                //-------------------------
                // BEGIN Bridge description
                // Bridge
                bridge (SimuBridgeToCanOpenHardware,
                        argMap(
                            ref("tcpProxy"),
                            ref("clampXminusController"),
                            ref("clampXplusController"),
                            ref("carouselController"),
                            ref("hyttc580"),                            
                            ref("ai814"),
                            ref("pt100"),
                            ref("$plutoGatewayName")
                            ))
                        {//begin description of bridge's children 
                            
                            // tcp Proxy
                            tcpProxy (SimuCanOpenProxy,
                                argMap(                             
                                   a("portNumber", 54321),
                                   a("fieldBusTimeout", 2000),
                                   a("myClientName","TestBench"),
                                   a("hardwareBootTimeout",2500), 
                                ))
                            
                            clampXminusController (SimuCarouselClampController,
                                    argMap( 
                                    a("nodeID","1a"),
                                    a("serialNB","79003317"),
                                    aMap("paramsForCurrent", [MotorType:11, PositionSensorType:3,PolePairNumber:8,
                                            ContinuousCurrentLimit:2360,OutputCurrentLimit:4720,
                                            ThermalTimeConstantWinding:160,
                                            MaxSpeedInCurrentMode:25]),
                                    aMap("paramsForProfilePosition", [MotionProfileType:0]),
                                    aMap("paramsForHoming",[HomeOffset:0]),
                                    ))  

                            clampXplusController (SimuCarouselClampController,
                                    argMap( 
                                    a("nodeID","1b"),
                                    a("serialNB","79003313"),
                                    aMap("paramsForCurrent", [MotorType:11, PositionSensorType:3,PolePairNumber:8,
                                            ContinuousCurrentLimit:2360,OutputCurrentLimit:4720,
                                            ThermalTimeConstantWinding:160,
                                            MaxSpeedInCurrentMode:25]),
                                    aMap("paramsForProfilePosition", [MotionProfileType:0]),
                                    aMap("paramsForHoming",[HomeOffset:0]),
                                    ))
                                
                            carouselController (SimuCarouselController,
                                argMap( 
                                a("nodeID","1c"),
                                a("serialNB","7900xxxxx"),
                                aMap("paramsForCurrent", 
                                    [ContinuousCurrentLimit:3440,
                                    OutputCurrentLimit:6880,
                                    MaxSpeedInCurrentMode:2000,
                                    MotorType:10,PolePairNumber:1,
                                    PositionSensorType:1]),
                                aMap("paramsForProfilePosition", 
                                    [MinPositionLimit:-300,
                                    MaxPositionLimit:550000,
                                    MotionProfileType:0]),
                                aMap("paramsForHoming",[HomeOffset:0]),
                                ))
                            
                            // can open devices to read clamps sensors
                            hyttc580 (CanOpenDevice,
                                    argMap(
                                        a("nodeID","1d"),
                                        a("serialNB","44110125008180")))
                            
                            // can open devices to read brakes sensors and temperatures
                            ai814 (SimuCanOpenADC,
                                    argMap(
                                        a("nodeID","1e"),
                                        a("serialNB","c7yyyyyy"),
                                        a("transmissionType","1")))

                            // can open devices to read brakes sensors and temperatures
                            pt100 (CanOpenDevice, 
                                    argMap(
                                        a("nodeID","1f"),
                                        a("serialNB","c7zzzzzz")))  

                            // description of plutoGateway 
                            //this has to be changed because in carousel we don't have a plutoGateway.
                            "$plutoGatewayName" (SimuCarouselStandalonePlutoGateway,
                                    argMap(
                                        a("nodeID","1"),
                                        a("serialNB","22d6")))
                            
                        } //end of carousel's bridge hardware
 //**************************************************************************//
                // end of Bridge
 //**************************************************************************//

