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| − | =Overview= | + | <font color=red>The OpenIGTLink official web page has moved to http://openigtlink.org/</font> |
| − | =Protocol=
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| | | | |
| − | ===Header Structure===
| + | Please click [[OpenIGTLink_OldPage|here]] to visit the old page. |
| − | Bytes
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| − | 0 2 14 34 42 50
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| − | +-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+--+-+-+.....
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| − | | V | TYPE | DEVICE_NAME | BODY_SIZE | CRC | BODY
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| − | +-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+--+-+-+.....
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| − | | |
| − | ===Byte Order===
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| − | Big endian should be used.
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| − | | |
| − | ===Header Fields===
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| − | {| border="1" cellpadding="5" cellspacing="0" align="center"
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| − | |-
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| − | | align="left style="background:#e0e0e0;" | Data
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| − | | align="left style="background:#e0e0e0;" | Type
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| − | | align="left style="background:#e0e0e0;" | Description
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| − | |-
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| − | | align="left" | V
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| − | | align="left" | Unsigned short (16bit)
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| − | | align="left" | Version number (1)
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| − | |-
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| − | | align="left" | TYPE
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| − | | align="left" | char[8]
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| − | | align="left" | Type name of body
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| − | |-
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| − | | align="left" | DEVICE_NAME
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| − | | align="left" | char[20]
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| − | | align="left" | Unique device name
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| − | |-
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| − | | align="left" | BODY_SIZE
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| − | | align="left" | 64 bit unsigned int
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| − | | align="left" | Size of body in bytes
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| − | |-
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| − | | align="left" | CRC
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| − | | align="left" | 64 bit unsigned int
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| − | | align="left" | 64 bit CRC for body data
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| − | |-
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| − | |}
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| − | | |
| − | = Message types =
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| − | | |
| − | ===IMAGE===
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| − | ===TRANSFORM===
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| − | ===POSITION===
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| − | ===STATUS===
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| − | Bytes (Body)
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| − | 50 52 60 80
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| − | +-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+--+-+-+.....
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| − | | C | Sub Code | Status name | Status message (optional)
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| − | +-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+--+-+-+.....
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| − | | |
| − | {| border="1" cellpadding="5" cellspacing="0" align="center"
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| − | |-
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| − | | align="left style="background:#e0e0e0;" | Data
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| − | | align="left style="background:#e0e0e0;" | Type
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| − | | align="left style="background:#e0e0e0;" | Description
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| − | |-
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| − | | align="left" | C
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| − | | align="left" | Unsigned short (16bit)
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| − | | align="left" | Status code: 01-Ok, 02-Generic Error, ...
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| − | |-
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| − | | align="left" | Sub Code
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| − | | align="left" | 64 bit integer
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| − | | align="left" | Sub code for the error (ex. 0x200 - file not found)
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| − | |-
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| − | | align="left" | Error name
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| − | | align="left" | char[20] | |
| − | | align="left" | "Error", "Ok", "Starting up"
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| − | |-
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| − | | align="left" | Status Message (optional)
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| − | | align="left" | char[ BodySize - 30 ]
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| − | | align="left" | Optional (English) description (ex. "File C:\test.ini not found")
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| − | |-
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| − | |}
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