OpenIGTLink/ProtocolV2/Type/Bind

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Summary

Bind message format is designed to bind any OpenIGTLink messages into a single message. This message format is useful, when one needs to care about synchronization of multiple data (e.g. multi-channel sensors), or sending associative array (pairs of key string and value). The bind message format consists of the bind header section, the name table section and the data section.

Message Types

BIND

Data Type Description
NELEMENTS uint16 Number of elements
Bind Header Section
TYPE 0 char[12] Data type (OpenIGTLink Device Type string)
DATA SIZE 0 uint 64 Data size
...
TYPE (NELEMENTS-1) char[12] Data type (OpenIGTLink Device Type string)
DATA SIZE (NELEMENTS-1) uint 64 Data size
NAME Table Section (NULL-separated values)
NAME_TABLE_SIZE uint16 Size of name table (including the padding)
NAME 0 char[*] Name
(null) uint8 separator
...
NAME (NELEMENTS-1) char[*] Name
(null) uint8 separator
Padding* uint8 or none padding to align DATA with WORD
Data Section
DATA 0 TYPE 0 [ SIZE 0 ] Data array
DATA 1 TYPE 1 [ SIZE 1 ] Data array
...
DATA (NELEMENTS-1) TYPE (NELEMENTS-1) [SIZE (NELEMENTS -1)] Data array

GET_BIND

GET_BIND is used to request the receiver for associative array data. If a GET_BIND message does not have a body, it requests all data.

Data Type Description
NELEMENTS uint16 Number of elements
Bind Header Section
TYPE 0 char[12] Data type (OpenIGTLink device type string)
NAMELEN 0 uint 8 Name length
SIZE 0 uint 16 Data length
...
TYPE (NELEMENTS-1) uint8 Data type (0: string, 1: scalar, 2: vector)
NAMELEN (NELEMENTS-1) uint 8 Name length
SIZE (NELEMENTS-1) uint 16 Data length
NAME Table
NAME 0 char[NAMELEN] Name
...
NAME (NELEMENTS-1) char[NAMELEN (NELEMENTS-1)] Name

STT_BIND

Data Type Description
RESOL uint64 Minimum interval between message (ns). Same format as TimeStamp
or

GET_BIND is used to request the receiver for associative array data. If a GET_BIND message does not have a body, it requests all data.

Data Type Description
RESOL uint64 Minimum interval between message (ns). Same format as TimeStamp
NELEMENTS uint16 Number of elements
Bind Header Section
TYPE 0 char[12] Data type (OpenIGTLink device type string)
SIZE 0 uint 16 Data length
...
TYPE (NELEMENTS-1) uint8 Data type (0: string, 1: scalar, 2: vector)
SIZE (NELEMENTS-1) uint 16 Data length
NAME Table
NAME 0 char[NAMELEN] Name
(null) uint8 separator
...
NAME (NELEMENTS-1) char[NAMELEN (NELEMENTS-1)] Name
(null) uint8 separator

STP_BIND

Data Type Description

RTS_BIND

Data Type Description
Status 8 bit unsigned 0: Success 1: Error

Implementations

Contributors

Junichi Tokuda, Yuichiro Hayashi

Comments