Gocator Line Profile Sensors: User Manual
Protocols • 626
Feature Circle
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 27.
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)
Normal.x 64s 32 X Component of Normal Vector (Scaled by 10^6)
Normal.y 64s 40 Y Component of Normal Vector (Scaled by 10^6)
Normal.z 64s 48 Z Component of Normal Vector (Scaled by 10^6)
radius 64s 56 Radius of Circle (Scaled by 10^6)
Generic Message
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 29.
attributeSize 16u 6 Size of attributes, in bytes (min: 32, current: 40).
streamStep 32s 8 Data stream step.
streamStepId 32s 12 Data stream step ID.
userType 32u 16 User-define data type ID
isObject 8u 20
0 – Content is raw byte buffer
1 – Content is an kObject
contentLength 32u 21 Length of content array, in bytes
Content[contentLength] byte 25 Content array. If isObject is true, the byte buffer should be
deserialized using kDat6Serializer.
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 614.
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,
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