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motion_request_inputs.adoc

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../_config.adoc = Motion request inputs

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 inputs shall be named with the following prefix:

OSMPMotionRequestIn

Rules

  • If only one motion request input is configured, the prefix shall only be OSMPMotionRequestIn.

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

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

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