{
  "version": "v0.1",
  "hils": [
    {
      "name": "physical_io_hil",
      "warmup_s": 3.0,
      "init": {
        "tank_level": 500,
        "bottle_fill_level": 0,
        "bottle_at_filler": 1,
        "bottle_distance": 0,
        "tank_input_valve": 0,
        "tank_output_valve": 0,
        "conveyor_cmd": 0
      },
      "params": {
        "tank_max": 1000,
        "bottle_max": 200,
        "distance_reset": 130,
        "filler_range": 30,
        "inflow_rate": 18,
        "outflow_rate": 6,
        "fill_rate": 6,
        "conveyor_speed": 4
      },
      "tasks": [
        {
          "type": "loop",
          "name": "physics",
          "dt_s": 0.6,
          "actions": [
            {
              "if": "tank_input_valve > 0.5",
              "then": [
                {"add": ["tank_level", "inflow_rate"]}
              ]
            },
            {
              "if": "tank_output_valve > 0.5",
              "then": [
                {"add": ["tank_level", "-outflow_rate"]},
                {
                  "if": "bottle_at_filler > 0.5 and bottle_fill_level < bottle_max",
                  "then": [
                    {"add": ["bottle_fill_level", "fill_rate"]}
                  ]
                }
              ]
            },
            {"set": ["tank_level", "clamp(tank_level, 0, tank_max)"]},
            {"set": ["bottle_fill_level", "clamp(bottle_fill_level, 0, bottle_max)"]},
            {
              "if": "conveyor_cmd > 0.5",
              "then": [
                {"add": ["bottle_distance", "-conveyor_speed"]},
                {
                  "if": "bottle_distance < 0",
                  "then": [
                    {"set": ["bottle_distance", "distance_reset"]},
                    {"set": ["bottle_fill_level", "0"]}
                  ]
                }
              ]
            },
            {"set": ["bottle_at_filler", "1 if bottle_distance <= filler_range else 0"]}
          ]
        }
      ]
    }
  ]
}