trait CommonSignals:
    signal_interface is Physics.Signals.SignalInterface:
        enable: true

        front_frame_position is Physics.Signals.Output: chassis.front_frame.pos_output
        front_frame_velocity is Physics.Signals.Output: chassis.front_frame.vel_output
        front_frame_acceleration is Physics.Signals.Output: chassis.front_frame.acc_output

        # These two are, in the current OpenPLX release, required in 
        # order properly to calculate the heading velocity of the vehicle
        front_frame_velocity_vector_start is Physics.Signals.Output: chassis.velocity_vector_start_output
        front_frame_velocity_vector_end is Physics.Signals.Output: chassis.velocity_vector_end_output

        rear_frame_position is Physics.Signals.Output: chassis.rear_frame.pos_output
        rear_frame_velocity is Physics.Signals.Output: chassis.rear_frame.vel_output
        rear_frame_acceleration is Physics.Signals.Output: chassis.rear_frame.acc_output

        steering_left_cylinder_position is Physics.Signals.Output: steering.left_steering_actuator.cylindrical.position_output
        steering_right_cylinder_position is Physics.Signals.Output: steering.right_steering_actuator.cylindrical.position_output
        steering_angle is Physics.Signals.Output: chassis.frame_connection.to_link.upper_pivot.hinge.angle_output
        steering_angular_velocity is Physics.Signals.Output: chassis.frame_connection.to_link.upper_pivot.hinge.angular_velocity_output

        cargo_bed_left_cylinder_position is Physics.Signals.Output: cargo_bed_connection.left_lift.actuator.cylindrical.position_output
        cargo_bed_right_cylinder_position is Physics.Signals.Output: cargo_bed_connection.right_lift.actuator.cylindrical.position_output
        cargo_bed_angle is Physics.Signals.Output: cargo_bed_connection.connection.hinge.angle_output
        cargo_bed_angular_velocity is Physics.Signals.Output: cargo_bed_connection.connection.hinge.angular_velocity_output

        drivetrain_wheel_front_left_angular_velocity is Physics.Signals.Output: front_axle_connection.left_wheel_connection.angular_velocity_output
        drivetrain_wheel_front_right_angular_velocity is Physics.Signals.Output: front_axle_connection.right_wheel_connection.angular_velocity_output
        drivetrain_wheel_mid_left_angular_velocity is Physics.Signals.Output: rear_axle_connection.left_wheel_connection_1.angular_velocity_output
        drivetrain_wheel_mid_right_angular_velocity is Physics.Signals.Output: rear_axle_connection.right_wheel_connection_1.angular_velocity_output
        drivetrain_wheel_rear_left_angular_velocity is Physics.Signals.Output: rear_axle_connection.left_wheel_connection_2.angular_velocity_output
        drivetrain_wheel_rear_right_angular_velocity is Physics.Signals.Output: rear_axle_connection.right_wheel_connection_2.angular_velocity_output
