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Home / Environment_v1_0ServiceSet / SetRangeSensorConfiguration

Message SetRangeSensorConfiguration

Message ID: 0802h

Description:
This message is used to set the range sensors’ current configuration. Configuration is based off of each range sensor’s capabilities as described in the Report Range Sensor Capabilities message. This message shall cause the receiving service to reply to the sender with a Confirm Range Sensor Configuration message. If the configuration specified is invalid for a given sensor ID, the confirm message shall contain an Range Sensor Error Record for the given Sensor ID however other, valid, configurations specified shall be set (if they exist).

SetRangeSensorConfiguration
RequestIdRec
RangeSensorConfigurationList

Message Format
Field # Field Type Units Optional Interpretation
1 RequestIdRec Record false
2 RangeSensorConfigurationList List false


RequestIdRec
Field # Field Type Units Optional Interpretation
1 RequestID Unsigned Byte units one false


RangeSensorConfigurationList
Count Field: Unsigned Short
Field # Field Type Units Optional Interpretation
1 Presence Vector Unsigned Byte one false Bit 0: HorizontalFieldOfViewStartAngle
Bit 1: HorizontalFieldOfViewStopAngle
Bit 2: VerticalFieldOfViewStartAngle
Bit 3: VerticalFieldOfViewStopAngle
Bit 4: UpdateRate
Bit 5: MinimumRange
Bit 6: MaximumRange
Bit 7: SensorState
2 SensorID Unsigned Short units one false
3 HorizontalFieldOfViewStartAngle Scaled Integer
Integer Size: Unsigned Integer		 units radians true Real Lower Limit: -3.141592653589793
Real Upper Limit: 3.141592653589793
4 HorizontalFieldOfViewStopAngle Scaled Integer
Integer Size: Unsigned Integer		 units radians true Real Lower Limit: -3.141592653589793
Real Upper Limit: 3.141592653589793
5 VerticalFieldOfViewStartAngle Scaled Integer
Integer Size: Unsigned Integer		 units radians true Real Lower Limit: -3.141592653589793
Real Upper Limit: 3.141592653589793
6 VerticalFieldOfViewStopAngle Scaled Integer
Integer Size: Unsigned Integer		 units radians true Real Lower Limit: -3.141592653589793
Real Upper Limit: 3.141592653589793
7 UpdateRate Scaled Integer
Integer Size: Unsigned Short		 units hertz true Real Lower Limit: 0.0
Real Upper Limit: 1000.0
8 MinimumRange Scaled Integer
Integer Size: Unsigned Integer		 units meter true Real Lower Limit: 0.0
Real Upper Limit: 1000000.0
9 MaximumRange Scaled Integer
Integer Size: Unsigned Integer		 units meter true Real Lower Limit: 0.0
Real Upper Limit: 1000000.0
10 SensorState Enumeration
Integer Size: Unsigned Byte		 one true Enumeration Values:
0: Active
1: Standby
2: Off


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