Static Vehicle Templates

BobLib vehicle architectures are checked-in Modelica classes and records. There is no Python or YAML generation step. You can inspect, edit, translate, and review the package without regenerating source files.

Template layers

Each standard entry point sits on three layers:

Layer	Example	Role
Base template	Templates.Vehicle.BaseVehicleSim	Plant wiring, maneuver monitors, and the full replaceable subsystem set
Architecture template	Templates.Vehicle.VehicleSim_EVBatInvMotDiff_DWBCStabar_DWBCStabar	Redeclares the vehicle record and the front and rear axles for one architecture
Entry point	Standards.VehicleSim	Extends one architecture template and sets the experiment

BaseVehicleSim exposes each subsystem as a replaceable component:

replaceable record VehicleRecord =
  BobLib.Records.VehicleDefn.EVBatInvMotDiff_DWBCStabar_DWBCStabarRecord;

replaceable BobLib.Chassis.Chassis_DWBCStabar_DWBCStabar chassis;
replaceable BobLib.EnergyStorage.BatteryPack battery;
replaceable BobLib.Controllers.StandardVCU vcu;
replaceable BobLib.PowerElectronics.InverterDC inverter;
replaceable BobLib.ElectricDrives.Motor motor;
replaceable BobLib.Transmissions.FixedRatioTransmission transmission;
replaceable BobLib.Drivelines.RearFinalDriveDifferential driveline;
replaceable BobLib.Chassis.Brakes.BasicVCUBrakes brakes;

The road, atmosphere, and MultiBody world are also replaceable.

An architecture template redeclares the record and the chassis axles. This is a shortened copy of VehicleSim_EVBatInvMotDiff_DWBCStabar_DWBCStabar:

model VehicleSim_EVBatInvMotDiff_DWBCStabar_DWBCStabar
  extends BaseVehicleSim(
    redeclare record VehicleRecord =
      BobLib.Records.VehicleDefn.EVBatInvMotDiff_DWBCStabar_DWBCStabarRecord,
    redeclare BobLib.Chassis.Chassis_DW chassis(
      redeclare model FrAxleModel = BobLib.Chassis.Suspension.FrAxleDW_BC_Stabar,
      redeclare model RrAxleModel = BobLib.Chassis.Suspension.RrAxleDW_BC_Stabar,
      ...));
end VehicleSim_EVBatInvMotDiff_DWBCStabar_DWBCStabar;

Standards.VehicleSim extends that template and adds the initial chassis pose and the experiment settings.

You can follow this pattern, redeclare a different architecture, or hard-code a year-specific model once the architecture is fixed.

Suspension matrix

The checked-in templates cover every front and rear combination of three axle types:

Name	Axle models
DWDirect	FrAxleDW_Direct, RrAxleDW_Direct
DWBC	FrAxleDW_BC, RrAxleDW_BC
DWBCStabar	FrAxleDW_BC_Stabar, RrAxleDW_BC_Stabar

That gives nine VehicleSim_EVBatInvMotDiff_<front>_<rear> templates, nine FourPostSim_<front>_<rear> templates, and nine matching records under Records.VehicleDefn.

Templates.FourPost.BaseFourPostSim applies the same idea to four-post and K&C runs. Each four-post template redeclares the vehicle record and the front and rear axle models.

Switch the architecture

To change the architecture of a standard entry point, edit BobLib/Experiments/Standards/VehicleSim.mo or FourPostSim.mo so it extends a different architecture template. A project- or year-specific model can also extend a template and set explicit values there.

Add an architecture

1. Add the vehicle record under BobLib/Records/VehicleDefn/.
2. Add subsystem records under Records/VehicleRecord/, near the owning domain.
3. Add any new axle assembly under Chassis/Suspension/.
4. Add or update domain models one level below the public package boundary.
5. Add a VehicleSim template, or a direct experiment that exposes the full redeclare set.
6. Add a FourPostSim template if the architecture needs four-post or K&C coverage.
7. Add the new classes to the relevant package.order files.
8. Add or update BobLibTest fixtures.
9. Run the checks below.

Validate a change

make modelica-translation PYTHON=.venv/bin/python
make modelica-initialization PYTHON=.venv/bin/python
python -m pytest Tests/test_boblib_modelica.py

Run make ci PYTHON=.venv/bin/python before you commit a behavior change. See Tests and Checks.