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 previous field does not aligned with WORD border.

Feb 3, 2011: Padding fields are inserted in the data section.

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

Contributors

Junichi Tokuda, Yuichiro Hayashi