Difference between revisions of "OpenIGTLink/ProtocolV2/Type/SensorData"

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[[OpenIGTLink/ProtocolV2/Draft | << Version 2 Draft Page]]
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[[OpenIGTLink/ProtocolV2/Index | << Version 2 Index Page]]
  
 
=Summary=
 
=Summary=
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SDATA is a message type, which is used to transfer sensor reading, 3-axis position, velocity, acceleration, angle, angle velocity and angle acceleration. The message format is intended for manipulator control and various types of sensors.
+
SENSOR is a message type, which is used to transfer sensor reading, 3-axis position, velocity, acceleration, angle, angle velocity and angle acceleration. The message format is intended for manipulator control and various types of sensors.
  
 
=Message Types=
 
=Message Types=
−
==SDATA==
+
==SENSOR==
  
 
{| border="1" cellpadding="5" cellspacing="0" align="center"
 
{| border="1" cellpadding="5" cellspacing="0" align="center"
 
|-
 
|-
−
| align="left style="background:#e0e0e0;" | Data
+
| align="left" style="background:#e0e0e0;" | Data
−
| align="left style="background:#e0e0e0;" | Type
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| align="left" style="background:#e0e0e0;" | Type
−
| align="left style="background:#e0e0e0;" | Description
+
| align="left" style="background:#e0e0e0;" | Description
 
|-
 
|-
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| align="left" | NSENSOR
+
| align="left" | LARRAY
−
| align="left" | UINT16
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| align="left" | uint8
−
| align="left" | Number of sensors
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| align="left" | Length of array (0-255)
 
|-
 
|-
−
| align="left" | FORMAT
+
| align="left" | STATUS
−
| align="left" | UINT16
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| align="left" | uint8
−
| align="left" |
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| align="left" | Sensor status (Reserved)
−
Bit  1: Name flag<br/>
 
−
Bit  8: Position flag              (m)<br/>
 
−
Bit  9: Velocity flag              (m/s)<br/>
 
−
Bit 10: Acceleration flag          (m/s^2)<br/>
 
−
Bit 11: Force flag                (N)<br/>
 
−
Bit 12: Angle flag                (Rad)<br/>
 
−
Bit 13: Angular velocity flag     (Rad/s)<br/>
 
−
Bit 14: Angular acceleration flag    (Rad/s^2)<br/>
 
−
Bit 15: Torque flag         (N*m)<br/>
 
 
|-
 
|-
−
| colspan=3 align="left" |SENSOR1
+
| align="left" | UNIT
 +
| align="left" | uint64
 +
| align="left" | See [[OpenIGTLink/ProtocolV2/Unit| 64-bit UNIT field]].
 
|-
 
|-
−
| align="left" | (NAME)
+
| align="left" | DATA
−
| align="left" | UINT8[20]
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| align="left" | float64[LARRAY]
−
| align="left" | Sensor name
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| align="left" | value array for sensor 0
 
|-
 
|-
−
| align="left" | (POSITION)
+
|}
−
| align="left" | FLOAT32[3]
+
 
−
| align="left" | Position (m)
+
 
 +
===Examples===
 +
====Sending 3-axis troque====
 +
A device with 3-axis torque (N*m) sensor is sending data to a data logger program. The following table shows example data format to send 3-axis torque:
 +
 
 +
{| border="1" cellpadding="5" cellspacing="0" align="center"
 
|-
 
|-
−
| align="left" | (VEL)
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| align="left" style="background:#e0e0e0;" | Data
−
| align="left" | FLOAT32[3]
+
| align="left" style="background:#e0e0e0;" | Type
−
| align="left" | Velocity (m/s)
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| align="left" style="background:#e0e0e0;" | Value
 
|-
 
|-
−
| align="left" | (ACCEL)
+
| align="left" | LARRAY
−
| align="left" | FLOAT32[3]
+
| align="left" | uint8
−
| align="left" | Acceleration (m/s^2)
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| align="left" | 3
 
|-
 
|-
−
| align="left" | (FORCE)
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| align="left" | STATUS
−
| align="left" | FLOAT32[3]
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| align="left" | uint8
−
| align="left" | Force (N)
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| align="left" | 0
 
|-
 
|-
−
| align="left" | (ANG)
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| align="left" | UNIT
−
| align="left" | FLOAT32[3]
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| align="left" | uint64
−
| align="left" | Angle (rad)
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| align="left" | 00000010 11000000 00010000 00000000 00000000 00000000 00000000 00000000
 
|-
 
|-
−
| align="left" | (ANGVEL)
+
| align="left" | DATA
−
| align="left" | FLOAT32[3]
+
| align="left" | double[3]
−
| align="left" | Angular velocity (rad/s)
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| align="left" | {0.0, 0.0, 0.0}
 
|-
 
|-
−
| align="left" | (ANGVEL)
+
|}
−
| align="left" | FLOAT32[3]
+
 
−
| align="left" | Angular accelearation (rad/s^2)
+
====Sending 3-axis force, troque and acceleration====
 +
By binding SENSOR data using BIND type, values from multiple types of sensors can be transferred simultaneously. See [[OpenIGTLink/ProtocolV2/Type/Bind|BIND message description page]] for detail.
 +
 
 +
==GET_SENSOR==
 +
 
 +
{| border="1" cellpadding="5" cellspacing="0" align="center"
 
|-
 
|-
−
| align="left" | (TORQUE)
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| align="left style="background:#e0e0e0;" | Data
−
| align="left" | FLOAT32[3]
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| align="left style="background:#e0e0e0;" | Type
−
| align="left" | Torque (N*m)
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| align="left style="background:#e0e0e0;" | Description
 
|-
 
|-
−
| colspan=3 align="center" style="background:#f0f0f0;" | ...
+
|}
−
|-
+
 
−
| colspan=3 align="left" |SENSOR_N
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==STT_SENSOR==
−
|-
+
 
−
| align="left" | (NAME)
+
{| border="1" cellpadding="5" cellspacing="0" align="center"
−
| align="left" | UINT8[20]
 
−
| align="left" | Sensor name
 
−
|-
 
−
| align="left" | (ARB1)
 
−
| align="left" | FLOAT32
 
−
| align="left" | Arbitrary value 1
 
−
|-
 
−
| align="left" | (ARB2)
 
−
| align="left" | FLOAT32
 
−
| align="left" | Arbitrary value 2
 
−
|-
 
−
| align="left" | (ARB3)
 
−
| align="left" | FLOAT32
 
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| align="left" | Arbitrary value 3
 
 
|-
 
|-
−
| align="left" | (ARB4)
+
| align="left" style="background:#e0e0e0;" | Data
−
| align="left" | FLOAT32
+
| align="left" style="background:#e0e0e0;" | Type
−
| align="left" | Arbitrary value 4
+
| align="left" style="background:#e0e0e0;" | Description
 
|-
 
|-
−
| align="left" | (POSITION)
 
−
| align="left" | FLOAT32[3]
 
−
| align="left" | Position (m)
 
−
|-
 
−
| align="left" | (VEL)
 
−
| align="left" | FLOAT32[3]
 
−
| align="left" | Velocity (m/s)
 
−
|-
 
−
| align="left" | (ACCEL)
 
−
| align="left" | FLOAT32[3]
 
−
| align="left" |  Acceleration (m/s^2)
 
−
|-
 
−
| align="left" | (FORCE)
 
−
| align="left" | FLOAT32[3]
 
−
| align="left" | Force (N)
 
−
|-
 
−
| align="left" | (ANG)
 
−
| align="left" | FLOAT32[3]
 
−
| align="left" | Angle (rad)
 
−
|-
 
−
| align="left" | (ANGVEL)
 
−
| align="left" | FLOAT32[3]
 
−
| align="left" | Angular velocity (rad/s)
 
−
|-
 
−
| align="left" | (ANGVEL)
 
−
| align="left" | FLOAT32[3]
 
−
| align="left" | Angular accelearation (rad/s^2)
 
−
|-
 
−
| align="left" | (TORQUE)
 
−
| align="left" | FLOAT32[3]
 
−
| align="left" |  Torque (N*m)
 
 
|}
 
|}
  
−
==GET_TDATA==
+
<center> or </center>
  
 
{| border="1" cellpadding="5" cellspacing="0" align="center"
 
{| border="1" cellpadding="5" cellspacing="0" align="center"
 
|-
 
|-
−
| align="left style="background:#e0e0e0;" | Data
+
| align="left" style="background:#e0e0e0;" | Data
−
| align="left style="background:#e0e0e0;" | Type
+
| align="left" style="background:#e0e0e0;" | Type
−
| align="left style="background:#e0e0e0;" | Description
+
| align="left" style="background:#e0e0e0;" | Description
 +
|-
 +
| align="left" | RESOL
 +
| align="left" | uint64
 +
| align="left" | Minimum interval between message (ns). Same format as [[OpenIGTLink/Timestamp|TimeStamp]]
 
|-
 
|-
 
|}
 
|}
  
 +
==STP_SENSOR==
  
−
==STT_TDATA==
 
  
 
{| border="1" cellpadding="5" cellspacing="0" align="center"
 
{| border="1" cellpadding="5" cellspacing="0" align="center"
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|}
 
|}
  
−
==STP_TDATA==
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==RTS_SENSOR==
  
 
{| border="1" cellpadding="5" cellspacing="0" align="center"
 
{| border="1" cellpadding="5" cellspacing="0" align="center"
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| align="left style="background:#e0e0e0;" | Type
 
| align="left style="background:#e0e0e0;" | Type
 
| align="left style="background:#e0e0e0;" | Description
 
| align="left style="background:#e0e0e0;" | Description
 +
|-
 +
| align="left" | Status
 +
| align="left" | 8 bit unsigned
 +
| align="left" | 0: Success 1: Error
 
|-
 
|-
 
|}
 
|}
−
 
−
==RTS_TDATA==
 
  
 
=Implementations=
 
=Implementations=
 
The TDATA message type is implemented in the following source code.
 
The TDATA message type is implemented in the following source code.
 
<!--
 
<!--
−
*[http://svn.na-mic.org/NAMICSandBox/trunk/OpenIGTLink/Source/igtlTrackingDataMessage.h igtlTrackingDataMessage.h]
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*[http://svn.na-mic.org/NAMICSandBox/trunk/OpenIGTLink/Source/igtlSensorMessage.h igtlSensorMessage.h]
−
*[http://svn.na-mic.org/NAMICSandBox/trunk/OpenIGTLink/Source/igtlTrackingDataMessage.cxx igtlTrackingDataMessage.cxx]
+
*[http://svn.na-mic.org/NAMICSandBox/trunk/OpenIGTLink/Source/igtlSensorMessage.cxx igtlSensorMessage.cxx]
 
-->
 
-->
  

Latest revision as of 04:44, 30 November 2011

Home < OpenIGTLink < ProtocolV2 < Type < SensorData

<< Version 2 Index Page

Summary

SENSOR is a message type, which is used to transfer sensor reading, 3-axis position, velocity, acceleration, angle, angle velocity and angle acceleration. The message format is intended for manipulator control and various types of sensors.

Message Types

SENSOR

Data Type Description
LARRAY uint8 Length of array (0-255)
STATUS uint8 Sensor status (Reserved)
UNIT uint64 See 64-bit UNIT field.
DATA float64[LARRAY] value array for sensor 0


Examples

Sending 3-axis troque

A device with 3-axis torque (N*m) sensor is sending data to a data logger program. The following table shows example data format to send 3-axis torque:

Data Type Value
LARRAY uint8 3
STATUS uint8 0
UNIT uint64 00000010 11000000 00010000 00000000 00000000 00000000 00000000 00000000
DATA double[3] {0.0, 0.0, 0.0}

Sending 3-axis force, troque and acceleration

By binding SENSOR data using BIND type, values from multiple types of sensors can be transferred simultaneously. See BIND message description page for detail.

GET_SENSOR

Data Type Description

STT_SENSOR

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

STP_SENSOR

Data Type Description

RTS_SENSOR

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

Implementations

The TDATA message type is implemented in the following source code.

Contributors

Junichi Tokuda, Yuichiro Hayashi

Comments

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