User Guide

54A0049_7.0_EN / Leddar Pixell – User Guide 103 | 127
The identification server on the sensor side is constantly “listening” for identification requests from clients
and answers those requests when they are received.
Identification Server Protocol – Version 1 (0x0001)
There is currently only one protocol version defined in Ipv4 for the identification server. For this version,
protocol concept A described in “Configuration Server Requests” on page 105 applies with the following
characteristics:
1. This server uses a UDP socket.
2. The sensor’s listening port is 48620.
3. Unless otherwise specified for a given request, an answer is required.
See “Identification Server Requests” on page 105 for a list of generic requests that may be implemented.
Configuration Server
The configuration server supports one (1) connection at a time. Once connected, it listens for requests and
answers them when processed.
Once connected to the configuration server, the client may send requests and wait for the answer before
sending a new request. The configuration server cannot execute several requests in parallel.
Also, the configuration server connection must be kept alive by the client by sending at least one request
within 60 seconds after its last request. Typically, when the client has no special request to send, a
CFG_REQUEST_ECHO or CFG_REQUEST_UPDATE request is sent for keeping the connection alive.
Any protocol error will make the configuration server terminate the connection and listen for a new
connection.
Configuration Server Protocol – Version 2 (0x0002)
This configuration server protocol is based on the protocol concept B described in “Data Server Requests”
on page 105 with the following characteristics:
1. This server uses a TCP connection type.
2. The connection port is 48630 (by default).
3. Unless otherwise specified for a given request, an answer is required.
See “Configuration Server Requests” on page 105 for a list of generic requests supported by the Leddar
Pixell. See “Communication Examples” for configuration modification examples.
TCP Data Server
The data server also supports one connection at a time and is used for real-time data transfer from the device
to the client.
Typically, the data to be sent to the client must be configured through a request to the configuration server
(CFG_REQUEST_SET / ELEM_DATA_LEVEL).
Data Server Protocol Version 3 (0x0003)
This data server protocol is based on the protocol concept B described in “Data Server Requests” on
page 105 with the following characteristics:
1. This server uses a TCP connection type.
2. The connection port is provided by the configuration server.