VERSION ""


NS_ : 
	NS_DESC_
	CM_
	BA_DEF_
	BA_
	VAL_
	CAT_DEF_
	CAT_
	FILTER
	BA_DEF_DEF_
	EV_DATA_
	ENVVAR_DATA_
	SGTYPE_
	SGTYPE_VAL_
	BA_DEF_SGTYPE_
	BA_SGTYPE_
	SIG_TYPE_REF_
	VAL_TABLE_
	SIG_GROUP_
	SIG_VALTYPE_
	SIGTYPE_VALTYPE_
	BO_TX_BU_
	BA_DEF_REL_
	BA_REL_
	BA_DEF_DEF_REL_
	BU_SG_REL_
	BU_EV_REL_
	BU_BO_REL_
	SG_MUL_VAL_

BS_:

BU_: DBG DRIVER IO MOTOR SENSOR


BO_ 100 DRIVER_HEARTBEAT: 1 DRIVER
 SG_ DRIVER_HEARTBEAT_cmd : 0|8@1+ (1,0) [0|0] ""  SENSOR,MOTOR

BO_ 500 IO_DEBUG: 4 IO
 SG_ IO_DEBUG_test_float : 24|8@1+ (0.5,0) [0|0] ""  DBG
 SG_ IO_DEBUG_test_signed : 16|8@1- (1,0) [0|0] ""  DBG
 SG_ IO_DEBUG_test_enum : 8|8@1+ (1,0) [0|0] ""  DBG
 SG_ IO_DEBUG_test_unsigned : 0|8@1+ (1,0) [0|0] ""  DBG

BO_ 101 MOTOR_CMD: 1 DRIVER
 SG_ MOTOR_CMD_drive : 4|4@1+ (1,0) [0|9] ""  MOTOR
 SG_ MOTOR_CMD_steer : 0|4@1- (1,-5) [-5|5] ""  MOTOR

BO_ 400 MOTOR_STATUS: 3 MOTOR
 SG_ MOTOR_STATUS_speed_kph : 8|16@1+ (0.001,0) [0|0] "kph"  DRIVER,IO
 SG_ MOTOR_STATUS_wheel_error : 0|1@1+ (1,0) [0|0] ""  DRIVER,IO

BO_ 200 SENSOR_SONARS: 8 SENSOR
 SG_ SENSOR_SONARS_no_filt_rear m1 : 52|12@1+ (0.1,0) [0|0] ""  DBG
 SG_ SENSOR_SONARS_rear m0 : 52|12@1+ (0.1,0) [0|0] ""  DRIVER,IO
 SG_ SENSOR_SONARS_no_filt_right m1 : 40|12@1+ (0.1,0) [0|0] ""  DBG
 SG_ SENSOR_SONARS_right m0 : 40|12@1+ (0.1,0) [0|0] ""  DRIVER,IO
 SG_ SENSOR_SONARS_no_filt_middle m1 : 28|12@1+ (0.1,0) [0|0] ""  DBG
 SG_ SENSOR_SONARS_middle m0 : 28|12@1+ (0.1,0) [0|0] ""  DRIVER,IO
 SG_ SENSOR_SONARS_no_filt_left m1 : 16|12@1+ (0.1,0) [0|0] ""  DBG
 SG_ SENSOR_SONARS_left m0 : 16|12@1+ (0.1,0) [0|0] ""  DRIVER,IO
 SG_ SENSOR_SONARS_err_count : 4|12@1+ (1,0) [0|0] ""  DRIVER,IO
 SG_ SENSOR_SONARS_mux M : 0|4@1+ (1,0) [0|0] ""  DRIVER,IO




CM_ BU_ DRIVER "// The driver controller driving the car //";
CM_ BU_ MOTOR "The motor controller of the car";
CM_ BU_ SENSOR "The sensor controller of the car";
CM_ BO_ 100 "Sync message used to synchronize the controllers";
BA_DEF_  "BusType" STRING ;
BA_DEF_ BO_  "GenMsgCycleTime" INT 0 0;
BA_DEF_ SG_  "FieldType" STRING ;
BA_DEF_DEF_  "BusType" "CAN";
BA_DEF_DEF_  "GenMsgCycleTime" 0;
BA_DEF_DEF_  "FieldType" "";
BA_ "GenMsgCycleTime" BO_ 100 1000;
BA_ "FieldType" SG_ 100 DRIVER_HEARTBEAT_cmd "DRIVER_HEARTBEAT_cmd";
BA_ "GenMsgCycleTime" BO_ 500 100;
BA_ "FieldType" SG_ 500 IO_DEBUG_test_enum "IO_DEBUG_test_enum";
BA_ "GenMsgCycleTime" BO_ 101 100;
BA_ "GenMsgCycleTime" BO_ 400 100;
BA_ "GenMsgCycleTime" BO_ 200 100;
VAL_ 100 DRIVER_HEARTBEAT_cmd 2 "DRIVER_HEARTBEAT_cmd_REBOOT" 1 "DRIVER_HEARTBEAT_cmd_SYNC" 0 "DRIVER_HEARTBEAT_cmd_NOOP" ;
VAL_ 500 IO_DEBUG_test_enum 2 "IO_DEBUG_test2_enum_two" 1 "IO_DEBUG_test2_enum_one" ;