NaviTrack Tutorial:Creating module:Testing
Contents
In this testing, we use three NaviTrack configuration files included in the sample source codes archive that you have already downloaded. (File:NTTutorial May2007.zip)
tutorial_consolesink.xml
This file is used to receive coordinate data from NetworkSink and display the value onto a console by using ConsoleSink.
tutorial_source.xml
This file is used to send coordinate data, which is generated by pushEvent() in MyTutorialModule, to other hosts, by using NetworkSink.
tutorial_sink.xml
This file is used to receive coodinate data from NetworkSink and display the value onto a console by using MyTutorialSink.
Testing MyTutorialSource
Make sure your LD_LIBRARY_PATH (Linux) or PATH (Windows) contains the absolute path for NaviTrack library (libNaviTrack.so on Linux, and NaviTrack.dll on Windows)
Let us see how MyTutorialSource works by sending coordinate data
generated by MyTutorialSource to another NaviTrack.
In a console, run:
$ middleware tutorial_consolesink.xml
and in another console, run:
$ middleware tutorial_source.xml
Then you can see coordinate values are varying on the console, where you run a NaviTrack with tutorial_consolesink.xml.
In this testing, the essential part of generating cordinate values is in pushEvent() of MyTutorialSource.cxx. In this function, you could see the following code:
void MyTutorialModule::pushEvent() { if(source) { std::cout << "MyTutorialModule::pushEvent() is called." << std::endl; source->event.getPosition()[0] += 0.01; source->event.getPosition()[1] += 0.02; source->event.getPosition()[2] += 0.03; source->event.getOrientation()[0] += 0.01; source->event.getOrientation()[1] += 0.02; source->event.getOrientation()[2] += 0.03; source->event.getOrientation()[3] += 0.04; source->event.timeStamp(); source->updateObservers( source->event ); } }
Testing MyTutorialSink
Next, we use MyTutorialSink instead of ConsoleSink. Stop the NaviTrack launched with tutorial_consolesink.xml and, run:
$ middleware tutorial_sink.xml
In this case, you could see the output from MyTutorialSink.
The actual code to display coordinate data is in onEventGenerated() of MyTutorialSink. The following code is implemented in this function:
void MyTutorialSink::onEventGenerated( Event& event, Node& generator) { float orientation[4]; float position[3]; if (event.hasAttribute("orientation")) { for (int i = 0; i < 4; i ++) orientation[i]=-event.getOrientation()[i]; } else { orientation[0]=0.0; orientation[1]=1.0; orientation[2]=0.0; orientation[3]=0.0; } if(event.hasAttribute("position")) for(int i = 0; i < 3; i ++) position[i]=event.getPosition()[i]; else { position[0]=0.0; position[1]=0.0; position[2]=0.0; } std::cout << "MyTutorialSink::onEventGenerated(): pos = (" << position[0] << ", " << position[1] << ", " << position[2] << ")" << std::endl; std::cout << "MyTutorialSink::onEventGenerated(): ori = (" << orientation[0] << ", " << orientation[1] << ", " << orientation[2] << "," << orientation[3] << ")" << std::endl; }