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Home / Environment_v1_0ServiceSet / ReportRangeSensorCapabilities

Message ReportRangeSensorCapabilities

Message ID: 4801h

Description:
This message is used to report the range sensors’ capabilities upon reciept of a Query Range Sensor Capabilities message. Capabilities include both static sensor properties and valid values and ranges for properties which can be modified by the Set Range Sensor Capabilities Message.

ReportRangeSensorCapabilities
RangeSensorCapabilitiesList

Message Format
Field # Field Type Units Optional Interpretation
1 RangeSensorCapabilitiesList List false


RangeSensorCapabilitiesList
Count Field: Unsigned Short
Field # Field Type Units Optional Interpretation
1 Presence Vector Unsigned Short one false Bit 0: SupportedStates
Bit 1: MinimumHorizontalFieldOfViewStartAngle
Bit 2: MaximumHorizontalFieldOfViewStopAngle
Bit 3: MinimumVerticalFieldOfViewStartAngle
Bit 4: MaximumVerticalFieldOfViewStopAngle
Bit 5: MinimumUpdateRate
Bit 6: MaximumUpdateRate
Bit 7: MinimumRange
Bit 8: MaximumRange
Bit 9: SupportedCompression
Bit 10: CoordinateTransformationSupported
2 SensorID Unsigned Short units one false
3 SensorName VariableLengthString
Count Size: Unsigned Byte		 one false
4 SupportedStates BitField
Integer Size: Unsigned Byte		 one true 0: Active
1: Standby
2: Off
5 MinimumHorizontalFieldOfViewStartAngle Scaled Integer
Integer Size: Unsigned Integer		 units radians true Real Lower Limit: -3.141592653589793
Real Upper Limit: 3.141592653589793
6 MaximumHorizontalFieldOfViewStopAngle Scaled Integer
Integer Size: Unsigned Integer		 units radians true Real Lower Limit: -3.141592653589793
Real Upper Limit: 3.141592653589793
7 MinimumVerticalFieldOfViewStartAngle Scaled Integer
Integer Size: Unsigned Integer		 units radians true Real Lower Limit: -3.141592653589793
Real Upper Limit: 3.141592653589793
8 MaximumVerticalFieldOfViewStopAngle Scaled Integer
Integer Size: Unsigned Integer		 units radians true Real Lower Limit: -3.141592653589793
Real Upper Limit: 3.141592653589793
9 MinimumUpdateRate Scaled Integer
Integer Size: Unsigned Short		 units hertz true Real Lower Limit: 0.0
Real Upper Limit: 1000.0
10 MaximumUpdateRate Scaled Integer
Integer Size: Unsigned Short		 units hertz true Real Lower Limit: 0.0
Real Upper Limit: 1000.0
11 MinimumRange Scaled Integer
Integer Size: Unsigned Integer		 units meter true Real Lower Limit: 0.0
Real Upper Limit: 1000000.0
12 MaximumRange Scaled Integer
Integer Size: Unsigned Integer		 units meter true Real Lower Limit: 0.0
Real Upper Limit: 1000000.0
13 SupportedCompression BitField
Integer Size: Unsigned Byte		 one true 0: NoCompression
1: DEFLATE
2: Bzip2
3: LZMA
14 CoordinateTransformationSupported Enumeration
Integer Size: Unsigned Byte		 one true Enumeration Values:
0: COORDINATE_TRANSFORM_NOT_SUPPORTED
1: COORDINATE_TRANSFORM_SUPPORTED


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