0x0802 - SetRangeSensorConfiguration

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).

Structure

SetRangeSensorConfiguration
 RangeSensorConfigurationSequence
   RequestIdRec
   RangeSensorConfigurationList
     RangeSensorConfigurationRec

RangeSensorConfigurationSequence

Type: Sequence

Field #	Field Name	Type	Optional	Interpretation
1	RequestIdRec	RequestIdRec	false
2	RangeSensorConfigurationList	RangeSensorConfigurationList	false

RequestIdRec

Type: Record

Field #	Field Name	Type	Units	Optional	Interpretation
1	RequestID			false

RangeSensorConfigurationList

Type: List

Element Type	Count Type	Min Count	Max Count
RangeSensorConfigurationRec	uint16	0	65535

RangeSensorConfigurationRec

Type: Record

Field #	Field Name	Type	Optional
1	PresenceVector	uint16
2	SensorID		false
3	HorizontalFieldOfViewStartAngle		true
4	HorizontalFieldOfViewStopAngle		true
5	VerticalFieldOfViewStartAngle		true
6	VerticalFieldOfViewStopAngle		true
7	UpdateRate		true
8	MinimumRange		true
9	MaximumRange		true
10	SensorState		true