diff --git a/.github/workflows/build_and_test.yml b/.github/workflows/build_and_test.yml
index d436ed6bc8a..685fe3e6675 100644
--- a/.github/workflows/build_and_test.yml
+++ b/.github/workflows/build_and_test.yml
@@ -2636,14 +2636,11 @@ jobs:
         cat "$GITHUB_WORKSPACE/OpenDDS/${{ github.job }}_autobuild_workspace/logs/latest.txt"
         grep -q 'Failures: 0' "$GITHUB_WORKSPACE/OpenDDS/${{ github.job }}_autobuild_workspace/logs/latest.txt"
 
-  ACE_TAO_u22_gcc11_i0_xer0:
+  ACE_TAO_u22_i0_xer0:
 
     runs-on: ubuntu-22.04
 
     steps:
-    - name: install gcc and g++
-      run: |
-        sudo apt-get install g++-11
     - name: checkout OpenDDS
       uses: actions/checkout@v4
       with:
@@ -2664,7 +2661,7 @@ jobs:
     - name: get compiler version
       shell: bash
       run: |
-        export COMPILER_VERSION=$(g++-11 --version 2>&1 | head -n 1)
+        export COMPILER_VERSION=$(g++ --version 2>&1 | head -n 1)
         echo "COMPILER_VERSION=$COMPILER_VERSION" >> $GITHUB_ENV
     - name: Cache Artifact
       id: cache-artifact
@@ -2682,7 +2679,7 @@ jobs:
       if: steps.cache-artifact.outputs.cache-hit != 'true'
       run: |
         cd OpenDDS
-        ./configure --compiler=g++-11 --std=c++20 --no-inline --tests --ace=$GITHUB_WORKSPACE/OpenDDS/ACE_TAO/ACE --mpc=$GITHUB_WORKSPACE/MPC --compile-warnings=WARNING
+        ./configure --std=c++20 --no-inline --tests --ace=$GITHUB_WORKSPACE/OpenDDS/ACE_TAO/ACE --mpc=$GITHUB_WORKSPACE/MPC --compile-warnings=WARNING
     - name: build ACE and TAO
       if: steps.cache-artifact.outputs.cache-hit != 'true'
       run: |
@@ -2708,16 +2705,13 @@ jobs:
         name: ${{ github.job }}_artifact
         path: ${{ github.job }}.tar.xz
 
-  build_u22_gcc11_i0_xer0:
+  build_u22_i0_xer0:
 
     runs-on: ubuntu-22.04
 
-    needs: ACE_TAO_u22_gcc11_i0_xer0
+    needs: ACE_TAO_u22_i0_xer0
 
     steps:
-    - name: install gcc and g++
-      run: |
-        sudo apt-get install g++-11
     - name: checkout MPC
       uses: actions/checkout@v4
       with:
@@ -2732,13 +2726,13 @@ jobs:
     - name: download ACE_TAO artifact
       uses: actions/download-artifact@v4
       with:
-        name: ACE_TAO_u22_gcc11_i0_xer0_artifact
+        name: ACE_TAO_u22_i0_xer0_artifact
         path: ACE_TAO
     - name: extract ACE_TAO artifact
       shell: bash
       run: |
         cd ACE_TAO
-        tar xvfJ ACE_TAO_u22_gcc11_i0_xer0.tar.xz
+        tar xvfJ ACE_TAO_u22_i0_xer0.tar.xz
     - name: checkout OpenDDS
       uses: actions/checkout@v4
       with:
@@ -2747,7 +2741,7 @@ jobs:
     - name: configure OpenDDS
       run: |
         cd OpenDDS
-        ./configure --compiler=g++-11 --std=c++20 --no-inline --tests --rapidjson --boottime --ace=$GITHUB_WORKSPACE/ACE_TAO/ACE --mpc=$GITHUB_WORKSPACE/MPC --compile-warnings=WARNING
+        ./configure --std=c++20 --no-inline --tests --rapidjson --boottime --ace=$GITHUB_WORKSPACE/ACE_TAO/ACE --mpc=$GITHUB_WORKSPACE/MPC --compile-warnings=WARNING
     - name: check build configuration
       shell: bash
       run: |
@@ -2766,7 +2760,7 @@ jobs:
         source OpenDDS/setenv.sh
         mkdir OpenDDS/tests/cmake/build
         cd OpenDDS/tests/cmake/build
-        cmake -DCMAKE_CXX_COMPILER=g++-11 ..
+        cmake ..
         cmake --build . -- -j4
     - name: create OpenDDS tar.xz artifact
       shell: bash
@@ -2783,11 +2777,11 @@ jobs:
         name: ${{ github.job }}_artifact
         path: ${{ github.job }}.tar.xz
 
-  cmake_u22_gcc11_i0_xer0:
+  test_u22_i0_xer0:
 
     runs-on: ubuntu-22.04
 
-    needs: build_u22_gcc11_i0_xer0
+    needs: build_u22_i0_xer0
 
     permissions:
       contents: read
@@ -2813,13 +2807,13 @@ jobs:
     - name: download ACE_TAO artifact
       uses: actions/download-artifact@v4
       with:
-        name: ACE_TAO_u22_gcc11_i0_xer0_artifact
+        name: ACE_TAO_u22_i0_xer0_artifact
         path: ACE_TAO
     - name: extract ACE_TAO artifact
       shell: bash
       run: |
         cd ACE_TAO
-        tar xvfJ ACE_TAO_u22_gcc11_i0_xer0.tar.xz
+        tar xvfJ ACE_TAO_u22_i0_xer0.tar.xz
     - name: checkout OpenDDS
       uses: actions/checkout@v4
       with:
@@ -2828,13 +2822,13 @@ jobs:
     - name: download OpenDDS artifact
       uses: actions/download-artifact@v4
       with:
-        name: build_u22_gcc11_i0_xer0_artifact
+        name: build_u22_i0_xer0_artifact
         path: OpenDDS
     - name: extract OpenDDS artifact
       shell: bash
       run: |
         cd OpenDDS
-        tar xvfJ build_u22_gcc11_i0_xer0.tar.xz
+        tar xvfJ build_u22_i0_xer0.tar.xz
     - name: check build configuration
       shell: bash
       run: |
@@ -2881,7 +2875,7 @@ jobs:
         <command name="check_compiler" options="gcc"/>
         <command name="print_perl_version"/>
         <command name="print_autobuild_config"/>
-        <command name="auto_run_tests" options="script_path=tests dir=$GITHUB_WORKSPACE/OpenDDS --no-dcps --cmake"/>
+        <command name="auto_run_tests" options="script_path=tests dir=$GITHUB_WORKSPACE/OpenDDS -Config CXX11 -Config RAPIDJSON -Config BOOTTIME_TIMERS"/>
         <command name="log" options="off"/>
         <command name="process_logs" options="move prettify index"/>
         </autobuild>
diff --git a/configure b/configure
index 1c5a8e08856..04cd667db6e 100755
--- a/configure
+++ b/configure
@@ -62,7 +62,7 @@ my %platforminfo =
                'cl_versions' => {13.1 => 'vc71', 14 => 'vc8', 15 => 'vc9',
                                  16 => 'vc10', 17 => 'vc11', 18 => 'vc12',
                                  19 => 'vc14', 19.1 => 'vs2017',
-                                 19.2 => 'vs2019', 19.3 => 'vs2022'},
+                                 19.2 => 'vs2019', 19.3 => 'vs2022', 19.4 => 'vs2022'},
                'cl_archs' => {'x64' => 1, 'Win32' => 1, 'ARM64' => 0, 'ARM' => 0}, # 1 if supported
               },
    'macos' => {
diff --git a/dds/DCPS/DataReaderImpl_T.h b/dds/DCPS/DataReaderImpl_T.h
index 6b656b7d367..82e58bafcd5 100644
--- a/dds/DCPS/DataReaderImpl_T.h
+++ b/dds/DCPS/DataReaderImpl_T.h
@@ -850,7 +850,7 @@ namespace OpenDDS {
     bool filtered = false;
     SubscriptionInstance_rch instance;
 
-    const DDS::Time_t now = timestamp.to_dds_time();
+    const DDS::Time_t now = timestamp.to_idl_struct();
     DataSampleHeader header;
     header.source_timestamp_sec_ = now.sec;
     header.source_timestamp_nanosec_ = now.nanosec;
@@ -898,7 +898,7 @@ namespace OpenDDS {
 
     SubscriptionInstance_rch si = get_handle_instance(instance);
     if (si && state != DDS::ALIVE_INSTANCE_STATE) {
-      const DDS::Time_t now = timestamp.to_dds_time();
+      const DDS::Time_t now = timestamp.to_idl_struct();
       DataSampleHeader header;
       header.publication_id_ = publication_id;
       header.source_timestamp_sec_ = now.sec;
diff --git a/dds/DCPS/DataWriterImpl.cpp b/dds/DCPS/DataWriterImpl.cpp
index 4624a389fa0..041e0265852 100644
--- a/dds/DCPS/DataWriterImpl.cpp
+++ b/dds/DCPS/DataWriterImpl.cpp
@@ -543,7 +543,7 @@ DataWriterImpl::association_complete_i(const GUID_t& remote_id)
       Message_Block_Ptr end_historic_samples(
         create_control_message(
           END_HISTORIC_SAMPLES, header, move(data),
-          SystemTimePoint::now().to_dds_time()));
+          SystemTimePoint::now().to_idl_struct()));
 
       this->controlTracker.message_sent();
       guard.release();
@@ -776,7 +776,7 @@ void DataWriterImpl::replay_durable_data_for(const GUID_t& remote_id)
 
       DataSampleHeader header;
       Message_Block_Ptr end_historic_samples(create_control_message(END_HISTORIC_SAMPLES, header, move(data),
-                                                                    SystemTimePoint::now().to_dds_time()));
+                                                                    SystemTimePoint::now().to_idl_struct()));
 
       this->controlTracker.message_sent();
       guard.release();
@@ -1075,7 +1075,7 @@ DataWriterImpl::send_request_ack()
       REQUEST_ACK,
       element->get_header(),
       move(blk),
-      SystemTimePoint::now().to_dds_time()));
+      SystemTimePoint::now().to_idl_struct()));
 
   element->set_sample(move(sample));
 
@@ -2426,7 +2426,7 @@ DataWriterImpl::end_coherent_changes(const GroupCoherentSamples& group_samples)
   Message_Block_Ptr control(
     create_control_message(
       END_COHERENT_CHANGES, header, move(data),
-      SystemTimePoint::now().to_dds_time()));
+      SystemTimePoint::now().to_idl_struct()));
 
   this->coherent_ = false;
   this->coherent_samples_ = 0;
@@ -2550,7 +2550,7 @@ DataWriterImpl::send_liveliness(const MonotonicTimePoint& now)
     Message_Block_Ptr liveliness_msg(
       create_control_message(
         DATAWRITER_LIVELINESS, header, move(empty),
-        SystemTimePoint::now().to_dds_time()));
+        SystemTimePoint::now().to_idl_struct()));
 
     if (this->send_control(header, move(liveliness_msg)) == SEND_CONTROL_ERROR) {
       ACE_ERROR_RETURN((LM_ERROR,
@@ -2582,7 +2582,7 @@ DataWriterImpl::prepare_to_delete()
 #endif
 
   // Unregister all registered instances prior to deletion.
-  unregister_instances(SystemTimePoint::now().to_dds_time());
+  unregister_instances(SystemTimePoint::now().to_idl_struct());
 
   const Observer_rch observer = get_observer(Observer::e_DELETED);
   if (observer) {
diff --git a/dds/DCPS/DataWriterImpl_T.h b/dds/DCPS/DataWriterImpl_T.h
index 73d1aa7c31c..86b902a8adc 100644
--- a/dds/DCPS/DataWriterImpl_T.h
+++ b/dds/DCPS/DataWriterImpl_T.h
@@ -52,7 +52,7 @@ DataWriterImpl_T
 
   DDS::InstanceHandle_t register_instance(const MessageType& instance)
   {
-    return register_instance_w_timestamp(instance, SystemTimePoint::now().to_dds_time());
+    return register_instance_w_timestamp(instance, SystemTimePoint::now().to_idl_struct());
   }
 
   DDS::InstanceHandle_t register_instance_w_timestamp(
@@ -64,7 +64,7 @@ DataWriterImpl_T
 
   DDS::ReturnCode_t unregister_instance(const MessageType& instance, DDS::InstanceHandle_t handle)
   {
-    return unregister_instance_w_timestamp(instance, handle, SystemTimePoint::now().to_dds_time());
+    return unregister_instance_w_timestamp(instance, handle, SystemTimePoint::now().to_idl_struct());
   }
 
   DDS::ReturnCode_t unregister_instance_w_timestamp(
@@ -81,7 +81,7 @@ DataWriterImpl_T
   //         This lack of safety helps performance.
   DDS::ReturnCode_t write(const MessageType& instance_data, DDS::InstanceHandle_t handle)
   {
-    return write_w_timestamp(instance_data, handle, SystemTimePoint::now().to_dds_time());
+    return write_w_timestamp(instance_data, handle, SystemTimePoint::now().to_idl_struct());
   }
 
   //WARNING: If the handle is non-nil and the instance is not registered
@@ -98,7 +98,7 @@ DataWriterImpl_T
 
   DDS::ReturnCode_t dispose(const MessageType& instance_data, DDS::InstanceHandle_t instance_handle)
   {
-    return dispose_w_timestamp(instance_data, instance_handle, SystemTimePoint::now().to_dds_time());
+    return dispose_w_timestamp(instance_data, instance_handle, SystemTimePoint::now().to_idl_struct());
   }
 
   DDS::ReturnCode_t dispose_w_timestamp(
diff --git a/dds/DCPS/DomainParticipantImpl.cpp b/dds/DCPS/DomainParticipantImpl.cpp
index 5719b5b5155..175e82191e7 100644
--- a/dds/DCPS/DomainParticipantImpl.cpp
+++ b/dds/DCPS/DomainParticipantImpl.cpp
@@ -1518,7 +1518,7 @@ DomainParticipantImpl::get_default_topic_qos(
 DDS::ReturnCode_t
 DomainParticipantImpl::get_current_time(DDS::Time_t& current_time)
 {
-  current_time = SystemTimePoint::now().to_dds_time();
+  current_time = SystemTimePoint::now().to_idl_struct();
   return DDS::RETCODE_OK;
 }
 
diff --git a/dds/DCPS/Hash.cpp b/dds/DCPS/Hash.cpp
index fbf4846112e..9aeae185226 100644
--- a/dds/DCPS/Hash.cpp
+++ b/dds/DCPS/Hash.cpp
@@ -251,7 +251,7 @@ void MD5_Update(MD5_CTX *ctx, const void *data, unsigned long size)
                 }
 
                 memcpy(&ctx->buffer[used], data, free);
-                data = (unsigned char *)data + free;
+                data = (const unsigned char *)data + free;
                 size -= free;
                 body(ctx, ctx->buffer, 64);
         }
diff --git a/dds/DCPS/InternalDataReader.h b/dds/DCPS/InternalDataReader.h
index db078975a32..22db3515d15 100644
--- a/dds/DCPS/InternalDataReader.h
+++ b/dds/DCPS/InternalDataReader.h
@@ -340,7 +340,7 @@ class InternalDataReader : public InternalEntity {
     {
       if (instance_state_ == DDS::NOT_ALIVE_DISPOSED_INSTANCE_STATE &&
           !is_infinite(qos.reader_data_lifecycle.autopurge_disposed_samples_delay) &&
-          SystemTimePoint::now().to_dds_time() > disposed_expiration_date_) {
+          SystemTimePoint::now().to_idl_struct() > disposed_expiration_date_) {
         not_read_samples_.clear();
         read_samples_.clear();
       }
@@ -357,7 +357,7 @@ class InternalDataReader : public InternalEntity {
 
       if (instance_state_ == DDS::NOT_ALIVE_NO_WRITERS_INSTANCE_STATE &&
           !is_infinite(qos.reader_data_lifecycle.autopurge_nowriter_samples_delay) &&
-          SystemTimePoint::now().to_dds_time() > no_writers_expiration_date_) {
+          SystemTimePoint::now().to_idl_struct() > no_writers_expiration_date_) {
         return true;
       }
 
@@ -511,7 +511,7 @@ class InternalDataReader : public InternalEntity {
 
       if (instance_state_ == DDS::ALIVE_INSTANCE_STATE) {
         instance_state_ = DDS::NOT_ALIVE_DISPOSED_INSTANCE_STATE;
-        disposed_expiration_date_ = SystemTimePoint::now().to_dds_time() + qos.reader_data_lifecycle.autopurge_disposed_samples_delay;
+        disposed_expiration_date_ = SystemTimePoint::now().to_idl_struct() + qos.reader_data_lifecycle.autopurge_disposed_samples_delay;
         informed_of_not_alive_ = false;
         return true;
       }
@@ -526,7 +526,7 @@ class InternalDataReader : public InternalEntity {
 
       if (publication_set_.empty() && instance_state_ == DDS::ALIVE_INSTANCE_STATE) {
         instance_state_ = DDS::NOT_ALIVE_NO_WRITERS_INSTANCE_STATE;
-        no_writers_expiration_date_ = SystemTimePoint::now().to_dds_time() + qos.reader_data_lifecycle.autopurge_nowriter_samples_delay;
+        no_writers_expiration_date_ = SystemTimePoint::now().to_idl_struct() + qos.reader_data_lifecycle.autopurge_nowriter_samples_delay;
         informed_of_not_alive_ = false;
         return true;
       }
diff --git a/dds/DCPS/Logging.cpp b/dds/DCPS/Logging.cpp
index 8cde3732a79..5dd2389e0a9 100644
--- a/dds/DCPS/Logging.cpp
+++ b/dds/DCPS/Logging.cpp
@@ -25,7 +25,7 @@ void OpenDDS_Dcps_Export log_progress(const char* activity,
 {
   ACE_DEBUG((LM_INFO, "(%P|%t) {transport_debug.log_progress} local: %C remote: %C reference: %C time(ms): %Lu activity: %C\n",
              DCPS::LogGuid(local).c_str(), DCPS::LogGuid(remote).c_str(), DCPS::LogGuid(reference).c_str(),
-             duration_to_time_value(MonotonicTimePoint::now().to_monotonic_time() - start_time).msec(),
+             duration_to_time_value(MonotonicTimePoint::now().to_idl_struct() - start_time).msec(),
              activity));
 }
 
diff --git a/dds/DCPS/RTPS/Spdp.cpp b/dds/DCPS/RTPS/Spdp.cpp
index aa9b6d3541f..4a3cb6f7f6b 100644
--- a/dds/DCPS/RTPS/Spdp.cpp
+++ b/dds/DCPS/RTPS/Spdp.cpp
@@ -247,7 +247,7 @@ Spdp::Spdp(DDS::DomainId_t domain,
 #endif
   , domain_(domain)
   , guid_(guid)
-  , participant_discovered_at_(MonotonicTimePoint::now().to_monotonic_time())
+  , participant_discovered_at_(MonotonicTimePoint::now().to_idl_struct())
   , is_application_participant_(false)
   , ipv4_participant_port_id_(0)
 #ifdef ACE_HAS_IPV6
@@ -310,7 +310,7 @@ Spdp::Spdp(DDS::DomainId_t domain,
   , secure_participant_user_data_(disco->config()->secure_participant_user_data())
   , domain_(domain)
   , guid_(guid)
-  , participant_discovered_at_(MonotonicTimePoint::now().to_monotonic_time())
+  , participant_discovered_at_(MonotonicTimePoint::now().to_idl_struct())
   , is_application_participant_(false)
   , ipv4_participant_port_id_(0)
 #ifdef ACE_HAS_IPV6
@@ -561,56 +561,56 @@ void Spdp::process_location_updates_i(const DiscoveredParticipantIter& iter, con
     case DCPS::LOCATION_LOCAL:
       address_change = addr.compare(location_data.local_addr.in()) != 0;
       location_data.local_addr = addr.c_str();
-      location_data.local_timestamp = pos->timestamp_.to_dds_time();
+      location_data.local_timestamp = pos->timestamp_.to_idl_struct();
       break;
     case DCPS::LOCATION_ICE:
       address_change = addr.compare(location_data.ice_addr.in()) != 0;
       location_data.ice_addr = addr.c_str();
-      location_data.ice_timestamp = pos->timestamp_.to_dds_time();
+      location_data.ice_timestamp = pos->timestamp_.to_idl_struct();
       break;
     case DCPS::LOCATION_RELAY:
       address_change = addr.compare(location_data.relay_addr.in()) != 0;
       location_data.relay_addr = addr.c_str();
-      location_data.relay_timestamp = pos->timestamp_.to_dds_time();
+      location_data.relay_timestamp = pos->timestamp_.to_idl_struct();
       break;
     case DCPS::LOCATION_LOCAL6:
       address_change = addr.compare(location_data.local6_addr.in()) != 0;
       location_data.local6_addr = addr.c_str();
-      location_data.local6_timestamp = pos->timestamp_.to_dds_time();
+      location_data.local6_timestamp = pos->timestamp_.to_idl_struct();
       break;
     case DCPS::LOCATION_ICE6:
       address_change = addr.compare(location_data.ice6_addr.in()) != 0;
       location_data.ice6_addr = addr.c_str();
-      location_data.ice6_timestamp = pos->timestamp_.to_dds_time();
+      location_data.ice6_timestamp = pos->timestamp_.to_idl_struct();
       break;
     case DCPS::LOCATION_RELAY6:
       address_change = addr.compare(location_data.relay6_addr.in()) != 0;
       location_data.relay6_addr = addr.c_str();
-      location_data.relay6_timestamp = pos->timestamp_.to_dds_time();
+      location_data.relay6_timestamp = pos->timestamp_.to_idl_struct();
       break;
     }
 
-    const DDS::Time_t expr = (pos->timestamp_ - leaseDuration).to_dds_time();
+    const DDS::Time_t expr = (pos->timestamp_ - leaseDuration).to_idl_struct();
 
     if ((location_data.location & DCPS::LOCATION_LOCAL) && DCPS::operator<(location_data.local_timestamp, expr)) {
       location_data.location &= ~(DCPS::LOCATION_LOCAL);
       location_data.change_mask |= DCPS::LOCATION_LOCAL;
-      location_data.local_timestamp = pos->timestamp_.to_dds_time();
+      location_data.local_timestamp = pos->timestamp_.to_idl_struct();
     }
     if ((location_data.location & DCPS::LOCATION_RELAY) && DCPS::operator<(location_data.relay_timestamp, expr)) {
       location_data.location &= ~(DCPS::LOCATION_RELAY);
       location_data.change_mask |= DCPS::LOCATION_RELAY;
-      location_data.relay_timestamp = pos->timestamp_.to_dds_time();
+      location_data.relay_timestamp = pos->timestamp_.to_idl_struct();
     }
     if ((location_data.location & DCPS::LOCATION_LOCAL6) && DCPS::operator<(location_data.local6_timestamp, expr)) {
       location_data.location &= ~(DCPS::LOCATION_LOCAL6);
       location_data.change_mask |= DCPS::LOCATION_LOCAL6;
-      location_data.local6_timestamp = pos->timestamp_.to_dds_time();
+      location_data.local6_timestamp = pos->timestamp_.to_idl_struct();
     }
     if ((location_data.location & DCPS::LOCATION_RELAY6) && DCPS::operator<(location_data.relay6_timestamp, expr)) {
       location_data.location &= ~(DCPS::LOCATION_RELAY6);
       location_data.change_mask |= DCPS::LOCATION_RELAY6;
-      location_data.relay6_timestamp = pos->timestamp_.to_dds_time();
+      location_data.relay6_timestamp = pos->timestamp_.to_idl_struct();
     }
 
     if (old_mask != location_data.location || address_change) {
@@ -870,7 +870,7 @@ Spdp::handle_participant_data(DCPS::MessageId id,
     }
 
     if (DCPS::transport_debug.log_progress) {
-      log_progress("participant discovery", guid_, guid, iter->second.discovered_at_.to_monotonic_time());
+      log_progress("participant discovery", guid_, guid, iter->second.discovered_at_.to_idl_struct());
     }
 
 #ifndef DDS_HAS_MINIMUM_BIT
@@ -957,7 +957,7 @@ Spdp::handle_participant_data(DCPS::MessageId id,
 
   } else { // Existing Participant
     if (from_sedp && DCPS::transport_debug.log_progress) {
-      log_progress("secure participant discovery", guid_, guid, iter->second.discovered_at_.to_monotonic_time());
+      log_progress("secure participant discovery", guid_, guid, iter->second.discovered_at_.to_idl_struct());
     }
 
 #ifndef DDS_HAS_MINIMUM_BIT
@@ -1096,7 +1096,7 @@ Spdp::data_received(const DataSubmessage& data,
   ParticipantData_t pdata;
 
   pdata.participantProxy.domainId = domain_;
-  pdata.discoveredAt = now.to_monotonic_time();
+  pdata.discoveredAt = now.to_idl_struct();
 #if OPENDDS_CONFIG_SECURITY
   pdata.ddsParticipantDataSecure.base.base.key = DCPS::BUILTIN_TOPIC_KEY_UNKNOWN;
 #endif
@@ -1950,7 +1950,7 @@ Spdp::handle_participant_crypto_tokens(const DDS::Security::ParticipantVolatileM
   }
 
   if (DCPS::transport_debug.log_progress) {
-    log_progress("participant crypto token", guid_, src_participant, iter->second.discovered_at_.to_monotonic_time());
+    log_progress("participant crypto token", guid_, src_participant, iter->second.discovered_at_.to_idl_struct());
   }
 
   const DDS::Security::ParticipantCryptoTokenSeq& inboundTokens =
@@ -2117,7 +2117,7 @@ Spdp::match_authenticated(const DCPS::GUID_t& guid, DiscoveredParticipantIter& i
   }
 
   if (DCPS::transport_debug.log_progress) {
-    log_progress("authentication", guid_, guid, iter->second.discovered_at_.to_monotonic_time());
+    log_progress("authentication", guid_, guid, iter->second.discovered_at_.to_idl_struct());
   }
 
   DDS::Security::ParticipantCryptoHandle dp_crypto_handle =
@@ -4430,6 +4430,7 @@ void Spdp::SpdpTransport::thread_status_task(const DCPS::MonotonicTimePoint& now
     DCPS::InternalThreadBuiltinTopicData data;
     data.thread_id = i->bit_key().c_str();
     data.utilization = i->utilization(now);
+    data.monotonic_timestamp = i->last_update().to_idl_struct();
     outer->bit_subscriber_->add_thread_status(data, DDS::NEW_VIEW_STATE, i->timestamp());
   }
 
@@ -4596,7 +4597,7 @@ DCPS::MonotonicTime_t Spdp::get_participant_discovered_at(const DCPS::GUID_t& gu
 {
   const DiscoveredParticipantConstIter iter = participants_.find(make_part_guid(guid));
   if (iter != participants_.end()) {
-    return iter->second.discovered_at_.to_monotonic_time();
+    return iter->second.discovered_at_.to_idl_struct();
   }
 
   return DCPS::MonotonicTime_t();
diff --git a/dds/DCPS/ReactorTask.cpp b/dds/DCPS/ReactorTask.cpp
index bc0660576ad..4fd70265ca5 100644
--- a/dds/DCPS/ReactorTask.cpp
+++ b/dds/DCPS/ReactorTask.cpp
@@ -13,6 +13,7 @@
 #endif /* __ACE_INLINE__ */
 
 #include "Service_Participant.h"
+#include "Timers.h"
 
 #include <ace/Select_Reactor.h>
 #include <ace/WFMO_Reactor.h>
@@ -159,18 +160,29 @@ int ReactorTask::svc()
     condition_.notify_all();
   }
 
-  // Tell the reactor to handle events.
+  Timers::TimerId thread_status_timer = Timers::InvalidTimerId;
+  RcHandle<RcEventHandler> tsm_updater_handler;
+
   if (thread_status_manager_->update_thread_status()) {
-    while (state() == STATE_RUNNING) {
-      ACE_Time_Value t = thread_status_manager_->thread_status_interval().value();
-      ThreadStatusManager::Sleeper sleeper(*thread_status_manager_);
-      reactor_->run_reactor_event_loop(t, 0);
+    tsm_updater_handler = make_rch<ThreadStatusManager::Updater>();
+    const TimeDuration period = thread_status_manager_->thread_status_interval();
+    thread_status_timer = Timers::schedule(reactor_, *tsm_updater_handler, thread_status_manager_,
+                                           period, period);
+
+    if (thread_status_timer == Timers::InvalidTimerId) {
+      if (log_level >= LogLevel::Notice) {
+        ACE_ERROR((LM_NOTICE, "(%P|%t) NOTICE: ReactorTask::svc: failed to "
+                              "schedule timer for ThreadStatusManager::Updater\n"));
+      }
     }
-
-  } else {
-    reactor_->run_reactor_event_loop();
   }
 
+  ThreadStatusManager::Sleeper sleeper(thread_status_manager_);
+  reactor_->run_reactor_event_loop();
+
+  if (thread_status_timer != Timers::InvalidTimerId) {
+    Timers::cancel(reactor_, thread_status_timer);
+  }
   return 0;
 }
 
diff --git a/dds/DCPS/ReactorTask.h b/dds/DCPS/ReactorTask.h
index 6b1464250dd..aa9a415bb57 100644
--- a/dds/DCPS/ReactorTask.h
+++ b/dds/DCPS/ReactorTask.h
@@ -111,11 +111,10 @@ class OpenDDS_Dcps_Export ReactorTask : public virtual ACE_Task_Base,
 #endif
 
   TimerQueueType* timer_queue_;
+  ReactorInterceptor_rch interceptor_;
 
   // thread status reporting
   String name_;
-
-  ReactorInterceptor_rch interceptor_;
   ThreadStatusManager* thread_status_manager_;
 };
 
diff --git a/dds/DCPS/ReceivedDataElementList.h b/dds/DCPS/ReceivedDataElementList.h
index b97cf12dea2..c6bedde00fd 100644
--- a/dds/DCPS/ReceivedDataElementList.h
+++ b/dds/DCPS/ReceivedDataElementList.h
@@ -36,6 +36,7 @@ class OpenDDS_Dcps_Export ReceivedDataElement {
     : pub_(header.publication_id_),
       registered_data_(received_data),
       sample_state_(DDS::NOT_READ_SAMPLE_STATE),
+      destination_timestamp_(SystemTimePoint::now().to_idl_struct()),
 #ifndef OPENDDS_NO_OBJECT_MODEL_PROFILE
       coherent_change_(header.coherent_change_),
       group_coherent_(header.group_coherent_),
@@ -51,8 +52,6 @@ class OpenDDS_Dcps_Export ReceivedDataElement {
       ref_count_(1),
       mx_(mx)
   {
-    destination_timestamp_ = SystemTimePoint::now().to_dds_time();
-
     source_timestamp_.sec = header.source_timestamp_sec_;
     source_timestamp_.nanosec = header.source_timestamp_nanosec_;
 
diff --git a/dds/DCPS/RecorderImpl.cpp b/dds/DCPS/RecorderImpl.cpp
index 25f053bbaaa..6cb024d17ff 100644
--- a/dds/DCPS/RecorderImpl.cpp
+++ b/dds/DCPS/RecorderImpl.cpp
@@ -364,7 +364,7 @@ RecorderImpl::add_association(const WriterAssociation& writer,
     //
     //     if (where->second->should_ack(now)) {
     //       const SequenceNumber sequence = where->second->ack_sequence();
-    //       if (send_sample_ack(writer.writerId, sequence, now.to_dds_time())) {
+    //       if (send_sample_ack(writer.writerId, sequence, now.to_idl_struct())) {
     //         where->second->clear_acks(sequence);
     //       }
     //     }
diff --git a/dds/DCPS/ReplayerImpl.cpp b/dds/DCPS/ReplayerImpl.cpp
index 5fb7f51308f..b035b213968 100644
--- a/dds/DCPS/ReplayerImpl.cpp
+++ b/dds/DCPS/ReplayerImpl.cpp
@@ -102,7 +102,7 @@ ReplayerImpl::cleanup()
 {
 
   //     // Unregister all registered instances prior to deletion.
-  //     // this->unregister_instances(SystemTimePoint::now().to_dds_time());
+  //     // this->unregister_instances(SystemTimePoint::now().to_idl_struct());
   //
   //     // CORBA::String_var topic_name = this->get_Atopic_name();
   {
diff --git a/dds/DCPS/ThreadStatusManager.h b/dds/DCPS/ThreadStatusManager.h
index a848232e4d0..c0c917933d8 100644
--- a/dds/DCPS/ThreadStatusManager.h
+++ b/dds/DCPS/ThreadStatusManager.h
@@ -9,6 +9,7 @@
 #define OPENDDS_DCPS_THREADSTATUSMANAGER_H
 
 #include "dcps_export.h"
+#include "RcEventHandler.h"
 #include "TimeTypes.h"
 
 OPENDDS_BEGIN_VERSIONED_NAMESPACE_DECL
@@ -158,6 +159,16 @@ class OpenDDS_Dcps_Export ThreadStatusManager {
     ThreadStatusManager* const thread_status_manager_;
   };
 
+  struct Updater : RcEventHandler {
+    int handle_timeout(const ACE_Time_Value&, const void* arg)
+    {
+      const ThreadStatusManager* const tsmConst = static_cast<const ThreadStatusManager*>(arg);
+      ThreadStatusManager* const tsm = const_cast<ThreadStatusManager*>(tsmConst);
+      tsm->idle();
+      return 0;
+    }
+  };
+
   /// Copy active and idle threads to running and finished threads to
   /// finished.  Only threads updated after start are considered.
   void harvest(const MonotonicTimePoint& start,
diff --git a/dds/DCPS/TimePoint_T.cpp b/dds/DCPS/TimePoint_T.cpp
index 92ce6621460..77a9689bf99 100644
--- a/dds/DCPS/TimePoint_T.cpp
+++ b/dds/DCPS/TimePoint_T.cpp
@@ -11,19 +11,19 @@ OPENDDS_BEGIN_VERSIONED_NAMESPACE_DECL
 namespace OpenDDS {
 namespace DCPS {
 
-template<typename AceClock>
-const TimePoint_T<AceClock> TimePoint_T<AceClock>::zero_value(ACE_Time_Value(0, 0));
+template<typename AceClock, typename IdlType>
+const TimePoint_T<AceClock, IdlType> TimePoint_T<AceClock, IdlType>::zero_value(ACE_Time_Value(0, 0));
 
 #ifdef ACE_HAS_CPP11
-template<typename AceClock>
-const TimePoint_T<AceClock> TimePoint_T<AceClock>::max_value(ACE_Time_Value(std::numeric_limits<time_t>::max(), ACE_ONE_SECOND_IN_USECS - 1));
+template<typename AceClock, typename IdlType>
+const TimePoint_T<AceClock, IdlType> TimePoint_T<AceClock, IdlType>::max_value(ACE_Time_Value(std::numeric_limits<time_t>::max(), ACE_ONE_SECOND_IN_USECS - 1));
 #else
-template<typename AceClock>
-const TimePoint_T<AceClock> TimePoint_T<AceClock>::max_value(ACE_Time_Value(ACE_Numeric_Limits<time_t>::max(), ACE_ONE_SECOND_IN_USECS - 1));
+template<typename AceClock, typename IdlType>
+const TimePoint_T<AceClock, IdlType> TimePoint_T<AceClock, IdlType>::max_value(ACE_Time_Value(ACE_Numeric_Limits<time_t>::max(), ACE_ONE_SECOND_IN_USECS - 1));
 #endif /* ACE_HAS_CPP11 */
 
-template<typename AceClock>
-AceClock TimePoint_T<AceClock>::clock;
+template<typename AceClock, typename IdlType>
+AceClock TimePoint_T<AceClock, IdlType>::clock;
 
 }
 }
diff --git a/dds/DCPS/TimePoint_T.h b/dds/DCPS/TimePoint_T.h
index 783edc8d132..b508770f917 100644
--- a/dds/DCPS/TimePoint_T.h
+++ b/dds/DCPS/TimePoint_T.h
@@ -4,8 +4,6 @@
 #include "TimeDuration.h"
 #include "SafeBool_T.h"
 
-#include <dds/DdsDcpsInfoUtilsC.h>
-
 #include <ace/Time_Value_T.h>
 
 #if !defined (ACE_LACKS_PRAGMA_ONCE)
@@ -31,14 +29,15 @@ namespace DCPS {
  * (or docs/internal/dev_guidelines.rst) for background and reasoning for this
  * class.
  */
-template<typename AceClock>
-class TimePoint_T : public SafeBool_T<TimePoint_T<AceClock> > {
+template<typename AceClock, typename IdlType>
+class TimePoint_T : public SafeBool_T<TimePoint_T<AceClock, IdlType> > {
 public:
   typedef AceClock ClockType;
+  typedef IdlType IdlStruct;
   typedef ACE_Time_Value_T<AceClock> ValueType;
 
-  const static TimePoint_T<AceClock> zero_value;
-  const static TimePoint_T<AceClock> max_value;
+  const static TimePoint_T zero_value;
+  const static TimePoint_T max_value;
 
   /**
    * Set to zero_value, which is equal to the epoch (the starting point) of the
@@ -51,19 +50,18 @@ class TimePoint_T : public SafeBool_T<TimePoint_T<AceClock> > {
    * necessary.
    *
    * \warning Use these carefully. Make sure ACE_Time_Value is a point in time
-   * and of the right clock type. DDS::Time_t should be in system clock time
-   * and so shouldn't be used with MonotonicTimePoint.
+   * and of the right clock type.
    */
   ///@{
   explicit TimePoint_T(const ACE_Time_Value& ace_time_value);
-  explicit TimePoint_T(const ACE_Time_Value_T<AceClock>& ace_time_value);
-  explicit TimePoint_T(const DDS::Time_t& dds_time);
+  explicit TimePoint_T(const ValueType& ace_time_value);
+  explicit TimePoint_T(const IdlType& from_idl);
   ///@}
 
   /**
    * Get a TimePoint representing the current time of the AceClock.
    */
-  static TimePoint_T<AceClock> now();
+  static TimePoint_T now();
 
   /**
    * Get and set the inner ACE_Time_Value based value. Use value() to pass this
@@ -71,8 +69,8 @@ class TimePoint_T : public SafeBool_T<TimePoint_T<AceClock> > {
    * type.
    */
   ///@{
-  const ACE_Time_Value_T<AceClock>& value() const;
-  void value(const ACE_Time_Value_T<AceClock>& ace_time_value);
+  const ValueType& value() const;
+  void value(const ValueType& ace_time_value);
   ///@}
 
   /**
@@ -96,18 +94,12 @@ class TimePoint_T : public SafeBool_T<TimePoint_T<AceClock> > {
   void set_to_now();
 
   /**
-   * Convert to DDS::Time_t. This is probably only desirable for the system
-   * time version of this template class, SystemTimePoint.
-   */
-  DDS::Time_t to_dds_time() const;
-
-  /**
-   * Convert to OpenDDS::DCPS::MonotonicTime_t.
+   * Convert to the corresponding IDL struct type.
    */
-  MonotonicTime_t to_monotonic_time() const;
+  IdlType to_idl_struct() const;
 
-  TimePoint_T<AceClock>& operator+=(const TimeDuration& td);
-  TimePoint_T<AceClock>& operator-=(const TimeDuration& td);
+  TimePoint_T& operator+=(const TimeDuration& td);
+  TimePoint_T& operator-=(const TimeDuration& td);
 
 protected:
   /**
@@ -119,35 +111,35 @@ class TimePoint_T : public SafeBool_T<TimePoint_T<AceClock> > {
   ValueType value_;
 };
 
-template<typename AceClock>
-TimePoint_T<AceClock> operator+(const TimeDuration& x, const TimePoint_T<AceClock>& y);
+template<typename AceClock, typename IdlType>
+TimePoint_T<AceClock,  IdlType> operator+(const TimeDuration& x, const TimePoint_T<AceClock, IdlType>& y);
 
-template<typename AceClock>
-TimePoint_T<AceClock> operator+(const TimePoint_T<AceClock>& x, const TimeDuration& y);
+template<typename AceClock, typename IdlType>
+TimePoint_T<AceClock, IdlType> operator+(const TimePoint_T<AceClock, IdlType>& x, const TimeDuration& y);
 
-template<typename AceClock>
-TimeDuration operator-(const TimePoint_T<AceClock>& x, const TimePoint_T<AceClock>& y);
+template<typename AceClock, typename IdlType>
+TimeDuration operator-(const TimePoint_T<AceClock,  IdlType>& x, const TimePoint_T<AceClock, IdlType>& y);
 
-template<typename AceClock>
-TimePoint_T<AceClock> operator-(const TimePoint_T<AceClock>& x, const TimeDuration& y);
+template<typename AceClock, typename IdlType>
+TimePoint_T<AceClock, IdlType> operator-(const TimePoint_T<AceClock, IdlType>& x, const TimeDuration& y);
 
-template<typename AceClock>
-bool operator<(const TimePoint_T<AceClock>& x, const TimePoint_T<AceClock>& y);
+template<typename AceClock, typename IdlType>
+bool operator<(const TimePoint_T<AceClock, IdlType>& x, const TimePoint_T<AceClock, IdlType>& y);
 
-template<typename AceClock>
-bool operator>(const TimePoint_T<AceClock>& x, const TimePoint_T<AceClock>& y);
+template<typename AceClock, typename IdlType>
+bool operator>(const TimePoint_T<AceClock, IdlType>& x, const TimePoint_T<AceClock, IdlType>& y);
 
-template<typename AceClock>
-bool operator<=(const TimePoint_T<AceClock>& x, const TimePoint_T<AceClock>& y);
+template<typename AceClock, typename IdlType>
+bool operator<=(const TimePoint_T<AceClock, IdlType>& x, const TimePoint_T<AceClock, IdlType>& y);
 
-template<typename AceClock>
-bool operator>=(const TimePoint_T<AceClock>& x, const TimePoint_T<AceClock>& y);
+template<typename AceClock, typename IdlType>
+bool operator>=(const TimePoint_T<AceClock, IdlType>& x, const TimePoint_T<AceClock, IdlType>& y);
 
-template<typename AceClock>
-bool operator==(const TimePoint_T<AceClock>& x, const TimePoint_T<AceClock>& y);
+template<typename AceClock, typename IdlType>
+bool operator==(const TimePoint_T<AceClock, IdlType>& x, const TimePoint_T<AceClock, IdlType>& y);
 
-template<typename AceClock>
-bool operator!=(const TimePoint_T<AceClock>& x, const TimePoint_T<AceClock>& y);
+template<typename AceClock, typename IdlType>
+bool operator!=(const TimePoint_T<AceClock, IdlType>& x, const TimePoint_T<AceClock, IdlType>& y);
 
 } // namespace DCPS
 } // namespace OpenDDS
diff --git a/dds/DCPS/TimePoint_T.inl b/dds/DCPS/TimePoint_T.inl
index 8567f6a0eab..176a9e4cd53 100644
--- a/dds/DCPS/TimePoint_T.inl
+++ b/dds/DCPS/TimePoint_T.inl
@@ -7,192 +7,186 @@ OPENDDS_BEGIN_VERSIONED_NAMESPACE_DECL
 namespace OpenDDS {
 namespace DCPS {
 
-template<typename AceClock>
+template<typename AceClock, typename IdlType>
 ACE_INLINE
-TimePoint_T<AceClock>::TimePoint_T()
+TimePoint_T<AceClock, IdlType>::TimePoint_T()
 : value_(zero_value.value())
 {
 }
 
-template<typename AceClock>
+template<typename AceClock, typename IdlType>
 ACE_INLINE
-TimePoint_T<AceClock>::TimePoint_T(const ACE_Time_Value& ace_time_value)
+TimePoint_T<AceClock, IdlType>::TimePoint_T(const ACE_Time_Value& ace_time_value)
 : value_(ace_time_value)
 {
 }
 
-template<typename AceClock>
+template<typename AceClock, typename IdlType>
 ACE_INLINE
-TimePoint_T<AceClock>::TimePoint_T(const ACE_Time_Value_T<AceClock>& ace_time_value)
+TimePoint_T<AceClock, IdlType>::TimePoint_T(const ACE_Time_Value_T<AceClock>& ace_time_value)
 : value_(ace_time_value)
 {
 }
 
-template<typename AceClock>
+template<typename AceClock, typename IdlType>
 ACE_INLINE
-TimePoint_T<AceClock>::TimePoint_T(const DDS::Time_t& dds_time)
-: value_(time_to_time_value(dds_time))
+TimePoint_T<AceClock, IdlType>::TimePoint_T(const IdlType& idl_time)
+: value_(time_to_time_value(idl_time))
 {
 }
 
-template<typename AceClock>
+template<typename AceClock, typename IdlType>
 ACE_INLINE
-TimePoint_T<AceClock>
-TimePoint_T<AceClock>::now()
+TimePoint_T<AceClock, IdlType>
+TimePoint_T<AceClock, IdlType>::now()
 {
-  return TimePoint_T<AceClock>(clock());
+  return TimePoint_T<AceClock, IdlType>(clock());
 }
 
-template<typename AceClock>
+template<typename AceClock, typename IdlType>
 ACE_INLINE
 const ACE_Time_Value_T<AceClock>&
-TimePoint_T<AceClock>::value() const
+TimePoint_T<AceClock, IdlType>::value() const
 {
   return value_;
 }
 
-template<typename AceClock>
+template<typename AceClock, typename IdlType>
 ACE_INLINE
 void
-TimePoint_T<AceClock>::value(const ACE_Time_Value_T<AceClock>& ace_time_value)
+TimePoint_T<AceClock, IdlType>::value(const ACE_Time_Value_T<AceClock>& ace_time_value)
 {
   value_ = ace_time_value;
 }
 
-template<typename AceClock>
+template<typename AceClock, typename IdlType>
 ACE_INLINE
 bool
-TimePoint_T<AceClock>::is_zero() const
+TimePoint_T<AceClock, IdlType>::is_zero() const
 {
   return *this == zero_value;
 }
 
-template<typename AceClock>
+template<typename AceClock, typename IdlType>
 ACE_INLINE
 bool
-TimePoint_T<AceClock>::is_max() const
+TimePoint_T<AceClock, IdlType>::is_max() const
 {
   return *this == max_value;
 }
 
-template<typename AceClock>
+template<typename AceClock, typename IdlType>
 ACE_INLINE
 void
-TimePoint_T<AceClock>::set_to_now()
+TimePoint_T<AceClock, IdlType>::set_to_now()
 {
   value_ = clock();
 }
 
-template<typename AceClock>
+template<typename AceClock, typename IdlType>
 ACE_INLINE
-DDS::Time_t
-TimePoint_T<AceClock>::to_dds_time() const
+IdlType
+TimePoint_T<AceClock, IdlType>::to_idl_struct() const
 {
-  return time_value_to_time(value_);
+  IdlType i;
+  time_value_to_time(i, value_);
+  return i;
 }
 
-template<typename AceClock>
+template<typename AceClock, typename IdlType>
 ACE_INLINE
-MonotonicTime_t
-TimePoint_T<AceClock>::to_monotonic_time() const
-{
-  return time_value_to_monotonic_time(value_);
-}
-
-template<typename AceClock>
-ACE_INLINE
-TimePoint_T<AceClock>&
-TimePoint_T<AceClock>::operator+=(const TimeDuration& td)
+TimePoint_T<AceClock, IdlType>&
+TimePoint_T<AceClock, IdlType>::operator+=(const TimeDuration& td)
 {
   value_ += td.value();
   return *this;
 }
 
-template<typename AceClock>
+template<typename AceClock, typename IdlType>
 ACE_INLINE
-TimePoint_T<AceClock>&
-TimePoint_T<AceClock>::operator-=(const TimeDuration& td)
+TimePoint_T<AceClock, IdlType>&
+TimePoint_T<AceClock, IdlType>::operator-=(const TimeDuration& td)
 {
   value_ -= td.value();
   return *this;
 }
 
-template<typename AceClock>
+template<typename AceClock, typename IdlType>
 ACE_INLINE
-TimePoint_T<AceClock>
-operator+(const TimeDuration& x, const TimePoint_T<AceClock>& y)
+TimePoint_T<AceClock, IdlType>
+operator+(const TimeDuration& x, const TimePoint_T<AceClock, IdlType>& y)
 {
-  return TimePoint_T<AceClock>(x.value() + y.value());
+  return TimePoint_T<AceClock, IdlType>(x.value() + y.value());
 }
 
-template<typename AceClock>
+template<typename AceClock, typename IdlType>
 ACE_INLINE
-TimePoint_T<AceClock>
-operator+(const TimePoint_T<AceClock>& x, const TimeDuration& y)
+TimePoint_T<AceClock, IdlType>
+operator+(const TimePoint_T<AceClock, IdlType>& x, const TimeDuration& y)
 {
-  return TimePoint_T<AceClock>(x.value() + y.value());
+  return TimePoint_T<AceClock, IdlType>(x.value() + y.value());
 }
 
-template<typename AceClock>
+template<typename AceClock, typename IdlType>
 ACE_INLINE
 TimeDuration
-operator-(const TimePoint_T<AceClock>& x, const TimePoint_T<AceClock>& y)
+operator-(const TimePoint_T<AceClock, IdlType>& x, const TimePoint_T<AceClock, IdlType>& y)
 {
   return TimeDuration(x.value() - y.value());
 }
 
-template<typename AceClock>
+template<typename AceClock, typename IdlType>
 ACE_INLINE
-TimePoint_T<AceClock>
-operator-(const TimePoint_T<AceClock>& x, const TimeDuration& y)
+TimePoint_T<AceClock, IdlType>
+operator-(const TimePoint_T<AceClock, IdlType>& x, const TimeDuration& y)
 {
-  return TimePoint_T<AceClock>(x.value() - y.value());
+  return TimePoint_T<AceClock, IdlType>(x.value() - y.value());
 }
 
-template<typename AceClock>
+template<typename AceClock, typename IdlType>
 ACE_INLINE
 bool
-operator<(const TimePoint_T<AceClock>& x, const TimePoint_T<AceClock>& y)
+operator<(const TimePoint_T<AceClock, IdlType>& x, const TimePoint_T<AceClock, IdlType>& y)
 {
   return x.value() < y.value();
 }
 
-template<typename AceClock>
+template<typename AceClock, typename IdlType>
 ACE_INLINE
 bool
-operator>(const TimePoint_T<AceClock>& x, const TimePoint_T<AceClock>& y)
+operator>(const TimePoint_T<AceClock, IdlType>& x, const TimePoint_T<AceClock, IdlType>& y)
 {
   return x.value() > y.value();
 }
 
-template<typename AceClock>
+template<typename AceClock, typename IdlType>
 ACE_INLINE
 bool
-operator<=(const TimePoint_T<AceClock>& x, const TimePoint_T<AceClock>& y)
+operator<=(const TimePoint_T<AceClock, IdlType>& x, const TimePoint_T<AceClock, IdlType>& y)
 {
   return x.value() <= y.value();
 }
 
-template<typename AceClock>
+template<typename AceClock, typename IdlType>
 ACE_INLINE
 bool
-operator>=(const TimePoint_T<AceClock>& x, const TimePoint_T<AceClock>& y)
+operator>=(const TimePoint_T<AceClock, IdlType>& x, const TimePoint_T<AceClock, IdlType>& y)
 {
   return x.value() >= y.value();
 }
 
-template<typename AceClock>
+template<typename AceClock, typename IdlType>
 ACE_INLINE
 bool
-operator==(const TimePoint_T<AceClock>& x, const TimePoint_T<AceClock>& y)
+operator==(const TimePoint_T<AceClock, IdlType>& x, const TimePoint_T<AceClock, IdlType>& y)
 {
   return x.value() == y.value();
 }
 
-template<typename AceClock>
+template<typename AceClock, typename IdlType>
 ACE_INLINE
 bool
-operator!=(const TimePoint_T<AceClock>& x, const TimePoint_T<AceClock>& y)
+operator!=(const TimePoint_T<AceClock, IdlType>& x, const TimePoint_T<AceClock, IdlType>& y)
 {
   return x.value() != y.value();
 }
diff --git a/dds/DCPS/TimeTypes.h b/dds/DCPS/TimeTypes.h
index 3b627108317..6404d2fc0f1 100644
--- a/dds/DCPS/TimeTypes.h
+++ b/dds/DCPS/TimeTypes.h
@@ -11,6 +11,8 @@
 #include "TimeDuration.h"
 #include "TimePoint_T.h"
 
+#include <dds/DdsDcpsInfoUtilsC.h>
+
 #include <ace/Monotonic_Time_Policy.h>
 #include <ace/Time_Policy.h>
 
@@ -29,7 +31,7 @@ namespace DCPS {
  */
 ///@{
 typedef ACE_System_Time_Policy SystemClock;
-typedef TimePoint_T<SystemClock> SystemTimePoint;
+typedef TimePoint_T<SystemClock, DDS::Time_t> SystemTimePoint;
 ///@}
 
 /**
@@ -48,7 +50,7 @@ typedef ACE_Monotonic_Time_Policy MonotonicClock;
 #else
 typedef SystemClock MonotonicClock;
 #endif
-typedef TimePoint_T<MonotonicClock> MonotonicTimePoint;
+typedef TimePoint_T<MonotonicClock, MonotonicTime_t> MonotonicTimePoint;
 ///@}
 
 } // namespace DCPS
diff --git a/dds/DCPS/Time_Helper.h b/dds/DCPS/Time_Helper.h
index aa20ab12445..07874ae5434 100644
--- a/dds/DCPS/Time_Helper.h
+++ b/dds/DCPS/Time_Helper.h
@@ -12,6 +12,7 @@
 #include <dds/DdsDcpsCoreC.h>
 #include <dds/DdsDcpsInfoUtilsC.h>
 
+#include <ace/Monotonic_Time_Policy.h>
 #include <ace/OS_NS_sys_time.h>
 
 #ifndef ACE_LACKS_PRAGMA_ONCE
@@ -23,14 +24,25 @@ OPENDDS_BEGIN_VERSIONED_NAMESPACE_DECL
 namespace OpenDDS {
 namespace DCPS {
 
-ACE_INLINE OpenDDS_Dcps_Export
-ACE_Time_Value time_to_time_value(const DDS::Time_t& t);
+template <typename TimeT>
+ACE_Time_Value time_to_time_value(const TimeT& t)
+{
+  ACE_Time_Value tv(t.sec, t.nanosec / 1000);
+  return tv;
+}
+
+template <typename IdlType>
+void time_value_to_time(IdlType& t, const ACE_Time_Value& tv)
+{
+  t.sec = ACE_Utils::truncate_cast<CORBA::Long>(tv.sec());
+  t.nanosec = ACE_Utils::truncate_cast<CORBA::ULong>(tv.usec() * 1000);
+}
 
 ACE_INLINE OpenDDS_Dcps_Export
 DDS::Time_t time_value_to_time(const ACE_Time_Value& tv);
 
 ACE_INLINE OpenDDS_Dcps_Export
-MonotonicTime_t time_value_to_monotonic_time(const ACE_Time_Value& tv);
+MonotonicTime_t time_value_to_time(const ACE_Time_Value_T<ACE_Monotonic_Time_Policy>& tv);
 
 ACE_INLINE OpenDDS_Dcps_Export
 ACE_Time_Value duration_to_time_value(const DDS::Duration_t& t);
diff --git a/dds/DCPS/Time_Helper.inl b/dds/DCPS/Time_Helper.inl
index 83c850e60bb..aa4807079db 100644
--- a/dds/DCPS/Time_Helper.inl
+++ b/dds/DCPS/Time_Helper.inl
@@ -191,13 +191,6 @@ operator==(const MonotonicTime_t& t1, const MonotonicTime_t& t2)
 }
 #endif
 
-ACE_INLINE
-ACE_Time_Value time_to_time_value(const DDS::Time_t& t)
-{
-  ACE_Time_Value tv(t.sec, t.nanosec / 1000);
-  return tv;
-}
-
 ACE_INLINE
 DDS::Time_t time_value_to_time(const ACE_Time_Value& tv)
 {
@@ -208,7 +201,7 @@ DDS::Time_t time_value_to_time(const ACE_Time_Value& tv)
 }
 
 ACE_INLINE
-MonotonicTime_t time_value_to_monotonic_time(const ACE_Time_Value& tv)
+MonotonicTime_t time_value_to_time(const ACE_Time_Value_T<ACE_Monotonic_Time_Policy>& tv)
 {
   MonotonicTime_t t;
   t.sec = ACE_Utils::truncate_cast<CORBA::Long>(tv.sec());
diff --git a/dds/DCPS/Timers.cpp b/dds/DCPS/Timers.cpp
index d935d4abe9f..87bc8cf8624 100644
--- a/dds/DCPS/Timers.cpp
+++ b/dds/DCPS/Timers.cpp
@@ -90,13 +90,16 @@ TimerId schedule(ACE_Reactor* reactor,
     }
     return InvalidTimerId;
   }
+  static const timespec one_ns = {0, 1};
   itimerspec ts;
   ts.it_interval = interval.value();
-  if (delay == TimeDuration()) {
+  if (delay < TimeDuration::zero_value) {
+    // expiration in the past, execute as soon as possible (see note about zeros below)
+    ts.it_value = one_ns;
+  } else if (delay == TimeDuration::zero_value) {
     // avoid zeros since that would disarm the timer
     // if the interval is positive, use that as the initial expiration
-    static const timespec one = {0, 1};
-    ts.it_value = (interval == TimeDuration()) ? one : interval.value();
+    ts.it_value = (interval == TimeDuration::zero_value) ? one_ns : interval.value();
   } else {
     ts.it_value = delay.value();
   }
diff --git a/dds/DCPS/XTypes/DynamicDataWriterImpl.h b/dds/DCPS/XTypes/DynamicDataWriterImpl.h
index e7240481e55..e661e5f79b9 100644
--- a/dds/DCPS/XTypes/DynamicDataWriterImpl.h
+++ b/dds/DCPS/XTypes/DynamicDataWriterImpl.h
@@ -26,7 +26,7 @@ class OpenDDS_Dcps_Export DynamicDataWriterImpl
 public:
   DDS::InstanceHandle_t register_instance(DDS::DynamicData_ptr instance)
   {
-    return register_instance_w_timestamp(instance, DCPS::SystemTimePoint::now().to_dds_time());
+    return register_instance_w_timestamp(instance, DCPS::SystemTimePoint::now().to_idl_struct());
   }
 
   DDS::InstanceHandle_t register_instance_w_timestamp(
@@ -40,7 +40,7 @@ class OpenDDS_Dcps_Export DynamicDataWriterImpl
     DDS::DynamicData_ptr instance, DDS::InstanceHandle_t handle)
   {
     return unregister_instance_w_timestamp(instance, handle,
-      DCPS::SystemTimePoint::now().to_dds_time());
+      DCPS::SystemTimePoint::now().to_idl_struct());
   }
 
   DDS::ReturnCode_t unregister_instance_w_timestamp(
@@ -52,7 +52,7 @@ class OpenDDS_Dcps_Export DynamicDataWriterImpl
 
   DDS::ReturnCode_t write(DDS::DynamicData_ptr instance_data, DDS::InstanceHandle_t handle)
   {
-    return write_w_timestamp(instance_data, handle, DCPS::SystemTimePoint::now().to_dds_time());
+    return write_w_timestamp(instance_data, handle, DCPS::SystemTimePoint::now().to_idl_struct());
   }
 
   DDS::ReturnCode_t write_w_timestamp(DDS::DynamicData_ptr instance_data,
@@ -66,7 +66,7 @@ class OpenDDS_Dcps_Export DynamicDataWriterImpl
     DDS::DynamicData_ptr instance_data, DDS::InstanceHandle_t instance_handle)
   {
     return dispose_w_timestamp(instance_data, instance_handle,
-      DCPS::SystemTimePoint::now().to_dds_time());
+      DCPS::SystemTimePoint::now().to_idl_struct());
   }
 
   DDS::ReturnCode_t dispose_w_timestamp(DDS::DynamicData_ptr instance_data,
diff --git a/dds/DCPS/transport/tcp/TcpDataLink.cpp b/dds/DCPS/transport/tcp/TcpDataLink.cpp
index 628181c3c7e..b4897c38d24 100644
--- a/dds/DCPS/transport/tcp/TcpDataLink.cpp
+++ b/dds/DCPS/transport/tcp/TcpDataLink.cpp
@@ -321,7 +321,7 @@ OpenDDS::DCPS::TcpDataLink::send_graceful_disconnect_message()
   //header_data.message_length_ = 0;
   //header_data.sequence_ = 0;
   //DDS::Time_t source_timestamp
-  //  = SystemTimePoint::now().to_dds_time();
+  //  = SystemTimePoint::now().to_idl_struct();
   //header_data.source_timestamp_sec_ = source_timestamp.sec;
   //header_data.source_timestamp_nanosec_ = source_timestamp.nanosec;
   //header_data.coherency_group_ = 0;
diff --git a/dds/FACE/FaceTSS.cpp b/dds/FACE/FaceTSS.cpp
index 573bd14e745..edf1a80208e 100644
--- a/dds/FACE/FaceTSS.cpp
+++ b/dds/FACE/FaceTSS.cpp
@@ -878,7 +878,7 @@ void populate_header_received(const FACE::CONNECTION_ID_TYPE& connection_id,
   header.message_timestamp = convertTime(sinfo.source_timestamp);
   const OpenDDS::DCPS::SystemTimePoint now = OpenDDS::DCPS::SystemTimePoint::now();
 
-  readers[connection_id]->sum_recvd_msgs_latency += (convertTime(now.to_dds_time()) - header.message_timestamp);
+  readers[connection_id]->sum_recvd_msgs_latency += (convertTime(now.to_idl_struct()) - header.message_timestamp);
   ++readers[connection_id]->total_msgs_recvd;
 
   if (OpenDDS::DCPS::DCPS_debug_level > 8) {
diff --git a/dds/OpenddsDcpsExt.idl b/dds/OpenddsDcpsExt.idl
index 84366fd3f89..90b354ee2fd 100644
--- a/dds/OpenddsDcpsExt.idl
+++ b/dds/OpenddsDcpsExt.idl
@@ -9,6 +9,7 @@
 #define OPENDDS_DCPS_EXT_IDL
 
 #include <dds/DdsDcpsCore.idl>
+#include <dds/DdsDcpsInfoUtils.idl>
 #include <dds/DdsDcpsGuid.idl>
 
 #if defined __OPENDDS_IDL && !defined DDS_HAS_MINIMUM_BIT
@@ -74,6 +75,7 @@ module OpenDDS
     struct InternalThreadBuiltinTopicData {
       BUILT_IN_TOPIC_KEY string thread_id;
       double utilization;
+      MonotonicTime_t monotonic_timestamp;
     };
 
     const long LOCATOR_KIND_INVALID = -1;
diff --git a/docs/devguide/built_in_topics.rst b/docs/devguide/built_in_topics.rst
index 18b41983f51..f6f3ba16d2e 100644
--- a/docs/devguide/built_in_topics.rst
+++ b/docs/devguide/built_in_topics.rst
@@ -294,3 +294,5 @@ The topic type InternalThreadBuiltinTopicData is defined in :ghfile:`dds/Opendds
 * ``thread_id`` (key) -- A string identifier for the thread.
 
 * ``utilization`` -- Estimated utilization of this thread (0.0-1.0).
+
+* ``monotonic_timestamp`` -- Time of most recent update (monotonic clock).  The SampleInfo's ``source_timestamp`` has the timestamp on the system clock.
diff --git a/docs/news.d/thread-status-boottime.rst b/docs/news.d/thread-status-boottime.rst
new file mode 100644
index 00000000000..78310d40f48
--- /dev/null
+++ b/docs/news.d/thread-status-boottime.rst
@@ -0,0 +1,14 @@
+.. news-prs: 4677
+
+.. news-start-section: Additions
+- Added a new data member, ``monotonic_timestamp`` to the ``InternalThreadBuiltInTopic`` IDL struct.
+
+  - ``monotonic_timestamp`` is the time of the sample was written (time of last update of this instance) on the monotonic clock.
+  - On systems that don't support a monotonic clock, this will be the same value as the corresponding ``SampleInfo``'s ``source_timestamp``.
+.. news-end-section
+
+.. news-start-section: Fixes
+- When :cfg:prop:`DCPSThreadStatusInterval` is enabled, threads that run the ACE Reactor now use timers instead of a time-limited ``select()`` system call to update the ``InternalThreadBuiltInTopic``.
+
+  - This allows the ``InternalThreadBuiltInTopic`` to be updated accurately on systems that suspend/resume and are configured for boottime timers.
+.. news-end-section
diff --git a/java/dds/.gitignore b/java/dds/.gitignore
index a8b75c343dc..fada886db38 100644
--- a/java/dds/.gitignore
+++ b/java/dds/.gitignore
@@ -3,14 +3,51 @@
 /*.vcproj
 /BitsExtJC.cpp
 /BitsJC.cpp
+/classes
+/DDS__ConditionTAOPeer.h
+/DDS__ContentFilteredTopicTAOPeer.h
+/DDS__DataReaderListenerTAOPeer.h
+/DDS__DataReaderTAOPeer.h
+/DDS__DataWriterListenerTAOPeer.h
+/DDS__DataWriterTAOPeer.h
+/DDS__DomainParticipantFactoryTAOPeer.h
+/DDS__DomainParticipantListenerTAOPeer.h
+/DDS__DomainParticipantTAOPeer.h
+/DDS__EntityTAOPeer.h
+/DDS__GuardConditionInterfTAOPeer.h
+/DDS__MultiTopicTAOPeer.h
+/DDS__ParticipantBuiltinTopicDataDataReaderTAOPeer.h
+/DDS__ParticipantBuiltinTopicDataDataWriterTAOPeer.h
+/DDS__ParticipantBuiltinTopicDataTypeSupportTAOPeer.h
+/DDS__PublicationBuiltinTopicDataDataReaderTAOPeer.h
+/DDS__PublicationBuiltinTopicDataDataWriterTAOPeer.h
+/DDS__PublicationBuiltinTopicDataTypeSupportTAOPeer.h
+/DDS__PublisherListenerTAOPeer.h
+/DDS__PublisherTAOPeer.h
+/DDS__QueryConditionTAOPeer.h
+/DDS__ReadConditionTAOPeer.h
+/DDS__StatusConditionTAOPeer.h
+/DDS__SubscriberListenerTAOPeer.h
+/DDS__SubscriberTAOPeer.h
+/DDS__SubscriptionBuiltinTopicDataDataReaderTAOPeer.h
+/DDS__SubscriptionBuiltinTopicDataDataWriterTAOPeer.h
+/DDS__SubscriptionBuiltinTopicDataTypeSupportTAOPeer.h
+/DDS__TopicBuiltinTopicDataDataReaderTAOPeer.h
+/DDS__TopicBuiltinTopicDataDataWriterTAOPeer.h
+/DDS__TopicBuiltinTopicDataTypeSupportTAOPeer.h
+/DDS__TopicDescriptionTAOPeer.h
+/DDS__TopicListenerTAOPeer.h
+/DDS__TopicTAOPeer.h
+/DDS__TypeSupportTAOPeer.h
+/DDS__WaitSetInterfTAOPeer.h
 /DDS_ConditionHelper.h
 /DDS_ContentFilteredTopicHelper.h
 /DDS_DATAREADER_QOS_DEFAULT.h
 /DDS_DATAREADER_QOS_USE_TOPIC_QOS.h
-/DDS_DATAWRITER_QOS_DEFAULT.h
-/DDS_DATAWRITER_QOS_USE_TOPIC_QOS.h
 /DDS_DataReaderHelper.h
 /DDS_DataReaderListenerHelper.h
+/DDS_DATAWRITER_QOS_DEFAULT.h
+/DDS_DATAWRITER_QOS_USE_TOPIC_QOS.h
 /DDS_DataWriterHelper.h
 /DDS_DataWriterListenerHelper.h
 /DDS_DomainParticipantFactoryHelper.h
@@ -22,7 +59,6 @@
 /DDS_ListenerHelper.h
 /DDS_MultiTopicHelper.h
 /DDS_PARTICIPANT_QOS_DEFAULT.h
-/DDS_PUBLISHER_QOS_DEFAULT.h
 /DDS_ParticipantBuiltinTopicDataDataReaderHelper.h
 /DDS_ParticipantBuiltinTopicDataDataWriterHelper.h
 /DDS_ParticipantBuiltinTopicDataTypeSupportHelper.h
@@ -31,12 +67,13 @@
 /DDS_PublicationBuiltinTopicDataDataWriterHelper.h
 /DDS_PublicationBuiltinTopicDataTypeSupportHelper.h
 /DDS_PublicationBuiltinTopicDataTypeSupportImpl.h
+/DDS_PUBLISHER_QOS_DEFAULT.h
 /DDS_PublisherHelper.h
 /DDS_PublisherListenerHelper.h
 /DDS_QueryConditionHelper.h
 /DDS_ReadConditionHelper.h
-/DDS_SUBSCRIBER_QOS_DEFAULT.h
 /DDS_StatusConditionHelper.h
+/DDS_SUBSCRIBER_QOS_DEFAULT.h
 /DDS_SubscriberHelper.h
 /DDS_SubscriberListenerHelper.h
 /DDS_SubscriptionBuiltinTopicDataDataReaderHelper.h
@@ -54,42 +91,6 @@
 /DDS_TypeSupportHelper.h
 /DDS_WaitSet.h
 /DDS_WaitSetInterfHelper.h
-/DDS__ConditionTAOPeer.h
-/DDS__ContentFilteredTopicTAOPeer.h
-/DDS__DataReaderListenerTAOPeer.h
-/DDS__DataReaderTAOPeer.h
-/DDS__DataWriterListenerTAOPeer.h
-/DDS__DataWriterTAOPeer.h
-/DDS__DomainParticipantFactoryTAOPeer.h
-/DDS__DomainParticipantListenerTAOPeer.h
-/DDS__DomainParticipantTAOPeer.h
-/DDS__EntityTAOPeer.h
-/DDS__GuardConditionInterfTAOPeer.h
-/DDS__MultiTopicTAOPeer.h
-/DDS__ParticipantBuiltinTopicDataDataReaderTAOPeer.h
-/DDS__ParticipantBuiltinTopicDataDataWriterTAOPeer.h
-/DDS__ParticipantBuiltinTopicDataTypeSupportTAOPeer.h
-/DDS__PublicationBuiltinTopicDataDataReaderTAOPeer.h
-/DDS__PublicationBuiltinTopicDataDataWriterTAOPeer.h
-/DDS__PublicationBuiltinTopicDataTypeSupportTAOPeer.h
-/DDS__PublisherListenerTAOPeer.h
-/DDS__PublisherTAOPeer.h
-/DDS__QueryConditionTAOPeer.h
-/DDS__ReadConditionTAOPeer.h
-/DDS__StatusConditionTAOPeer.h
-/DDS__SubscriberListenerTAOPeer.h
-/DDS__SubscriberTAOPeer.h
-/DDS__SubscriptionBuiltinTopicDataDataReaderTAOPeer.h
-/DDS__SubscriptionBuiltinTopicDataDataWriterTAOPeer.h
-/DDS__SubscriptionBuiltinTopicDataTypeSupportTAOPeer.h
-/DDS__TopicBuiltinTopicDataDataReaderTAOPeer.h
-/DDS__TopicBuiltinTopicDataDataWriterTAOPeer.h
-/DDS__TopicBuiltinTopicDataTypeSupportTAOPeer.h
-/DDS__TopicDescriptionTAOPeer.h
-/DDS__TopicListenerTAOPeer.h
-/DDS__TopicTAOPeer.h
-/DDS__TypeSupportTAOPeer.h
-/DDS__WaitSetInterfTAOPeer.h
 /DdsDcpsConditionSeqJC.cpp
 /DdsDcpsConditionSeqJC.h
 /DdsDcpsCoreJC.cpp
@@ -104,6 +105,8 @@
 /DdsDcpsDomainJC.h
 /DdsDcpsGuidJC.cpp
 /DdsDcpsGuidJC.h
+/DdsDcpsInfoUtilsJC.cpp
+/DdsDcpsInfoUtilsJC.h
 /DdsDcpsInfrastructureJC.cpp
 /DdsDcpsInfrastructureJC.h
 /DdsDcpsInfrastructureTypeSupportJC.cpp
@@ -118,6 +121,20 @@
 /DdsDcpsTopicJC.h
 /DdsDcpsTypeSupportExtJC.cpp
 /DdsDcpsTypeSupportExtJC.h
+/OpenDDS_DCPS__ConfigStoreTAOPeer.h
+/OpenDDS_DCPS__ConnectionRecordDataReaderTAOPeer.h
+/OpenDDS_DCPS__ConnectionRecordDataWriterTAOPeer.h
+/OpenDDS_DCPS__ConnectionRecordTypeSupportTAOPeer.h
+/OpenDDS_DCPS__DataReaderExTAOPeer.h
+/OpenDDS_DCPS__DataReaderListenerTAOPeer.h
+/OpenDDS_DCPS__DataWriterListenerTAOPeer.h
+/OpenDDS_DCPS__InternalThreadBuiltinTopicDataDataReaderTAOPeer.h
+/OpenDDS_DCPS__InternalThreadBuiltinTopicDataDataWriterTAOPeer.h
+/OpenDDS_DCPS__InternalThreadBuiltinTopicDataTypeSupportTAOPeer.h
+/OpenDDS_DCPS__ParticipantLocationBuiltinTopicDataDataReaderTAOPeer.h
+/OpenDDS_DCPS__ParticipantLocationBuiltinTopicDataDataWriterTAOPeer.h
+/OpenDDS_DCPS__ParticipantLocationBuiltinTopicDataTypeSupportTAOPeer.h
+/OpenDDS_DCPS__TypeSupportTAOPeer.h
 /OpenDDS_DCPS_CdrRepresentationFormatHelper.h
 /OpenDDS_DCPS_ConfigStoreHelper.h
 /OpenDDS_DCPS_ConnectionRecordDataReaderHelper.h
@@ -140,21 +157,6 @@
 /OpenDDS_DCPS_RepresentationFormatHelper.h
 /OpenDDS_DCPS_TheParticipantFactory.h
 /OpenDDS_DCPS_TheServiceParticipant.h
-/OpenDDS_DCPS_TypeSupportHelper.h
-/OpenDDS_DCPS__ConfigStoreTAOPeer.h
-/OpenDDS_DCPS__ConnectionRecordDataReaderTAOPeer.h
-/OpenDDS_DCPS__ConnectionRecordDataWriterTAOPeer.h
-/OpenDDS_DCPS__ConnectionRecordTypeSupportTAOPeer.h
-/OpenDDS_DCPS__DataReaderExTAOPeer.h
-/OpenDDS_DCPS__DataReaderListenerTAOPeer.h
-/OpenDDS_DCPS__DataWriterListenerTAOPeer.h
-/OpenDDS_DCPS__InternalThreadBuiltinTopicDataDataReaderTAOPeer.h
-/OpenDDS_DCPS__InternalThreadBuiltinTopicDataDataWriterTAOPeer.h
-/OpenDDS_DCPS__InternalThreadBuiltinTopicDataTypeSupportTAOPeer.h
-/OpenDDS_DCPS__ParticipantLocationBuiltinTopicDataDataReaderTAOPeer.h
-/OpenDDS_DCPS__ParticipantLocationBuiltinTopicDataDataWriterTAOPeer.h
-/OpenDDS_DCPS__ParticipantLocationBuiltinTopicDataTypeSupportTAOPeer.h
-/OpenDDS_DCPS__TypeSupportTAOPeer.h
 /OpenDDS_DCPS_transport_MulticastInst.h
 /OpenDDS_DCPS_transport_RtpsUdpInst.h
 /OpenDDS_DCPS_transport_TcpInst.h
@@ -162,8 +164,8 @@
 /OpenDDS_DCPS_transport_TransportConfig.h
 /OpenDDS_DCPS_transport_TransportInst.h
 /OpenDDS_DCPS_transport_UdpInst.h
+/OpenDDS_DCPS_TypeSupportHelper.h
 /OpenddsDcpsExtJC.cpp
 /OpenddsDcpsExtJC.h
 /OpenddsDcpsExtTypeSupportJC.cpp
 /OpenddsDcpsExtTypeSupportJC.h
-/classes
diff --git a/java/dds/OpenDDS/DCPS/.gitignore b/java/dds/OpenDDS/DCPS/.gitignore
index 4d19b4eb4cb..8b523302bc0 100644
--- a/java/dds/OpenDDS/DCPS/.gitignore
+++ b/java/dds/OpenDDS/DCPS/.gitignore
@@ -1,3 +1,50 @@
+/_CdrRepresentationFormatLocalBase.java
+/_CdrRepresentationFormatTAOPeer.java
+/_ConfigStoreLocalBase.java
+/_ConfigStoreTAOPeer.java
+/_ConnectionDataDataReaderLocalBase.java
+/_ConnectionDataDataReaderTAOPeer.java
+/_ConnectionDataDataWriterLocalBase.java
+/_ConnectionDataDataWriterTAOPeer.java
+/_ConnectionDataTypeSupportLocalBase.java
+/_ConnectionDataTypeSupportTAOPeer.java
+/_ConnectionRecordDataReaderLocalBase.java
+/_ConnectionRecordDataReaderTAOPeer.java
+/_ConnectionRecordDataWriterLocalBase.java
+/_ConnectionRecordDataWriterTAOPeer.java
+/_ConnectionRecordTypeSupportLocalBase.java
+/_ConnectionRecordTypeSupportTAOPeer.java
+/_DataReaderExLocalBase.java
+/_DataReaderExTAOPeer.java
+/_DataReaderListenerLocalBase.java
+/_DataReaderListenerTAOPeer.java
+/_DataWriterListenerLocalBase.java
+/_DataWriterListenerTAOPeer.java
+/_DomainParticipantExtLocalBase.java
+/_DomainParticipantExtTAOPeer.java
+/_InternalThreadBuiltinTopicDataDataReaderLocalBase.java
+/_InternalThreadBuiltinTopicDataDataReaderTAOPeer.java
+/_InternalThreadBuiltinTopicDataDataWriterLocalBase.java
+/_InternalThreadBuiltinTopicDataDataWriterTAOPeer.java
+/_InternalThreadBuiltinTopicDataTypeSupportLocalBase.java
+/_InternalThreadBuiltinTopicDataTypeSupportTAOPeer.java
+/_JsonRepresentationFormatLocalBase.java
+/_JsonRepresentationFormatTAOPeer.java
+/_ParticipantLocationBuiltinTopicDataDataReaderLocalBase.java
+/_ParticipantLocationBuiltinTopicDataDataReaderTAOPeer.java
+/_ParticipantLocationBuiltinTopicDataDataWriterLocalBase.java
+/_ParticipantLocationBuiltinTopicDataDataWriterTAOPeer.java
+/_ParticipantLocationBuiltinTopicDataTypeSupportLocalBase.java
+/_ParticipantLocationBuiltinTopicDataTypeSupportTAOPeer.java
+/_RepresentationFormatLocalBase.java
+/_RepresentationFormatTAOPeer.java
+/_SubscriberExtLocalBase.java
+/_SubscriberExtTAOPeer.java
+/_TypeSupportLocalBase.java
+/_TypeSupportTAOPeer.java
+/AddDomainStatus.java
+/AddDomainStatusHelper.java
+/AddDomainStatusHolder.java
 /ALL_STATUS_MASK.java
 /BudgetExceededStatus.java
 /BudgetExceededStatusHelper.java
@@ -46,7 +93,9 @@
 /ConnectionRecordTypeSupportHolder.java
 /ConnectionRecordTypeSupportImpl.java
 /ConnectionRecordTypeSupportOperations.java
-/DEFAULT_STATUS_MASK.java
+/ContentFilterProperty_t.java
+/ContentFilterProperty_tHelper.java
+/ContentFilterProperty_tHolder.java
 /DataReaderEx.java
 /DataReaderExHelper.java
 /DataReaderExHolder.java
@@ -62,7 +111,14 @@
 /DataWriterListenerHelper.java
 /DataWriterListenerHolder.java
 /DataWriterListenerOperations.java
+/DEFAULT_STATUS_MASK.java
 /DisassociationStatusHelper.java
+/DiscoveredReaderData.java
+/DiscoveredReaderDataHelper.java
+/DiscoveredReaderDataHolder.java
+/DiscoveredWriterData.java
+/DiscoveredWriterDataHelper.java
+/DiscoveredWriterDataHolder.java
 /DomainParticipantExt.java
 /DomainParticipantExtHelper.java
 /DomainParticipantExtHolder.java
@@ -70,6 +126,11 @@
 /DurabilityQosPolicyExt.java
 /DurabilityQosPolicyExtHelper.java
 /DurabilityQosPolicyExtHolder.java
+/EntityId_t.java
+/EntityId_tHelper.java
+/EntityId_tHolder.java
+/EntityKey_tHelper.java
+/EntityKey_tHolder.java
 /ENTITYKIND_BUILTIN_PARTICIPANT.java
 /ENTITYKIND_BUILTIN_READER_NO_KEY.java
 /ENTITYKIND_BUILTIN_READER_WITH_KEY.java
@@ -87,13 +148,6 @@
 /ENTITYKIND_USER_UNKNOWN.java
 /ENTITYKIND_USER_WRITER_NO_KEY.java
 /ENTITYKIND_USER_WRITER_WITH_KEY.java
-/EntityId_t.java
-/EntityId_tHelper.java
-/EntityId_tHolder.java
-/EntityKey_tHelper.java
-/EntityKey_tHolder.java
-/GUIDSeqHelper.java
-/GUIDSeqHolder.java
 /GUID_t.java
 /GUID_tHelper.java
 /GUID_tHolder.java
@@ -104,8 +158,13 @@
 /GuidCountSequenceHolder.java
 /GuidPrefix_tHelper.java
 /GuidPrefix_tHolder.java
+/GUIDSeqHelper.java
+/GUIDSeqHolder.java
 /GuidVendorId_tHelper.java
 /GuidVendorId_tHolder.java
+/IncompatibleQosStatus.java
+/IncompatibleQosStatusHelper.java
+/IncompatibleQosStatusHolder.java
 /InternalThreadBuiltinTopicData.java
 /InternalThreadBuiltinTopicDataDataReader.java
 /InternalThreadBuiltinTopicDataDataReaderHelper.java
@@ -129,6 +188,11 @@
 /JsonRepresentationFormatHelper.java
 /JsonRepresentationFormatHolder.java
 /JsonRepresentationFormatOperations.java
+/LatencyStatistics.java
+/LatencyStatisticsHelper.java
+/LatencyStatisticsHolder.java
+/LatencyStatisticsSeqHelper.java
+/LatencyStatisticsSeqHolder.java
 /LOCATION_ICE.java
 /LOCATION_ICE6.java
 /LOCATION_LOCAL.java
@@ -140,16 +204,11 @@
 /LOCATOR_KIND_UDPv4.java
 /LOCATOR_KIND_UDPv6.java
 /LOCATOR_PORT_INVALID.java
-/LatencyStatistics.java
-/LatencyStatisticsHelper.java
-/LatencyStatisticsHolder.java
-/LatencyStatisticsSeqHelper.java
-/LatencyStatisticsSeqHolder.java
-/LocatorSeqHelper.java
-/LocatorSeqHolder.java
 /Locator_t.java
 /Locator_tHelper.java
 /Locator_tHolder.java
+/LocatorSeqHelper.java
+/LocatorSeqHolder.java
 /MCK_RTPS.java
 /MCK_STUN.java
 /MessageCount.java
@@ -188,11 +247,20 @@
 /PublicationLostStatusHelper.java
 /PublicationLostStatusHolder.java
 /PublicationReconnectedStatusHelper.java
-/RTPS_RELAY_STUN_PROTOCOL.java
+/ReaderAssociation.java
+/ReaderAssociationHelper.java
+/ReaderAssociationHolder.java
+/ReaderIdSeqHelper.java
+/ReaderIdSeqHolder.java
+/ReaderProxy_t.java
+/ReaderProxy_tHelper.java
+/ReaderProxy_tHolder.java
 /RepresentationFormat.java
 /RepresentationFormatHelper.java
 /RepresentationFormatHolder.java
 /RepresentationFormatOperations.java
+/RTPS_RELAY_STUN_PROTOCOL.java
+/String256Helper.java
 /SubscriberExt.java
 /SubscriberExtHelper.java
 /SubscriberExtHolder.java
@@ -202,6 +270,15 @@
 /SubscriptionLostStatusHelper.java
 /SubscriptionLostStatusHolder.java
 /SubscriptionReconnectedStatusHelper.java
+/TopicStatus.java
+/TopicStatusHelper.java
+/TopicStatusHolder.java
+/TransportBLOBHelper.java
+/TransportLocator.java
+/TransportLocatorHelper.java
+/TransportLocatorHolder.java
+/TransportLocatorSeqHelper.java
+/TransportLocatorSeqHolder.java
 /TransportStatistics.java
 /TransportStatisticsHelper.java
 /TransportStatisticsHolder.java
@@ -213,47 +290,11 @@
 /TypeSupportOperations.java
 /UNALIGNED_CDR_DATA_REPRESENTATION.java
 /UNALIGNED_CDR_DATA_REPRESENTATION.java
-/_CdrRepresentationFormatLocalBase.java
-/_CdrRepresentationFormatTAOPeer.java
-/_ConfigStoreLocalBase.java
-/_ConfigStoreTAOPeer.java
-/_ConnectionDataDataReaderLocalBase.java
-/_ConnectionDataDataReaderTAOPeer.java
-/_ConnectionDataDataWriterLocalBase.java
-/_ConnectionDataDataWriterTAOPeer.java
-/_ConnectionDataTypeSupportLocalBase.java
-/_ConnectionDataTypeSupportTAOPeer.java
-/_ConnectionRecordDataReaderLocalBase.java
-/_ConnectionRecordDataReaderTAOPeer.java
-/_ConnectionRecordDataWriterLocalBase.java
-/_ConnectionRecordDataWriterTAOPeer.java
-/_ConnectionRecordTypeSupportLocalBase.java
-/_ConnectionRecordTypeSupportTAOPeer.java
-/_DataReaderExLocalBase.java
-/_DataReaderExTAOPeer.java
-/_DataReaderListenerLocalBase.java
-/_DataReaderListenerTAOPeer.java
-/_DataWriterListenerLocalBase.java
-/_DataWriterListenerTAOPeer.java
-/_DomainParticipantExtLocalBase.java
-/_DomainParticipantExtTAOPeer.java
-/_InternalThreadBuiltinTopicDataDataReaderLocalBase.java
-/_InternalThreadBuiltinTopicDataDataReaderTAOPeer.java
-/_InternalThreadBuiltinTopicDataDataWriterLocalBase.java
-/_InternalThreadBuiltinTopicDataDataWriterTAOPeer.java
-/_InternalThreadBuiltinTopicDataTypeSupportLocalBase.java
-/_InternalThreadBuiltinTopicDataTypeSupportTAOPeer.java
-/_JsonRepresentationFormatLocalBase.java
-/_JsonRepresentationFormatTAOPeer.java
-/_ParticipantLocationBuiltinTopicDataDataReaderLocalBase.java
-/_ParticipantLocationBuiltinTopicDataDataReaderTAOPeer.java
-/_ParticipantLocationBuiltinTopicDataDataWriterLocalBase.java
-/_ParticipantLocationBuiltinTopicDataDataWriterTAOPeer.java
-/_ParticipantLocationBuiltinTopicDataTypeSupportLocalBase.java
-/_ParticipantLocationBuiltinTopicDataTypeSupportTAOPeer.java
-/_RepresentationFormatLocalBase.java
-/_RepresentationFormatTAOPeer.java
-/_SubscriberExtLocalBase.java
-/_SubscriberExtTAOPeer.java
-/_TypeSupportLocalBase.java
-/_TypeSupportTAOPeer.java
+/WriterAssociation.java
+/WriterAssociationHelper.java
+/WriterAssociationHolder.java
+/WriterIdSeqHelper.java
+/WriterIdSeqHolder.java
+/WriterProxy_t.java
+/WriterProxy_tHelper.java
+/WriterProxy_tHolder.java
diff --git a/java/dds/dcps_java.mpc b/java/dds/dcps_java.mpc
index 8bed02fdf28..d9d5f91d118 100644
--- a/java/dds/dcps_java.mpc
+++ b/java/dds/dcps_java.mpc
@@ -24,7 +24,8 @@ project: idl2jni, javah, dcpslib, optional_jni_check, dcps_java_optional, dcps_m
 
   Idl2Jni_Files {
     $(DDS_ROOT)/dds/DdsDcpsCore.idl
-    $(DDS_ROOT)/dds/OpenddsDcpsExt.idl
+    $(DDS_ROOT)/dds/DdsDcpsInfoUtils.idl
+    $(DDS_ROOT)/dds/OpenddsDcpsExt.idl << DdsDcpsInfoUtilsJC.h
     $(DDS_ROOT)/dds/DdsDcpsInfrastructure.idl << DdsDcpsConditionSeqJC.h
     $(DDS_ROOT)/dds/DdsDcpsDomain.idl << DdsDcpsTopicJC.h DdsDcpsSubscriptionJC.h DdsDcpsPublicationJC.h
     $(DDS_ROOT)/dds/DdsDcpsGuid.idl
diff --git a/java/tests/internal_thread_status/InternalThreadListener.java b/java/tests/internal_thread_status/InternalThreadListener.java
index 76fc50e8c80..628c8e8e611 100644
--- a/java/tests/internal_thread_status/InternalThreadListener.java
+++ b/java/tests/internal_thread_status/InternalThreadListener.java
@@ -36,7 +36,7 @@ public synchronized void on_data_available(DDS.DataReader reader) {
 
     InternalThreadBuiltinTopicDataHolder info =
       new InternalThreadBuiltinTopicDataHolder(
-        new InternalThreadBuiltinTopicData("", 0.0));
+        new InternalThreadBuiltinTopicData("", 0.0, new MonotonicTime_t()));
 
     SampleInfoHolder si = new SampleInfoHolder(new SampleInfo(0, 0, 0,
       new DDS.Time_t(), 0, 0, 0, 0, 0, 0, 0, false, 0));
@@ -48,6 +48,7 @@ public synchronized void on_data_available(DDS.DataReader reader) {
       System.out.println("== " + id + " Thread Info ==");
       System.out.println("        tid: " + info.value.thread_id);
       System.out.println("utilization: " + info.value.utilization);
+      System.out.println("  monotonic: " + info.value.monotonic_timestamp.sec);
       System.out.println("       time: " + si.value.source_timestamp.sec);
     }
   }
diff --git a/tests/DCPS/InternalThreadStatus/InternalThreadStatusListenerImpl.cpp b/tests/DCPS/InternalThreadStatus/InternalThreadStatusListenerImpl.cpp
index ca1043547a4..9f21a0138bc 100644
--- a/tests/DCPS/InternalThreadStatus/InternalThreadStatusListenerImpl.cpp
+++ b/tests/DCPS/InternalThreadStatus/InternalThreadStatusListenerImpl.cpp
@@ -58,6 +58,7 @@ void InternalThreadStatusListenerImpl::on_data_available(DDS::DataReader_ptr rea
 
     std::cout
       << "  tid: " << thread_info.thread_id << "\n"
+      << "mtime: " << thread_info.monotonic_timestamp.sec << '\n'
       << " time: " << si.source_timestamp.sec << std::endl;
   }
 }
diff --git a/tests/DCPS/InternalThreadStatus/rtps.ini b/tests/DCPS/InternalThreadStatus/rtps.ini
index 6c77fe6aa01..a865ae6c39e 100644
--- a/tests/DCPS/InternalThreadStatus/rtps.ini
+++ b/tests/DCPS/InternalThreadStatus/rtps.ini
@@ -11,3 +11,4 @@ transport_type=rtps_udp
 DiscoveryConfig=application_rtps_discovery
 
 [rtps_discovery/application_rtps_discovery]
+ResendPeriod=2
diff --git a/tests/dcps_tests.lst b/tests/dcps_tests.lst
index efe998a25c7..df79cd9044c 100644
--- a/tests/dcps_tests.lst
+++ b/tests/dcps_tests.lst
@@ -344,7 +344,7 @@ tests/DCPS/Thrasher/run_test.pl default rtps: !DCPS_MIN RTPS !LYNXOS
 tests/DCPS/Thrasher/run_test.pl low rtps: !DCPS_MIN RTPS !LYNXOS
 tests/DCPS/Thrasher/run_test.pl medium rtps: !DCPS_MIN RTPS !LYNXOS
 tests/DCPS/Thrasher/run_test.pl high rtps: !DCPS_MIN RTPS !LYNXOS !OPENDDS_SAFETY_PROFILE !GH_ACTIONS_ASAN
-tests/DCPS/Thrasher/run_test.pl aggressive rtps: !DCPS_MIN RTPS !LYNXOS !OPENDDS_SAFETY_PROFILE !GH_ACTIONS_ASAN
+tests/DCPS/Thrasher/run_test.pl aggressive rtps: !DCPS_MIN RTPS !LYNXOS !OPENDDS_SAFETY_PROFILE !GH_ACTIONS_ASAN !BOOTTIME_TIMERS
 tests/DCPS/Thrasher/run_test.pl single durable: !DCPS_MIN !LYNXOS !OPENDDS_SAFETY_PROFILE
 tests/DCPS/Thrasher/run_test.pl double durable: !DCPS_MIN !LYNXOS !OPENDDS_SAFETY_PROFILE
 tests/DCPS/Thrasher/run_test.pl triangle durable: !DCPS_MIN !LYNXOS !OPENDDS_SAFETY_PROFILE
@@ -360,7 +360,7 @@ tests/DCPS/Thrasher/run_test.pl default rtps durable: !DCPS_MIN RTPS !LYNXOS
 tests/DCPS/Thrasher/run_test.pl low rtps durable: !DCPS_MIN RTPS !LYNXOS
 tests/DCPS/Thrasher/run_test.pl medium rtps durable: !DCPS_MIN RTPS !LYNXOS
 tests/DCPS/Thrasher/run_test.pl high rtps durable: !DCPS_MIN RTPS !LYNXOS !OPENDDS_SAFETY_PROFILE !GH_ACTIONS_ASAN
-tests/DCPS/Thrasher/run_test.pl aggressive rtps durable: !DCPS_MIN RTPS !LYNXOS !OPENDDS_SAFETY_PROFILE !GH_ACTIONS_ASAN
+tests/DCPS/Thrasher/run_test.pl aggressive rtps durable: !DCPS_MIN RTPS !LYNXOS !OPENDDS_SAFETY_PROFILE !GH_ACTIONS_ASAN !BOOTTIME_TIMERS
 tests/DCPS/DPFactoryQos/run_test.pl: !DCPS_MIN
 tests/DCPS/DPFactoryQos/run_test.pl rtps_disc: !DCPS_MIN RTPS
 tests/DCPS/ManualAssertLiveliness/run_test.pl: !DCPS_MIN !OPENDDS_SAFETY_PROFILE
diff --git a/tests/unit-tests/dds/DCPS/Timers.cpp b/tests/unit-tests/dds/DCPS/Timers.cpp
index e466857ee85..1d86c648001 100644
--- a/tests/unit-tests/dds/DCPS/Timers.cpp
+++ b/tests/unit-tests/dds/DCPS/Timers.cpp
@@ -64,3 +64,18 @@ TEST(dds_DCPS_Timers, test_immediate)
   ASSERT_EQ(handler->calls_, 1);
   Timers::cancel(&reactor, id);
 }
+
+TEST(dds_DCPS_Timers, test_negative)
+{
+  RcHandle<TestEventHandler> handler = make_rch<TestEventHandler>();
+  ACE_Reactor reactor(new ACE_Select_Reactor, true);
+
+  const Timers::TimerId id = Timers::schedule(&reactor, *handler, 0, TimeDuration(-23));
+  ASSERT_NE(id, Timers::InvalidTimerId);
+
+  ACE_Time_Value one_sec(1);
+  reactor.handle_events(one_sec);
+
+  ASSERT_EQ(handler->calls_, 1);
+  Timers::cancel(&reactor, id);
+}
diff --git a/tools/rtpsrelay/RelayParticipantStatusReporter.cpp b/tools/rtpsrelay/RelayParticipantStatusReporter.cpp
index c7ee2630bbb..1c65d6ac1db 100644
--- a/tools/rtpsrelay/RelayParticipantStatusReporter.cpp
+++ b/tools/rtpsrelay/RelayParticipantStatusReporter.cpp
@@ -7,7 +7,7 @@ void RelayParticipantStatusReporter::add_participant(const OpenDDS::DCPS::GUID_t
 {
   const auto monotonic_now = OpenDDS::DCPS::MonotonicTimePoint::now();
   const auto system_now = OpenDDS::DCPS::SystemTimePoint::now();
-  const DDS::Time_t timestamp = system_now.to_dds_time();
+  const DDS::Time_t timestamp = system_now.to_idl_struct();
 
   RelayParticipantStatus status;
   status.relay_id(config_.relay_id());
@@ -94,7 +94,7 @@ void RelayParticipantStatusReporter::set_alive(const OpenDDS::DCPS::GUID_t& repo
   }
 
   pos->second.alive(alive);
-  pos->second.alive_ts(system_now.to_dds_time());
+  pos->second.alive_ts(system_now.to_idl_struct());
 
   if (writer_->write(pos->second, DDS::HANDLE_NIL) != DDS::RETCODE_OK) {
     ACE_ERROR((LM_ERROR, "(%P|%t) ERROR: "
@@ -120,7 +120,7 @@ void RelayParticipantStatusReporter::set_active(const OpenDDS::DCPS::GUID_t& rep
   }
 
   pos->second.active(active);
-  pos->second.active_ts(system_now.to_dds_time());
+  pos->second.active_ts(system_now.to_idl_struct());
 
   if (writer_->write(pos->second, DDS::HANDLE_NIL) != DDS::RETCODE_OK) {
     ACE_ERROR((LM_ERROR, "(%P|%t) ERROR: "
@@ -146,7 +146,7 @@ void RelayParticipantStatusReporter::set_alive_active(const OpenDDS::DCPS::GUID_
     return;
   }
 
-  const DDS::Time_t timestamp = system_now.to_dds_time();
+  const DDS::Time_t timestamp = system_now.to_idl_struct();
   if (pos->second.alive() != alive) {
     pos->second.alive(alive);
     pos->second.alive_ts(timestamp);