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Bind Message

  • Protocol Version: 3.0
  • Release Date: January 20, 2017

Summary

The Bind message 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
N_CHLID uint16 Number of child messages
BIND_HEADER BIND HEADER Types and sizes of child messages
NAME_TABLE NAME TABLE Name tables for child messages
DATA DATA Child messages
  • BIND HEADER Section
Data Type Description
CTYPE_0 char[12] Device type string for child message 0
CSIZE_0 uint64 Data size for child message 0
... ...
CTYPE_(N_CHILD-1) char[12] Device type string for child message (N_CHILD-1)
CSIZE_(N_CHILD-1) uint 64 Data size for child message (N_CHILD-1)
  • NAME TABLE Section (NULL-separated values)
Data Type Description
NTABLE_SIZE uint16 Size of name table (including the padding)
NAME_0 char[*] Name for child message 0
(null) uint8 separator
... ...
NAME_(N_CM-1) char[*] Name for child message (N_CHILD-1)
(null) uint8 Separator
(Padding*) uint8 or none Padding to align with WORD
  • Padding field is inserted only if the previous field does not aligned with WORD border.
  • DATA Section
Data Type Description
CDATA 0 CTYPE_0 Data array for child message 0 (size: CSIZE_0)
(Padding*) uint8 or none Padding to align DATA with WORD
CDATA 1 CTYPE_1 Data array for child message 1 (size: CSIZE_1)
(Padding*) uint8 or none Padding to align DATA with WORD
... ...
CDATA_(N_CHILD-1) CTYPE_(N_CHILD-1) Data array for child message (N_CHILD-1)
(Padding*) uint8 or none Padding to align DATA with WORD

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
N_CHLID uint16 Number of child messages
BIND_HEADER_2 BIND HEADER 2 Types and sizes of child messages
NAME_TABLE NAME TABLE Name tables for child messages
  • BIND HEADER 2 Section
Data Type Description
CTYPE_0 char[12] Device type string for child message 0
... ...
CTYPE_(N_CHILD-1) char[12] Device type string for child message (N_CHILD-1)
  • NAME_TABLE (see BIND message)

STT_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
RESOL uint64 Minimum interval between message (ns)*

See Time Stamp

or

Data Type Description
N_CHLID uint16 Number of child messages
BIND_HEADER_2 BIND HEADER 2 Types and sizes of child messages
NAME_TABLE NAME TABLE Name tables for child messages
  • BIND HEADER 2 Section (see BIND message)
  • NAME_TABLE Section (see BIND message)

STP_BIND

Data Type Description 
          |               |

RTS_BIND

Data Type Description 
          |               |

Implementations

Contributors

  • Junichi Tokuda