));
+    memset(key_buffer_, 0, key_length);
 }
 
 ImportantStructPubSubType::~ImportantStructPubSubType()
 {
-    if (m_keyBuffer != nullptr)
+    if (key_buffer_ != nullptr)
     {
-        free(m_keyBuffer);
+        free(key_buffer_);
     }
 }
 
@@ -70,12 +65,10 @@ bool ImportantStructPubSubType::serialize(
             data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
             eprosima::fastcdr::CdrVersion::XCDRv1 : eprosima::fastcdr::CdrVersion::XCDRv2);
     payload->encapsulation = ser.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS ? CDR_BE : CDR_LE;
-#if FASTCDR_VERSION_MAJOR > 1
     ser.set_encoding_flag(
         data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
         eprosima::fastcdr::EncodingAlgorithmFlag::PLAIN_CDR  :
         eprosima::fastcdr::EncodingAlgorithmFlag::DELIMIT_CDR2);
-#endif // FASTCDR_VERSION_MAJOR > 1
 
     try
     {
@@ -90,11 +83,7 @@ bool ImportantStructPubSubType::serialize(
     }
 
     // Get the serialized length
-#if FASTCDR_VERSION_MAJOR == 1
-    payload->length = static_cast<uint32_t>(ser.getSerializedDataLength());
-#else
     payload->length = static_cast<uint32_t>(ser.get_serialized_data_length());
-#endif // FASTCDR_VERSION_MAJOR == 1
     return true;
 }
 
@@ -111,11 +100,7 @@ bool ImportantStructPubSubType::deserialize(
         eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(payload->data), payload->length);
 
         // Object that deserializes the data.
-        eprosima::fastcdr::Cdr deser(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN
-#if FASTCDR_VERSION_MAJOR == 1
-                , eprosima::fastcdr::Cdr::CdrType::DDS_CDR
-#endif // FASTCDR_VERSION_MAJOR == 1
-                );
+        eprosima::fastcdr::Cdr deser(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN);
 
         // Deserialize encapsulation.
         deser.read_encapsulation();
@@ -132,52 +117,62 @@ bool ImportantStructPubSubType::deserialize(
     return true;
 }
 
-std::function<uint32_t()> ImportantStructPubSubType::getSerializedSizeProvider(
+uint32_t ImportantStructPubSubType::calculate_serialized_size(
         const void* const data,
         DataRepresentationId_t data_representation)
 {
-    return [data, data_representation]() -> uint32_t
-           {
-#if FASTCDR_VERSION_MAJOR == 1
-               static_cast<void>(data_representation);
-               return static_cast<uint32_t>(type::getCdrSerializedSize(*static_cast<ImportantStruct*>(data))) +
-                      4u /*encapsulation*/;
-#else
-               try
-               {
-                   eprosima::fastcdr::CdrSizeCalculator calculator(
-                       data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
-                       eprosima::fastcdr::CdrVersion::XCDRv1 :eprosima::fastcdr::CdrVersion::XCDRv2);
-                   size_t current_alignment {0};
-                   return static_cast<uint32_t>(calculator.calculate_serialized_size(
-                               *static_cast<const ImportantStruct*>(data), current_alignment)) +
-                           4u /*encapsulation*/;
-               }
-               catch (eprosima::fastcdr::exception::Exception& /*exception*/)
-               {
-                   return 0;
-               }
-#endif // FASTCDR_VERSION_MAJOR == 1
-           };
+    try
+    {
+        eprosima::fastcdr::CdrSizeCalculator calculator(
+            data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
+            eprosima::fastcdr::CdrVersion::XCDRv1 :eprosima::fastcdr::CdrVersion::XCDRv2);
+        size_t current_alignment {0};
+        return static_cast<uint32_t>(calculator.calculate_serialized_size(
+                    *static_cast<const ImportantStruct*>(data), current_alignment)) +
+                4u /*encapsulation*/;
+    }
+    catch (eprosima::fastcdr::exception::Exception& /*exception*/)
+    {
+        return 0;
+    }
 }
 
-void* ImportantStructPubSubType::createData()
+void* ImportantStructPubSubType::create_data()
 {
     return reinterpret_cast<void*>(new ImportantStruct());
 }
 
-void ImportantStructPubSubType::deleteData(
+void ImportantStructPubSubType::delete_data(
         void* data)
 {
     delete(reinterpret_cast<ImportantStruct*>(data));
 }
 
-bool ImportantStructPubSubType::getKey(
+bool ImportantStructPubSubType::compute_key(
+        SerializedPayload_t* payload,
+        InstanceHandle_t* handle,
+        bool force_md5)
+{
+    if (!is_compute_key_provided)
+    {
+        return false;
+    }
+
+    ImportantStruct data;
+    if (deserialize(payload, static_cast<void*>(&data)))
+    {
+        return compute_key(static_cast<void*>(&data), handle, force_md5);
+    }
+
+    return false;
+}
+
+bool ImportantStructPubSubType::compute_key(
         const void* const data,
         InstanceHandle_t* handle,
         bool force_md5)
 {
-    if (!m_isGetKeyDefined)
+    if (!is_compute_key_provided)
     {
         return false;
     }
@@ -185,35 +180,27 @@ bool ImportantStructPubSubType::getKey(
     const ImportantStruct* p_type = static_cast<const ImportantStruct*>(data);
 
     // Object that manages the raw buffer.
-    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(m_keyBuffer),
+    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(key_buffer_),
             ImportantStruct_max_key_cdr_typesize);
 
     // Object that serializes the data.
     eprosima::fastcdr::Cdr ser(fastbuffer, eprosima::fastcdr::Cdr::BIG_ENDIANNESS, eprosima::fastcdr::CdrVersion::XCDRv1);
-#if FASTCDR_VERSION_MAJOR == 1
-    p_type->serializeKey(ser);
-#else
     eprosima::fastcdr::serialize_key(ser, *p_type);
-#endif // FASTCDR_VERSION_MAJOR == 1
     if (force_md5 || ImportantStruct_max_key_cdr_typesize > 16)
     {
-        m_md5.init();
-#if FASTCDR_VERSION_MAJOR == 1
-        m_md5.update(m_keyBuffer, static_cast<unsigned int>(ser.getSerializedDataLength()));
-#else
-        m_md5.update(m_keyBuffer, static_cast<unsigned int>(ser.get_serialized_data_length()));
-#endif // FASTCDR_VERSION_MAJOR == 1
-        m_md5.finalize();
+        md5_.init();
+        md5_.update(key_buffer_, static_cast<unsigned int>(ser.get_serialized_data_length()));
+        md5_.finalize();
         for (uint8_t i = 0; i < 16; ++i)
         {
-            handle->value[i] = m_md5.digest[i];
+            handle->value[i] = md5_.digest[i];
         }
     }
     else
     {
         for (uint8_t i = 0; i < 16; ++i)
         {
-            handle->value[i] = m_keyBuffer[i];
+            handle->value[i] = key_buffer_[i];
         }
     }
     return true;
@@ -226,26 +213,21 @@ void ImportantStructPubSubType::register_type_object_representation()
 
 KeyStructPubSubType::KeyStructPubSubType()
 {
-    setName("KeyStruct");
-    uint32_t type_size =
-#if FASTCDR_VERSION_MAJOR == 1
-        static_cast<uint32_t>(KeyStruct::getMaxCdrSerializedSize());
-#else
-        KeyStruct_max_cdr_typesize;
-#endif
+    set_name("KeyStruct");
+    uint32_t type_size = KeyStruct_max_cdr_typesize;
     type_size += static_cast<uint32_t>(eprosima::fastcdr::Cdr::alignment(type_size, 4)); /* possible submessage alignment */
-    m_typeSize = type_size + 4; /*encapsulation*/
-    m_isGetKeyDefined = true;
-    uint32_t keyLength = KeyStruct_max_key_cdr_typesize > 16 ? KeyStruct_max_key_cdr_typesize : 16;
-    m_keyBuffer = reinterpret_cast<unsigned char*>(malloc(keyLength));
-    memset(m_keyBuffer, 0, keyLength);
+    max_serialized_type_size = type_size + 4; /*encapsulation*/
+    is_compute_key_provided = true;
+    uint32_t key_length = KeyStruct_max_key_cdr_typesize > 16 ? KeyStruct_max_key_cdr_typesize : 16;
+    key_buffer_ = reinterpret_cast<unsigned char*>(malloc(key_length));
+    memset(key_buffer_, 0, key_length);
 }
 
 KeyStructPubSubType::~KeyStructPubSubType()
 {
-    if (m_keyBuffer != nullptr)
+    if (key_buffer_ != nullptr)
     {
-        free(m_keyBuffer);
+        free(key_buffer_);
     }
 }
 
@@ -263,12 +245,10 @@ bool KeyStructPubSubType::serialize(
             data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
             eprosima::fastcdr::CdrVersion::XCDRv1 : eprosima::fastcdr::CdrVersion::XCDRv2);
     payload->encapsulation = ser.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS ? CDR_BE : CDR_LE;
-#if FASTCDR_VERSION_MAJOR > 1
     ser.set_encoding_flag(
         data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
         eprosima::fastcdr::EncodingAlgorithmFlag::PLAIN_CDR  :
         eprosima::fastcdr::EncodingAlgorithmFlag::DELIMIT_CDR2);
-#endif // FASTCDR_VERSION_MAJOR > 1
 
     try
     {
@@ -283,11 +263,7 @@ bool KeyStructPubSubType::serialize(
     }
 
     // Get the serialized length
-#if FASTCDR_VERSION_MAJOR == 1
-    payload->length = static_cast<uint32_t>(ser.getSerializedDataLength());
-#else
     payload->length = static_cast<uint32_t>(ser.get_serialized_data_length());
-#endif // FASTCDR_VERSION_MAJOR == 1
     return true;
 }
 
@@ -304,11 +280,7 @@ bool KeyStructPubSubType::deserialize(
         eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(payload->data), payload->length);
 
         // Object that deserializes the data.
-        eprosima::fastcdr::Cdr deser(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN
-#if FASTCDR_VERSION_MAJOR == 1
-                , eprosima::fastcdr::Cdr::CdrType::DDS_CDR
-#endif // FASTCDR_VERSION_MAJOR == 1
-                );
+        eprosima::fastcdr::Cdr deser(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN);
 
         // Deserialize encapsulation.
         deser.read_encapsulation();
@@ -325,52 +297,62 @@ bool KeyStructPubSubType::deserialize(
     return true;
 }
 
-std::function<uint32_t()> KeyStructPubSubType::getSerializedSizeProvider(
+uint32_t KeyStructPubSubType::calculate_serialized_size(
         const void* const data,
         DataRepresentationId_t data_representation)
 {
-    return [data, data_representation]() -> uint32_t
-           {
-#if FASTCDR_VERSION_MAJOR == 1
-               static_cast<void>(data_representation);
-               return static_cast<uint32_t>(type::getCdrSerializedSize(*static_cast<KeyStruct*>(data))) +
-                      4u /*encapsulation*/;
-#else
-               try
-               {
-                   eprosima::fastcdr::CdrSizeCalculator calculator(
-                       data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
-                       eprosima::fastcdr::CdrVersion::XCDRv1 :eprosima::fastcdr::CdrVersion::XCDRv2);
-                   size_t current_alignment {0};
-                   return static_cast<uint32_t>(calculator.calculate_serialized_size(
-                               *static_cast<const KeyStruct*>(data), current_alignment)) +
-                           4u /*encapsulation*/;
-               }
-               catch (eprosima::fastcdr::exception::Exception& /*exception*/)
-               {
-                   return 0;
-               }
-#endif // FASTCDR_VERSION_MAJOR == 1
-           };
+    try
+    {
+        eprosima::fastcdr::CdrSizeCalculator calculator(
+            data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
+            eprosima::fastcdr::CdrVersion::XCDRv1 :eprosima::fastcdr::CdrVersion::XCDRv2);
+        size_t current_alignment {0};
+        return static_cast<uint32_t>(calculator.calculate_serialized_size(
+                    *static_cast<const KeyStruct*>(data), current_alignment)) +
+                4u /*encapsulation*/;
+    }
+    catch (eprosima::fastcdr::exception::Exception& /*exception*/)
+    {
+        return 0;
+    }
 }
 
-void* KeyStructPubSubType::createData()
+void* KeyStructPubSubType::create_data()
 {
     return reinterpret_cast<void*>(new KeyStruct());
 }
 
-void KeyStructPubSubType::deleteData(
+void KeyStructPubSubType::delete_data(
         void* data)
 {
     delete(reinterpret_cast<KeyStruct*>(data));
 }
 
-bool KeyStructPubSubType::getKey(
+bool KeyStructPubSubType::compute_key(
+        SerializedPayload_t* payload,
+        InstanceHandle_t* handle,
+        bool force_md5)
+{
+    if (!is_compute_key_provided)
+    {
+        return false;
+    }
+
+    KeyStruct data;
+    if (deserialize(payload, static_cast<void*>(&data)))
+    {
+        return compute_key(static_cast<void*>(&data), handle, force_md5);
+    }
+
+    return false;
+}
+
+bool KeyStructPubSubType::compute_key(
         const void* const data,
         InstanceHandle_t* handle,
         bool force_md5)
 {
-    if (!m_isGetKeyDefined)
+    if (!is_compute_key_provided)
     {
         return false;
     }
@@ -378,35 +360,27 @@ bool KeyStructPubSubType::getKey(
     const KeyStruct* p_type = static_cast<const KeyStruct*>(data);
 
     // Object that manages the raw buffer.
-    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(m_keyBuffer),
+    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(key_buffer_),
             KeyStruct_max_key_cdr_typesize);
 
     // Object that serializes the data.
     eprosima::fastcdr::Cdr ser(fastbuffer, eprosima::fastcdr::Cdr::BIG_ENDIANNESS, eprosima::fastcdr::CdrVersion::XCDRv1);
-#if FASTCDR_VERSION_MAJOR == 1
-    p_type->serializeKey(ser);
-#else
     eprosima::fastcdr::serialize_key(ser, *p_type);
-#endif // FASTCDR_VERSION_MAJOR == 1
     if (force_md5 || KeyStruct_max_key_cdr_typesize > 16)
     {
-        m_md5.init();
-#if FASTCDR_VERSION_MAJOR == 1
-        m_md5.update(m_keyBuffer, static_cast<unsigned int>(ser.getSerializedDataLength()));
-#else
-        m_md5.update(m_keyBuffer, static_cast<unsigned int>(ser.get_serialized_data_length()));
-#endif // FASTCDR_VERSION_MAJOR == 1
-        m_md5.finalize();
+        md5_.init();
+        md5_.update(key_buffer_, static_cast<unsigned int>(ser.get_serialized_data_length()));
+        md5_.finalize();
         for (uint8_t i = 0; i < 16; ++i)
         {
-            handle->value[i] = m_md5.digest[i];
+            handle->value[i] = md5_.digest[i];
         }
     }
     else
     {
         for (uint8_t i = 0; i < 16; ++i)
         {
-            handle->value[i] = m_keyBuffer[i];
+            handle->value[i] = key_buffer_[i];
         }
     }
     return true;
diff --git a/test/unittest/dds/xtypes/serializers/idl/types/key_struct/gen/key_structPubSubTypes.hpp b/test/unittest/dds/xtypes/serializers/idl/types/key_struct/gen/key_structPubSubTypes.hpp
index bb3d4678554..f25e64d92e3 100644
--- a/test/unittest/dds/xtypes/serializers/idl/types/key_struct/gen/key_structPubSubTypes.hpp
+++ b/test/unittest/dds/xtypes/serializers/idl/types/key_struct/gen/key_structPubSubTypes.hpp
@@ -32,10 +32,10 @@
 #include "key_struct.hpp"
 
 
-#if !defined(GEN_API_VER) || (GEN_API_VER != 2)
+#if !defined(FASTDDS_GEN_API_VER) || (FASTDDS_GEN_API_VER != 3)
 #error \
     Generated key_struct is not compatible with current installed Fast DDS. Please, regenerate it with fastddsgen.
-#endif  // GEN_API_VER
+#endif  // FASTDDS_GEN_API_VER
 
 
 /*!
@@ -52,13 +52,6 @@ class ImportantStructPubSubType : public eprosima::fastdds::dds::TopicDataType
 
     eProsima_user_DllExport ~ImportantStructPubSubType() override;
 
-    eProsima_user_DllExport bool serialize(
-            const void* const data,
-            eprosima::fastdds::rtps::SerializedPayload_t* payload) override
-    {
-        return serialize(data, payload, eprosima::fastdds::dds::DEFAULT_DATA_REPRESENTATION);
-    }
-
     eProsima_user_DllExport bool serialize(
             const void* const data,
             eprosima::fastdds::rtps::SerializedPayload_t* payload,
@@ -68,24 +61,23 @@ class ImportantStructPubSubType : public eprosima::fastdds::dds::TopicDataType
             eprosima::fastdds::rtps::SerializedPayload_t* payload,
             void* data) override;
 
-    eProsima_user_DllExport std::function<uint32_t()> getSerializedSizeProvider(
-            const void* const data) override
-    {
-        return getSerializedSizeProvider(data, eprosima::fastdds::dds::DEFAULT_DATA_REPRESENTATION);
-    }
-
-    eProsima_user_DllExport std::function<uint32_t()> getSerializedSizeProvider(
+    eProsima_user_DllExport uint32_t calculate_serialized_size(
             const void* const data,
             eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
 
-    eProsima_user_DllExport bool getKey(
+    eProsima_user_DllExport bool compute_key(
+            eprosima::fastdds::rtps::SerializedPayload_t* payload,
+            eprosima::fastdds::rtps::InstanceHandle_t* ihandle,
+            bool force_md5 = false) override;
+
+    eProsima_user_DllExport bool compute_key(
             const void* const data,
             eprosima::fastdds::rtps::InstanceHandle_t* ihandle,
             bool force_md5 = false) override;
 
-    eProsima_user_DllExport void* createData() override;
+    eProsima_user_DllExport void* create_data() override;
 
-    eProsima_user_DllExport void deleteData(
+    eProsima_user_DllExport void delete_data(
             void* data) override;
 
     //Register TypeObject representation in Fast DDS TypeObjectRegistry
@@ -100,10 +92,6 @@ class ImportantStructPubSubType : public eprosima::fastdds::dds::TopicDataType
 #endif  // TOPIC_DATA_TYPE_API_HAS_IS_BOUNDED
 
 #ifdef TOPIC_DATA_TYPE_API_HAS_IS_PLAIN
-    eProsima_user_DllExport inline bool is_plain() const override
-    {
-        return false;
-    }
 
     eProsima_user_DllExport inline bool is_plain(
             eprosima::fastdds::dds::DataRepresentationId_t data_representation) const override
@@ -124,8 +112,8 @@ class ImportantStructPubSubType : public eprosima::fastdds::dds::TopicDataType
 
 #endif  // TOPIC_DATA_TYPE_API_HAS_CONSTRUCT_SAMPLE
 
-    eprosima::fastdds::MD5 m_md5;
-    unsigned char* m_keyBuffer;
+    eprosima::fastdds::MD5 md5_;
+    unsigned char* key_buffer_;
 
 };
 
@@ -143,13 +131,6 @@ class KeyStructPubSubType : public eprosima::fastdds::dds::TopicDataType
 
     eProsima_user_DllExport ~KeyStructPubSubType() override;
 
-    eProsima_user_DllExport bool serialize(
-            const void* const data,
-            eprosima::fastdds::rtps::SerializedPayload_t* payload) override
-    {
-        return serialize(data, payload, eprosima::fastdds::dds::DEFAULT_DATA_REPRESENTATION);
-    }
-
     eProsima_user_DllExport bool serialize(
             const void* const data,
             eprosima::fastdds::rtps::SerializedPayload_t* payload,
@@ -159,24 +140,23 @@ class KeyStructPubSubType : public eprosima::fastdds::dds::TopicDataType
             eprosima::fastdds::rtps::SerializedPayload_t* payload,
             void* data) override;
 
-    eProsima_user_DllExport std::function<uint32_t()> getSerializedSizeProvider(
-            const void* const data) override
-    {
-        return getSerializedSizeProvider(data, eprosima::fastdds::dds::DEFAULT_DATA_REPRESENTATION);
-    }
-
-    eProsima_user_DllExport std::function<uint32_t()> getSerializedSizeProvider(
+    eProsima_user_DllExport uint32_t calculate_serialized_size(
             const void* const data,
             eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
 
-    eProsima_user_DllExport bool getKey(
+    eProsima_user_DllExport bool compute_key(
+            eprosima::fastdds::rtps::SerializedPayload_t* payload,
+            eprosima::fastdds::rtps::InstanceHandle_t* ihandle,
+            bool force_md5 = false) override;
+
+    eProsima_user_DllExport bool compute_key(
             const void* const data,
             eprosima::fastdds::rtps::InstanceHandle_t* ihandle,
             bool force_md5 = false) override;
 
-    eProsima_user_DllExport void* createData() override;
+    eProsima_user_DllExport void* create_data() override;
 
-    eProsima_user_DllExport void deleteData(
+    eProsima_user_DllExport void delete_data(
             void* data) override;
 
     //Register TypeObject representation in Fast DDS TypeObjectRegistry
@@ -191,10 +171,6 @@ class KeyStructPubSubType : public eprosima::fastdds::dds::TopicDataType
 #endif  // TOPIC_DATA_TYPE_API_HAS_IS_BOUNDED
 
 #ifdef TOPIC_DATA_TYPE_API_HAS_IS_PLAIN
-    eProsima_user_DllExport inline bool is_plain() const override
-    {
-        return false;
-    }
 
     eProsima_user_DllExport inline bool is_plain(
             eprosima::fastdds::dds::DataRepresentationId_t data_representation) const override
@@ -215,8 +191,8 @@ class KeyStructPubSubType : public eprosima::fastdds::dds::TopicDataType
 
 #endif  // TOPIC_DATA_TYPE_API_HAS_CONSTRUCT_SAMPLE
 
-    eprosima::fastdds::MD5 m_md5;
-    unsigned char* m_keyBuffer;
+    eprosima::fastdds::MD5 md5_;
+    unsigned char* key_buffer_;
 
 };
 
diff --git a/test/unittest/dds/xtypes/serializers/idl/types/map_struct/gen/map_structPubSubTypes.cxx b/test/unittest/dds/xtypes/serializers/idl/types/map_struct/gen/map_structPubSubTypes.cxx
index 8c30463bdcc..6349d35495e 100644
--- a/test/unittest/dds/xtypes/serializers/idl/types/map_struct/gen/map_structPubSubTypes.cxx
+++ b/test/unittest/dds/xtypes/serializers/idl/types/map_struct/gen/map_structPubSubTypes.cxx
@@ -33,26 +33,21 @@ using DataRepresentationId_t = eprosima::fastdds::dds::DataRepresentationId_t;
 
 ValueStructPubSubType::ValueStructPubSubType()
 {
-    setName("ValueStruct");
-    uint32_t type_size =
-#if FASTCDR_VERSION_MAJOR == 1
-        static_cast<uint32_t>(ValueStruct::getMaxCdrSerializedSize());
-#else
-        ValueStruct_max_cdr_typesize;
-#endif
+    set_name("ValueStruct");
+    uint32_t type_size = ValueStruct_max_cdr_typesize;
     type_size += static_cast<uint32_t>(eprosima::fastcdr::Cdr::alignment(type_size, 4)); /* possible submessage alignment */
-    m_typeSize = type_size + 4; /*encapsulation*/
-    m_isGetKeyDefined = false;
-    uint32_t keyLength = ValueStruct_max_key_cdr_typesize > 16 ? ValueStruct_max_key_cdr_typesize : 16;
-    m_keyBuffer = reinterpret_cast<unsigned char*>(malloc(keyLength));
-    memset(m_keyBuffer, 0, keyLength);
+    max_serialized_type_size = type_size + 4; /*encapsulation*/
+    is_compute_key_provided = false;
+    uint32_t key_length = ValueStruct_max_key_cdr_typesize > 16 ? ValueStruct_max_key_cdr_typesize : 16;
+    key_buffer_ = reinterpret_cast<unsigned char*>(malloc(key_length));
+    memset(key_buffer_, 0, key_length);
 }
 
 ValueStructPubSubType::~ValueStructPubSubType()
 {
-    if (m_keyBuffer != nullptr)
+    if (key_buffer_ != nullptr)
     {
-        free(m_keyBuffer);
+        free(key_buffer_);
     }
 }
 
@@ -70,12 +65,10 @@ bool ValueStructPubSubType::serialize(
             data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
             eprosima::fastcdr::CdrVersion::XCDRv1 : eprosima::fastcdr::CdrVersion::XCDRv2);
     payload->encapsulation = ser.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS ? CDR_BE : CDR_LE;
-#if FASTCDR_VERSION_MAJOR > 1
     ser.set_encoding_flag(
         data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
         eprosima::fastcdr::EncodingAlgorithmFlag::PLAIN_CDR  :
         eprosima::fastcdr::EncodingAlgorithmFlag::DELIMIT_CDR2);
-#endif // FASTCDR_VERSION_MAJOR > 1
 
     try
     {
@@ -90,11 +83,7 @@ bool ValueStructPubSubType::serialize(
     }
 
     // Get the serialized length
-#if FASTCDR_VERSION_MAJOR == 1
-    payload->length = static_cast<uint32_t>(ser.getSerializedDataLength());
-#else
     payload->length = static_cast<uint32_t>(ser.get_serialized_data_length());
-#endif // FASTCDR_VERSION_MAJOR == 1
     return true;
 }
 
@@ -111,11 +100,7 @@ bool ValueStructPubSubType::deserialize(
         eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(payload->data), payload->length);
 
         // Object that deserializes the data.
-        eprosima::fastcdr::Cdr deser(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN
-#if FASTCDR_VERSION_MAJOR == 1
-                , eprosima::fastcdr::Cdr::CdrType::DDS_CDR
-#endif // FASTCDR_VERSION_MAJOR == 1
-                );
+        eprosima::fastcdr::Cdr deser(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN);
 
         // Deserialize encapsulation.
         deser.read_encapsulation();
@@ -132,52 +117,62 @@ bool ValueStructPubSubType::deserialize(
     return true;
 }
 
-std::function<uint32_t()> ValueStructPubSubType::getSerializedSizeProvider(
+uint32_t ValueStructPubSubType::calculate_serialized_size(
         const void* const data,
         DataRepresentationId_t data_representation)
 {
-    return [data, data_representation]() -> uint32_t
-           {
-#if FASTCDR_VERSION_MAJOR == 1
-               static_cast<void>(data_representation);
-               return static_cast<uint32_t>(type::getCdrSerializedSize(*static_cast<ValueStruct*>(data))) +
-                      4u /*encapsulation*/;
-#else
-               try
-               {
-                   eprosima::fastcdr::CdrSizeCalculator calculator(
-                       data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
-                       eprosima::fastcdr::CdrVersion::XCDRv1 :eprosima::fastcdr::CdrVersion::XCDRv2);
-                   size_t current_alignment {0};
-                   return static_cast<uint32_t>(calculator.calculate_serialized_size(
-                               *static_cast<const ValueStruct*>(data), current_alignment)) +
-                           4u /*encapsulation*/;
-               }
-               catch (eprosima::fastcdr::exception::Exception& /*exception*/)
-               {
-                   return 0;
-               }
-#endif // FASTCDR_VERSION_MAJOR == 1
-           };
+    try
+    {
+        eprosima::fastcdr::CdrSizeCalculator calculator(
+            data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
+            eprosima::fastcdr::CdrVersion::XCDRv1 :eprosima::fastcdr::CdrVersion::XCDRv2);
+        size_t current_alignment {0};
+        return static_cast<uint32_t>(calculator.calculate_serialized_size(
+                    *static_cast<const ValueStruct*>(data), current_alignment)) +
+                4u /*encapsulation*/;
+    }
+    catch (eprosima::fastcdr::exception::Exception& /*exception*/)
+    {
+        return 0;
+    }
 }
 
-void* ValueStructPubSubType::createData()
+void* ValueStructPubSubType::create_data()
 {
     return reinterpret_cast<void*>(new ValueStruct());
 }
 
-void ValueStructPubSubType::deleteData(
+void ValueStructPubSubType::delete_data(
         void* data)
 {
     delete(reinterpret_cast<ValueStruct*>(data));
 }
 
-bool ValueStructPubSubType::getKey(
+bool ValueStructPubSubType::compute_key(
+        SerializedPayload_t* payload,
+        InstanceHandle_t* handle,
+        bool force_md5)
+{
+    if (!is_compute_key_provided)
+    {
+        return false;
+    }
+
+    ValueStruct data;
+    if (deserialize(payload, static_cast<void*>(&data)))
+    {
+        return compute_key(static_cast<void*>(&data), handle, force_md5);
+    }
+
+    return false;
+}
+
+bool ValueStructPubSubType::compute_key(
         const void* const data,
         InstanceHandle_t* handle,
         bool force_md5)
 {
-    if (!m_isGetKeyDefined)
+    if (!is_compute_key_provided)
     {
         return false;
     }
@@ -185,35 +180,27 @@ bool ValueStructPubSubType::getKey(
     const ValueStruct* p_type = static_cast<const ValueStruct*>(data);
 
     // Object that manages the raw buffer.
-    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(m_keyBuffer),
+    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(key_buffer_),
             ValueStruct_max_key_cdr_typesize);
 
     // Object that serializes the data.
     eprosima::fastcdr::Cdr ser(fastbuffer, eprosima::fastcdr::Cdr::BIG_ENDIANNESS, eprosima::fastcdr::CdrVersion::XCDRv1);
-#if FASTCDR_VERSION_MAJOR == 1
-    p_type->serializeKey(ser);
-#else
     eprosima::fastcdr::serialize_key(ser, *p_type);
-#endif // FASTCDR_VERSION_MAJOR == 1
     if (force_md5 || ValueStruct_max_key_cdr_typesize > 16)
     {
-        m_md5.init();
-#if FASTCDR_VERSION_MAJOR == 1
-        m_md5.update(m_keyBuffer, static_cast<unsigned int>(ser.getSerializedDataLength()));
-#else
-        m_md5.update(m_keyBuffer, static_cast<unsigned int>(ser.get_serialized_data_length()));
-#endif // FASTCDR_VERSION_MAJOR == 1
-        m_md5.finalize();
+        md5_.init();
+        md5_.update(key_buffer_, static_cast<unsigned int>(ser.get_serialized_data_length()));
+        md5_.finalize();
         for (uint8_t i = 0; i < 16; ++i)
         {
-            handle->value[i] = m_md5.digest[i];
+            handle->value[i] = md5_.digest[i];
         }
     }
     else
     {
         for (uint8_t i = 0; i < 16; ++i)
         {
-            handle->value[i] = m_keyBuffer[i];
+            handle->value[i] = key_buffer_[i];
         }
     }
     return true;
@@ -226,26 +213,21 @@ void ValueStructPubSubType::register_type_object_representation()
 
 MapStructPubSubType::MapStructPubSubType()
 {
-    setName("MapStruct");
-    uint32_t type_size =
-#if FASTCDR_VERSION_MAJOR == 1
-        static_cast<uint32_t>(MapStruct::getMaxCdrSerializedSize());
-#else
-        MapStruct_max_cdr_typesize;
-#endif
+    set_name("MapStruct");
+    uint32_t type_size = MapStruct_max_cdr_typesize;
     type_size += static_cast<uint32_t>(eprosima::fastcdr::Cdr::alignment(type_size, 4)); /* possible submessage alignment */
-    m_typeSize = type_size + 4; /*encapsulation*/
-    m_isGetKeyDefined = false;
-    uint32_t keyLength = MapStruct_max_key_cdr_typesize > 16 ? MapStruct_max_key_cdr_typesize : 16;
-    m_keyBuffer = reinterpret_cast<unsigned char*>(malloc(keyLength));
-    memset(m_keyBuffer, 0, keyLength);
+    max_serialized_type_size = type_size + 4; /*encapsulation*/
+    is_compute_key_provided = false;
+    uint32_t key_length = MapStruct_max_key_cdr_typesize > 16 ? MapStruct_max_key_cdr_typesize : 16;
+    key_buffer_ = reinterpret_cast<unsigned char*>(malloc(key_length));
+    memset(key_buffer_, 0, key_length);
 }
 
 MapStructPubSubType::~MapStructPubSubType()
 {
-    if (m_keyBuffer != nullptr)
+    if (key_buffer_ != nullptr)
     {
-        free(m_keyBuffer);
+        free(key_buffer_);
     }
 }
 
@@ -263,12 +245,10 @@ bool MapStructPubSubType::serialize(
             data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
             eprosima::fastcdr::CdrVersion::XCDRv1 : eprosima::fastcdr::CdrVersion::XCDRv2);
     payload->encapsulation = ser.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS ? CDR_BE : CDR_LE;
-#if FASTCDR_VERSION_MAJOR > 1
     ser.set_encoding_flag(
         data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
         eprosima::fastcdr::EncodingAlgorithmFlag::PLAIN_CDR  :
         eprosima::fastcdr::EncodingAlgorithmFlag::DELIMIT_CDR2);
-#endif // FASTCDR_VERSION_MAJOR > 1
 
     try
     {
@@ -283,11 +263,7 @@ bool MapStructPubSubType::serialize(
     }
 
     // Get the serialized length
-#if FASTCDR_VERSION_MAJOR == 1
-    payload->length = static_cast<uint32_t>(ser.getSerializedDataLength());
-#else
     payload->length = static_cast<uint32_t>(ser.get_serialized_data_length());
-#endif // FASTCDR_VERSION_MAJOR == 1
     return true;
 }
 
@@ -304,11 +280,7 @@ bool MapStructPubSubType::deserialize(
         eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(payload->data), payload->length);
 
         // Object that deserializes the data.
-        eprosima::fastcdr::Cdr deser(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN
-#if FASTCDR_VERSION_MAJOR == 1
-                , eprosima::fastcdr::Cdr::CdrType::DDS_CDR
-#endif // FASTCDR_VERSION_MAJOR == 1
-                );
+        eprosima::fastcdr::Cdr deser(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN);
 
         // Deserialize encapsulation.
         deser.read_encapsulation();
@@ -325,52 +297,62 @@ bool MapStructPubSubType::deserialize(
     return true;
 }
 
-std::function<uint32_t()> MapStructPubSubType::getSerializedSizeProvider(
+uint32_t MapStructPubSubType::calculate_serialized_size(
         const void* const data,
         DataRepresentationId_t data_representation)
 {
-    return [data, data_representation]() -> uint32_t
-           {
-#if FASTCDR_VERSION_MAJOR == 1
-               static_cast<void>(data_representation);
-               return static_cast<uint32_t>(type::getCdrSerializedSize(*static_cast<MapStruct*>(data))) +
-                      4u /*encapsulation*/;
-#else
-               try
-               {
-                   eprosima::fastcdr::CdrSizeCalculator calculator(
-                       data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
-                       eprosima::fastcdr::CdrVersion::XCDRv1 :eprosima::fastcdr::CdrVersion::XCDRv2);
-                   size_t current_alignment {0};
-                   return static_cast<uint32_t>(calculator.calculate_serialized_size(
-                               *static_cast<const MapStruct*>(data), current_alignment)) +
-                           4u /*encapsulation*/;
-               }
-               catch (eprosima::fastcdr::exception::Exception& /*exception*/)
-               {
-                   return 0;
-               }
-#endif // FASTCDR_VERSION_MAJOR == 1
-           };
+    try
+    {
+        eprosima::fastcdr::CdrSizeCalculator calculator(
+            data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
+            eprosima::fastcdr::CdrVersion::XCDRv1 :eprosima::fastcdr::CdrVersion::XCDRv2);
+        size_t current_alignment {0};
+        return static_cast<uint32_t>(calculator.calculate_serialized_size(
+                    *static_cast<const MapStruct*>(data), current_alignment)) +
+                4u /*encapsulation*/;
+    }
+    catch (eprosima::fastcdr::exception::Exception& /*exception*/)
+    {
+        return 0;
+    }
 }
 
-void* MapStructPubSubType::createData()
+void* MapStructPubSubType::create_data()
 {
     return reinterpret_cast<void*>(new MapStruct());
 }
 
-void MapStructPubSubType::deleteData(
+void MapStructPubSubType::delete_data(
         void* data)
 {
     delete(reinterpret_cast<MapStruct*>(data));
 }
 
-bool MapStructPubSubType::getKey(
+bool MapStructPubSubType::compute_key(
+        SerializedPayload_t* payload,
+        InstanceHandle_t* handle,
+        bool force_md5)
+{
+    if (!is_compute_key_provided)
+    {
+        return false;
+    }
+
+    MapStruct data;
+    if (deserialize(payload, static_cast<void*>(&data)))
+    {
+        return compute_key(static_cast<void*>(&data), handle, force_md5);
+    }
+
+    return false;
+}
+
+bool MapStructPubSubType::compute_key(
         const void* const data,
         InstanceHandle_t* handle,
         bool force_md5)
 {
-    if (!m_isGetKeyDefined)
+    if (!is_compute_key_provided)
     {
         return false;
     }
@@ -378,35 +360,27 @@ bool MapStructPubSubType::getKey(
     const MapStruct* p_type = static_cast<const MapStruct*>(data);
 
     // Object that manages the raw buffer.
-    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(m_keyBuffer),
+    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(key_buffer_),
             MapStruct_max_key_cdr_typesize);
 
     // Object that serializes the data.
     eprosima::fastcdr::Cdr ser(fastbuffer, eprosima::fastcdr::Cdr::BIG_ENDIANNESS, eprosima::fastcdr::CdrVersion::XCDRv1);
-#if FASTCDR_VERSION_MAJOR == 1
-    p_type->serializeKey(ser);
-#else
     eprosima::fastcdr::serialize_key(ser, *p_type);
-#endif // FASTCDR_VERSION_MAJOR == 1
     if (force_md5 || MapStruct_max_key_cdr_typesize > 16)
     {
-        m_md5.init();
-#if FASTCDR_VERSION_MAJOR == 1
-        m_md5.update(m_keyBuffer, static_cast<unsigned int>(ser.getSerializedDataLength()));
-#else
-        m_md5.update(m_keyBuffer, static_cast<unsigned int>(ser.get_serialized_data_length()));
-#endif // FASTCDR_VERSION_MAJOR == 1
-        m_md5.finalize();
+        md5_.init();
+        md5_.update(key_buffer_, static_cast<unsigned int>(ser.get_serialized_data_length()));
+        md5_.finalize();
         for (uint8_t i = 0; i < 16; ++i)
         {
-            handle->value[i] = m_md5.digest[i];
+            handle->value[i] = md5_.digest[i];
         }
     }
     else
     {
         for (uint8_t i = 0; i < 16; ++i)
         {
-            handle->value[i] = m_keyBuffer[i];
+            handle->value[i] = key_buffer_[i];
         }
     }
     return true;
diff --git a/test/unittest/dds/xtypes/serializers/idl/types/map_struct/gen/map_structPubSubTypes.hpp b/test/unittest/dds/xtypes/serializers/idl/types/map_struct/gen/map_structPubSubTypes.hpp
index 6cffc72f9e0..9f83a37ec08 100644
--- a/test/unittest/dds/xtypes/serializers/idl/types/map_struct/gen/map_structPubSubTypes.hpp
+++ b/test/unittest/dds/xtypes/serializers/idl/types/map_struct/gen/map_structPubSubTypes.hpp
@@ -32,10 +32,10 @@
 #include "map_struct.hpp"
 
 
-#if !defined(GEN_API_VER) || (GEN_API_VER != 2)
+#if !defined(FASTDDS_GEN_API_VER) || (FASTDDS_GEN_API_VER != 3)
 #error \
     Generated map_struct is not compatible with current installed Fast DDS. Please, regenerate it with fastddsgen.
-#endif  // GEN_API_VER
+#endif  // FASTDDS_GEN_API_VER
 
 
 /*!
@@ -52,13 +52,6 @@ class ValueStructPubSubType : public eprosima::fastdds::dds::TopicDataType
 
     eProsima_user_DllExport ~ValueStructPubSubType() override;
 
-    eProsima_user_DllExport bool serialize(
-            const void* const data,
-            eprosima::fastdds::rtps::SerializedPayload_t* payload) override
-    {
-        return serialize(data, payload, eprosima::fastdds::dds::DEFAULT_DATA_REPRESENTATION);
-    }
-
     eProsima_user_DllExport bool serialize(
             const void* const data,
             eprosima::fastdds::rtps::SerializedPayload_t* payload,
@@ -68,24 +61,23 @@ class ValueStructPubSubType : public eprosima::fastdds::dds::TopicDataType
             eprosima::fastdds::rtps::SerializedPayload_t* payload,
             void* data) override;
 
-    eProsima_user_DllExport std::function<uint32_t()> getSerializedSizeProvider(
-            const void* const data) override
-    {
-        return getSerializedSizeProvider(data, eprosima::fastdds::dds::DEFAULT_DATA_REPRESENTATION);
-    }
-
-    eProsima_user_DllExport std::function<uint32_t()> getSerializedSizeProvider(
+    eProsima_user_DllExport uint32_t calculate_serialized_size(
             const void* const data,
             eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
 
-    eProsima_user_DllExport bool getKey(
+    eProsima_user_DllExport bool compute_key(
+            eprosima::fastdds::rtps::SerializedPayload_t* payload,
+            eprosima::fastdds::rtps::InstanceHandle_t* ihandle,
+            bool force_md5 = false) override;
+
+    eProsima_user_DllExport bool compute_key(
             const void* const data,
             eprosima::fastdds::rtps::InstanceHandle_t* ihandle,
             bool force_md5 = false) override;
 
-    eProsima_user_DllExport void* createData() override;
+    eProsima_user_DllExport void* create_data() override;
 
-    eProsima_user_DllExport void deleteData(
+    eProsima_user_DllExport void delete_data(
             void* data) override;
 
     //Register TypeObject representation in Fast DDS TypeObjectRegistry
@@ -100,10 +92,6 @@ class ValueStructPubSubType : public eprosima::fastdds::dds::TopicDataType
 #endif  // TOPIC_DATA_TYPE_API_HAS_IS_BOUNDED
 
 #ifdef TOPIC_DATA_TYPE_API_HAS_IS_PLAIN
-    eProsima_user_DllExport inline bool is_plain() const override
-    {
-        return false;
-    }
 
     eProsima_user_DllExport inline bool is_plain(
             eprosima::fastdds::dds::DataRepresentationId_t data_representation) const override
@@ -124,8 +112,8 @@ class ValueStructPubSubType : public eprosima::fastdds::dds::TopicDataType
 
 #endif  // TOPIC_DATA_TYPE_API_HAS_CONSTRUCT_SAMPLE
 
-    eprosima::fastdds::MD5 m_md5;
-    unsigned char* m_keyBuffer;
+    eprosima::fastdds::MD5 md5_;
+    unsigned char* key_buffer_;
 
 };
 
@@ -143,13 +131,6 @@ class MapStructPubSubType : public eprosima::fastdds::dds::TopicDataType
 
     eProsima_user_DllExport ~MapStructPubSubType() override;
 
-    eProsima_user_DllExport bool serialize(
-            const void* const data,
-            eprosima::fastdds::rtps::SerializedPayload_t* payload) override
-    {
-        return serialize(data, payload, eprosima::fastdds::dds::DEFAULT_DATA_REPRESENTATION);
-    }
-
     eProsima_user_DllExport bool serialize(
             const void* const data,
             eprosima::fastdds::rtps::SerializedPayload_t* payload,
@@ -159,24 +140,23 @@ class MapStructPubSubType : public eprosima::fastdds::dds::TopicDataType
             eprosima::fastdds::rtps::SerializedPayload_t* payload,
             void* data) override;
 
-    eProsima_user_DllExport std::function<uint32_t()> getSerializedSizeProvider(
-            const void* const data) override
-    {
-        return getSerializedSizeProvider(data, eprosima::fastdds::dds::DEFAULT_DATA_REPRESENTATION);
-    }
-
-    eProsima_user_DllExport std::function<uint32_t()> getSerializedSizeProvider(
+    eProsima_user_DllExport uint32_t calculate_serialized_size(
             const void* const data,
             eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
 
-    eProsima_user_DllExport bool getKey(
+    eProsima_user_DllExport bool compute_key(
+            eprosima::fastdds::rtps::SerializedPayload_t* payload,
+            eprosima::fastdds::rtps::InstanceHandle_t* ihandle,
+            bool force_md5 = false) override;
+
+    eProsima_user_DllExport bool compute_key(
             const void* const data,
             eprosima::fastdds::rtps::InstanceHandle_t* ihandle,
             bool force_md5 = false) override;
 
-    eProsima_user_DllExport void* createData() override;
+    eProsima_user_DllExport void* create_data() override;
 
-    eProsima_user_DllExport void deleteData(
+    eProsima_user_DllExport void delete_data(
             void* data) override;
 
     //Register TypeObject representation in Fast DDS TypeObjectRegistry
@@ -191,10 +171,6 @@ class MapStructPubSubType : public eprosima::fastdds::dds::TopicDataType
 #endif  // TOPIC_DATA_TYPE_API_HAS_IS_BOUNDED
 
 #ifdef TOPIC_DATA_TYPE_API_HAS_IS_PLAIN
-    eProsima_user_DllExport inline bool is_plain() const override
-    {
-        return false;
-    }
 
     eProsima_user_DllExport inline bool is_plain(
             eprosima::fastdds::dds::DataRepresentationId_t data_representation) const override
@@ -215,8 +191,8 @@ class MapStructPubSubType : public eprosima::fastdds::dds::TopicDataType
 
 #endif  // TOPIC_DATA_TYPE_API_HAS_CONSTRUCT_SAMPLE
 
-    eprosima::fastdds::MD5 m_md5;
-    unsigned char* m_keyBuffer;
+    eprosima::fastdds::MD5 md5_;
+    unsigned char* key_buffer_;
 
 };
 
diff --git a/test/unittest/dds/xtypes/serializers/idl/types/primitives_struct/gen/primitives_structPubSubTypes.cxx b/test/unittest/dds/xtypes/serializers/idl/types/primitives_struct/gen/primitives_structPubSubTypes.cxx
index 3434ba975ca..0f5af696c22 100644
--- a/test/unittest/dds/xtypes/serializers/idl/types/primitives_struct/gen/primitives_structPubSubTypes.cxx
+++ b/test/unittest/dds/xtypes/serializers/idl/types/primitives_struct/gen/primitives_structPubSubTypes.cxx
@@ -33,26 +33,21 @@ using DataRepresentationId_t = eprosima::fastdds::dds::DataRepresentationId_t;
 
 PrimitivesStructPubSubType::PrimitivesStructPubSubType()
 {
-    setName("PrimitivesStruct");
-    uint32_t type_size =
-#if FASTCDR_VERSION_MAJOR == 1
-        static_cast<uint32_t>(PrimitivesStruct::getMaxCdrSerializedSize());
-#else
-        PrimitivesStruct_max_cdr_typesize;
-#endif
+    set_name("PrimitivesStruct");
+    uint32_t type_size = PrimitivesStruct_max_cdr_typesize;
     type_size += static_cast<uint32_t>(eprosima::fastcdr::Cdr::alignment(type_size, 4)); /* possible submessage alignment */
-    m_typeSize = type_size + 4; /*encapsulation*/
-    m_isGetKeyDefined = false;
-    uint32_t keyLength = PrimitivesStruct_max_key_cdr_typesize > 16 ? PrimitivesStruct_max_key_cdr_typesize : 16;
-    m_keyBuffer = reinterpret_cast<unsigned char*>(malloc(keyLength));
-    memset(m_keyBuffer, 0, keyLength);
+    max_serialized_type_size = type_size + 4; /*encapsulation*/
+    is_compute_key_provided = false;
+    uint32_t key_length = PrimitivesStruct_max_key_cdr_typesize > 16 ? PrimitivesStruct_max_key_cdr_typesize : 16;
+    key_buffer_ = reinterpret_cast<unsigned char*>(malloc(key_length));
+    memset(key_buffer_, 0, key_length);
 }
 
 PrimitivesStructPubSubType::~PrimitivesStructPubSubType()
 {
-    if (m_keyBuffer != nullptr)
+    if (key_buffer_ != nullptr)
     {
-        free(m_keyBuffer);
+        free(key_buffer_);
     }
 }
 
@@ -70,12 +65,10 @@ bool PrimitivesStructPubSubType::serialize(
             data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
             eprosima::fastcdr::CdrVersion::XCDRv1 : eprosima::fastcdr::CdrVersion::XCDRv2);
     payload->encapsulation = ser.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS ? CDR_BE : CDR_LE;
-#if FASTCDR_VERSION_MAJOR > 1
     ser.set_encoding_flag(
         data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
         eprosima::fastcdr::EncodingAlgorithmFlag::PLAIN_CDR  :
         eprosima::fastcdr::EncodingAlgorithmFlag::DELIMIT_CDR2);
-#endif // FASTCDR_VERSION_MAJOR > 1
 
     try
     {
@@ -90,11 +83,7 @@ bool PrimitivesStructPubSubType::serialize(
     }
 
     // Get the serialized length
-#if FASTCDR_VERSION_MAJOR == 1
-    payload->length = static_cast<uint32_t>(ser.getSerializedDataLength());
-#else
     payload->length = static_cast<uint32_t>(ser.get_serialized_data_length());
-#endif // FASTCDR_VERSION_MAJOR == 1
     return true;
 }
 
@@ -111,11 +100,7 @@ bool PrimitivesStructPubSubType::deserialize(
         eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(payload->data), payload->length);
 
         // Object that deserializes the data.
-        eprosima::fastcdr::Cdr deser(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN
-#if FASTCDR_VERSION_MAJOR == 1
-                , eprosima::fastcdr::Cdr::CdrType::DDS_CDR
-#endif // FASTCDR_VERSION_MAJOR == 1
-                );
+        eprosima::fastcdr::Cdr deser(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN);
 
         // Deserialize encapsulation.
         deser.read_encapsulation();
@@ -132,52 +117,62 @@ bool PrimitivesStructPubSubType::deserialize(
     return true;
 }
 
-std::function<uint32_t()> PrimitivesStructPubSubType::getSerializedSizeProvider(
+uint32_t PrimitivesStructPubSubType::calculate_serialized_size(
         const void* const data,
         DataRepresentationId_t data_representation)
 {
-    return [data, data_representation]() -> uint32_t
-           {
-#if FASTCDR_VERSION_MAJOR == 1
-               static_cast<void>(data_representation);
-               return static_cast<uint32_t>(type::getCdrSerializedSize(*static_cast<PrimitivesStruct*>(data))) +
-                      4u /*encapsulation*/;
-#else
-               try
-               {
-                   eprosima::fastcdr::CdrSizeCalculator calculator(
-                       data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
-                       eprosima::fastcdr::CdrVersion::XCDRv1 :eprosima::fastcdr::CdrVersion::XCDRv2);
-                   size_t current_alignment {0};
-                   return static_cast<uint32_t>(calculator.calculate_serialized_size(
-                               *static_cast<const PrimitivesStruct*>(data), current_alignment)) +
-                           4u /*encapsulation*/;
-               }
-               catch (eprosima::fastcdr::exception::Exception& /*exception*/)
-               {
-                   return 0;
-               }
-#endif // FASTCDR_VERSION_MAJOR == 1
-           };
+    try
+    {
+        eprosima::fastcdr::CdrSizeCalculator calculator(
+            data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
+            eprosima::fastcdr::CdrVersion::XCDRv1 :eprosima::fastcdr::CdrVersion::XCDRv2);
+        size_t current_alignment {0};
+        return static_cast<uint32_t>(calculator.calculate_serialized_size(
+                    *static_cast<const PrimitivesStruct*>(data), current_alignment)) +
+                4u /*encapsulation*/;
+    }
+    catch (eprosima::fastcdr::exception::Exception& /*exception*/)
+    {
+        return 0;
+    }
 }
 
-void* PrimitivesStructPubSubType::createData()
+void* PrimitivesStructPubSubType::create_data()
 {
     return reinterpret_cast<void*>(new PrimitivesStruct());
 }
 
-void PrimitivesStructPubSubType::deleteData(
+void PrimitivesStructPubSubType::delete_data(
         void* data)
 {
     delete(reinterpret_cast<PrimitivesStruct*>(data));
 }
 
-bool PrimitivesStructPubSubType::getKey(
+bool PrimitivesStructPubSubType::compute_key(
+        SerializedPayload_t* payload,
+        InstanceHandle_t* handle,
+        bool force_md5)
+{
+    if (!is_compute_key_provided)
+    {
+        return false;
+    }
+
+    PrimitivesStruct data;
+    if (deserialize(payload, static_cast<void*>(&data)))
+    {
+        return compute_key(static_cast<void*>(&data), handle, force_md5);
+    }
+
+    return false;
+}
+
+bool PrimitivesStructPubSubType::compute_key(
         const void* const data,
         InstanceHandle_t* handle,
         bool force_md5)
 {
-    if (!m_isGetKeyDefined)
+    if (!is_compute_key_provided)
     {
         return false;
     }
@@ -185,35 +180,27 @@ bool PrimitivesStructPubSubType::getKey(
     const PrimitivesStruct* p_type = static_cast<const PrimitivesStruct*>(data);
 
     // Object that manages the raw buffer.
-    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(m_keyBuffer),
+    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(key_buffer_),
             PrimitivesStruct_max_key_cdr_typesize);
 
     // Object that serializes the data.
     eprosima::fastcdr::Cdr ser(fastbuffer, eprosima::fastcdr::Cdr::BIG_ENDIANNESS, eprosima::fastcdr::CdrVersion::XCDRv1);
-#if FASTCDR_VERSION_MAJOR == 1
-    p_type->serializeKey(ser);
-#else
     eprosima::fastcdr::serialize_key(ser, *p_type);
-#endif // FASTCDR_VERSION_MAJOR == 1
     if (force_md5 || PrimitivesStruct_max_key_cdr_typesize > 16)
     {
-        m_md5.init();
-#if FASTCDR_VERSION_MAJOR == 1
-        m_md5.update(m_keyBuffer, static_cast<unsigned int>(ser.getSerializedDataLength()));
-#else
-        m_md5.update(m_keyBuffer, static_cast<unsigned int>(ser.get_serialized_data_length()));
-#endif // FASTCDR_VERSION_MAJOR == 1
-        m_md5.finalize();
+        md5_.init();
+        md5_.update(key_buffer_, static_cast<unsigned int>(ser.get_serialized_data_length()));
+        md5_.finalize();
         for (uint8_t i = 0; i < 16; ++i)
         {
-            handle->value[i] = m_md5.digest[i];
+            handle->value[i] = md5_.digest[i];
         }
     }
     else
     {
         for (uint8_t i = 0; i < 16; ++i)
         {
-            handle->value[i] = m_keyBuffer[i];
+            handle->value[i] = key_buffer_[i];
         }
     }
     return true;
diff --git a/test/unittest/dds/xtypes/serializers/idl/types/primitives_struct/gen/primitives_structPubSubTypes.hpp b/test/unittest/dds/xtypes/serializers/idl/types/primitives_struct/gen/primitives_structPubSubTypes.hpp
index afcc3758609..dc813132db2 100644
--- a/test/unittest/dds/xtypes/serializers/idl/types/primitives_struct/gen/primitives_structPubSubTypes.hpp
+++ b/test/unittest/dds/xtypes/serializers/idl/types/primitives_struct/gen/primitives_structPubSubTypes.hpp
@@ -32,10 +32,10 @@
 #include "primitives_struct.hpp"
 
 
-#if !defined(GEN_API_VER) || (GEN_API_VER != 2)
+#if !defined(FASTDDS_GEN_API_VER) || (FASTDDS_GEN_API_VER != 3)
 #error \
     Generated primitives_struct is not compatible with current installed Fast DDS. Please, regenerate it with fastddsgen.
-#endif  // GEN_API_VER
+#endif  // FASTDDS_GEN_API_VER
 
 
 /*!
@@ -52,13 +52,6 @@ class PrimitivesStructPubSubType : public eprosima::fastdds::dds::TopicDataType
 
     eProsima_user_DllExport ~PrimitivesStructPubSubType() override;
 
-    eProsima_user_DllExport bool serialize(
-            const void* const data,
-            eprosima::fastdds::rtps::SerializedPayload_t* payload) override
-    {
-        return serialize(data, payload, eprosima::fastdds::dds::DEFAULT_DATA_REPRESENTATION);
-    }
-
     eProsima_user_DllExport bool serialize(
             const void* const data,
             eprosima::fastdds::rtps::SerializedPayload_t* payload,
@@ -68,24 +61,23 @@ class PrimitivesStructPubSubType : public eprosima::fastdds::dds::TopicDataType
             eprosima::fastdds::rtps::SerializedPayload_t* payload,
             void* data) override;
 
-    eProsima_user_DllExport std::function<uint32_t()> getSerializedSizeProvider(
-            const void* const data) override
-    {
-        return getSerializedSizeProvider(data, eprosima::fastdds::dds::DEFAULT_DATA_REPRESENTATION);
-    }
-
-    eProsima_user_DllExport std::function<uint32_t()> getSerializedSizeProvider(
+    eProsima_user_DllExport uint32_t calculate_serialized_size(
             const void* const data,
             eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
 
-    eProsima_user_DllExport bool getKey(
+    eProsima_user_DllExport bool compute_key(
+            eprosima::fastdds::rtps::SerializedPayload_t* payload,
+            eprosima::fastdds::rtps::InstanceHandle_t* ihandle,
+            bool force_md5 = false) override;
+
+    eProsima_user_DllExport bool compute_key(
             const void* const data,
             eprosima::fastdds::rtps::InstanceHandle_t* ihandle,
             bool force_md5 = false) override;
 
-    eProsima_user_DllExport void* createData() override;
+    eProsima_user_DllExport void* create_data() override;
 
-    eProsima_user_DllExport void deleteData(
+    eProsima_user_DllExport void delete_data(
             void* data) override;
 
     //Register TypeObject representation in Fast DDS TypeObjectRegistry
@@ -100,10 +92,6 @@ class PrimitivesStructPubSubType : public eprosima::fastdds::dds::TopicDataType
 #endif  // TOPIC_DATA_TYPE_API_HAS_IS_BOUNDED
 
 #ifdef TOPIC_DATA_TYPE_API_HAS_IS_PLAIN
-    eProsima_user_DllExport inline bool is_plain() const override
-    {
-        return false;
-    }
 
     eProsima_user_DllExport inline bool is_plain(
             eprosima::fastdds::dds::DataRepresentationId_t data_representation) const override
@@ -124,8 +112,8 @@ class PrimitivesStructPubSubType : public eprosima::fastdds::dds::TopicDataType
 
 #endif  // TOPIC_DATA_TYPE_API_HAS_CONSTRUCT_SAMPLE
 
-    eprosima::fastdds::MD5 m_md5;
-    unsigned char* m_keyBuffer;
+    eprosima::fastdds::MD5 md5_;
+    unsigned char* key_buffer_;
 
 };
 
diff --git a/test/unittest/dds/xtypes/serializers/idl/types/sequence_struct/gen/sequence_structPubSubTypes.cxx b/test/unittest/dds/xtypes/serializers/idl/types/sequence_struct/gen/sequence_structPubSubTypes.cxx
index 406a1041ea5..030fb441170 100644
--- a/test/unittest/dds/xtypes/serializers/idl/types/sequence_struct/gen/sequence_structPubSubTypes.cxx
+++ b/test/unittest/dds/xtypes/serializers/idl/types/sequence_struct/gen/sequence_structPubSubTypes.cxx
@@ -33,26 +33,21 @@ using DataRepresentationId_t = eprosima::fastdds::dds::DataRepresentationId_t;
 
 NestedSequenceElementPubSubType::NestedSequenceElementPubSubType()
 {
-    setName("NestedSequenceElement");
-    uint32_t type_size =
-#if FASTCDR_VERSION_MAJOR == 1
-        static_cast<uint32_t>(NestedSequenceElement::getMaxCdrSerializedSize());
-#else
-        NestedSequenceElement_max_cdr_typesize;
-#endif
+    set_name("NestedSequenceElement");
+    uint32_t type_size = NestedSequenceElement_max_cdr_typesize;
     type_size += static_cast<uint32_t>(eprosima::fastcdr::Cdr::alignment(type_size, 4)); /* possible submessage alignment */
-    m_typeSize = type_size + 4; /*encapsulation*/
-    m_isGetKeyDefined = false;
-    uint32_t keyLength = NestedSequenceElement_max_key_cdr_typesize > 16 ? NestedSequenceElement_max_key_cdr_typesize : 16;
-    m_keyBuffer = reinterpret_cast<unsigned char*>(malloc(keyLength));
-    memset(m_keyBuffer, 0, keyLength);
+    max_serialized_type_size = type_size + 4; /*encapsulation*/
+    is_compute_key_provided = false;
+    uint32_t key_length = NestedSequenceElement_max_key_cdr_typesize > 16 ? NestedSequenceElement_max_key_cdr_typesize : 16;
+    key_buffer_ = reinterpret_cast<unsigned char*>(malloc(key_length));
+    memset(key_buffer_, 0, key_length);
 }
 
 NestedSequenceElementPubSubType::~NestedSequenceElementPubSubType()
 {
-    if (m_keyBuffer != nullptr)
+    if (key_buffer_ != nullptr)
     {
-        free(m_keyBuffer);
+        free(key_buffer_);
     }
 }
 
@@ -70,12 +65,10 @@ bool NestedSequenceElementPubSubType::serialize(
             data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
             eprosima::fastcdr::CdrVersion::XCDRv1 : eprosima::fastcdr::CdrVersion::XCDRv2);
     payload->encapsulation = ser.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS ? CDR_BE : CDR_LE;
-#if FASTCDR_VERSION_MAJOR > 1
     ser.set_encoding_flag(
         data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
         eprosima::fastcdr::EncodingAlgorithmFlag::PLAIN_CDR  :
         eprosima::fastcdr::EncodingAlgorithmFlag::DELIMIT_CDR2);
-#endif // FASTCDR_VERSION_MAJOR > 1
 
     try
     {
@@ -90,11 +83,7 @@ bool NestedSequenceElementPubSubType::serialize(
     }
 
     // Get the serialized length
-#if FASTCDR_VERSION_MAJOR == 1
-    payload->length = static_cast<uint32_t>(ser.getSerializedDataLength());
-#else
     payload->length = static_cast<uint32_t>(ser.get_serialized_data_length());
-#endif // FASTCDR_VERSION_MAJOR == 1
     return true;
 }
 
@@ -111,11 +100,7 @@ bool NestedSequenceElementPubSubType::deserialize(
         eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(payload->data), payload->length);
 
         // Object that deserializes the data.
-        eprosima::fastcdr::Cdr deser(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN
-#if FASTCDR_VERSION_MAJOR == 1
-                , eprosima::fastcdr::Cdr::CdrType::DDS_CDR
-#endif // FASTCDR_VERSION_MAJOR == 1
-                );
+        eprosima::fastcdr::Cdr deser(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN);
 
         // Deserialize encapsulation.
         deser.read_encapsulation();
@@ -132,52 +117,62 @@ bool NestedSequenceElementPubSubType::deserialize(
     return true;
 }
 
-std::function<uint32_t()> NestedSequenceElementPubSubType::getSerializedSizeProvider(
+uint32_t NestedSequenceElementPubSubType::calculate_serialized_size(
         const void* const data,
         DataRepresentationId_t data_representation)
 {
-    return [data, data_representation]() -> uint32_t
-           {
-#if FASTCDR_VERSION_MAJOR == 1
-               static_cast<void>(data_representation);
-               return static_cast<uint32_t>(type::getCdrSerializedSize(*static_cast<NestedSequenceElement*>(data))) +
-                      4u /*encapsulation*/;
-#else
-               try
-               {
-                   eprosima::fastcdr::CdrSizeCalculator calculator(
-                       data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
-                       eprosima::fastcdr::CdrVersion::XCDRv1 :eprosima::fastcdr::CdrVersion::XCDRv2);
-                   size_t current_alignment {0};
-                   return static_cast<uint32_t>(calculator.calculate_serialized_size(
-                               *static_cast<const NestedSequenceElement*>(data), current_alignment)) +
-                           4u /*encapsulation*/;
-               }
-               catch (eprosima::fastcdr::exception::Exception& /*exception*/)
-               {
-                   return 0;
-               }
-#endif // FASTCDR_VERSION_MAJOR == 1
-           };
+    try
+    {
+        eprosima::fastcdr::CdrSizeCalculator calculator(
+            data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
+            eprosima::fastcdr::CdrVersion::XCDRv1 :eprosima::fastcdr::CdrVersion::XCDRv2);
+        size_t current_alignment {0};
+        return static_cast<uint32_t>(calculator.calculate_serialized_size(
+                    *static_cast<const NestedSequenceElement*>(data), current_alignment)) +
+                4u /*encapsulation*/;
+    }
+    catch (eprosima::fastcdr::exception::Exception& /*exception*/)
+    {
+        return 0;
+    }
 }
 
-void* NestedSequenceElementPubSubType::createData()
+void* NestedSequenceElementPubSubType::create_data()
 {
     return reinterpret_cast<void*>(new NestedSequenceElement());
 }
 
-void NestedSequenceElementPubSubType::deleteData(
+void NestedSequenceElementPubSubType::delete_data(
         void* data)
 {
     delete(reinterpret_cast<NestedSequenceElement*>(data));
 }
 
-bool NestedSequenceElementPubSubType::getKey(
+bool NestedSequenceElementPubSubType::compute_key(
+        SerializedPayload_t* payload,
+        InstanceHandle_t* handle,
+        bool force_md5)
+{
+    if (!is_compute_key_provided)
+    {
+        return false;
+    }
+
+    NestedSequenceElement data;
+    if (deserialize(payload, static_cast<void*>(&data)))
+    {
+        return compute_key(static_cast<void*>(&data), handle, force_md5);
+    }
+
+    return false;
+}
+
+bool NestedSequenceElementPubSubType::compute_key(
         const void* const data,
         InstanceHandle_t* handle,
         bool force_md5)
 {
-    if (!m_isGetKeyDefined)
+    if (!is_compute_key_provided)
     {
         return false;
     }
@@ -185,35 +180,27 @@ bool NestedSequenceElementPubSubType::getKey(
     const NestedSequenceElement* p_type = static_cast<const NestedSequenceElement*>(data);
 
     // Object that manages the raw buffer.
-    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(m_keyBuffer),
+    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(key_buffer_),
             NestedSequenceElement_max_key_cdr_typesize);
 
     // Object that serializes the data.
     eprosima::fastcdr::Cdr ser(fastbuffer, eprosima::fastcdr::Cdr::BIG_ENDIANNESS, eprosima::fastcdr::CdrVersion::XCDRv1);
-#if FASTCDR_VERSION_MAJOR == 1
-    p_type->serializeKey(ser);
-#else
     eprosima::fastcdr::serialize_key(ser, *p_type);
-#endif // FASTCDR_VERSION_MAJOR == 1
     if (force_md5 || NestedSequenceElement_max_key_cdr_typesize > 16)
     {
-        m_md5.init();
-#if FASTCDR_VERSION_MAJOR == 1
-        m_md5.update(m_keyBuffer, static_cast<unsigned int>(ser.getSerializedDataLength()));
-#else
-        m_md5.update(m_keyBuffer, static_cast<unsigned int>(ser.get_serialized_data_length()));
-#endif // FASTCDR_VERSION_MAJOR == 1
-        m_md5.finalize();
+        md5_.init();
+        md5_.update(key_buffer_, static_cast<unsigned int>(ser.get_serialized_data_length()));
+        md5_.finalize();
         for (uint8_t i = 0; i < 16; ++i)
         {
-            handle->value[i] = m_md5.digest[i];
+            handle->value[i] = md5_.digest[i];
         }
     }
     else
     {
         for (uint8_t i = 0; i < 16; ++i)
         {
-            handle->value[i] = m_keyBuffer[i];
+            handle->value[i] = key_buffer_[i];
         }
     }
     return true;
@@ -226,26 +213,21 @@ void NestedSequenceElementPubSubType::register_type_object_representation()
 
 ComplexSequenceElementPubSubType::ComplexSequenceElementPubSubType()
 {
-    setName("ComplexSequenceElement");
-    uint32_t type_size =
-#if FASTCDR_VERSION_MAJOR == 1
-        static_cast<uint32_t>(ComplexSequenceElement::getMaxCdrSerializedSize());
-#else
-        ComplexSequenceElement_max_cdr_typesize;
-#endif
+    set_name("ComplexSequenceElement");
+    uint32_t type_size = ComplexSequenceElement_max_cdr_typesize;
     type_size += static_cast<uint32_t>(eprosima::fastcdr::Cdr::alignment(type_size, 4)); /* possible submessage alignment */
-    m_typeSize = type_size + 4; /*encapsulation*/
-    m_isGetKeyDefined = false;
-    uint32_t keyLength = ComplexSequenceElement_max_key_cdr_typesize > 16 ? ComplexSequenceElement_max_key_cdr_typesize : 16;
-    m_keyBuffer = reinterpret_cast<unsigned char*>(malloc(keyLength));
-    memset(m_keyBuffer, 0, keyLength);
+    max_serialized_type_size = type_size + 4; /*encapsulation*/
+    is_compute_key_provided = false;
+    uint32_t key_length = ComplexSequenceElement_max_key_cdr_typesize > 16 ? ComplexSequenceElement_max_key_cdr_typesize : 16;
+    key_buffer_ = reinterpret_cast<unsigned char*>(malloc(key_length));
+    memset(key_buffer_, 0, key_length);
 }
 
 ComplexSequenceElementPubSubType::~ComplexSequenceElementPubSubType()
 {
-    if (m_keyBuffer != nullptr)
+    if (key_buffer_ != nullptr)
     {
-        free(m_keyBuffer);
+        free(key_buffer_);
     }
 }
 
@@ -263,12 +245,10 @@ bool ComplexSequenceElementPubSubType::serialize(
             data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
             eprosima::fastcdr::CdrVersion::XCDRv1 : eprosima::fastcdr::CdrVersion::XCDRv2);
     payload->encapsulation = ser.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS ? CDR_BE : CDR_LE;
-#if FASTCDR_VERSION_MAJOR > 1
     ser.set_encoding_flag(
         data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
         eprosima::fastcdr::EncodingAlgorithmFlag::PLAIN_CDR  :
         eprosima::fastcdr::EncodingAlgorithmFlag::DELIMIT_CDR2);
-#endif // FASTCDR_VERSION_MAJOR > 1
 
     try
     {
@@ -283,11 +263,7 @@ bool ComplexSequenceElementPubSubType::serialize(
     }
 
     // Get the serialized length
-#if FASTCDR_VERSION_MAJOR == 1
-    payload->length = static_cast<uint32_t>(ser.getSerializedDataLength());
-#else
     payload->length = static_cast<uint32_t>(ser.get_serialized_data_length());
-#endif // FASTCDR_VERSION_MAJOR == 1
     return true;
 }
 
@@ -304,11 +280,7 @@ bool ComplexSequenceElementPubSubType::deserialize(
         eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(payload->data), payload->length);
 
         // Object that deserializes the data.
-        eprosima::fastcdr::Cdr deser(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN
-#if FASTCDR_VERSION_MAJOR == 1
-                , eprosima::fastcdr::Cdr::CdrType::DDS_CDR
-#endif // FASTCDR_VERSION_MAJOR == 1
-                );
+        eprosima::fastcdr::Cdr deser(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN);
 
         // Deserialize encapsulation.
         deser.read_encapsulation();
@@ -325,52 +297,62 @@ bool ComplexSequenceElementPubSubType::deserialize(
     return true;
 }
 
-std::function<uint32_t()> ComplexSequenceElementPubSubType::getSerializedSizeProvider(
+uint32_t ComplexSequenceElementPubSubType::calculate_serialized_size(
         const void* const data,
         DataRepresentationId_t data_representation)
 {
-    return [data, data_representation]() -> uint32_t
-           {
-#if FASTCDR_VERSION_MAJOR == 1
-               static_cast<void>(data_representation);
-               return static_cast<uint32_t>(type::getCdrSerializedSize(*static_cast<ComplexSequenceElement*>(data))) +
-                      4u /*encapsulation*/;
-#else
-               try
-               {
-                   eprosima::fastcdr::CdrSizeCalculator calculator(
-                       data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
-                       eprosima::fastcdr::CdrVersion::XCDRv1 :eprosima::fastcdr::CdrVersion::XCDRv2);
-                   size_t current_alignment {0};
-                   return static_cast<uint32_t>(calculator.calculate_serialized_size(
-                               *static_cast<const ComplexSequenceElement*>(data), current_alignment)) +
-                           4u /*encapsulation*/;
-               }
-               catch (eprosima::fastcdr::exception::Exception& /*exception*/)
-               {
-                   return 0;
-               }
-#endif // FASTCDR_VERSION_MAJOR == 1
-           };
+    try
+    {
+        eprosima::fastcdr::CdrSizeCalculator calculator(
+            data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
+            eprosima::fastcdr::CdrVersion::XCDRv1 :eprosima::fastcdr::CdrVersion::XCDRv2);
+        size_t current_alignment {0};
+        return static_cast<uint32_t>(calculator.calculate_serialized_size(
+                    *static_cast<const ComplexSequenceElement*>(data), current_alignment)) +
+                4u /*encapsulation*/;
+    }
+    catch (eprosima::fastcdr::exception::Exception& /*exception*/)
+    {
+        return 0;
+    }
 }
 
-void* ComplexSequenceElementPubSubType::createData()
+void* ComplexSequenceElementPubSubType::create_data()
 {
     return reinterpret_cast<void*>(new ComplexSequenceElement());
 }
 
-void ComplexSequenceElementPubSubType::deleteData(
+void ComplexSequenceElementPubSubType::delete_data(
         void* data)
 {
     delete(reinterpret_cast<ComplexSequenceElement*>(data));
 }
 
-bool ComplexSequenceElementPubSubType::getKey(
+bool ComplexSequenceElementPubSubType::compute_key(
+        SerializedPayload_t* payload,
+        InstanceHandle_t* handle,
+        bool force_md5)
+{
+    if (!is_compute_key_provided)
+    {
+        return false;
+    }
+
+    ComplexSequenceElement data;
+    if (deserialize(payload, static_cast<void*>(&data)))
+    {
+        return compute_key(static_cast<void*>(&data), handle, force_md5);
+    }
+
+    return false;
+}
+
+bool ComplexSequenceElementPubSubType::compute_key(
         const void* const data,
         InstanceHandle_t* handle,
         bool force_md5)
 {
-    if (!m_isGetKeyDefined)
+    if (!is_compute_key_provided)
     {
         return false;
     }
@@ -378,35 +360,27 @@ bool ComplexSequenceElementPubSubType::getKey(
     const ComplexSequenceElement* p_type = static_cast<const ComplexSequenceElement*>(data);
 
     // Object that manages the raw buffer.
-    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(m_keyBuffer),
+    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(key_buffer_),
             ComplexSequenceElement_max_key_cdr_typesize);
 
     // Object that serializes the data.
     eprosima::fastcdr::Cdr ser(fastbuffer, eprosima::fastcdr::Cdr::BIG_ENDIANNESS, eprosima::fastcdr::CdrVersion::XCDRv1);
-#if FASTCDR_VERSION_MAJOR == 1
-    p_type->serializeKey(ser);
-#else
     eprosima::fastcdr::serialize_key(ser, *p_type);
-#endif // FASTCDR_VERSION_MAJOR == 1
     if (force_md5 || ComplexSequenceElement_max_key_cdr_typesize > 16)
     {
-        m_md5.init();
-#if FASTCDR_VERSION_MAJOR == 1
-        m_md5.update(m_keyBuffer, static_cast<unsigned int>(ser.getSerializedDataLength()));
-#else
-        m_md5.update(m_keyBuffer, static_cast<unsigned int>(ser.get_serialized_data_length()));
-#endif // FASTCDR_VERSION_MAJOR == 1
-        m_md5.finalize();
+        md5_.init();
+        md5_.update(key_buffer_, static_cast<unsigned int>(ser.get_serialized_data_length()));
+        md5_.finalize();
         for (uint8_t i = 0; i < 16; ++i)
         {
-            handle->value[i] = m_md5.digest[i];
+            handle->value[i] = md5_.digest[i];
         }
     }
     else
     {
         for (uint8_t i = 0; i < 16; ++i)
         {
-            handle->value[i] = m_keyBuffer[i];
+            handle->value[i] = key_buffer_[i];
         }
     }
     return true;
@@ -419,26 +393,21 @@ void ComplexSequenceElementPubSubType::register_type_object_representation()
 
 SequenceStructPubSubType::SequenceStructPubSubType()
 {
-    setName("SequenceStruct");
-    uint32_t type_size =
-#if FASTCDR_VERSION_MAJOR == 1
-        static_cast<uint32_t>(SequenceStruct::getMaxCdrSerializedSize());
-#else
-        SequenceStruct_max_cdr_typesize;
-#endif
+    set_name("SequenceStruct");
+    uint32_t type_size = SequenceStruct_max_cdr_typesize;
     type_size += static_cast<uint32_t>(eprosima::fastcdr::Cdr::alignment(type_size, 4)); /* possible submessage alignment */
-    m_typeSize = type_size + 4; /*encapsulation*/
-    m_isGetKeyDefined = false;
-    uint32_t keyLength = SequenceStruct_max_key_cdr_typesize > 16 ? SequenceStruct_max_key_cdr_typesize : 16;
-    m_keyBuffer = reinterpret_cast<unsigned char*>(malloc(keyLength));
-    memset(m_keyBuffer, 0, keyLength);
+    max_serialized_type_size = type_size + 4; /*encapsulation*/
+    is_compute_key_provided = false;
+    uint32_t key_length = SequenceStruct_max_key_cdr_typesize > 16 ? SequenceStruct_max_key_cdr_typesize : 16;
+    key_buffer_ = reinterpret_cast<unsigned char*>(malloc(key_length));
+    memset(key_buffer_, 0, key_length);
 }
 
 SequenceStructPubSubType::~SequenceStructPubSubType()
 {
-    if (m_keyBuffer != nullptr)
+    if (key_buffer_ != nullptr)
     {
-        free(m_keyBuffer);
+        free(key_buffer_);
     }
 }
 
@@ -456,12 +425,10 @@ bool SequenceStructPubSubType::serialize(
             data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
             eprosima::fastcdr::CdrVersion::XCDRv1 : eprosima::fastcdr::CdrVersion::XCDRv2);
     payload->encapsulation = ser.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS ? CDR_BE : CDR_LE;
-#if FASTCDR_VERSION_MAJOR > 1
     ser.set_encoding_flag(
         data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
         eprosima::fastcdr::EncodingAlgorithmFlag::PLAIN_CDR  :
         eprosima::fastcdr::EncodingAlgorithmFlag::DELIMIT_CDR2);
-#endif // FASTCDR_VERSION_MAJOR > 1
 
     try
     {
@@ -476,11 +443,7 @@ bool SequenceStructPubSubType::serialize(
     }
 
     // Get the serialized length
-#if FASTCDR_VERSION_MAJOR == 1
-    payload->length = static_cast<uint32_t>(ser.getSerializedDataLength());
-#else
     payload->length = static_cast<uint32_t>(ser.get_serialized_data_length());
-#endif // FASTCDR_VERSION_MAJOR == 1
     return true;
 }
 
@@ -497,11 +460,7 @@ bool SequenceStructPubSubType::deserialize(
         eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(payload->data), payload->length);
 
         // Object that deserializes the data.
-        eprosima::fastcdr::Cdr deser(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN
-#if FASTCDR_VERSION_MAJOR == 1
-                , eprosima::fastcdr::Cdr::CdrType::DDS_CDR
-#endif // FASTCDR_VERSION_MAJOR == 1
-                );
+        eprosima::fastcdr::Cdr deser(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN);
 
         // Deserialize encapsulation.
         deser.read_encapsulation();
@@ -518,52 +477,62 @@ bool SequenceStructPubSubType::deserialize(
     return true;
 }
 
-std::function<uint32_t()> SequenceStructPubSubType::getSerializedSizeProvider(
+uint32_t SequenceStructPubSubType::calculate_serialized_size(
         const void* const data,
         DataRepresentationId_t data_representation)
 {
-    return [data, data_representation]() -> uint32_t
-           {
-#if FASTCDR_VERSION_MAJOR == 1
-               static_cast<void>(data_representation);
-               return static_cast<uint32_t>(type::getCdrSerializedSize(*static_cast<SequenceStruct*>(data))) +
-                      4u /*encapsulation*/;
-#else
-               try
-               {
-                   eprosima::fastcdr::CdrSizeCalculator calculator(
-                       data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
-                       eprosima::fastcdr::CdrVersion::XCDRv1 :eprosima::fastcdr::CdrVersion::XCDRv2);
-                   size_t current_alignment {0};
-                   return static_cast<uint32_t>(calculator.calculate_serialized_size(
-                               *static_cast<const SequenceStruct*>(data), current_alignment)) +
-                           4u /*encapsulation*/;
-               }
-               catch (eprosima::fastcdr::exception::Exception& /*exception*/)
-               {
-                   return 0;
-               }
-#endif // FASTCDR_VERSION_MAJOR == 1
-           };
+    try
+    {
+        eprosima::fastcdr::CdrSizeCalculator calculator(
+            data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
+            eprosima::fastcdr::CdrVersion::XCDRv1 :eprosima::fastcdr::CdrVersion::XCDRv2);
+        size_t current_alignment {0};
+        return static_cast<uint32_t>(calculator.calculate_serialized_size(
+                    *static_cast<const SequenceStruct*>(data), current_alignment)) +
+                4u /*encapsulation*/;
+    }
+    catch (eprosima::fastcdr::exception::Exception& /*exception*/)
+    {
+        return 0;
+    }
 }
 
-void* SequenceStructPubSubType::createData()
+void* SequenceStructPubSubType::create_data()
 {
     return reinterpret_cast<void*>(new SequenceStruct());
 }
 
-void SequenceStructPubSubType::deleteData(
+void SequenceStructPubSubType::delete_data(
         void* data)
 {
     delete(reinterpret_cast<SequenceStruct*>(data));
 }
 
-bool SequenceStructPubSubType::getKey(
+bool SequenceStructPubSubType::compute_key(
+        SerializedPayload_t* payload,
+        InstanceHandle_t* handle,
+        bool force_md5)
+{
+    if (!is_compute_key_provided)
+    {
+        return false;
+    }
+
+    SequenceStruct data;
+    if (deserialize(payload, static_cast<void*>(&data)))
+    {
+        return compute_key(static_cast<void*>(&data), handle, force_md5);
+    }
+
+    return false;
+}
+
+bool SequenceStructPubSubType::compute_key(
         const void* const data,
         InstanceHandle_t* handle,
         bool force_md5)
 {
-    if (!m_isGetKeyDefined)
+    if (!is_compute_key_provided)
     {
         return false;
     }
@@ -571,35 +540,27 @@ bool SequenceStructPubSubType::getKey(
     const SequenceStruct* p_type = static_cast<const SequenceStruct*>(data);
 
     // Object that manages the raw buffer.
-    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(m_keyBuffer),
+    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(key_buffer_),
             SequenceStruct_max_key_cdr_typesize);
 
     // Object that serializes the data.
     eprosima::fastcdr::Cdr ser(fastbuffer, eprosima::fastcdr::Cdr::BIG_ENDIANNESS, eprosima::fastcdr::CdrVersion::XCDRv1);
-#if FASTCDR_VERSION_MAJOR == 1
-    p_type->serializeKey(ser);
-#else
     eprosima::fastcdr::serialize_key(ser, *p_type);
-#endif // FASTCDR_VERSION_MAJOR == 1
     if (force_md5 || SequenceStruct_max_key_cdr_typesize > 16)
     {
-        m_md5.init();
-#if FASTCDR_VERSION_MAJOR == 1
-        m_md5.update(m_keyBuffer, static_cast<unsigned int>(ser.getSerializedDataLength()));
-#else
-        m_md5.update(m_keyBuffer, static_cast<unsigned int>(ser.get_serialized_data_length()));
-#endif // FASTCDR_VERSION_MAJOR == 1
-        m_md5.finalize();
+        md5_.init();
+        md5_.update(key_buffer_, static_cast<unsigned int>(ser.get_serialized_data_length()));
+        md5_.finalize();
         for (uint8_t i = 0; i < 16; ++i)
         {
-            handle->value[i] = m_md5.digest[i];
+            handle->value[i] = md5_.digest[i];
         }
     }
     else
     {
         for (uint8_t i = 0; i < 16; ++i)
         {
-            handle->value[i] = m_keyBuffer[i];
+            handle->value[i] = key_buffer_[i];
         }
     }
     return true;
diff --git a/test/unittest/dds/xtypes/serializers/idl/types/sequence_struct/gen/sequence_structPubSubTypes.hpp b/test/unittest/dds/xtypes/serializers/idl/types/sequence_struct/gen/sequence_structPubSubTypes.hpp
index d0c2498530d..305c6dedcea 100644
--- a/test/unittest/dds/xtypes/serializers/idl/types/sequence_struct/gen/sequence_structPubSubTypes.hpp
+++ b/test/unittest/dds/xtypes/serializers/idl/types/sequence_struct/gen/sequence_structPubSubTypes.hpp
@@ -32,10 +32,10 @@
 #include "sequence_struct.hpp"
 
 
-#if !defined(GEN_API_VER) || (GEN_API_VER != 2)
+#if !defined(FASTDDS_GEN_API_VER) || (FASTDDS_GEN_API_VER != 3)
 #error \
     Generated sequence_struct is not compatible with current installed Fast DDS. Please, regenerate it with fastddsgen.
-#endif  // GEN_API_VER
+#endif  // FASTDDS_GEN_API_VER
 
 
 /*!
@@ -52,13 +52,6 @@ class NestedSequenceElementPubSubType : public eprosima::fastdds::dds::TopicData
 
     eProsima_user_DllExport ~NestedSequenceElementPubSubType() override;
 
-    eProsima_user_DllExport bool serialize(
-            const void* const data,
-            eprosima::fastdds::rtps::SerializedPayload_t* payload) override
-    {
-        return serialize(data, payload, eprosima::fastdds::dds::DEFAULT_DATA_REPRESENTATION);
-    }
-
     eProsima_user_DllExport bool serialize(
             const void* const data,
             eprosima::fastdds::rtps::SerializedPayload_t* payload,
@@ -68,24 +61,23 @@ class NestedSequenceElementPubSubType : public eprosima::fastdds::dds::TopicData
             eprosima::fastdds::rtps::SerializedPayload_t* payload,
             void* data) override;
 
-    eProsima_user_DllExport std::function<uint32_t()> getSerializedSizeProvider(
-            const void* const data) override
-    {
-        return getSerializedSizeProvider(data, eprosima::fastdds::dds::DEFAULT_DATA_REPRESENTATION);
-    }
-
-    eProsima_user_DllExport std::function<uint32_t()> getSerializedSizeProvider(
+    eProsima_user_DllExport uint32_t calculate_serialized_size(
             const void* const data,
             eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
 
-    eProsima_user_DllExport bool getKey(
+    eProsima_user_DllExport bool compute_key(
+            eprosima::fastdds::rtps::SerializedPayload_t* payload,
+            eprosima::fastdds::rtps::InstanceHandle_t* ihandle,
+            bool force_md5 = false) override;
+
+    eProsima_user_DllExport bool compute_key(
             const void* const data,
             eprosima::fastdds::rtps::InstanceHandle_t* ihandle,
             bool force_md5 = false) override;
 
-    eProsima_user_DllExport void* createData() override;
+    eProsima_user_DllExport void* create_data() override;
 
-    eProsima_user_DllExport void deleteData(
+    eProsima_user_DllExport void delete_data(
             void* data) override;
 
     //Register TypeObject representation in Fast DDS TypeObjectRegistry
@@ -100,10 +92,6 @@ class NestedSequenceElementPubSubType : public eprosima::fastdds::dds::TopicData
 #endif  // TOPIC_DATA_TYPE_API_HAS_IS_BOUNDED
 
 #ifdef TOPIC_DATA_TYPE_API_HAS_IS_PLAIN
-    eProsima_user_DllExport inline bool is_plain() const override
-    {
-        return false;
-    }
 
     eProsima_user_DllExport inline bool is_plain(
             eprosima::fastdds::dds::DataRepresentationId_t data_representation) const override
@@ -124,8 +112,8 @@ class NestedSequenceElementPubSubType : public eprosima::fastdds::dds::TopicData
 
 #endif  // TOPIC_DATA_TYPE_API_HAS_CONSTRUCT_SAMPLE
 
-    eprosima::fastdds::MD5 m_md5;
-    unsigned char* m_keyBuffer;
+    eprosima::fastdds::MD5 md5_;
+    unsigned char* key_buffer_;
 
 };
 
@@ -143,13 +131,6 @@ class ComplexSequenceElementPubSubType : public eprosima::fastdds::dds::TopicDat
 
     eProsima_user_DllExport ~ComplexSequenceElementPubSubType() override;
 
-    eProsima_user_DllExport bool serialize(
-            const void* const data,
-            eprosima::fastdds::rtps::SerializedPayload_t* payload) override
-    {
-        return serialize(data, payload, eprosima::fastdds::dds::DEFAULT_DATA_REPRESENTATION);
-    }
-
     eProsima_user_DllExport bool serialize(
             const void* const data,
             eprosima::fastdds::rtps::SerializedPayload_t* payload,
@@ -159,24 +140,23 @@ class ComplexSequenceElementPubSubType : public eprosima::fastdds::dds::TopicDat
             eprosima::fastdds::rtps::SerializedPayload_t* payload,
             void* data) override;
 
-    eProsima_user_DllExport std::function<uint32_t()> getSerializedSizeProvider(
-            const void* const data) override
-    {
-        return getSerializedSizeProvider(data, eprosima::fastdds::dds::DEFAULT_DATA_REPRESENTATION);
-    }
-
-    eProsima_user_DllExport std::function<uint32_t()> getSerializedSizeProvider(
+    eProsima_user_DllExport uint32_t calculate_serialized_size(
             const void* const data,
             eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
 
-    eProsima_user_DllExport bool getKey(
+    eProsima_user_DllExport bool compute_key(
+            eprosima::fastdds::rtps::SerializedPayload_t* payload,
+            eprosima::fastdds::rtps::InstanceHandle_t* ihandle,
+            bool force_md5 = false) override;
+
+    eProsima_user_DllExport bool compute_key(
             const void* const data,
             eprosima::fastdds::rtps::InstanceHandle_t* ihandle,
             bool force_md5 = false) override;
 
-    eProsima_user_DllExport void* createData() override;
+    eProsima_user_DllExport void* create_data() override;
 
-    eProsima_user_DllExport void deleteData(
+    eProsima_user_DllExport void delete_data(
             void* data) override;
 
     //Register TypeObject representation in Fast DDS TypeObjectRegistry
@@ -191,10 +171,6 @@ class ComplexSequenceElementPubSubType : public eprosima::fastdds::dds::TopicDat
 #endif  // TOPIC_DATA_TYPE_API_HAS_IS_BOUNDED
 
 #ifdef TOPIC_DATA_TYPE_API_HAS_IS_PLAIN
-    eProsima_user_DllExport inline bool is_plain() const override
-    {
-        return false;
-    }
 
     eProsima_user_DllExport inline bool is_plain(
             eprosima::fastdds::dds::DataRepresentationId_t data_representation) const override
@@ -215,8 +191,8 @@ class ComplexSequenceElementPubSubType : public eprosima::fastdds::dds::TopicDat
 
 #endif  // TOPIC_DATA_TYPE_API_HAS_CONSTRUCT_SAMPLE
 
-    eprosima::fastdds::MD5 m_md5;
-    unsigned char* m_keyBuffer;
+    eprosima::fastdds::MD5 md5_;
+    unsigned char* key_buffer_;
 
 };
 
@@ -234,13 +210,6 @@ class SequenceStructPubSubType : public eprosima::fastdds::dds::TopicDataType
 
     eProsima_user_DllExport ~SequenceStructPubSubType() override;
 
-    eProsima_user_DllExport bool serialize(
-            const void* const data,
-            eprosima::fastdds::rtps::SerializedPayload_t* payload) override
-    {
-        return serialize(data, payload, eprosima::fastdds::dds::DEFAULT_DATA_REPRESENTATION);
-    }
-
     eProsima_user_DllExport bool serialize(
             const void* const data,
             eprosima::fastdds::rtps::SerializedPayload_t* payload,
@@ -250,24 +219,23 @@ class SequenceStructPubSubType : public eprosima::fastdds::dds::TopicDataType
             eprosima::fastdds::rtps::SerializedPayload_t* payload,
             void* data) override;
 
-    eProsima_user_DllExport std::function<uint32_t()> getSerializedSizeProvider(
-            const void* const data) override
-    {
-        return getSerializedSizeProvider(data, eprosima::fastdds::dds::DEFAULT_DATA_REPRESENTATION);
-    }
-
-    eProsima_user_DllExport std::function<uint32_t()> getSerializedSizeProvider(
+    eProsima_user_DllExport uint32_t calculate_serialized_size(
             const void* const data,
             eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
 
-    eProsima_user_DllExport bool getKey(
+    eProsima_user_DllExport bool compute_key(
+            eprosima::fastdds::rtps::SerializedPayload_t* payload,
+            eprosima::fastdds::rtps::InstanceHandle_t* ihandle,
+            bool force_md5 = false) override;
+
+    eProsima_user_DllExport bool compute_key(
             const void* const data,
             eprosima::fastdds::rtps::InstanceHandle_t* ihandle,
             bool force_md5 = false) override;
 
-    eProsima_user_DllExport void* createData() override;
+    eProsima_user_DllExport void* create_data() override;
 
-    eProsima_user_DllExport void deleteData(
+    eProsima_user_DllExport void delete_data(
             void* data) override;
 
     //Register TypeObject representation in Fast DDS TypeObjectRegistry
@@ -282,10 +250,6 @@ class SequenceStructPubSubType : public eprosima::fastdds::dds::TopicDataType
 #endif  // TOPIC_DATA_TYPE_API_HAS_IS_BOUNDED
 
 #ifdef TOPIC_DATA_TYPE_API_HAS_IS_PLAIN
-    eProsima_user_DllExport inline bool is_plain() const override
-    {
-        return false;
-    }
 
     eProsima_user_DllExport inline bool is_plain(
             eprosima::fastdds::dds::DataRepresentationId_t data_representation) const override
@@ -306,8 +270,8 @@ class SequenceStructPubSubType : public eprosima::fastdds::dds::TopicDataType
 
 #endif  // TOPIC_DATA_TYPE_API_HAS_CONSTRUCT_SAMPLE
 
-    eprosima::fastdds::MD5 m_md5;
-    unsigned char* m_keyBuffer;
+    eprosima::fastdds::MD5 md5_;
+    unsigned char* key_buffer_;
 
 };
 
diff --git a/test/unittest/dds/xtypes/serializers/idl/types/string_struct/gen/string_structPubSubTypes.cxx b/test/unittest/dds/xtypes/serializers/idl/types/string_struct/gen/string_structPubSubTypes.cxx
index 68f1132a3dc..bd0f053744c 100644
--- a/test/unittest/dds/xtypes/serializers/idl/types/string_struct/gen/string_structPubSubTypes.cxx
+++ b/test/unittest/dds/xtypes/serializers/idl/types/string_struct/gen/string_structPubSubTypes.cxx
@@ -33,26 +33,21 @@ using DataRepresentationId_t = eprosima::fastdds::dds::DataRepresentationId_t;
 
 StringStructPubSubType::StringStructPubSubType()
 {
-    setName("StringStruct");
-    uint32_t type_size =
-#if FASTCDR_VERSION_MAJOR == 1
-        static_cast<uint32_t>(StringStruct::getMaxCdrSerializedSize());
-#else
-        StringStruct_max_cdr_typesize;
-#endif
+    set_name("StringStruct");
+    uint32_t type_size = StringStruct_max_cdr_typesize;
     type_size += static_cast<uint32_t>(eprosima::fastcdr::Cdr::alignment(type_size, 4)); /* possible submessage alignment */
-    m_typeSize = type_size + 4; /*encapsulation*/
-    m_isGetKeyDefined = false;
-    uint32_t keyLength = StringStruct_max_key_cdr_typesize > 16 ? StringStruct_max_key_cdr_typesize : 16;
-    m_keyBuffer = reinterpret_cast<unsigned char*>(malloc(keyLength));
-    memset(m_keyBuffer, 0, keyLength);
+    max_serialized_type_size = type_size + 4; /*encapsulation*/
+    is_compute_key_provided = false;
+    uint32_t key_length = StringStruct_max_key_cdr_typesize > 16 ? StringStruct_max_key_cdr_typesize : 16;
+    key_buffer_ = reinterpret_cast<unsigned char*>(malloc(key_length));
+    memset(key_buffer_, 0, key_length);
 }
 
 StringStructPubSubType::~StringStructPubSubType()
 {
-    if (m_keyBuffer != nullptr)
+    if (key_buffer_ != nullptr)
     {
-        free(m_keyBuffer);
+        free(key_buffer_);
     }
 }
 
@@ -70,12 +65,10 @@ bool StringStructPubSubType::serialize(
             data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
             eprosima::fastcdr::CdrVersion::XCDRv1 : eprosima::fastcdr::CdrVersion::XCDRv2);
     payload->encapsulation = ser.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS ? CDR_BE : CDR_LE;
-#if FASTCDR_VERSION_MAJOR > 1
     ser.set_encoding_flag(
         data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
         eprosima::fastcdr::EncodingAlgorithmFlag::PLAIN_CDR  :
         eprosima::fastcdr::EncodingAlgorithmFlag::DELIMIT_CDR2);
-#endif // FASTCDR_VERSION_MAJOR > 1
 
     try
     {
@@ -90,11 +83,7 @@ bool StringStructPubSubType::serialize(
     }
 
     // Get the serialized length
-#if FASTCDR_VERSION_MAJOR == 1
-    payload->length = static_cast<uint32_t>(ser.getSerializedDataLength());
-#else
     payload->length = static_cast<uint32_t>(ser.get_serialized_data_length());
-#endif // FASTCDR_VERSION_MAJOR == 1
     return true;
 }
 
@@ -111,11 +100,7 @@ bool StringStructPubSubType::deserialize(
         eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(payload->data), payload->length);
 
         // Object that deserializes the data.
-        eprosima::fastcdr::Cdr deser(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN
-#if FASTCDR_VERSION_MAJOR == 1
-                , eprosima::fastcdr::Cdr::CdrType::DDS_CDR
-#endif // FASTCDR_VERSION_MAJOR == 1
-                );
+        eprosima::fastcdr::Cdr deser(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN);
 
         // Deserialize encapsulation.
         deser.read_encapsulation();
@@ -132,52 +117,62 @@ bool StringStructPubSubType::deserialize(
     return true;
 }
 
-std::function<uint32_t()> StringStructPubSubType::getSerializedSizeProvider(
+uint32_t StringStructPubSubType::calculate_serialized_size(
         const void* const data,
         DataRepresentationId_t data_representation)
 {
-    return [data, data_representation]() -> uint32_t
-           {
-#if FASTCDR_VERSION_MAJOR == 1
-               static_cast<void>(data_representation);
-               return static_cast<uint32_t>(type::getCdrSerializedSize(*static_cast<StringStruct*>(data))) +
-                      4u /*encapsulation*/;
-#else
-               try
-               {
-                   eprosima::fastcdr::CdrSizeCalculator calculator(
-                       data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
-                       eprosima::fastcdr::CdrVersion::XCDRv1 :eprosima::fastcdr::CdrVersion::XCDRv2);
-                   size_t current_alignment {0};
-                   return static_cast<uint32_t>(calculator.calculate_serialized_size(
-                               *static_cast<const StringStruct*>(data), current_alignment)) +
-                           4u /*encapsulation*/;
-               }
-               catch (eprosima::fastcdr::exception::Exception& /*exception*/)
-               {
-                   return 0;
-               }
-#endif // FASTCDR_VERSION_MAJOR == 1
-           };
+    try
+    {
+        eprosima::fastcdr::CdrSizeCalculator calculator(
+            data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
+            eprosima::fastcdr::CdrVersion::XCDRv1 :eprosima::fastcdr::CdrVersion::XCDRv2);
+        size_t current_alignment {0};
+        return static_cast<uint32_t>(calculator.calculate_serialized_size(
+                    *static_cast<const StringStruct*>(data), current_alignment)) +
+                4u /*encapsulation*/;
+    }
+    catch (eprosima::fastcdr::exception::Exception& /*exception*/)
+    {
+        return 0;
+    }
 }
 
-void* StringStructPubSubType::createData()
+void* StringStructPubSubType::create_data()
 {
     return reinterpret_cast<void*>(new StringStruct());
 }
 
-void StringStructPubSubType::deleteData(
+void StringStructPubSubType::delete_data(
         void* data)
 {
     delete(reinterpret_cast<StringStruct*>(data));
 }
 
-bool StringStructPubSubType::getKey(
+bool StringStructPubSubType::compute_key(
+        SerializedPayload_t* payload,
+        InstanceHandle_t* handle,
+        bool force_md5)
+{
+    if (!is_compute_key_provided)
+    {
+        return false;
+    }
+
+    StringStruct data;
+    if (deserialize(payload, static_cast<void*>(&data)))
+    {
+        return compute_key(static_cast<void*>(&data), handle, force_md5);
+    }
+
+    return false;
+}
+
+bool StringStructPubSubType::compute_key(
         const void* const data,
         InstanceHandle_t* handle,
         bool force_md5)
 {
-    if (!m_isGetKeyDefined)
+    if (!is_compute_key_provided)
     {
         return false;
     }
@@ -185,35 +180,27 @@ bool StringStructPubSubType::getKey(
     const StringStruct* p_type = static_cast<const StringStruct*>(data);
 
     // Object that manages the raw buffer.
-    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(m_keyBuffer),
+    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(key_buffer_),
             StringStruct_max_key_cdr_typesize);
 
     // Object that serializes the data.
     eprosima::fastcdr::Cdr ser(fastbuffer, eprosima::fastcdr::Cdr::BIG_ENDIANNESS, eprosima::fastcdr::CdrVersion::XCDRv1);
-#if FASTCDR_VERSION_MAJOR == 1
-    p_type->serializeKey(ser);
-#else
     eprosima::fastcdr::serialize_key(ser, *p_type);
-#endif // FASTCDR_VERSION_MAJOR == 1
     if (force_md5 || StringStruct_max_key_cdr_typesize > 16)
     {
-        m_md5.init();
-#if FASTCDR_VERSION_MAJOR == 1
-        m_md5.update(m_keyBuffer, static_cast<unsigned int>(ser.getSerializedDataLength()));
-#else
-        m_md5.update(m_keyBuffer, static_cast<unsigned int>(ser.get_serialized_data_length()));
-#endif // FASTCDR_VERSION_MAJOR == 1
-        m_md5.finalize();
+        md5_.init();
+        md5_.update(key_buffer_, static_cast<unsigned int>(ser.get_serialized_data_length()));
+        md5_.finalize();
         for (uint8_t i = 0; i < 16; ++i)
         {
-            handle->value[i] = m_md5.digest[i];
+            handle->value[i] = md5_.digest[i];
         }
     }
     else
     {
         for (uint8_t i = 0; i < 16; ++i)
         {
-            handle->value[i] = m_keyBuffer[i];
+            handle->value[i] = key_buffer_[i];
         }
     }
     return true;
diff --git a/test/unittest/dds/xtypes/serializers/idl/types/string_struct/gen/string_structPubSubTypes.hpp b/test/unittest/dds/xtypes/serializers/idl/types/string_struct/gen/string_structPubSubTypes.hpp
index e8e375b8b10..893879e22f0 100644
--- a/test/unittest/dds/xtypes/serializers/idl/types/string_struct/gen/string_structPubSubTypes.hpp
+++ b/test/unittest/dds/xtypes/serializers/idl/types/string_struct/gen/string_structPubSubTypes.hpp
@@ -32,10 +32,10 @@
 #include "string_struct.hpp"
 
 
-#if !defined(GEN_API_VER) || (GEN_API_VER != 2)
+#if !defined(FASTDDS_GEN_API_VER) || (FASTDDS_GEN_API_VER != 3)
 #error \
     Generated string_struct is not compatible with current installed Fast DDS. Please, regenerate it with fastddsgen.
-#endif  // GEN_API_VER
+#endif  // FASTDDS_GEN_API_VER
 
 
 /*!
@@ -52,13 +52,6 @@ class StringStructPubSubType : public eprosima::fastdds::dds::TopicDataType
 
     eProsima_user_DllExport ~StringStructPubSubType() override;
 
-    eProsima_user_DllExport bool serialize(
-            const void* const data,
-            eprosima::fastdds::rtps::SerializedPayload_t* payload) override
-    {
-        return serialize(data, payload, eprosima::fastdds::dds::DEFAULT_DATA_REPRESENTATION);
-    }
-
     eProsima_user_DllExport bool serialize(
             const void* const data,
             eprosima::fastdds::rtps::SerializedPayload_t* payload,
@@ -68,24 +61,23 @@ class StringStructPubSubType : public eprosima::fastdds::dds::TopicDataType
             eprosima::fastdds::rtps::SerializedPayload_t* payload,
             void* data) override;
 
-    eProsima_user_DllExport std::function<uint32_t()> getSerializedSizeProvider(
-            const void* const data) override
-    {
-        return getSerializedSizeProvider(data, eprosima::fastdds::dds::DEFAULT_DATA_REPRESENTATION);
-    }
-
-    eProsima_user_DllExport std::function<uint32_t()> getSerializedSizeProvider(
+    eProsima_user_DllExport uint32_t calculate_serialized_size(
             const void* const data,
             eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
 
-    eProsima_user_DllExport bool getKey(
+    eProsima_user_DllExport bool compute_key(
+            eprosima::fastdds::rtps::SerializedPayload_t* payload,
+            eprosima::fastdds::rtps::InstanceHandle_t* ihandle,
+            bool force_md5 = false) override;
+
+    eProsima_user_DllExport bool compute_key(
             const void* const data,
             eprosima::fastdds::rtps::InstanceHandle_t* ihandle,
             bool force_md5 = false) override;
 
-    eProsima_user_DllExport void* createData() override;
+    eProsima_user_DllExport void* create_data() override;
 
-    eProsima_user_DllExport void deleteData(
+    eProsima_user_DllExport void delete_data(
             void* data) override;
 
     //Register TypeObject representation in Fast DDS TypeObjectRegistry
@@ -100,10 +92,6 @@ class StringStructPubSubType : public eprosima::fastdds::dds::TopicDataType
 #endif  // TOPIC_DATA_TYPE_API_HAS_IS_BOUNDED
 
 #ifdef TOPIC_DATA_TYPE_API_HAS_IS_PLAIN
-    eProsima_user_DllExport inline bool is_plain() const override
-    {
-        return false;
-    }
 
     eProsima_user_DllExport inline bool is_plain(
             eprosima::fastdds::dds::DataRepresentationId_t data_representation) const override
@@ -124,8 +112,8 @@ class StringStructPubSubType : public eprosima::fastdds::dds::TopicDataType
 
 #endif  // TOPIC_DATA_TYPE_API_HAS_CONSTRUCT_SAMPLE
 
-    eprosima::fastdds::MD5 m_md5;
-    unsigned char* m_keyBuffer;
+    eprosima::fastdds::MD5 md5_;
+    unsigned char* key_buffer_;
 
 };
 
diff --git a/test/unittest/dds/xtypes/serializers/idl/types/struct_struct/gen/struct_structPubSubTypes.cxx b/test/unittest/dds/xtypes/serializers/idl/types/struct_struct/gen/struct_structPubSubTypes.cxx
index 90e507519ec..798a5158000 100644
--- a/test/unittest/dds/xtypes/serializers/idl/types/struct_struct/gen/struct_structPubSubTypes.cxx
+++ b/test/unittest/dds/xtypes/serializers/idl/types/struct_struct/gen/struct_structPubSubTypes.cxx
@@ -33,26 +33,21 @@ using DataRepresentationId_t = eprosima::fastdds::dds::DataRepresentationId_t;
 
 GrandparentStructPubSubType::GrandparentStructPubSubType()
 {
-    setName("GrandparentStruct");
-    uint32_t type_size =
-#if FASTCDR_VERSION_MAJOR == 1
-        static_cast<uint32_t>(GrandparentStruct::getMaxCdrSerializedSize());
-#else
-        GrandparentStruct_max_cdr_typesize;
-#endif
+    set_name("GrandparentStruct");
+    uint32_t type_size = GrandparentStruct_max_cdr_typesize;
     type_size += static_cast<uint32_t>(eprosima::fastcdr::Cdr::alignment(type_size, 4)); /* possible submessage alignment */
-    m_typeSize = type_size + 4; /*encapsulation*/
-    m_isGetKeyDefined = false;
-    uint32_t keyLength = GrandparentStruct_max_key_cdr_typesize > 16 ? GrandparentStruct_max_key_cdr_typesize : 16;
-    m_keyBuffer = reinterpret_cast<unsigned char*>(malloc(keyLength));
-    memset(m_keyBuffer, 0, keyLength);
+    max_serialized_type_size = type_size + 4; /*encapsulation*/
+    is_compute_key_provided = false;
+    uint32_t key_length = GrandparentStruct_max_key_cdr_typesize > 16 ? GrandparentStruct_max_key_cdr_typesize : 16;
+    key_buffer_ = reinterpret_cast<unsigned char*>(malloc(key_length));
+    memset(key_buffer_, 0, key_length);
 }
 
 GrandparentStructPubSubType::~GrandparentStructPubSubType()
 {
-    if (m_keyBuffer != nullptr)
+    if (key_buffer_ != nullptr)
     {
-        free(m_keyBuffer);
+        free(key_buffer_);
     }
 }
 
@@ -70,12 +65,10 @@ bool GrandparentStructPubSubType::serialize(
             data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
             eprosima::fastcdr::CdrVersion::XCDRv1 : eprosima::fastcdr::CdrVersion::XCDRv2);
     payload->encapsulation = ser.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS ? CDR_BE : CDR_LE;
-#if FASTCDR_VERSION_MAJOR > 1
     ser.set_encoding_flag(
         data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
         eprosima::fastcdr::EncodingAlgorithmFlag::PLAIN_CDR  :
         eprosima::fastcdr::EncodingAlgorithmFlag::DELIMIT_CDR2);
-#endif // FASTCDR_VERSION_MAJOR > 1
 
     try
     {
@@ -90,11 +83,7 @@ bool GrandparentStructPubSubType::serialize(
     }
 
     // Get the serialized length
-#if FASTCDR_VERSION_MAJOR == 1
-    payload->length = static_cast<uint32_t>(ser.getSerializedDataLength());
-#else
     payload->length = static_cast<uint32_t>(ser.get_serialized_data_length());
-#endif // FASTCDR_VERSION_MAJOR == 1
     return true;
 }
 
@@ -111,11 +100,7 @@ bool GrandparentStructPubSubType::deserialize(
         eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(payload->data), payload->length);
 
         // Object that deserializes the data.
-        eprosima::fastcdr::Cdr deser(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN
-#if FASTCDR_VERSION_MAJOR == 1
-                , eprosima::fastcdr::Cdr::CdrType::DDS_CDR
-#endif // FASTCDR_VERSION_MAJOR == 1
-                );
+        eprosima::fastcdr::Cdr deser(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN);
 
         // Deserialize encapsulation.
         deser.read_encapsulation();
@@ -132,52 +117,62 @@ bool GrandparentStructPubSubType::deserialize(
     return true;
 }
 
-std::function<uint32_t()> GrandparentStructPubSubType::getSerializedSizeProvider(
+uint32_t GrandparentStructPubSubType::calculate_serialized_size(
         const void* const data,
         DataRepresentationId_t data_representation)
 {
-    return [data, data_representation]() -> uint32_t
-           {
-#if FASTCDR_VERSION_MAJOR == 1
-               static_cast<void>(data_representation);
-               return static_cast<uint32_t>(type::getCdrSerializedSize(*static_cast<GrandparentStruct*>(data))) +
-                      4u /*encapsulation*/;
-#else
-               try
-               {
-                   eprosima::fastcdr::CdrSizeCalculator calculator(
-                       data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
-                       eprosima::fastcdr::CdrVersion::XCDRv1 :eprosima::fastcdr::CdrVersion::XCDRv2);
-                   size_t current_alignment {0};
-                   return static_cast<uint32_t>(calculator.calculate_serialized_size(
-                               *static_cast<const GrandparentStruct*>(data), current_alignment)) +
-                           4u /*encapsulation*/;
-               }
-               catch (eprosima::fastcdr::exception::Exception& /*exception*/)
-               {
-                   return 0;
-               }
-#endif // FASTCDR_VERSION_MAJOR == 1
-           };
-}
-
-void* GrandparentStructPubSubType::createData()
+    try
+    {
+        eprosima::fastcdr::CdrSizeCalculator calculator(
+            data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
+            eprosima::fastcdr::CdrVersion::XCDRv1 :eprosima::fastcdr::CdrVersion::XCDRv2);
+        size_t current_alignment {0};
+        return static_cast<uint32_t>(calculator.calculate_serialized_size(
+                    *static_cast<const GrandparentStruct*>(data), current_alignment)) +
+                4u /*encapsulation*/;
+    }
+    catch (eprosima::fastcdr::exception::Exception& /*exception*/)
+    {
+        return 0;
+    }
+}
+
+void* GrandparentStructPubSubType::create_data()
 {
     return reinterpret_cast<void*>(new GrandparentStruct());
 }
 
-void GrandparentStructPubSubType::deleteData(
+void GrandparentStructPubSubType::delete_data(
         void* data)
 {
     delete(reinterpret_cast<GrandparentStruct*>(data));
 }
 
-bool GrandparentStructPubSubType::getKey(
+bool GrandparentStructPubSubType::compute_key(
+        SerializedPayload_t* payload,
+        InstanceHandle_t* handle,
+        bool force_md5)
+{
+    if (!is_compute_key_provided)
+    {
+        return false;
+    }
+
+    GrandparentStruct data;
+    if (deserialize(payload, static_cast<void*>(&data)))
+    {
+        return compute_key(static_cast<void*>(&data), handle, force_md5);
+    }
+
+    return false;
+}
+
+bool GrandparentStructPubSubType::compute_key(
         const void* const data,
         InstanceHandle_t* handle,
         bool force_md5)
 {
-    if (!m_isGetKeyDefined)
+    if (!is_compute_key_provided)
     {
         return false;
     }
@@ -185,35 +180,27 @@ bool GrandparentStructPubSubType::getKey(
     const GrandparentStruct* p_type = static_cast<const GrandparentStruct*>(data);
 
     // Object that manages the raw buffer.
-    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(m_keyBuffer),
+    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(key_buffer_),
             GrandparentStruct_max_key_cdr_typesize);
 
     // Object that serializes the data.
     eprosima::fastcdr::Cdr ser(fastbuffer, eprosima::fastcdr::Cdr::BIG_ENDIANNESS, eprosima::fastcdr::CdrVersion::XCDRv1);
-#if FASTCDR_VERSION_MAJOR == 1
-    p_type->serializeKey(ser);
-#else
     eprosima::fastcdr::serialize_key(ser, *p_type);
-#endif // FASTCDR_VERSION_MAJOR == 1
     if (force_md5 || GrandparentStruct_max_key_cdr_typesize > 16)
     {
-        m_md5.init();
-#if FASTCDR_VERSION_MAJOR == 1
-        m_md5.update(m_keyBuffer, static_cast<unsigned int>(ser.getSerializedDataLength()));
-#else
-        m_md5.update(m_keyBuffer, static_cast<unsigned int>(ser.get_serialized_data_length()));
-#endif // FASTCDR_VERSION_MAJOR == 1
-        m_md5.finalize();
+        md5_.init();
+        md5_.update(key_buffer_, static_cast<unsigned int>(ser.get_serialized_data_length()));
+        md5_.finalize();
         for (uint8_t i = 0; i < 16; ++i)
         {
-            handle->value[i] = m_md5.digest[i];
+            handle->value[i] = md5_.digest[i];
         }
     }
     else
     {
         for (uint8_t i = 0; i < 16; ++i)
         {
-            handle->value[i] = m_keyBuffer[i];
+            handle->value[i] = key_buffer_[i];
         }
     }
     return true;
@@ -226,26 +213,21 @@ void GrandparentStructPubSubType::register_type_object_representation()
 
 ParentStructPubSubType::ParentStructPubSubType()
 {
-    setName("ParentStruct");
-    uint32_t type_size =
-#if FASTCDR_VERSION_MAJOR == 1
-        static_cast<uint32_t>(ParentStruct::getMaxCdrSerializedSize());
-#else
-        ParentStruct_max_cdr_typesize;
-#endif
+    set_name("ParentStruct");
+    uint32_t type_size = ParentStruct_max_cdr_typesize;
     type_size += static_cast<uint32_t>(eprosima::fastcdr::Cdr::alignment(type_size, 4)); /* possible submessage alignment */
-    m_typeSize = type_size + 4; /*encapsulation*/
-    m_isGetKeyDefined = false;
-    uint32_t keyLength = ParentStruct_max_key_cdr_typesize > 16 ? ParentStruct_max_key_cdr_typesize : 16;
-    m_keyBuffer = reinterpret_cast<unsigned char*>(malloc(keyLength));
-    memset(m_keyBuffer, 0, keyLength);
+    max_serialized_type_size = type_size + 4; /*encapsulation*/
+    is_compute_key_provided = false;
+    uint32_t key_length = ParentStruct_max_key_cdr_typesize > 16 ? ParentStruct_max_key_cdr_typesize : 16;
+    key_buffer_ = reinterpret_cast<unsigned char*>(malloc(key_length));
+    memset(key_buffer_, 0, key_length);
 }
 
 ParentStructPubSubType::~ParentStructPubSubType()
 {
-    if (m_keyBuffer != nullptr)
+    if (key_buffer_ != nullptr)
     {
-        free(m_keyBuffer);
+        free(key_buffer_);
     }
 }
 
@@ -263,12 +245,10 @@ bool ParentStructPubSubType::serialize(
             data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
             eprosima::fastcdr::CdrVersion::XCDRv1 : eprosima::fastcdr::CdrVersion::XCDRv2);
     payload->encapsulation = ser.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS ? CDR_BE : CDR_LE;
-#if FASTCDR_VERSION_MAJOR > 1
     ser.set_encoding_flag(
         data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
         eprosima::fastcdr::EncodingAlgorithmFlag::PLAIN_CDR  :
         eprosima::fastcdr::EncodingAlgorithmFlag::DELIMIT_CDR2);
-#endif // FASTCDR_VERSION_MAJOR > 1
 
     try
     {
@@ -283,11 +263,7 @@ bool ParentStructPubSubType::serialize(
     }
 
     // Get the serialized length
-#if FASTCDR_VERSION_MAJOR == 1
-    payload->length = static_cast<uint32_t>(ser.getSerializedDataLength());
-#else
     payload->length = static_cast<uint32_t>(ser.get_serialized_data_length());
-#endif // FASTCDR_VERSION_MAJOR == 1
     return true;
 }
 
@@ -304,11 +280,7 @@ bool ParentStructPubSubType::deserialize(
         eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(payload->data), payload->length);
 
         // Object that deserializes the data.
-        eprosima::fastcdr::Cdr deser(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN
-#if FASTCDR_VERSION_MAJOR == 1
-                , eprosima::fastcdr::Cdr::CdrType::DDS_CDR
-#endif // FASTCDR_VERSION_MAJOR == 1
-                );
+        eprosima::fastcdr::Cdr deser(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN);
 
         // Deserialize encapsulation.
         deser.read_encapsulation();
@@ -325,52 +297,62 @@ bool ParentStructPubSubType::deserialize(
     return true;
 }
 
-std::function<uint32_t()> ParentStructPubSubType::getSerializedSizeProvider(
+uint32_t ParentStructPubSubType::calculate_serialized_size(
         const void* const data,
         DataRepresentationId_t data_representation)
 {
-    return [data, data_representation]() -> uint32_t
-           {
-#if FASTCDR_VERSION_MAJOR == 1
-               static_cast<void>(data_representation);
-               return static_cast<uint32_t>(type::getCdrSerializedSize(*static_cast<ParentStruct*>(data))) +
-                      4u /*encapsulation*/;
-#else
-               try
-               {
-                   eprosima::fastcdr::CdrSizeCalculator calculator(
-                       data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
-                       eprosima::fastcdr::CdrVersion::XCDRv1 :eprosima::fastcdr::CdrVersion::XCDRv2);
-                   size_t current_alignment {0};
-                   return static_cast<uint32_t>(calculator.calculate_serialized_size(
-                               *static_cast<const ParentStruct*>(data), current_alignment)) +
-                           4u /*encapsulation*/;
-               }
-               catch (eprosima::fastcdr::exception::Exception& /*exception*/)
-               {
-                   return 0;
-               }
-#endif // FASTCDR_VERSION_MAJOR == 1
-           };
-}
-
-void* ParentStructPubSubType::createData()
+    try
+    {
+        eprosima::fastcdr::CdrSizeCalculator calculator(
+            data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
+            eprosima::fastcdr::CdrVersion::XCDRv1 :eprosima::fastcdr::CdrVersion::XCDRv2);
+        size_t current_alignment {0};
+        return static_cast<uint32_t>(calculator.calculate_serialized_size(
+                    *static_cast<const ParentStruct*>(data), current_alignment)) +
+                4u /*encapsulation*/;
+    }
+    catch (eprosima::fastcdr::exception::Exception& /*exception*/)
+    {
+        return 0;
+    }
+}
+
+void* ParentStructPubSubType::create_data()
 {
     return reinterpret_cast<void*>(new ParentStruct());
 }
 
-void ParentStructPubSubType::deleteData(
+void ParentStructPubSubType::delete_data(
         void* data)
 {
     delete(reinterpret_cast<ParentStruct*>(data));
 }
 
-bool ParentStructPubSubType::getKey(
+bool ParentStructPubSubType::compute_key(
+        SerializedPayload_t* payload,
+        InstanceHandle_t* handle,
+        bool force_md5)
+{
+    if (!is_compute_key_provided)
+    {
+        return false;
+    }
+
+    ParentStruct data;
+    if (deserialize(payload, static_cast<void*>(&data)))
+    {
+        return compute_key(static_cast<void*>(&data), handle, force_md5);
+    }
+
+    return false;
+}
+
+bool ParentStructPubSubType::compute_key(
         const void* const data,
         InstanceHandle_t* handle,
         bool force_md5)
 {
-    if (!m_isGetKeyDefined)
+    if (!is_compute_key_provided)
     {
         return false;
     }
@@ -378,35 +360,27 @@ bool ParentStructPubSubType::getKey(
     const ParentStruct* p_type = static_cast<const ParentStruct*>(data);
 
     // Object that manages the raw buffer.
-    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(m_keyBuffer),
+    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(key_buffer_),
             ParentStruct_max_key_cdr_typesize);
 
     // Object that serializes the data.
     eprosima::fastcdr::Cdr ser(fastbuffer, eprosima::fastcdr::Cdr::BIG_ENDIANNESS, eprosima::fastcdr::CdrVersion::XCDRv1);
-#if FASTCDR_VERSION_MAJOR == 1
-    p_type->serializeKey(ser);
-#else
     eprosima::fastcdr::serialize_key(ser, *p_type);
-#endif // FASTCDR_VERSION_MAJOR == 1
     if (force_md5 || ParentStruct_max_key_cdr_typesize > 16)
     {
-        m_md5.init();
-#if FASTCDR_VERSION_MAJOR == 1
-        m_md5.update(m_keyBuffer, static_cast<unsigned int>(ser.getSerializedDataLength()));
-#else
-        m_md5.update(m_keyBuffer, static_cast<unsigned int>(ser.get_serialized_data_length()));
-#endif // FASTCDR_VERSION_MAJOR == 1
-        m_md5.finalize();
+        md5_.init();
+        md5_.update(key_buffer_, static_cast<unsigned int>(ser.get_serialized_data_length()));
+        md5_.finalize();
         for (uint8_t i = 0; i < 16; ++i)
         {
-            handle->value[i] = m_md5.digest[i];
+            handle->value[i] = md5_.digest[i];
         }
     }
     else
     {
         for (uint8_t i = 0; i < 16; ++i)
         {
-            handle->value[i] = m_keyBuffer[i];
+            handle->value[i] = key_buffer_[i];
         }
     }
     return true;
@@ -419,26 +393,21 @@ void ParentStructPubSubType::register_type_object_representation()
 
 NestedStructElementPubSubType::NestedStructElementPubSubType()
 {
-    setName("NestedStructElement");
-    uint32_t type_size =
-#if FASTCDR_VERSION_MAJOR == 1
-        static_cast<uint32_t>(NestedStructElement::getMaxCdrSerializedSize());
-#else
-        NestedStructElement_max_cdr_typesize;
-#endif
+    set_name("NestedStructElement");
+    uint32_t type_size = NestedStructElement_max_cdr_typesize;
     type_size += static_cast<uint32_t>(eprosima::fastcdr::Cdr::alignment(type_size, 4)); /* possible submessage alignment */
-    m_typeSize = type_size + 4; /*encapsulation*/
-    m_isGetKeyDefined = false;
-    uint32_t keyLength = NestedStructElement_max_key_cdr_typesize > 16 ? NestedStructElement_max_key_cdr_typesize : 16;
-    m_keyBuffer = reinterpret_cast<unsigned char*>(malloc(keyLength));
-    memset(m_keyBuffer, 0, keyLength);
+    max_serialized_type_size = type_size + 4; /*encapsulation*/
+    is_compute_key_provided = false;
+    uint32_t key_length = NestedStructElement_max_key_cdr_typesize > 16 ? NestedStructElement_max_key_cdr_typesize : 16;
+    key_buffer_ = reinterpret_cast<unsigned char*>(malloc(key_length));
+    memset(key_buffer_, 0, key_length);
 }
 
 NestedStructElementPubSubType::~NestedStructElementPubSubType()
 {
-    if (m_keyBuffer != nullptr)
+    if (key_buffer_ != nullptr)
     {
-        free(m_keyBuffer);
+        free(key_buffer_);
     }
 }
 
@@ -456,12 +425,10 @@ bool NestedStructElementPubSubType::serialize(
             data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
             eprosima::fastcdr::CdrVersion::XCDRv1 : eprosima::fastcdr::CdrVersion::XCDRv2);
     payload->encapsulation = ser.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS ? CDR_BE : CDR_LE;
-#if FASTCDR_VERSION_MAJOR > 1
     ser.set_encoding_flag(
         data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
         eprosima::fastcdr::EncodingAlgorithmFlag::PLAIN_CDR  :
         eprosima::fastcdr::EncodingAlgorithmFlag::DELIMIT_CDR2);
-#endif // FASTCDR_VERSION_MAJOR > 1
 
     try
     {
@@ -476,11 +443,7 @@ bool NestedStructElementPubSubType::serialize(
     }
 
     // Get the serialized length
-#if FASTCDR_VERSION_MAJOR == 1
-    payload->length = static_cast<uint32_t>(ser.getSerializedDataLength());
-#else
     payload->length = static_cast<uint32_t>(ser.get_serialized_data_length());
-#endif // FASTCDR_VERSION_MAJOR == 1
     return true;
 }
 
@@ -497,11 +460,7 @@ bool NestedStructElementPubSubType::deserialize(
         eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(payload->data), payload->length);
 
         // Object that deserializes the data.
-        eprosima::fastcdr::Cdr deser(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN
-#if FASTCDR_VERSION_MAJOR == 1
-                , eprosima::fastcdr::Cdr::CdrType::DDS_CDR
-#endif // FASTCDR_VERSION_MAJOR == 1
-                );
+        eprosima::fastcdr::Cdr deser(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN);
 
         // Deserialize encapsulation.
         deser.read_encapsulation();
@@ -518,52 +477,62 @@ bool NestedStructElementPubSubType::deserialize(
     return true;
 }
 
-std::function<uint32_t()> NestedStructElementPubSubType::getSerializedSizeProvider(
+uint32_t NestedStructElementPubSubType::calculate_serialized_size(
         const void* const data,
         DataRepresentationId_t data_representation)
 {
-    return [data, data_representation]() -> uint32_t
-           {
-#if FASTCDR_VERSION_MAJOR == 1
-               static_cast<void>(data_representation);
-               return static_cast<uint32_t>(type::getCdrSerializedSize(*static_cast<NestedStructElement*>(data))) +
-                      4u /*encapsulation*/;
-#else
-               try
-               {
-                   eprosima::fastcdr::CdrSizeCalculator calculator(
-                       data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
-                       eprosima::fastcdr::CdrVersion::XCDRv1 :eprosima::fastcdr::CdrVersion::XCDRv2);
-                   size_t current_alignment {0};
-                   return static_cast<uint32_t>(calculator.calculate_serialized_size(
-                               *static_cast<const NestedStructElement*>(data), current_alignment)) +
-                           4u /*encapsulation*/;
-               }
-               catch (eprosima::fastcdr::exception::Exception& /*exception*/)
-               {
-                   return 0;
-               }
-#endif // FASTCDR_VERSION_MAJOR == 1
-           };
-}
-
-void* NestedStructElementPubSubType::createData()
+    try
+    {
+        eprosima::fastcdr::CdrSizeCalculator calculator(
+            data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
+            eprosima::fastcdr::CdrVersion::XCDRv1 :eprosima::fastcdr::CdrVersion::XCDRv2);
+        size_t current_alignment {0};
+        return static_cast<uint32_t>(calculator.calculate_serialized_size(
+                    *static_cast<const NestedStructElement*>(data), current_alignment)) +
+                4u /*encapsulation*/;
+    }
+    catch (eprosima::fastcdr::exception::Exception& /*exception*/)
+    {
+        return 0;
+    }
+}
+
+void* NestedStructElementPubSubType::create_data()
 {
     return reinterpret_cast<void*>(new NestedStructElement());
 }
 
-void NestedStructElementPubSubType::deleteData(
+void NestedStructElementPubSubType::delete_data(
         void* data)
 {
     delete(reinterpret_cast<NestedStructElement*>(data));
 }
 
-bool NestedStructElementPubSubType::getKey(
+bool NestedStructElementPubSubType::compute_key(
+        SerializedPayload_t* payload,
+        InstanceHandle_t* handle,
+        bool force_md5)
+{
+    if (!is_compute_key_provided)
+    {
+        return false;
+    }
+
+    NestedStructElement data;
+    if (deserialize(payload, static_cast<void*>(&data)))
+    {
+        return compute_key(static_cast<void*>(&data), handle, force_md5);
+    }
+
+    return false;
+}
+
+bool NestedStructElementPubSubType::compute_key(
         const void* const data,
         InstanceHandle_t* handle,
         bool force_md5)
 {
-    if (!m_isGetKeyDefined)
+    if (!is_compute_key_provided)
     {
         return false;
     }
@@ -571,35 +540,27 @@ bool NestedStructElementPubSubType::getKey(
     const NestedStructElement* p_type = static_cast<const NestedStructElement*>(data);
 
     // Object that manages the raw buffer.
-    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(m_keyBuffer),
+    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(key_buffer_),
             NestedStructElement_max_key_cdr_typesize);
 
     // Object that serializes the data.
     eprosima::fastcdr::Cdr ser(fastbuffer, eprosima::fastcdr::Cdr::BIG_ENDIANNESS, eprosima::fastcdr::CdrVersion::XCDRv1);
-#if FASTCDR_VERSION_MAJOR == 1
-    p_type->serializeKey(ser);
-#else
     eprosima::fastcdr::serialize_key(ser, *p_type);
-#endif // FASTCDR_VERSION_MAJOR == 1
     if (force_md5 || NestedStructElement_max_key_cdr_typesize > 16)
     {
-        m_md5.init();
-#if FASTCDR_VERSION_MAJOR == 1
-        m_md5.update(m_keyBuffer, static_cast<unsigned int>(ser.getSerializedDataLength()));
-#else
-        m_md5.update(m_keyBuffer, static_cast<unsigned int>(ser.get_serialized_data_length()));
-#endif // FASTCDR_VERSION_MAJOR == 1
-        m_md5.finalize();
+        md5_.init();
+        md5_.update(key_buffer_, static_cast<unsigned int>(ser.get_serialized_data_length()));
+        md5_.finalize();
         for (uint8_t i = 0; i < 16; ++i)
         {
-            handle->value[i] = m_md5.digest[i];
+            handle->value[i] = md5_.digest[i];
         }
     }
     else
     {
         for (uint8_t i = 0; i < 16; ++i)
         {
-            handle->value[i] = m_keyBuffer[i];
+            handle->value[i] = key_buffer_[i];
         }
     }
     return true;
@@ -612,26 +573,21 @@ void NestedStructElementPubSubType::register_type_object_representation()
 
 StructStructPubSubType::StructStructPubSubType()
 {
-    setName("StructStruct");
-    uint32_t type_size =
-#if FASTCDR_VERSION_MAJOR == 1
-        static_cast<uint32_t>(StructStruct::getMaxCdrSerializedSize());
-#else
-        StructStruct_max_cdr_typesize;
-#endif
+    set_name("StructStruct");
+    uint32_t type_size = StructStruct_max_cdr_typesize;
     type_size += static_cast<uint32_t>(eprosima::fastcdr::Cdr::alignment(type_size, 4)); /* possible submessage alignment */
-    m_typeSize = type_size + 4; /*encapsulation*/
-    m_isGetKeyDefined = false;
-    uint32_t keyLength = StructStruct_max_key_cdr_typesize > 16 ? StructStruct_max_key_cdr_typesize : 16;
-    m_keyBuffer = reinterpret_cast<unsigned char*>(malloc(keyLength));
-    memset(m_keyBuffer, 0, keyLength);
+    max_serialized_type_size = type_size + 4; /*encapsulation*/
+    is_compute_key_provided = false;
+    uint32_t key_length = StructStruct_max_key_cdr_typesize > 16 ? StructStruct_max_key_cdr_typesize : 16;
+    key_buffer_ = reinterpret_cast<unsigned char*>(malloc(key_length));
+    memset(key_buffer_, 0, key_length);
 }
 
 StructStructPubSubType::~StructStructPubSubType()
 {
-    if (m_keyBuffer != nullptr)
+    if (key_buffer_ != nullptr)
     {
-        free(m_keyBuffer);
+        free(key_buffer_);
     }
 }
 
@@ -649,12 +605,10 @@ bool StructStructPubSubType::serialize(
             data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
             eprosima::fastcdr::CdrVersion::XCDRv1 : eprosima::fastcdr::CdrVersion::XCDRv2);
     payload->encapsulation = ser.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS ? CDR_BE : CDR_LE;
-#if FASTCDR_VERSION_MAJOR > 1
     ser.set_encoding_flag(
         data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
         eprosima::fastcdr::EncodingAlgorithmFlag::PLAIN_CDR  :
         eprosima::fastcdr::EncodingAlgorithmFlag::DELIMIT_CDR2);
-#endif // FASTCDR_VERSION_MAJOR > 1
 
     try
     {
@@ -669,11 +623,7 @@ bool StructStructPubSubType::serialize(
     }
 
     // Get the serialized length
-#if FASTCDR_VERSION_MAJOR == 1
-    payload->length = static_cast<uint32_t>(ser.getSerializedDataLength());
-#else
     payload->length = static_cast<uint32_t>(ser.get_serialized_data_length());
-#endif // FASTCDR_VERSION_MAJOR == 1
     return true;
 }
 
@@ -690,11 +640,7 @@ bool StructStructPubSubType::deserialize(
         eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(payload->data), payload->length);
 
         // Object that deserializes the data.
-        eprosima::fastcdr::Cdr deser(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN
-#if FASTCDR_VERSION_MAJOR == 1
-                , eprosima::fastcdr::Cdr::CdrType::DDS_CDR
-#endif // FASTCDR_VERSION_MAJOR == 1
-                );
+        eprosima::fastcdr::Cdr deser(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN);
 
         // Deserialize encapsulation.
         deser.read_encapsulation();
@@ -711,52 +657,62 @@ bool StructStructPubSubType::deserialize(
     return true;
 }
 
-std::function<uint32_t()> StructStructPubSubType::getSerializedSizeProvider(
+uint32_t StructStructPubSubType::calculate_serialized_size(
         const void* const data,
         DataRepresentationId_t data_representation)
 {
-    return [data, data_representation]() -> uint32_t
-           {
-#if FASTCDR_VERSION_MAJOR == 1
-               static_cast<void>(data_representation);
-               return static_cast<uint32_t>(type::getCdrSerializedSize(*static_cast<StructStruct*>(data))) +
-                      4u /*encapsulation*/;
-#else
-               try
-               {
-                   eprosima::fastcdr::CdrSizeCalculator calculator(
-                       data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
-                       eprosima::fastcdr::CdrVersion::XCDRv1 :eprosima::fastcdr::CdrVersion::XCDRv2);
-                   size_t current_alignment {0};
-                   return static_cast<uint32_t>(calculator.calculate_serialized_size(
-                               *static_cast<const StructStruct*>(data), current_alignment)) +
-                           4u /*encapsulation*/;
-               }
-               catch (eprosima::fastcdr::exception::Exception& /*exception*/)
-               {
-                   return 0;
-               }
-#endif // FASTCDR_VERSION_MAJOR == 1
-           };
-}
-
-void* StructStructPubSubType::createData()
+    try
+    {
+        eprosima::fastcdr::CdrSizeCalculator calculator(
+            data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
+            eprosima::fastcdr::CdrVersion::XCDRv1 :eprosima::fastcdr::CdrVersion::XCDRv2);
+        size_t current_alignment {0};
+        return static_cast<uint32_t>(calculator.calculate_serialized_size(
+                    *static_cast<const StructStruct*>(data), current_alignment)) +
+                4u /*encapsulation*/;
+    }
+    catch (eprosima::fastcdr::exception::Exception& /*exception*/)
+    {
+        return 0;
+    }
+}
+
+void* StructStructPubSubType::create_data()
 {
     return reinterpret_cast<void*>(new StructStruct());
 }
 
-void StructStructPubSubType::deleteData(
+void StructStructPubSubType::delete_data(
         void* data)
 {
     delete(reinterpret_cast<StructStruct*>(data));
 }
 
-bool StructStructPubSubType::getKey(
+bool StructStructPubSubType::compute_key(
+        SerializedPayload_t* payload,
+        InstanceHandle_t* handle,
+        bool force_md5)
+{
+    if (!is_compute_key_provided)
+    {
+        return false;
+    }
+
+    StructStruct data;
+    if (deserialize(payload, static_cast<void*>(&data)))
+    {
+        return compute_key(static_cast<void*>(&data), handle, force_md5);
+    }
+
+    return false;
+}
+
+bool StructStructPubSubType::compute_key(
         const void* const data,
         InstanceHandle_t* handle,
         bool force_md5)
 {
-    if (!m_isGetKeyDefined)
+    if (!is_compute_key_provided)
     {
         return false;
     }
@@ -764,35 +720,27 @@ bool StructStructPubSubType::getKey(
     const StructStruct* p_type = static_cast<const StructStruct*>(data);
 
     // Object that manages the raw buffer.
-    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(m_keyBuffer),
+    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(key_buffer_),
             StructStruct_max_key_cdr_typesize);
 
     // Object that serializes the data.
     eprosima::fastcdr::Cdr ser(fastbuffer, eprosima::fastcdr::Cdr::BIG_ENDIANNESS, eprosima::fastcdr::CdrVersion::XCDRv1);
-#if FASTCDR_VERSION_MAJOR == 1
-    p_type->serializeKey(ser);
-#else
     eprosima::fastcdr::serialize_key(ser, *p_type);
-#endif // FASTCDR_VERSION_MAJOR == 1
     if (force_md5 || StructStruct_max_key_cdr_typesize > 16)
     {
-        m_md5.init();
-#if FASTCDR_VERSION_MAJOR == 1
-        m_md5.update(m_keyBuffer, static_cast<unsigned int>(ser.getSerializedDataLength()));
-#else
-        m_md5.update(m_keyBuffer, static_cast<unsigned int>(ser.get_serialized_data_length()));
-#endif // FASTCDR_VERSION_MAJOR == 1
-        m_md5.finalize();
+        md5_.init();
+        md5_.update(key_buffer_, static_cast<unsigned int>(ser.get_serialized_data_length()));
+        md5_.finalize();
         for (uint8_t i = 0; i < 16; ++i)
         {
-            handle->value[i] = m_md5.digest[i];
+            handle->value[i] = md5_.digest[i];
         }
     }
     else
     {
         for (uint8_t i = 0; i < 16; ++i)
         {
-            handle->value[i] = m_keyBuffer[i];
+            handle->value[i] = key_buffer_[i];
         }
     }
     return true;
diff --git a/test/unittest/dds/xtypes/serializers/idl/types/struct_struct/gen/struct_structPubSubTypes.hpp b/test/unittest/dds/xtypes/serializers/idl/types/struct_struct/gen/struct_structPubSubTypes.hpp
index 5a87fd6aa30..f36283e79e8 100644
--- a/test/unittest/dds/xtypes/serializers/idl/types/struct_struct/gen/struct_structPubSubTypes.hpp
+++ b/test/unittest/dds/xtypes/serializers/idl/types/struct_struct/gen/struct_structPubSubTypes.hpp
@@ -32,10 +32,10 @@
 #include "struct_struct.hpp"
 
 
-#if !defined(GEN_API_VER) || (GEN_API_VER != 2)
+#if !defined(FASTDDS_GEN_API_VER) || (FASTDDS_GEN_API_VER != 3)
 #error \
     Generated struct_struct is not compatible with current installed Fast DDS. Please, regenerate it with fastddsgen.
-#endif  // GEN_API_VER
+#endif  // FASTDDS_GEN_API_VER
 
 
 /*!
@@ -52,13 +52,6 @@ class GrandparentStructPubSubType : public eprosima::fastdds::dds::TopicDataType
 
     eProsima_user_DllExport ~GrandparentStructPubSubType() override;
 
-    eProsima_user_DllExport bool serialize(
-            const void* const data,
-            eprosima::fastdds::rtps::SerializedPayload_t* payload) override
-    {
-        return serialize(data, payload, eprosima::fastdds::dds::DEFAULT_DATA_REPRESENTATION);
-    }
-
     eProsima_user_DllExport bool serialize(
             const void* const data,
             eprosima::fastdds::rtps::SerializedPayload_t* payload,
@@ -68,24 +61,23 @@ class GrandparentStructPubSubType : public eprosima::fastdds::dds::TopicDataType
             eprosima::fastdds::rtps::SerializedPayload_t* payload,
             void* data) override;
 
-    eProsima_user_DllExport std::function<uint32_t()> getSerializedSizeProvider(
-            const void* const data) override
-    {
-        return getSerializedSizeProvider(data, eprosima::fastdds::dds::DEFAULT_DATA_REPRESENTATION);
-    }
-
-    eProsima_user_DllExport std::function<uint32_t()> getSerializedSizeProvider(
+    eProsima_user_DllExport uint32_t calculate_serialized_size(
             const void* const data,
             eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
 
-    eProsima_user_DllExport bool getKey(
+    eProsima_user_DllExport bool compute_key(
+            eprosima::fastdds::rtps::SerializedPayload_t* payload,
+            eprosima::fastdds::rtps::InstanceHandle_t* ihandle,
+            bool force_md5 = false) override;
+
+    eProsima_user_DllExport bool compute_key(
             const void* const data,
             eprosima::fastdds::rtps::InstanceHandle_t* ihandle,
             bool force_md5 = false) override;
 
-    eProsima_user_DllExport void* createData() override;
+    eProsima_user_DllExport void* create_data() override;
 
-    eProsima_user_DllExport void deleteData(
+    eProsima_user_DllExport void delete_data(
             void* data) override;
 
     //Register TypeObject representation in Fast DDS TypeObjectRegistry
@@ -100,10 +92,6 @@ class GrandparentStructPubSubType : public eprosima::fastdds::dds::TopicDataType
 #endif  // TOPIC_DATA_TYPE_API_HAS_IS_BOUNDED
 
 #ifdef TOPIC_DATA_TYPE_API_HAS_IS_PLAIN
-    eProsima_user_DllExport inline bool is_plain() const override
-    {
-        return false;
-    }
 
     eProsima_user_DllExport inline bool is_plain(
             eprosima::fastdds::dds::DataRepresentationId_t data_representation) const override
@@ -124,8 +112,8 @@ class GrandparentStructPubSubType : public eprosima::fastdds::dds::TopicDataType
 
 #endif  // TOPIC_DATA_TYPE_API_HAS_CONSTRUCT_SAMPLE
 
-    eprosima::fastdds::MD5 m_md5;
-    unsigned char* m_keyBuffer;
+    eprosima::fastdds::MD5 md5_;
+    unsigned char* key_buffer_;
 
 };
 
@@ -143,13 +131,6 @@ class ParentStructPubSubType : public eprosima::fastdds::dds::TopicDataType
 
     eProsima_user_DllExport ~ParentStructPubSubType() override;
 
-    eProsima_user_DllExport bool serialize(
-            const void* const data,
-            eprosima::fastdds::rtps::SerializedPayload_t* payload) override
-    {
-        return serialize(data, payload, eprosima::fastdds::dds::DEFAULT_DATA_REPRESENTATION);
-    }
-
     eProsima_user_DllExport bool serialize(
             const void* const data,
             eprosima::fastdds::rtps::SerializedPayload_t* payload,
@@ -159,24 +140,23 @@ class ParentStructPubSubType : public eprosima::fastdds::dds::TopicDataType
             eprosima::fastdds::rtps::SerializedPayload_t* payload,
             void* data) override;
 
-    eProsima_user_DllExport std::function<uint32_t()> getSerializedSizeProvider(
-            const void* const data) override
-    {
-        return getSerializedSizeProvider(data, eprosima::fastdds::dds::DEFAULT_DATA_REPRESENTATION);
-    }
-
-    eProsima_user_DllExport std::function<uint32_t()> getSerializedSizeProvider(
+    eProsima_user_DllExport uint32_t calculate_serialized_size(
             const void* const data,
             eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
 
-    eProsima_user_DllExport bool getKey(
+    eProsima_user_DllExport bool compute_key(
+            eprosima::fastdds::rtps::SerializedPayload_t* payload,
+            eprosima::fastdds::rtps::InstanceHandle_t* ihandle,
+            bool force_md5 = false) override;
+
+    eProsima_user_DllExport bool compute_key(
             const void* const data,
             eprosima::fastdds::rtps::InstanceHandle_t* ihandle,
             bool force_md5 = false) override;
 
-    eProsima_user_DllExport void* createData() override;
+    eProsima_user_DllExport void* create_data() override;
 
-    eProsima_user_DllExport void deleteData(
+    eProsima_user_DllExport void delete_data(
             void* data) override;
 
     //Register TypeObject representation in Fast DDS TypeObjectRegistry
@@ -191,10 +171,6 @@ class ParentStructPubSubType : public eprosima::fastdds::dds::TopicDataType
 #endif  // TOPIC_DATA_TYPE_API_HAS_IS_BOUNDED
 
 #ifdef TOPIC_DATA_TYPE_API_HAS_IS_PLAIN
-    eProsima_user_DllExport inline bool is_plain() const override
-    {
-        return false;
-    }
 
     eProsima_user_DllExport inline bool is_plain(
             eprosima::fastdds::dds::DataRepresentationId_t data_representation) const override
@@ -215,8 +191,8 @@ class ParentStructPubSubType : public eprosima::fastdds::dds::TopicDataType
 
 #endif  // TOPIC_DATA_TYPE_API_HAS_CONSTRUCT_SAMPLE
 
-    eprosima::fastdds::MD5 m_md5;
-    unsigned char* m_keyBuffer;
+    eprosima::fastdds::MD5 md5_;
+    unsigned char* key_buffer_;
 
 };
 
@@ -234,13 +210,6 @@ class NestedStructElementPubSubType : public eprosima::fastdds::dds::TopicDataTy
 
     eProsima_user_DllExport ~NestedStructElementPubSubType() override;
 
-    eProsima_user_DllExport bool serialize(
-            const void* const data,
-            eprosima::fastdds::rtps::SerializedPayload_t* payload) override
-    {
-        return serialize(data, payload, eprosima::fastdds::dds::DEFAULT_DATA_REPRESENTATION);
-    }
-
     eProsima_user_DllExport bool serialize(
             const void* const data,
             eprosima::fastdds::rtps::SerializedPayload_t* payload,
@@ -250,24 +219,23 @@ class NestedStructElementPubSubType : public eprosima::fastdds::dds::TopicDataTy
             eprosima::fastdds::rtps::SerializedPayload_t* payload,
             void* data) override;
 
-    eProsima_user_DllExport std::function<uint32_t()> getSerializedSizeProvider(
-            const void* const data) override
-    {
-        return getSerializedSizeProvider(data, eprosima::fastdds::dds::DEFAULT_DATA_REPRESENTATION);
-    }
-
-    eProsima_user_DllExport std::function<uint32_t()> getSerializedSizeProvider(
+    eProsima_user_DllExport uint32_t calculate_serialized_size(
             const void* const data,
             eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
 
-    eProsima_user_DllExport bool getKey(
+    eProsima_user_DllExport bool compute_key(
+            eprosima::fastdds::rtps::SerializedPayload_t* payload,
+            eprosima::fastdds::rtps::InstanceHandle_t* ihandle,
+            bool force_md5 = false) override;
+
+    eProsima_user_DllExport bool compute_key(
             const void* const data,
             eprosima::fastdds::rtps::InstanceHandle_t* ihandle,
             bool force_md5 = false) override;
 
-    eProsima_user_DllExport void* createData() override;
+    eProsima_user_DllExport void* create_data() override;
 
-    eProsima_user_DllExport void deleteData(
+    eProsima_user_DllExport void delete_data(
             void* data) override;
 
     //Register TypeObject representation in Fast DDS TypeObjectRegistry
@@ -282,10 +250,6 @@ class NestedStructElementPubSubType : public eprosima::fastdds::dds::TopicDataTy
 #endif  // TOPIC_DATA_TYPE_API_HAS_IS_BOUNDED
 
 #ifdef TOPIC_DATA_TYPE_API_HAS_IS_PLAIN
-    eProsima_user_DllExport inline bool is_plain() const override
-    {
-        return false;
-    }
 
     eProsima_user_DllExport inline bool is_plain(
             eprosima::fastdds::dds::DataRepresentationId_t data_representation) const override
@@ -306,8 +270,8 @@ class NestedStructElementPubSubType : public eprosima::fastdds::dds::TopicDataTy
 
 #endif  // TOPIC_DATA_TYPE_API_HAS_CONSTRUCT_SAMPLE
 
-    eprosima::fastdds::MD5 m_md5;
-    unsigned char* m_keyBuffer;
+    eprosima::fastdds::MD5 md5_;
+    unsigned char* key_buffer_;
 
 };
 
@@ -325,13 +289,6 @@ class StructStructPubSubType : public eprosima::fastdds::dds::TopicDataType
 
     eProsima_user_DllExport ~StructStructPubSubType() override;
 
-    eProsima_user_DllExport bool serialize(
-            const void* const data,
-            eprosima::fastdds::rtps::SerializedPayload_t* payload) override
-    {
-        return serialize(data, payload, eprosima::fastdds::dds::DEFAULT_DATA_REPRESENTATION);
-    }
-
     eProsima_user_DllExport bool serialize(
             const void* const data,
             eprosima::fastdds::rtps::SerializedPayload_t* payload,
@@ -341,24 +298,23 @@ class StructStructPubSubType : public eprosima::fastdds::dds::TopicDataType
             eprosima::fastdds::rtps::SerializedPayload_t* payload,
             void* data) override;
 
-    eProsima_user_DllExport std::function<uint32_t()> getSerializedSizeProvider(
-            const void* const data) override
-    {
-        return getSerializedSizeProvider(data, eprosima::fastdds::dds::DEFAULT_DATA_REPRESENTATION);
-    }
-
-    eProsima_user_DllExport std::function<uint32_t()> getSerializedSizeProvider(
+    eProsima_user_DllExport uint32_t calculate_serialized_size(
             const void* const data,
             eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
 
-    eProsima_user_DllExport bool getKey(
+    eProsima_user_DllExport bool compute_key(
+            eprosima::fastdds::rtps::SerializedPayload_t* payload,
+            eprosima::fastdds::rtps::InstanceHandle_t* ihandle,
+            bool force_md5 = false) override;
+
+    eProsima_user_DllExport bool compute_key(
             const void* const data,
             eprosima::fastdds::rtps::InstanceHandle_t* ihandle,
             bool force_md5 = false) override;
 
-    eProsima_user_DllExport void* createData() override;
+    eProsima_user_DllExport void* create_data() override;
 
-    eProsima_user_DllExport void deleteData(
+    eProsima_user_DllExport void delete_data(
             void* data) override;
 
     //Register TypeObject representation in Fast DDS TypeObjectRegistry
@@ -373,10 +329,6 @@ class StructStructPubSubType : public eprosima::fastdds::dds::TopicDataType
 #endif  // TOPIC_DATA_TYPE_API_HAS_IS_BOUNDED
 
 #ifdef TOPIC_DATA_TYPE_API_HAS_IS_PLAIN
-    eProsima_user_DllExport inline bool is_plain() const override
-    {
-        return false;
-    }
 
     eProsima_user_DllExport inline bool is_plain(
             eprosima::fastdds::dds::DataRepresentationId_t data_representation) const override
@@ -397,8 +349,8 @@ class StructStructPubSubType : public eprosima::fastdds::dds::TopicDataType
 
 #endif  // TOPIC_DATA_TYPE_API_HAS_CONSTRUCT_SAMPLE
 
-    eprosima::fastdds::MD5 m_md5;
-    unsigned char* m_keyBuffer;
+    eprosima::fastdds::MD5 md5_;
+    unsigned char* key_buffer_;
 
 };
 
diff --git a/test/unittest/dds/xtypes/serializers/idl/types/union_struct/gen/union_structPubSubTypes.cxx b/test/unittest/dds/xtypes/serializers/idl/types/union_struct/gen/union_structPubSubTypes.cxx
index 22ad76ec79b..61562796504 100644
--- a/test/unittest/dds/xtypes/serializers/idl/types/union_struct/gen/union_structPubSubTypes.cxx
+++ b/test/unittest/dds/xtypes/serializers/idl/types/union_struct/gen/union_structPubSubTypes.cxx
@@ -33,26 +33,21 @@ using DataRepresentationId_t = eprosima::fastdds::dds::DataRepresentationId_t;
 
 UnionStructPubSubType::UnionStructPubSubType()
 {
-    setName("UnionStruct");
-    uint32_t type_size =
-#if FASTCDR_VERSION_MAJOR == 1
-        static_cast<uint32_t>(UnionStruct::getMaxCdrSerializedSize());
-#else
-        UnionStruct_max_cdr_typesize;
-#endif
+    set_name("UnionStruct");
+    uint32_t type_size = UnionStruct_max_cdr_typesize;
     type_size += static_cast<uint32_t>(eprosima::fastcdr::Cdr::alignment(type_size, 4)); /* possible submessage alignment */
-    m_typeSize = type_size + 4; /*encapsulation*/
-    m_isGetKeyDefined = false;
-    uint32_t keyLength = UnionStruct_max_key_cdr_typesize > 16 ? UnionStruct_max_key_cdr_typesize : 16;
-    m_keyBuffer = reinterpret_cast<unsigned char*>(malloc(keyLength));
-    memset(m_keyBuffer, 0, keyLength);
+    max_serialized_type_size = type_size + 4; /*encapsulation*/
+    is_compute_key_provided = false;
+    uint32_t key_length = UnionStruct_max_key_cdr_typesize > 16 ? UnionStruct_max_key_cdr_typesize : 16;
+    key_buffer_ = reinterpret_cast<unsigned char*>(malloc(key_length));
+    memset(key_buffer_, 0, key_length);
 }
 
 UnionStructPubSubType::~UnionStructPubSubType()
 {
-    if (m_keyBuffer != nullptr)
+    if (key_buffer_ != nullptr)
     {
-        free(m_keyBuffer);
+        free(key_buffer_);
     }
 }
 
@@ -70,12 +65,10 @@ bool UnionStructPubSubType::serialize(
             data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
             eprosima::fastcdr::CdrVersion::XCDRv1 : eprosima::fastcdr::CdrVersion::XCDRv2);
     payload->encapsulation = ser.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS ? CDR_BE : CDR_LE;
-#if FASTCDR_VERSION_MAJOR > 1
     ser.set_encoding_flag(
         data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
         eprosima::fastcdr::EncodingAlgorithmFlag::PLAIN_CDR  :
         eprosima::fastcdr::EncodingAlgorithmFlag::DELIMIT_CDR2);
-#endif // FASTCDR_VERSION_MAJOR > 1
 
     try
     {
@@ -90,11 +83,7 @@ bool UnionStructPubSubType::serialize(
     }
 
     // Get the serialized length
-#if FASTCDR_VERSION_MAJOR == 1
-    payload->length = static_cast<uint32_t>(ser.getSerializedDataLength());
-#else
     payload->length = static_cast<uint32_t>(ser.get_serialized_data_length());
-#endif // FASTCDR_VERSION_MAJOR == 1
     return true;
 }
 
@@ -111,11 +100,7 @@ bool UnionStructPubSubType::deserialize(
         eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(payload->data), payload->length);
 
         // Object that deserializes the data.
-        eprosima::fastcdr::Cdr deser(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN
-#if FASTCDR_VERSION_MAJOR == 1
-                , eprosima::fastcdr::Cdr::CdrType::DDS_CDR
-#endif // FASTCDR_VERSION_MAJOR == 1
-                );
+        eprosima::fastcdr::Cdr deser(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN);
 
         // Deserialize encapsulation.
         deser.read_encapsulation();
@@ -132,52 +117,62 @@ bool UnionStructPubSubType::deserialize(
     return true;
 }
 
-std::function<uint32_t()> UnionStructPubSubType::getSerializedSizeProvider(
+uint32_t UnionStructPubSubType::calculate_serialized_size(
         const void* const data,
         DataRepresentationId_t data_representation)
 {
-    return [data, data_representation]() -> uint32_t
-           {
-#if FASTCDR_VERSION_MAJOR == 1
-               static_cast<void>(data_representation);
-               return static_cast<uint32_t>(type::getCdrSerializedSize(*static_cast<UnionStruct*>(data))) +
-                      4u /*encapsulation*/;
-#else
-               try
-               {
-                   eprosima::fastcdr::CdrSizeCalculator calculator(
-                       data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
-                       eprosima::fastcdr::CdrVersion::XCDRv1 :eprosima::fastcdr::CdrVersion::XCDRv2);
-                   size_t current_alignment {0};
-                   return static_cast<uint32_t>(calculator.calculate_serialized_size(
-                               *static_cast<const UnionStruct*>(data), current_alignment)) +
-                           4u /*encapsulation*/;
-               }
-               catch (eprosima::fastcdr::exception::Exception& /*exception*/)
-               {
-                   return 0;
-               }
-#endif // FASTCDR_VERSION_MAJOR == 1
-           };
+    try
+    {
+        eprosima::fastcdr::CdrSizeCalculator calculator(
+            data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
+            eprosima::fastcdr::CdrVersion::XCDRv1 :eprosima::fastcdr::CdrVersion::XCDRv2);
+        size_t current_alignment {0};
+        return static_cast<uint32_t>(calculator.calculate_serialized_size(
+                    *static_cast<const UnionStruct*>(data), current_alignment)) +
+                4u /*encapsulation*/;
+    }
+    catch (eprosima::fastcdr::exception::Exception& /*exception*/)
+    {
+        return 0;
+    }
 }
 
-void* UnionStructPubSubType::createData()
+void* UnionStructPubSubType::create_data()
 {
     return reinterpret_cast<void*>(new UnionStruct());
 }
 
-void UnionStructPubSubType::deleteData(
+void UnionStructPubSubType::delete_data(
         void* data)
 {
     delete(reinterpret_cast<UnionStruct*>(data));
 }
 
-bool UnionStructPubSubType::getKey(
+bool UnionStructPubSubType::compute_key(
+        SerializedPayload_t* payload,
+        InstanceHandle_t* handle,
+        bool force_md5)
+{
+    if (!is_compute_key_provided)
+    {
+        return false;
+    }
+
+    UnionStruct data;
+    if (deserialize(payload, static_cast<void*>(&data)))
+    {
+        return compute_key(static_cast<void*>(&data), handle, force_md5);
+    }
+
+    return false;
+}
+
+bool UnionStructPubSubType::compute_key(
         const void* const data,
         InstanceHandle_t* handle,
         bool force_md5)
 {
-    if (!m_isGetKeyDefined)
+    if (!is_compute_key_provided)
     {
         return false;
     }
@@ -185,35 +180,27 @@ bool UnionStructPubSubType::getKey(
     const UnionStruct* p_type = static_cast<const UnionStruct*>(data);
 
     // Object that manages the raw buffer.
-    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(m_keyBuffer),
+    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(key_buffer_),
             UnionStruct_max_key_cdr_typesize);
 
     // Object that serializes the data.
     eprosima::fastcdr::Cdr ser(fastbuffer, eprosima::fastcdr::Cdr::BIG_ENDIANNESS, eprosima::fastcdr::CdrVersion::XCDRv1);
-#if FASTCDR_VERSION_MAJOR == 1
-    p_type->serializeKey(ser);
-#else
     eprosima::fastcdr::serialize_key(ser, *p_type);
-#endif // FASTCDR_VERSION_MAJOR == 1
     if (force_md5 || UnionStruct_max_key_cdr_typesize > 16)
     {
-        m_md5.init();
-#if FASTCDR_VERSION_MAJOR == 1
-        m_md5.update(m_keyBuffer, static_cast<unsigned int>(ser.getSerializedDataLength()));
-#else
-        m_md5.update(m_keyBuffer, static_cast<unsigned int>(ser.get_serialized_data_length()));
-#endif // FASTCDR_VERSION_MAJOR == 1
-        m_md5.finalize();
+        md5_.init();
+        md5_.update(key_buffer_, static_cast<unsigned int>(ser.get_serialized_data_length()));
+        md5_.finalize();
         for (uint8_t i = 0; i < 16; ++i)
         {
-            handle->value[i] = m_md5.digest[i];
+            handle->value[i] = md5_.digest[i];
         }
     }
     else
     {
         for (uint8_t i = 0; i < 16; ++i)
         {
-            handle->value[i] = m_keyBuffer[i];
+            handle->value[i] = key_buffer_[i];
         }
     }
     return true;
diff --git a/test/unittest/dds/xtypes/serializers/idl/types/union_struct/gen/union_structPubSubTypes.hpp b/test/unittest/dds/xtypes/serializers/idl/types/union_struct/gen/union_structPubSubTypes.hpp
index bbd1b9e3986..86d15c99e42 100644
--- a/test/unittest/dds/xtypes/serializers/idl/types/union_struct/gen/union_structPubSubTypes.hpp
+++ b/test/unittest/dds/xtypes/serializers/idl/types/union_struct/gen/union_structPubSubTypes.hpp
@@ -32,10 +32,10 @@
 #include "union_struct.hpp"
 
 
-#if !defined(GEN_API_VER) || (GEN_API_VER != 2)
+#if !defined(FASTDDS_GEN_API_VER) || (FASTDDS_GEN_API_VER != 3)
 #error \
     Generated union_struct is not compatible with current installed Fast DDS. Please, regenerate it with fastddsgen.
-#endif  // GEN_API_VER
+#endif  // FASTDDS_GEN_API_VER
 
 
 /*!
@@ -52,13 +52,6 @@ class UnionStructPubSubType : public eprosima::fastdds::dds::TopicDataType
 
     eProsima_user_DllExport ~UnionStructPubSubType() override;
 
-    eProsima_user_DllExport bool serialize(
-            const void* const data,
-            eprosima::fastdds::rtps::SerializedPayload_t* payload) override
-    {
-        return serialize(data, payload, eprosima::fastdds::dds::DEFAULT_DATA_REPRESENTATION);
-    }
-
     eProsima_user_DllExport bool serialize(
             const void* const data,
             eprosima::fastdds::rtps::SerializedPayload_t* payload,
@@ -68,24 +61,23 @@ class UnionStructPubSubType : public eprosima::fastdds::dds::TopicDataType
             eprosima::fastdds::rtps::SerializedPayload_t* payload,
             void* data) override;
 
-    eProsima_user_DllExport std::function<uint32_t()> getSerializedSizeProvider(
-            const void* const data) override
-    {
-        return getSerializedSizeProvider(data, eprosima::fastdds::dds::DEFAULT_DATA_REPRESENTATION);
-    }
-
-    eProsima_user_DllExport std::function<uint32_t()> getSerializedSizeProvider(
+    eProsima_user_DllExport uint32_t calculate_serialized_size(
             const void* const data,
             eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
 
-    eProsima_user_DllExport bool getKey(
+    eProsima_user_DllExport bool compute_key(
+            eprosima::fastdds::rtps::SerializedPayload_t* payload,
+            eprosima::fastdds::rtps::InstanceHandle_t* ihandle,
+            bool force_md5 = false) override;
+
+    eProsima_user_DllExport bool compute_key(
             const void* const data,
             eprosima::fastdds::rtps::InstanceHandle_t* ihandle,
             bool force_md5 = false) override;
 
-    eProsima_user_DllExport void* createData() override;
+    eProsima_user_DllExport void* create_data() override;
 
-    eProsima_user_DllExport void deleteData(
+    eProsima_user_DllExport void delete_data(
             void* data) override;
 
     //Register TypeObject representation in Fast DDS TypeObjectRegistry
@@ -100,10 +92,6 @@ class UnionStructPubSubType : public eprosima::fastdds::dds::TopicDataType
 #endif  // TOPIC_DATA_TYPE_API_HAS_IS_BOUNDED
 
 #ifdef TOPIC_DATA_TYPE_API_HAS_IS_PLAIN
-    eProsima_user_DllExport inline bool is_plain() const override
-    {
-        return false;
-    }
 
     eProsima_user_DllExport inline bool is_plain(
             eprosima::fastdds::dds::DataRepresentationId_t data_representation) const override
@@ -124,8 +112,8 @@ class UnionStructPubSubType : public eprosima::fastdds::dds::TopicDataType
 
 #endif  // TOPIC_DATA_TYPE_API_HAS_CONSTRUCT_SAMPLE
 
-    eprosima::fastdds::MD5 m_md5;
-    unsigned char* m_keyBuffer;
+    eprosima::fastdds::MD5 md5_;
+    unsigned char* key_buffer_;
 
 };