Static Vehicle Templates

BobLib no longer uses a Python/YAML generation step for the active vehicle. Vehicle architectures are checked in as ordinary Modelica classes and records so the package can be inspected, edited, translated, and reviewed without regenerating source files first.

VehicleInterfaces Boundary

BobLib is organized so VehicleInterfaces-facing models are obvious:

• top-level subsystem models extend or adapt the VehicleInterfaces contracts
• deeper packages contain BobLib's reusable physics
• subsystem-specific actuators, records, tires, and helpers live with the package that owns them
• shared math, FMI, mechanics, and multibody helpers live under Utilities

This keeps the shared contract separate from the physics implementation.

Standard Template Layer

BobLib.Experiments.Standards.Templates.Vehicle.BaseVehicleSim contains the shared maneuver simulation assembly. It exposes the complete subsystem set as redeclareable items:

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;

The front-facing entry point stays small:

model VehicleSim
  extends Templates.Vehicle.BaseVehicleSim(
    redeclare record VehicleRecord =
      BobLib.Records.VehicleDefn.EVBatInvMotDiff_DWBCStabar_DWBCStabarRecord,
    redeclare BobLib.Chassis.Chassis_DWBCStabar_DWBCStabar chassis,
    redeclare BobLib.EnergyStorage.BatteryPack battery,
    redeclare BobLib.Controllers.StandardVCU vcu,
    redeclare BobLib.PowerElectronics.InverterDC inverter,
    redeclare BobLib.ElectricDrives.Motor motor,
    redeclare BobLib.Transmissions.FixedRatioTransmission transmission,
    redeclare BobLib.Drivelines.RearFinalDriveDifferential driveline);
end VehicleSim;

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

Four-Post Templates

BobLib.Experiments.Standards.Templates.FourPost.BaseFourPostSim follows the same idea for K&C/four-post evaluation. The front-facing FourPostSim extends the selected architecture template, and the template redeclares the vehicle record plus matching front and rear four-post axle adapters.

The current checked-in suspension matrix covers:

• DWDirect
• DWBC
• DWBCStabar

for front and rear axle positions.

Extending The Matrix

To add a new vehicle architecture, add or update the Modelica sources directly:

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

Validation

After changing static vehicle templates, run:

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

Run make test PYTHON=.venv/bin/python before release or before committing behavior changes.