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Home / Environment_v1_0ServiceSet / ReportRangeSensorData

Message ReportRangeSensorData

Message ID: 4803h

Description:
This message is sent by a receiving component upon receipt of a Query Range Sensor Data message. This message reports a list of detected data points for a given time. The RangeSensorDataSeq is used to report the data from a given sensor along with meta data such as sensor ID and timestamp. The timestamp defines the time at which the collected data was valid. Data points are defined by range, bearing and inclination with respect to either the native coordinate system or the vehicle coordinate system. Data is only reported for sensors which are in the active state. If data is queried for a sensor which is not active, the RangeSensorDataErrorRec is returned for that sensor ID report.

ReportRangeSensorData
RangeSensorDataList
RangeSensorDataVariant

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


RangeSensorDataList
Count Field: Unsigned Short
Field # Field Type Units Optional Interpretation
1 RangeSensorDataVariant Variant varies false


RangeSensorDataVariant
Type Enum Size: Unsigned Byte
Enum Value Name Type Units Optional Interpretation
0 RangeSensorDataErrorRec Record false
1 RangeSensorDataSeq Record false


RangeSensorDataErrorRec
Field # Field Type Units Optional Interpretation
1 SensorID Unsigned Short units one false
2 DataErrorCode Enumeration
Integer Size: Unsigned Byte		 one false Enumeration Values:
0: Sensor is not Active
1: Invalid compression format
255: Unknown Error or Failure
3 ErrorMessage VariableLengthString
Count Size: Unsigned Byte		 one false


RangeSensorDataSeq
Field # Field Type Units Optional Interpretation
1 RangeSensorDataRec Record false
2 RangeSensorDataPointList List false


RangeSensorDataRec
Field # Field Type Units Optional Interpretation
1 SensorID Unsigned Short units one false
2 ReportCoordinateSystem Enumeration
Integer Size: Unsigned Byte		 one false Enumeration Values:
0: NATIVE
1: VEHICLE
3 TimeStamp TimeStamp false


RangeSensorDataPointList
Count Field: Unsigned Short
Field # Field Type Units Optional Interpretation
1 Presence Vector Unsigned Byte one false Bit 0: PointID
Bit 1: RangeValidity
Bit 2: RangeErrorRMS
Bit 3: BearingValidity
Bit 4: BearingErrorRMS
Bit 5: InclinationValidity
Bit 6: InclinationErrorRMS
2 PointID Unsigned Integer units one true
3 Range Scaled Integer
Integer Size: Unsigned Integer		 units meter false Real Lower Limit: 0.0
Real Upper Limit: 1000000.0
4 RangeValidity Enumeration
Integer Size: Unsigned Byte		 one true Enumeration Values:
0: RANGE_INVALID
1: RANGE_VALID
5 RangeErrorRMS Scaled Integer
Integer Size: Unsigned Integer		 units meter true Real Lower Limit: 0.0
Real Upper Limit: 100000.0
6 Bearing Scaled Integer
Integer Size: Unsigned Integer		 units radians false Real Lower Limit: -3.141592653589793
Real Upper Limit: 3.141592653589793
7 BearingValidity Enumeration
Integer Size: Unsigned Byte		 one true Enumeration Values:
0: BEARING_INVALID
1: BEARING_VALID
8 BearingErrorRMS Scaled Integer
Integer Size: Unsigned Integer		 units radians true Real Lower Limit: 0.0
Real Upper Limit: 3.141592653589793
9 Inclination Scaled Integer
Integer Size: Unsigned Integer		 units radians false Real Lower Limit: -3.141592653589793
Real Upper Limit: 3.141592653589793
10 InclinationValidity Enumeration
Integer Size: Unsigned Byte		 one true Enumeration Values:
0: INCLINATION_INVALID
1: INCLINATION_VALID
11 InclinationErrorRMS Scaled Integer
Integer Size: Unsigned Integer		 units radians true Real Lower Limit: 0.0
Real Upper Limit: 3.141592653589793


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