User's Manual

Communication Protocol

This part describes the communication protocol supported by Pandar20A/B and detailed implementation.

1) Binary format is used to improve the communication performance.

2) Disabled Nagle’s algorithm to improve the real-time performance.

3) Simple protocol includes fixed 8 bytes header and variable command specific payload size.

The protocol includes the header and the payload. The header describes type of the command and the length of the payload. The load may

diﬀer in length/content by diﬀerent type of command.

Following is the command message sent from client to server (LiDAR):

1 Packet Structure

Appendix IV

Field Description

Table IV.1 Command Message Sent from Client to LiDAR

0×47

0×74

Cmd

Return Code

Payload Length

1 byte

Type Length

1 byte

4 bytes

fixed content

the code for command, see command description for details

useless

the data length for the command, 0x00 means that the command does not need additional data

Payload data length bytes

the additional data for the command, its length is indicated by “payload length” field

-38-