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Function specification

Function specification¶

Function specification is generalized structure between any SWSYS and atomic functions. In general, specification describes:

function name;
inputs and their types;
outputs and their types;
function state variables and their types;

For DSL defined functions inside FLOW, FSM, IBR - C-ATOM uses XML notation below to define function specification. This notation is generalized for mentioned configurable layers.

Function specification format¶

...
    <spec name="cont_angrate">
        <inputs>
            <i alias="omega" type="core.type.v3f64"/>
            <i alias="desired_omega" type="core.type.v3f64"/>
            <i alias="collective" type="core.type.f64"/>
            <i alias="direct" type="core.type.v3f64"/>
            <i alias="enable" type="core.type.bool"/>
            <i alias="arming" type="core.type.bool"/>
            <i alias="pids_gain" type="core.type.f64"/>
        </inputs>

        <outputs>
            <o alias="m1" type="core.type.f64"/>
            <o alias="m2" type="core.type.f64"/>
            <o alias="m3" type="core.type.f64"/>
            <o alias="m4" type="core.type.f64"/>
            <o alias="armed" type="core.type.bool"/>
        </outputs>
    </spec>

...

Tag	Attrs	Description
spec		Function specification
	name	Function specification name, must be unique inside the running scope
inputs		Grouping tag for function’s inputs specifications
i		Input specification
	alias	alias of the input
	type	data type of the input from the list C-ATOM data types
outputs		Grouping tag for function’s outputs specifications
o		Output specification
	alias	alias of the output
	type	data type of the output from the list C-ATOM data types

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