OpenIGTLink/ProtocolV2/Type/Bind

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Summary

Bind message format is designed to bind any OpenIGTLink messages into a single message. Messages bound in a BIND message are called 'child messages.' The BIND message format is useful, when one needs to care about synchronization of multiple messages (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, which contains types and sizes of child messages, the child message name table section, and the child message body section.

Message Types

BIND

Data Type Description
NCMESSAGES uint16 Number of child messages
Bind Header Section
TYPE 0 char[12] Data type (OpenIGTLink Device Type string) for child message 0
DATA SIZE 0 uint 64 Data size for child message 0
...
TYPE (NCMESSAGES-1) char[12] Data type (OpenIGTLink Device Type string) for child message (NCMESSAGES-1)
DATA SIZE (NCMESSAGES-1) uint 64 Data size for child message (NCMESSAGES-1)
NAME Table Section (NULL-separated values)
NAME_TABLE_SIZE uint16 Size of name table (including the padding)
NAME 0 char[*] Name for child message 0
(null) uint8 separator
...
NAME (NCMESSAGES-1) char[*] Name for child message (NCMESSAGES-1)
(null) uint8 separator
Padding* uint8 or none padding to align DATA with WORD
Data Section
DATA 0 TYPE 0 ( SIZE 0 ) Data array for child message 0
(Padding*) uint8 or none padding to align DATA with WORD
DATA 1 TYPE 1 ( SIZE 1 ) Data array for child message 1
(Padding*) uint8 or none padding to align DATA with WORD
...
DATA (NCMESSAGES-1) TYPE NCMESSAGE-1 (SIZE NCMESSAGE-1) Data array for child message NCMESSAGE-1
Padding* uint8 or none padding to align DATA with WORD
  • Padding field is inserted only if the field does not end at the WORD

Feb 3, 2011: Padding fields are inserted in the message body field.

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

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