[Interfaces] Declare subsystem-owned control buses

BobLib/Brakes/Interfaces/BrakesBus.mo

@@ -0,0 +1,16 @@
+within BobLib.Brakes.Interfaces;
+expandable connector BrakesBus
+
+  "Typed BrakesBus contract for BobLib subsystem signals"
+
+  import Modelica.Units.SI;
+
+  extends VehicleInterfaces.Interfaces.BrakesBus;
+
+  SI.AngularVelocity wheelSpeed_1 "BrakeActuation: wheel-equivalent speed at corner 1; central brake uses differential gearing";
+  SI.AngularVelocity wheelSpeed_2 "BrakeActuation: wheel-equivalent speed at corner 2; central brake uses differential gearing";
+  SI.AngularVelocity wheelSpeed_3 "BrakeActuation: wheel-equivalent speed at corner 3; central brake uses differential gearing";
+  SI.AngularVelocity wheelSpeed_4 "BrakeActuation: wheel-equivalent speed at corner 4; central brake uses differential gearing";
+
+  annotation(Documentation(info = "<html><p>Actual expandable subsystem bus. Declare every new BobLib signal here with its type, units and description before connecting it. Connections select the members present in an architecture; each signal has one publisher. Corner numbers are 1 front-left, 2 front-right, 3 rear-left, 4 rear-right. Compatible with the corresponding empty VehicleInterfaces bus.</p></html>"));
+end BrakesBus;

BobLib/Brakes/Interfaces/BrakesControlBus.mo

@@ -0,0 +1,13 @@
+within BobLib.Brakes.Interfaces;
+expandable connector BrakesControlBus
+
+  "Typed BrakesControlBus contract for BobLib subsystem signals"
+
+  import Modelica.Units.SI;
+
+  extends VehicleInterfaces.Interfaces.BrakesControlBus;
+
+  SI.Torque mechanicalBrakeTorqueRequest "VCU: mechanical brake torque request; consumed by bus-controlled brakes";
+
+  annotation(Documentation(info = "<html><p>Actual expandable subsystem bus. Declare every new BobLib signal here with its type, units and description before connecting it. Connections select the members present in an architecture; each signal has one publisher. Corner numbers are 1 front-left, 2 front-right, 3 rear-left, 4 rear-right. Compatible with the corresponding empty VehicleInterfaces bus.</p></html>"));
+end BrakesControlBus;

BobLib/Brakes/Interfaces/package.mo

@@ -0,0 +1,6 @@
+within BobLib.Brakes;
+package Interfaces "Brake subsystem contracts"
+
+  extends Modelica.Icons.InterfacesPackage;
+  annotation(Icon(graphics = {Rectangle(extent = {{-100, 100}, {100, -100}}, lineColor = {0, 0, 0}, lineThickness = 0.5, fillPattern = FillPattern.None)}));
+end Interfaces;

BobLib/Brakes/Interfaces/package.order

@@ -0,0 +1,2 @@
+BrakesBus
+BrakesControlBus

BobLib/Brakes/package.mo

@@ -0,0 +1,88 @@
+within BobLib;
+package Brakes
+
+  "Brake implementations for the VehicleInterfaces brakes contract"
+
+  // Package icon adapted from VehicleInterfaces 2.0.2 Icons.Brakes on 2026-10-16; instance-name text removed.
+  // Copyright (C) 2005-2013, Dassault Systemes, DLR and Modelon; (C) 2013-2025, Modelica Association.
+  // Modelica License 1.1: Resources/Licenses/LICENSE_VehicleInterfaces.txt.
+  extends Modelica.Icons.Package;
+
+  annotation(Icon(coordinateSystem(preserveAspectRatio = true,  extent = {{-100, -100}, {100, 100}}),
+        graphics = {
+          Rectangle(
+            extent = {{-100, 100}, {100, -100}},
+            lineColor = {0, 0, 0},
+            fillColor = {255, 255, 255},
+            fillPattern = FillPattern.Solid, lineThickness = 0.5, pattern = LinePattern.Solid),
+          Ellipse(
+            extent = {{-80, 80}, {80, -80}},
+            lineColor = {95, 95, 95},
+            fillColor = {186, 186, 186},
+            fillPattern = FillPattern.Solid),
+          Ellipse(
+            extent = {{-46, 46}, {46, -46}},
+            lineColor = {95, 95, 95},
+            fillColor = {255, 255, 255},
+            fillPattern = FillPattern.Solid),
+          Ellipse(
+            extent = {{-28, 28}, {28, -28}},
+            lineColor = {95, 95, 95},
+            fillColor = {255, 255, 255},
+            fillPattern = FillPattern.Solid),
+          Ellipse(
+            extent = {{-10, 10}, {10, -10}},
+            lineColor = {0, 0, 0},
+            fillColor = {95, 95, 95},
+            fillPattern = FillPattern.Solid),
+          Ellipse(
+            extent = {{22, 30}, {30, 22}},
+            lineColor = {0, 0, 0},
+            fillColor = {255, 255, 255},
+            fillPattern = FillPattern.Solid),
+          Ellipse(
+            extent = {{-30, 30}, {-22, 22}},
+            lineColor = {0, 0, 0},
+            fillColor = {255, 255, 255},
+            fillPattern = FillPattern.Solid),
+          Ellipse(
+            extent = {{22, -22}, {30, -30}},
+            lineColor = {0, 0, 0},
+            fillColor = {255, 255, 255},
+            fillPattern = FillPattern.Solid),
+          Ellipse(
+            extent = {{-30, -22}, {-22, -30}},
+            lineColor = {0, 0, 0},
+            fillColor = {255, 255, 255},
+            fillPattern = FillPattern.Solid),
+
+          Polygon(
+            points = {{-88, -20}, {-88, 20}, {-80, 48}, {-48, 44}, {-48, -44}, {-80, -46}, {
+                -88, -20}},
+            lineColor = {0, 0, 0},
+            fillPattern = FillPattern.HorizontalCylinder,
+            fillColor = {215, 215, 215}),
+          Line(
+            points = {{-66, 10}, {-80, 10}},
+            thickness = 0.5),
+          Line(
+            points = {{-54, -14}, {-60, -10}, {-60, 10}, {-54, 14}},
+            thickness = 0.5),
+          Line(
+            points = {{-64, 30}, {-80, 30}},
+            thickness = 0.5),
+          Line(
+            points = {{-64, -30}, {-80, -30}},
+            thickness = 0.5),
+          Line(
+            points = {{-66, -10}, {-80, -10}},
+            thickness = 0.5)}));
+
+  annotation(Documentation(info = "<html>
+<p>
+Package <code>BobLib.Brakes</code> contains simple
+wheel brake implementations that are physically attached at the chassis wheel
+hubs while still exposing the standard VehicleInterfaces brakes boundary.
+</p>
+</html>"));
+end Brakes;

BobLib/Brakes/package.order

@@ -0,0 +1 @@
+Interfaces

BobLib/Chassis/Interfaces/ChassisBus.mo

@@ -0,0 +1,28 @@
+within BobLib.Chassis.Interfaces;
+expandable connector ChassisBus
+
+  "Typed ChassisBus contract for BobLib subsystem signals"
+
+  import Modelica.Units.SI;
+
+  extends VehicleInterfaces.Interfaces.ChassisBus;
+
+  SI.Velocity longitudinalVelocity "Chassis: signed forward velocity";
+  SI.Velocity vehicleSpeed "Chassis: nonnegative magnitude of body velocity";
+  SI.Acceleration bodyAcceleration_2 "Chassis: lateral body acceleration";
+  SI.Length rideHeight_1 "Chassis: ride height at corner 1";
+  SI.Length rideHeight_2 "Chassis: ride height at corner 2";
+  SI.Length rideHeight_3 "Chassis: ride height at corner 3";
+  SI.Length rideHeight_4 "Chassis: ride height at corner 4";
+  SI.Length frontLeftSpringLength "Front axle: left spring/damper length";
+  SI.Length frontRightSpringLength "Front axle: right spring/damper length";
+  SI.Length rearLeftSpringLength "Rear axle: left spring/damper length";
+  SI.Length rearRightSpringLength "Rear axle: right spring/damper length";
+
+  SI.Force Fz_1 "Chassis: tire normal load at corner 1";
+  SI.Force Fz_2 "Chassis: tire normal load at corner 2";
+  SI.Force Fz_3 "Chassis: tire normal load at corner 3";
+  SI.Force Fz_4 "Chassis: tire normal load at corner 4";
+
+  annotation(Documentation(info = "<html><p>Actual expandable subsystem bus. Declare every new BobLib signal here with its type, units and description before connecting it. Connections select the members present in an architecture; each signal has one publisher. Corner numbers are 1 front-left, 2 front-right, 3 rear-left, 4 rear-right. Compatible with the corresponding empty VehicleInterfaces bus.</p></html>"));
+end ChassisBus;

BobLib/Chassis/Interfaces/package.mo

@@ -0,0 +1,7 @@
+within BobLib.Chassis;
+package Interfaces
+
+  "Subsystem contracts and signal buses"
+  extends Modelica.Icons.InterfacesPackage;
+  annotation(Icon(graphics = {Rectangle(extent = {{-100, 100}, {100, -100}}, lineColor = {0, 0, 0}, lineThickness = 0.5, fillPattern = FillPattern.None)}));
+end Interfaces;

BobLib/Chassis/Interfaces/package.order

@@ -0,0 +1 @@
+ChassisBus

BobLib/Chassis/Suspension/Interfaces/AxleBus.mo

@@ -0,0 +1,16 @@
+within BobLib.Chassis.Suspension.Interfaces;
+expandable connector AxleBus
+
+  "Typed AxleBus contract for BobLib subsystem signals"
+
+  import Modelica.Units.SI;
+
+  extends VehicleInterfaces.Interfaces.ChassisBus;
+
+  SI.Force leftNormalLoad "Axle: left tire normal load";
+  SI.Force rightNormalLoad "Axle: right tire normal load";
+  SI.Length leftSpringLength "Axle: left spring/damper length";
+  SI.Length rightSpringLength "Axle: right spring/damper length";
+
+  annotation(Documentation(info = "<html><p>Actual expandable subsystem bus. Declare every new BobLib signal here with its type, units and description before connecting it. Connections select the members present in an architecture; each signal has one publisher. Corner numbers are 1 front-left, 2 front-right, 3 rear-left, 4 rear-right. Compatible with the corresponding empty VehicleInterfaces bus.</p></html>"));
+end AxleBus;

BobLib/Chassis/Suspension/Interfaces/package.mo

@@ -0,0 +1,7 @@
+within BobLib.Chassis.Suspension;
+
+package Interfaces "Shared suspension axle contracts"
+
+  extends Modelica.Icons.InterfacesPackage;
+  annotation(Icon(graphics = {Rectangle(extent = {{-100, 100}, {100, -100}}, lineColor = {0, 0, 0}, lineThickness = 0.5, fillPattern = FillPattern.None)}));
+end Interfaces;

BobLib/Chassis/Suspension/Interfaces/package.order

@@ -0,0 +1 @@
+AxleBus

BobLib/Chassis/Suspension/package.order

@@ -1,3 +1,4 @@
+Interfaces
 Tires
 Templates
 Linkages

BobLib/Chassis/package.order

@@ -1,3 +1,4 @@
+Interfaces
 Body
 Suspension
 Brakes

BobLib/Drivelines/Interfaces/DrivelineBus.mo

@@ -0,0 +1,16 @@
+within BobLib.Drivelines.Interfaces;
+expandable connector DrivelineBus
+
+  "Typed DrivelineBus contract for BobLib subsystem signals"
+
+  import Modelica.Units.SI;
+
+  extends VehicleInterfaces.Interfaces.DrivelineBus;
+
+  SI.AngularVelocity diffInputSpeed "RearFinalDriveDifferential: differential input speed";
+  SI.AngularVelocity motorSideSpeed "RearFinalDriveDifferential: motor-side shaft speed";
+  SI.Torque leftHalfshaftTorque "RearFinalDriveDifferential: signed left halfshaft torque";
+  SI.Torque rightHalfshaftTorque "RearFinalDriveDifferential: signed right halfshaft torque";
+
+  annotation(Documentation(info = "<html><p>Actual expandable subsystem bus. Declare every new BobLib signal here with its type, units and description before connecting it. Connections select the members present in an architecture; each signal has one publisher. Corner numbers are 1 front-left, 2 front-right, 3 rear-left, 4 rear-right. Compatible with the corresponding empty VehicleInterfaces bus.</p></html>"));
+end DrivelineBus;

BobLib/Drivelines/Interfaces/DrivelineControlBus.mo

@@ -0,0 +1,13 @@
+within BobLib.Drivelines.Interfaces;
+expandable connector DrivelineControlBus
+
+  "Typed DrivelineControlBus contract for BobLib subsystem signals"
+
+  import Modelica.Units.SI;
+
+  extends VehicleInterfaces.Interfaces.DrivelineControlBus;
+
+  SI.Torque driveTorqueCommand "VCU: drive torque request for diagnostics, not a second physical actuator";
+
+  annotation(Documentation(info = "<html><p>Actual expandable subsystem bus. Declare every new BobLib signal here with its type, units and description before connecting it. Connections select the members present in an architecture; each signal has one publisher. Corner numbers are 1 front-left, 2 front-right, 3 rear-left, 4 rear-right. Compatible with the corresponding empty VehicleInterfaces bus.</p></html>"));
+end DrivelineControlBus;

BobLib/Drivelines/Interfaces/package.mo

@@ -0,0 +1,6 @@
+within BobLib.Drivelines;
+package Interfaces "Driveline subsystem contracts"
+
+  extends Modelica.Icons.InterfacesPackage;
+  annotation(Icon(graphics = {Rectangle(extent = {{-100, 100}, {100, -100}}, lineColor = {0, 0, 0}, lineThickness = 0.5, fillPattern = FillPattern.None)}));
+end Interfaces;

BobLib/Drivelines/Interfaces/package.order

@@ -0,0 +1,2 @@
+DrivelineBus
+DrivelineControlBus

BobLib/Drivelines/package.order

@@ -1,2 +1,3 @@
+Interfaces
 Internal
 RearFinalDriveDifferential

BobLib/DriverEnvironments/Interfaces/DriverBus.mo

@@ -0,0 +1,19 @@
+within BobLib.DriverEnvironments.Interfaces;
+expandable connector DriverBus
+
+  "Typed DriverBus contract for BobLib subsystem signals"
+
+  import Modelica.Units.SI;
+
+  extends VehicleInterfaces.Interfaces.DriverBus;
+
+  Real acceleratorPedalPosition(unit = "1") "Driver environment: normalized accelerator position, zero to one";
+  Real brakePedalPosition(unit = "1") "Driver environment: normalized brake position, zero to one";
+  SI.Angle steeringWheelAngle "Driver environment: signed handwheel angle";
+  Integer gearboxMode "Automatic driver environment: mode encoded using VI gearbox conventions";
+  Integer ignition "Automatic driver environment: ignition state encoded using VI conventions";
+  Integer requestedGear "Automatic driver environment: requested gear; interpreted according to gearbox mode";
+  Boolean inverterEnable "EV driver environment or experiment: inverter enable request";
+
+  annotation(Documentation(info = "<html><p>Actual expandable subsystem bus. Declare every new BobLib signal here with its type, units and description before connecting it. Connections select the members present in an architecture; each signal has one publisher. Corner numbers are 1 front-left, 2 front-right, 3 rear-left, 4 rear-right. Compatible with the corresponding empty VehicleInterfaces bus.</p></html>"));
+end DriverBus;

BobLib/DriverEnvironments/Interfaces/package.mo

@@ -0,0 +1,6 @@
+within BobLib.DriverEnvironments;
+package Interfaces "Driver environment contracts"
+
+  extends Modelica.Icons.InterfacesPackage;
+  annotation(Icon(graphics = {Rectangle(extent = {{-100, 100}, {100, -100}}, lineColor = {0, 0, 0}, lineThickness = 0.5, fillPattern = FillPattern.None)}));
+end Interfaces;

BobLib/DriverEnvironments/Interfaces/package.order

@@ -0,0 +1 @@
+DriverBus

BobLib/DriverEnvironments/package.order

@@ -1,3 +1,4 @@
+Interfaces
 AutomaticDriveByWire
 EVDriveByWire
 Internal

BobLib/ElectricDrives/Interfaces/ElectricMotorBus.mo

@@ -0,0 +1,17 @@
+within BobLib.ElectricDrives.Interfaces;
+expandable connector ElectricMotorBus
+
+  "Typed ElectricMotorBus contract for BobLib subsystem signals"
+
+  import Modelica.Units.SI;
+
+  extends VehicleInterfaces.Interfaces.ElectricMotorBus;
+
+  SI.AngularVelocity speed "Motor: signed shaft speed";
+  SI.Power electricalPower "Motor: electrical power, positive when motoring";
+  SI.Power mechanicalPower "Motor: delivered shaft power, positive when motoring";
+  SI.Torque torqueCommand "Motor: internal commanded torque";
+  SI.Torque torqueLimit "Motor: active torque limit";
+
+  annotation(Documentation(info = "<html><p>Actual expandable subsystem bus. Declare every new BobLib signal here with its type, units and description before connecting it. Connections select the members present in an architecture; each signal has one publisher. Corner numbers are 1 front-left, 2 front-right, 3 rear-left, 4 rear-right. Compatible with the corresponding empty VehicleInterfaces bus.</p></html>"));
+end ElectricMotorBus;

BobLib/ElectricDrives/Interfaces/ElectricMotorControlBus.mo

@@ -0,0 +1,19 @@
+within BobLib.ElectricDrives.Interfaces;
+expandable connector ElectricMotorControlBus
+
+  "Typed ElectricMotorControlBus contract for BobLib subsystem signals"
+
+  import Modelica.Units.SI;
+
+  extends VehicleInterfaces.Interfaces.ElectricMotorControlBus;
+
+  SI.Power availablePower "InverterDC: signed limited allocation consumed by the averaged motor";
+  SI.Power powerRequest "VCU: signed requested electrical power sent to inverter";
+  SI.Torque limitedTorqueCommand "VCU: limited signed torque command";
+  SI.Torque regenTorqueLimit "VCU: regenerative torque limit";
+  Boolean vcuActive "VCU: controller active state";
+  SI.Torque driverTorqueCommand "EVDriveByWire: driver torque request; not consumed by the default averaged drive";
+  SI.Torque driverRegenTorqueLimit "EVDriveByWire: driver regenerative torque limit; not consumed by the default averaged drive";
+
+  annotation(Documentation(info = "<html><p>Actual expandable subsystem bus. Declare every new BobLib signal here with its type, units and description before connecting it. Connections select the members present in an architecture; each signal has one publisher. Corner numbers are 1 front-left, 2 front-right, 3 rear-left, 4 rear-right. Compatible with the corresponding empty VehicleInterfaces bus.</p></html>"));
+end ElectricMotorControlBus;

BobLib/ElectricDrives/Interfaces/package.mo

@@ -0,0 +1,7 @@
+within BobLib.ElectricDrives;
+package Interfaces
+
+  "Subsystem contracts and signal buses"
+  extends Modelica.Icons.InterfacesPackage;
+  annotation(Icon(graphics = {Rectangle(extent = {{-100, 100}, {100, -100}}, lineColor = {0, 0, 0}, lineThickness = 0.5, fillPattern = FillPattern.None)}));
+end Interfaces;

BobLib/ElectricDrives/Interfaces/package.order

@@ -0,0 +1,2 @@
+ElectricMotorBus
+ElectricMotorControlBus

BobLib/ElectricDrives/package.order

@@ -1,2 +1,3 @@
+Interfaces
 Motor
 Internal

BobLib/EnergyStorage/Interfaces/BatteryBus.mo

@@ -0,0 +1,17 @@
+within BobLib.EnergyStorage.Interfaces;
+expandable connector BatteryBus
+
+  "Typed BatteryBus contract for BobLib subsystem signals"
+
+  import Modelica.Units.SI;
+
+  extends VehicleInterfaces.Interfaces.BatteryBus;
+
+  SI.Current current "BatteryPack: discharge-positive terminal current";
+  SI.Power power "BatteryPack: discharge-positive terminal power";
+  Real soc(unit = "1") "BatteryPack: state of charge as a fraction";
+  Real soe(unit = "1") "BatteryPack: state of energy as a fraction";
+  SI.Voltage voltage "BatteryPack: positive-to-negative terminal voltage";
+
+  annotation(Documentation(info = "<html><p>Actual expandable subsystem bus. Declare every new BobLib signal here with its type, units and description before connecting it. Connections select the members present in an architecture; each signal has one publisher. Corner numbers are 1 front-left, 2 front-right, 3 rear-left, 4 rear-right. Compatible with the corresponding empty VehicleInterfaces bus.</p></html>"));
+end BatteryBus;

BobLib/EnergyStorage/Interfaces/package.mo

@@ -0,0 +1,7 @@
+within BobLib.EnergyStorage;
+package Interfaces
+
+  "Subsystem contracts and signal buses"
+  extends Modelica.Icons.InterfacesPackage;
+  annotation(Icon(graphics = {Rectangle(extent = {{-100, 100}, {100, -100}}, lineColor = {0, 0, 0}, lineThickness = 0.5, fillPattern = FillPattern.None)}));
+end Interfaces;

BobLib/EnergyStorage/Interfaces/package.order

@@ -0,0 +1 @@
+BatteryBus

BobLib/EnergyStorage/package.order

@@ -1,2 +1,3 @@
+Interfaces
 BatteryPack
 Internal

BobLib/Engines/Interfaces/EngineBus.mo

@@ -0,0 +1,13 @@
+within BobLib.Engines.Interfaces;
+expandable connector EngineBus
+
+  "Typed EngineBus contract for BobLib subsystem signals"
+
+  import Modelica.Units.SI;
+
+  extends VehicleInterfaces.Interfaces.EngineBus;
+
+  SI.AngularVelocity speed "SimpleICEngine: engine shaft speed";
+
+  annotation(Documentation(info = "<html><p>Actual expandable subsystem bus. Declare every new BobLib signal here with its type, units and description before connecting it. Connections select the members present in an architecture; each signal has one publisher. Corner numbers are 1 front-left, 2 front-right, 3 rear-left, 4 rear-right. Compatible with the corresponding empty VehicleInterfaces bus.</p></html>"));
+end EngineBus;

BobLib/Engines/Interfaces/package.mo

@@ -0,0 +1,7 @@
+within BobLib.Engines;
+package Interfaces
+
+  "Subsystem contracts and signal buses"
+  extends Modelica.Icons.InterfacesPackage;
+  annotation(Icon(graphics = {Rectangle(extent = {{-100, 100}, {100, -100}}, lineColor = {0, 0, 0}, lineThickness = 0.5, fillPattern = FillPattern.None)}));
+end Interfaces;

BobLib/Engines/Interfaces/package.order

@@ -0,0 +1 @@
+EngineBus

BobLib/Engines/package.order

@@ -1,2 +1,3 @@
+Interfaces
 SimpleICEngine
 Internal