Gocator 2300 & 2880 Series
Protocols • Gocator Protocol • 330
Data Results
A client can receive data messages from a Gocator sensor by connecting to the Data TCP channel (port
3196).
The Data channel and the Health channel (port 3194) can be connected at the same time. The sensor
accepts multiple connections on each port. For more information on the Health channel, see Health
Results on page 338.
Messages that are received on the Data and Health channels use a common structure, called Gocator
DataProtocol (GDP). Each GDP message consists of a 6-byte header, containing size and control fields,
followed by a variable-length, message-specific content section. The structure of the GDPmessage is
defined below.
Field Type Offset Description
size 32u 0 Count of bytes in message (including this field).
control 16u 4
Bit 15: Last Message flag
Bits 0-14: Message type identifier.(See individual data result
sections.)
Gocator DataProtocol
GDP messages are always sent in groups. The Last Message flag in the control field is used to indicate the
final message in a group. If there is only one message per group, this bit will be set in each message.
Stamp
Field Type Offset Description
size 32u 0 Count of bytes in message (including this field).
control 16u 4 Bit 15: Last message flag.
Bits 0-14: Message type identifier. For this message, set to 1.
count (C) 32u 6 Count of stamps in this message.
size 16u 10 Stamp size, in bytes (min: 56, current: 56).
source 8u 12 Source (0 – Main, 1 – Buddy).
reserved 8u 13 Reserved.
stamps[C] Stamp 14 Array of stamps (see below).
Field Type Offset Description
frameIndex 64u 0 Frame index (counts up from zero).
timestamp 64u 8 Timestamp (µs).
encoder 64s 16 Current encoder value (ticks).
encoderAtZ 64s 24 Encoder value latched at z/index mark (ticks).
status 64u 32
Bit field containing various frame information:
Bit 0: sensor digital input state
Stamp
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