Development

This page lists the package rules and the pre-commit checks for changes to BobLib itself. For the make targets and test files, see Tests and Checks.

Architecture rules

BobLib builds its physics inside the VehicleInterfaces contracts. BobLib's AGENTS.md holds the full rule set. The main rules:

• The first level of each public domain package holds the VehicleInterfaces adapters and insertion points that experiments use.
• BobLib physics, templates, and helpers start one level deeper, usually in Internal, Templates, Actuators, or another purpose-specific package.
• Do not add a duplicate connector or interface when VehicleInterfaces already provides the contract.
• Tires live under Chassis.Suspension, because the axles own the wheel centers, tire load paths, and contact-patch frames.
• Reusable MultiBody helpers go under Utilities.Mechanics.MultiBody. Scalar and record calculations go under Utilities.Mechanics.Functions.
• First-level packages under Records.VehicleRecord mirror the public subsystem packages. Complete vehicle records live under Records.VehicleDefn.
• Test models live in Tests/BobLibTest, not in the production package.

Before you commit

For vehicle architecture or template changes, confirm that:

• the package.order files list the new records, subsystem models, templates, and fixtures
• public entry points use the intended BobLib.Experiments.Standards.* models
• make ci PYTHON=.venv/bin/python passes
• OMEdit loads BobLib/package.mo, if the change touches package structure or diagram annotations
• BobSim builds the standard entry points, if a public model name changed

OMEdit screenshots

The OMEdit Workflow screenshots live under docs/public/images/omedit/ in BobDocs. Refresh them from a clean OMEdit session when package loading, tree traversal, diagram layout, or Simulation Setup defaults change. Use PNG and keep the files small.

Open work areas

• model robustness and initialization behavior
• low-level fixture coverage for every reusable vehicle subsystem
• further VehicleInterfaces alignment and connector cleanup
• tire model validation and more tire records
• standard workflow coverage through BobSim
• OMEdit diagram polish and screenshot documentation

License

BobLib uses the GNU General Public License v3.0 (GPLv3). See the BobLib LICENSE file.