OpenIGTLink
Contents
Overview
A simple protocol intended for trackers, robots and other devices to send data to the main application. Some devices might accept commands.
- Optotrack
- MRI real time image
- JHU robots
Please contact us if you would like to include other devices.
People / Organizations
- Luis Ibanez, Kitware
- Junichi Tokuda, BWH
- Csaba Csoma, JHU
- Jack Blevins, Acousticmed
- Patrick Cheng, BWH
- Haying Liu, BWH
- Insight Software Consortium
- National Alliance for Medical Image Computing (NA-MIC)
Protocol
Header Structure
Bytes 0 2 14 34 42 50 +-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+--+-+-+..... | V | TYPE | DEVICE_NAME | BODY_SIZE | CRC64 | BODY +-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+--+-+-+.....
Byte Order
Big endian should be used for all numerical values (version, body size, crc)
Header Fields
| Data | Type | Description |
| V | Unsigned short (16bit) | Version number (1) |
| TYPE | char[8] | Type name of body |
| DEVICE_NAME | char[20] | Unique device name |
| BODY_SIZE | 64 bit unsigned int | Size of body in bytes |
| CRC | 64 bit unsigned int | 64 bit CRC for body data |
Message types
IMAGE
TRANSFORM
POSITION
STATUS
Bytes (Body) 50 52 60 80 +-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+--+-+-+..... | C | Sub Code | Status name | Status message (optional) +-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+--+-+-+.....
| Data | Type | Description |
| C | Unsigned short (16bit) | Status code groups: 1-Ok, 2-Generic Error, ... (see below) |
| Sub Code | 64 bit integer | Sub code for the error (ex. 0x200 - file not found) |
| Error name | char[20] | "Error", "Ok", "Starting up" - can be anything, don't relay on this |
| Status Message (optional) | char[ BodySize - 30 ] | Optional (English) description (ex. "File C:\test.ini not found") |
Status codes:
0 No Errors Found (use status 1 instead!)
1 OK (Default status)
2 Unknown error
3 Panic mode (emergency)
4 Not found (file, configuration, device etc)
5 Access denied
6 Busy
7 Time out / Connection lost
8 Overflow / Can't be reached
9 Checksum error
10 Configuration error
11 Not enough resource (memory, storage etc)
12 Illegal/Unknown instruction (or feature not implemented)
13 Device not ready (starting up)
14 Manual mode (device does not accept commands)
15 Device disabled
16 Device not present
17 Device version not known
18 Hardware failure
19 Exiting / shut down in progress
