ScanSegmentAPICSharp

This project contains a C# deserializer for the SICK Compact format and a example how to use the deserializer.

The following product families are currently supported:

• multiScan100 (e.g. 1131164)
• picoScan100 (e.g. 1134610)

Project setup

Configure the data output of the sensor

Follow these steps to configure the device to receive data:

• Open a browser and open the web interface of the device (http://192.168.0.1/ in case the device has the default ip address)

• Select “Application/Data output” in the main menu.

  

• Set format to Compact.

  

• Set the port to 2115 and the IP address to the address of your network interface for the connection to the sensor. Enable the data output.

  

Adapt network rules to receive UDP packages

Since the UDP stream is sent from the device to the computer it is necessary to allow inbound UDP traffic on the configured UDP port. The computer's firewall must be configured accordingly.

On Windows, it is also important to set the Network Category to private. To do this,

• Start a PowerShell window with administrator rights.
• Then execute following command:

  $ Get-NetConnectionProfile

• Identify the network adapter to which the device is connected.

• If the network category is Public run following command to change it to Private

$ Set-NetConnectionProfile -InterfaceIndex (your InterfaceIndex(line3)) -NetworkCategory Private
$ Set-NetConnectionProfile -InterfaceIndex 17 -NetworkCategory Private

Run the example code to receive data

Prerequisite: The dotnet framework must be installed. Please see the field TargetFramework in Example.csproj for the minimum required version.

• Change to src/Example
• Execute the command (from a shell): dotnet run

General structure of the Compact format

A detailed description of the Compact format can be found in this documentation: https://cdn.sick.com/media/docs/2/22/622/technical_information_data_format_description_de_im0104622.pdf

Accessing data

The following table shows how to access the data contained in a Compact UDP telegram from a C# CompactSegment object.

Legend:

• E stands for a specific echo number
• M stands for a specific module number
• SC stands for a specific scan number within a module, which is used in the Compact format
• B stands for a specific beam

Compact	Data access to Compact packages using the ScanSegmentAPI
Header: StartOfFrame	segment.Header.StartOfFrame
Header: CommandId	segment.Header.CommendId
Header: TelegramCounter	segment.Header.TelegramCounter
Header: TimeStampTransmit	segment.Header.TimestampTransmit
Header: TelegramVersion	segment.Header.Version
Header: SizeModule0	segment.Header.SizeOfFirstModule
MetaData Module M: SegmentCounter	segment.Modules[M].MetaData.SegmentCounter
MetaData Module M: FrameNumber	segment.Modules[M].MetaData.FrameNumber
MetaData Module M: SenderId	segment.Modules[M].MetaData.SenderId
MetaData Module M: NumberOfLinesInModule	segment.Modules[M].MetaData.NumberOfLinesInModule
MetaData Module M: NumberOfBeamsPerScan	segment.Modules[M].MetaData.NumberOfBeamsPerScan
MetaData Module M: NumberOfEchosPerBeam	segment.Modules[M].MetaData.NumberOfEchosPerBeam
MetaData Module M: TimeStampStart	segment.Modules[M].MetaData.TimestampStart[SC]
MetaData Module M: TimeStampStop	segment.Modules[M].MetaData.TimestampStop[SC]
MetaData Module M: Phi	segment.Modules[M].MetaData.Phi[SC]
MetaData Module M: ThetaStart	segment.Modules[M].MetaData.ThetaStart[SC]
MetaData Module M: ThetaStop	segment.Modules[M].MetaData.ThetaStop[SC]
MetaData Module M: DistanceScalingFactor	segment.Modules[M].MetaData.DistanceScalingFactor
MetaData Module M: NextModuleSize	segment.Modules[M].MetaData.NextModuleSize
MetaData Module M: Reserved 1	-
MetaData Module M: DataContentEchos	-
MetaData Module M: DataContentBeams	-
MetaData Module M: Reserved2	-
MeasurementData Module M Beam B Echo E: Distance	segment.Modules[M].Beams[B][SC].Echos[E].Distance
MeasurementData Module M Beam B Echo E: RSSI	Modules[M].Beams[B][SC].Echos[E].RISSI
MeasurementData Module M Beam B: Properties	segment.Modules[M].Beams[B][SC].Property
MeasurementData Module M Beam B: Theta	segment.Modules[M].Beams[B][SC].Theta
Framing: CRC