RS-Ruby Plus User Manual
16
5 Communication Protocol
The communication between RS-Ruby Plus and computer is through Ethernet and by sending
UDP packets. There are mainly two types of communication protocols, as shown in the following
table:
Table 5-1 Communication Protocols
Protocol
Abbreviation
Function
Type
Packet Size
The sending time
interval
Main data Stream
Output Protocol
MSOP
Output
measured data
UDP
1248byte
~0.167us
Device Information
Output Protocol
DIFOP
Output sensor
information
UDP
1248byte
~1s
Note: The following sections describe and define the valid payload (1248byte) of the protocols.
1
）
The main data stream output protocol MSOP, encapsulates the distance, angle, reflectivity and other
information measured by the LiDAR into an packet and outputs to the computer;
2
）
Device information output protocol DIFOP, outputs various configuration information of the current state LiDAR
to the computer;
5.1 MSOP and DIFOP
The UDP packet sent by RS-Ruby Plus has a payload of 1248 bytes, the data structure of the main
data stream output protocol (MSOP) and device information output protocol (DIFOP) is as shown
in the figure below:
Figure 5-1 LiDAR Date Structure