Generic serial device

This device communicates with external hardware using serial (RS-232) connection It does not collect tracking or image data, only allows sending and receiving data using OpenIGTLink commands (see PlusServerCommands).

A (customizable) newline string is appended after each sent command and the device listens for reponse that is terminated by the same newline string.

Supported hardware devices

Any device communicating through serial (RS-232) interface.

Supported platforms

Installation

Connect the device to the serial port. Make sure communication speed matches the setting in the configuration file.
If a USB to serial converter is used then the port number can be obtained (and modified, if needed) in the Device Manager.

Device configuration settings

Type: GenericSerial
AcquisitionRate: Defines how frequently Plus should read data sent by the serial device (Optional, default: 10)
SerialPort: Used COM port number for serial communication (ComPort: 1 => Port name: COM1). (Required)
BaudRate: Baud rate for serial communication. (Optional, default: 9600)
MaximumReplyDelaySec: Maximum time to wait for the device to start replying. (Optional, default: 0.100)
MaximumReplyDurationSec: Maximum time to wait for the device to finish replying.(Optional, default: 0.300)
LineEnding: Line ending character(s). Used when sending and receiving text to the device. Each character encoded as 2-digit hexadecimal, separated by spaces. For example: CR line ending is “0d”, CR/LF line ending is “0d 0a” (Optional, default: 0d)
DataSources: No DataSource should be defined

Example configuration file PlusDeviceSet_Server_GenericSerial.xml

<PlusConfiguration version="2.1">

  <DataCollection StartupDelaySec="1.0">
    <DeviceSet
      Name="PlusServer: Generic serial device"
      Description="Send text and receive response through OpenIGTLink"
    />
    <Device
      Id="SerialDevice"
      Type="GenericSerialDevice"
      SerialPort="5"
      BaudRate="9600"
      LineEnding="0d"
      >
      <DataSources>
        <DataSource Id="SerialData" Type="FieldData"/>
      </DataSources>
      <OutputChannels>
        <OutputChannel Id="FieldChannel">
          <DataSource Id="SerialData"/>
        </OutputChannel>
      </OutputChannels>
    </Device>
  </DataCollection>

  <PlusOpenIGTLinkServer
    MaxNumberOfIgtlMessagesToSend="1"
    MaxTimeSpentWithProcessingMs="50"
    ListeningPort="18944"
    LogWarningOnNoDataAvailable="false"
    OutputChannelId="FieldChannel" >
    <DefaultClientInfo>
      <MessageTypes>
        <Message Type="STRING" />
      </MessageTypes>
      <StringNames>
        <String Name="SerialData" />
      </StringNames>
    </DefaultClientInfo>
  </PlusOpenIGTLinkServer>

</PlusConfiguration>

Example script for sending command from 3D Slicer

connectorNode = slicer.vtkMRMLIGTLConnectorNode()
connectorNode.SetTypeClient('127.0.0.1', 18944)
slicer.mrmlScene.AddNode(connectorNode)
connectorNode.Start()

arduinoCmd = slicer.vtkSlicerOpenIGTLinkCommand()
arduinoCmd.SetCommandName('SendText')
arduinoCmd.SetCommandAttribute('DeviceId','SerialDevice')
arduinoCmd.SetCommandTimeoutSec(1.0)

arduinoCmd.SetCommandAttribute('Text', "123456")
slicer.modules.openigtlinkremote.logic().SendCommand(arduinoCmd, connectorNode.GetID())

def onArduinoCmdCompleted(observer, eventid):
  print("Command completed with status: " + arduinoCmd.StatusToString(arduinoCmd.GetStatus()))
  print("Response message: " + arduinoCmd.GetResponseMessage())
  print("Full response: " + arduinoCmd.GetResponseText())

arduinoCmd.AddObserver(arduinoCmd.CommandCompletedEvent, onArduinoCmdCompleted)