BobDyn/BobLib

BobDyn/BobLib is the low-level Modelica vehicle model layer for BobDyn. The active package is BobLib: a standalone VehicleInterfaces-aligned library that retains BobLib's detailed chassis, suspension, tire, aero, powertrain, and control physics.

Current package name

Current examples use BobLib.* class names. Modelica regression and component fixtures live in the sibling Tests/BobLibTest package.

Use BobDyn/BobLib when you want to inspect, modify, translate, simulate, or debug the physical Modelica models directly.

Use BobDyn/BobSim when you want complete analysis workflows: case execution, signal extraction, metrics, plots, reports, envelope maps, sensitivity studies, and public baseline artifacts.

Which layer should I use?

Clone BobLib directly for model development, package inspection, OMEdit diagram work, and regression testing. Start with BobSim when you want to run complete vehicle studies.

Highlights

• Built against Modelica Standard Library 4.1.0 and VehicleInterfaces 2.0.2
• Public subsystem packages follow the VehicleInterfaces chassis, driveline, powertrain, driver, road, atmosphere, and bus contracts
• controlBus is the shared VehicleInterfaces signal namespace for standardized cross-subsystem intent, telemetry, status, and limits
• BobLib physics live inside those contracts rather than beside duplicate connector systems
• Vehicle-level powertrain layout is explicit: battery, VCU, inverter, motor, and driveline are visible at the simulation assembly level
• Aero has a BobLib interface and rigid mount; ride heights arrive through controlBus.chassisBus, while density and wind arrive through BobLib's AtmosphereBus
• Records are the durable Modelica parameter schemas and vehicle data
• Python/YAML vehicle generation has been removed from the active model path
• Experiments.Standards.VehicleSim and Experiments.Standards.FourPostSim are the front-facing simulation entry points
• headless=false by default so OMEdit examples open with animation visible
• Root tests cover BobLib standards plus the Tests/BobLibTest regression and component fixtures

Operating Model

BobLib work now happens in four phases:

1. Select or edit Modelica records and architecture templates.
2. Translate the Modelica entry points.
3. Run initialization, regression, and smoke checks.
4. Simulate directly or through BobSim workflows.

Vehicle selection is plain Modelica. The standard entry points extend checked-in templates under:

BobLib.Experiments.Standards.Templates.Vehicle
BobLib.Experiments.Standards.Templates.FourPost

Those templates expose the complete record and subsystem redeclare set so users can either follow the template pattern or hard-code a project/year-specific entry point.

Release Checks

From the BobLib repository root:

make test PYTHON=.venv/bin/python

That target runs Python checks, OpenModelica translation checks, initialization baselines, signal-level regressions, and BobLib smoke checks. The Modelica checks load Modelica 4.1.0 and VehicleInterfaces 2.0.2.

Documentation Map

Page	Use it for
Setup	Clone path, prerequisites, Python environment, OpenModelica expectations
CLI Workflow	omc loading, make targets, direct simulation
OMEdit Workflow	Opening BobLib visually, diagram browsing, manual simulation
Package Map	Repository layout and Modelica package areas
Control Bus	VehicleInterfaces bus wiring, telemetry ownership, and explicit connector boundaries
Static Templates	Checked-in records, subsystem redeclares, and architecture templates
Entry Points	VehicleSim, FourPostSim, maneuver modes, tire relaxation behavior
Development	Regression tests, architecture rules, checks before commit
Troubleshooting	Common OpenModelica, OMEdit, dependency, and regression problems

Maturity Notes

• BobLib is the current standalone package root.
• Public subsystem models should enter through the VehicleInterfaces-style top-level domains. Reusable physics can live deeper within each domain.
• Public release confidence comes from the root CI harness plus BobSim's workflow-level checks.