Communication Protocol
This part describes the communication protocol supported by Pandar20A/B and detailed implementation.
1) Binary format is used to improve the communication performance.
2) Disabled Nagle’s algorithm to improve the real-time performance.
3) Simple protocol includes
fi
xed 8 bytes header and variable command speci
fi
c payload size.
The protocol includes the header and the payload. The header describes type of the command and the length of the payload. The load may
differ in length/content by different type of command.
Following is the command message sent from client to server (LiDAR):
1 Packet Structure
Appendix IV
Field Description
Table IV.1 Command Message Sent from Client to LiDAR
0×47
0×74
Cmd
Return Code
Payload Length
1 byte
Type
Length
1 byte
1 byte
1 byte
4 bytes
fi
xed content
fi
xed content
the code for command, see command description for details
useless
the data length for the command, 0x00 means that the command does not need additional data
Payload
data length bytes
the additional data for the command, its length is indicated by “payload length”
fi
eld
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