A model-driven co-simulation environment for heterogeneous systems

Modern heterogeneous systems, due to their complexity and multifaceted nature, require flexible high-level design and simulation techniques that take into account both aspects of continuous time modeling and discrete event modeling. In this context, model-driven approaches and extensions of the OMG Unified Modeling Language for the Real-time Embedded system and System-on-Chip domains are gaining popularity, both in industry as well as in academy, since they offer a high degree of abstraction and provide a common framework for the design, simulation and configuration management. To establish advanced model-driven design environments for complex heterogeneous systems, possible strategies for combining such approaches and languages in a common modeling and simulation framework must be determined. This article proposes a model-driven continuous/discrete co-simulation framework based on the OMG SysML standard—a UML profile for system engineering applications—for discrete event modeling, and on the industry de-facto standard Matlab/Simulink for continuous time modeling. The proposed approach adopts a code-in-the-loop co-simulation schema where optimized C/C++ code — including glue code for time synchronization and model interaction — is automatically generated from Simulink and SysML models according to model-driven development principles. A supporting environment (also described here) provides simulation features such as remote graphical animation and model execution control.