Msop - RoboSense RS-Ruby Lite User Manual

5.1 MSOP

I/O type: Device outputs data and computer parses data.
Default port number is 6699.
MSOP packet outputs data information of the 3D environment. Each MSOP packet from
sensor is 1248-byte in length and consists of reported distance, calibrated reflectivity values,
azimuth values and a timestamp in UDP header.
Each MSOP packet payload is 1248-byte in length and consists of an 80-byte header and a
976-byte data field containing 4 blocks of 244-byte data records and a last 192-byte tail.
The basic data structure of a MSOP packet for single return is as shown in Figure 5:
80 bytes
Header
Data block 0
80 bytes
(11
0xFE
th
~20
th
Byte is
Ret_id
time
stamp)
Azimuth 1
data 1
channel data 1
channel data 2
channel data ...
channel data 80
Figure 5: MSOP Packet of RS-Ruby Lite in Single Return Mode.
MSOP Packet (1248 bytes)
4*244bytes = 976bytes
data packet
Data block 1 Data block 2
0xFE 0xFE
Ret_id Ret_id
Azimuth 3
Azimuth 2
data 1
data 1
channel data 1
channel data 1
channel data 2
channel data 2
channel data ...
channel data ...
channel data 80
channel data 80
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RS-Ruby Lite Users' Manual
192bytes
Tail
Data block 3
0xFE
192 bytes
Ret_id
Azimuth 4
data 1
channel data 1
channel data 2
channel data ...
channel data 80