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UDP Message Header Structure
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Field | Type [Size] | Description |
|---|---|---|
Version | uint8_t [1] | Protocol version – indicates the revision of the protocol messages |
Message Id | uint8_t [1] | Message type – indicates the type of the payload |
Radar Serial | uint16_t [1] | Serial number of radar only used when receiving will be set to 0 on send |
Payload Size | uint32_t [1] | The size, in bytes, of the main body of the message |
UDP Message Types
Message Name | Message Id | Direction | Description |
|---|---|---|---|
Discovery | 10 | From Radar | Sends minimal radar configuration properties required to connect the client software to correctly receive data |
Update Network Settings | 20 | To Radar | Update Network settings on radar and a reboot |
The UDP Message Body
The body of the message will contain one of the message types outlined in section 2.3.2. This payload will be variable length, the size being specified in the message header. The rest of this document describes the message types.
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Discovery Message Structure
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Field | Type [Size] | Description |
|---|---|---|
Azimuth Samples | uint16_t [2] | Number of azimuth samples taken per rotation |
Bin Size / Resolution | uint16_t [2] | The range resolution per bin. In tenths of millimetres. For example 0.2997m would be 2997. |
Range In Bins | uint16_t [2] | Configured detection range, in bins |
Encoder Size | uint16_t [2] | The total number of available steps on the encoder wheel |
TCP IP Address | uint8_t [4] | The TCP server IP address e.g. 192.168.0.1 - 192 = [0], 168 = [1] |
TCP Port | uint16_t [2] | The TCP server port |
Radar Serial | uint16_t [2] | Radar serial number |
MAC Address | uint8_t [6] | MAC Address e.g. 7E:0C:08:34:0E:19 – 7E = [0], 0C = [1] |
Discovery Protocol Buffer Payload
Field | Type [Size] | Description |
|---|
Field | Type [Size] | Description |
|---|---|---|
Model | RadarModel PB Message | Model information of Radar |
Max Clients Allowed | uint32_t [4] | Maximum number of clients this radar supports |
Clients | String list | List of IP addresses connected to the radar |
Feature Flag | uint32_t [4] | Feature Flag bit field 1 = AutoTune, 2 = Secondary Processing Module Present |
Update Network Settings
The update network settings message contains all of the information required to change the IP settings of the radar. The message provides all critical data in fixed length fields at the beginning of the message. These values are the minimum required in order to successfully configure the IP settings of the radar. These fields can be accessed using the normal process of decoding a byte stream coming across the network.
Update Network Settings Message Structure
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Field | Type [Size] | Description |
|---|---|---|
IP Address | uint8_t [4] | The Radar IP address e.g. 192.168.0.1 - 192 = [0], 168 = [1] |
Subnet Mask | uint8_t [4] | The Subnet Mask e.g. 255.254.0.0 - 255 = [0], 254 = [1] |
Gateway | uint8_t [4] | The Gateway IP address e.g. 192.168.0.4 - 192 = [0], 168 = [1] |
Primary DNS | uint8_t [4] | The Primary DNS IP address e.g. 192.168.0.4 - 192 = [0], 168 = [1] |
Secondary DNS | uint8_t [4] | The Secondary DNS address e.g. 192.168.0.4 - 192 = [0], 168 = [1] |
NTP Server | uint8_t [4] | The NTP Server IP address e.g. 192.168.0.4 - 192 = [0], 168 = [1] |
Point
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Cloud Data
Point -cloud Cloud data messages are emitted by the radar if the Point -cloud Cloud output is enabled.
A point - cloud data message represents one azimuth of data. The message payload consists of zero or more points, which represent a set of radar returns along the azimuth that exceed some configured threshold. The parameters for controlling the point - cloud output are controlled via the Navigation Configuration Colossus TCP message.
Point
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Cloud Data Message Structure
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Field | Type [Size] | Description |
|---|---|---|
Azimuth number | uint16_t [2] | The return azimuth number [0 .. (azimuths per rotation - 1)] |
NTP seconds | uint32_t [4] | The number of seconds since the epoch |
NTP split seconds | uint32_t [4] | The nanosecond component of the time since the epoch. |
Bearing | float [4] | The azimuth angle, in degrees, from radar North. [0.0 <= bearing < 360.0] |
Point count | uint8_t [1] | The number of points that exceed the defined threshold. [0 .. max peaks per azimuth] (see Navigation Configuration) |
Points | Range/power pairs, as defined below |
Point
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Cloud Point Structure
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Field | Type [Size] | Description |
|---|---|---|
Range | float [4] | Range, in metres |
Power | float [4] | Power, in dB |
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