Gocator Line Profile Sensors: User Manual
Protocols • 499
Field Type Offset Description
length 32u 12 The number of bytes containing additional data.
data[length] 8u 16 Additional data.
Feature Point
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 24.
id 16u 6 Feature Id
Point.x 64s 8 X Coordinate of Point (Scaled by 10^6)
Point.y 64s 16 Y Coordinate of Point (Scaled by 10^6)
Point.z 64s 24 Z Coordinate of Point (Scaled by 10^6)
Feature Line
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 25.
id 16u 6 Feature Id
Point.x 64s 8 X Coordinate of Point (Scaled by 10^6)
Point.y 64s 16 Y Coordinate of Point (Scaled by 10^6)
Point.z 64s 24 Z Coordinate of Point (Scaled by 10^6)
Direction.x 64s 32 X Component of Direction Vector (Scaled by 10^6)
Direction.y 64s 40 Y Component of Direction Vector (Scaled by 10^6)
Direction.z 64s 48 Z Component of Direction Vector (Scaled by 10^6)
Health Results
A client can receive health messages from a Gocator sensor by connecting to the Health TCP channel
(port 3194).
The Data channel (port 3196) and the Health channel can be connected at the same time. The sensor
accepts multiple connections on each port. For more information on the Data channel, see Data Results
on page 488.
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.
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