diff --git a/CMakeLists.txt b/CMakeLists.txt
index 6d185aad..3506cb9d 100755
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -70,6 +70,9 @@ option(UCLIENT_PROFILE_MATCHING "Enable QoS matching support." OFF)
 set(UCLIENT_SHARED_MEMORY_MAX_ENTITIES 4 CACHE STRING "Max number of entities involved in shared memory.")
 set(UCLIENT_SHARED_MEMORY_STATIC_MEM_SIZE 10 CACHE STRING "Max number data buffers stored in shared memory")
 
+option(UCLIENT_HARD_LIVELINESS_CHECK "Enable hard liveliness check." OFF)
+set(UCLIENT_HARD_LIVELINESS_CHECK_TIMEOUT 10000 CACHE STRING "Set the hard liveliness check interval in milliseconds.")
+
 # Off-standard features and tweaks
 option(UCLIENT_TWEAK_XRCE_WRITE_LIMIT "This feature uses a tweak to allow XRCE WRITE DATA submessages grater than 64 kB." ON)
 
@@ -87,7 +90,7 @@ list(APPEND _deps "microcdr\;${_microcdr_version}")
 ###############################################################################
 set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_CURRENT_SOURCE_DIR}/cmake/modules)
 if(NOT UCLIENT_SUPERBUILD)
-    project(microxrcedds_client VERSION "2.1.1" LANGUAGES C)
+    project(microxrcedds_client VERSION "2.2.0" LANGUAGES C)
 else()
     project(uclient_superbuild NONE)
     include(${PROJECT_SOURCE_DIR}/cmake/SuperBuild.cmake)
@@ -181,6 +184,8 @@ if(UCLIENT_PROFILE_TCP)
     list(APPEND _transport_src src/c/profile/transport/ip/tcp/tcp_transport.c)
     if(UCLIENT_PLATFORM_POSIX)
         list(APPEND _transport_src src/c/profile/transport/ip/tcp/tcp_transport_posix.c)
+    elseif(UCLIENT_PLATFORM_POSIX_NOPOLL)
+        list(APPEND _transport_src src/c/profile/transport/ip/tcp/tcp_transport_posix_nopoll.c)
     elseif(UCLIENT_PLATFORM_WINDOWS)
         list(APPEND _transport_src src/c/profile/transport/ip/tcp/tcp_transport_windows.c)
     elseif(UCLIENT_PLATFORM_FREERTOS_PLUS_TCP)
diff --git a/cmake/SuperBuild.cmake b/cmake/SuperBuild.cmake
index 44f839a0..2001d4f4 100644
--- a/cmake/SuperBuild.cmake
+++ b/cmake/SuperBuild.cmake
@@ -44,6 +44,9 @@ if(NOT microcdr_FOUND)
             -DCMAKE_INSTALL_PREFIX=<INSTALL_DIR>
             -DCMAKE_TOOLCHAIN_FILE=${CMAKE_TOOLCHAIN_FILE}
             -DCMAKE_SYSROOT:PATH=${CMAKE_SYSROOT}
+            -DCMAKE_C_FLAGS:STRING=${CMAKE_C_FLAGS}
+            -DCMAKE_CXX_FLAGS:STRING=${CMAKE_CXX_FLAGS}
+            -DCMAKE_EXE_LINKER_FLAGS:STRING=${CMAKE_EXE_LINKER_FLAGS}
             -DCMAKE_BUILD_TYPE:STRING=${CMAKE_BUILD_TYPE}
             -DCONFIG_BIG_ENDIANNESS=${UCLIENT_BIG_ENDIANNESS}
             -DUCDR_PIC=${UCLIENT_PIC}
diff --git a/cmake/common/check_configuration.cmake b/cmake/common/check_configuration.cmake
index e0e3379c..03f27858 100644
--- a/cmake/common/check_configuration.cmake
+++ b/cmake/common/check_configuration.cmake
@@ -120,15 +120,11 @@ function(set_common_compile_options target)
         target_compile_options(${target} PRIVATE -Wall
             -Wextra
             -Wshadow
-            $<$<COMPILE_LANGUAGE:CXX>:-Wnon-virtual-dtor>
             -pedantic
             -Wcast-align
             -Wunused
-            $<$<COMPILE_LANGUAGE:CXX>:-Woverloaded-virtual>
             -Wconversion
             $<$<CXX_COMPILER_ID:GNU>:-Wlogical-op>
-            $<$<AND:$<CXX_COMPILER_ID:GNU>,$<COMPILE_LANGUAGE:CXX>>:-Wuseless-cast>
-            $<$<COMPILE_LANGUAGE:CXX>:-Wold-style-cast>
             $<$<OR:$<AND:$<CXX_COMPILER_ID:GNU>,$<NOT:$<VERSION_LESS:$<CXX_COMPILER_VERSION>,6.0.0>>>,$<AND:$<C_COMPILER_ID:GNU>,$<NOT:$<VERSION_LESS:$<C_COMPILER_VERSION>,6.0.0>>>>:-Wnull-dereference>
             $<$<OR:$<AND:$<CXX_COMPILER_ID:GNU>,$<NOT:$<VERSION_LESS:$<CXX_COMPILER_VERSION>,7.0.0>>>,$<AND:$<C_COMPILER_ID:GNU>,$<NOT:$<VERSION_LESS:$<C_COMPILER_VERSION>,7.0.0>>>>:-Wduplicated-branches>
             $<$<OR:$<AND:$<CXX_COMPILER_ID:GNU>,$<NOT:$<VERSION_LESS:$<CXX_COMPILER_VERSION>,6.0.0>>>,$<AND:$<C_COMPILER_ID:GNU>,$<NOT:$<VERSION_LESS:$<C_COMPILER_VERSION>,6.0.0>>>>:-Wduplicated-cond>
diff --git a/include/uxr/client/config.h.in b/include/uxr/client/config.h.in
index e44a674e..55a62692 100644
--- a/include/uxr/client/config.h.in
+++ b/include/uxr/client/config.h.in
@@ -67,5 +67,18 @@
 
 #cmakedefine UCLIENT_TWEAK_XRCE_WRITE_LIMIT
 
+#cmakedefine UCLIENT_HARD_LIVELINESS_CHECK
+
+#ifdef UCLIENT_HARD_LIVELINESS_CHECK
+#define UXR_CONFIG_HARD_LIVELINESS_CHECK_TIMEOUT_STR     "@UCLIENT_HARD_LIVELINESS_CHECK_TIMEOUT@"
+#endif
+
+
+// Version checks
+#if UXR_CLIENT_VERSION_MAJOR >= 3
+#error UCLIENT_HARD_LIVELINESS_CHECK shall be included in session API
+#error MTU must be included in CREATE_CLIENT_Payload properties
+#error Reorder ObjectInfo https://github.com/eProsima/Micro-XRCE-DDS/issues/137
+#endif
 
 #endif // _UXR_CLIENT_CONFIG_H_
diff --git a/include/uxr/client/core/type/xrce_types.h b/include/uxr/client/core/type/xrce_types.h
index cc9fe0c6..f733245e 100644
--- a/include/uxr/client/core/type/xrce_types.h
+++ b/include/uxr/client/core/type/xrce_types.h
@@ -24,6 +24,7 @@ extern "C"
 #endif // ifdef __cplusplus
 
 #include <uxr/client/defines.h>
+#include <uxr/client/config.h>
 
 #include <ucdr/microcdr.h>
 #include <stdint.h>
@@ -40,7 +41,24 @@ extern "C"
 #define UXR_SAMPLE_DELTA_SEQUENCE_MAX      8
 #define UXR_PACKED_SAMPLES_SEQUENCE_MAX    8
 #define UXR_TRANSPORT_LOCATOR_SEQUENCE_MAX 4
+
+#ifdef UCLIENT_PROFILE_SHARED_MEMORY
+#define PROFILE_SHARED_MEMORY_SEQ_COUNT 1
+#else
+#define PROFILE_SHARED_MEMORY_SEQ_COUNT 0
+#endif // ifdef UCLIENT_PROFILE_SHARED_MEMORY
+
+#ifdef UCLIENT_HARD_LIVELINESS_CHECK
+#define HARD_LIVELINESS_CHECK_SEQ_COUNT 1
+#else
+#define HARD_LIVELINESS_CHECK_SEQ_COUNT 0
+#endif // ifdef UCLIENT_HARD_LIVELINESS_CHECK
+
+#if  (PROFILE_SHARED_MEMORY_SEQ_COUNT + HARD_LIVELINESS_CHECK_SEQ_COUNT) == 0
 #define UXR_PROPERTY_SEQUENCE_MAX          1
+#else
+#define UXR_PROPERTY_SEQUENCE_MAX          PROFILE_SHARED_MEMORY_SEQ_COUNT + HARD_LIVELINESS_CHECK_SEQ_COUNT
+#endif // if  (PROFILE_SHARED_MEMORY_SEQ_COUNT + HARD_LIVELINESS_CHECK_SEQ_COUNT) == 0
 
 typedef struct Time_t
 {
diff --git a/include/uxr/client/profile/transport/ip/tcp/tcp_transport_posix_nopoll.h b/include/uxr/client/profile/transport/ip/tcp/tcp_transport_posix_nopoll.h
new file mode 100644
index 00000000..892433ee
--- /dev/null
+++ b/include/uxr/client/profile/transport/ip/tcp/tcp_transport_posix_nopoll.h
@@ -0,0 +1,32 @@
+// Copyright 2018 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef UXR_CLIENT_PROFILE_TRANSPORT_IP_TCP_TCPTRANSPORTPOSIXNOPOLL_H_
+#define UXR_CLIENT_PROFILE_TRANSPORT_IP_TCP_TCPTRANSPORTPOSIXNOPOLL_H_
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif // ifdef __cplusplus
+
+typedef struct uxrTCPPlatform
+{
+    int fd;
+} uxrTCPPlatform;
+
+#ifdef __cplusplus
+}
+#endif // ifdef __cplusplus
+
+#endif // UXR_CLIENT_PROFILE_TRANSPORT_IP_TCP_TCPTRANSPORTPOSIXNOPOLL_H_
\ No newline at end of file
diff --git a/include/uxr/client/transport.h b/include/uxr/client/transport.h
index e235f5b4..99f4b8c1 100644
--- a/include/uxr/client/transport.h
+++ b/include/uxr/client/transport.h
@@ -33,7 +33,9 @@
 #endif //UCLIENT_PROFILE_UDP
 
 #ifdef UCLIENT_PROFILE_TCP
-#if defined(UCLIENT_PLATFORM_POSIX)
+#if defined(UCLIENT_PLATFORM_POSIX_NOPOLL)
+#include <uxr/client/profile/transport/ip/tcp/tcp_transport_posix_nopoll.h>
+#elif defined(UCLIENT_PLATFORM_POSIX)
 #include <uxr/client/profile/transport/ip/tcp/tcp_transport_posix.h>
 #elif defined(UCLIENT_PLATFORM_WINDOWS)
 #include <uxr/client/profile/transport/ip/tcp/tcp_transport_windows.h>
diff --git a/include/uxr/client/util/ping.h b/include/uxr/client/util/ping.h
index a1589528..20ba934a 100644
--- a/include/uxr/client/util/ping.h
+++ b/include/uxr/client/util/ping.h
@@ -33,7 +33,7 @@ extern "C"
 #define UXR_PING_BUF 16 // 4 (HEADER SIZE) + 4 (SUBHEADER_SIZE) + 8 (GET_Info payload)
 
 #define GET_INFO_MSG_SIZE   8
-#define GET_INFO_REQUEST_ID 9
+#define GET_INFO_REQUEST_PING_ID 10
 
 struct uxrSession;
 
diff --git a/src/c/core/session/session.c b/src/c/core/session/session.c
index 6c26c6d8..d0a37ef0 100644
--- a/src/c/core/session/session.c
+++ b/src/c/core/session/session.c
@@ -21,13 +21,23 @@
 #include "../../profile/shared_memory/shared_memory_internal.h"
 
 #ifdef UCLIENT_PROFILE_SHARED_MEMORY
-#define CREATE_SESSION_PROPERTIES_MAX_SIZE 21
-#define CREATE_SESSION_MAX_MSG_SIZE (MAX_HEADER_SIZE + SUBHEADER_SIZE + CREATE_CLIENT_PAYLOAD_SIZE + \
-    CREATE_SESSION_PROPERTIES_MAX_SIZE)
+#define PROFILE_SHARED_MEMORY_ADD_SIZE 21
 #else
-#define CREATE_SESSION_MAX_MSG_SIZE (MAX_HEADER_SIZE + SUBHEADER_SIZE + CREATE_CLIENT_PAYLOAD_SIZE)
+#define PROFILE_SHARED_MEMORY_ADD_SIZE 0
 #endif /* ifdef UCLIENT_PROFILE_SHARED_MEMORY */
 
+#ifdef UCLIENT_HARD_LIVELINESS_CHECK
+#define HARD_LIVELINESS_CHECK_ADD_SIZE 26
+#else
+#define HARD_LIVELINESS_CHECK_ADD_SIZE 0
+#endif /* ifdef UCLIENT_HARD_LIVELINESS_CHECK */
+
+#define CREATE_SESSION_PROPERTIES_MAX_SIZE PROFILE_SHARED_MEMORY_ADD_SIZE + HARD_LIVELINESS_CHECK_ADD_SIZE
+
+
+#define CREATE_SESSION_MAX_MSG_SIZE (MAX_HEADER_SIZE + SUBHEADER_SIZE + CREATE_CLIENT_PAYLOAD_SIZE + \
+    CREATE_SESSION_PROPERTIES_MAX_SIZE)
+
 #define DELETE_SESSION_MAX_MSG_SIZE (MAX_HEADER_SIZE + SUBHEADER_SIZE + DELETE_CLIENT_PAYLOAD_SIZE)
 #define HEARTBEAT_MAX_MSG_SIZE      (MAX_HEADER_SIZE + SUBHEADER_SIZE + HEARTBEAT_PAYLOAD_SIZE)
 #define ACKNACK_MAX_MSG_SIZE        (MAX_HEADER_SIZE + SUBHEADER_SIZE + ACKNACK_PAYLOAD_SIZE)
@@ -102,6 +112,12 @@ static void read_submessage_acknack(
 static void read_submessage_timestamp_reply(
         uxrSession* session,
         ucdrBuffer* submessage);
+static void read_submessage_get_info(
+        uxrSession* session,
+        ucdrBuffer* submessage);
+void read_submessage_info(
+        uxrSession* session,
+        ucdrBuffer* submessage);
 #ifdef PERFORMANCE_TESTING
 static void read_submessage_performance(
         uxrSession* session,
@@ -125,9 +141,6 @@ static bool run_session_until_sync(
         uxrSession* session,
         int timeout);
 
-pong_status_t uxr_acknack_pong(
-        ucdrBuffer* buffer);
-
 //==================================================================
 //                             PUBLIC
 //==================================================================
@@ -626,52 +639,6 @@ void uxr_flash_output_streams(
 //==================================================================
 //                             PRIVATE
 //==================================================================
-pong_status_t uxr_acknack_pong(
-        ucdrBuffer* buffer)
-{
-    bool success = false;
-    bool ret = false;
-    bool active_session = false;
-
-    if (ucdr_buffer_remaining(buffer) > SUBHEADER_SIZE)
-    {
-        uint8_t id = 0;
-        uint8_t flags = 0;
-        uint16_t length = 0;
-        uxr_deserialize_submessage_header(buffer, &id, &flags, &length);
-        success = ucdr_buffer_remaining(buffer) >= length;
-
-        if (success && id == SUBMESSAGE_ID_INFO)
-        {
-            INFO_Payload info_payload;
-
-            success &= uxr_deserialize_BaseObjectReply(buffer, &info_payload.base);
-            active_session = info_payload.base.result.implementation_status;
-
-            success &= ucdr_deserialize_bool(buffer, &info_payload.object_info.optional_config);
-
-            if (info_payload.object_info.optional_config)
-            {
-                success &= uxr_deserialize_ObjectVariant(buffer, &info_payload.object_info.config);
-            }
-
-            success &= ucdr_deserialize_bool(buffer, &info_payload.object_info.optional_activity);
-            if (info_payload.object_info.optional_activity)
-            {
-                success &= ucdr_deserialize_uint8_t(buffer, &info_payload.object_info.activity.kind);
-                if (success && DDS_XRCE_OBJK_AGENT == info_payload.object_info.activity.kind)
-                {
-                    success &= ucdr_deserialize_int16_t(buffer,
-                                    &info_payload.object_info.activity._.agent.availability);
-                    ret = success && (info_payload.object_info.activity._.agent.availability > 0);
-                }
-            }
-        }
-    }
-
-    return ret ? (active_session ? PONG_IN_SESSION_STATUS : PONG_NO_SESSION_STATUS) : NO_PONG_STATUS;
-}
-
 bool uxr_run_session_until_pong(
         uxrSession* session,
         int timeout_ms)
@@ -781,7 +748,15 @@ bool wait_session_status(
     for (size_t i = 0; i < attempts && session->info.last_requested_status == UXR_STATUS_NONE; ++i)
     {
         send_message(session, buffer, length);
-        listen_message(session, UXR_CONFIG_MIN_SESSION_CONNECTION_INTERVAL);
+
+        int64_t start_timestamp = uxr_millis();
+        int remaining_time = UXR_CONFIG_MIN_SESSION_CONNECTION_INTERVAL;
+
+        do
+        {
+            listen_message(session, remaining_time);
+            remaining_time = UXR_CONFIG_MIN_SESSION_CONNECTION_INTERVAL - (int)(uxr_millis() - start_timestamp);
+        } while (remaining_time > 0 && session->info.last_requested_status == UXR_STATUS_NONE);
     }
 
     return session->info.last_requested_status != UXR_STATUS_NONE;
@@ -877,10 +852,6 @@ void read_message(
         uxrStreamId id = uxr_stream_id_from_raw(stream_id_raw, UXR_INPUT_STREAM);
         read_stream(session, ub, id, seq_num);
     }
-    else
-    {
-        session->on_pong_flag = uxr_acknack_pong(ub);
-    }
 }
 
 void read_stream(
@@ -989,6 +960,14 @@ void read_submessage(
             read_submessage_timestamp_reply(session, submessage);
             break;
 
+        case SUBMESSAGE_ID_GET_INFO:
+            read_submessage_get_info(session, submessage);
+            break;
+
+        case SUBMESSAGE_ID_INFO:
+            read_submessage_info(session, submessage);
+            break;
+
 #ifdef PERFORMANCE_TESTING
         case SUBMESSAGE_ID_PERFORMANCE:
             read_submessage_performance(session, submessage, length);
@@ -1095,6 +1074,66 @@ void read_submessage_timestamp_reply(
     process_timestamp_reply(session, &timestamp_reply);
 }
 
+void read_submessage_get_info(
+        uxrSession* session,
+        ucdrBuffer* submessage)
+{
+    GET_INFO_Payload get_info_payload = {
+        0
+    };
+    INFO_Payload info_payload = {
+        0
+    };
+
+    uxr_deserialize_GET_INFO_Payload(submessage, &get_info_payload);
+
+    info_payload.base.related_request.request_id = get_info_payload.base.request_id;
+
+    uint8_t buffer[12];
+    ucdrBuffer ub;
+    ucdr_init_buffer_origin_offset(&ub, buffer, sizeof(buffer), 0u, uxr_session_header_offset(&session->info));
+
+    uxr_serialize_INFO_Payload(&ub, &info_payload);
+    uxr_stamp_session_header(&session->info, 0, 0, ub.init);
+
+    send_message(session, buffer, ucdr_buffer_length(&ub));
+}
+
+void read_submessage_info(
+        uxrSession* session,
+        ucdrBuffer* submessage)
+{
+    INFO_Payload info_payload;
+
+    bool success = true;
+
+    success &= uxr_deserialize_BaseObjectReply(submessage, &info_payload.base);
+    bool active_session = info_payload.base.result.implementation_status;
+
+    success &= ucdr_deserialize_bool(submessage, &info_payload.object_info.optional_config);
+
+    if (info_payload.object_info.optional_config)
+    {
+        success &= uxr_deserialize_ObjectVariant(submessage, &info_payload.object_info.config);
+    }
+
+    success &= ucdr_deserialize_bool(submessage, &info_payload.object_info.optional_activity);
+    if (info_payload.object_info.optional_activity)
+    {
+        success &= ucdr_deserialize_uint8_t(submessage, &info_payload.object_info.activity.kind);
+        if (success && DDS_XRCE_OBJK_AGENT == info_payload.object_info.activity.kind)
+        {
+            success &= ucdr_deserialize_int16_t(submessage,
+                            &info_payload.object_info.activity._.agent.availability);
+            session->on_pong_flag = (success && (info_payload.object_info.activity._.agent.availability > 0)) ?
+                    (active_session ?
+                    PONG_IN_SESSION_STATUS :
+                    PONG_NO_SESSION_STATUS) :
+                    NO_PONG_STATUS;
+        }
+    }
+}
+
 #ifdef PERFORMANCE_TESTING
 void read_submessage_performance(
         uxrSession* session,
diff --git a/src/c/core/session/session_info.c b/src/c/core/session/session_info.c
index 6209d689..b2dcea2d 100644
--- a/src/c/core/session/session_info.c
+++ b/src/c/core/session/session_info.c
@@ -44,7 +44,9 @@ void uxr_buffer_create_session(
         ucdrBuffer* ub,
         uint16_t mtu)
 {
-    CREATE_CLIENT_Payload payload;
+    CREATE_CLIENT_Payload payload = {
+        0
+    };
     payload.client_representation.xrce_cookie = DDS_XRCE_XRCE_COOKIE;
     payload.client_representation.xrce_version = DDS_XRCE_XRCE_VERSION;
     payload.client_representation.xrce_vendor_id = VENDOR_ID_EPROSIMA;
@@ -54,12 +56,35 @@ void uxr_buffer_create_session(
     payload.client_representation.client_key.data[3] = info->key[3];
     payload.client_representation.session_id = info->id;
     payload.client_representation.optional_properties = false;
+
 #ifdef UCLIENT_PROFILE_SHARED_MEMORY
     payload.client_representation.optional_properties = true;
-    payload.client_representation.properties.size = 1;
-    payload.client_representation.properties.data[0].name = "uxr_sm";
-    payload.client_representation.properties.data[0].value = "1";
+    payload.client_representation.properties.data[payload.client_representation.properties.size].name = "uxr_sm";
+    payload.client_representation.properties.data[payload.client_representation.properties.size].value = "1";
+    payload.client_representation.properties.size++;
 #endif /* ifdef UCLIENT_PROFILE_SHARED_MEMORY */
+
+#ifdef UCLIENT_HARD_LIVELINESS_CHECK
+    payload.client_representation.optional_properties = true;
+    payload.client_representation.properties.data[payload.client_representation.properties.size].name = "uxr_hl";
+
+    const char* str = UXR_CONFIG_HARD_LIVELINESS_CHECK_TIMEOUT_STR;
+
+    if (strlen(str) > 6)
+    {
+        str = "999999";
+    }
+
+    char buffer[7];
+    const size_t leading_zeros = 6 - strlen(str);
+    memset(buffer, '0', leading_zeros);
+    memcpy(buffer + leading_zeros, str, strlen(str));
+    buffer[6] = '\0';
+
+    payload.client_representation.properties.data[payload.client_representation.properties.size].value = buffer;
+    payload.client_representation.properties.size++;
+#endif /* ifdef UCLIENT_HARD_LIVELINESS_CHECK */
+
     payload.client_representation.mtu = mtu;
 
     info->last_request_id = UXR_REQUEST_LOGIN;
diff --git a/src/c/profile/transport/ip/tcp/tcp_transport_posix_nopoll.c b/src/c/profile/transport/ip/tcp/tcp_transport_posix_nopoll.c
new file mode 100644
index 00000000..96e17bce
--- /dev/null
+++ b/src/c/profile/transport/ip/tcp/tcp_transport_posix_nopoll.c
@@ -0,0 +1,126 @@
+#include <uxr/client/profile/transport/ip/tcp/tcp_transport_posix_nopoll.h>
+#include "tcp_transport_internal.h"
+
+#include <sys/types.h>
+#include <sys/socket.h>
+#include <sys/time.h>
+#include <netdb.h>
+#include <unistd.h>
+#include <string.h>
+#include <errno.h>
+
+bool uxr_init_tcp_platform(
+        uxrTCPPlatform* platform,
+        uxrIpProtocol ip_protocol,
+        const char* ip,
+        const char* port)
+{
+    bool rv = false;
+
+    switch (ip_protocol)
+    {
+        case UXR_IPv4:
+            platform->fd = socket(AF_INET, SOCK_STREAM, 0);
+            break;
+        case UXR_IPv6:
+            platform->fd = socket(AF_INET6, SOCK_STREAM, 0);
+            break;
+    }
+
+    if (-1 != platform->fd)
+    {
+        struct addrinfo hints;
+        struct addrinfo* result;
+        struct addrinfo* ptr;
+
+        memset(&hints, 0, sizeof(hints));
+        switch (ip_protocol)
+        {
+            case UXR_IPv4:
+                hints.ai_family = AF_INET;
+                break;
+            case UXR_IPv6:
+                hints.ai_family = AF_INET6;
+                break;
+        }
+        hints.ai_socktype = SOCK_DGRAM;
+
+        if (0 == getaddrinfo(ip, port, &hints, &result))
+        {
+            for (ptr = result; ptr != NULL; ptr = ptr->ai_next)
+            {
+                if (0 == connect(platform->fd, ptr->ai_addr, ptr->ai_addrlen))
+                {
+                    rv = true;
+                    break;
+                }
+            }
+        }
+        freeaddrinfo(result);
+    }
+    return rv;
+}
+
+bool uxr_close_tcp_platform(
+        uxrTCPPlatform* platform)
+{
+    return (-1 == platform->fd) ? true : (0 == close(platform->fd));
+}
+
+size_t uxr_write_tcp_data_platform(
+        uxrTCPPlatform* platform,
+        const uint8_t* buf,
+        size_t len,
+        uint8_t* errcode)
+{
+    size_t rv = 0;
+    ssize_t bytes_sent = send(platform->fd, (void*)buf, len, 0);
+    if (-1 != bytes_sent)
+    {
+        rv = (size_t)bytes_sent;
+        *errcode = 0;
+    }
+    else
+    {
+        *errcode = 1;
+    }
+    return rv;
+}
+
+size_t uxr_read_tcp_data_platform(
+        uxrTCPPlatform* platform,
+        uint8_t* buf,
+        size_t len,
+        int timeout,
+        uint8_t* errcode)
+{
+    size_t rv = 0;
+
+    timeout = (timeout <= 0) ? 1 : timeout;
+
+    struct timeval tv;
+    tv.tv_sec = timeout / 1000;
+    tv.tv_usec = (timeout % 1000) * 1000;
+
+    setsockopt(platform->fd, SOL_SOCKET, SO_RCVTIMEO, &tv, sizeof(tv));
+
+    ssize_t bytes_received = recv(platform->fd, (void*)buf, len, 0);
+    if (-1 != bytes_received)
+    {
+        rv = (size_t)bytes_received;
+        *errcode = 0;
+    }
+    else
+    {
+        *errcode = 1;
+    }
+
+    return rv;
+}
+
+void uxr_disconnect_tcp_platform(
+        struct uxrTCPPlatform* platform)
+{
+    close(platform->fd);
+    platform->fd = -1;
+}
diff --git a/src/c/util/ping.c b/src/c/util/ping.c
index 33719924..dc4ac961 100644
--- a/src/c/util/ping.c
+++ b/src/c/util/ping.c
@@ -11,7 +11,8 @@
 #include "../core/session/submessage_internal.h"
 
 bool serialize_get_info_message(
-        ucdrBuffer* ub);
+        ucdrBuffer* ub,
+        const uint8_t session_id);
 
 pong_status_t uxr_acknack_pong(
         ucdrBuffer* buffer);
@@ -30,6 +31,10 @@ bool uxr_read_session_header(
         uint8_t* stream_id_raw,
         uxrSeqNum* seq_num);
 
+void read_submessage_info(
+        uxrSession* session,
+        ucdrBuffer* submessage);
+
 //==================================================================
 //                             PUBLIC
 //==================================================================
@@ -43,7 +48,7 @@ bool uxr_ping_agent_session(
     ucdr_init_buffer(&ub, output_buffer, sizeof(output_buffer));
 
     bool ret = false;
-    if (serialize_get_info_message(&ub))
+    if (serialize_get_info_message(&ub, session->info.id))
     {
         size_t message_length = ucdr_buffer_length(&ub);
 
@@ -69,7 +74,7 @@ bool uxr_ping_agent_attempts(
     ucdrBuffer ub;
     ucdr_init_buffer(&ub, output_buffer, sizeof(output_buffer));
 
-    if (serialize_get_info_message(&ub))
+    if (serialize_get_info_message(&ub, SESSION_ID_WITHOUT_CLIENT_KEY))
     {
         size_t message_length = ucdr_buffer_length(&ub);
 
@@ -110,19 +115,20 @@ inline bool uxr_ping_agent(
 //                             PRIVATE
 //==================================================================
 bool serialize_get_info_message(
-        ucdrBuffer* ub)
+        ucdrBuffer* ub,
+        const uint8_t session_id)
 {
     bool res = true;
     GET_INFO_Payload gi_payload;
 
     gi_payload.base.request_id = (RequestId){{
-                                                 0x00, GET_INFO_REQUEST_ID
+                                                 0x00, GET_INFO_REQUEST_PING_ID
                                              }
     };
     gi_payload.base.object_id = DDS_XRCE_OBJECTID_AGENT;
     gi_payload.info_mask = INFO_ACTIVITY;
 
-    uxr_serialize_message_header(ub, SESSION_ID_WITHOUT_CLIENT_KEY, 0, 0, 0);
+    uxr_serialize_message_header(ub, session_id, 0, 0, 0);
     res &= uxr_buffer_submessage_header(ub, SUBMESSAGE_ID_GET_INFO, GET_INFO_MSG_SIZE, 0);
     res &= uxr_serialize_GET_INFO_Payload(ub, &gi_payload);
 
@@ -158,3 +164,29 @@ bool listen_info_message(
 
     return success;
 }
+
+pong_status_t uxr_acknack_pong(
+        ucdrBuffer* buffer)
+{
+    bool success = false;
+    uxrSession fake_session = {
+        0
+    };
+
+    if (ucdr_buffer_remaining(buffer) > SUBHEADER_SIZE)
+    {
+        uint8_t id = 0;
+        uint8_t flags = 0;
+        uint16_t length = 0;
+        uxr_deserialize_submessage_header(buffer, &id, &flags, &length);
+        success = ucdr_buffer_remaining(buffer) >= length;
+
+        if (success && id == SUBMESSAGE_ID_INFO)
+        {
+            fake_session.on_pong_flag = NO_PONG_STATUS;
+            read_submessage_info(&fake_session, buffer);
+        }
+    }
+
+    return fake_session.on_pong_flag;
+}
diff --git a/test/unitary/session/Session.cpp b/test/unitary/session/Session.cpp
index 936da846..12a44204 100644
--- a/test/unitary/session/Session.cpp
+++ b/test/unitary/session/Session.cpp
@@ -361,9 +361,15 @@ TEST_F(SessionTest, WaitSessionStatusBad)
     uint8_t buffer[MTU];
     size_t length = 0;
     size_t attempts = 10;
+    int64_t start_timestamp = uxr_millis();
     bool found = wait_session_status(&session, buffer, length, attempts);
     EXPECT_FALSE(found);
-    EXPECT_EQ(attempts, size_t(SessionTest::listening_counter));
+    EXPECT_GE(size_t(SessionTest::listening_counter), attempts);
+
+    // Check elapsed time with 100 ms tolerance
+    int64_t final_time = uxr_millis() - start_timestamp;
+    int64_t expected_time = (int64_t) (UXR_CONFIG_MIN_SESSION_CONNECTION_INTERVAL * attempts);
+    EXPECT_NEAR((double) final_time, (double) expected_time, 100);
 }
 
 TEST_F(SessionTest, SendMessageOk)