Modules

Overview

In the Xmera simulation framework, a module is a self-contained component that performs a specific simulation task, such as dynamics modeling, sensor processing, or control logic. Modules inherit from the SysModel interface and follow a common structure to ensure they can be scheduled and run within a simulation task.

Requirements

Every module must:

• Inherit from SysModel

• Implement the following virtual methods:

  • void Reset(uint64_t CurrentSimNanos)

  • void UpdateState(uint64_t CurrentSimNanos)

Example

#include "architecture/_GeneralModuleFiles/sys_model.h"
#include <iostream>

class MyExampleModule : public SysModel {
public:

    MyExampleModule() {
        this->modelTag = "MyExampleModule";
    }

    void reset(uint64_t currentSimNanos) override {
        std::cout << "[" << modelTag << "] Reset at t=" << currentSimNanos << std::endl;
    }

    void updateState(uint64_t currentSimNanos) override {
        std::cout << "[" << modelTag << "] Updating at t=" << currentSimNanos << std::endl;
    }
};

Input/Output

Modules typically use the Xmera messaging system to receive inputs and publish outputs.

ReadFunctor<ExampleMsgPayload> inputMsg;
Message<ExampleOutputMsgPayload> outputMsg;

void reset(uint64_t currentSimNanos) override {
    // Optional: validate message is linked
}

void update(uint64_t currentSimNanos) override {
    ExampleMsgPayload input = this->inputMsg();
    ExampleOutputMsgPayload output = {};

    // Compute results using `input`
    this->outputMsg.write(&output, currentSimNanos);
}