HTTP API Reference Guide
This reference guide documents the interface for HTTP API and is accessible via /api/v1
on the sensor hosted HTTP server.
The sensor can be queried and configured using an HTTP GET requests. This can be done using several different tools such as HTTPie, cURL, Advanced REST Client, etc.
Here is an example using curl command:
$ curl --request GET --url http://192.0.2.123/api/v1/sensor/metadata/lidar_intrinsics
{
"lidar_to_sensor_transform": [-1, 0, 0, 0, 0, -1, 0, 0, 0, 0, 1, 38.195, 0, 0, 0, 1]
}
Sensor Metadata
GET /api/v1/sensor/metadata/sensor_info
To GET
the sensor information.
http
GET /api/v1/sensor/metadata/sensor_info HTTP/1.1
Host: 192.0.2.123
curl
curl -i http://192.0.2.123/api/v1/sensor/metadata/sensor_info
httpie
http http://192.0.2.123/api/v1/sensor/metadata/sensor_info
python-requests
requests.get('http://192.0.2.123/api/v1/sensor/metadata/sensor_info')
response
HTTP/1.1 200 OK
Connection: keep-alive
Content-Length: 285
Content-Type: application/json
{
"build_date": "2023-1-15T15:56:07Z",
"build_rev": "v3.0.0",
"image_rev": "ousteros-image-prod-bootes-v3.0.0+0123456789",
"initialization_id": 390072,
"prod_line": "OS-1-128",
"prod_pn": "860-105010-07",
"prod_sn": "992244000006",
"status": "RUNNING"
}
statuscode: 200 No error
Description: Returns JSON-formatted response that includes serial number, product number, FW image revision and sensor status along with other parameters as shown is provided.
GET /api/v1/sensor/metadata/lidar_data_format
To GET
the sensor lidar data format.
http
GET /api/v1/sensor/metadata/lidar_data_format HTTP/1.1
Host: 192.0.2.123
curl
curl -i http://192.0.2.123/api/v1/sensor/metadata/lidar_data_format
httpie
http http://192.0.2.123/api/v1/sensor/metadata/lidar_data_format
python-requests
requests.get('http://192.0.2.123/api/v1/sensor/metadata/lidar_data_format')
response
HTTP/1.1 200 OK
Connection: keep-alive
Content-Length: 724
Content-Type: application/json
Date: Thu, 28 Apr 2022 19:00:38 GMT
Server: nginx
{
"column_window": [0, 1023],
"columns_per_frame": 1024,
"columns_per_packet": 16,
"pixel_shift_by_row": [
12, 4, -4, -12, 12, 4, -4,
-12, 12, 4, -4, -12, 12, 4,
-4, -12, 12, 4, -4, -12, 12,
4, -4, -12, 12, 4, -4, -12,
12, 4, -4, -12, 12, 4, -4,
-12, 12, 4, -4, -12, 12, 4,
-4, -12, 12, 4, -4, -12, 12,
4, -4, -12, 12, 4, -4, -12,
12, 4, -4, -12, 12, 4, -4,
-12, 12, 4, -4, -12, 12, 4,
-4, -12, 12, 4, -4, -12, 12,
4, -4, -12, 12, 4, -4, -12,
12, 4, -4, -12, 12, 4, -4,
-12, 12, 4, -4, -12, 12, 4,
4, -12, 12, 4, -4, -12, 12,
4, -4, -12, 12, 4, -4, -12,
12, 4, -4, -12, 12, 4, -4,
-12, 12, 4, -4, -12, 12, 4,
-4, -12],
"pixels_per_column": 128,
"udp_profile_imu": "LEGACY",
"udp_profile_lidar": "RNG19_RFL8_SIG16_NIR16_DUAL"
}
statuscode: 200 No error
Description: Returns JSON-formatted response that describes the structure of a lidar packet.
columns_per_frame
: Number of measurement columns per frame. This can be 512, 1024, or 2048, depending upon the set lidar mode.
columns_per_packet
: Number of measurement blocks contained in a single lidar packet. Currently in v2.2.0 and earlier, this is 16. Note: This is not user configurable.
pixel_shift_by_row
: Offset in terms of pixel count. Can be used to destagger image. Varies by lidar mode. Length of this array is equal to the number of channels of the sensor.
pixels_per_column
: Number of channels of the sensor.
column_window
: Index of measurement blocks that are active. Default is [0, lidar_mode-1], e.g. [0,1023]. If there is an azimuth window set, this parameter will reflect which measurement blocks of data are within the region of interest.
udp_profile_lidar
: Lidar data profile format. Default single return profile (RNG19_RFL8_SIG16_NIR16
).
udp_profile_imu
: IMU data profile format. DefaultLEGACY
.
Note
This command only works when the sensor is in RUNNING status.
GET /api/v1/sensor/metadata/beam_intrinsics
To GET
the sensor beam intrinsics.
http
GET /api/v1/sensor/metadata/beam_intrinsics HTTP/1.1
Host: 192.0.2.123
curl
curl -i http://192.0.2.123/api/v1/sensor/metadata/beam_intrinsics
httpie
http http://192.0.2.123/api/v1/sensor/metadata/beam_intrinsics
python-requests
requests.get('http://192.0.2.123/api/v1/sensor/metadata/beam_intrinsics')
response
HTTP/1.1 200 OK
Connection: keep-alive
Content-Length: 1895
Content-Type: application/json
{
"beam_altitude_angles": [
20.38, 20.12, 19.79, 19.45, 19.14, 18.85, 18.55, 18.2, 17.86, 17.58, 17.27, 16.93,
16.58, 16.29, 15.98, 15.61, 15.27, 14.97, 14.66, 14.3, 13.96, 13.65, 13.33, 12.97,
12.62, 12.31, 11.98, 11.63, 11.27, 10.96, 10.63, 10.26, 9.91, 9.59, 9.26, 8.89,
8.54, 8.21, 7.87, 7.52, 7.15, 6.82, 6.47, 6.11, 5.76, 5.42, 5.08, 4.73, 4.36, 4.03,
3.66, 3.31, 2.96, 2.62, 2.27, 1.91, 1.55, 1.22, 0.85, 0.51, 0.16, -0.2, -0.55, -0.91,
-1.26, -1.62, -1.96, -2.3, -2.66, -3.02, -3.36, -3.72, -4.07, -4.42, -4.77, -5.11,
-5.46, -5.82, -6.16, -6.49, -6.85, -7.21, -7.55, -7.88, -8.23, -8.59, -8.93, -9.25,
-9.6, -9.96, -10.31, -10.63, -10.96, -11.32, -11.67, -11.97, -12.31, -12.68, -13,
-13.32, -13.64, -14, -14.33, -14.63, -14.96, -15.31, -15.64, -15.94, -16.26,
-16.62, -16.93, -17.22, -17.54, -17.9, -18.22, -18.49, -18.8, -19.16, -19.47,
-19.73, -20.04, -20.39, -20.7, -20.94, -21.25, -21.6, -21.9, -22.14
],
"beam_azimuth_angles": [
4.24, 1.41, -1.42, -4.23, 4.23, 1.41, -1.41, -4.23, 4.23, 1.41, -1.41, -4.21, 4.23,
1.42, -1.4, -4.23, 4.24, 1.41, -1.4, -4.23, 4.24, 1.42, -1.4, -4.22, 4.23, 1.41,
-1.41, -4.22, 4.23, 1.42, -1.4, -4.22, 4.24, 1.41, -1.4, -4.23, 4.23, 1.41, -1.41,
-4.22, 4.23, 1.41, -1.41, -4.23, 4.23, 1.4, -1.42, -4.23, 4.23, 1.41, -1.42, -4.23,
4.23, 1.4, -1.42, -4.24, 4.22, 1.41, -1.43, -4.24, 4.22, 1.4, -1.42, -4.24, 4.22,
1.4, -1.42, -4.23, 4.22, 1.4, -1.4, -4.24, 4.22, 1.4, -1.42, -4.24, 4.22, 1.41,
-1.41, -4.22, 4.22, 1.39, -1.42, -4.23, 4.22, 1.41, -1.41, -4.22, 4.23, 1.41,
-1.41, -4.23, 4.23, 1.41, -1.41, -4.22, 4.23, 1.41, -1.41, -4.22, 4.22, 1.41,
-1.41, -4.22, 4.23, 1.41, -1.4, -4.23, 4.22, 1.41, -1.41, -4.23, 4.22, 1.4, -1.41,
-4.23, 4.22, 1.4, -1.41, -4.24, 4.22, 1.4, -1.42, -4.24, 4.22, 1.4, -1.42, -4.23
],
"beam_to_lidar_transform": [ 1, 0, 0, 15.805999755859375, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1 ],
"lidar_origin_to_beam_origin_mm": 15.8059998
}
status code: 200 No error
Description: Returns JSON-formatted beam altitude and azimuth offsets, in degrees. Length of arrays is equal to the number of channels in the sensor. Also returns distance between lidar origin and beam origin in mm, to be used for point cloud calculations.
GET /api/v1/sensor/metadata/imu_intrinsics
To GET
the sensor imu intrinsics
http
GET /api/v1/sensor/metadata/imu_intrinsics HTTP/1.1
Host: 192.0.2.123
curl
curl -i http://192.0.2.123/api/v1/sensor/metadata/imu_intrinsics
httpie
http http://192.0.2.123/api/v1/sensor/metadata/imu_intrinsics
python-requests
requests.get('http://192.0.2.123/api/v1/sensor/metadata/imu_intrinsics')
response
HTTP/1.1 200 OK
Connection: keep-alive
Content-Length: 91
Content-Type: application/json
{
"imu_to_sensor_transform": [1, 0, 0, 6.253, 0, 1, 0, -11.775, 0, 0, 1, 7.645, 0, 0, 0, 1]
}
status code: 200 No error
Description: Returns JSON-formatted IMU transformation matrix needed to transform to the Sensor Coordinate Frame.
GET /api/v1/sensor/metadata/lidar_intrinsics
To GET
the sensor lidar intrinsics
http
GET /api/v1/sensor/metadata/lidar_intrinsics HTTP/1.1
Host: 192.0.2.123
curl
curl -i http://192.0.2.123/api/v1/sensor/metadata/lidar_intrinsics
httpie
http http://192.0.2.123/api/v1/sensor/metadata/lidar_intrinsics
python-requests
requests.get('http://192.0.2.123/api/v1/sensor/metadata/lidar_intrinsics')
response
HTTP/1.1 200 OK
Connection: keep-alive
Content-Length: 86
Content-Type: application/json
{
"lidar_to_sensor_transform": [-1, 0, 0, 0, 0, -1, 0, 0, 0, 0, 1, 38.195, 0, 0, 0, 1]
}
status code: 200 No error
Description: Returns JSON-formatted lidar transformation matrix needed to transform to the Sensor Coordinate Frame.
GET /api/v1/sensor/metadata/calibration_status
To GET
the sensor calibration status.
http
GET /api/v1/sensor/metadata/calibration_status HTTP/1.1
Host: 192.0.2.123
curl
curl -i http://192.0.2.123/api/v1/sensor/metadata/calibration_status
httpie
http http://192.0.2.123/api/v1/sensor/metadata/calibration_status
python-requests
requests.get('http://192.0.2.123/api/v1/sensor/metadata/calibration_status')
response
HTTP/1.1 200 OK
Connection: keep-alive
Content-Length: 69
Content-Type: application/json
{
"reflectivity":
{
"timestamp": "2022-11-18T20:31:06",
"valid": true
}
}
status code: 200 No error
Description: Returns JSON formatted calibration status of the sensor reflectivity. valid
: true/false depending on calibration status. timestamp
: if valid is true; time at which the calibration was completed.
GET /api/v1/sensor/config
To GET
sensor configuration parameter.
http
GET /api/v1/sensor/config HTTP/1.1
Host: 192.0.2.123
curl
curl -i http://192.0.2.123/api/v1/sensor/config
httpie
http http://192.0.2.123/api/v1/sensor/config
python-requests
requests.get('http://192.0.2.123/api/v1/sensor/config')
response
HTTP/1.1 200 OK
Connection: keep-alive
Content-Length: 715
Content-Type: application/json
{
"azimuth_window": [
0,
360000
],
"columns_per_packet": 16,
"lidar_mode": "1024x10",
"multipurpose_io_mode": "OFF",
"nmea_baud_rate": "BAUD_9600",
"nmea_ignore_valid_char": 0,
"nmea_in_polarity": "ACTIVE_HIGH",
"nmea_leap_seconds": 0,
"operating_mode": "NORMAL",
"phase_lock_enable": false,
"phase_lock_offset": 0,
"signal_multiplier": 1,
"sync_pulse_in_polarity": "ACTIVE_HIGH",
"sync_pulse_out_angle": 360,
"sync_pulse_out_frequency": 1,
"sync_pulse_out_polarity": "ACTIVE_HIGH",
"sync_pulse_out_pulse_width": 10,
"timestamp_mode": "TIME_FROM_INTERNAL_OSC",
"udp_dest": "169.254.225.4",
"udp_port_imu": 7503,
"udp_port_lidar": 7502,
"udp_profile_imu": "LEGACY",
"udp_profile_lidar": "RNG19_RFL8_SIG16_NIR16_DUAL"
}
status code: 200 No error
Description: Please refer to Description- Configurable Parameters section for detailed description on sensor configurable parameters.
POST /api/v1/sensor/config
POST
operation is atomic when specifying multiple configuration parameters. All of the specified sensor configuration parameters must be set successfully for the POST
request to succeed, otherwise none of the specified sensor configuration parameters will be configured, and an error will be returned. Please refer to POST /api/v1/sensor/config – Multiple configuration parameters for examples.
Note
After POST api/v1/sensor/config request is received successfully, the sensor will reinitialize automatically to make the new configuration active and the config settings are persisted across power cycles.
Description
Currently the lidar_mode=1024x10, to change the lidar mode to “512X10”, use the command:
http POST 192.0.2.123/api/v1/sensor/config "parameter=value"
.
Note
To identify all parameters that can be changed using this command please refer to get_config_param.
Example CURL command:
curl -i -X POST os-992210000957.local/api/v1/sensor/config -H 'content-type: application/json' --data '{"lidar_mode": "512x10"}'
Example HTTP command:
http POST os-992210000957.local/api/v1/sensor/config "lidar_mode=512x10"
Example 1: Valid
sensor configuration to change lidar_mode shown below:
http
POST /api/v1/sensor/config HTTP/1.1
Host: 192.0.2.123
Accept: application/json
Content-Type: application/json
"lidar_mode=512x10"
curl
curl -i -X POST http://192.0.2.123/api/v1/sensor/config -H 'Accept: application/json' -H 'Content-Type: application/json' --data-raw '"lidar_mode=512x10"'
httpie
echo '"lidar_mode=512x10"' | http POST http://192.0.2.123/api/v1/sensor/config Accept:application/json Content-Type:application/json
python-requests
requests.post('http://192.0.2.123/api/v1/sensor/config', headers={'Accept': 'application/json', 'Content-Type': 'application/json'}, json='lidar_mode=512x10')
response
HTTP/1.1 204 No Content
Connection: keep-alive
Date: Thu, 01 Jan 1970 00:37:41 GMT
Server: nginx
To verify, the user can run GET /api/v1/sensor/config after POST
command:
{
"azimuth_window": [
0,
360000
],
"columns_per_packet": 16,
"lidar_mode": "512x10",
"multipurpose_io_mode": "OFF",
"nmea_baud_rate": "BAUD_9600",
"nmea_ignore_valid_char": 0,
"nmea_in_polarity": "ACTIVE_HIGH",
"nmea_leap_seconds": 0,
"operating_mode": "NORMAL",
"phase_lock_enable": false,
"phase_lock_offset": 0,
"signal_multiplier": 1,
"sync_pulse_in_polarity": "ACTIVE_HIGH",
"sync_pulse_out_angle": 360,
"sync_pulse_out_frequency": 1,
"sync_pulse_out_polarity": "ACTIVE_HIGH",
"sync_pulse_out_pulse_width": 10,
"timestamp_mode": "TIME_FROM_INTERNAL_OSC",
"udp_dest": "169.254.225.4",
"udp_port_imu": 7503,
"udp_port_lidar": 7502,
"udp_profile_imu": "LEGACY",
"udp_profile_lidar": "RNG19_RFL8_SIG16_NIR16_DUAL"
}
status code: 204 server has successfully fulfilled the request.
Example 2: Invalid
sensor configuration to change lidar_mode shown below:
Note: An incorrect value for a valid key i.e.., “lidar_mode” is given to show the error message that would be prompted. In this case Lidar_mode is set to 511x10.
http
POST /api/v1/sensor/config HTTP/1.1
Host: 192.0.2.123
Accept: application/json
Content-Type: application/json
"lidar_mode=511x10"
curl
curl -i -X POST http://192.0.2.123/api/v1/sensor/config -H 'Accept: application/json' -H 'Content-Type: application/json' --data-raw '"lidar_mode=511x10"'
httpie
echo '"lidar_mode=511x10"' | http POST http://192.0.2.123/api/v1/sensor/config Accept:application/json Content-Type:application/json
python-requests
requests.post('http://192.0.2.123/api/v1/sensor/config', headers={'Accept': 'application/json', 'Content-Type': 'application/json'}, json='lidar_mode=511x10')
response
HTTP/1.1 400 Bad Request
Connection: keep-alive
Content-Length: 102
Content-Type: application/json
Date: Thu, 01 Jan 1970 00:51:07 GMT
Server: nginx
{
"error": {
"title": "While processing key 'lidar_mode' encountered error: '511x10' is not supported"
}
}
status code: 400 Server cannot or will not process the request due to something that is perceived to be a client error.
POST /api/v1/sensor/config – Multiple configuration parameters
Example 1 (Valid)- Using HTTP
http
POST /api/v1/sensor/config HTTP/1.1
Host: 192.0.2.123
"lidar_mode=1024x10" "udp_profile_lidar=RNG15_RFL8_NIR8"
curl
curl -i -X POST http://192.0.2.123/api/v1/sensor/config --data-raw '"lidar_mode=1024x10" "udp_profile_lidar=RNG15_RFL8_NIR8"'
httpie
echo '"lidar_mode=1024x10" "udp_profile_lidar=RNG15_RFL8_NIR8"' | http POST http://192.0.2.123/api/v1/sensor/config
python-requests
requests.post('http://192.0.2.123/api/v1/sensor/config', data='"lidar_mode=1024x10" "udp_profile_lidar=RNG15_RFL8_NIR8"')
response
HTTP/1.1 204 No Content
Connection: keep-alive
Date: Thu, 01 Jan 1970 00:37:41 GMT
Server: nginx
To verify, the user can run GET /api/v1/sensor/config after POST
command:
{
"azimuth_window": [
0,
360000
],
"columns_per_packet": 16,
"lidar_mode": "1024x10",
"multipurpose_io_mode": "OFF",
"nmea_baud_rate": "BAUD_9600",
"nmea_ignore_valid_char": 0,
"nmea_in_polarity": "ACTIVE_HIGH",
"nmea_leap_seconds": 0,
"operating_mode": "NORMAL",
"phase_lock_enable": false,
"phase_lock_offset": 0,
"signal_multiplier": 1,
"sync_pulse_in_polarity": "ACTIVE_HIGH",
"sync_pulse_out_angle": 360,
"sync_pulse_out_frequency": 1,
"sync_pulse_out_polarity": "ACTIVE_HIGH",
"sync_pulse_out_pulse_width": 10,
"timestamp_mode": "TIME_FROM_INTERNAL_OSC",
"udp_dest": "169.254.255.255",
"udp_port_imu": 7503,
"udp_port_lidar": 7502,
"udp_profile_imu": "LEGACY",
"udp_profile_lidar": "RNG15_RFL8_NIR8"
}
Example 2 (Invalid)- Using HTTP
Changing
NIR
Value from8
bits to10
bits i.e., invalid. Correct value is8
bits.
http
POST /api/v1/sensor/config HTTP/1.1
Host: 192.0.2.123
"lidar_mode=1024x10" "udp_profile_lidar=RNG15_RFL8_NIR10"
curl
curl -i -X POST http://192.0.2.123/api/v1/sensor/config --data-raw '"lidar_mode=1024x10" "udp_profile_lidar=RNG15_RFL8_NIR10"'
httpie
echo '"lidar_mode=1024x10" "udp_profile_lidar=RNG15_RFL8_NIR10"' | http POST http://192.0.2.123/api/v1/sensor/config
python-requests
requests.post('http://192.0.2.123/api/v1/sensor/config', data='"lidar_mode=1024x10" "udp_profile_lidar=RNG15_RFL8_NIR10"')
response
HTTP/1.1 400 Bad Request
Connection: keep-alive
Content-Length: 119
Content-Type: application/json
Date: Thu, 01 Jan 1970 00:56:40 GMT
Server: nginx
{
"error": {
"title": "While processing key 'udp_profile_lidar' encountered error: 'RNG15_RFL8_NIR10' is not
supported"
}
}
DELETE /api/v1/sensor/config
Example HTTP command:
http DELETE 192.0.2.123/api/v1/sensor/config
Example curl command:
curl -i -X DELETE http://192.0.2.123/api/v1/sensor/config -H 'Content-Type: application/json'
http
DELETE /api/v1/sensor/config HTTP/1.1
Host: 192.0.2.123
curl
curl -i -X DELETE http://192.0.2.123/api/v1/sensor/config
httpie
http DELETE http://192.0.2.123/api/v1/sensor/config
python-requests
requests.delete('http://192.0.2.123/api/v1/sensor/config')
response
HTTP/1.1 204 No Content
Connection: keep-alive
Date: Mon, 10 Jul 2023 17:12:47 GMT
Server: nginx
statuscode: 204 No Content
GET /api/v1/sensor/metadata
To GET
the sensor metadata information.
http
GET /api/v1/sensor/metadata HTTP/1.1
Host: 192.0.2.123
curl
curl -i http://192.0.2.123/api/v1/sensor/metadata
httpie
http http://192.0.2.123/api/v1/sensor/metadata
python-requests
requests.get('http://192.0.2.123/api/v1/sensor/metadata')
response
HTTP/1.1 200 OK
Connection: keep-alive
Content-Length: 4009
Content-Type: application/json
{
"beam_intrinsics": {
"beam_altitude_angles": [
20.38, 20.12, 19.79, 19.45, 19.14, 18.85, 18.55, 18.2, 17.86, 17.58, 17.27, 16.93,
16.58, 16.29, 15.98, 15.61, 15.27, 14.97, 14.66, 14.3, 13.96, 13.65, 13.33, 12.97,
12.62, 12.31, 11.98, 11.63, 11.27, 10.96, 10.63, 10.26, 9.91, 9.59, 9.26, 8.89,
8.54, 8.21, 7.87, 7.52, 7.15, 6.82, 6.47, 6.11, 5.76, 5.42, 5.08, 4.73, 4.36, 4.03,
3.66, 3.31, 2.96, 2.62, 2.27, 1.91, 1.55, 1.22, 0.85, 0.51, 0.16, -0.2, -0.55, -0.91,
-1.26, -1.62, -1.96, -2.3, -2.66, -3.02, -3.36, -3.72, -4.07, -4.42, -4.77, -5.11,
-5.46, -5.82, -6.16, -6.49, -6.85, -7.21, -7.55, -7.88, -8.23, -8.59, -8.93, -9.25,
-9.6, -9.96, -10.31, -10.63, -10.96, -11.32, -11.67, -11.97, -12.31, -12.68, -13,
-13.32, -13.64, -14, -14.33, -14.63, -14.96, -15.31, -15.64, -15.94, -16.26,
-16.62, -16.93, -17.22, -17.54, -17.9, -18.22, -18.49, -18.8, -19.16, -19.47,
-19.73, -20.04, -20.39, -20.7, -20.94, -21.25, -21.6, -21.9, -22.14
],
"beam_azimuth_angles": [
4.24, 1.41, -1.42, -4.23, 4.23, 1.41, -1.41, -4.23, 4.23, 1.41, -1.41, -4.21, 4.23,
1.42, -1.4, -4.23, 4.24, 1.41, -1.4, -4.23, 4.24, 1.42, -1.4, -4.22, 4.23, 1.41,
-1.41, -4.22, 4.23, 1.42, -1.4, -4.22, 4.24, 1.41, -1.4, -4.23, 4.23, 1.41, -1.41,
-4.22, 4.23, 1.41, -1.41, -4.23, 4.23, 1.4, -1.42, -4.23, 4.23, 1.41, -1.42, -4.23,
4.23, 1.4, -1.42, -4.24, 4.22, 1.41, -1.43, -4.24, 4.22, 1.4, -1.42, -4.24, 4.22,
1.4, -1.42, -4.23, 4.22, 1.4, -1.4, -4.24, 4.22, 1.4, -1.42, -4.24, 4.22, 1.41,
-1.41, -4.22, 4.22, 1.39, -1.42, -4.23, 4.22, 1.41, -1.41, -4.22, 4.23, 1.41,
-1.41, -4.23, 4.23, 1.41, -1.41, -4.22, 4.23, 1.41, -1.41, -4.22, 4.22, 1.41,
-1.41, -4.22, 4.23, 1.41, -1.4, -4.23, 4.22, 1.41, -1.41, -4.23, 4.22, 1.4, -1.41,
-4.23, 4.22, 1.4, -1.41, -4.24, 4.22, 1.4, -1.42, -4.24, 4.22, 1.4, -1.42, -4.23
],
"beam_to_lidar_transform": [ 1, 0, 0, 15.805999755859375, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1 ],
"lidar_origin_to_beam_origin_mm": 15.8059998
}
"calibration_status": {
"reflectivity": {
"timestamp": "2022-11-18T20:31:06",
"valid": true
}
},
"config_params": {
"azimuth_window": [
0,
360000
],
"columns_per_packet": 16,
"lidar_mode": "1024x10",
"multipurpose_io_mode": "OFF",
"nmea_baud_rate": "BAUD_9600",
"nmea_ignore_valid_char": 0,
"nmea_in_polarity": "ACTIVE_HIGH",
"nmea_leap_seconds": 0,
"operating_mode": "NORMAL",
"phase_lock_enable": false,
"phase_lock_offset": 0,
"signal_multiplier": 1,
"sync_pulse_in_polarity": "ACTIVE_HIGH",
"sync_pulse_out_angle": 360,
"sync_pulse_out_frequency": 1,
"sync_pulse_out_polarity": "ACTIVE_HIGH",
"sync_pulse_out_pulse_width": 10,
"timestamp_mode": "TIME_FROM_INTERNAL_OSC",
"udp_dest": "169.254.225.4",
"udp_port_imu": 7503,
"udp_port_lidar": 7502,
"udp_profile_imu": "LEGACY",
"udp_profile_lidar": "RNG19_RFL8_SIG16_NIR16_DUAL"
},
"imu_intrinsics": {
"imu_to_sensor_transform": [
1, 0, 0, 6.253, 0, 1, 0, -11.775, 0, 0, 1, 7.645, 0, 0, 0, 1
]
},
"lidar_data_format": {
"column_window": [
0,
1023
],
"columns_per_frame": 1024,
"columns_per_packet": 16,
"pixel_shift_by_row": [12, 4, -4, -12, 12,
4, -4, -12, 12, 4, -4, -12, 12, 4, -4,
-12, 12, 4, -4, -12, 12, 4, -4, -12, 12,
4, -4, -12, 12, 4, -4, -12, 12, 4, -4,
-12, 12, 4, -4, -12, 12, 4, -4, -12, 12,
4, -4, -12, 12, 4, -4, -12, 12, 4, -4,
-12, 12, 4, -4, -12, 12, 4, -4, -12, 12,
4, -4, -12, 12, 4, -4, -12, 12, 4, -4,
-12, 12, 4, -4, -12, 12, 4, -4, -12, 12,
4, -4, -12, 12, 4, -4, -12, 12, 4, -4,
-12, 12, 4, -4, -12, 12, 4, -4, -12, 12,
4, -4, -12, 12, 4, -4, -12, 12, 4, -4,
-12, 12, 4, -4, -12, 12, 4, -4, -12, 12,
4, -4, -12
],
"pixels_per_column": 128,
"udp_profile_imu": "LEGACY",
"udp_profile_lidar": "RNG19_RFL8_SIG16_NIR16_DUAL"
},
"lidar_intrinsics": {
"lidar_to_sensor_transform": [
-1, 0, 0, 0, 0, -1, 0, 0, 0, 0, 1, 38.195, 0, 0, 0, 1
]
},
"sensor_info": {
"build_date": "2023-1-15T15:56:07Z",
"build_rev": "v3.0.0",
"image_rev": "ousteros-image-prod-bootes-v3.0.0+0123456789",
"initialization_id": 390079,
"prod_line": "OS-1-128",
"prod_pn": "860-105010-07",
"prod_sn": "992244000006",
"status": "RUNNING"
}
}
status code: 200 No error
User Editable Data
A user configurable data field is made available in firmware v2.5 and later.
This field can be used for a number of purposes such as storing specific information about the sensor, qualifying a sensor, calibration data, or any other information.
The User Editable Data comes with the ability to keep
or delete
it’s respective data based on the action of deleting the sensor config. That can be done by setting the value of the User Editable Data policy
to either keep_on_config_delete
or clear_on_config_delete
(which is default), where if the keep_on_config_delete
policy is set then the User Editable Data data will not be deleted when the sensor config is deleted, and if the clear_on_config_delete
policy is set then the User Editable Data data will be deleted when the sensor config is deleted. The User Editable Data data and User Editable Data policy must be set in the same HTTP PUT
request. If the User Editable Data value is set without the policy, then the policy will automatically be reset to clear_on_config_delete
. The User Editable Data data value (I.E. text) is persisted across sensor config resets, config reboots, firmware upgrades, and sensor power cycles.
When querying the User Editable Data, the include_metadata
field can be specified to control the verbosity of the returned data. If set to ‘true’ then the value of the User Editable Data field will be returned in addition to the value of the policy. If set to ‘false’ (which is default) then only the value of the User Editable Data field will be returned.
Note
The user editable data field will be made available as part of the HTTP
endpoint. No TCP
endpoint will be made available. This User Editable Data is always enabled and can always be set regardless of any other configuration settings. Please note TCP API
will be completely removed and be unavailable for use in Q3, 2023.``
GET /api/v1/user/data
Retrieve the current value of ‘user-data-field’, ""
is returned by default.
Example using curl
command:
curl -H GET 192.0.2.123/api/v1/user/data
Example using HTTP
command:
http GET 192.0.2.123/api/v1/user/data
Command Response:
http
GET /api/v1/user/data HTTP/1.1
Host: 192.0.2.123
curl
curl -i http://192.0.2.123/api/v1/user/data
httpie
http http://192.0.2.123/api/v1/user/data
python-requests
requests.get('http://192.0.2.123/api/v1/user/data')
response
HTTP/1.1 200 OK
Connection: keep-alive
Content-Length: 15
Content-Type: application/json
Date: Thu, 01 Jan 1970 01:40:23 GMT
Server: nginx
""
statuscode: 200 Ok
PUT /api/v1/user/data
Puts a “content” in the user data field
. In the example shown below we will use “Ouster sensor” as the content to be put in the user data field
.
Note
Default data policy
for PUT
request on user editable data is clear_on_config_delete
. If you would like to persist the value in the data field please PUT /api/v1/user/data?policy=keep_on_config_delete.
Example using curl command:
curl -X PUT 192.0.2.123/api/v1/user/data -H 'Content-Type: application/json' -d '"Ouster sensor"'
Example using HTTP command:
http --json PUT 192.0.2.123/api/v1/user/data <<< '"Ouster sensor"'
Command Response:
http
PUT /api/v1/user/data HTTP/1.1
Host: 192.0.2.123
"Ouster sensor"
curl
curl -i -X PUT http://192.0.2.123/api/v1/user/data --data-raw '"Ouster sensor"'
httpie
echo '"Ouster sensor"' | http PUT http://192.0.2.123/api/v1/user/data
python-requests
requests.put('http://192.0.2.123/api/v1/user/data', data='"Ouster sensor"')
response
HTTP/1.1 204 No Content
Connection: keep-alive
Date: Thu, 01 Jan 1970 01:39:16 GMT
Server: nginx
statuscode: 204 No Content
To verify: Run GET /api/v1/user/data
http
GET /api/v1/user/data HTTP/1.1
Host: 192.0.2.123
curl
curl -i http://192.0.2.123/api/v1/user/data
httpie
http http://192.0.2.123/api/v1/user/data
python-requests
requests.get('http://192.0.2.123/api/v1/user/data')
response
HTTP/1.1 200 OK
Connection: keep-alive
Content-Length: 15
Content-Type: application/json
Date: Thu, 01 Jan 1970 01:05:14 GMT
Server: nginx
"Ouster sensor"
statuscode: 200 OK
Note
Additional Information:
Valid values for UED: empty string or string containing non-binary ASCII and/or Unicode characters
Size limit for UED string: 128KB with 1KB = 1024bytes (Total = 131,072 bytes)
DELETE /api/v1/user/data
Deletes the current value (“content”) in the ‘user-data-field’.
Example using curl command:
curl -X DELETE 192.0.2.123/api/v1/user/data
Example using HTTP command:
http Delete 192.0.2.123/api/v1/user/data
Command Response:
http
DELETE /api/v1/user/data HTTP/1.1
Host: 192.0.2.123
curl
curl -i -X DELETE http://192.0.2.123/api/v1/user/data
httpie
http DELETE http://192.0.2.123/api/v1/user/data
python-requests
requests.delete('http://192.0.2.123/api/v1/user/data')
response
HTTP/1.1 204 No Content
Connection: keep-alive
Date: Thu, 01 Jan 1970 01:05:32 GMT
Server: nginx
statuscode: 204 No Content
To verify: Run GET /api/v1/user/data
http
GET /api/v1/user/data HTTP/1.1
Host: 192.0.2.123
curl
curl -i http://192.0.2.123/api/v1/user/data
httpie
http http://192.0.2.123/api/v1/user/data
python-requests
requests.get('http://192.0.2.123/api/v1/user/data')
response
HTTP/1.1 200 OK
Connection: keep-alive
Content-Length: 2
Content-Type: application/json
Date: Thu, 01 Jan 1970 01:05:14 GMT
Server: nginx
""
statuscode: 200 OK
Optional Parameters - data policy
The policy key maps to the active policy as applied with PUT api/v1/user/data?policy=<policy_str>
.
<policy_str>
have the following options available:
clear_on_config_delete
by defaultkeep_on_config_delete
Note
Data policy
has no effect on the User Editable Data field.
PUT /api/v1/user/data?policy=clear_on_config_delete
Example HTTP command for clear_on_config_delete
:
http --json PUT 192.0.2.123/api/v1/user/data?policy=clear_on_config_delete <<< '"set some value"
Note
User can choose to specify clear_on_config_delete
when setting the user editable data, as if this is not specified then the default is set to clear_on_config_delete
.
Command Response:
http
PUT /api/v1/user/data?policy=clear_on_config_delete HTTP/1.1
Host: 192.0.2.123
"Ouster sensor"
curl
curl -i -X PUT 'http://192.0.2.123/api/v1/user/data?policy=clear_on_config_delete' --data-raw '"Ouster sensor"'
httpie
echo '"Ouster sensor"' | http PUT 'http://192.0.2.123/api/v1/user/data?policy=clear_on_config_delete'
python-requests
requests.put('http://192.0.2.123/api/v1/user/data?policy=clear_on_config_delete', data='"Ouster sensor"')
response
HTTP/1.1 204 No Content
Connection: keep-alive
Date: Thu, 01 Jan 1970 00:43:08 GMT
Server: nginx
statuscode: 204 No Content
To verify: Run GET /api/v1/user/data?include_metadata=true
http
GET /api/v1/user/data?include_metadata=true HTTP/1.1
Host: 192.0.2.123
curl
curl -i 'http://192.0.2.123/api/v1/user/data?include_metadata=true'
httpie
http 'http://192.0.2.123/api/v1/user/data?include_metadata=true'
python-requests
requests.get('http://192.0.2.123/api/v1/user/data?include_metadata=true')
response
HTTP/1.1 200 OK
Connection: keep-alive
Content-Length: 62
Content-Type: application/json
Date: Thu, 01 Jan 1970 00:16:39 GMT
Server: nginx
{
"policy": "clear_on_config_delete",
"value": "Ouster Sensor"
}
PUT /api/v1/user/data?policy=keep_on_config_delete
When keep_on_config_delete
has been applied, the data in the user editable data field is persistent regardless of any sensor configuration resets or shutdown. If the user needs to reset this field then please run DELETE /api/v1/user/data.
Example HTTP command for keep_on_config_delete
:
http --json PUT os-992232000303.local/api/v1/user/data?policy=keep_on_config_delete <<< '"Ouster Sensor"'
Command Response:
http
PUT /api/v1/user/data?policy=keep_on_config_delete HTTP/1.1
Host: 192.0.2.123
"Ouster Sensor"
curl
curl -i -X PUT 'http://192.0.2.123/api/v1/user/data?policy=keep_on_config_delete' --data-raw '"Ouster Sensor"'
httpie
echo '"Ouster Sensor"' | http PUT 'http://192.0.2.123/api/v1/user/data?policy=keep_on_config_delete'
python-requests
requests.put('http://192.0.2.123/api/v1/user/data?policy=keep_on_config_delete', data='"Ouster Sensor"')
response
HTTP/1.1 204 No Content
Connection: keep-alive
Date: Thu, 01 Jan 1970 00:43:08 GMT
Server: nginx
statuscode: 204 No Content
To verify: Run GET /api/v1/user/data?include_metadata=true
Command Response:
http
GET /api/v1/user/data?include_metadata=true HTTP/1.1
Host: 192.0.2.123
curl
curl -i 'http://192.0.2.123/api/v1/user/data?include_metadata=true'
httpie
http 'http://192.0.2.123/api/v1/user/data?include_metadata=true'
python-requests
requests.get('http://192.0.2.123/api/v1/user/data?include_metadata=true')
response
HTTP/1.1 200 OK
Connection: keep-alive
Content-Length: 61
Content-Type: application/json
Date: Thu, 01 Jan 1970 00:19:30 GMT
Server: nginx
{
"policy": "keep_on_config_delete",
"value": "Ouster sensor"
}
Optional Parameters - include_metadata
Same as nominal GET
but returns a JSON dictionary of the form { "value": str, "policy": str }
where the value key maps to the nominal value returned by GET
with no arguments.
Note
include_metadata
has no effect on the User Editable Data field.
This feature lets user to query the user editable data field to get policy
and value
when include_metadata
is set to true
/1
and only the value
when include_matadata
is set to false
/0
GET /api/v1/user/data?include_metadata=true
Returns a JSON dictionary of the form { “value”: str, “policy”: str }.
Example using curl command:
curl -X GET 192.0.2.123/api/v1/user/data?include_metadata=true
Example using HTTP command:
http GET 192.0.2.123/api/v1/user/data?include_metadata=true
Command Response:
http
GET /api/v1/user/data?include_metadata=true HTTP/1.1
Host: 192.0.2.123
curl
curl -i 'http://192.0.2.123/api/v1/user/data?include_metadata=true'
httpie
http 'http://192.0.2.123/api/v1/user/data?include_metadata=true'
python-requests
requests.get('http://192.0.2.123/api/v1/user/data?include_metadata=true')
response
HTTP/1.1 200 OK
Connection: keep-alive
Content-Length: 61
Content-Type: application/json
Date: Thu, 01 Jan 1970 00:20:48 GMT
Server: nginx
{
"policy": "keep_on_config_delete",
"value": "ouster sensor"
}
GET /api/v1/user/data?include_metadata=false
Example curl command:
curl -X GET 192.0.2.123/api/v1/user/data?include_metadata=false
Example HTTP command:
http GET 192.0.2.123/api/v1/user/data?include_metadata=false
Command Response:
http
GET /api/v1/user/data?include_metadata=false HTTP/1.1
Host: 192.0.2.123
curl
curl -i 'http://192.0.2.123/api/v1/user/data?include_metadata=false'
httpie
http 'http://192.0.2.123/api/v1/user/data?include_metadata=false'
python-requests
requests.get('http://192.0.2.123/api/v1/user/data?include_metadata=false')
response
HTTP/1.1 200 OK
Connection: keep-alive
Content-Length: 15
Content-Type: application/json
Date: Thu, 01 Jan 1970 00:21:41 GMT
Server: nginx
"Ouster sensor"
GET /api/v1/user/data?include_metadata=1
Example curl command:
curl -X GET 192.0.2.123/api/v1/user/data?include_metadata=1
Example HTTP command:
http GET 192.0.2.123/api/v1/user/data?include_metadata=1
Command Response:
http
GET /api/v1/user/data?include_metadata=1 HTTP/1.1
Host: 192.0.2.123
curl
curl -i 'http://192.0.2.123/api/v1/user/data?include_metadata=1'
httpie
http 'http://192.0.2.123/api/v1/user/data?include_metadata=1'
python-requests
requests.get('http://192.0.2.123/api/v1/user/data?include_metadata=1')
response
HTTP/1.1 200 OK
Connection: keep-alive
Content-Length: 61
Content-Type: application/json
Date: Thu, 01 Jan 1970 00:22:18 GMT
Server: nginx
{
"policy": "clear_on_config_delete",
"value": "Ouster sensor"
}
GET /api/v1/user/data?include_metadata=0
Same as nominal GET but returns a JSON dictionary of the form { “value”: str, “policy”: str } where the value key maps to the nominal value returned by GET with no arguments.
Example curl command:
curl -X GET 192.0.2.123/api/v1/user/data?include_metadata=0
Example HTTP command:
http GET 192.0.2.123/api/v1/user/data?include_metadata=0
Command Response:
http
GET /api/v1/user/data?include_metadata=0 HTTP/1.1
Host: 192.0.2.123
curl
curl -i 'http://192.0.2.123/api/v1/user/data?include_metadata=0'
httpie
http 'http://192.0.2.123/api/v1/user/data?include_metadata=0'
python-requests
requests.get('http://192.0.2.123/api/v1/user/data?include_metadata=0')
response
HTTP/1.1 200 OK
Connection: keep-alive
Content-Length: 15
Content-Type: application/json
Date: Thu, 01 Jan 1970 00:23:06 GMT
Server: nginx
"Ouster sensor"
System
GET /api/v1/system/firmware
To GET
the firmware version of the sensor.
http
GET /api/v1/system/firmware HTTP/1.1
Host: 192.0.2.123
curl
curl -i http://192.0.2.123/api/v1/system/firmware
httpie
http http://192.0.2.123/api/v1/system/firmware
python-requests
requests.get('http://192.0.2.123/api/v1/system/firmware')
response
HTTP/1.1 200 OK
Connection: keep-alive
Content-Length: 82
Content-Type: application/json
Date: Thu, 01 Jan 1970 00:27:54 GMT
Server: nginx
{
"commit_pending": false,
"fw": "ousteros-image-prod-aries-v2.5.2+20230714195410"
}
>json string fw Running firmware image name and version.
statuscode: 200 No error
UPDATE Sensor Firmware
User can update sensor firmware with a simple curl command, please refer below for an example:
curl -vH 'content-type: application/octet-stream' --data-binary @"file-path.staging.img http://$hostname/api/v1/system/firmware
Example:
curl -vH 'content-type: application/octet-stream' --data-binary @../../Downloads/ousteros-image-prod-aries-v2.5.x+20230607131746.staging.img http://192.0.2.123/api/v1/system/firmware
Response:
* Trying 192.0.2.123:80...
* TCP_NODELAY set
* Connected to 192.0.2.123 (192.0.2.123) port 80 (#0)
> POST /api/v1/system/firmware HTTP/1.1
> Host: 192.0.2.123
> User-Agent: curl/7.68.0
> Accept: */*
> content-type: application/octet-stream
> Content-Length: 42755180
> Expect: 100-continue
>
* Mark bundle as not supporting multiuse
< HTTP/1.1 100 Continue
* We are completely uploaded and fine
* Mark bundle as not supporting multiuse
< HTTP/1.1 204 No Content
< Server: nginx
< Date: Wed, 14 Jun 2023 23:38:08 GMT
< Connection: keep-alive
<
* Connection #0 to host 192.0.2.123 left intact
GET /api/v1/system/network
To GET
the system network configuration.
http
GET /api/v1/system/network HTTP/1.1
Host: 192.0.2.123
curl
curl -i http://192.0.2.123/api/v1/system/network
httpie
http http://192.0.2.123/api/v1/system/network
python-requests
requests.get('http://192.0.2.123/api/v1/system/network')
response
HTTP/1.1 200 OK
Connection: keep-alive
Content-Length: 256
Content-Type: application/json
{
"carrier": true,
"duplex": "full",
"ethaddr": "bc:0f:a7:00:84:17",
"hostname": "os-992244000006",
"ipv4": {
"link_local": "192.0.2.123/16",
"override": null
},
"ipv6": {
"link_local": "fe80::be0f:a7ff:fe00:8417/64"
},
"speed": 1000,
"speed_override": null
}
>json boolean carrier: State of Ethernet link,
true
when physical layer is connected.>json string duplex: Duplex mode of Ethernet link,
half
orfull
.>json string ethaddr: Ethernet hardware (MAC) address.
>json string hostname: Hostname of the sensor, also used when requesting DHCP address and registering mDNS hostname.
>json object ipv4: See ipv4 object
>json string ipv6.link_local: Link-local IPv6 address.
>json integer speed: Ethernet physical layer speed in Mbps, should be 1000 Mbps.
statuscode: 200 No error
GET /api/v1/system/network/ipv4
To GET
the IPv4 network configuration.
http
GET /api/v1/system/network/ipv4 HTTP/1.1
Host: 192.0.2.123
curl
curl -i http://192.0.2.123/api/v1/system/network/ipv4
httpie
http http://192.0.2.123/api/v1/system/network/ipv4
python-requests
requests.get('http://192.0.2.123/api/v1/system/network/ipv4')
response
HTTP/1.1 200 OK
Connection: keep-alive
Content-Length: 53
Content-Type: application/json
{
"link_local": "192.0.2.123/16",
"override": null
}
>json string addr: Current global or private IPv4 address.
>json string link_local: Link-local IPv4 address.
>json string override: Static IP override value, this should match
addr
. This value will benull
when unset and operating in DHCP or link-local modes.
statuscode: 200 No error
GET /api/v1/system/network/ipv4/override
To GET
the current IPv4 static IP address override.
Example using HTTP:
http GET 192.0.2.123/api/v1/system/network/ipv4/override
Example using CURL:
curl -X GET 192.0.2.123/api/v1/system/network/ipv4/override
http
GET /api/v1/system/network/ipv4/override HTTP/1.1
Host: 192.0.2.123
curl
curl -i http://192.0.2.123/api/v1/system/network/ipv4/override
httpie
http http://192.0.2.123/api/v1/system/network/ipv4/override
python-requests
requests.get('http://192.0.2.123/api/v1/system/network/ipv4/override')
response
HTTP/1.1 200 OK
Connection: keep-alive
Content-Length: 4
Content-Type: application/json
null
>json string Static IP override value, this should match
addr
. This value will benull
when unset and operating in DHCP mode.
statuscode: 200 No error
PUT /api/v1/system/network/ipv4/override
To override the default dynamic behavior and set a static IP address. Only a valid Unicast IPv4 address can be specified when using PUT
command.
Example using HTTP:
echo '"192.0.2.231"' | http --json PUT 192.0.2.123/api/v1/system/network/ipv4/override
Example using CURL:
curl -X PUT -H "Content-Type: application/json" -d '"192.0.2.231"' 192.0.2.123/api/v1/system/network/ipv4/override
Note
The sensor will reset the network configuration after a short sub second delay (to allow for the HTTP response to be sent). After this delay the sensor will only be reachable on the newly set IPv4 address.
The sensor needs to be reachable either by link-local or dynamic DHCP configuration or by an existing static IP override from the host reconfiguring the sensor. The sensor may be reset back to using DHCP by resetting the sensor configuration.
Warning
If an unreachable network address is set, the sensor will become unreachable. Tools such as avahi-browse, dns-sd, or mDNS browser can help with finding a sensor on a network. Static IP override should only be used in special use cases. The link-local configuration is recommended where possible.
http
PUT /api/v1/system/network/ipv4/override HTTP/1.1
Host: 192.0.2.123
"192.0.2.231"
curl
curl -i -X PUT http://192.0.2.123/api/v1/system/network/ipv4/override --data-raw '"192.0.2.231"'
httpie
echo '"192.0.2.231"' | http PUT http://192.0.2.123/api/v1/system/network/ipv4/override
python-requests
requests.put('http://192.0.2.123/api/v1/system/network/ipv4/override', data='"192.0.2.231"')
response
HTTP/1.1 200 OK
Connection: keep-alive
Content-Length: 17
Content-Type: application/json
Date: Thu, 30 Mar 2023 04:30:30 GMT
Server: nginx
"192.0.2.231"
<json string: Static IP override value with subnet mask
>json string: Static IP override value that system will set after a short delay.
statuscode: 200 No error
Note
Sensor can be accessed on the sensor’s self-assigned link-local IPv4 or IPv6 addresses, in case the sensor becomes unreachable on the configured network due to a misconfiguration. To discover the self-assigned link-local IPv4 or IPv6 addresses for a sensor is to user a network sniffer (such as wireshark) on the same network segment as the sensor.
DELETE /api/v1/system/network/ipv4/override
To delete the static IP override value and return to dynamic configuration (DHCP) or reset the sensor configuration.
Note
The sensor will reset the network configuration after a short sub second delay (to allow for the HTTP response to be sent). After this delay the sensor will only be reachable on the newly set IPv4 address.
The sensor may be unreachable for several seconds while a link-local lease is obtained from the network or client machine.
http
DELETE /api/v1/system/network/ipv4/override HTTP/1.1
Host: 192.0.2.123
curl
curl -i -X DELETE http://192.0.2.123/api/v1/system/network/ipv4/override
httpie
http DELETE http://192.0.2.123/api/v1/system/network/ipv4/override
python-requests
requests.delete('http://192.0.2.123/api/v1/system/network/ipv4/override')
response
HTTP/1.1 204 No Content
Connection: keep-alive
Date: Thu, 01 Jan 1970 19:12:15 GMT
Server: nginx
statuscode: 204 No error, no content
GET /api/v1/system/network/speed_override
Two options null
(default) and 100
.
Note
Only valid for sensors with automotive ethernet (T1).
Example
http
GET /api/v1/system/network/speed_override HTTP/1.1
Content-Type: application/json
Host: 192.0.2.123
curl
curl -i http://192.0.2.123/api/v1/system/network/speed_override -H 'Content-Type: application/json'
httpie
http http://192.0.2.123/api/v1/system/network/speed_override Content-Type:application/json
python-requests
requests.get('http://192.0.2.123/api/v1/system/network/speed_override', headers={'Content-Type': 'application/json'})
response
HTTP/1.1 200 OK
Connection: keep-alive
Content-Length: 4
Content-Type: application/json
Date: Thu, 28 Apr 2022 17:48:51 GMT
Server: nginx
null
PUT /api/v1/system/network/speed_override
Note
Only valid for sensors with automotive ethernet (T1).
Warning
Only run this command if you have the ability to configure your networking hardware between 1000BASE-T1 and 100BASE-T1. If you do not have the configuration option available, you will no longer be able to communicate to the sensor. Please refer to an Example 100Base-T1 Connector.
Two options 1000 (default
) and 100. However, user can only use PUT
command to set speed-override to 100.
In order to revert back to 1000 (default
), please run the DELETE /api/v1/system/network/speed_override.
Example
http
PUT /api/v1/system/network/speed_override HTTP/1.1
Content-Type: application/json
Host: 192.0.2.123
"100"
curl
curl -i -X PUT http://192.0.2.123/api/v1/system/network/speed_override -H 'Content-Type: application/json' --data-raw '"100"'
httpie
echo '"100"' | http PUT http://192.0.2.123/api/v1/system/network/speed_override Content-Type:application/json
python-requests
requests.put('http://192.0.2.123/api/v1/system/network/speed_override', headers={'Content-Type': 'application/json'}, json='100')
response
HTTP/1.1 200 OK
Connection: keep-alive
Content-Length: 3
Content-Type: application/json
Date: Tue, 18 Jul 2023 19:34:27 GMT
Server: nginx
100
DELETE /api/v1/system/network/speed_override
Note
Only valid for sensors with automotive ethernet (T1).
To reset it back to default
i.e.., 1000
http
DELETE /api/v1/system/network/speed_override HTTP/1.1
Content-Type: application/json
Host: 192.0.2.123
curl
curl -i -X DELETE http://192.0.2.123/api/v1/system/network/speed_override -H 'Content-Type: application/json'
httpie
http DELETE http://192.0.2.123/api/v1/system/network/speed_override Content-Type:application/json
python-requests
requests.delete('http://192.0.2.123/api/v1/system/network/speed_override', headers={'Content-Type': 'application/json'})
response
HTTP/1.1 204 No Content
Connection: keep-alive
Date: Tue, 18 Jul 2023 19:37:52 GMT
Server: nginx
Time
GET /api/v1/time
To GET
the system time configuration for all timing components of the sensor.
http
GET /api/v1/time HTTP/1.1
Host: 192.0.2.123
curl
curl -i http://192.0.2.123/api/v1/time
httpie
http http://192.0.2.123/api/v1/time
python-requests
requests.get('http://192.0.2.123/api/v1/time')
response
HTTP/1.1 200 OK
Connection: keep-alive
Content-Length: 2484
Content-Type: application/json
{
"ptp": {
"current_data_set": {
"mean_path_delay": 0.0,
"offset_from_master": 0.0,
"steps_removed": 0
},
"parent_data_set": {
"gm_clock_accuracy": 254,
"gm_clock_class": 255,
"gm_offset_scaled_log_variance": 65535,
"grandmaster_identity": "bc0fa7.fffe.008417",
"grandmaster_priority1": 128,
"grandmaster_priority2": 128,
"observed_parent_clock_phase_change_rate": 2147483647,
"observed_parent_offset_scaled_log_variance": 65535,
"parent_port_identity": "bc0fa7.fffe.008417-0",
"parent_stats": 0
},
"port_data_set": {
"announce_receipt_timeout": 3,
"delay_mechanism": 1,
"log_announce_interval": 1,
"log_min_delay_req_interval": 0,
"log_min_pdelay_req_interval": 0,
"log_sync_interval": 0,
"peer_mean_path_delay": 0,
"port_identity": "bc0fa7.fffe.008417-1",
"port_state": "LISTENING",
"version_number": 2
},
"profile": "default",
"time_properties_data_set": {
"current_utc_offset": 37,
"current_utc_offset_valid": 0,
"frequency_traceable": 0,
"leap59": 0,
"leap61": 0,
"ptp_timescale": 1,
"time_source": 160,
"time_traceable": 0
},
"time_status_np": {
"cumulative_scaled_rate_offset": 0.0,
"gm_identity": "bc0fa7.fffe.008417",
"gm_present": false,
"gm_time_base_indicator": 0,
"ingress_time": 0,
"last_gm_phase_change": "0x0000'0000000000000000.0000",
"master_offset": 0,
"scaled_last_gm_phase_change": 0
}
},
"sensor": {
"multipurpose_io": {
"mode": "OFF",
"nmea": {
"baud_rate": "BAUD_9600",
"diagnostics": {
"decoding": {
"date_decoded_count": 0,
"last_read_message": "",
"not_valid_count": 0,
"utc_decoded_count": 0
},
"io_checks": {
"bit_count": 1,
"bit_count_unfiltered": 0,
"char_count": 0,
"start_char_count": 0
}
},
"ignore_valid_char": 0,
"leap_seconds": 0,
"locked": 0,
"polarity": "ACTIVE_HIGH"
},
"sync_pulse_out": {
"angle_deg": 360,
"frequency_hz": 1,
"polarity": "ACTIVE_HIGH",
"pulse_width_ms": 10
}
},
"sync_pulse_in": {
"diagnostics": {
"count": 1,
"count_unfiltered": 0,
"last_period_nsec": 0
},
"locked": 0,
"polarity": "ACTIVE_HIGH"
},
"timestamp": {
"mode": "TIME_FROM_INTERNAL_OSC",
"time": 297.397987312,
"time_options": {
"internal_osc": 297,
"ptp_1588": 1651197874,
"sync_pulse_in": 1
}
}
},
"system": {
"monotonic": 30131.822811617,
"realtime": 1651197874.3271277,
"tracking": {
"frequency": -9.558,
"last_offset": 0.0,
"leap_status": "not synchronised",
"ref_time_utc": 0.0,
"reference_id": "00000000",
"remote_host": "",
"residual_frequency": 0.0,
"rms_offset": 0.0,
"root_delay": 1.0,
"root_dispersion": 1.0,
"skew": 0.0,
"stratum": 0,
"system_time_offset": 1e-09,
"update_interval": 0.0
}
}
}
>json string: See sub objects for details.
statuscode: 200 No error
GET /api/v1/time/sensor
To GET
the sensor time information.
http
GET /api/v1/time/sensor HTTP/1.1
Host: 192.0.2.123
curl
curl -i http://192.0.2.123/api/v1/time/sensor
httpie
http http://192.0.2.123/api/v1/time/sensor
python-requests
requests.get('http://192.0.2.123/api/v1/time/sensor')
response
HTTP/1.1 200 OK
Connection: keep-alive
Content-Length: 775
Content-Type: application/json
{
"multipurpose_io": {
"mode": "OFF",
"nmea": {
"baud_rate": "BAUD_9600",
"diagnostics": {
"decoding": {
"date_decoded_count": 0,
"last_read_message": "",
"not_valid_count": 0,
"utc_decoded_count": 0
},
"io_checks": {
"bit_count": 1,
"bit_count_unfiltered": 0,
"char_count": 0,
"start_char_count": 0
}
},
"ignore_valid_char": 0,
"leap_seconds": 0,
"locked": 0,
"polarity": "ACTIVE_HIGH"
},
"sync_pulse_out": {
"angle_deg": 360,
"frequency_hz": 1,
"polarity": "ACTIVE_HIGH",
"pulse_width_ms": 10
}
},
"sync_pulse_in": {
"diagnostics": {
"count": 1,
"count_unfiltered": 0,
"last_period_nsec": 0
},
"locked": 0,
"polarity": "ACTIVE_HIGH"
},
"timestamp": {
"mode": "TIME_FROM_INTERNAL_OSC",
"time": 376.510445056,
"time_options": {
"internal_osc": 376,
"ptp_1588": 1651197953,
"sync_pulse_in": 1
}
}
}
status code: 200 No error
Description: Returns JSON-formatted sensor timing configuration and status of udp
timestamp
,sync_pulse_in
, andmultipurpose_io
. For more information on these parameters refer to theget_time_info
TCP command.
GET /api/v1/time/system
To GET
the operating system time status. These values relate to the sensor operating system clocks, and not clocks related to hardware timestamp data from the lidar sensor.
http
GET /api/v1/time/system HTTP/1.1
Host: 192.0.2.123
curl
curl -i http://192.0.2.123/api/v1/time/system
httpie
http http://192.0.2.123/api/v1/time/system
python-requests
requests.get('http://192.0.2.123/api/v1/time/system')
response
HTTP/1.1 200 OK
Connection: keep-alive
Content-Length: 389
Content-Type: application/json
{
"monotonic": 30348.898799855,
"realtime": 1651198091.4031146,
"tracking": {
"frequency": -9.558,
"last_offset": 0.0,
"leap_status": "not synchronised",
"ref_time_utc": 0.0,
"reference_id": "00000000",
"remote_host": "",
"residual_frequency": 0.0,
"rms_offset": 0.0,
"root_delay": 1.0,
"root_dispersion": 1.0,
"skew": 0.0,
"stratum": 0,
"system_time_offset": 3e-09,
"update_interval": 0.0
}
}
>json float monotonic: Monotonic time of operating system. This timestamp never counts backwards and is the time since boot in seconds.
>json float realtime: Time in seconds since the Unix epoch, should match wall time if synchronized with external time source.
>json object tracking: Operating system time synchronization tracking status. See chronyc tracking documentation for more information.
statuscode: 200 No error
System ``tracking`` fields of interest:
rms_offset: Long-term average of the offset value.
system_time_offset: Time delta (in seconds) between the estimate of the operating system time and the current true time.
last_offset: Estimated local offset on the last clock update.
ref_time_utc: UTC Time at which the last measurement from the reference source was processed.
remote_host: This is either
ptp
if the system is synchronizing to a PTP time source or the address of a remote NTP server the system has selected if the sensor is connected to the Internet.
GET /api/v1/time/ptp
To GET
the status of the PTP time synchronization daemon.
Note
See the IEEE 1588-2008 standard for more details on the standard management messages.
http
GET /api/v1/time/ptp HTTP/1.1
Host: 192.0.2.123
curl
curl -i http://192.0.2.123/api/v1/time/ptp
httpie
http http://192.0.2.123/api/v1/time/ptp
python-requests
requests.get('http://192.0.2.123/api/v1/time/ptp')
response
HTTP/1.1 200 OK
Connection: keep-alive
Content-Length: 1287
Content-Type: application/json
{
"current_data_set": {
"mean_path_delay": 0.0,
"offset_from_master": 0.0,
"steps_removed": 0
},
"parent_data_set": {
"gm_clock_accuracy": 254,
"gm_clock_class": 255,
"gm_offset_scaled_log_variance": 65535,
"grandmaster_identity": "bc0fa7.fffe.008417",
"grandmaster_priority1": 128,
"grandmaster_priority2": 128,
"observed_parent_clock_phase_change_rate": 2147483647,
"observed_parent_offset_scaled_log_variance": 65535,
"parent_port_identity": "bc0fa7.fffe.008417-0",
"parent_stats": 0
},
"port_data_set": {
"announce_receipt_timeout": 3,
"delay_mechanism": 1,
"log_announce_interval": 1,
"log_min_delay_req_interval": 0,
"log_min_pdelay_req_interval": 0,
"log_sync_interval": 0,
"peer_mean_path_delay": 0,
"port_identity": "bc0fa7.fffe.008417-1",
"port_state": "LISTENING",
"version_number": 2
},
"profile": "default",
"time_properties_data_set": {
"current_utc_offset": 37,
"current_utc_offset_valid": 0,
"frequency_traceable": 0,
"leap59": 0,
"leap61": 0,
"ptp_timescale": 1,
"time_source": 160,
"time_traceable": 0
},
"time_status_np": {
"cumulative_scaled_rate_offset": 0.0,
"gm_identity": "bc0fa7.fffe.008417",
"gm_present": false,
"gm_time_base_indicator": 0,
"ingress_time": 0,
"last_gm_phase_change": "0x0000'0000000000000000.0000",
"master_offset": 0,
"scaled_last_gm_phase_change": 0
}
}
>json object current_data_set: Result of the PMC
GET CURRENT_DATA_SET
command.>json object parent_data_set: Result of the PMC
GET PARENT_DATA_SET
command.>json object port_data_set: Result of the PMC
GET PORT_DATA_SET
command.>json object time_properties_data_set: Result of the PMC
GET TIME_PROPERTIES_DATA_SET
command.>json object time_status_np: Result of the PMC
GET TIME_STATUS_NP
command. This is a linuxptp non-portable command.
statuscode: 200 No error
Fields of interest:
current_data_set.offset_from_master: Offset from master time source in nanoseconds as calculated during the last update from master.
parent_data_set.grandmaster_identity: This should match the local grandmaster clock. If this displays the sensor’s clock identity (derived from Ethernet hardware address) then this indicates the sensor is not properly synchronized to a grandmaster.
parent_data_set: Various information about the selected master clock.
port_data_set.port_state: This value will be
SLAVE
when a remote master clock is selected. Seeparent_data_set
for selected master clock.port_data_set: Local sensor PTP configuration values. Grandmaster clock needs to match these for proper time synchronization.
time_properties_data_set: PTP properties as given by master clock.
time_status_np.gm_identity: Selected grandmaster clock identity.
time_status_np.gm_present: True when grandmaster has been detected. This may stay true even if grandmaster goes off-line. Use
port_data_set.port_state
to determine up-to-date synchronization status. When this is false then the local clock is selected.time_status_np.ingress_time: Indicates when the last PTP message was received. Units are in nanoseconds.
time_status_np: Linux PTP specific diagnostic values. The Red Hat manual provides some more information on these fields
GET /api/v1/time/ptp/profile
To GET
the active PTP profile of the Ouster sensor.
http
GET /api/v1/time/ptp/profile HTTP/1.1
Host: 192.0.2.123
curl
curl -i http://192.0.2.123/api/v1/time/ptp/profile
httpie
http http://192.0.2.123/api/v1/time/ptp/profile
python-requests
requests.get('http://192.0.2.123/api/v1/time/ptp/profile')
response
HTTP/1.1 200 OK
Connection: keep-alive
Content-Length: 9
Content-Type: application/json
"default"
>json string: Active PTP profile.
statuscode: 200 No error
PUT /api/v1/time/ptp/profile
To change the PTP profile of the Ouster sensor.
http
PUT /api/v1/time/ptp/profile HTTP/1.1
Content-Type: application/json
Host: 192.0.2.123
"gptp"
curl
curl -i -X PUT http://192.0.2.123/api/v1/time/ptp/profile -H 'Content-Type: application/json' --data-raw '"gptp"'
httpie
echo '"gptp"' | http PUT http://192.0.2.123/api/v1/time/ptp/profile Content-Type:application/json
python-requests
requests.put('http://192.0.2.123/api/v1/time/ptp/profile', headers={'Content-Type': 'application/json'}, json='gptp')
response
HTTP/1.1 200 OK
Connection: keep-alive
Content-Length: 6
Content-Type: application/json
Date: Thu, 28 Apr 2022 18:11:36 GMT
Server: nginx
"gptp"
<json string: PTP profile to be activated, valid options are ""
, "default"
, "gptp"
, and "automotive-slave"
Note
""
and "default"
are the same.
>json string: Active PTP profile.
statuscode: 200 No error
Alerts, Diagnostics and Telemetry
GET /api/v1/sensor/alerts
To GET
the sensor lidar intrinsics.
http
GET /api/v1/sensor/alerts HTTP/1.1
Host: 192.0.2.123
curl
curl -i http://192.0.2.123/api/v1/sensor/alerts
httpie
http http://192.0.2.123/api/v1/sensor/alerts
python-requests
requests.get('http://192.0.2.123/api/v1/sensor/alerts')
response
HTTP/1.1 200 OK
Connection: keep-alive
Content-Length: 1983
Content-Type: application/json
{
"active": [
{
"active": true,
"category": "UDP_TRANSMISSION",
"cursor": 1,
"id": "0x01000015",
"level": "WARNING",
"msg": "Client machine announced it is not reachable on the provided lidar data port;
check that udp_dest and udp_port_lidar configured on the sensor matches
client IP and port. This Alert may occur on sensor startup if the
client is not listening at that time.",
"msg_verbose": "Failed to send lidar UDP data to destination host 169.254.225.4:7502",
"realtime": "1651197616274601728"
},
{
"active": true,
"category": "UDP_TRANSMISSION",
"cursor": 0,
"id": "0x01000018",
"level": "WARNING",
"msg": "Client machine announced it is not reachable on the provided IMU data port;
check that udp_dest and udp_port_imu configured on the sensor matches
client IP and port. This Alert may occur on sensor startup if the
client is not listening at that time.",
"msg_verbose": "Failed to send imu UDP data to destination host 169.254.225.4:7503",
"realtime": "1651197615284695040"
}
],
"log": [
{
"active": true,
"category": "UDP_TRANSMISSION",
"cursor": 0,
"id": "0x01000018",
"level": "WARNING",
"msg": "Client machine announced it is not reachable on the provided IMU data port;
check that udp_dest and udp_port_imu configured on the sensor matches
client IP and port. This Alert may occur on sensor startup if the
client is not listening at that time.",
"msg_verbose": "Failed to send imu UDP data to destination host 169.254.225.4:7503",
"realtime": "1651197615284695040"
},
{
"active": true,
"category": "UDP_TRANSMISSION",
"cursor": 1,
"id": "0x01000015",
"level": "WARNING",
"msg": "Client machine announced it is not reachable on the provided lidar data port;
check that udp_dest and udp_port_lidar configured on the sensor matches
client IP and port. This Alert may occur on sensor startup if the
client is not listening at that time.",
"msg_verbose": "Failed to send lidar UDP data to destination host 169.254.225.4:7502",
"realtime": "1651197616274601728"
}
],
"next_cursor": 2
}
status code: 200 No error
Description: Returns JSON-formatted sensor diagnostic information.
Two lists will be returned, an active list and a log list. The active list contains alert-trigger alerts for currently active events. An alert-trigger event always has its active attribute set to true. The number of events in the active event list is unlimited. All currently active alert-trigger events will be displayed in the active event list.
The log list will contain all trigger and clear alert events. An alert-clear event has the same attributes and values as its corresponding trigger event, apart from the realtime and cursor attributes which will have increased, since an alert-clear event will always be received after an alert-trigger event. The log list has a length limit of 32 events in the form of a FIFO (First in First Out) queue. When the log list length limit is reached and a new event is added the oldest event is deleted.
In addition to the active and log lists, get_alerts
also returns a next_cursor field. Every alert event has a cursor attribute, which increments for every alert event logged. This can be used to track the alert activity that has been viewed and reduce message bandwidth. To do this, users are recommended to save the next_cursor field when calling get_alerts
and then use that value as the cursor
argument on the next get_alerts
call to fetch only new log entries.
A valid value for mode is either summary
or default
.
Additional Information:
The cursor will wrap at 2^32 entries. It is important to understand the behavior during the wrap case, since this may lead to some unexpected consequences:
If cursor < (next_cursor - 32) % 2^32 then some entries may be filtered. For instance if cursor =0 and next_cursor =0 no entries will be reported immediately after cursor wrap, even though the log contains 32 entries, where submitting cursor =4294967264 (next_cursor - 32) % 2^32 will return all logged values.
If cursor > next_cursor all 32 entries will be reported.
The recommended approach to using the interface is to always base queries on the previous value of next_cursor.
Note
Valid uses of get_alerts:
Example: Calling get_alerts with cursor =1
get_alerts 1
Example: Calling get_alerts with cursor =2 and mode =summary
get_alerts 2 summary
Invalid uses of get_alerts:
Example: Calling get_alerts with cursor =summary and mode =2
get_alerts summary 2
Note
The order in which the cursor and mode arguments are specified for the get_alerts TCP command must be followed when providing both arguments, with cursor preceding the mode. The arguments can be specified in any order when calling the equivalent /api/v1/sensor/alerts HTTP endpoint.
Example using cursor and mode
Using curl command, the user can run the following:
Example:
curl '192.0.2.123/api/v1/sensor/alerts?cursor=1&mode=summary'
http
GET /api/v1/sensor/alerts?cursor=1&mode=summary HTTP/1.1
Host: 192.0.2.123
curl
curl -i 'http://192.0.2.123/api/v1/sensor/alerts?cursor=1&mode=summary'
httpie
http 'http://192.0.2.123/api/v1/sensor/alerts?cursor=1&mode=summary'
python-requests
requests.get('http://192.0.2.123/api/v1/sensor/alerts?cursor=1&mode=summary')
response
HTTP/1.1 200 OK
Connection: keep-alive
Content-Length: 1503
Content-Type: application/json
Date: Thu, 28 Apr 2022 18:20:45 GMT
Server: nginx
{
"active": [
{
"active": true,
"category": "UDP_TRANSMISSION",
"cursor": 1,
"id": "0x01000015",
"level": "WARNING",
"msg": "Client machine announced it is not reachable on the provided lidar data port; check that udp_dest and udp_port_lidar configured on the sensor matches client IP and port. This Alert may occur on sensor startup if the client is not listening at that time.",
"msg_verbose": "Failed to send lidar UDP data to destination host 169.254.58.111:7502",
"realtime": "1651168139756699136"
},
{
"active": true,
"category": "UDP_TRANSMISSION",
"cursor": 0,
"id": "0x01000018",
"level": "WARNING",
"msg": "Client machine announced it is not reachable on the provided IMU data port; check that udp_dest and udp_port_imu configured on the sensor matches client IP and port. This Alert may occur on sensor startup if the client is not listening at that time.",
"msg_verbose": "Failed to send imu UDP data to destination host 169.254.58.111:7503",
"realtime": "1651168138765470720"
}
],
"log": [
{
"active": true,
"category": "UDP_TRANSMISSION",
"cursor": 1,
"id": "0x01000015",
"level": "WARNING",
"msg": "Client machine announced it is not reachable on the provided lidar data port; check that udp_dest and udp_port_lidar configured on the sensor matches client IP and port. This Alert may occur on sensor startup if the client is not listening at that time.",
"msg_verbose": "Failed to send lidar UDP data to destination host 169.254.58.111:7502",
"realtime": "1651168139756699136"
}
],
"next_cursor": 2
}
GET /api/v1/diagnostics/dump
To GET
the diagnostics files of the sensor.
http
GET /api/v1/diagnostics/dump HTTP/1.1
Host: 192.0.2.123
curl
curl -i http://192.0.2.123/api/v1/diagnostics/dump
httpie
http http://192.0.2.123/api/v1/diagnostics/dump
python-requests
requests.get('http://192.0.2.123/api/v1/diagnostics/dump')
response
HTTP/1.1 200 OK
Connection: keep-alive
Content-Type: application/octet-stream
Transfer-Encoding: chunked
content-disposition: attachment; filename="os-992244000006_diagnostics-dump_b7d348c2
-c763-11ec-accf-bc0fa7008417.bin"
+-----------------------------------------+
| NOTE: binary data not shown in terminal |
+-----------------------------------------+
statuscode: 200 No error
GET /api/v1/sensor/telemetry
To GET
the sensor telemetry information.
http
GET /api/v1/sensor/telemetry HTTP/1.1
Host: 192.0.2.123
curl
curl -i http://192.0.2.123/api/v1/sensor/telemetry
httpie
http http://192.0.2.123/api/v1/sensor/telemetry
python-requests
requests.get('http://192.0.2.123/api/v1/sensor/telemetry')
response
HTTP/1.1 200 OK
Connection: keep-alive
Content-Length: 150
Content-Type: application/json
{
"input_current_ma": 644,
"input_voltage_mv": 23624,
"internal_temperature_deg_c": 48,
"phase_lock_status": "DISABLED",
"timestamp_ns": 2093396806056
}
status code: 200 No error
Description: Returns JSON-formatted response that provides sensor system state information. This includes the FPGA Timestamp in ns
(Nanoseconds) at which the information was collected from the FPGA, Lidar Input Voltage in mv
(Millivolt), Lidar Input Current in ma
(Milliamp), Internal Temperature of the sensor in ºC
(Degree Celsius) and Phase Lock status namely LOCKED
, LOST
, DISABLED
..
Internal temperature can only be measured with Rev 06 and above sensors. Phase lock output will not indicate loss of lock if the PTP source is lost.