Health Monitoring Data Specification#

The following is the Health Monitoring Message. It is updated every 1 sec. This is both a continuous low frequency stream (acting as a heartbeat) and an event trigger stream

Communication Specification#

Item

Description

Communication Protocol

TCP (ZeroMQ SUB CONNECT)

Data Encoding

FlatBuffers v2.0.0

Output Port

7080

HealthStatus#

Field

Unit

Data type

Note

unixts_ms

ms

float64

Unix timestamp (milliseconds since 1970) from AkiraKan fusion box

device_status

-

Enumeration

0 = None
1 = Normal
2 = Out-of-storage
3 = Slow Down Error
4 = Internal Error

algo_status

-

Enumeration

0 = None
1 = Normal
2 = Network Latency
3 = Error

sensor_status

-

Enumeration

0 = None
1 = Normal
2 = Sensor Error
3 = Lost Connection

Additional Debugging Information#

To further debug Ouster Sensors such as find out which sensor is not working, the HTTP API can be used.

Communication Specification#

Item

Description

Communication Protocol

HTTP (GET)

Output Port

80

HTTP GET

Description

Response Example

[FUSIONBOX IP]/[Ouster IP]/get_sensor_info

A sensor may have one of the following statuses: INITIALIZING, WARMUP, UPDATING, RUNNING, STANDBY, ERROR, UNCONFIGURED.
For the description of the statuses refer to the following document: Software User Manual Firmware v2.2.x for all Ouster sensors
Page: 69
Table 9.1: Sensor Status

 
{
  "prod_line": "OS-1-128",
  "prod_pn": "840-102145-C",
  "prod_sn": "991900123456",
  "base_pn": "830-101845-E",
  "base_sn": "102005001362",
  "image_rev": "ousteros-image-prod-aries-v2.0.0-2020129230129",
  "build_rev": "v2.0.0",
  "proto_rev": "v1.1.1",
  "build_date": "2020-10-20T18:58:51Z",
  "status": "RUNNING"
}

[FUSIONBOX IP]/[Ouster IP]/get_alerts

Returns JSON-formatted sensors diagnostic information. The log list contains alerts when they were activated or deactivated. An optional START_CURSOR argument specifies where the log should start.
The active list contains all currently active alerts.
For the description of all alerts and errors refer to the following document: Software User Manual Firmware v2.2.x for all Ouster sensors
Page: 89-96
Table 11.1: Alerts and Errors in v2.2.0

 
{
  "log": [
    {
      "category": "UDP_TRANSMISSION",
      "msg": "Received an unknown error when trying to send lidar data UDP packet; closing socket.",
      "realtime": "1569631015375767040",
      "cursor": 0,
      "id": "0x01000017",
      "active": true,
      "msg_verbose": "192.0.2.123:7502",
      "level": "WARNING"
    },
    {
      "category": "UDP_TRANSMISSION",
      "msg": "Received an unknown error when trying to send IMU UDP packet; closing socket.",
      "realtime": "1569631015883802368",
      "cursor": 1,
      "id": "0x0100001a",
      "active": false,
      "msg_verbose": "192.0.2.123:7503",
      "level": "WARNING"
    }
  ],
  "active": [
    {
      "category": "UDP_TRANSMISSION",
      "msg": "Received an unknown error when trying to send lidar data UDP packet; closing socket.",
      "realtime": "1569631015375767040",
      "cursor": 0,
      "id": "0x01000017",
      "active": true,
      "msg_verbose": "192.0.2.123:7502",
      "level": "WARNING"
    }
  ],
  "next_cursor": 2
}