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:
// *NOTE*: For efficiency, one should first write to an intermediary
// mrpt::utils::CMemoryChunk to write only once to the pipe.
mrpt::poses::CPose3D pose(1, 2, 3, 0.1, 0.2, 0.3);
auto arch = mrpt::serialization::archiveFrom(write_pipe);
arch.WriteObject(&pose);
printf("[thread_writer] Finished.\n");
}
catch (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);
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);
#ifndef HAS_BROKEN_CLANG_STD_VISIT
arch.WriteVariant(var1);
arch.WriteVariant(var2);
#endif
printf("[thread_writer] Finished.\n");
}
catch (const std::exception& e)
{
cerr << e.what() << endl;
}
}
