在c++中从一个程序打开两个管道

我有一个程序，我正在为嵌入式设备编写，我正试图使用管道传递消息。在我的程序和另一个程序之间传递消息之前，我正在构建测试代码，以确保一切正常工作，然后遇到了一个问题。请注意，嵌入式设备不支持c++11(因此使用pthread’s)。

所讨论的代码:

void* testSender(void *ptr) {
  std::cout << "Beginning testSender" << std::endl;
  int pipe = open("/dev/rtp10", O_WRONLY);
  if (pipe < 0) {
    std::cout << "write pipe failed to open" << std::endl;
  } else {
    std::cout << "write pipe successfully opened" << std::endl;
  }
  std::cout << "Ending testSender" << std::endl;
  return NULL;
}
void* testReceiver(void *ptr) {
  std::cout << "Beginning testReceiver" << std::endl;
  int pipe = open("/dev/rtp10", O_RDONLY);
  if (pipe < 0) {
    std::cout << "read pipe failed to open" << std::endl;
  } else {
    std::cout << "read pipe successfully opened" << std::endl;
  }
  std::cout << "Ending testReceiver" << std::endl;
  return NULL;
}
void testOpenClosePipes() {
  std::cout << "Beginning send/receive test" << std::endl;
  pthread_t sendThread, receiveThread;
  pthread_create(&sendThread, NULL, &testSender, NULL);
  pthread_create(&receiveThread, NULL, &testReceiver, NULL);
  std::cout << "waiting for send and receive test" << std::endl;
  pthread_join(receiveThread, NULL);
  pthread_join(sendThread, NULL);
  std::cout << "Done testing open send/receive" << std::endl;
}

函数teststopenclosepipes()从我的主线程调用，调用它后，我得到以下输出:

Beginning send/receive test
waiting for send and receive test
Beginning testReceiver
Beginning testSender
write pipe failed to open
Ending testSender

，然后程序挂起。我相信这是因为读管道已经打开，然后等待发送方连接到管道，但我可能错了。注意，如果我在启动发送线程之前启动接收线程，那么结果如下:

Beginning send/receive test
waiting for send and receive test
Beginning testSender
Beginning testReceiver
read pipe failed to open
Ending testReceiver

从我迄今为止读到的关于管道的内容来看，似乎正在发生的事情是两个(发送或接收)中的一个正确打开，然后保持直到管道的另一端打开。然而，管道的另一端无法正确打开，这最终导致系统挂起，因为打开的管道在成功移动之前等待其连接。我无法弄清楚为什么会发生这种情况，但是，我希望得到帮助，