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motion_request_outputs.adoc

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../_config.adoc = Motion request outputs

This message is intended as an interface between a behavior model (e.g. driver model or HAD function) and the actuator management. Either a desired future trajectory or a desired future state may be sent.

Prefix

Motion request outputs shall be named with the following prefix:

OSMPMotionRequestOut

Rules

  • If only one motion request output is configured, the prefix shall only be OSMPMotionRequestOut.

  • If more than one motion request output is configured, the prefix shall be extended by an array index, for example, OSMPMotionRequestOut[1] and OSMPMotionRequestOut[2].

  • Array indices shall start at 1 and shall be consecutive.

  • Each motion request output shall be defined as a notional discrete binary output variable with @causality="output" and @variability="discrete".

  • The MIME type of the variable shall specify the type=MotionRequest as part of the MIME type parameters.

  • Motion request data shall be encoded as osi3::MotionRequest.

  • The motion request passed to the FMU must contain one of the available MotionRequestType. In addition to the enumerator, the corresponding DesiredState or Trajectory has to be set, respectively.

  • The guaranteed lifetime of the motion request protocol-buffer pointer provided as output to the FMU shall be from the time of the call to fmi2SetInteger that provides those values until the end of the following fmi2DoStep call.