ROii Real LiDAR Analysis
● Greedy ReadyOuster OS-1-16 — 416KB/frame, 128 pkts, 3328B/pkt, 34.1 Mbps (UDP) / 35.9 Mbps (wire)
Ouster OS-1-16-A0 — Measured Traffic Profile (Real Capture)
Frame Size
416 KB/frame
425,984B (UDP) / 427,008B (IP) / 449,280B (wire)
Frame Rate
10 Hz
100ms period, 2048×10 mode
Data Rate
34.1 Mbps
UDP 34.1 / IP 34.2 / Wire 35.9 Mbps
Packets / Frame
128 pkts
3,328B UDP payload each (3,336B datagram)
IP Fragments
3 per pkt
1480 + 1480 + 376 bytes → 384 frags/frame
Streaming Pattern
781 µs interval
Uniform ±90.6µs jitter (not burst)
Tx Time (1 hop @ 1Gbps)
11.8 / 26.7 µs
Per fragment / per datagram
Frame Tx Total
3,408 µs
425,984B × 8 / 1Gbps = 3.4ms per hop
IMU Stream
56 B × 100Hz
Port 7503, 10ms interval, 0.045 Mbps
Deadline Feasibility Analysis
Software TAS Simulation — Real Ouster Traffic (5s capture)
Applied IEEE 802.1Qbv gate scheduling in software to live Ouster packets. 1ms TAS cycle, variable gate open/close ratio. Per-fragment Tx = 11.8µs, 3-hop base E2E = 46µs — all configurations pass 1ms and 5ms deadlines.
No TAS (100% open)
100% pass
0 blocked, 0µs delay, baseline
TAS-80% (800/200µs)
~80% pass
~20% blocked, max delay 200µs, 1ms&5ms OK
TAS-50% (500/500µs)
~49% pass
~51% blocked, max delay 500µs, 1ms&5ms OK
TAS-20% (200/800µs)
~19% pass
~81% blocked, max delay 800µs, 1ms&5ms OK
Streaming Mode ACTIVE
Cycle Time
100,000 µs
Pkts / Cycle
360
Max Pkt Size
32,768 B
Ouster Tx
26.6 µs
Guard Band
3 µs
Bottleneck
—
Fragmented Mode ACTIVE
Cycle Time
100,000 µs
Pkts / Cycle
~870
Max Frag Size
1,480 B
Frag Tx Time
11.8 µs
Guard Band
1 µs
Bottleneck
—
Spec vs Real — G32 (128KB) vs Ouster OS-1 (416KB)
| Parameter | AutoL G32 (Spec) | Ouster OS-1-16 (Measured) | Ratio |
|---|---|---|---|
| Frame Size | 128 KB | 416 KB (425,984B UDP) | 3.25× larger |
| Packets / Frame | 1 (burst) | 128 UDP (3,328B each) | 128× more |
| Packet Size | 131,072 B | 3,328 B | 39× smaller |
| Frame Rate | 20 Hz | 10 Hz | 2× slower |
| Tx Pattern | Burst (all at once) | Streaming (781µs interval) | — |
| Frame Tx (1 hop) | 1,049 µs | 3,408 µs | 3.25× longer |
| Per-Pkt Tx (1 hop) | 1,049 µs | 26.7 µs (datagram) | 39× faster |
| Data Rate (UDP) | ~21 Mbps | 34.1 Mbps | 1.6× higher |
| Data Rate (Wire) | — | 35.9 Mbps | +5.3% overhead |
| IP Fragments | N/A (jumbo) | 3/pkt (1480+1480+376B) | 384 frags/frame |
| IMU | — | 56B × 100Hz (port 7503) | 0.045 Mbps |
Deadline Sweep — Feasibility at Various Deadlines
3D Shuttle Network Topology
Drag to rotate · Scroll to zoom · Right-click to pan
Sensor Hardware Specifications — Ouster OS-1
| Sensor | Model | Interface | Link Speed | Payload | Period | Tx Time | Pkts/Cycle |
|---|
Network Topology — All 1 Gbps Links
Per-Switch GCL — Gate Control by Egress Port
Per-Link GCL Timeline (Gantt)
Packet E2E Delay
Link Utilization
Packet Schedule Table
| Packet | Flow | Route | Release | End | E2E | Deadline | Slack | Status |
|---|
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▶ Raw GCL Output (JSON)
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