text: // Copyright 2016 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.
  
  /**
   * @file TestReaderSocket.cpp
   *
   */
  
  #include "TestReaderSocket.h"
  
  #include "fastrtps/rtps/reader/RTPSReader.h"
  #include "fastrtps/rtps/participant/RTPSParticipant.h"
  #include "fastrtps/rtps/RTPSDomain.h"
  
  #include "fastrtps/rtps/attributes/RTPSParticipantAttributes.h"
  #include "fastrtps/rtps/attributes/ReaderAttributes.h"
  #include "fastrtps/rtps/attributes/HistoryAttributes.h"
  
  #include "fastrtps/rtps/history/ReaderHistory.h"
  #include "fastrtps/utils/IPLocator.h"
  
  using namespace eprosima::fastrtps;
  using namespace eprosima::fastrtps::rtps;
  
  TestReaderSocket::TestReaderSocket()
      : mp_participant(nullptr)
      , mp_reader(nullptr)
      , mp_history(nullptr)
  {
  
  
  }
  
  TestReaderSocket::~TestReaderSocket()
  {
      RTPSDomain::removeRTPSParticipant(mp_participant);
      delete(mp_history);
  }
  
  bool TestReaderSocket::init(
          std::string ip,
          uint32_t port)
  {
      //CREATE PARTICIPANT
      RTPSParticipantAttributes PParam;
      PParam.builtin.discovery_config.discoveryProtocol = eprosima::fastrtps::rtps::DiscoveryProtocol_t::NONE;
      PParam.builtin.use_WriterLivelinessProtocol = false;
      mp_participant = RTPSDomain::createParticipant(0, PParam);
      if (mp_participant == nullptr)
      {
          return false;
      }
      //CREATE READERHISTORY
      HistoryAttributes hatt;
      hatt.payloadMaxSize = 255;
      mp_history = new ReaderHistory(hatt);
  
      //CREATE READER
      ReaderAttributes ratt;
      ratt.endpoint.setEntityID(3);
      Locator_t loc;
      IPLocator::setIPv4(loc, ip);
      loc.port = static_cast<uint16_t>(port);
      ratt.endpoint.multicastLocatorList.push_back(loc);
      mp_reader = RTPSDomain::createRTPSReader(mp_participant, ratt, mp_history, &m_listener);
      mp_reader->enableMessagesFromUnkownWriters(true);
      if (mp_reader == nullptr)
      {
          return false;
      }
  
      return true;
  }
  
  void TestReaderSocket::run()
  {
      printf("Enter number to stop reader.\n");
      int aux;
      std::cin >> aux;
  }
  
  void TestReaderSocket::MyListener::onNewCacheChangeAdded(
          RTPSReader* reader,
          const CacheChange_t* const change)
  {
      printf("Received: %s\n", change->serializedPayload.data);
      reader->getHistory()->remove_change((CacheChange_t*)change);
      m_received++;
  }
  