RoboSense RS-Bpearl, Руководство пользователя

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7
RS-Bpearl User Manual
5. Communication Protocol
RS-Bpearl adopts IP/UDP protocol and communicates with computer through Ethernet. In
this User Guide, The UDP protocol packet in this manual is of 1290 byte long and consists
of a 1248-byte valid payload and a 42-byte header. The IP address and port number of
RS-Bpearl is set in the factory as shown in the Table 2, but can be changed by the user as
needed.
Table 2: The IP Address and Port Number Set in the Factory.
Device IP Address MSOP Port No. DIFOP Port No.
RS-Bpearl 192.168.1.200
6699 7788
PC 192.168.1.102
The default MAC Address of each RS-Bpearl is already set up in the factory with
uniqueness. In order to establishing the communication between a RS-Bpearl and a
computer, the IP Address of the computer should be set at the same network segment.
For instance, IP Address is 192.168.1.X (X can be taken by a value from 1~254), subnet
mask: 255.255.255.0. If the internet setting of the sensor is unknown, please set the
subnet mask as 0.0.0.0, connect the sensor to the computer, and capture UDP packet to
get the information of IP and Port through Wireshark.
RS-Bpearl adopts 3 kinds of communication protocols to establish communication with the
computer:

MSOP (Main Data Stream Output Protocol). Distance, azimuth and reflectivity
data collected by the sensor are packed and output to computer;

DIFOP (Device Information Output Protocol). Monitor the current
configuration information of the sensor;

UCWP (User Configuration Write Protocol). User can modify some
parameters of the sensor as needed.
Table 3: Overview of the MSOP.
Note: In the following chapters only the valid payload (1248 byte) will be discussed.
5.1 MSOP
MSOP is the abbreviation of Main Data Stream Output Protocol. I/O type: device output
data, computer parse data.
Default port number is 6699.
MSOP outputs data information of the 3D environment in packets. Each MSOP packet is
1248 bytes long and consists of reported distance, calibrated reflectivity values, azimuth
values and a timestamp.
In each RS-Bpearl MSOP packet, payload is 1248-byte long and consists of a 42-byte
header and a 1200-byte data field containing twelve blocks of 100-byte data records and a
6-byte tail. The basic data structure of a MSOP packet for single return is as shown in
Figure 5
：
Protocol Abbreviation Function Type Size Interval
Main data Stream Output Protocol
MSOP Scan Data Output UDP 1248 bytes ~0.66 ms
Device Information Output Protocol
DIFOP Device Information Output UDP 1248 bytes ~100 ms
User Configuration Write Protocol
UCWP Sensor Parameters Setting UDP 1248 bytes INF