M_Mount::IService Class Reference

Public Member Functions
virtual	~IService ()
virtual void	ConfigMaximumRate (M_Common::AngleRateDegreesPerSecOptionalType const &AzimuthRate, M_Common::AngleRateDegreesPerSecOptionalType const &ElevationRate)
virtual void	ConfigInputSource (bool IsClientIdFilterEnabled, M_Common::StringListType const &ClientIds)
virtual void	ConfigTgtAssignmentInputSource (bool IsTgtAssignmentClientIdFilterEnabled, M_Common::StringListType const &TgtAssignmentClientIds)
virtual void	ConfigTgtAssignmentSearchInputSource (bool IsTgtAssignmentSearchClientIdFilterEnabled, M_Common::StringListType const &TgtAssignmentSearchClientIds)
virtual void	ConfigTgtAssignmentSearchPattern (M_Mount::TgtAssignmentSearchPatternType const &SearchPatternParams)
virtual void	ConfigLeadingDevice (M_Common::LongOptionalType const &DeviceId)
virtual void	ConfigSlavedDevice (M_Common::LongOptionalType const &DeviceId)
virtual void	ConfigSlewLimits (M_Mount::AngularLimitType const &SlewLimits)
virtual void	ConfigStorePosition (std::string const &KeyId, M_Common::AngleDegreesType Azimuth, M_Common::AngleDegreesType Elevation, bool IsRemoved)
virtual void	CmdMoveToStoredPosition (std::string const &Id)
virtual void	CmdMode (M_Mount::ModeCommand::Type Mode)
virtual void	CmdTgtAssignmentSearchAction (M_Mount::TgtAssignmentSearchCmdKind::Type Action)
virtual void	CmdAutoDriftCompensation (bool IsEnabled)
virtual void	CmdManualDriftCompensation (M_Common::AngleRateDegreesPerSecType OffsetAzimuthRate, M_Common::AngleRateDegreesPerSecType OffsetElevationRate, bool IsRelative)
virtual void	CmdAllowExternalDriftCompensation (bool IsAllowed)
virtual void	CmdHorizontalAiming (bool IsEnabled)
virtual void	CmdSetOperationalModeRateAid (bool Activate)
virtual void	NotifyAngle (std::string const &InputSourceClientId, M_Common::AngleDegreesType Azimuth, M_Common::AngleDegreesType Elevation, M_Mount::MountAngleParamsType const &AngleParams)
virtual void	NotifyTgtAssignment (std::string const &InputSourceClientId, M_Common::PositionType const &Position, M_Common::LinearVelocityOptionalType const &Velocity, M_Common::TimeType const &Timestamp, M_Mount::MountAngleParamsType const &AngleParams)
virtual void	NotifyRateRelative (std::string const &InputSourceClientId, M_Common::AngleRateDegreesPerSecType AzimuthRate, M_Common::AngleRateDegreesPerSecType ElevationRate)
virtual void	NotifyRateAbsolute (std::string const &InputSourceClientId, M_Common::AngleRateDegreesPerSecType AzimuthRate, M_Common::AngleRateDegreesPerSecType ElevationRate)
virtual void	NotifyRateScaled (std::string const &InputSourceClientId, M_Mount::ScaledRateOptionalType const &ScaledRate)

Detailed Description

Mount Service interface. Contains operations that a client can command the Mount Service to perform.

Mount State Chart

Constructor & Destructor Documentation

~IService()

M_Mount::IService::~IService ( )

virtual

Member Function Documentation

CmdAllowExternalDriftCompensation()

void M_Mount::IService::CmdAllowExternalDriftCompensation ( bool  IsAllowed )

virtual

Command to allow external sources to set drift compensation.

Parameters

IsAllowed

Indicates whether external drift compensation is allowed.

CmdAutoDriftCompensation()

void M_Mount::IService::CmdAutoDriftCompensation ( bool  IsEnabled )

virtual

Command to the Mount service to enable or disable automatic drift compensation correction. This is used to correct a drifting Mount platform. It uses offset values automatically determined by the Mount platform.

Parameters

IsEnabled

Indicates if drift compensation should be enabled (true) or disabled (false). True = Enable drift compensation False = Disable drift compensation

CmdHorizontalAiming()

void M_Mount::IService::CmdHorizontalAiming ( bool  IsEnabled )

virtual

Command to aim perfectly aligned with the horizon line by compensating vehicle attitude.

Parameters

IsEnabled

Indicates whether horizontal aiming should be enabled (true) or disabled (false).

CmdManualDriftCompensation()

void M_Mount::IService::CmdManualDriftCompensation ( M_Common::AngleRateDegreesPerSecType  OffsetAzimuthRate, M_Common::AngleRateDegreesPerSecType  OffsetElevationRate, bool  IsRelative  )

virtual

Command to manually set the specified drift compensation offset. This is used to set the offset values to correct a drifting Mount.

Parameters

OffsetAzimuthRate	Azimuth rate offset in degrees.
OffsetElevationRate	Elevation rate offset in degrees.
IsRelative	Indicates if the provided rate values are relative to the currently used Drift compensation (true) or absolute rate value replacing currently used Drift compensation. True = Relative to the currently used Drift compensation False = Absolute rate value replacing currently used Drift compensation

CmdMode()

void M_Mount::IService::CmdMode ( M_Mount::ModeCommand::Type  Mode )

virtual

Command to set mode of control and stabilization for a Mount platform.

Note: The Mount will use stored data from previously provided config calls when required as parameters for the specified Mode.

Parameters

Mode	Mode of control and stabilization for a Mount platform.

CmdMoveToStoredPosition()

void M_Mount::IService::CmdMoveToStoredPosition ( std::string const &  Id )

virtual

Move to an earlier assigned or persistently stored mount position, identified by a string key.

Parameters

Id	Identifies the stored position to be moved to

CmdSetOperationalModeRateAid()

void M_Mount::IService::CmdSetOperationalModeRateAid ( bool  Activate )

virtual

Sets operational mode RateAid calculation.

Parameters

Activate

Activate the RateAid calculation (true) or deacivate (false).

CmdTgtAssignmentSearchAction()

void M_Mount::IService::CmdTgtAssignmentSearchAction ( M_Mount::TgtAssignmentSearchCmdKind::Type  Action )

virtual

Control Target Assignment search action.

Note: Command is only processed when the Mount is in the "Target_Assignment" Control Mode.

Parameters

Action

Type of action to perform.

ConfigInputSource()

void M_Mount::IService::ConfigInputSource ( bool  IsClientIdFilterEnabled, M_Common::StringListType const &  ClientIds  )

virtual

Determine source for inputs.

Note: Input data should only be handled by the mount from the configured clients. Input data from other clients should be ignored. If a filter is disabled, all inputs are allowed. If a filter is enabled, all inputs in the according list are allowed (white list). (Therefore, an enabled filter in combination with an empty list inhibits all input.)

Parameters

IsClientIdFilterEnabled	Indicates whether the mount should filter client ID input.
ClientIds	List of client IDs to accept data (angles, rates) input from.

The following calls should only be handled from the specified clients:

• NotifyAngle
• NotifyRateAbsolute
• NotifyRateRelative
• NotifyRateScaled

ConfigLeadingDevice()

void M_Mount::IService::ConfigLeadingDevice ( M_Common::LongOptionalType const &  DeviceId )

virtual

Configure the internal device that the Mount shall be slaved to. If value is not present, no leading device shall be used to slave to.

Note: This should be stored and used when in "Slaved_To_Leading_Device" Control Mode.

Parameters

DeviceId

Device to be slaved to over an internal interface. Not present means that no leading device shall be used to slave to.

ConfigMaximumRate()

void M_Mount::IService::ConfigMaximumRate ( M_Common::AngleRateDegreesPerSecOptionalType const &  AzimuthRate, M_Common::AngleRateDegreesPerSecOptionalType const &  ElevationRate  )

virtual

Configure the maximum rate of movement for a Mount platform (angular velocity soft limits).

Parameters

AzimuthRate	Maximum azimuth rate in degrees per second. Not present means no limit.
ElevationRate	Maximum elevation rate in degrees per second. Not present means no limit.

ConfigSlavedDevice()

void M_Mount::IService::ConfigSlavedDevice ( M_Common::LongOptionalType const &  DeviceId )

virtual

Configure the internal device that shall be slaved to the Mount. If value is not present, no slaving device shall be used.

Parameters

DeviceId

Device to slave over an internal interface. Not present means that no slaving device shall be used.

ConfigSlewLimits()

void M_Mount::IService::ConfigSlewLimits ( M_Mount::AngularLimitType const &  SlewLimits )

virtual

Configure the azimuth/elevation slew limits. If slew limitation is specified the Mount service uses the provided limits, otherwise the hard limits of the Mount will be used.

Parameters

SlewLimits

Angular slew limits for Mount which can change during runtime. Note: Setting the limit to not present deactivates the limit.

ConfigStorePosition()

void M_Mount::IService::ConfigStorePosition ( std::string const &  KeyId, M_Common::AngleDegreesType  Azimuth, M_Common::AngleDegreesType  Elevation, bool  IsRemoved  )

virtual

Store a mount position, identified by a string key. This is meant to quickly access positions of interest for later use.

Parameters

KeyId	Identifies the position to be stored.
Azimuth	Azimuth [deg].
Elevation	Elevation [deg].
IsRemoved	Indicates if the service should delete a stored position (true) or not (false). After this has been set to true, the position will no longer be available to late joiners.

ConfigTgtAssignmentInputSource()

void M_Mount::IService::ConfigTgtAssignmentInputSource ( bool  IsTgtAssignmentClientIdFilterEnabled, M_Common::StringListType const &  TgtAssignmentClientIds  )

virtual

Determine source for target assignment inputs.

Note: Input data should only be handled by the mount from the configured clients. Input data from other clients should be ignored. If a filter is disabled, all inputs are allowed. If a filter is enabled, all inputs in the according list are allowed (white list). (Therefore, an enabled filter in combination with an empty list inhibits all input.)

Parameters

IsTgtAssignmentClientIdFilterEnabled	Indicates whether the mount should filter target assignment client ID input.
TgtAssignmentClientIds	List of client IDs from which target assignment notifies shall are processed.

The following calls should only be handled from the specified clients:

• NotifyTgtAssignment

ConfigTgtAssignmentSearchInputSource()

void M_Mount::IService::ConfigTgtAssignmentSearchInputSource ( bool  IsTgtAssignmentSearchClientIdFilterEnabled, M_Common::StringListType const &  TgtAssignmentSearchClientIds  )

virtual

Determine source for target assignment search inputs.

Note: Input data should only be handled by the mount from the configured clients. Input data from other clients should be ignored. If a filter is disabled, all inputs are allowed. If a filter is enabled, all inputs in the according list are allowed (white list). (Therefore, an enabled filter in combination with an empty list inhibits all input.)

Parameters

IsTgtAssignmentSearchClientIdFilterEnabled	Indicates whether the mount should filter target assignment search client ID input.
TgtAssignmentSearchClientIds	List of client IDs from which rates shall be processed in manual search mode.

The following calls should only be handled from the specified clients when the mount is in mode "Target_Assignment" and TgtAssignmentSearchState = "Manual_Search".

• NotifyRateAbsolute
• NotifyRateRelative
• NotifyRateScaled

ConfigTgtAssignmentSearchPattern()

void M_Mount::IService::ConfigTgtAssignmentSearchPattern ( M_Mount::TgtAssignmentSearchPatternType const &  SearchPatternParams )

virtual

Configure the search area around the Target Assignment position.

Note: This should be stored and used when searching around a position in provided "NotifyTgtAssignmentCart" or "NotifyTgtAssignmentSphere" in "Target_Assignment" Control Mode.

Parameters

SearchPatternParams

Search pattern parameters.

NotifyAngle()

void M_Mount::IService::NotifyAngle ( std::string const &  InputSourceClientId, M_Common::AngleDegreesType  Azimuth, M_Common::AngleDegreesType  Elevation, M_Mount::MountAngleParamsType const &  AngleParams  )

virtual

Notify the Mount to turn to a position angle in degrees.

Note: This operation shall be called only if the InputSourceClientId matches with the MountStatusType.InputSourceClientId of ReportMountStatus().

Parameters

InputSourceClientId	The client name of the calling instance associated with the position angle
Azimuth	Azimuth in degrees.
Elevation	Elevation in degrees.
AngleParams	Parameters to tune how the Mount should be commanded into position. Note: This indicates, among other things, what the above position is relative to.

NotifyRateAbsolute()

void M_Mount::IService::NotifyRateAbsolute ( std::string const &  InputSourceClientId, M_Common::AngleRateDegreesPerSecType  AzimuthRate, M_Common::AngleRateDegreesPerSecType  ElevationRate  )

virtual

Command to set absolute rate of movement for a Mount platform. A value of 0 stops the Mount from moving. A negative value moves the Mount in the other direction.

Note: This is implemented as a notify call in order to always contain the latest value from a client. Note: This operation shall be called only if the InputSourceClientId matches with the MountStatusType.InputSourceClientId of ReportMountStatus().

Parameters

InputSourceClientId	The client name of the calling instance associated with the absolute rate
AzimuthRate	Azimuth rate in degrees per second.
ElevationRate	Elevation rate in degrees per second.

NotifyRateRelative()

void M_Mount::IService::NotifyRateRelative ( std::string const &  InputSourceClientId, M_Common::AngleRateDegreesPerSecType  AzimuthRate, M_Common::AngleRateDegreesPerSecType  ElevationRate  )

virtual

Command to set relative rate of movement for a Mount platform. A value of 0 keeps the current Mount movement. A positive value speeds up or negative value slows down the Mount movement in one direction. A negative value speeds up or a positive value slows down the movement in the opposite direction.

Note: This is implemented as a notify call in order to always contain the latest value from a client. Note: This operation shall be called only if the InputSourceClientId matches with the MountStatusType.InputSourceClientId of ReportMountStatus().

Parameters

InputSourceClientId	The client name of the calling instance associated with the absolute rate
AzimuthRate	Azimuth rate in degrees per second.
ElevationRate	Elevation rate in degrees per second.

NotifyRateScaled()

void M_Mount::IService::NotifyRateScaled ( std::string const &  InputSourceClientId, M_Mount::ScaledRateOptionalType const &  ScaledRate  )

virtual

Provides the Mount with normed rate of movement. This sets the rate of movement normed to the maximum possible rate of the Mount. A value of 0 stops the Mount from moving. A value of 1 or -1 moves the Mount at the maximum rate. A negative value moves the Mount in the opposite direction.

Note: This is implemented as a notify call in order to always contain the latest value from a client. This can then correspond to an output report from a joystick.

Note: This operation shall be called only if the InputSourceClientId matches with the MountStatusType.InputSourceClientId of ReportMountStatus().

Parameters

InputSourceClientId	The client name of the calling instance associated with the scaled rate
ScaledRate	Rate of movement normed to the maximum possible rate of the Mount. Note: Not present indicates no rate (similar to setting a rate of 0)

NotifyTgtAssignment()

void M_Mount::IService::NotifyTgtAssignment ( std::string const &  InputSourceClientId, M_Common::PositionType const &  Position, M_Common::LinearVelocityOptionalType const &  Velocity, M_Common::TimeType const &  Timestamp, M_Mount::MountAngleParamsType const &  AngleParams  )

virtual

Designate the Mount to position for a target assignment. The Mount will follow the object automatically between updates by using the provided object velocity.

Note: This operation shall be called only if the InputSourceClientId matches with the MountStatusType.InputSourceClientId of ReportMountStatus().

Parameters

InputSourceClientId	The client name of the calling instance associated with the assignment
Position	Target position.
Velocity	Target velocity.
Timestamp	Timestamp of target data.
AngleParams	Parameters to tune how the Mount should be commanded into position. Note: This indicates, among other things, what the above position is relative to.