SIMWARE SIMDEVELOPER USER'S MANUAL. [Release 5.3]

Transcription

1 SIMWARE SIMDEVELOPER USER'S MANUAL [] Document edition date: 25/06/2015

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3 DOCUMENT DISCLAIMER The following pages contain a document originally created for Simware. This document was created by NEXTEL AEROSPACE DEFENCE & SECURITY S.L in the proper format and with the language necessary to help ensure its validity when all of the information required for this document has been entered. It should be understood that any changes to the content, appearance, or layout of this document are done so at the risk of affecting its validity NEXTEL AEROSPACE DEFENCE & SECURITY S.L cannot be responsible for the legal consequences of changes you make to this document. Furthermore, NEXTEL AEROSPACE DEFENCE & SECURITY S.L is not in a position to provide answers to questions regarding any changes to this document. It is strongly recommended that you seek the advice of a lawyer for information about the validity and the consequences of any changes you may make to this document. COPYRIGHT NOTICE (c) 2015 NEXTEL AEROSPACE DEFENCE & SECURITY S.L all rights reserved. ALL RIGHTS RESERVED. This document contains material protected under International and Federal Copyright Laws and Treaties. Any unauthorized reprint or use of this material is prohibited. No part of this document may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopying, recording, or by any information storage and retrieval system without express written permission from NEXTEL AEROSPACE DEFENCE & SECURITY S.L.

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5 Page i Summary 1 INTRODUCTION General Definitions and Acronyms Matlab Configuration for Using SIMDEVELOPER SimDeveloper Processes System Functional Architecture and Data Model Definition Design Modules Production Modules Integration of Modules in the Prototyping Environment Code Generation SimDeveloper BlockSet DEVELOPING SIMULATION MODULES Data Model SimDeveloper Object types SimDeveloper Interaction types Interactions support SD Multi-Instance support Simware interface definition files Module Design Module Production: SimDeveloper Manager Tool Create a New Module Update Modules Interface... 25

6 Page ii Importing Modules Unloading Module Adding Modules to Simulink Diagram Module interface Verification Module Testing and Integration Module Source Code Generation Modules libraries Compilation... 34

7 Page iii Figures Figure 1-1: Matlab shortcut icon... 3 Figure 1-2: Matlab main window... 4 Figure 1-3: Path of Matlab... 5 Figure 1-4: Add with Subfolders of SimDeveloper... 5 Figure 1-5: MATLAB toolbar with Simulink icon... 6 Figure 1-6: SimDeveloper blockset in Simulink browser... 6 Figure 1-7: SimDeveloper subprocesses... 8 Figure 1-8: SD Blockset help sheets Figure 2-1: Mapping diagram instances creation Figure 2-2: Model with 1 interaction published and 1 subscribed Figure 2-3: Example of relations between simulation models and services Figure 2-4: Data model of an aerodynamic module example Figure 2-5: Create a Simulink New model Figure 2-6: SimDeveloper Model Manager Process Figure 2-7: SimDeveloper Manager Interface Figure 2-8: Model Name of the new module Figure 2-9: New Module Location Figure 2-10: Interface with the module loaded Figure 2-11: Selection of module to import Figure 2-12: XLM File Associated with the Imported Module Figure 2-13: Simulink diagram with incorporated Module Figure 2-14: Discrepancies Example Figure 2-15: Without Discrepancies Figure 2-16: Simware generation options Figure 2-17: Route for Code Generation Figure 2-18: Compilation Parameters... 33

8 Page iv Figure 2-19: HTML Report Tables Table 1-1: SimDeveloper subprocesses Table 2-1: SimDeveloper module library structure... 24

9 Page 1 of 35 1 INTRODUCTION 1.1 GENERAL There is a comment that states that the ability of engineers to define, analyze and develop physical problems, often contrast with their ability to implement effective software codes and vice versa. Excellent programmers may, in many cases, suffer from a lack of the simulation and modelization knowledge necessary to develop efficient engineering software source code. Oriented to address this issue, NADS has developed a new way of creating simulation modules under the name SimDeveloper. SimDeveloper is a development environment, consisting of a set of commercial tools, whose central purpose is the full development of simulation modules. As such, it covers all areas related to the development cycle of software components (analysis, design, development and unit tests) up to its integration with the rest of the systems. The SimDeveloper working philosophy is oriented to focus the system engineer on the logical and mathematical algorithmic of simulation modules, placing it within an engineering environment isolated from the software source code writing environment. This conceptual shift allows obtaining the following advantages: Separate design issues from those related to programming. Increase the productivity of engineers. Improve the capacity to scale and reuse components (models and modules developed). Incorporate the verification and validation processes in the early stages of development. Minimize the need for programming software code. Reduce the integration times. In order to support the complete development cycle of simulation modules, SimDeveloper relies on a MATLAB/Simulink and its tools for automatic code generation Real-Time Workshop Embedded Coder. SimDeveloper can cover the full design stage of the module in which, from an initial documentation that includes requirements and regulatory aspects, a functional specification is defined and the module is

10 Page 2 of 35 designed in the modeling environment, dividing the functions specified in the respective models. The stage finishes with the definition of the unit testing for module validation. SimDeveloper establishes a logical mechanism, ordered and consecutive to develop simulation modules quickly and efficiently, focusing on the development of these two fundamental premises: Split the specified functionality in scalable and reusable components denominated models. Concentrate the development of the modules and models in an isolated environment (prototyping environment) of the integration environment. All aspects that encompass the previously stated constitute the SimDeveloper process. SimDeveloper can address the implementation and the unit testing stages. The module algorithms and models are developed in a simple and effective way, and then the unit testing is run to validate the components. Once the component (module and model) has been validated in the prototyping environment, SimDeveloper will automatically generate simulation models in the form of libraries that can be integrated with the rest of the simulation. 1.2 DEFINITIONS AND ACRONYMS COTS: Commercial Off-The-Shelf DCS: Data Client Server IDL: Interface description language NADS: Nextel Aerospace, Defence and Security SD: SimDeveloper XML: Extensible Markup Language

11 Page 3 of MATLAB CONFIGURATION FOR USING SIMDEVELOPER Whereas the primary intention of SimDeveloper is to put developer s simulation modules in an engineering environment isolated from the software codification, it is necessary to have a tool that covers this feature. Currently, there is a commercial tool widely used in the world that meets the needs of SimDeveloper. SimDeveloper uses the inherent capabilities of Matlab/Simulink, adding a proprietary blockset and tools that allow concentrating and systematizing the development process in a single environment. Simulink with the SimDeveloper blockset constitutes the core of SimDeveloper environment. The blockset should be installed to be accessible as a blockset of Matlab/Simulink. SimDeveloper folder is installed, by default at C:\opt\Simware\SimDeveloper. To access SimDeveloper is necessary to open the environment of Matlab by double clicking the shortcut icon: Figure 1-1: Matlab shortcut icon

12 Page 4 of 35 Once the above operation is done, it presents Matlab main window as it is shown in Figure 1-2: Figure 1-2: Matlab main window

13 Page 5 of 35 The next step is to include SimDeveloper library in the Matlab Path selecting from the "File" menu the option "Set Path". Then, the Set Path window will be deployed, as it is shown in Figure 1-3. Figure 1-3: Path of Matlab Click on the Add with Subfolders button. The window shown in Figure 1-4 will pop up, where you can seek the path where SimDeveloper was installed, select it and click the OK button. Figure 1-4: Add with Subfolders of SimDeveloper

14 Page 6 of 35 Once accepted, SimDeveloper folder and all its files will appear in the Path list. The folder with the SimDeveloper license should be also in the Matlab Path, by default it is usually located at "C:\opt\Simware". Then press Save button to save the PATH list and Close button to close the window. There are two ways for starting Simulink; both of them have to perform form Matlab main window. It can be run writing the command "Simulink" in the Matlab console, and the other way is just to click on the Simulink icon located at the toolbar as shown in Figure 1-5. Figure 1-5: MATLAB toolbar with Simulink icon In both cases, the Simulink Library Browser will pop up and it can be checked that SimDeveloper blockset is included, as it is shown in Figure 1-6. Figure 1-6: SimDeveloper blockset in Simulink browser

15 Page 7 of SIMDEVELOPER PROCESSES SimDeveloper process ranges over a series of tools that cover the following characteristics: Simulator system definition and data model development. An environment for developing simulation Models. Simulation models unit testing and integration environment. Modules automatic source code generation.

16 Page 8 of 35 The Figure 1-7 represents a view of these subprocesses of SimDeveloper: Figure 1-7: SimDeveloper subprocesses

17 Page 9 of 35 The table 2-1 shows a description of each of the subprocesses of SIMDEVELOPER, including on the right column the professional profile (Actor) required in each case. Subprocesses Description Actors Modeling of the functional architecture of the simulator. It allows getting the applicable requirements to the simulation system and defining the architecture of it. Simulation Module Analyst / System Engineer / Technical Manager Modules Design. Modules production. Unit Testing. Integration of modules in the prototyping environment. Design of modules and new models of the simulator. Production of the modules and new models of the simulator. Execution and evaluation of unit testing of modules and models. Module integration procedure in the prototyping environment. Simulation Module Analyst / Test Engineer / System Engineer Simulation Modules Analyst Simulation Modules Analyst / Test Engineer / System Engineer Simulation Modules Analyst / Test Engineer Code Generation. Configuration of software components of the modules. Code Generated Verification. Functional elements performance analysis. Procedure for obtaining the C++ modules integrated with ehost and NCWare. Configuration procedure of the components of the modules. Control of the software elements generated. Monitoring of the execution parameters of the modules of a component. Analyst-Programmer / System Engineer System Engineer Test Engineer Test Engineer / System Engineer

18 Page 10 of 35 Subprocesses Description Actors Integration of modules in the simulation system. Variable Monitoring. Module Integration procedure in a software component of the simulation system. Visualization and modification of any published variable of the simulator. Table 1-1: SimDeveloper subprocesses Simulation Modules Analyst / Test Engineer Simulation Modules Analyst / Test Engineer / System Engineer The following sections provide a brief description of each SimDeveloper subprocesses System Functional Architecture and Data Model Definition It consists of performing an analysis to obtain the requirement specification of the simulator system, identifying the number of needed modules to meet the required functionality and the functional specification of each one of them. As part of this subprocess, it is also obtained the simulator data model. This process requires knowing all the needs that the system must meet, all of them specified as requirements of the simulator. In those requirements are condensed all those functional and nonfunctional aspects that must meet each of the systems comprising the simulator Design Modules This process consists in analyzing the functional specification of each simulation module to define their high level design. Moreover, this process includes the definition of the unit tests that the model must pass, once it has been produced. Module designs should include, whenever possible, functional models that have been already produced and validated. If it not possible, these needed functional models should be designed for its subsequent production.

19 Page 11 of Production Modules The aim of this process is to implement all the algorithms of the new designed functional models. The process ends with the integration of these functional models in the simulation module. During this integration process, some minor developments should be performed for adapting the functional models between them and with the modules interface. In order to identify these minor developments and to differentiate them from the functional models, they are called Module subsystems. Production Modules process finishes with the execution of the unit testing procedures of each simulation module Integration of Modules in the Prototyping Environment The purpose of this process is the execution of the system integration tests in the Simulink environment. This allows the detection and correction, in early stages of the integration phase, of the modules defects due to integration issues Code Generation This process consists of transforming the verified and integrated Simulink diagram module into a C+ + software code able to be integrated into a Simware simulation. SimDeveloper tools guide the overall code generation process, including the automatic configuration of the code generation rules and the build of the final Simware fully compliance library.

20 Page 12 of SIMDEVELOPER BLOCKSET SD BlockSet is integrated in Simulink Library Browser. It is composed by blocks and subsystems, which are useful during SimDeveloper processes. Every unit has a Help link for further information. SD BlockSet contains the next blocks: Figure 1-8: SD Blockset help sheets Functional Units: Simulink subsystems used to improve model design and implementation: o Discrete Functions: Derivate, integral and memory block that follow Simware state machine. o Time Management: Subsystems to manage simulation time. o Transfer Functions: Functions used to control systems and to simulate the natural behavior of a real system. o Transformation Functions: Units, axis and other commonly used transformation functions. o XML: Subsystems to import information from a XML file to Simulink model. Tools: Simulink subsystems used in SimDeveloper processes: o Manager: SD tool with graphical interface used to automate customized code generation of Simulink model and other functions. o SDAutoTester: Subsystem to automate simulation module unit tests. o SD_DSC_server: Subsystem for SimDeveloper communication with SimDIS tool.

21 Page 13 of 35 2 DEVELOPING SIMULATION MODULES SimDeveloper development process begins with the definition of the functional Architecture of the Simulation system. This definition involves the next main points: List of needed simulation modules and their functional requirements. Common data model for the whole simulation system, including the simulation modules and any other components. Once the data model and the functional requirements of the models are defined, the next phases are the design, production and unit testing of the modules. Theses phases should deliver verified simulation modules, which are ready for integration. The next step is to perform an integration of all the simulation modules in order to detect any integration defect, previously to the code generation and final environment integration. Then, the source code of the modules is generated and built getting the modules Simware compliance libraries. These libraries are integrated in the execution environment of Simware where are finally verified and validated. The next paragraphs explain in detail who SimDeveloper tools help the modules developer over all the processes. 2.1 DATA MODEL As it has been previously explained, the first step in the development of a simulator is to define the simulation modules, their functional requirements and the common data model. Simware uses two different data models. The first is the Control Data Model, which is used by Simware components to manage the simulation cycles, state machine and other internal processes. The control data model should not be changed by the SimDeveloper user. The second data model is the Simulation Data Model, which should be prepared for each simulator with the simulation data that can be publish or subscribed. Simware supplies the tool DataModel, included in

22 Page 14 of 35 the component Simware Modeler for facing the data model definition process. For further information read the Simware Modeler User Manual. In order to enable all the features of SimDeveloper code generation, there are some concepts and rules that should be followed then a data model is being developed using Modeler. These are explained in the next paragraphs: SimDeveloper Object types A simulation object is used for represent data (sets of attributes) that are published periodically, one time each simulation cycle. There are different types of parent objects that can be used depending on the type of the object you want to publish / subscribe. Different types involve different ways of generating code. These are: CondicionesInicialesEntidad: Objects of initial conditions. These objects are created and published only when you publish an interaction of instance creation kind. Children objects must be called CINombre_Entidad, where Nombre_Entidad is the name of the simulation object whose initial conditions you want to define. One instance of this object is created each time a new entity is created and its attributes define the initial conditions for this entity. ParametrosEntidad: Parameter objects. These objects are created and published only when you publish an interaction of instance creation kind. Children objects must be called ParamNombre_Entidad, where Nombre_Entidad is the name of the simulation object whose parameters you want to define. Only one instance of each of these objects is created in each simulation. All the instances of the same entity type use the same parameters object. ModeloSimulacion: These are modules that can be instantiated only once. It is used for simulating entities that are unique in a simulation system. DatosEntidad: These are modules that represent the entities of the simulation. They are instantiated multiple times. One element that subscribes to such type needs to do an instance filtering to make a request. ServicioSimulacion: These models supply simulation services for the simulation entities of the simulation. One instance of this modules type is created for each instance of simulation entity (DatosEntidad type). One element that subscribes to such object type needs to do an instance filtering to make a request.

23 Page 15 of SimDeveloper Interaction types A simulation interaction is used for represent events in the simulation. These data (sets of parameters) are published one time, each time that the event them simulate, takes place in the simulation. SD Data Model manages parent interactions explained next: EventoCreacionEntidad: This interaction is published by a simulation entity to notify that a new instance should be created. Children interactions must be called EventoCreacionEntidadNombre_Entidad where Nombre_Entidad is the name of the simulation entity to be created. This rule makes it possible the correlation between Simulation Event and Initial conditions object published by the module. EventoDestruccionEntidad: This interaction is published by a module to request it self-destruction. EventoCreacionServicio: This interaction is published by a simulation entity to notify that it needs a service. This type of interaction is published when the entity is being created. Children interactions must be called EventoCreacionServicioNombre_Servicio where Nombre_Servicio means the service simulation name. OrdenesEntidad: This type of interactions are used by SimDeveloper for simulating orders or commands that are attended by entities and trigger some internal behavior of these entities Interactions support Simulink does not support interactions. In each simulation cycle, Simulink calculates and publish all data. So, the event concept is not allowed. However, this problem has been solved by SimDeveloper and modules created with this tool can handle interactions. SimDeveloper source code generation involves two processes. First, the Real-Time Workshop Embedded Code component of Matlab is invoked for generating the Simulink diagram code. Then, SimDeveloper generates a specific code wrapper that allows advance features.

24 Page 16 of 35 In that way, interactions are managed by SimDeveloper module wrapper, not by the Simulink Real-Time Workshop. For that reason, Simulink model interactions are created to act as a bridge among Simulink model, SimDeveloper module wrapper and the published interaction. An example for and interaction of instance creation it is shown in next Figure: Simulation Module IdNuevaInstancia TipoInstanciaCreadora Simulink Model TipoInternoNuevaInstancia Publish EventoCreacionEntidad Publish SolicitudCreacionInstancia <IdNuevaInstancia, TipoInternoNuevaInstancia, Figure 2-1: Mapping diagram instances creation In Simulink model, interactions parameters are regular input and output model blocks. The interactions happen asynchronous, for that, an additional Simulink input or output is needed for each interaction in order to indicate data validity (flag). This Simulink input or output has the name of the interaction and does not appear in the data model, thus it is only managed internally by the module wrapper. Pending on the value of this signal inside the Simulink module, the wrapper publishes the interaction in the Simware simulation.

25 Page 17 of 35 As an example, Figure 2-2 shows a Simulink model that subscribes to an interaction IntSubs, with 2 parameters: Id and PosX, and publishes an interaction IntPub with parameter Id. IntSubs IntPub IntSubsId IntSubsPosX IntPubId ModelA Figure 2-2: Model with 1 interaction published and 1 subscribed For each interaction that module is subscribed, there is an input flag, whose values can be: 0, if there is not interaction notification. That means interaction model inputs must not be used in that simulation cycle. 1, if there is interaction notification in this simulation cycle and interaction must be evaluated. Module output flag value increases one unit every interaction publication. The SD wrapper detects flag change and publishes the interaction SD Multi-Instance support SimDeveloper can generate simulation modules which can be instantiated multiple times. From a Simulink model, SimDeveloper generates a library that is able to manage some instances of the same model, each one with its own state variables and model inputs/outputs. For that reason, it is possible to create and destroy instances from a model dynamically. This capacity is completely provided by the SD module wrapper.

26 Page 18 of 35 Simulation services are simulation models which publish scenario or environment simulation data (atmospheric, radio electric, infrared, etc.) to other models. Simulation services are instantiated by modules or by other simulation services which subscribe data them to. When service is created, a biunivocal relation is created between instance model/service publisher and instantiated service. SimDeveloper handles these processes taking into account the interactions for services creation previously explained. SIMULATION SERVICE 1 SIMULATION MODEL SIMULATION SERVICE 3 SIMULATION SERVICE 2 Figure 2-3: Example of relations between simulation models and services Simware interface definition files Once the interface characteristics of the different simulation modules in the data model are defined, using Simware Modeler tool, it is needed to connect that information with the Simdeveloper environment. For that, Modeler provides a mechanism to condense the information required for each simulation module by generating an XML interface definition file, which contains the information necessary to assist the designer during the whole development process of the module. For further information read the Simware Modeler User Manual.

27 Page 19 of 35 The generated file presents the format corresponding to IEEE 1516 standard and contains all the information relevant to the simulation module selected. An example of file generated for an aerodynamic module is shown in Figure 2-4. Figure 2-4: Data model of an aerodynamic module example 2.2 MODULE DESIGN The data model particularized for the module that it wants to design, through the XML format, contains the interface information necessary to design the module in the development environment. As it was previously commented the design of a module involves the definition of its interface and moreover, establishing how the modules functional requirements are going to be cover. That requires taking into account that a module consists of some functional models and subsystems that constitute it.

28 Page 20 of MODULE PRODUCTION: SIMDEVELOPER MANAGER TOOL To easy the development process, SimDeveloper offers the tool "Manager". This tool is the interaction nexus with the environment MATLAB/Simulink in each of the subprocesses that make SimDeveloper. The advantage of using SimDeveloper Manager is the simplification of the tasks that are necessary to perform for completing the development process, including, among others: Store the XML file information of the module data. Create the modules design Simulink diagram (basic structure of the module) Verify the discrepancies between the module external interface and the data model. Select and configure the features so that the automatic code generation is efficient. Drive automatically the source code generation process. Thus, the SimDeveloper Manager narrows the boundaries of the development process and avoids the need to know and configure parameters specific to the MATLAB/Simulink environment. SimDeveloper Manager can be found in the folder Tools of the SimDeveloper BlockSet for Simulink. As it is explained in the next chapters, it guides the module production process Create a New Module Once the module design phase is done, the next step is to create the new module. Click the New button on the Library Browser's toolbar of MATLAB/Simulink or choose New from the library window's File menu and select Model, as shown in Figure 2-5. This will bring up a new untitled modeling window shown below (see Figure 3-14). Alternatively, you can run, in the MATLAB/Simulink command window, the following commands: >> new_system( untitled ) >> open_system( untitled )

29 Page 21 of 35 Figure 2-5: Create a Simulink New model

30 Page 22 of 35 Then, open the Simulink Library Browser by clicking on the Library Browser button,, and expand the SimDeveloper Blockset library. Select the Manager in the browser, drag and drop it into the new untitled modeling window. Figure 2-6: SimDeveloper Model Manager Process Double-click on the Manager. SDManager window appears as it is shown in Figure 2-7: Figure 2-7: SimDeveloper Manager Interface To create a new simulation module, the Manager provides mechanisms that allow the developer to transform the interface information contained in the XML file, corresponding to a module, in a library of MATLAB/Simulink for that module.

31 Page 23 of 35 Select Create Module from Data Model from Data Model Options menu of SDManager window. The "Import Data model" window appears which allows the developer to select the location and the name of the XML file for the module. Choose the xml file and open it. The Manager imports and keeps the information of that file. Once the file has been successfully imported by the Manager, a dialog appears asking the name of the module you want to create, see Figure 2-8. Figure 2-8: Model Name of the new module Once the model has been named, a Folder Selection dialog box appears allowing the developer to specify the name of the folder into which you want to locate the model, see Figure 2-9. Figure 2-9: New Module Location

32 Page 24 of 35 In the folder chosen previously, the library module is built with the structure shown below. Name_module Module directory Data Subdirectory to incorporate the module own data Design Design Document _modulename Subdirectory that includes the module design document template Adicional_sw Subdirectory that includes module additional SW components. test Unit Testing Document of Modules Subdirectory that groups the files and unit testing documents. Library module_name Module library. Table 2-1: SimDeveloper module library structure Now, the SDManager window shows the loaded module, see Figure 2-10: Figure 2-10: Interface with the module loaded The module, in practice, is the container for functional models, the state machine model and the subsystems needed for adapting these blocks between them and with the module interface.

33 Page 25 of 35 When SDManager creates a library module, it creates the basic structure of the module placing the Simware state machine model and all the input and output Simulink blocks for defining the simulation module interface. Even more, SD Manager creates the flags needed for the SimDeveloper wrapper for handling interactions and allowing other advanced features, such as simulation services requests, simulation phase input and simulation frequency input block. The next steps for producing a module are the followed: Identify functionality of the module and search, in SimDeveloper repository, the functional models that could cover the functionality. Use directly these models, upgrade them or create completely new functional models. For the task of creating completely new functional models, SimDeveloper blockset supplies functional units, which easy some implementations. It is important to remark that SimDeveloper code generation allows the use of any block from Simulink blockset and StateFlow. Blocks from other blocksets of Simulink, as Aerospace Blockset of MathWorks or other manufactures, could not be compliance with some SimDeveloper process, principally with source code generation or building. Contact NADS for clarify blocks compliance, mainly if these blocks use S-Functions. It is recommended that the new models or the upgraded ones, pass unit testing procedures at this point, previously to integrate them into the module. Moreover, it is highly recommended to include the new functional models into the models repository for future reusing. Drag and drop functional models from their libraries into the module diagram and link properly all module blocks between them. Follow Simulink User Manual for basic instructions about this point. Once the previous points have being performed, the new module is ready for unit testing process Update Modules Interface During the module development, it is possible that the data model changes. In this case, there is the possibility of incorporating the modification to the module. The procedure is as follows: Choose Update Module from Data Model from Data Model Options menu of SDManager window. The "Update Data model" window appears, allowing the user to select the location and the name of the XML file with the updated interface. Choose the xml file and open it. The Manager updates the information of that file.

34 Page 26 of 35 Now, the SDManager window shows the loaded and updated module. If the module updated does not correspond with the module already loaded an error is produced Importing Modules For those cases in which the module is already created and is necessary incorporating it for using/modifying its information, SD Manager provides a mechanism to import that module. Choose Load Module from Module Options menu of SDManager window, the "Select model" window appears allowing the user to select the module to be imported, see Figure Figure 2-11: Selection of module to import

35 Page 27 of 35 Once the module to be imported has been selected, it is necessary to associate it the XML file that contains the information of the specific data model for that module. To this effect, a window appears in which you can select the XML file associated with the imported module. Figure 2-12: XLM File Associated with the Imported Module In this way, the module is incorporated to SimDeveloper. The interface shows that the module is loaded Unloading Module SD Manager provides the option of suppress the information imported form a module. Choose Unload Module from Module Options menu of SDManager window. SimDeveloper Manager eliminates any relationship with the module, including the download from the Matlab environment when loaded on it.

36 Page 28 of Adding Modules to Simulink Diagram Once the module information is contained in SimDeveloper Manager, this module can be incorporated or removed into the Simulink module diagram. Clicking on the Add Model to Simulink button, SimDeveloper Manager incorporates the model in the Simulink model window, as shown in Figure 2-13: Figure 2-13: Simulink diagram with incorporated Module Clicking on the Remove Model from Simulink button, SimDeveloper Manager removes the model from the model window Module interface Verification Clicking on the Verify Module button, SimDeveloper Manager verifies the interface of the module against the information loaded from the XML file.

37 Page 29 of 35 If there are discrepancies between the module and the imported XML file, these discrepancies are displayed in the discrepancy window, see the Figure 2-14: Figure 2-14: Discrepancies Example The analysis of discrepancies has four different phases that can generate up to four windows of discrepancies as the previous one: Module Inputs: Check the module inputs against the data model inputs. Data Model Inputs: Check the data model inputs against the module inputs. Module Outputs: Check the module outputs against the data model outputs. Data Model Outputs: Check the data model outputs against the module outputs.

38 Page 30 of 35 If there are not discrepancies, the following window appears: Figure 2-15: Without Discrepancies 2.4 MODULE TESTING AND INTEGRATION SimDeveloper includes some tools focused on testing and final integration processes. Once the module has being produced, the unit testing process should be performed. SimDeveloper BlockSet includes the tool SDAutoTester. This block helps to pass automatic test procedures and save the results for verify the module. Moreover, this block allows the tester to run fully automated recursive tests over a previously verified module. After all the modules of a simulator have been produced and verified, the next step is the integration of all the modules. SimDeveloper provides some tools to easy this process. Other tool that helps in the integration phase is the DCS server. This block connects directly the integration diagram with all the modules running in Simulink environment with a DCS client. This allows the tester to use some COTS like SimDIS as 2D and 3D viewers. These and other SimDeveloper tools can be found in the SimDeveloper Blockset and they are explained in detail in their help sheets. These help documents can be found pressing the help button of each bock.

39 Page 31 of MODULE SOURCE CODE GENERATION The generation process of the module source code is that by which the module developed in the SimDeveloper environment is transformed in a software component that can be integrated into a specific target platform. For this, SimDeveloper generates, in a fast and efficient way, C++ code of the module, including needs arising from the communication of that module with other components of Simware architecture (NCWare, ehost, ACS, ecockpit, evisual, etc.). Although SimDeveloper generates code for different targets, and some legacy versions of Simware (kernel 1 and Kernel 2.2), this manual only treats the module code generation for NCWare. SimDeveloper source code generation consists of the next process: Simulink diagram source code generation uses the MathWorks component Real-Time Workshop Embedded Coder. SimDeveloper autoconfigures this component and launch the generation process. Show a report of the generated code (if this feature is enabled) Generation of the SimDeveloper wrapper over Real-Time Workshop generated code for Simware NCWare with the code needed for enabling advance features, such as interactions support, multiple instances support or services management. Generation of CMake files for building the source code of the module in the Operating System indicated as target. First, the module that is going to be generated should be imported and loaded in the SD Manager, as it is explained in the sections and of this Manual. Then, the target Operating System has to be selected between Windows or Linux. Figure 2-16: Simware generation options

40 Page 32 of 35 If the Matlab component Simulink Report Generator has being installed, the HTML Report check could be selected. Then, a report of the source code is shown during the generation process. For further information about this report refer to the Simulink Report Generation Help Guide. Once all steps above have been carried out, click on the Generate Code button of the SDManager interface to start the module source code construction. Afterwards, a window appears asking for the path to locate the code to generate, as shown in Figure Figure 2-17: Route for Code Generation

41 Page 33 of 35 Next, a new window appears (see Figure 2-18) allowing the developer to introduce in the autogenerated code the module variables gotten from Matlab Workspace as parameters. This is used for easing future changes directly over the generated source code. These option has no sense on SimDeveloper, since it has removed the needed of handle source code. Figure 2-18: Compilation Parameters

42 Page 34 of 35 Click on Build button to continue with the code generation process. Finally, if the HTML report checkbox has been selected a report of the code is shown, as it can be seen in Figure Figure 2-19: HTML Report Performing the process described above, it obtains the auto generated code of the simulation module. The next step is to get the compiled library of the simulation module for its usage in Simware. 2.6 MODULES LIBRARIES COMPILATION Simdeveloper source code generation process includes the generation of a couple of additional files that easy the compilation process. These files are a CMakeList.txt and a script (Mod_[module_name].bat for Windows and Mod_[module_name].sh). If the Simware installation has not been done by default it would be needed to modify these files. Moreover the system environment variables of Simware needed to be defined.

43 Page 35 of 35 For starting the compilation process, just open a terminal and launch the script followed by the location of the datamodel source code of the simulation. The process results in the dynamic link library file of the model. Refer to the Simware User Guide for explanations about it use. An example of this process is shown next. This example compiles a simulation model called Aircraft, taking into account that the datamodel has been generated by Simware Modeler in the folder /home/user/simulation/datamodel. >>./Mod_Aircraft.sh /home/user/simulation/datamodel