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| | =Protocol= | | =Protocol= |
| − | | + | [[OpenIGTLink/Protocol | Open IGT Link Protocol]] |
| − | ===Header Structure===
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| − | Bytes
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| − | 0 2 14 34 42 50 58
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| − | +-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+.....
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| − | | V | TYPE | DEVICE_NAME | TIME_STAMP | BODY_SIZE | CRC64 | BODY
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| − | +-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+.....
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| − | | |
| − | ===Byte Order===
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| − | Big endian should be used for all [http://www.opengroup.org/onlinepubs/007908799/xns/htonl.html numerical values] (version, body size, crc). Unused spaces are padded with 0 (binary).
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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 data
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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" | TIME_STAMP
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| − | | align="left" | 64 bit unsigned int
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| − | | align="left" | [[OpenIGTLink/Timestamp | Timestamp]] or 0 if unused
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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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| − | | |
| − | = Data types =
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| − | | |
| − | ==IMAGE==
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| − | Image data consists of ascii header information followed by binary image pixel data.
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| − | (Ascii header is used to maintain compatibility with SlicerDaemon connection)
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| − | | |
| − | space right-anterior-superior\n
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| − | dimensions <xsize> <ysize> <zsize>\n
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| − | space_origin (<x>, <y>, <z>)\n
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| − | space_directions (<tx>, <ty>, <tz>) (<sx>, <sy>, <sz>) (<nx>, <ny>, <nz>) \n
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| − | kinds space space space\n
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| − | components 1\n
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| − | scalar_type <scalar type #>\n
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| − | <binary image data>
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| − | | |
| − | Descriptions:
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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" | <xsize>, <ysize>, <zsize>
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| − | | align="left" | text number (real)
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| − | | align="left" | Center position of the image in RAS coordinate
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| − | |-
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| − | | align="left" | <tx>, <ty>, <tz>
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| − | | align="left" | text number (real)
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| − | | align="left" | Transverse vector (direction for 'i' index) / The length represents pixel size in 'i' direction
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| − | |-
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| − | | align="left" | <sx>, <sy>, <sz>
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| − | | align="left" | text number (real)
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| − | | align="left" | Transverse vector (direction for 'j' index) / The length represents pixel size in 'j' direction
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| − | |-
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| − | | align="left" | <nx>, <ny>, <nz>
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| − | | align="left" | text number (real)
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| − | | align="left" | Normal vector of image plane(direction for 'k' index) / The length represents pixel size in 'z' direction or slice thickness
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| − | |-
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| − | | align="left" | <scalar type #>
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| − | | align="left" | Pixel scalar type number (Ascii)
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| − | | align="left" | 2:int8 3:int8 4:int16 5:uint16 6:int32 7:uint32 10:float32 11:float64
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| − | |-
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| − | | align="left" | <binary image data>
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| − | | align="left" | Binary image data (<xsize>*<ysize>*<zsize>* (pixel size)
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| − | | align="left" | Image data
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| − | |-
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| − | |}
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| − | | |
| − | ==TRANSFORM==
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| − | The transform data is upper three rows of 4x4 transformation matrix, where element (3,3) is assumed to be 1.
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| − | | |
| − | Bytes (Body)
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| − | 58 62 66 70 74 78 82 86 90 94 98 102 106
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| − | +-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
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| − | | (0,0) | (1,0) | (2,0) | (0,1) | (1,1) | (2,1) | (0,2) | (1,2) | (2,2) | (0,3) | (1,3) | (2,3) |
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| − | +-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
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| − | | |
| − | ==POSITION==
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| − | * 3D Position
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| − | * Optional: Orientation
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| − | | |
| − | ==STATUS==
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| − | Bytes (Body)
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| − | 58 60 68 88
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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"
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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 groups: 1-Ok, 2-Generic Error, ... (see below)
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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]
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| − | | align="left" | "Error", "Ok", "Starting up" - can be anything, don't relay on this
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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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| − | | |
| − | | |
| − | '''Status codes:'''<br />
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| − | 0 No Errors Found (use status 1 instead!)<br />
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| − | 1 OK (Default status)<br />
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| − | 2 Unknown error<br />
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| − | 3 Panic mode (emergency)<br />
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| − | 4 Not found (file, configuration, device etc)<br />
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| − | 5 Access denied<br />
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| − | 6 Busy<br />
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| − | 7 Time out / Connection lost<br />
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| − | 8 Overflow / Can't be reached<br />
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| − | 9 Checksum error<br />
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| − | 10 Configuration error<br />
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| − | 11 Not enough resource (memory, storage etc)<br />
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| − | 12 Illegal/Unknown instruction (or feature not implemented)<br />
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| − | 13 Device not ready (starting up)<br />
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| − | 14 Manual mode (device does not accept commands)<br />
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| − | 15 Device disabled<br />
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| − | 16 Device not present<br />
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| − | 17 Device version not known<br />
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| − | 18 Hardware failure<br />
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| − | 19 Exiting / shut down in progress<br />
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| − | <br />
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| − | | |
| − | = Open questions =
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| − | # What if the application receives hundreds of "position" packets? <br> Should we add "keep only the last" flag to the packet type?
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| − | # Authentication (other than Unique Name)
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| − | # Compression
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| − | # Priority
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| − | # Duplicate messages
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| − | #
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| | | | |
| | = Resources = | | = Resources = |
| | * [[Slicer3:_Image_Guided_Therapy_(IGT) | Slicer 3 Image Guided Therapy (IGT) suite ]] | | * [[Slicer3:_Image_Guided_Therapy_(IGT) | Slicer 3 Image Guided Therapy (IGT) suite ]] |
| − | * [[Slicer/Features/Middleware | Middleware features discussion]]
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| − | * [http://www.cisst.org/wiki/MRI_robot/MIT_2007_06_27_Meeting Initial discussion about requirements]
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| − | * [http://www.bioimagesuite.org/public/VVLink.html BioImage Suite VVLink Tool] (uses TCL/TK object streaming)
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