Inputs

The Inputs element can be used to add Inputs, which can be connected to signals of the system. The input receives data each cycle from the signal it is connected to.

Example

Inputs:
  - Name: "DemandVelocity"
    DataType: "Float"
    Unit: "m/s"
    Description: "Velocity of the reference trajectory."

  - Name: "InputUint8"
    DataType: "Uint8"
    Description: "Uint8 input."
    LowerBound: "0"
    UpperBound: "10"
    ResetValue: "1"

  - Name: "BooleanInput"
    DataType: "Bool"
    Description: "Boolean input."
    ResetValue: "True"

YAML schema

Schema for Inputs

Inputs: list(include('Signal'), required=False)

Schema for Signals

Signal:
  Name: name()
  DataType: Enum("Uint8", "Uint16", "Uint32", "Uint64", "Int8", "Int16", "Int32", "Int64", "Float", "Double", "Bool", required=True)
  Description: str(required=False)
  Unit: str(required=False)
  LowerBound: str(required=False)
  UpperBound: str(required=False)
  ResetValue: str(required=False)

Signal attributes

Attribute	Required	Description
Name	Yes	The name of the input. Should comply with the Naming conventions.
DataType	Yes	The data type, supported types: “Uint8”, “Uint16”, “Uint32”, “Uint64”, “Int8”, “Int16”, “Int32”, “Int64”, “Float”, “Double”, “Bool”.
Description	No	The Description attribute of the Value signal of the input.
Unit	No	The Unit attribute of the DisconnectedValue and Value signal of the input.
LowerBound	No	The LowerBound attribute of the DisconnectedValue and Value signal of the input. For Float and Double inputs the lower bound can be set to -Inf.
UpperBound	No	The UpperBound attribute of the DisconnectedValue and Value signal of the input. For Float and Double inputs the upper bound can be set to Inf.
ResetValue	No	The ResetValue attribute of the DisconnectedValue and Value signal of the input. The default reset value is 0. For Float and Double inputs the reset value can be set to NaN.