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|
/* +------------------------------------------------------------------------+
| Mobile Robot Programming Toolkit (MRPT) |
| https://www.mrpt.org/ |
| |
| Copyright (c) 2005-2023, Individual contributors, see AUTHORS file |
| See: https://www.mrpt.org/Authors - All rights reserved. |
| Released under BSD License. See: https://www.mrpt.org/License |
+------------------------------------------------------------------------+ */
#include <mrpt/io/CPipe.h>
#include <mrpt/poses/CPose2D.h>
#include <mrpt/poses/CPose3D.h>
#include <mrpt/serialization/CArchive.h>
#include <chrono>
#include <iostream>
#include <thread>
using namespace mrpt;
using namespace mrpt::poses;
using namespace mrpt::system;
using namespace mrpt::io;
using namespace mrpt::serialization;
using namespace std;
void thread_reader(CPipeReadEndPoint& read_pipe)
{
try
{
std::cout << "[thread_reader ID:" << std::this_thread::get_id()
<< "] Started." << std::endl;
// Simple read commands:
size_t len = 0;
char buf[100];
read_pipe.Read(&len, sizeof(len));
read_pipe.Read(buf, len);
buf[len] = 0;
cout << "RX: " << buf << endl;
// Read MRPT object from a pipe:
// *Note*: If the object class is known in advance, one can avoid smart
// pointers with ReadObject(&existingObj)
auto arch = archiveFrom(read_pipe);
#if !defined(HAS_BROKEN_CLANG_STD_VISIT)
auto doprint = [](auto& pose) { cout << "RX pose: " << pose << endl; };
auto var =
arch.ReadVariant<mrpt::poses::CPose2D, mrpt::poses::CPose3D>();
std::visit(doprint, var);
var = arch.ReadVariant<mrpt::poses::CPose2D, mrpt::poses::CPose3D>();
std::visit(doprint, var);
#else
std::cout << "Code disabled for clang due to variant bug. See: "
"https://stackoverflow.com/a/46507150/1631514\n";
#endif
printf("[thread_reader] Finished.\n");
}
catch (const std::exception& e)
{
cerr << e.what() << endl;
}
}
void thread_writer(CPipeWriteEndPoint& write_pipe)
{
try
{
std::cout << "[thread_writer ID:" << std::this_thread::get_id()
<< "] Started." << std::endl;
// Simple write commands:
const char* str = "Hello world!";
size_t len = strlen(str);
write_pipe.Write(&len, sizeof(len));
write_pipe.Write(str, len);
// Send MRPT objects:
mrpt::poses::CPose3D pose1(1, 2, 3, 1.57, 3.14, 0);
mrpt::poses::CPose2D pose2(1.0, 2.0, 3.1415);
#if !defined(HAS_BROKEN_CLANG_STD_VISIT)
std::variant<mrpt::poses::CPose3D, mrpt::poses::CPose2D> var1(
std::move(pose1));
std::variant<mrpt::poses::CPose3D, mrpt::poses::CPose2D> var2(
std::move(pose2));
auto arch = archiveFrom(write_pipe);
arch.WriteVariant(var1);
arch.WriteVariant(var2);
#endif
printf("[thread_writer] Finished.\n");
}
catch (const std::exception& e)
{
cerr << e.what() << endl;
}
}
// ------------------------------------------------------
// ThreadsTest
// ------------------------------------------------------
void ThreadsTest()
{
// Create a pipe:
std::unique_ptr<CPipeReadEndPoint> read_pipe;
std::unique_ptr<CPipeWriteEndPoint> write_pipe;
CPipe::createPipe(read_pipe, write_pipe);
// And send the two end-points to two threads:
std::thread hT1(thread_reader, std::ref(*read_pipe));
std::thread hT2(thread_writer, std::ref(*write_pipe));
using namespace std::chrono_literals;
std::this_thread::sleep_for(10ms);
// Wait for the threads to end.
hT2.join();
// We need to close this to ensure the pipe gets flushed
// Remember Unix uses buffered io
// write_pipe.reset();
hT1.join();
}
// ------------------------------------------------------
// MAIN
// ------------------------------------------------------
int main()
{
try
{
ThreadsTest();
return 0;
}
catch (const std::exception& e)
{
std::cerr << "MRPT error: " << mrpt::exception_to_str(e) << std::endl;
return -1;
}
}
|
