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EuroSim Mk4.0 Software User's Manual

1. Event Description Arguments scSpeed Relative clock speed speed Only when running non real time Table J 15 Scheduler control autonomous messages The following example in C sets the speed of a non realtime simulator to run as fast as possible Listing J 11 Let the simulator run as fast as possible Connection conn must be set with eventConnect eventSpeed conn NULL 1 From now the scheduler from EuroSim will execute all models as fast as possible The event scSpeed 1s sent at 2 Hz The value of the speed parameter will reflect the actual acceleration achieved J 8 Simulator shutdown At the moment a simulator executable exits all clients are automatically disconnected In that case event evShutdown is received This is a pseudo event which is not sent by the simulator but is generated as soon as a socket shutdown is detected The socket has been destroyed by then and it is not possible to send messages to the simulator anymore It is also possible to actively terminate the simulator connection by calling eventDisconnect Listing J 12 Disconnect from the simulator Connection conn must be set with eventConnect x eventDisconnect conn After disconnecting from the simulator it is not possible to send messages to the simulator However it is possible to reconnect to the simulator using the functions described in Section J 2
2. 230 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 lt item gt home demo foo Prof mdl lt item gt lt item gt home demo foo Etc mdl lt item gt lt item gt home demo foo Fault mdl lt item gt lt item gt home demo foo Rec mdl lt item gt lt scenarios gt lt prefcon gt 0 lt prefcon gt lt uid gt 1005 lt uid gt lt gid gt 1005 lt gid gt lt pid gt 14686 lt pid gt lt variables gt lt var gt lt name gt speed lt name gt lt type gt int lt type gt lt unit gt m s lt unit gt lt min gt 0 lt min gt lt max gt 100 lt max gt lt description gt The speed of the object lt description gt lt var gt lt var gt lt name gt acceleration lt name gt lt type gt int lt type gt lt unit gt m s2 lt unit gt lt min gt 10 lt min gt lt max gt 10 lt max gt lt description gt The acceleration of the object lt description gt lt var gt lt variables gt lt sessioninfo gt 21 6 2 4 The view list The view list structure contains multiple view elements all consisting of a name simstate simtime and runtime element and a list of variables Format lt ELEMENT name PCDATA gt lt ELEMENT runtime PCDATA gt lt ELEMENT simstate PCDATA gt lt ELEMENT simtime PCDATA gt lt ELEMENT value PCDATA gt lt ELEMENT var name value gt lt ELEMENT va
3. Channel Channel Identifier Define Chapter Real time control rt control CONTROLCHANNEL Section J 4 Mission mdlAndActions MISSIONCHANNEL Section J 5 Monitor data monitor MONITORCHANNEL Section J 6 Scheduler control sched control SCHEDCONTROLCHANNEL Section J 7 Table J 2 Channel Descriptions To subscribe to a channel the function event JoinChannel must be called Listing J 6 Join a channel Connection conn must be set with eventConnect x eventJoinChannel conn MISSIONCHANNEL For a simulator client it is mandatory to join the MISSIONCHANNEL After launching the simulator the simulator waits with the further initialization until the first client joins this particular channel The simulator can then send its messages to a client This is particular useful when something goes wrong It enables the user to read the messages and take corrective actions The following four chapters will describe each channel in detail Each chapter will contain tables describ ing events coming from the simulator and commands which can be sent to the simulator Each command is sent using an event macro This macro takes 2 or more arguments The first two arguments are always the same The first argument is the handle to the connection the second argument is a pointer to an AuxStamp structure which can be a NULL pointer for clients J 4 Real time control channel The real time control channel is used
4. It is possible to synchronously wait for an event you expect In this case you call wait event with the name of the event same name as used to install a handler and an optional time out To synchronously wait for some time to pass you can call wait_time This function takes the number of seconds you want to wait as an argument A complete overview of all functions provided by this module can be found in the manual page Eu roSim Session 3 14 4 1 1 Session data structure reference The Session object is a hash table with the following fields MDL Hash table of loaded MDL files Each hash key is the name of a loaded MDL file The hash value is a EuroSim MDL object MDL files are loaded at start up when a sim file is loaded or during run time when extra MDL files are loaded Extra files can be loaded by the built in event handler for event maNewMission or by manually adding MDL files with new_scenario clientname The name under which this session is known to the simulator The value is set with the function clientname conn EuroSim Conn object Low level connection object cwd Current working directory of the simulator The value is set by the built in event handler for event maCurrentWorkingDir am cycle time Action Manager cycle time in secs The value is set by the built in event handler for event maCurrentCycleTime dict Data dictionary file name The value is set by the built in event handler for event
5. Printer p1 2b096 ds File File format Orientation c Portrait y Landscape Cancel Figure 13 3 Printing plots It is possible to print to the printer or to print to file s Printing to the printer will print each plot on a separate page while printing to file will print each plot in a separate file 13 4 Plot properties reference The next three sections describe the plot properties area This area can be used to alter the plot s proper ties It is divided into three parts general properties the curve editor and the axes properties 13 4 1 General plot properties Figure 13 4 shows the tab page with the general plot properties 136 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 Plot Properties Altitude Plot x General curves Axes Info Plot title Attitude Plot Plot description Legend position HHHK rSimulation time Top left Top right Use all recorded data C Bottom left Bottom right Use data recorded between and seconds I Show a grid A Figure 13 4 General plot properties Plot title The title of the plot is shown on the plot view as well as on the plot itself Plot description This can be a more elaborate description of the plot and is shown on the plot Legend position The legend is placed on the specified position Simulation time The simulation used in the
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7. ES amp speed Dutch Space BV 335 p iss 5 rev 0 SUM NLR EFO SUM 2 printf speed f n speed break return 0 The programmer can choose to use synchronous or asynchronous handling of events The example above has chosen for asynchronous event handling This means that each time an event arrives a sig nal SIGIO is sent to the application The library installs a signal handler which ultimately calls the eventHandler callback If you select synchronous handling the application has full control over when events are read Using select 2 the programmer can determine if data is ready to be read and would then call eventPo11 to process all the available events The function eventPo11 will call the eventHandler callback for each event J 3 Subscribing to channels After connecting to the server the simulator client can subscribe to several channels When a client is subscribed to a channel it will receive events that are sent automatically without a previous client request These messages are either generated by the models or by the simulator infrastructure Each channel addresses a specific area of interest At the moment of subscribing or joining a channel the client will receive a number of messages describing the current state relating to that channel The messages after joining a channel are described in the chapter dedicated to that channel Table J 2 describes each channel
8. Journal comment Mark Comment Comment TEE Figure 12 4 The Comment Journal Mark window 12 7 3 Server menu Select Server Before a simulation can be started a computer on the network has to be selected which can act as the simulation server By default the host on which you started EuroSim is assumed to be the simulation server and so this option is only necessary if you wish to use another host When this menu item is selected a window similar to the one in Figure 12 5 is shown This window lists all currently available servers on the network Use the Server Show Current Simulations menu item to check the status of each of those servers Select Server sever 0s Release crus lt Use localhost gt E n troi dutchspace nl IRIX64 6 5 20m bill dutchspace nl WINNT 5 vsrfsim dutchspace nl Linux 2 4 20 8 hpxsim dutchspace nl Linux 2 4 20 18 timersmp dabba dutchspace nl Linux 2 4 20 18 timersmp minbar dutchspace nl Linux 2 4 20 18 timercustom lunix dutchspace nl Linux 2 4 20 18 timer hobbes dutchspace nl Linux 2 4 20 18 timer F FNFNFHAaA Figure 12 5 Select Server window Show Current Simulations Use this menu item to check the status of each of the available simulation servers with respect to the number of simulations running on those servers An example is shown in Figure 12 6 The Show Paths button can be used to show the exact path of each the simulation running on
9. 17 4 5 Close down link If one of the clients is an external simulator then the appropriate disconnect should be called depends on which version of connect was used at the beginning see Section 17 4 1 include lt extClient h gt extDisconnect sim Then the TM TC link can be closed include esimLink h esimLinkShutdown 188 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 Chapter 18 Interfacing external simulators to EuroSim 18 1 Introduction With EuroSim the possibility exists to share simulation data at run time between EuroSim and another external simulator This is achieved by linking external simulator local variables to a subset of the EuroSim data dictionary variables During the simulation EuroSim tools ensure that the values in the two data dictionaries are mirrored the update frequency being a user definable parameter In Figure 18 1 a schematic of the connection and associated functions for handling the data dictionary values is provided External Client EuroSim Application Model datadict values B Receive dict view Simulation model DataDict Simulate S 55 DataDict Something datadict values Process Receive value s dict view ethernet Figure 18 1 External Simulator Access Schematic The two simulators need to be connected via a TCP IP link The EuroSim extSimAccess routines are intended to be usable within a
10. Author John Graat NLR Date 19961125 Changes none Purpose Model for the Simulation of a Bouncing Ball The Bouncing Ball describes a ball that is thrown straight up from the ground with an initial velocity or dropped from an initial height In the absence of friction the ball should reach exactly the same maximum height time and time again gt The ball is described as a mass point Parameters GRAVITY Gravitation constant m s2 State Height Height of the ball above the ground m Velocity Velocity of the ball m s Additional DeltaT Time Step for the Model LoadLoop Loop counter to increase computation time Duration Duration of the Ball Model Remark The mass of the ball has mplicitly been set to 1 kg API Header required for the correct Data Dictionary Entry Point ball Ball DESCRIPTION Computation of one time step of the ball m Global Input Variables M Long Float ball deltat UNIT s DESCRIPTION Time step for the Ball Sub Model MIN 0 MAX 1 Long Float ball height UNIT m 292 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 DESCRIPTION Height of the ball MIN 0 MAX 100 Integer ball loadloop gt UNIT DESCRIPTION Loop counter to increase load MIN 0 Long Float ball velocity UNIT m s
11. D 1 3 8 Real time reporting functions procedure EsimMessage Warning Chars_Ptr procedure EsimMessage Warning String procedure EsimWarning Message Chars_Ptr Dutch Space BV 251 iss 5 rev 0 SUM NLR EFO SUM 2 procedure EsimWarning Message String procedure EsimError Error Chars Ptr procedure EsimError Error String procedure EsimFatal Fatal Chars Ptr procedure EsimFatal Fatal String procedure EsimReport S esimSeverity Report Chars Ptr procedure EsimReport S esimSeverity Report String D 1 3 9 Auxiliary functions function EsimVersion return Chars_Ptr function EsimVersion return String procedure EsimAbortNow D 2 Description of functions When you link in the libesim a library a main function is already included for your convenience It makes sure all EuroSim processes are started up esimMalloc esimFree esimRealloc esimCalloc and esimSt rdup are common memory alloca tion functions These are the same as their mal 1loc 3 counterparts in the C library with the exception that the EuroSim calls are optimized for parallel real time usage and checks for memory exhaustion are built in For the semantics and arguments and return values see mal loc 3 for details esimGetSimtime returns the simulation time in seconds with the precision of the basic cycle with which the simulation runs 5 ms by default
12. Figure 6 5 Model Build Options dialog Support tab page Figure 6 5 shows the available pre defined build support options for the simulator Selecting one or more of these options causes libraries such as external simulator or telemetry and telecommand to be linked in augmenting the simulator with extra runtime functions Usage of 52 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 Ada 95 and or Fortran runtime libraries requires explicit selection of the appropriate options Options are described in the EuroSim capabilities manual page and can be listed using the esimcapability command Build Options 2 nx Options Support Compilers Specify the compilers for the current platform The build options on this tab page are model independent and will be effective after a cleanup command C Compiler gcc C Compiler g Fortran Compiler 977 fno second underscore 2 3 OW tS ADA Compiler ADA Linker gaa ADA Make gnatmake 6CC gd t O C Figure 6 6 Model Build Options dialog Compilers tab page The Compilers tab page see Figure 6 6 allows you to specify which compiler s and related utilities to use to build the simulator When specifying a command the default used by the build command will be overruled Leaving a field blank in the dialog will cause the build command to use the default command You can specify just the command provided its
13. datetime t 2001 02 24 16 10 05 900 print time t 15 2 prints time 2001 02 24 16 10 21 1000 Atrays of basic types can be constructed using square brackets Arrays must have fixed dimensions and type no automatic arrays Assignments are between basic types only action sum int a 10 for i 0 i lt 10 i i 1 ali i compute sum of array i 0 sum 0 while i lt 10 sum sum a i i i 1 MDL has all the usual C operators except for the address operator which doesn t exist in MDL Ex ponentiation is written as 3 4 In addition the equivalent English words can be used as operators e g and or not less_equal greater_equal equals not_equals less_than greater_than minus plus times pow E 3 Control Flow MDL statements within an action body are executed in order from top to bottom except as modified by control flow statements MDL has the usual C keywords for control flow break continue do else for if while return There s no switch construct yet although the words switch and case are reserved words A conditional block sequence of statements may be delimited by either curly braces or by the keywords begin and end The action body may be delimited by the keywords action_begin and action_end These latter two keywords may thus not be nested and help when used to find nesting problems which are then confined t
14. Satellite model Satellite model Z Parameter Exchanges Schedules Satellite sched Satellite sched i Initial Conditions Scenarios Simulation Definitions EE Satellite sim Satellite sim M JRecordings Plots i altitudePlot plt altitudePlot plt Miscellaneous Model Editor Parameter Exchange Editor Schedule Editor Simulation Controller Test Analyzer Observer users fl75708 EfoHome Satellite Figure 12 12 The Schedule Tab Page 12 9 1 Debugging Concepts Debugging a simulation run or software in general is a means to investigate why the simulation run is not running as intended In EuroSim this is done by allowing the user to run the simulation entrypoint for entrypoint Thus instead of going through the whole of the simulation the Debug Control window allows the user to stop at any entrypoint he wishes or even to stop at every entrypoint before executing it This process is called single stepping through the simulation code However as it can be rather tedious to single step through all entrypoints breakpoints are available A breakpoint is a kind of stop sign next to an entrypoint Whenever the simulator encounters such a stop sign it will hand over control back to the user Also in order to assist the user in debugging the simulation run entrypoints can be traced and com plete tasks can be disabled or enabled at will note that if a task is disabled all tasks connected to
15. Trigger another event at some time in the future In this case at simulation time 5 025 s s gt raise event at simtime another event 5 25000000 Trigger an action in an MDL script Ss gt action execute some loaded mdl inject a failure Go to executing state s gt g0 Wait for the state transition to executing state Ss gt wait event rtExecuting Schedule a state transition to standby state at simulation time 1000 0 s Ss gt freeze at simtime 1000 0 Wait for the state transition to standby state Ss gt wait event rtStandby Stop the simulation Ss gt stop Wait until the connection with the simulator is shut down Ss gt wait event evShutdown Quit the script Ss gt quit 14 7 Useful command line utilities There are two EuroSim command line utilities that can be very useful in combination with the batch utility They are briefly described in the following subsections 14 7 1 efoList The efoList command line utility shows a list of currently running simulators See the ICD docu ment or the manual page efoList 1 for information on the command line options that can be passed to efolist Dutch Space BV 157 iss 5 rev 0 SUM NLR EFO SUM 2 14 7 2 efoKill The efoKi11 command line utility lets you terminate a running simulator See the ICD document or the manual page efoKill 1 for information on the command line options that can be
16. 8 4 3 2 Exchange group node An exchange group is used to organize a logical group of exchanges for which the exchange copy of variables can be scheduled as one step For each exchange group an entrypoint will be generated with the same name as the exchange group under the paramexchg node in the data dictionary An exchange group node contains the actual exchange parameters 8 4 3 3 Exchange parameter node An exchange parameter specifies which output variable from the datapool as specified by a Model Description file should be copied to which input variable in the datapool The value of the output variable is copied to the specified input variable by an automatically generated entrypoint that has the name of the parent exchange group node You must specify when to schedule this entrypoint using the EuroSim Schedule Editor An exchange parameter is a child of an exchange group node and it cannot have children 1 e it is the leaf of the parameter exchange tree 8 5 Menu items Note that most common commands are also available in context sensitive menus that pop up when click ing the right mouse button Some commands also have keyboard short cuts 8 5 1 File menu Add Model Description Add a Model Description file to the source and destination views Select model Select the model file that will be used to get the data dictionary The data dictionary is used to check if a parameter exchange is valid i e it checks the type and
17. EsimRTI type or class Description EsimRTlbooleanClass Equivalent of RTI Boolean EsimRTIbufferMethod Base class for entries calls and callbacks of the method buffers RTI calls and Federate callbacks EsimRTImethodBuffer Base class for ring buffers to store methods RTI calls and Federate callbacks EsimRTIfederate A mbassadorCallbackBuffer The Federate ambassador callback buffer EsimRTIrtiA mbassadorCallBuffer The RTI ambassador call buffer EsimRTleventRetractionHandleClass Eguivalent of RTI EventRetractionHandle EsimRTIfedTimeClass Container for all federate time attributes EsimRTIfederate Ambassador Extends RTT Federate Ambassador EsimRTIfederate AmbassadorCallback Base class for Federate ambassador calls to be inserted in the Federate ambassador callback buffer Callback The Federate ambassador callbacks to be inserted in the Federate ambassador callback buffer EsimRTlhandleSetClass Eguivalent of RTI HandleSet EsimRTlhandleValuePairSetClass Eguivalent of RTI HandleValuePairSet EsimRTIrti Ambassador Extends RTI RTIambassador EsimRTIrti Ambassador Call Base class for RTI ambassador calls to be inserted in the RTI ambassador call buffer Call The RTI ambassador calls to be inserted in the RTI ambassador call buffer Table 1 11 EsimRTI types and classes 1 6 2 Structures The following tables shows the structur
18. For environment file nodes the environment editor see Section 6 6 will be started View Source For file nodes this option will start 1f applicable an external program to view the contents of the file attached to the node Find Node With the Find Node option it is possible to search through the model hierarchy for a certain node see Figure 6 3 Find Nodes 2 Search for cene Figure 6 3 Search window Rename Node Rename the currently selected file or org node Properties Shows the properties of a file node see Figure 6 2 and allows specifying another file name for this file node Clear Min Clears the minimum value s of a variable node Clear Max Clears the maximum value s of a variable node 6 4 3 View menu Expand To Files This menu option will show file nodes Expand All This menu option will show all nodes of the tree All source files will be parsed and entrypoints and variables will be shown Collapse All This menu option will close all nodes of the tree 50 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 6 4 4 Interface menu Include Add variable or entrypoint to the API Exclude Remove a variable or entrypoint from the API Exclude all undefined Remove all variables and or entrypoints that are still in the API but no longer available in the sub model source code Parse File s Parse the selected file s to disc
19. 88 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 PAUSE Requests transition from Executing to the Standby state ABORT System abort Requests transition from Standby or Executing to the Unconfigured state STOP Request transition from Standby to the Exiting state QUIT Requests transition from Exiting to the Unconfigured state REAL_TIME_ MODE Requests transition to the real time mode NON_REAL_TIME_MODE Requests transition to the non real time mode 11 3 5 Tools menu Schedule Configuration This menu item will show the Schedule Configuration dialog see Figure 11 8 Schedule Configuration eo m Schedule Statistics Main Cycle 50 000000000 ms Main Frequency 20 000000000000 Hz Clock Type EEN Freguency 100 000000000000 Hz Basic cycle 10 000000000 ms r Number of Processors Real time E 3 Number of Action Managers py 1 Figure 11 8 Schedule Configuration Dialog In this dialog the following properties of the schedule can be set Type This determines which clock is used by the scheduler The availability of clocks de pends on the selected model and target platform see Section 11 4 9 Period Frequency The desired period or frequency at which the scheduler should operate The default is 100 Hz but this can be raised up to 1000 Hz depending on the clock type The requested frequ
20. DESCRIPTION Velocity of the Ball Global Output Variables Long Float ball deltat M Long Float ball height Long Float ball velocity Long Float ball duration n DESCRIPTION Duration of the Ball Model with integr with esim use esim package body Ball is GRAVITY constant Long Float 9 80664999 Global variables of the Bouncing Ball Actual declaration of these variables can be found in ball Height Velocity DeltaT Long Float Duration Long Float LoadLoop Integer procedure Ball is Local Variables of the Bouncing Ball State Dot Integr Vector Rate Fine Long_Float Loopcnt Integer Start Stop Long Float begin Get the Start time from the Wall Clock Start esimGetWallclocktime Get DeltaT Time from the EuroSim Tool Rate EsimGetTaskrate DeltaT 1 000 Rate Fine DeltaT Long_Float 100 for Counter in 1 100 loop State 1 Height State 2 Velocity Dot 1 Velocity Dot 2 GRAVITY Forward Euler Integration Integr intEulerADA State Dot 2 Fine Check on events e g Ball touches the ground if State 1 lt 0 0 then Dutch Space BV 293 iss 5 rev 0 SUM NLR EFO SUM 2 State 2 State 2 end if Height State 1 Velocity State 2 end loop Loopcnt 0 Loop to increase the computation time of the model for Counter in 1 LoadLoo
21. J 9 Manual pages Table J 16 shows an overview of the on line available manual pages of EuroSim These pages are the ultimate reference for all events Man Page Description events 3 Retrieval system for information about all available EuroSim events Table J 16 Overview of relevant manual pages Dutch Space BV 345 iss 5 rev 0 SUM NLR EFO SUM 2 Man Page Description evEvent 3 Event construction access and I O functions rt control 3 Real time control events data monitor 3 Monitor events sched control 3 Scheduler control events mdlAndActions 3 Scenario events esimd 3 EuroSim daemon RPC client interface functions and types evc 3 Functions for clients to setup multi bi directional event driven connections evHandler 3 Functions for server and client to create handlers for incoming events extClient 3 Functions for an external client to establish and control access to a EuroSim simulator extView 3 Functions to create control and destroy data views extMdl 3 Functions for an external client to manage scenarios and actions running on a EuroSim simulator extMessage 3 Functions for an external client to send messages to a EuroSim simulator esimLink 3 Functions for creating and manipulating simulated satellite communication links Table J 16 Overview of relevant manual pages 346 Dutch Space BV NLR EFO SUM 2 SUM
22. Taskname Thruster ES ean tra exms Processor Any z Running 0 000 0 000 0 000 Priority Moderate Blocked 0 000 0 000 0 000 Preempted 0 000 0 000 0 000 Preemptable Yes y Duration 0 000 0 000 0 000 Offset 0 000 0 000 0 000 Allowed duration default roj Finished 0 000 0 000 0 000 Period 10 000000000 ms Lal J of Deadline defaut ms Error no error e odel Edito e od bar d p EE File Edit View Interface Tools Help D6 a o xX h A B Q p New Open Build All Cleanup A r roel satelite mode E Wide D Altitude D mitialise Atitude 5 Thruster gt D Initialise Thruster Thruster o olle e bar d p IE File Edt View Insert Server Control Debug Tools Help D6 8 2 o o ww C M m bz Q 4 a I TEA unde Fane Abort Mark UinputrFiles Sjschecule QAR satelite 6 Monitors Alice mentor 3 altdata altitude sa km 3 E altdatn decayspeed fioo don 3 a loweralitudelimt 210 km 2 usersi75708 EK j z A amp Em l odel Editor Satellite mode EN BAE la HE Ele Edit View Interface Tools Help thrusteronot P ooo B 80 upperAttudelimit z0 im s D 6 2 Gl 5 e pperAttudelimit 260 thm 100 New cast Build All Cleanup Z Set decay speed I B Toggle recorder on Controlle ba pace iE lt Fila Edt Wew Insert Serv
23. The RTI federate ambassador methods are replaced with federate ambassador callback functions to be implemented for the application the federate Each of the functions listed below needs to be imple mented by the developer that links the EsimRTT library into its application A template implementation of these functions is provided in the source file EFOROOT Examples Fly wheel esimRTIfederate AmbassadorCallbacks c A non void implementation of a callback can be created by filling the body of the function in a renamed copy of this file 1 3 9 1 Overview of federate ambassador callbacks that require implementation EsimRTI specific callback esimRTIfederateA mbassadorObjectInstanceRegistrationSucceeded Federation management callbacks esimRTIfederateA mbassadorSynchronizationPointRegistrationSucceeded esimRTIfederateA mbassadorSynchronizationPointRegistrationFailed esimRTIfederateA mbassadorAnnounceSynchronizationPoint esimRTIfederateA mbassadorFederationSynchronized esimRTIfederate A mbassadorlnitiateFederateSave esimRTIfederate A mbassadorFederationSaved esimRTIfederate A mbassadorFederationNotSaved esimRTIfederateA mbassadorReguestFederationRestoreSucceeded esimRTIfederate A mbassadorReguestFederationRestoreFailed esimRTIfederate A mbassadorFederationRestoreBegun esimRTIfederate A mbassadorlnitiateFederateRestore esimRTIfederate A mbassadorFederationRestored esimRTIfederate A mbassadorFederationNotRestored Declaration management callbacks
24. The display of Exception messages can be switched off by calling esimRTItoggleExceptionMessages An example of the above is the EsimRTI version of esimRTIrtiA mbassadorJoinFederationExecution it does not throw the exceptions like the RTI eguivalent does This creates the following situation the ap plication cannot sense the exception and in particular the exception FederationExecutionDoesNotExist The best way to check whether the join succeeded is to check whether esimRTTrti A mbassadorHasJoined returns EsimRTItrue An alternative implementation is to check whether the federateld returned is not egual to NULL The preferred implementation is numTries 0 while esimRTIrtiambassadorHasJoined EsimRTIfalse 88 numTries lt 20 federateld esimRTIrtiAmbassasdorJoinFederationExecution federateName federationName amp esimFederateAmbassador ICK S esimRTImilliSleep 1000 sleep 1 second if esimRTIambassadorHasJoined EsimRTIfalse exit 1 3 7 Joining a federation execution A federation execution is joined by calling the method esimRTIrtiAmbassadorJoinFederationExecution until the method esimRTIrtiAmbassadorHasJoined returns EsimRTItrue 1 3 8 Registering an object Instance The EsimRTI implementation of RTlambassador registerObjectInstance is called esimRTIrtiAmbas sadorRegisterObjectInstance Depending on the current mode of operation of the EsimRTI buffe
25. The top level project manager tool is completely rewritten The old project file format has been aban doned for a more powerful database system This means that the Mk2 database must be converted using the projconv conversion tool This tool will convert the existing database and also the EuroSim files in each of the project directories The EFO HOME environment variable is no longer needed If the variable is not set the eurosim direc tory in the home directory of the user is used The file name of the new project database is projects db and can be found in that directory Each project has a file called project db This file contains a list of models where each model has a list of associated files This enables the user to quickly start up editors from the Project Manager tool by double clicking on the name of the file L 3 Model Editor The schedule file is no longer part of the model file The user must specify the schedule file in the new simulation definition file Recompilation of the simulator when modifying the schedule is not needed since Mk2rev2 L 4 Schedule Editor The schedule editor operates now immediately on sched files instead of the schedule files in Mk2 This means that the conversion of schedule files used by the editor to sched files used by the run time is eliminated Mk2 sched files are not compatible with Mk3 sched files Mk2 schedule files can be converted to Mk3 sched files with the schedule2sche
26. flag variable in memory to pass the status information about the I O Both are explained below 11 4 5 1 Using Schedule Editor items for synchronization The following figure explains the first approach Task A performs some action When finished the non real time task D is activated which performs the task D containing entrypoints that do the I O actions Within task D when it has performed its I O actions a call to the function esimRaiseEvent is made in this case with argument C This function call activates the Input Connector C which in turn will activate Task Item B Data read by task D can now be used by task B 11 4 5 2 Using a variable for synchronization Approach 1 implies that D is activated each time A was activated Using a synchronous store a relation can be established like for every N times A was activated D is activated once You may want a more parallel behavior where tasks A and D run in parallel and A uses the data read by D when available This is described below When task A needs to perform I O it sets a variable e g io_request and activates the input connector C by calling esimRaiseEvent C Task A keeps on running The activation of C will cause an activation of D Task D connected to non real time task D will perform its I O and will set a variable for instance io handled when the I O operation is ready While running task A scans variable io handled to verify if I O has completed W
27. grab handles appears By clicking on the handles and moving the mouse around keeping the left mouse button pressed you can resize the monitor If you click inside the rectangle and move the mouse around you can move the monitor to another place You can insert a new monitor by using the Insert New Monitor menu item or by double clicking in the MMI tab page Double clicking on a monitor will open the Properties window where you can modify the properties of that monitor You can insert a new action button by using the Insert New Monitor menu item Double clicking on an action button will open the Properties window where you can modify the properties of that action button 12 14 1 Menu items The following Edit menu items are available in the MMI tab page Undo Redo When a monitor or action button is resized moved or properties are changed then those changes can be undone and redone Cut Copy Paste Monitors and action buttons support the usual cut copy and paste operations A monitor or action button that is copied or cut from one MMI tab page can be pasted onto the tab page of another MMI You can also as a special case copy or cut an old monitor action from a scenario tab and paste it onto an MMI tab page The reverse is not possible since monitor actions are obsolescent 128 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 Properties Edit the properties of the selected monitor or action button Copy to Desktop C
28. 10C3 parallel port plp2 Integral Fast Ethernet ef0 version 1 module 1 slot iol pci 2 Fast Ethernet fl version 1 module 2 slot MotherBoard pci 2 Origin 200 base I O module 2 slot 2 Origin PCI XIO board module 1 slot 7 Revision 4 Origin 200 base I O module 1 slot 1 10C3 external interrupts 1 10C3 external interrupts 2 PCI card bus 0 slot 5 Vendor 0x12e2 Device 0x4013 A sufficient value for the max 1kmem setting would be 4000 for the above mentioned executables This value would represent lock 65 5 MB of memory 4000 16384 On the O200 this represents 13 of the available physical memory To change the setting for max1kmem use systune i requires root privileges systune i Updates will be made to running system and unix install systune gt maxlkmem 4000 maxlkmem 8192 0x2000 Do you really want to change maxlkmem to 4000 0xfa0 y n y systune gt guit Dutch Space BV 301 iss 5 rev 0 SUM NLR EFO SUM 2 1 2 Implementation and usage notes The following sections describe details on how the EsimRTI library can be used and a number of imple mentation aspects 1 2 1 Direct and Buffered modes 1 2 1 1 Introduction The EsimRTI can operate in two different modes Direct and Buffered e In the Direct mode EsimRTImodeDirect any call into the RTT is directly processed by the RTT Federate ambassador callbacks are executed when the EsimRTI is
29. Close the link 17 4 Case study setting up a TM TC link This section provides examples of how the procedure is implemented The examples are taken from complete demonstration models installed in SEFOROOT src TmTc Ext SimModel 17 4 1 Set up the external simulator as a EuroSim client This only needs to be done if one of the clients for the TM TC link is not a EuroSim application The external simulator is firstly linked to the EuroSim simulator as a client include lt extSim h gt tmtcClient extConnect hostname clientname eventHandler userdata async_flag prefcon 184 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 and takes the arguments e hostname simulator host running target EuroSim simulator e clientname name by which this client is to be known to the EuroSim server e g TMTC_Client e eventHandler name of procedure in external simulator code which will process events coming from EuroSim simulator flags indicating data updates and state changes are received as events e userdata pointer to user defined data This pointer is passed to the eventHandler callback function e async flag flag to indicate that on incoming data the eventHandler callback function is to be called via a signal handler If the flag is set to false the user must call extPo11 whenever data arrives or periodically e prefcon preferred connection on the EuroSim server should be used
30. MIGetData Value MIGetObjectCount MIGetObjectDetails MIGetParameterDetails MIGetParameterlD MIGetRootObjectCount MIGetRootObjectID MIGetRootObjectIDs MIGetServiceDetails MIGetServicelD MIGetStructureDetails MIGetSubObjectCount MIGetSubObjectID MIGetSubObjectIDs MIGetTypeSize MIlnitialise MIInvokeCallback MIInvokeService MIIsValidBaseOrUserTypelD MIIsValidCallbackID MIIsValidDatalD MIIs ValidObjectID KKK Z KKK Z KKK ZL KL KL KL K Z SKK KK X S S S S S S S S S S S S S S S S S S S S S S S S S S S S S S S S S S S S S S MIIsValidParameterlD Y Table 15 1 SMP 1 4 Compliance Matrix Dutch Space BV 161 iss 5 rev 0 SUM NLR EFO SUM 2 SMP function MIIsValidServicelD Supported MIIsValidTypelD MIPublishCallback MIPublishData MIPublishObject MIPublishParameter MIPublishService MIPublishSubObject MIRegisterArrayType MIRegisterStructureElement MISetDataValue KZ Z KK KK KKK XK S S S S S S S S S S S S MITransferData Y Table 15 1 SMP 1 4 Compliance Matrix 15 6 EuroSim extensions The SMP implementation in EuroSim offers a number of extra functions which allow the user to add descriptions and units to objects and data items These descriptions and u
31. O E New Open New Folder Init J dal Monitors jr Set decay Record altitude speed to 20 Not Connected minbar dutchspace nl Test Controller Realtime Not Running 0 0000 0 0000 Experimental Figure 12 15 The Scenario tab page icon view Actions in the scenario tab page can be either active or inactive indicating whether it will be automat ically checked against its run condition during a simulation run For active actions the action name is shown in blue instead of black and for the tree view only the last column Status is marked with an A By toggling the Active checkbox in the Action Editor dialog you can change the initial Active state During a simulation you can activate an inactive action or deactivate an active action This does not Dutch Space BV 119 iss 5 rev 0 SUM NLR EFO SUM 2 modify the Active property of the action When the simulation ends the Active status returns to its original setting When an action is actually executing the Status column is marked with an X for the tree view only and the action name is shown in green instead of blue active action or black inactive action Icons are used to represent actions stimuli recorders monitors scripts or folders The following icons are used in the scenario tab page FS LE Recorder this icon is used for recorder actions defined using the Recorder Editor VAT Stimulus this icon is used for stimulus actions
32. Opens an existing plt file Can also be used to import old pdf files Save Saves the current plt file Save As Saves the current plt file under the specified name Close Closes the current plt file Asks to save changes if there are unsaved changes Select Test Results File Switches the current test result set tr file The variables used in the plots must be present in the new test results file otherwise some of the plots will be marked as invalid See also Section 13 3 3 Add Recorder File Adds a recorder file to the current test results See also Section 13 3 4 for more information about this feature Close Recorder File Closes the recorder file selected in the variable browser This is only possible for recorder files added with File Add Recorder File S Print Prints the selected plots Recent files The four most recently used plt files can be opened quickly from here Exit Exits the program Asks to save changes if there are unsaved changes 13 7 2 Edit menu 3 Undo Undoes the last action if possible Redo Redoes the last undone action if possible Cut Cuts the selected item from the document and places it on the clipboard Copy Copies the selected item from the document and places it on the clipboard Paste Inserts the item on the clipboard into the document 13 7 3 View menu Toggle Variable Browser Shows hides the variable browser 33 Large icons Toggles the plot v
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34. Select Schedule Select another schedule file for this Simulation Definition Select Export Select an exports file for this Simulation Definition Save File As Save the selected file to another location The following Edit menu items are available in the Input Files tab page Properties Allows you to edit the properties of the selected file For scenario and MMI files the correspond ing tab page will be raised to the front For Initial Condition and User Program Definition files a dialog will appear Delete Remove this file from the Simulation Definition Note that the actual file 1s not deleted the entry is only removed from the Simulation Definition Activate Only valid for Scenario MMI and Initial Condition files Mark this file Active 1 e this file will be used when the simulator starts Deactivate Only valid for Scenario MMI and Initial Condition files Mark this file Inactive 1 e this file will not be used when the simulator starts Inactive scenario MMI and initial condition files are ignored by the simulator 114 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 Launch Only valid for User Program files This will launch the program definition If the launch User Program produces output and or error messages then a window will pop up that shows those messages The following Control menu item is available in the Input Files tab page Apply Initial Condition The currently selected initial condition fil
35. are available as V1 V2 etc The dollar sign of the variable reference is replaced with a V We can access these variables in PV WAVE as usual For example to check the number of data values for 1 we can give the command info Vl V1 DOUBLE Array 307 Which means that V1 is an array of 307 elements To actually see the values in the array we could issue a print command print Vi 0 0029616649 0 0059233298 0 0088849947 0 011846660 0 014808325 0 00092749497 0 0038891599 0 0068508248 0 0098124897 0 012774155 0 015670285 0 0018549899 13 10 4 Examples of using PV WAVE commands directly PV WAVE provides many options for presenting filtering data These can be used by typing the com mands in the back end interface dialog window and sending them to the PV WAVE process Some examples of the use of these commands on recorded data are presented below 13 10 4 1 Creating a table To create a table of the data from a recorder file the following commands could be used simtime Vl templ V2 temp2 V5 temp3 V6 tempTable build table simtime templ temp2 temp3 Now to select and display a subset of the data the following commands can be used subsetTable guery table tempTable x Where simtime gt 10 0 and simtime lt 12 0 print time celltmp 1 1 celltmp 1 2 celltmp 1 3 for i 0 N ELEMENTS subsetTable 1 do begin PRINT subsetTable 1 This will result in output
36. db l de dy o es 101 EZ BOLL OVO a O dz A od v hy e z a 101 12 25 UB ACT DIE 2 256 4 de ead ko ee BE de Ve dd Ves E ei 102 12 24 Recorder MOON os aca w ssd A dl A det ee ed 102 1225 MONOS oo 64 4 4 Ga 40 Pause ba wa O a aa 102 12 3 Simulation Controller Windows 103 12314 Thaioalba olivos asia A de E wk 103 1232 A he 1s pahe sosse sa o ae ke AAA a v 103 123 3 The Message Pate socorro ee RO O a ee 104 12 4 TRE DAT e e a a A a ia ew ee nn 104 12 4 Simulation Controller output files o oo e 0008 105 12 5 Dictionary Browser reference oo oac ca coca a 105 12 6 Initial Condition Editor referente o 44 eh ee ee be 106 12 6 1 Starting the Initial Condition editor lt lt lt o a 106 12 6 2 Context menu iteme os a erea eR as 107 12 7 Simulation Controller Menu Items lt lt lt lt lt lt 2 2 2 0 0 00 2 eee eee 107 LLL VIERTEN oe a a z wy a Ven v e ee a ee 107 192 Meent menu ca a A SS A et dk hk 108 B BVM ln SAS se A is ed d bd ud s I a 109 WA Control Mena coco aro od ee r d eo A Et ee 110 12 73 TOOS MBM o z e 6 ale sro Brae id b Bee V A a ee ee el a 112 128 Input Piles tab page s s u 2 00 406 a a a aa 114 12 5 1 Menu MEMS oso ds palas a ae A eo de Bae de do R 114 12 5 2 Contextmedds 4 46 ias Se wa eR RE eRe de a k bc 115 12 9 Schedule tah BABE oia 8 A kok e a id A Jy B k k vk Je don a 115 12 5 1 Debugging Concepts oes fad es kla V ok Ro o
37. gt lt ELEMENT recorderdir PCDATA gt lt ELEMENT scenarios item gt lt ELEMENT schedpath PCDATA gt lt ELEMENT sessioninfo hostname simpath workdir simulator schedpath dict model recorderdir exports initconds scenarios prefcon uid gid pid variables gt lt ATTLIST sessioninfo simid CDATA REQUIRED monitorid CDATA REQUIRED gt lt ELEMENT simpath PCDATA gt lt ELEMENT simulator PCDATA gt lt ELEMENT type PCDATA gt lt ELEMENT uid PCDATA gt lt ELEMENT unit PCDATA gt lt ELEMENT var name type unit min max description gt lt ELEMENT variables vart gt lt ELEMENT workdir PCDATA gt Example lt xml version 1 0 gt lt sessioninfo simid demo foobar com 0 monitorid 127 0 0 1 36506 gt lt hostname gt nwgesim002 nl int atosorigin com lt hostname gt lt simpath gt home demo foo ESS sim lt simpath gt lt workdir gt home demo foo lt workdir gt lt simulator gt home demo foo ESS Linux ESS exe lt simulator gt lt schedpath gt home demo foo ESS sched lt schedpath gt lt dict gt home demo foo ESS Linux ESS dict lt dict gt lt model gt home demo foo ESS model lt model gt lt recorderdir gt home demo foo 2005 02 18 12 09 37 lt recorderdir gt lt exports gt lt initconds gt lt item gt home demo foo ESS init lt item gt lt initconds gt lt scenarios gt
38. 102 an view 119 multiple action managers 97 r e a 119 mutexes 84 schedule non real time tasks 84 clocktypes 97 non real time creating 28 see simulation mode 7 dependencies 92 error message 241 observer 99 external event handler 89 offsets 96 external events 88 179 output events 86 frequency 89 output interrupts 173 main cycle 95 non feasible 90 Parameter Exchange Editor offsets 96 Exchange group node 63 predefined events 88 Exchange parameter node 63 Schedule Editor menu 63 connectors objects in parameter exchange tree 62 see connectors 94 overview 8 default bindings 81 reference 61 error messages 241 Root node 63 External event handlers 89 Scheduling parameter exchanges 61 external events 88 Pause 111 flows Periodic Switch 124 see flows 87 Perl support Internal and External events 86 see Batch utility 149 menu 87 plot definition model file 81 comparison between runs 144 objects 81 user defined function 142 overview 8 variable references 143 Predefined events 88 Project 9 Predefined output events 88 Project Editor reference 81 overview 8 Schedule Configuration 89 Dutch Space BV 367 iss 5 rev 0 SUM NLR EFO SUM 2 see schedule 81 stores see stores 85 tasks see tasks 82 timers see timers 86 scheduling the action manager 96 using external interrupts 174 semaphores 295 serial interface 178 services description 252 options 254 synopsis 247
39. 5 rev 0 SUM NLR EFO SUM 2 scenario vers session scenarios scenarios_len 1 scenarios scenarios val 6scenario session dict Demo dict sesslon n session model path Demo model n n model vers session recorderdir 2000 04 01 00 00 01 initcond path Demo init initcond vers session initconds initconds_len 1 session initconds initconds val 4initcond sesslon exports Demo exports session prefcon 1 session umask 022 session flags SESSION_REALTIME sessio env 0 LD_LIBRARY_PATH usr EuroSim lib env 1 HOME home user env 2 EFO_HOME home user project EfoHome env 3 LD LIBRARYN32 PATH usr EuroSim lib32 env 4 PWD home user project STD env 5 EFOROOT usr EuroSim session environment environment len 6 session environment environment val env clnt clnt_create spiff ESIM PROG ESIM VERS3 tcp clnt gt cl auth authunix create default result start session 3 6session clnt if result gt status ST SUCCESS printf simulator started at connection din result gt start_result_u prefcon return 0 else error array errors unsigned int i printf simulator failed to start n errors result gt start result u errors for i 0 i lt errors gt error array len i printf sin errors gt error array val il xdr free xdr
40. After joining or starting a session the JAVA applet fills the API tab with all the variables and the tab will look like Figure 21 9 The API tab page is a Dictionary Browser with some extra functionality When no simulation is running 1t just shows the dictionary with a few extra columns to show the minimum and maximum values the unit of the value and the description of the variable As long as a connection to the simulator is active this column will show the current value of that variable just like a monitor in an MMI tab page By clicking on the value you can edit it and set the variable to a new value 21 5 6 MMI Tab When the applet is finished filling up the API tab with variables the applet generates the MMI Man Machine Interface tabs as they were designed in the Simulation Controller An example of a MMI tab is given in Figure 21 10 A MMI tab page is a canvas on which monitors are displayed to monitor variables in the simulation There are two basic types of monitors alpha numerical i e each variable is presented as a caption followed by the value and the graph monitor where each variable is tracked over time or possibly 224 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 Select Sim JI Init Reset I Pause J Step JI Go J Stop State Executing API Experiment Fault Prof Simtime 4 307878 06 Wallclock 4 39808e 08 Name Min Max Value Unit E root CI CONF CI DA
41. For menu items not described in this chapter refer to Section 3 5 12 1 Starting the Simulation Controller The Simulation Controller can be started by selecting the Simulation Controller button in the EuroSim start up window see Section 5 2 3 by selecting the Observer button in the start up window or via the command line When the Simulation Controller is started from the command line the user can provide the following command line options observer Start the simulation controller in observer mode connect hostname prefcon Connect at start up to an already running simulator running on host hostname on connection prefcon See also the manual page for the Simulation Controller SimulationCtrl 1 Example hobbes SimulationCtrl connect minbar 0 Before components for a new scenario can be defined in the Simulation Controller editor a model and a schedule should be selected The model is needed for the definition of the scenario actions and the initial condition files using the data dictionary specific for that model The schedule is reguired in order to actually run a simulation By selecting the File New menu item a wizard will appear that helps you select the files you need If the Simulation Controller is started by selecting the Observer button then the number of options will be limited as the outcome of the test cannot be affected in any way This means that some menu options e g debugging and some activities e g
42. In accelerated mode Timed Events and Timed State Changes only work properly when they are ex pressed in simulation time Quite trivial Non real time tasks output connectors The execution delay of non real time tasks depends on the load of the system They are not synchro nized to real time tasks by definition It can thus happen that output connectors overflow because the accelerated periodic tasks are activating them with a too high frequency K 7 Performance Estimates for the acceleration factor in AFAP scheduling can be made with the data form the timings file incremented with the scheduler overhead of Table K 1 Activity Time 14s Clock tick 8 Task activation 12 Empty actionMgr 17 Active Action Recorder Stimulus 11 Inactive Action Recorder Stimulus 1 Table K 1 Scheduler overhead measured on a SGI Origin 200 R100000225MHz with EuroSim Mk2rev2 Note that the ActionMgr has a default frequency equal to the basic frequency This can become one of the major CPU consuming tasks in an accelerated simulation Accelerated simulations will run faster 1f the ActionMgr is scheduled at a lower frequency K 8 Example of performance computation Frequency Hz Task duration us Clock 1000 Task A 500 100 Task B 20 500 ActionMgr 1000 Recorder 1 100 Recorder 2 10 Table K 2 Example schedule on 1 CPU Frequency Hz Duration us Subtotal us Total contribution s Tasks Task A 500 20 10000 Task B 20 500 10000 Total 1
43. Info Altitude 5 decayaltitude Curve Legend text Line style peperen Curve 0 lt legend text var name gt 0 X altitude rec simulation time Primary 2 altitude rec Altitude Altitude decayaltitude altdata altitude Primary gt lusers fl75708 EfoHome Satellite 2004 09 15 13 59 40 Satellite model tr Figure 4 14 A completed plot This completes the plot Double clicking the plot icon in the plot view will show the plot 4 11 Concluding remarks In this chapter a complete simulator has been built from scratch The most important features of EuroSim have been used However as EuroSim offers many more functions than can be described in this tutorial 36 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 the reader is advised to proceed with the reference chapters and experiment with the simulator from this chapter Dutch Space BV 37 iss 5 rev 0 SUM NLR EFO SUM 2 38 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 Part Il EuroSim Reference Dutch Space BV 39 NLR EFO SUM 2 SUM iss 5 rev 0 Chapter 5 EuroSim reference This chapter describes the top level interface of EuroSim esim the Project Manager For a description of the various EuroSim components such as the Model Editor and Schedule Editor refer to the next chapters 5 1 Starting EuroSim The EuroSim environment is started with the esim command This will pop
44. Ini button and wait for the text Launch successful to appear You can also verify that the simulator is running by executing the efoLi st utility from the command line see Section 14 7 1 Click the Stop button in the Excel sheet to stop the simulator The Windows Application Event Log may give you a clue in case you encounter problems 20 4 3 Adding a View The example simulator has been build with the External Simulator Access build option set in the Model Editor This means that at simulator startup a export s file with the same basename as the simulator will be searched for This file specifies which nodes of the data dictionary will be available for reading and writing using so called views More information can be found in the extExport 3 man page The Counter exports file looks like this 210 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 Counter readview R Counter writeview W This means that all variables in the Counter node the Counter c file are available for reading when a view is created with the name readview and they can be written when using a view that was created with the name writeview The following paragraphs describe how to create views in the MS Excel based client application Go to the VB editor and double click Module1 in the VBAProject tree Add the following lines to the declarations Public ReadView As EuroSim IvarView Public dCounter
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46. Select Simulation Controller from the main EuroSim window The Simulation Controller will start see Chapter 12 In order to create a simulation definition the Simulation Controller needs to know which particular model and schedule the simulation is intended for which indirectly gives access to the associated data dictionary Choose File New to create a new simulation definition A wizard dialog appears where you can select all files that you want to use in a simulation Initially you must select the SUM model and the SUM sched files Use the Browse button to select the model press the Next button to go to the next page of the wizard If the prefilled schedule file guessed from the model file is correct then press Finish otherwise use the Browse button to select the right schedule file and press Finish 4 8 1 Creating a graphical monitor Select Insert New MMI from the menu You are asked to choose a filename for the new Man Machine Interface file Save the file as Altitude mmi Now you will be asked for the caption of the new tab page By default the name of the file without the suffix will be chosen Accept the default A blank tab page named Altitude appears where you can add monitors Select this tab and choose Insert New Monitor to add a new monitor The Monitor Editor will appear see Section 12 2 5 for more information In the Monitor Editor enter Altitude monitor as the caption Now expand the decayaltitude node and doubl
47. TIM yew y Idy HUIISJ lav LH 323 Dutch Space BV Idy INWIS oy QUO poddetu Idv LLA VI T NEL p3Pp339INS910 S9 HIPPIE TTUT NLR EFO SUM 2 SUM 0 P9P939INS20IS9YUONBIHP9ISINDIFIOPESSEQUIYIJLIDPIF LYUSI pepeaconsalojsayuonviape j sonbas Jopessequiyayelapay LLY Pole 910359 YAIPA NENU pole jo1ojsoyuonviapas jisonbayiopessequiyayelapas LYWIsa pote qorojsoyuoneispasonbarlopessequiy aye1opay LLY asvajoydrysioumQa nq yisonbar asvapoydrysiouMQaing VISONDOo VY JOPESSEJLU VOJEJOPIJI LU SO OSPAJFYdIYSIJUM DANI V ISONDIJ JOPESSEGLUV Ip TLA uondumssydrysioumMoangunyisonboi uonduinssydrysisumQeinqi nyyisonbo yiopessequiyayelopay LY USI uondurnssy drysroumoangunysonbor1opessegury OJEJO POH LLY 20UPISUHDD GODAOUII IDUPISUTIDIGOIAQUIYIOPPSSPQUIYIJLIDPAJ LAWS goueysupoolqQaaoulas JOPESSEGLU V APIOPD TIN SONTLA NNQUYY IVAP SONILA IINQINIVI09YO YIOPESSEQUIYIJLIDP9J LAUSO SONLA NI Y PAPA Jopessequryaeslapay L LA UONHOLIOJUDATODAI UOTIOVIO UTIATIIIYIOpessequryowsopafL LAWS UOHOLIOJUDATODAI JOPESSLEGLU V ALIP TIN aepdnoneA omg yoprao1d ajepd 9N eA9INQHIYIPIAOIJIOPPSSEQUIYIJLISPJ LUISA ojepdnonTeA NAN VOPIACIG 10pessegury ALIOPIA TIN JABSIJLIOPOHOJENTUT DALSOJLIOPAKAILITUTIOPLSSLGUY AIRIDPOJTLAUTSO DAB GOILIOPOTOIENTUTJOpessegUTY ALIP TIN AI0 SOJOILIOPAJOILITUT 9IOJSOYOLIOPAJTOAILITUIOPLSSLgGUTVOILIOPOJILAUISO AI0 SOJOILIOPATALITUTIOpessegUTy NLI PA LLA
48. The ancillary functions that return a value esimRTIrti Ambassador Get Name and esimRTIrti Ambas sadorGet Handle can only be called in Direct mode In Buffered mode a warning is being displayed and the function returns NULL or 0 respectively This poses no problem since e object names are delivered by means of the following callbacks esimRTIfederate AmbassadorOb jectInstanceRegistrationSucceeded and esimRTIfederate AmbassadorDiscoverObjectInstance e the other functions are needed during initialization only which normally occurs in the Direct mode 1 3 11 Time queries The RTI Time management methods can be called in both the Direct and Buffered modes RTI C domain C domain queryFederateTime esimRTIrtiAmbassadorQueryFederateTime queryLBTS esimRTIrtiAmbassadorQueryLBTS queryFederateTime esimRTIrtiAmbassadorQueryFederateTime queryMinNextEventTime esimRTIrtiAmbassadorQueryMinNextEventTime queryLookahead esimRTIrtiAmbassadorQueryLookahead esimRTIrtiAmbassadorQueryTimes Table I 6 Mapping of RTI query time methods onto C functions In the Direct mode the functions call the RTI equivalents directly In the Buffered mode these functions return relevant values as they have been copied from the RTI when the EsimRTI tick function is called 1 3 12 Function overloading The RTT uses function overloading to differentiate between different implementations of a function Fortunately when a funct
49. The last item Error shows the status of the item 11 24 gt Frequency changers Frequency changers or synchronous stores are used for multiple frequency dependencies meaning that they transform the frequency of the incoming triggers into the store to another frequency going out of the store Only one input connector is allowed for a frequency changer Frequency Change New Frequency Changer Input Output Freguency 100 00 Hz Ratio Freguency 33 33 Hz Period 10 000000000 ms Period 30 000000000 ms 3 z 1 Offset foo ms Error no error Cancel Figure 11 5 Frequency Change Dialog The following properties can be modified in the properties window see Figure 11 5 Input Ratio and Output Ratio show the ratio between the input and output frequencies Only M 1 or 1 N ratios are allowed An 1 N store e g 10Hz 50Hz means that upon activation of the frequency changer the output flows of the store are activated N times 5 in the example directly one after another To achieve a more regular task activation 50 Hz in the example the task after the output flow should also be connected to a 50Hz timer An M 1 store will activate the output flow only once every M Input activations Offset The delay of the output activation in milliseconds Only valid for M 1 ratios It must be a multiple of the basic clock cycle see Section 11 4 7 A value of zero 0 means that the output
50. bold face 4 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 Chapter 2 Concepts This chapter introduces the concepts and elements which are common to EuroSim These include version management and the API interface Concepts and elements specific to an EuroSim tool or editor are described in the reference chapters for these tools and editors 2 1 EuroSim simulation life cycle The EuroSim simulation life cycle is executed when going from model code to test analysis Facility Management Model Code Simulator Simulator Development Scenarios Test Preparation Test Results Test Analysis Test Execution Simulation Figure 2 1 EuroSim simulation life cycle The life cycle is summarized in Figure 2 1 no feedback loops are displayed In the figure the following phases are shown Simulator development In this phase the model is assembled from existing submodels or build from scratch Existing simulator code can be integrated into the model Also an executable version of the simulator is created including the scheduling of simulator tasks Test preparation During this phase scenarios for a particular simulator are defined including stimuli initial conditions recording and on line monitoring requirements Test execution During this phase the simulator is being run and the execution of the simulator is monitored Test analysis During this phase the results from the simulator ru
51. by the pagesize e The size of the executable including the libraries can be determined with the following command size 4 executable e The pagesize of the machine can be determined with the following command sysconf PAGESIZE e Calculate the minimum value for the max lkmem limit executable size in bytes page size Note that the max1kmem should not exceed half the amount of physical memory available The amount of physical memory available can be determined with the hinv command e The user root can change the max 1kmem user setting with the following command sequence systune 1 Updates will be made to running system and unix install systune gt maxlkmem lt sufficient pages gt maxlkmem 2000 0x7d0 Do you really want to change maxlkmem to lt sufficient pages gt 0x lt gt y n y systune gt quit 1 1 4 2 Example The steps to determine the amount of memory used by a EuroSim model described in the previous section are applied to the executables of the flywheel example introduced elsewhere in this appendix e size 4 lt executable gt reports esim projects flywheelengine size 4 x exe engine exe 45056 12288 0 57344 flywheel exe 45056 12288 0 57344 flywheelengine exe 20480 8192 0 28672 e On the 0200 that was used to developed the EsimRTI sysconf PAGESIZE reports esim projects flywheelengine sysconf PAGESIZE 16384
52. defined using the Stimulus Editor ky Monitor this icon is used for monitor actions can only appear in old pre Mk 3 scenario files A Script this icon is used for script free format MDL actions Q Folder this icon is used for folders that can contain other actions or folders Double clicking on these actions when a simulation is running will have the following effect depending on the type of action Recorder activate or deactivate this recorder Stimulus activate or deactivate this stimulus Monitor start this monitor it will show up on the Script Monitors tab page Script trigger this action You can drag and drop actions and folders from one place to another In order to rename a folder or action you can click on the item with the left mouse button to select it then click again to edit the name You can also press F2 to edit the name of the selected item 12 12 1 Menu items The following File menu item is available in the scenario tab page Diff with This menu option will pop up a file selection box in which another scenario file can be selected The selected scenario file will be compared with the current file and any differences will be reported The following symbols are used to identify any differences these will appear between column listings of components in scenario A first column and scenario B second column gt means that an item is present in B but not in A lt means that an item is present in
53. i e the copies of the API variables will be added to a special node in the data dictionary the so called datapool In order to update these variables in the datapool special entrypoints are automatically generated These entrypoints contain the source code to copy the values of the variables of the model to the copies in the datapool in case of output variables or vice versa in case of input variables The datapool and the generated entrypoints are merged into the data dictionary during the last step of the build process so that the datapool variables and entrypoints are available to the EuroSim simulator An api variable is a model variable that is marked in the Model Editor to be exported to the data dictionary Dutch Space BV 57 iss 5 rev 0 SUM NLR EFO SUM 2 7 2 1 User defined variables The MDE supports creation of user defined variables in the datapool User defined variables are variables that do not have a relation with a model API variable Typical use of user defined datapool variables is with EuroSim External Simulator Access see Chapter 18 The user defined variables in the datapool are f i updated by an external client 7 3 Scheduling datapool updates The automatically generated entrypoints must be called by the scheduler at the appropriate time steps see Figure 7 1 for a very simple example of a datapool and model source code At step 1 the automatically generated entrypoint takes care of copyin
54. init Unconfigured Initializing 3 automatic 3 E Standby 8 3 S Executing Figure 2 2 Simulator states State transitions can be triggered by issuing a state transition command either from the Simulation Controller the model or the schedule The labels in Figure 2 2 correspond to the buttons available in the Simulation Controller see Section 12 3 1 as well as the MDL commands see Appendix E The only missing state transition is the reset as it is too complicated to put in the drawing Reset can be issued from standby state and is a combination of a stop and an init command where the simulation is not completely stopped and restarted The simulator can be run in one of two modes real time or non real time When a simulation is started in non real time the simulation server will try to run the simulation as close to real time as possible This means that task timing overruns in the simulation will not generate real time errors Also a simulation running non real time will not claim a whole simulation server other simulations can also be running also non real time In non real time mode it is also possible to instruct EuroSim to run the simulation as fast as possible see Section 12 7 4 for more information Dutch Space BV 7 iss 5 rev 0 SUM NLR EFO SUM 2 2 3 Services and tools EuroSim offers users two levels of support e The first level of support is through a number of tools which can b
55. maCurrentDict eventlist List of events present in the schedule The value is set by the built in event handler for the following events scEventListStart scEventInfo scEventListEnd The eventlist 1s an array of hash tables Each table consists of three elements name The name of the event state The scheduler state for which it is defined is_ standard Flag indicating that it is a standard event i e predefined by EuroSim Dutch Space BV 151 iss 5 rev 0 SUM NLR EFO SUM 2 handler Event handler table sim hostname Simulation host name The value is set with the function sim hostname initconds Initial condition files The value is set by the built in event handler for event maCurrentInitconds Journal EuroSim Journal object logwindow EuroSim Window object Used to display simulation messages in interactive mode monitored_vars Table of monitored variables output_dir Result directory used in current simulation run The value is set by the built in event handler for event maCurrentResultDir prefcon Connection number realtime Realtime mode 1 is real time 0 is non realtime The value is set by the built in event handler for event scGoRT recording Flag indicating that recording is enabled or not 1 means enabled 0 means disabled The value 1s set by the built in event handler for event maRecording recording bandwidth Recorder bandwidth in bytes second The value is set
56. refer to Section 3 5 9 1 Introduction The use of the CE is optional but you would typically use Calibration files when you need to interface with external hardware such as electrical front ends Calibration files serve as input to functions of the Calibration library which is described in detail in Section 9 6 1 The CE can be used to create one or more Calibration files that describe the transformation from engi neering values to raw values and vice versa 9 2 Starting the Calibration Editor The Calibration Editor CE can be started by selecting the Calibration Editor button in the EuroSim start up window see Section 5 2 3 9 3 Calibration types There are three types of calibration e polynomial equation e interpolation e lookup table The polynomial equation is a continuous function of the format y ax ba cx de e 9 1 The constants a b c d e are coefficients which when correctly chosen approximate any correlation func tion closely enough for the intended purpose The interpolation method uses point pairs to create a continuous function by performing a linear interpo lation between these points The lookup table method creates a discrete correlation function using a lookup table to convert the input to the output value If the input value is not present in the lookup table an error condition is raised Thus similar to point pairs but without linear interpolation Dutch Space BV 65 iss
57. the servers When the paths are shown the button will change into a Hide Paths button which reverses the action The Re Connect button can be used to connect to one of the simulation servers shown The Kill Sim button can be used to kill a simulation if a run is hanging for any reason and is no longer responding to the Simulation Controller Dutch Space BV 109 iss 5 rev 0 SUM NLR EFO SUM 2 Show Current Simulations bill dutchspace nl no active simulations dabba dutchspace nl no active simulations hobbes dutchspace nl i thermo exe thermo sched Tue Sep 14 02 05 22 2004 rhdv pid 25126 port 0 hermo exe thermo sched Tue Sep 14 02 08 34 2004 rhdv pid 26468 port 1 hpxsim dutchspace nl no active simulations lunix dutchspace nl no active simulations troi dutchspace nl no active simulations vsrfsim dutchspace nl no active simulations Show Paths Kill Sim Dismiss Figure 12 6 Show Current Simulations window Disconnect From Server This menu option will disconnect the Simulation Controller from the simulation server The simulation will remain on the server and the Simulation Controller can be reconnected to the server using the Server Show Current Simulations menu item 12 7 4 Control menu Set Realtime This menu item acts as a toggle with which the simulation can be set to real time mode or non real time mode This can only be done before initializing the simulator Speed Control
58. the window The left hand side of the window contains a Dictionary Browser see Section 12 5 that you can use to drag and drop variables from the dictionary to the condition or action text areas You can select more than one variable and they will be inserted into the text as a list of variables one per line Besides drag and drop you can also double click on a variable to add it at the current cursor position or use the Add Variable button to add all selected variable at the current cursor position 12 13 2 Recorder Action Editor The recorder Action Editor consists of two tab pages The editor with the first tab page Variables on top is shown in Figure 12 18 The second tab page Script is the same as the script Action Editor window Figure 12 17 except for an extra checkbox Manual When checked the Condition and Action text areas can be edited and the entry fields in the Variables tab page cannot be edited When unchecked the situation is the other way around It should not be necessary to check the Manual checkbox when building simple recorders For more complex recorders you could start with the Variables tab page fill in all the fields switch to the Script tab page check the Manual checkbox and then customize the condition and action In the Variables tab page the following information can be entered to define a recording action Action name and Description As for the script action attributes Recorder File The name of the fil
59. value These two define the minimum and maximum values of the variable value should be in the correct syntax for the associated variable G 2 Global Input Variables This keyword is used to define the variables that are used by the current source file and which are set to a value by another source file The syntax of the keyword is the same as for global state variables G 3 Global Output Variables This keyword is used to define the variables that are used by other source files and which are set to a value by the current source file The syntax of the keyword is the same as for global state variables G 4 Entry Point This keyword is used once per function procedure that has to be available for the scheduler See Ap pendix H for more information on restrictions on functions procedures to be used as entrypoints The syntax of the keyword is Entry Point FunctionName DESCRIPTION Description G 5 Publishing of variables It is also possible to publish variables from the data dictionary There are several functions that set the address where a variable or entrypoint in a certain data dictionary is stored thus making it accessible from the outside This is useful for people who want to make their own model interfaces The publish functions are divided in two categories a function to get the runtime data dictionary and functions to publish data variables and entrypoints in a data dictionary G 5 1 Function to get th
60. 0 Figure 11 11 CPU Load Dialog With the timebar dialog the scheduler trace file can be specified see Figure 11 12 and viewed see Figure 11 13 Note that the trace file can grow substantially so only use it when you are debugging your schedule Specify its location path somewhere on a local drive thus avoid using a networked drive Timebar Tracefile E 1mprtrace oul Browse Show timebar Cancel Figure 11 12 Timebar Dialog Schedule Editor Timebar tmp trace out Initialising Standby Executing Exiting Taskname i time seconds ACTION_MGR task ACTION_TIMER timer j New Timer timer i TRACE RESUMED Legend E o MN CPU CPU CPUS MMM Other Zoom Range Erom To Show all Jeooo milliseconds 20000 milliseconds saa n a Apply range 200 600 Y S 1000 40 Dismiss l Figure 11 13 Timebar View 11 4 Advanced Scheduler topics In this section some examples are given that will give more information on mutual exclusion behavior the activation of user tasks according to mutual exclusions dependencies performing I O in the non real time domain time requirements how the scheduler will handle state transitions between different simulation states and how to schedule the ActionM gr Dutch Space BV 91 iss 5 rev 0 SUM NLR EFO SUM 2 11 4 1 Scheduler mutual exclusion behavior 11
61. 1 Real time timing functions time esimgetsimtime time esimgetwallclocktime time esimgethighreswallclocktime ca esimgetsimtimets timespec call esimgetsimtimeymdhmss timeymd call esimgetwallclocktimets timespec ok esimsetsimtime time ok esimsetsimtimets timespec ok esimsetsimtimeymdhmss timeymd D 1 2 2 Real time simulation state functions state esimgetstat ok esimsetstate state ok esimsetstatetimed state timespec use_simtime call esimgetmaincycletime timespec call esimgetmaincycleboundarysimtime timespec call esimgetmaincycleboundarywallclocktime timespec D 1 2 3 Real time task related functions call esimgettaskname taskname rate esimgettaskrate ok esimenabletask taskname ok esimdisabletask taskname ok esimentrypointfreguency state entrypoint freguency D 1 2 4 Event functions ok esimeventraise eventname data size ok esimeventraisetimed eventname data size timespec use simtime ok esimeventdata data size counter esimeventcount eventname D 1 2 5 Real time clock functions on esimgetrealtim ok esimsetrealtime on speed esimgetspeed ok esimsetspeed speed D 1 2 6 Real time recording functions on esimgetrecordingstate ok esimsetrecordingstate on Dutch
62. 221 214 2 Creating a seli siened certificate lt lt co 12 2a 2d naaier a eeoa 222 21 5 JAVA Spl TICS a a dok dole a ea Re oe Bae hae he bee bb 222 ZL SOSA s Go zoe Soe Gas Oe oa Ra ke a GRE ee heh ee oes 222 2122 Selec Simar oo kao ek a eS a eee Bok Je a d Ak we ee d 223 21 33 Monitor list dialog sss earras pl ZE sn o k ee ee ekk deo 223 21 54 Session e ea oa A 223 215 9 APL Tab 5 ra ee eh ee aa aa a O k ew 224 2156 MMI Tab 2 5 a has me a O aak nak a a a 224 21 0 REDATETES 4 eca vou e A a di ee be ba ee A a ee dol aa 226 2L6 1 Server TMETTACE os mok 4008 dr be ee ea ed ew ae Re Re Mee dv 226 21 0 2 AML ORM s o 4 3 2 2 costes B K Ka A nd dk K G 228 IV Appendices 233 A Abbreviations 235 B Definitions 237 C Scheduler Errors 241 EL Sehedule BANG PRO lt a o ed S a ee 241 C2 Scheduler run time messages lt ea ecce eo o o o E OZO U o bb o o E 242 Ce Lower CHG oa osaa A A val O ah v m a k ra e 244 D EuroSim services 247 DI MAPS ce a eae o Kodl la a A a sb te o ee Hae 247 DLI Ape M cit A yt Sea A dou d tab A 247 BZ Usagein Fortan oce po dekou a A ee Boo k ee v 248 DAS sa e AAA lt s ack dew ee I Ado l oky lod dd kdo v b see X 250 11 2 Description Ol TOASIONS so cio at ko AA A o a a a 252 D3 Simulator Options lt lt c s 4 5484 a a 254 E Mission Definition Language 257 BEI A o Jde no M bee oba d ee do ee ad vv A een ke u das v 257 E 2 MDL constants types varia
63. 24 Simulation definition s ea wl a ew kA a dl vk A vn A dh 7 Ze TE SUMA lt a a a a doo ks da 7 Do Mmervices atid 10018 oia a ee a ee ee 8 23 Project Manager lt o lt 48 8 eared be ae ew a eee 8 2 2 Model Bair lia epee wre a Se eae e a we ee a ee 4 8 2 3 3 Model Description Editor gt o sec re es ereraad PHS a da ds 8 254 Pat met r Exchange Editor o e paca ba bac da ads WG ae ee eas 8 233 SMP EU sgos rica 4 4 wand ai Bd a a Gare 8 200 PME EMO ias A ko a e a a be ee bd 8 237 Simulation Controller lt 204000408 Ala A iaa ca ca nk A 9 238 Acton Editors acosan ke a e ee 9 23 9 Initial Condition Editor lt lt lt lt lt lt 44 4 ee s d 9 23 10 Test Analyzer o iia dob ado dd Ad ds 9 2 44 Facility and project management lt 2 46b bbu bo ad 9 241 Facility manager II 9 poe UBPOJPO M ces hae a She ea da p e Gh O O Rs 9 Zak BROS ea ee ee A ed od v es E EN a oe ee 9 2 5 Application Programmers Interface co 2404 ee ee rss 10 26 Mersin management oo cs ok Gee acs a d V AB ee ee a nen 11 3 The EuroSim GUI 13 3 1 GUI conventions in EuroSim 4 0 13 32 Mouse DUO s 4 4 400 esa e a RRA a a A 4 13 Ad Keyboard shoris ic ea a e Be ee ke eee v 14 Dutch Space BV v iss 5 rev 0 SUM NLR EFO SUM 2 34A COMIDO DIONS oc A a ee as e a a 14 34 Common EM HEMS o o s socos Toae ee ane wh ds d vy ee v d l n 15 Do BOM i e z
64. 5 BC RT TRANSFER 8 EVICE In this example a The BC gt RT transfer Dutch Space BV 177 iss 5 rev 0 SUM NLR EFO SUM 2 x Add RT gt BC transfer of 8 bytes from RT 3 and subaddress 10 to BC esimMil1553BcAdd mil1553 3 10 RT BC TRANSFER 8 Initialise and write the data to be send for BC gt RT transfer x for i 0 i lt 8 i snd i i esimMil1553BcWrite mil1553 3 5 snd 8 Start the transfers x esimMil1553Start mil1553 x Check whether all transfers the scenario have finished x This example uses a busy wait Don t do that in a RT simulator while esimMil1553Po11 mi11553 0 Read and print the data of the RT gt BC transfer x esimMil1553BcRead mil1553 3 10 rev 8 for i 0 i lt 8 i printf sSdin rcv i x Close milbus and exit x esimMil1553Close mil1553 return 0 16 4 Serial interface 16 4 1 Design and operation The Serial interface provides non blocking read and write operations for standard serial devices The Serial interface uses the standard IRIX 6 5 serial device drivers that already supports non blocking How ever data must be buffered on read failures when not enough data available The Serial interface provides the initialization of the IRIX drivers and the buffering of data For detailed information see the esimSerial manual pag
65. 5 Model Editor Preferences 1 4 ae a a eR O ad 54 6 6 The environment editor and viewer 54 6 6 1 The environment Viewer o aes ca ca 4 s a 54 0 6 2 Theenyvironmenteditor lt ack 48 eb a a dv 54 7 Model Description Editor reference 57 Fel o cock eo a ee Udo A a dek E Vb eS GS db dok 4 57 O 57 7 2 1 User defined variables lt 4 43 22 44 48 d ddd ddd Ra A A 58 1 3 Scheduling datapool updates siss aoe woi ea ee a bon 58 7 4 Starting the Model Description Editor lt lt 0 0 2 00000008 ee 58 7 5 Model Description Editor objects lt lt lt lt lt lt ee 58 TIA ROBLE has dias ee A de V d vn u dl dn k 59 Taa N PLNE aa e ee v oe Ge a A e W 4 59 7 0 3 Enttypolnt node s coco doba RA b A RA b no oh a 59 7 5 4 Inputs and Outputs group nodes o 444 eee 59 7 5 3 Inputand Output ned s lt o bi td ea rra ee sawed ead 59 76 MENTES cocido eae bea eA EA a a OA 60 TA A a o Z Rw ew a o bov 60 A VELA NEN cee eke ew A ee a v v D Zkou uboh drn ee dy i cd 60 TAS Tools MEW caia bo o ea A k 60 8 Parameter Exchange Editor reference 61 5 1 Introducido saaressa cromada A A K OA 61 8 2 Scheduling parameter exchanges lt lt lt lt ee ee 61 8 3 Starting the Parameter Exchange Editor lt lt lt lt 444 62 8 4 Parameter Exchange Editor objects 3000080800 O ee ee 62 g4 NY 62 g8g42 Destination VIEW sacacasa resi A Ad we ew 62 84 3 Excha
66. A but not in B lt gt means that there is a difference in versions between a file in both scenarios lt b gt means that there is a difference in the body of two actions with the same name lt c gt means that there is a difference in the condition of two actions with the same name See Figure 12 16 for an example 120 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 gt Comparison of Two Scenarios 2x File references SUM model SUM model Actions gt Set decay speed to 20 Record altitude lt c gt Record altitude Set decay speed to 30 lt Show differences only Figure 12 16 Example difference list The following Edit menu items are available in the scenario tab page Undo Redo Action changes and changes to the hierarchy structure of a scenario i e actions moved to another folder folders dragged to another position folders deleted or added can be undone and redone Cut Copy Paste Actions and folders support the usual cut copy and paste operations An action folder that is copied or cut from one scenario tab page can be pasted onto the tab page of another scenario Activate Deactivate Activate or deactivate the selected action Only available if a simulation is running Properties Start the editor for the selected action Delete Delete the selected action or folder The action or folder is not placed in the clipboard and thus cannot be pasted Edit
67. Chapter 6 Browsing the data dictionary can be done using the Dictionary Browser see Section 12 5 which is available in several of the editors and tools 2 2 4 Simulation definition A simulation definition contains all information required during a simulation this can be any number of monitors for monitoring variables recorders for storing variable values in a file stimuli to simulate external inputs to the simulation scripts and events to manually influence the simulation and initial conditions to initialize the simulation in a certain state More than one simulation definition can be defined for a particular model each resulting in a different simulation result Simulation definitions are created using the Simulation Controller which is described in Chapter 12 2 2 5 The simulator A simulator is one or both of a hardware device and a computer program built out of model dependent software i e the model code itself the schedule and the data dictionary and the model independent software for the performance and control of the simulation 1 e the EuroSim provided software A simulator together with a simulation definition can be used to start a simulation run The simulator is always in one of 5 predefined states see Figure 2 2 These states determine the current phase in the general process of simulation These same states except the unconfigured state are also used within the Schedule Editor to define the schedule
68. EB Sheet3 Sheet3 de ThisWorkbook E E3 Modules 2 Modulet Figure 20 2 Declare an instance of the interface Go back to the Excel sheet and make sure you have a Control Toolbox toolbar see Figure 20 3 if not goto menu View Toolbars and check the Control Toolbox Place a command button on the sheet and change its name to Init right click the command button and select CommandButton Object Edit Hit the Esc key on the keyboard and double click the command button Enter the following code in the CommandButtonl Click subroutine Private Sub CommandButtonl Click On Error Resume Next Sim Launch localhost C mysims Counter Counter sim TestClient 0 If Err lt gt 0 Then MsgBox Error 4 Err Description Else A5 Value Launch successful End If End Sub Instead of C Amysims Counter for the working directory you should fill in the path that you used when creating the simulator project i e the directory where the Counter sim and Counter model files are located In a similar way add the Go button with the following code Private Sub CommandButton2 Click On Error Resume Next Sim Go If Err lt gt 0 Then MsgBox Error Err Description Else A5 Value Started End If End Sub And a Stop button with the following code Private Sub CommandButton3_Click On Error Resume Next Sim Abort If Err lt gt 0 Then Dutch Spa
69. EFO SUM 2 SUM iss 5 rev 0 13 11 gnuplot interface 2 0 2x Plot Backend Interface show all GNUPLOT version 3 7 patchlevel 3 last modified Thu Dec 12 13 00 00 GMT 2002 System Linux 2 4 20 18 timercustom Copyright c 1986 1993 1998 2002 Thomas williams Colin Kelley and many others Type help to access the on line reference manual The gnuplot FAO is available from http www gnuplot info gnuplot fag html Send comments and reguests for help to lt info gnuplotedartmouth edu gt Send bugs suggestions and mods to lt bug gnuplotedartmouth edu gt autoscaling is x ON y ON x2 ON y2 ON z ON errorbars are plotted with bars of size 1 000000 border is drawn 31 ha show all Command Clear Dismiss Figure 13 13 The plot back end interface window showing gnuplot output 13 11 1 gnuplot operators and functions According to the gnuplot documentation the expressions accepted by gnuplot can be any mathematical expression that is valid in C FORTRAN Pascal or BASIC The precedence of operators is the same as in the C programming language The functions supported by gnuplot are about the same as those present in the UNIX math library A complete list is available in the gnuplot documentation Examples e sin 1 log10 3 1 2 this means 1 squared 1 exp 0 1 1 3 2 13 11 2 Accessing recorded data Showing a plot causes a temporary file t
70. Event Description Arguments scTaskListStart Beginning of task list scTaskStart Beginning of entry point list of a task taskname enabled scTaskEntry Entry point description entryname breakpoint trace scTaskEnd End of entry point list of a task scTaskListEnd End of task list scEventListStart Beginning of event list scEventInfo Event description eventname state is_standard scEventListEnd End of event list scGoRT Real time mode notification enable Table J 13 Scheduler control join events Table J 14 lists the available commands Command eventSetBrk lt taskname gt lt entrynr gt lt enable gt Description Set breakpoint The where list is only sent if the simulator state 1s rtExecuting Response scSetBrk lt taskname gt lt entrynr gt lt enable gt maMessage lt debugging task break on task task entrypoint enabled disabled gt scWhereListStart scWhereEntry lt taskname gt lt entrynr gt scWhereListEnd entry eventStepTsk Step to next entry point scWhereListStart scWhereListEnd scStepTsk scWhereListStart scWhereEntry lt taskname gt lt entrynr gt scWhereListEnd maMessage lt STEP on task entrypoint gt Table J 14 Scheduler control commands Dutch Space BV 343 iss 5 rev 0 SUM NLR EFO SUM 2 Command Description Response eventContinue Continue execution up to scWhereListStart next breakpoint scWhereListEnd scCon
71. It is used to describe which output variables in the datapool should be copied to which input variables in the datapool The Parameter Exchange Editor is described in detail in Chapter 8 2 3 5 SMP2 Editor The SMP2 Editor is used when creating and maintaining SMP2 catalog ue files The catalog ue files are usually part of a EuroSim model file and the SMP2 Editor can be invoked from the Model Editor The SMP2 Editor can also be used as a stand alone tool It is capable of generating source code and include files from the catalog ue files The generated source code can then become part of the simulator model The SMP2 Editor is described in detail in Chapter 10 2 3 6 Schedule Editor The Schedule Editor is used to define the tasks and the schedule of a model The Schedule Editor is described in detail in Chapter 11 8 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 2 3 7 Simulation Controller The Simulation Controller is used to initially define various simulation definitions and also to execute those definitions during a simulation run Through the Simulation Controller various Action Editors are available as well as the Initial Condition Editor The Simulation Controller is also used to control the actual simulation It is described in detail in Chap ter 12 2 3 8 Action Editors To define various actions stimuli recorders interventions events a number of Action Editors are available through the Simulation Contro
72. MDL action It consists of the name of an action followed by an identifier of a variable or function separated by a colon The name of an action may contain spaces and therefore it is possible to enclose the name of the action in double quotes If there are no spaces in the name of the action the double quotes are not needed Examples actionl varl and action two var2 dictpath is a placeholder for a data dictionary path name A data dictionary path consists of a list of orgnodes followed by an identifier separated by colons Example system A subsystem B source c variable d Decimal is a decimal number Octadecimal is an octal number It starts with a O and consists of one or more numbers in the range 0 7 Hexadecimal is a hexadecimal number It starts with Ox and consists of one or more numbers in the range 0 9 and letters in the range A F or a f 268 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 FloatingPoint is a floating point number It can have a decimal point and or an exponent Time is a time specification It has the following format Y YY Y MM DD hh mm ss optionally fol lowed with a decimal point followed by fractions of a second YY YY is the year in four decimal digits MM is the month of the year in the range of 1 to 12 DD is the day of the month in the range of 1 to 31 hh is the hour of the day in the range of 0 to 23 mm is the minute of the hour in the range of O to 59 ss are the seconds of
73. Mk0 1 AI pages 7 Feb 1995 Continued updating of issue O revision 3 All pages 25 Apr 1995 Issued for DD R EuroSim Mk0 1 SR R 1 RID SRD 74 SR R 2 RID SRD 5 AD R 2 RID Model_ICD 2 AD R 2 RID Model_ICD 3 AD R 2 RID SRD 3 AD R 2 RID SUM 2 All pages 18 May 1995 Completely revised to take into account internal comments All pages 26 Jun 1995 Updated after DDR 15 Jul 1996 New document for EuroSim Mk0 2 reference number of document changed to NLR EFO SUM 2 All pages 16 Dec 1996 Issued for DD R EuroSim Mk0 2 Internal review comments processed SPRs implemented 166 364 370 380 397 406 462 475 484 571 574 578 603 612 629 633 652 657 712 814 840 960 961 1010 1011 1045 1205 1216 1273 1293 1326 1483 17 Feb 1997 Updated after DD R the following RIDs have been implemented 53 67 69 76 78 102 104 106 123 125 164 166 187 202 209 211 214 216 224 226 251 255 257 260 263 266 269 Note that not implemented RIDs from the 200 range have been re issued for the delta DD R 25 Apr 1997 Updated after delta DD R the following RIDs have been implemented 42 44 47 51 53 68 72 83 85 88 90 91 93 102 104 106 107 partly 108 116 119 123 1 May 1997 EuroSim Mk1 SUM Inclusion of IGS information references reference to IGS SUM inclusion of IGS overview definition of IGS interfaces
74. Netscape HTML browser for UNIX and the Internet Explorer for Windows NT which will load the on line version of the user manual About EuroSim This will pop up a window displaying the copyright information for EuroSim 5 2 5 Automatic addition of files to the project When you start one of the EuroSim editors from the Project Manager to create a new file f i a new schedule file the Project Manager will automatically add the new file to the current project when you save it to disk Depending on the settings in the preferences dialog you will be prompted with a question 1f the file should be added to the project or not In the preferences dialog you can also disable this feature Note that files other than model files are always added in the context of the currently active model file in the current project Each project can have multiple model files If you have not yet selected a model file for the current project the automatic addition of other files is disabled Making UNIX groups and assigning members requires root privileges and hence is a system administrators facility man agers job Implementing a good protection strategy is not easy but is assumed to be within the knowledge of the system administrator Not supported in the Windows NT version 44 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 Chapter 6 Model Editor reference This chapter provides details on the Model Editor The various objects
75. OK button Change the frequency of the Thruster timer to 100 Hz On some operating systems this is the default frequency Other operating systems may have a different default frequency setting The executing schedule should now look something like Figure 4 7 With this schedule the Thruster task will be triggered with a frequency of 100 Hz and the Altitude task with a frequency of 20 Hz Dutch Space BV 29 iss 5 rev 0 SUM NLR EFO SUM 2 Schedule Editor Satellite sched minbar dutchspace nl File Edit View Insert Tools Help D G A 9 a k 7 A lt NY Y Tha gt New Open Select Flow Task Nrttask Timer Mutex Freq changer Initializing 11 Standby b Executing a Exiting Altitude lusers fl75708 EfoHome Satellite Satellite model No errors Feasible Experimental Figure 4 7 The executing schedule 4 7 3 Closing the Schedule Editor After each of the schedules has been created select File Exit from the menu and select Save when a warning is given about unsaved changes In the Model Editor save the model 4 8 Creating a simulation definition Now that the model has been created and the simulator has been built a simulation definition should be created A simulation definition contains information on the initial values of the variables defined in the API headers as well as stimuli recorders and monitors which can be used to monitor and influence the simulation
76. SUM 2 SUM iss 5 rev 0 If you do not have SMP compliant models then you can fulfill this requirement by implementing empty stub functions Listing 19 3 The C source code for the modelmanager c file node Empty stub functions for SMP initialization void ManagerPublishInterfaces void void ManagerInitialise void Add the modelmanager c file as a file node to the model see Figure 19 1 19 6 Build process Figure 19 8 shows the steps to build the simulator executable and data dictionary when using the Sim ulator Integration Support library The build process make can be started from the Model Editor with the Tools Build All menu command First a data dictionary is generated from the model source code This is the stage 1 data dictionary that is also used by the Model Description Editor When the Model Description Editor is started from the Model Editor the stage 1 data dictionary is always updated to ensure that all model variables are visible in the Model Description Editor During the final build i e when the Model Description file has been defined the build process creates the datapool from the Model Description file s and merges its variables and entrypoints with the stage 1 data dictionary in order to create the final data dictionary The final data dictionary will be used by the simulator and other EuroSim tools such as the Schedule Editor model source code Mode Descrip
77. Scenario Caption Change the caption of the scenario tab page Delete Scenario Tab Page Delete the scenario tab page You will be asked to confirm this operation The following Edit menu items are available in the scenario tab page Show Icon View Toggle between the tree view and the icon view of the scenario Rearrange Icons Icon view specific rearrange the icons of the scenario Up Icon view specific by double clicking on a folder you move down in the action hierarchy This menu item moves the icon view to one level up the action hierarchy The following Insert menu items are available in the scenario tab page New Recorder Create a new recorder action See Section 12 13 2 for more information New Stimulus Create a new stimulus action See Section 12 13 3 for more information New Script Create a new script action See Section 12 13 1 for more information Dutch Space BV 121 iss 5 rev 0 SUM NLR EFO SUM 2 New Folder Create a new folder called New Folder followed by a unique number You can immediately edit the generated folder name and change it to something more appropriate The following Control menu item is available in the scenario tab page Execute Action Execute the selected action Only available when the connection to the simulator is active The following Tools menu items are available in the scenario tab page Commandline Script Quickly enter an action script and execute it Only available if th
78. Section 12 13 1 All actions are ultimately defined in MDL and handled at run time in the same way The provision of the Action Editors is to allow the most common types of actions to be created with the minimum knowledge Of MDL syntax 12 13 1 Script Action Editor The script Action Editor is shown in Figure 12 17 IEE Name Ser decay speed to 20 Description none Data Dictionary Global Active States Type CActionMgr Nr Altitude V Active W Initializing V Standby Script 0 E D A Dude W Executing Exiting Recorder Ej altdata altitude cla altdata decaycounter cla altdata decayspeed decayaltitude cha altdata decaycou Cp altdata decayspe thruster 2 B Initialise_Altitude Action Stimulus Condition i 18 initializealtitude Altitude Altitude decayaltitude altdata decayspeed Qj Thruster 20 Add Variable Check Script MDL Keywords Help Errors 4 M Figure 12 17 The Script Action Editor The window consists of several parts each part corresponding to an element of an action as described in Section 12 2 2 In the first three parts the following attributes can be entered Action name This is the name of the action as it appears in the tree or icon view It should be a unigue name within the current scenario Description A description of the action Dutch Space BV 123 iss 5 rev 0 SUM NLR EFO
79. Space BV 249 iss 5 rev 0 SUM NLR EFO SUM 2 D 1 2 7 Real time reporting functions Call Call simmessag message esimwarning message Cal Cal esimerror message esimfatal message Cal esimreport level message D 1 2 8 Auxiliary functions Call esimversion version call esimabortnow D 1 3 Usage in Ada 95 use Esim with Esim Do not forget to check the Gnat Ada runtime libraries option in the Model Options window of the Model Editor see Figure 6 4 D 1 3 1 Real time shared memory allocation function EsimMalloc Size Size T return Void Ptr procedure EsimFree Ptr Void Ptr function EsimRealloc Ptr Void Ptr Size Size T return Void Ptr function EsimCalloc Nelem Size T Elsize Size T return Void Ptr function EsimStrdup Str Chars Ptr return Chars Ptr function EsimStrdup Str String return String D 1 3 2 Real time timing functions tSimtime return Long Float tSimtimets return Time Spec EsimGetSimtimeYMDHMSs SimTime out YMDHMS s tSimtime Simtime Long float return Integer tSimtimet s Simtime in Time Spec return Integer function EsimGe function EsimGe procedure function EsimSe function EsimSe function EsimSe function EsimGe function EsimGe function EsimGe tSimt
80. Step button on the Simulation Controller window itself You can use the function key F10 to guickly access this menu item Dutch Space BV 117 iss 5 rev 0 SUM NLR EFO SUM 2 12 10 External debugging facilities There are two options for debugging model code within EuroSim The first option is to use the debug control window in the Simulation Controller see Section 12 9 1 This is useful for tracing which tasks and entrypoints get executed etc It also offers an integrated interface with EuroSim itself However sometimes 1t might be necessary to have more control over the executing simulation In these cases it is possible to use an external symbolic debugger The only precautions to be taken are to restrict the simulator to one processor which can be set in the Schedule Editor see Section 11 3 5 and to use the g flag when building the simulator Now the simulation can be started as normal The debugger can now be connected to the simulator using the command dbx pnnnn where nnnn is the process number which can be obtained with the ps command After the connection has succeeded the Simulation Controller will stop It will resume when you enter the cont command in the debugger The debugger can be used as on any other application The cvd debugger can also be used instead of dbx if the SIGUSR and SIGPOLL traps are disabled Both debuggers have to run with root privileges 12 11 API tab page The API tab pag
81. Terminal functions lt lt lt lt 444 176 16 3 7 Case study Transferring data between a BC anda RT 177 164 Seral NERA A o D VA O NO ee a ea a r a 178 15 4 1 Design andoperation ss s s ee ee A a ee ee rn a 178 16 4 2 Case study Setting up a serial interface 2 a 178 165 Exstermal Bven oc co bo ne ae ea d a vk al db ee a S 179 16 5 1 External Event Somos scene ma ake DR a 179 10 3 2 Event dispatching oc e a acs be ae otit a ee 180 16 5 3 User Defined EuroSim compatible devices lt lt lt lt 182 17 Modelling a TM TC Link 183 TAA Me A ob JK ee ea ee ea Oe a a oe we 8 183 17 2 Characteristics of the TM TC Link ooo cc oc e ee ee ee ee E e 184 17 3 Summary of procedure gee a ae ae RO ee ee 184 17 4 Case study setting up a TM TC link lt lt lt lt u ee 184 17 4 1 Set up the external simulator as a EuroSim client 184 17 4 2 Create and customize a link between the two TM TC clients 185 TAD Sending packets lt s 2 4 so zoe dok sE d non REE Ea kodek bokov 186 1144 Receiving packets o u z u 20008 40 ne a d neck a dok Jy R vak ed ak 186 Dutch Space BV xi iss 5 rev 0 SUM NLR EFO SUM 2 IAS Clos do Ink a Se te to ode AI de oo ed 188 18 Interfacing external simulators to EuroSim 189 18 1 Introduction 2 1 ee Mob n obj book do SE ee Eee b n 189 18 2 Selection of shared d ta items s s ose 42 20082808 Dee a
82. The options argument is a single string containing a comma separated list of options Valid options are type alfa time xy type of monitor point cross line both line style of monitor xsize number xsize of monitor window ysize number ysize of monitor window xmin number minimum x value of monitor plot range xmax number maximum x value of monitor plot range ymin number minimum y value of monitor plot range ymax number maximum y value of monitor plot range Example monitor type time point cross xsize 1 ysize 2 xmin 3 0 xmax 4 ymin 5 ymax 6 A B C sourcel c workl locall pause or freeze request change simulator state from executing to standby print expression list Evaluate the expressions in the expression list and print them on the message pane and journal file raise event raise an input event as defined in the EuroSim schedule e g raise HARDWARE FAILURE record per switch Record one sample of a given set of variables to an optionally filename dictlist named file The simulation time is recorded implicitly and need or registrate not be specified The optional per switch argument specifies the datalog time in seconds or hours in case a recorder file should periodically switch The filename argument is optional It can be used for named recording If filename is not specified the action s name suffixed by rec will be used as file name In case of a pe
83. To create a new user defined function you must first create a file containing the commands From the Test Analyzer menu Tools Shell a shell window can be opened where you can create a file using your favorite editor The filename should be the name of the function and the filename extension should be pro e g user func pro Type the PV WAVE commands in the file and save it In the Test Analyzer select Tools Plot Backend Interface A dialog box appears where you then can enter your command in the Command box as follows run user_func Click Send to execute the command 13 10 6 PV WAVE help This can be accessed from the back end interface dialog window by sending the command help 13 10 7 The PV WAVE process As soon as the current plot back end is set to PV WAVE an attempt is made to start PV WAVE De pending on the number of PV WAVE licenses available in the local environment however this might not succeed If the start up fails then the user s request for a license is placed in a queue All the Test Ana lyzer edit functions are still available however and the user can make edit plot definitions as required the only difference is that the activate display graphical plot request will not be immediately executed If the Test Analyzer appears unresponsive to requests to display a plot then the back end interface window should be checked for this situation and or other error messages 146 Dutch Space BV NLR
84. Use case example 199 SMP Example code 160 Interface reference 159 Step by step example 167 SMP2 compliance with 77 Editor 69 EuroSim Assembly file 70 in EuroSim 69 integration in model editor 70 integration with non SMP2 models 70 smp2gen 69 smp2val 69 SMP2 Editor 368 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 array 73 main window 133 catalogue object 72 overview 9 class 74 reference 133 enumeration 73 Test execution 5 event 74 Test preparation 5 float 73 test result file 105 general types 73 timebar 91 integer 73 timers 86 interface 74 timings file 105 menu 75 TM TC Link 183 model 74 case study 184 objects shown in 72 characteristics 184 overview 8 customizing 185 reference 69 receiving packets 186 root namespace 72 sending packets 186 screen layout 71 triggers 87 string 73 structure 74 User Program Definition snapshot 111 creating a 108 Software Problem Report 361 state transitions 7 VES ee p Step 111 baselining models 11 eid CVS 357 stimulus 102 postor ai editor 125 i i freguency 125 1 E vane i traceable simulation 11 input via a function 125 Stop 111 Web Interface stores 92 certificates 221 asynchronous Java client interface 222 behavior 92 monitor 217 synchronous 85 reference 217 mutual exclusive tasks 93 server 220 timing output frequency 94 synchronization XML Schemas 359 external applications 191 tab
85. VarChanged Then A6 Value dCounter End If The above line of code writes the value of dCounter to cell A6 on the sheet each time the interface notifies our client that something has changed in the external simulator Your VB editor should look similar to Figure 20 6 4g Microsoft Yisual Basic sum client xls EsimEventClass Code E j lol x 1 File Edit View Insert Format Debug Run Tools Add Ins Window Help la xl EJ aA W 4 S S A gt nak Sew Project YBAProject K Ca Public WithEvents Simulator As EuroSim Simiccess_ YBAProject sum client xls A Microsoft Excel Objects Private Sub Simulator Changed ByVal sim As EuroSim ISimulator ByVal Reason A B 63 Modules If Reason VarChanged Then A Modulet A6 Value dCounter 2 63 Class Modules End If IT EsimEventClass Y EventClass Figure 20 6 Creating an event handler We also need an instance of the event class select Module1 and add the following line Public EsimClass As New EsimEventClass to the global declarations so that it looks like the code below Public sim As New EuroSim SimAccess Public ReadView As EuroSim IvarView Public dCounter As Double Public EsimClass As New EsimEventClass The last step is to install the sink Go to the CommandButton1 Click subroutine and add the following line 212 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 Set EsimClas
86. a ee ee a A DD es ES 72 MAS Tps kee oe dw Bo ew AR e ai AE S Ge de O de 73 WAT IGG aoe a oe ee Oe Ba we ADE Pee Pw HS 73 Idt Fiat gt ee aa i a he OS a ee A a NY 73 1045 Emmerson s sa ca ms se apait ag ipang a e le aa a a aE E e eE a 73 WR SNE o eoi he ak AN 73 AKA PAE ca A a a e RA 73 MER o Z c Ak Eh ea a ee bok vk a s 74 VA SUCE ca e ke bok k k doo kok db de pok k E A bod n 74 IOA TOCIISS cece ce Oe O De Ra RES 74 10 4 11 MLA oso ks ee Re a 74 TOA T2 Model e eooo e a a a OA ET ee a eR es ae 74 IOS Menn itemi o ea ee ok ee E A ee ee ea oe ee we 75 VSA PME menu i Se a ka ew ole a Belew r v 75 WES EME MEA ic o AO a A Ad A 75 WSS OG IN 76 1034 Tools Menu o oie ee ee a we wwe eS 76 10 6 SMP2 Compliance 2 lt ez le ee he Re ea a Se a a ea ee TI 10 6 1 Applicable SMP2 version lt o o occ eg o e e e o so TI 15 2 INSlamadel oo oa o aa o GS a a ES TI 196 3 Component model 4 de k a PIE BA A u le a hi k 78 IODA MAP ao de ko de a ee ae eae n 79 10 6 5 Model development kit 5 6 s lt 7 kod Wc W ne ems 80 11 Schedule Editor reference 81 11 1 Startins the Schedule Editor gt co cac emey RO d s a a a 81 112 Schedule Editor items cuido rra da ea a a ES 81 V TEER cowed dea A es Ao ee OS Ea dek e d A a dy N a 82 11 22 Wem realtime tasks cos zoe eo aE e lr ae v A 84 1123 Moutialexchissgis ooe a 6 es ros ee a 7 84 11 2 4 Frequency changers lt oas 33 ee a a a A 85 11 25 Internal and External ev
87. action gt lt scenario gt a scenario maMessage lt action action lt actionname gt activated gt eventActionDeActivate Make an action inactive maActionDeActivate lt scenario gt lt action gt lt initconds list gt lt scenario gt in a scenario maMessage lt action action lt actionname gt deactivated gt eventCurrentInitconds Sets a new list of initial maCurrentlnitconds lt simulation definition gt lt simulation conditions files lt initial condition file s gt definition gt lt set simtime gt eventSnapshot Make a snapshot maMessage lt snapshot made for lt filename gt filename gt lt comment gt maSnapshot lt snapshot filename gt lt comment gt eventReload Reload a snapshot file maReload lt snapshot filename gt lt set lt snapshot filename gt The second argument set simtime gt simtime can be set to on or off When it set to on the simulation time is set to the value present in the snapshot file If snapshot is loaded with simtime scSimtime lt simtime gt lt wallclocktime gt maMessage lt new simulation time simtime gt In all cases maMessage lt loaded filename comment gt eventMark lt marktext gt lt number gt Create a mark maMark lt mark string gt lt mark count gt eventMessage lt text gt Send a message to the simulator client maMessage lt text gt eventRecording lt on off gt Suspend resume recording When
88. and Observer when running the simulator Also the variables can be monitored recorded or changed during a simulation run if they are defined in the API header There are a number of constraints on the model code in order for this API information to be used correctly First of all within EuroSim only C Fortran or Ada 95 can be used as languages to build the model Further programming language specific constraints are described in Appendix H 2 6 Version management Developing a EuroSim simulation is a continuously moving process Files are frequently being changed and updated Especially when more than one person is involved at any one time it can be difficult to keep track of different versions of a model In order to assist the user EuroSim has a number of version management facilities built in Each of the files used within a simulation can be versioned by the user Each version of a file can be given an annotation a short description of the file Versions are identified by a version number When a file is versioned a reguirement on that file can be specified if EuroSim needs access to that file i e when compiling a source file it then requires a specific version of that file This could mean that EuroSim needs a version of a file which has since been updated Therefore a history of the file version is maintained by EuroSim for versioned files only For files which are still under development no requirement should be set On th
89. and Operator default attributes are not supported The Smp Attributes namespace is not supported The OperatorKind enumeration type is not supported The following features are part of the IManagedModel interface and are not supported by the Eu roSim Component Model Operations Associations Event Sources Event Sinks and References 10 6 3 Component model EuroSim uses a static mechanism for publication of variables and entry points 1 e at simulator build time all publication code is generated and a data dictionary containing variables and entry points is created SMP2 on the other hand creates a type system model fields and entry points at run time This dynamic mechanism is mapped to EuroSim s static one by running during the building of the simulator the SMP2 compiled model code linked with a special version of the Component Model that gathers information and converts it to the EuroSim format After linking the model code with the run time Component Model the simulator is ready for running in the EuroSim environment SMP2 model fields are mapped to EuroSim variables SMP2 entry points are mapped to EuroSim entry points SMP2 operations are not supported in the EuroSim run time interface The optional self persistence interface IPersist and friends is not supported External persistence by EuroSim is used The optional Dynamic Invokation interface IDynamiclnvokation and friends is not supported The optional IDynamicSimulator an
90. any other state is attempted or simtime is less than zero no simulation time is set and 1 is returned On success zero 0 is returned esimSetSimtimets sets the simulation time using a timespec structure It replaces the obsolescent esimSetSimtimeUTC esimSetSimtimeYMDHMSs sets the simulation time using an array of 7 integers containing year month day hour minute second and nanoseconds 252 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 esimGetState returns the current simulator state The state can be any of the following values esimUnconfiguredState esimInitialisingState esimExecutingState esimStandbyState or esimStoppingState esimSetState sets the simulator state to the indicated value state state can be any of the following values esimUnconfiguredState esimInitialisingState esimExecutingState esimStandbyState Or esimStoppingState If state is not reachable from the current state 0 is returned on a successful state transition 1 is returned simSetStateTimed sets the simulator state to the indicated value state at the specified time t The possible values of state are listed in the previous paragraph If the flag use_simtime is set to 1 true the specified time is interpreted as simulation time If the flag is set to O false the specified time 1s interpreted as the wallclock time The transition time uses a struct timespec where the number of seconds is relative to
91. application who is provided with a real time interface to the simulation loop Mark A pointer or reference mark made by a user during a simulation run to provide an easy means of returning to a point of interest during test analysis Simulation Definition Complete definition of a particular test for a particular model and schedule specifying the initial conditions stimuli and variables which are to be recorded For on line evaluation variables can also be viewed on screen by specifying monitors MMI Definition Defines the contents of a tab page in the Simulation Controller used for interacting with the simulator Normally this tab page contains one or more monitors Model A set of components sub models and data files which together define the data and behavioral characteristics of a specific real world system or part thereof See Simulator Observer The user who optionally attends asimulation run and who may select variables for viewing and mark interesting observations but who is not able to affect the execution outcome in any way Operational modes EuroSim provides different modes of use which are available to one or more users for exam ple the Model Developer uses EuroSim for simulator development the Test Analyst uses it for analysis of test results Particular user activities are only available during particular modes for example application model s can only be updated during simulator development EuroSim is able to su
92. automatically add the appropriate entrypoints to the internal data dictionary it will not change the data dictionary file on disk so that the entrypoints are available in the task and non rt task dialogs At run time i e when the simulator reads the schedule file the referenced parameter exchange files are read and the entrypoints are also generated but this time they will point to internal data structures that describe which datapool variables to copy 19 3 5 Concluding remarks During the use case example in the previous sub sections we have seen that we can integrate two models without having to write or modify a single line of source code Of course in practice model source code may have to be modified in order to match variable types in the example we used doubles for all variables 19 4 Initial values The variables in the datapool will receive the same initial value as specified in the data dictionary for the related model variable Use initial condition files if you wish to set the datapool variables to different initial values 19 5 Relation with SMP The Simulator Integration Support library uses SMP functions see Chapter 15 to publish the variables for the datapool the datapool exchange entrypoints and the entrypoints for the parameter exchanges When using SMP you must provide two initialization functions e void ManagerPublishInterfaces void e void ManagerInitialise void 204 Dutch Space BV NLR EFO
93. be given This makes the server listen on the port specified in the settings file and sends all logging information to the console 21 3 1 2 Using xinetd The preferred way of running the server is via xinetd This is a superserver process that listens on the specified port on behalf of the server and starts the server when there s an incoming connection on that port The following configuration file could be used Adjust the server entry to point to the location where the server is installed and copy the file to the etc xinetd d directory servic simweb type UNLISTED id esimweb socket_type stream user root server usr local esimweb server wait yes protocol tcp port 443 disable no 21 3 1 3 Settings Like the monitor the configuration of the server is stored in a file in SHOME gt esimwebrc The table below lists the settings that can be adjusted in the file DefaultPage The page that should be opened when the user does not request a specific page Default is index html DocumentRoot The root of the directory tree that contains the files that the user can browse 220 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 ListenPort The tcp ip port number that the server should listen on This only has effect if the server is started with the test option otherwise it uses file descriptor 0 which it assumes to be initialized by xinetd to the file de
94. by the Ada 95 Address attribute can be used as global variables within EuroSim Variables that are to be used as globals must be made visible to the generated publish procedure Therefore they must be put in a subprogram or package specification so that they can be accessed by means of the with clause When two packages define a variable with the same name the names should be fully qualified in the data dictionary i e with the package name otherwise the connection between variables and their compilation subunits would be lost If Ada 95 code is mixed with C and or Fortran code the model developer has to get the bindings of vari able and entry names correct themselves An entity name that appears in a library package is accessible from C as package__name two underscores If the entity appears outside a package its name will be prefixed with _ada_ H 4 3 Entrypoints Ada 95 procedures without arguments can be used as entrypoints In contrast with the global variables they will not be referenced from generated Ada 95 publish code However they will be called from C code that is generated using information in the data dictionary so the name in the data dictionary should correspond to the generated name in the object file Since entrypoints cannot have arguments they cannot be overloaded H 4 4 Types Generic packages cannot have API headers because each instantiation would also have to instantiate a new API header The API heade
95. ca a a dp Bk l S de we ee kr 316 BO DOUCHE o a a a n 316 163 Header niles 6016 2h ad a RR A bo v 317 I Fiyeheeleximple ea e ke ek he e ee Oo o v e e 6 4 318 18 RTI API compared with the EsimRTI API o ooo 319 J Run time Interface Description 331 Ji A A d ee dj V S ed ee jE br v oki dn 331 J2 Simulator start up ee RA a v o RO K RK R be a 331 3 3 Silbecribing to channels ae aa saree aede A a BK ee 336 14 Beal inte control channel 3 s a sb rs d e O 6 4 336 ES Mission channel o j 8 a dd A ko d eee a 339 18 Monitor channel coo ee daa a A a dobou bee A 341 J 7 Scheduler control chamel e 343 J 8 Simulator shutdown ee 345 TS Manual patet o cuc p v ago uj v bo ee wr fa ke Kl ve v E rub A 345 K Scheduler behavior with as fast as possible simulation 347 Kol Introdnetion o co e eea ea ioa i a o Goo o eke 347 K 2 Deadlines and simulation time 44 ee eee ee 347 K 3 Example 1 AFAP simulation with 2 independent tasks lt 347 K 4 Example 2 implicit mutual exclusion of two tasks o oaoa oo 348 K 5 Example 3 A chain of tasks is a pipeline and has parallelism 349 AM A vsi dy das ee ce ee ee dol to olo radio dy ee eS 350 RT POTASA o dy l GA ee ah A bd A dort kor ae 351 K8 Example of performance computation s es sss ese aa sedemo aa scesa 351 L EuroSim Mk2 to Mk3 conversion 353 LE TRIO o a
96. called on a regular basis The frequency depends on the number of RTT calls to and RTI callbacks from the federation The esimRTIrtiAmbassadorTick should be called from a non real time task The EsimRTI can be queried for the actual number of pending RTI calls and RTI callbacks with the following functions e esimRTIrtiAmbassadorGetNbufferCalls and 304 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 e esimRTIfederateAmbassadorGetNbufferCallbacks 1 3 Porting an existing federate to EsimRTI An existing federate can be ported to EsimRTI mainly by making some syntactical replacements and some extra coding 1 3 1 Type Conversions The following table shows how the RTI types and classes are mapped onto their C equivalents RTI C types classes C typedefs RTI FedTime EsimRTIfedTime RTI FedTime amp EsimRTIfedTime RTI AttributeHandle EsimRTlattributeHandle RTI ParameterHandle EsimRTIparameterHandle RTI ObjectHandle EsimRTlobjectHandle RTI ObjectClassHandle EsimRTlclassHandle RTI InteractionClassHandle EsimRTlinteractionHandle RTI FederateHandle EsimRTIfederateHandle RTI RTIambassador EsimRTIrtiA mbassadorHandle RTI Federate A mbassador EsimRTlfederateA mbassadorHandle RTI HandleSet EsimRTlattributeHandleSet EsimRTIfederateHandleSet EsimRTlhandleSet EsimRTIparameterHandleSet RTI HandleValuePairSet EsimRTlattributeHandleValuePairSet EsimRTlhandleValuePairSet EsimRTIp
97. calls is available and installed in SEFOROOT src Mil1553Model 16 2 External interrupts interface The External Interrupt interface provides the following services e EuroSim tasks can generate output interrupts to one of the four SGI output connectors e A standard EuroSim input connector El will be raised by the scheduler for each incoming input interrupt Note that the two input connectors are hardware short circuited thus in fact only one interrupt exists e A user can install a user defined handler for incoming input interrupts e Input interrupts can be used as the external real time clock of the scheduler instead of the default itimer mechanism 16 2 1 Generation of output interrupts The External Interrupt interface provides the function esimElPulse to generate a pulse on one of the four output connectors of the SGI Origin Challenge Onyx Because the generation of a pulse will never block this function can be directly called from any task in any state For more information refer to the esimEl manual page 16 2 2 The input connector El The scheduler is invoked by a heartbeat mechanism which is default an internal timer mechanism run ning at 100 Hz This function will check if there are queued input interrupts Each time that an interrupt is received the El input connector will be raised which will cause execution of the attached user task If several interrupts are received in quick succession
98. can be forwarded to the dispatcher Read the esimEH manual page for installation and restrictions on interrupt handlers Note it is possible to install an external event handler that does not raise any EuroSim event but only communicates through global data with model code Example of external event handler user code include lt string h gt include esimEH h include esim h define START_ID 0 define STOP_ID 1 define SHUTDOWN_ID 2 define ERROR_ID 3 define START 0x04 define STOP 0x05 define PANIC 0x10 define STREQ a b stremp a b enum hw_status DO_RESET INTERRUPT y extern enum hw_status hw_status_get void extern void hw_reset void extern int hw_data_get void extern void hw shutdown void 180 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 void user data not used x if STREO name START return START_ID else if STREO name STOP return STOP ID else if STREO name SHUTDOWN return SHUTDOWN ID else if STREO name HW ERROR return ERROR ID else return esim Gl H_NOT_ASSOCIATED void user_data if status DO_RESET hw_reset else return 0 int size int data void user data not used void size not used data hw data get switch status case STAR
99. can posted by any application on the same machine e Signals available are the signal numbers between SIGRTMIN and SIGRTMAX that are not used by EuroSim internally e EuroSim Compatible Devices these are devices which have device drivers adapted for EuroSim These devices provide specific ioctl functions which EuroSim uses to wait for interrupts See Section 16 5 3 16 5 2 Event dispatching There are two type of external event handlers automatic and user defined see Figure 11 3 5 Automatic handlers can be used if the external event handler is connected to exactly one EuroSim input event which can have one input connector in every state Every time an external event arrives the input connector in the active state is raised No additional code is required User defined handlers allow more input connectors to be associated to one external event source It also allows a faster response to the external event in the interrupt handler or dispatcher code The user should write this dispatcher code This code cannot make use of EuroSim scheduling functions and only part of the EuroSim services can be used See esimEH manual page User code can also be executed in interrupt handlers of VME PCI or external interrupts Such an interrupt handler can be needed to clear the HW interrupt It also has a very short response time and user code can be executed while the HW interrupt line is still active From the interrupt handler the external event
100. checking is only performed when the simulator is running in real time mode esimAbortNow immediately starts termination and cleanup of the simulator This is useful when an error condition is found f i at initialisation time and no more entrypoints should be scheduled for execution D 3 Simulator Options The following are the command line options that can be passed to the main function of the simulator 254 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 h v u uid g gid c number x simfile sim m scenario mdl e exportsfile export i initialcond init d datadict dict s schedule sched f number R directory 1 number r number D flags M modelfile model Show on line help and exit Enable verbose printing of currently running simulator Numeric uid for file ownership of recordings etc Numeric gid for file ownership of recordings etc Connection number offset for the simulator process Needed if more simulators are to be run on one host Simulation definition to initially load Scenario to initially load Exports file for ExtSimAccess Initial condition file to load Data dictionary to load Schedule file to load the scheduler with Frequency to run the asynchronous processes with The default for the asynchronous frequency is 2 Hz Directory to write recording files to Defaults to the directory where the simfile sim file came from Period with res
101. conditions 1 2 f175708 Wed Sep 15 12 16 11 2004 Added user scenarios 11 fI75708 Wed Sep 15 12 15 02 2004 This mission file is used to test revision control Figure 3 5 Difference With 3 5 5 Help menu Online Help Provide a short description of the tool About EuroSim Show the version of EuroSim Dutch Space BV 17 iss 5 rev 0 SUM NLR EFO SUM 2 18 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 Chapter 4 EuroSim tutorial In this chapter a complete pass through the EuroSim life cycle is described An example is used to describe all steps necessary to create a successful simulation with EuroSim The user is advised to check the reference part of the user manual Chapter 5 and onwards for more information on menu items and the various objects in the EuroSim environment See Section 2 1 for a description of the life cycle 4 1 The case study Throughout this user guide a complete ready to run simulator is developed A simple model of a satellite that hovers above a planet without having it in a geostationary orbit is used The altitude of the satellite decays by perturbations and by the gravity pulling it to the planet surface The thruster is switched on when the altitude reaches a lower limit and is switched off when the satellite reaches an upper limit 4 2 Starting EuroSim To run EuroSim on a UNIX platform perform the following steps e Only for IRIX Set the environment varia
102. directory can be found in the PATH environment variable or the full path for example usr bin gcc You can also specify additional command line options for a specific command for example g77 no second underscore The commands specified on this tab page dialog are not stored in the model file but in a global resource Therefore the command specifications are model independent The specifications are read by the ModelMake utility when generating the makefile that is used to build the simu lator executable They are effective after the Tools Cleanup command Clear Logging Clears the logging window at the bottom of the Model Editor Save Logging Opens a file dialog where you can select or specify the name of the file to save the contents of the logging window Preferences Shows a dialog where you can specify your preferences such as always saving API information to files and saving the changes to the model file or automatically clearing the logging window before starting a build Located in the eurosim sub dicrectory of your home directory Unix systems or in the registry Windows systems Dutch Space BV 53 iss 5 rev 0 SUM NLR EFO SUM 2 6 5 Model Editor Preferences The Model Editor can be customized for a number of aspects e g editors to start for different types of node The system wide preferences can be found in the SEFOROOT etc esim conf file To make personal customizations one can overr
103. e The minimum value for max 1kmenm is calculated 300 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 ngine exe 57344000 16384 3500 flywheel exe 57344000 16384 3500 flywheelengine exe 28672000 16384 1750 On the 0200 that was used to develope the EsimRTI the hinv command reports the amount of physical memory available bold in the following output esim projects flywheelengine hinv 4 225 MHZ IP27 Processors CPU MIPS R10000 Processor Chip Revision 3 4 FPU MIPS R10010 Floating Point Chip Revision 0 0 Main memory size 512 Mbytes Instruction cache size 32 Kbytes Data cache size 32 Kbytes Secondary unified instruction data cache size 2 Mbytes Integral SCSI controller 3 Version QL1040B rev 2 single ended Disk drive unit 1 on SCSI controller 3 Integral SCSI controller 2 Version QL1040B rev 2 single ended WORM unit 5 on SCSI controller 2 Integral SCSI controller 1 Version QL1040B rev 2 single ended CDROM unit 6 on SCSI controller 1 Integral SCSI controller 0 Version QL1040B rev 2 single ended Disk drive unit 1 on SCSI controller 0 Integral SCSI controller 4 Version OL1040B rev 2 single ended 10C3 serial port ttyl 10C3 serial port tty2 10C3 serial port tty3 10C3 serial port tty4 IOC3 parallel port plpl
104. ee Bae Dek 116 1292 Debug Control objects u 5 ceea ansera sa dadane ee a 116 MMS IEA 117 12 10Extemal debugging facilities co ca 24 bd Bd b ee ee ee 118 14 1lAPI fab page coo eb ee da be bd doo A bobo 118 12 V2 Scene tal page oo a a Aa AA 119 12 121 Menu ieme o 5 uo ok vole eo a ee RR V i e ROS Re eek we ee eR 120 12 122 Context MENUS 14 408 03A lak k dl a HR o A 122 12 13 Action Editor reference o o ecco e casas e A al E a 123 12 131 Script Action Editor cit E a ge oe a ee 123 12 13 2 Recorder Action BAIGF lt a e os e sa c a a a aa a a 124 12 133 Stimulus Action Editor lt a c ss ace ene ltd o A A a A 125 IZIAMMI tab page 1 oco a K DU sok ea RR d v db v dn nek U 128 LT MaU MI A ER noky k A Ge 128 12 14 2 Context MENUS gt ooo dod Ea dok ea a Beko dea a do ea ee 129 12 14 3 Monitor Editor lt lt ee decs 130 12 14 4 Action Button Editor lt lt 2 ee ene 132 Dutch Space BV ix iss 5 rev 0 SUM NLR EFO SUM 2 13 Test Analyzer reference 133 13 1 Starting the Test Analyzer cocina a ee O dr ee we 133 13 2 Usme the Test Analyzer cuida a a A ko a 133 13 5 Test Analyzer Main Window cos Au 86 a a do ee we 133 135 1 Opening a plot tile o cs a e ceed A dn B on 134 13 3 2 Importing old plot definition files lt lt lt 4 135 13 3 3 Selecting Metestrespls Me co ce a eA a a AR ES 135 1334 Using recorder Tes os a a a a a GO dw de 135 1335 Creating anew Plies cag de ag
105. eee ubo v dr a a e E p ko he a dy ds A 353 Loz Project Manager en kee a a e a a O O ee v ee v 353 D3 Model BANOE o a OA R a RA a ad RE E A 353 LA Schedule BONO o o A a a hee 353 L 5 Mission Tool Initial Condition Editor and Test Controller 354 LO Test Analyzer os 24 nba ee a a A eee 354 LY Conversion Tool oe ese we we 0 A a ok k 6 354 LS Kumtim Interface changes o ore so dux kod A Re bak A 6 a do 355 L 8 1 Real time control channel lt 222 44 355 1 8 WABMON channel osc s ipod Wee ac a a d n E BB 355 L33 Okom DOP O ION ocioso es e lg dod de vi we JE d r obe kv 395 L34 Scheduler control channel lt s es 44 88 ee 88 tb d we bok o 355 Dutch Space BV XV iss 5 rev 0 SUM NLR EFO SUM 2 M Introduction to CVS MI Tmirodwchon oea ci o a o M 2 Initializing the repository root M 3 Setting up a CVS repository M 4 Using CVS under Windows M S More information lt lt lt N EuroSim XML Schemas O Software Problem Reports Bibliography Index 357 rody on Bakes ed GR a ap ee a 357 Oy ee eee a eee E 357 fe ees o ee 357 Sh oS ORY eee ee Be 358 Se ape Ge wee ala eS ak 358 359 361 364 364 xvi Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 Part EuroSim Basics Dutch Space BV 1 NLR EFO SUM 2 SUM iss 5 rev 0 Chapter 1 Introduction 1 1 Purpos
106. esimGetClockfrequency voi esimSet e simGet Speed void Speed double speed D 1 1 7 Real time recording functions in in esimGet esimSet RecordingState void RecordingState int on D 1 1 8 Real time reporting functions vo vo vo vo vo id id esimMessage const char xfor esimWarning const char xfor id id id esimEr ror const char xforma esimFatal const char xforma esim D 1 1 9 Auxiliary functions const char xesimVersion void void esimInstalll ntRaiseTimed const char xeventname ventname const void xdata int size ventname a tClockfreguency double frequency mat Maty ceca Ej Eo a Report esimSeverity lvl const char xfmt ErrorHandler ErrorHandler userhandler void esimAbortNow void D 1 2 Usage in Fortran include 177 Jes L NIC EFOROOT 1ib32 lesServer les The synopsis in this section uses the following variables const void data int size const struct timespec xt int use_simtime ntCancelTimed const char xeventname ntData void data int x size 248 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 double precision time rate frequency speed integer state on ok level counter timespec 2 timeymd 7 integer data n size use_simtime characterxN eventname taskname message version entrypoint D 1 2
107. esimRTIfederateA mbassadorStartRegistrationForObjectClass esimRTIfederateA mbassadorStopRegistrationForObjectClass esimRTIfederate A mbassadorTurnInteractionsOn esimRTIfederate A mbassadorTurnInteractionsOff Object management callbacks esimRTIfederateA mbassadorDiscoverObjectInstance esimRTIfederateA mbassadorReflectAttribute Values esimRTIfederateAmbassadorReceivelnteraction esimRTIfederateAmbassadorRemoveObjectInstance esimRTIfederateA mbassadorProvideAttribute ValueUpdate esimRTIfederateA mbassador TurnUpdatesOnForObjectlnstance esimRTIfederateA mbassador Turn UpdatesO1fForObjectlnstance Ownership management callbacks esimRTIfederateAmbassadorRequestAttributeOwnershipAssumption esimRTIfederateAmbassadorAttributeOwnershipDivestitureNotification esimRTIfederateAmbassadorAttributeOwnershipAcquisitionNotification esimRTIfederateAmbassadorAttributeOwnershipUnavailable esimRTIfederateAmbassadorRequestAttributeOwnershipRelease esimRTIfederateAmbassadorConfirmAttributeOwnershipAcquisitionCancellation esimRTIfederateAmbassadorInformAttributeOwnership esimRTIfederateAmbassadorAttributelsNotOwned esimRTIfederateAmbassadorAttributeOwnedByRTI Time management callbacks esimRTIfederate A mbassadorTimeRegulationEnabled esimRTIfederate A mbassadorTimeConstrainedEnabled 308 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 esimRTIfederate AmbassadorTimeAdvanceGrant esimRTlfederate A mbassadorReguestRetraction 1 3 10 Get names and get handles
108. external clock is used whose frequency cannot be changed by EuroSim 110 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 Step This will advance the simulation through one executing cycle If the schedule contains a low frequency task then this could be a significant period of time Go This will put the simulator in the executing state Pause This will temporarily stop the simulation put it in standby state The simulation is not neces sarily completely inactive however as tasks and actions specified for the standby state will be still executed Stop This will stop the simulation gracefully The simulator will be transitioned to the exit state and all open files will be properly closed Abort This will abort the simulation instantaneously Open files will not be closed by EuroSim but rather by the operating system which results in loss of data as data still in memory is not saved If a test execution has resulted in a simulator hang or remaining executables from previous simulation runs use the Server Show Current Simulations menu option and select the offending simulation and request Kill Sim to remove the remaining executables Raise Event Show a list of available user defined events Select an event and raise that event by either double clicking the event or pressing the Raise Event button This menu item is only available when the connection to the simulator is active and if at least one user defined event is availabl
109. fed file should be present in the RTI CONFIG direc tory Not supported in the Linux and Windows NT version Dutch Space BV 299 iss 5 rev 0 SUM NLR EFO SUM 2 1 1 4 Memory use of EuroSim models with EsimRTI extension 1 1 4 1 Introduction To ensure hard real time execution of EuroSim models EuroSim loads the complete executable and libraries static and shared into memory The user limit max 1kmem controls the amount of memory that can be locked to load the executable and libraries into With the use of the EsimRTI and the RTI the amount of memory required for text and data to run a EuroSim model increases significantly The size of the static EsimRTI library is 3 1 MB libEsimRTI a The size of the shared library is 2 6 MB libesRTI so The size of the RTI 1 3v6 libraries is 16 6 MB ibRTI so and 0 1 MB libfedtime so The increased total size of the executable and libraries might exceed the user limit maxlkmem more easily Specifically the use of exceptions by the RTI can cause the user limit maxlkmem to be exceeded In the EuroSim log file var adm esimd lt hostname gt log this can be detected by occurrences of lines similar to Assertion failed in file libC lang_support throw cxx line 1614 The user limit max 1kmem can be changed according to the size of the executables including the libraries and the pagesize of the machine The limit must be set to a higher value than the executable size divided
110. file a simulation model can be baselined 1 e it can be frozen as a working simulation By versioning all files used for a simulation run the simulation can be made traceable or reproducible at any given point in time the simulation can be re run to recreate simulation results as the exact version of the model schedule initial condition etc are stored in the repository Note that EuroSim currently only supports creation of the Apr headers for C and Fortran code For Ada 95 code the user should create the ar header by hand See appendix G API header layout for more information on the details of the API header 3 Actually storage is more efficient only differences of a file with the previous version are stored Dutch Space BV 11 iss 5 rev 0 SUM NLR EFO SUM 2 Although the repository can be stored in the same location as the project root when more than one person 1s working on a simulation it is best to keep the repository separate from the project root so that more than one person can share the same repository but also keep their own work version All versioning actions are done through the Tools Version menu see Section 3 5 4 If an existing software repository created using the RCS or CVS tool is to be used within EuroSim this can be accomplished by setting the Repository to the RCS or CVSROOT directory The Project root should point to an appropriate working directory with the restriction t
111. frequency range allowed is 0 001 Hz up to and including the maximum frequency with a step 0 001 Hz Offset The delay of the output activation in milliseconds This must be a multiple of the basic period see Section 11 4 7 Error shows the status of the timer 11 2 8 Flows Flows are used to connect items in the schedule They represent triggers going from one item to another 11 3 Menu options 11 3 1 File menu Select Model With this option a different model file can be selected from a file selection window If the model does not have a data dictionary built then it is not possible to specify entrypoints for tasks and non real time tasks Parameter Exchange files Opens a dialog to view add or remove Parameter Exchange files for the current schedule see Chapter 8 on how to create parameter exchange files Import timings With this option a timings file can be imported into the schedule A file selection window will be shown in which a file can be selected Timings files are generated automatically by the simulator and importing one will overwrite any manually entered timing settings 11 3 2 Edit menu Rename Opens an in place line edit to rename the currently selected item Properties Pop up a dialog in which the properties of the currently selected node can be edited The same effect can be reached by double clicking on an item in the schedule tab page 11 3 3 View menu In this menu the state whose schedule tab page
112. from a different host simulator The file name of the simulator executable exe It can be an absolute or relative path name If it is a relative path name it is relative to the path in work dir schedule The file name of the simulator schedule file sched It can be an absolute or relative path name If it is a relative path name it is relative to the path in work_dir scenarios An array of scenario files mdl It can be an absolute or relative path name If it is a relative path name it is relative to the path in work_dir dict The file name of the data dictionary file dict It can be an absolute or relative path name If it is a relative path name it is relative to the path in work dir model The file name of the model file model It can be an absolute or relative path name If it is a relative path name it is relative to the path in work dir This file is not actually used by the simulator for reading It used for tracing purposes as a reference recorderdir the path name of the directory where all recordings are stored It can be an absolute or relative path name If it is a relative path name it is relative to the path in work_dir initconds An array of initial condition files init It can be an absolute or relative path name If it is a relative path name it is relative to the path in work_dir exports the file name of the exports file export It can be an absolute or relative pa
113. function does This function also sets up a number of callback functions for incoming events The information carried by each event is stored in the session structure The user can at any moment print the contents of this structure by calling print session parameters To install a new handler for an event you call the function event addhandler with the name of the event you want to handle and the callback to call for that event You can install more than one han dler for each event Handlers are called in the order they were installed The name of the event is the same as the name of the enumeration identifier e g rtExecuting To remove the handler call vent removehandler with the same parameters Each callback receives the following parameters 1 Session object reference to the session hash see Section 14 4 1 1 2 Name of the event name of the enumeration identifier 3 Simulation time sec 4 Simulation time nsec 5 Wallclock time sec 150 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 6 Wallclock time nsec 7 Parameters event specific Example sub cb_standby my session Sevent_name simtime_sec simtime nsec wallclock sec wallclock nsec print going to standby at wallclock sec in Ssession gt event_addhandler rtStandby amp cb_standby or a bit more compact Ssession gt event_addhandler rtExecuting sub print going to executing at 4 Xn
114. have already performed a simulation run with this schedule which produces the timings file Beneath the entrypoint values the total timings for the current task are displayed Entrypoints in a task are executed sequentially so the timing information is calculated by adding the values for the individual entrypoints in the task Taskname The name of the task Processor The processor on which the task should be executed The default is Any Priority The priority with which the task should run Default is Moderate Preemptable Set this to No if the task may not be interrupted by another task Allowed Duration The maximum time a task may take during simulation This sets the deadline on which the task should have completed The deadline is calculated by adding the Allowed Duration to the simulation time at the moment a task becomes ready for execution This attribute is only available for periodic tasks The allowed execution time has to be equal to or less than the period Deadline The time in which this task should be finished measured from the start of the current cycle The default deadline is the end of the cycle Times for Allowed Duration and Deadline are always in multiples of the basic clock cycle see Fig ure 11 8 Task statistics are shown in the window below the entrypoints Running The time that the code in the entrypoints was actually executing Blocked The time between task activation and start of ex
115. heterogeneous environment and should be suitable for any UNIX based simulators In addition to the specified data dictionary values the external simulator also receives the simulation time elapsed wall clock time and simulation state from EuroSim 18 2 Selection of shared data items It is possible to make all EuroSim data dictionary items accessible between the two simulators but for performance security or other reasons it is often a requirement to limit the number of data items which are shared between the two There are two levels of filter which can be applied e The EuroSim application decides which data dictionary items are to be visible to an external sim ulator and whether with read and or write access defined in an export s file Dutch Space BV 189 iss 5 rev 0 SUM NLR EFO SUM 2 e The external simulator application decides which data dictionary items are to be used from those made available from EuroSim and the type of access defined in a data view An example is shown in Figure 18 2 The first box shows all the API items in the EuroSim data dictionary 1 e all possible data items which can be shared between the two simulators The middle box shows that by listing a subset of these items in a exports file the EuroSim application can limit the number of data items which it wants the external simulator to share In addition read write access can be limited And finally the third box for the external clie
116. how to create an external event handler 11 3 4 2 Predefined internal events The following internal events are predefined NOTICE This event is raised when the esimMessage or esimReport with the esimSeverity parameter set to esimSevMessage is called WARNING Idem for a warning ERROR Idem for an error FATAL Idem for a fatal message STATE ENTRY This event is raised when the state is first entered STATE EXIT This event is raised when the state 1s exited REAL_TIME_ERROR This event is raised in case of a real time error REAL TIME MODE ENTRY This event is raised at the transition to real time mode and at STATE ENTRY when in real time mode NON REAL TIME MODE ENTRY This event is raised at the transition to non real time mode and at STATE ENTRY when in non real time mode SNAPSHOT END This event is raised after loading a snapshot and applying the values to the variables Restoring a snapshot 1s performed asynchronous This means that when the user issues the command the snapshot is not applied when the command finishes Instead this event 1s raised to indicate that 1t has finished 11 3 4 3 Predefined output events The following output events are predefined INIT Requests transition from Unconfigured to the Initializing state GO Requests transition from Standby to the Executing state RESET System reset Requests transition from Standby to the Initializing state
117. is a wrapper module for the EuroSim data dictionary functions You can open and close EuroSim data dictionary files You can get and set individual values of variables This is used in conjunction with the initial condition module This module is also used for command line completion in interactive mode to complete the path of data dictionary variables A complete overview of all functions provided by this module can be found in the manual page Eu roSim Dict 3 154 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 14 4 4 EuroSim lnitCond module This module offers reading and writing of initial condition files You can also use it to combine multiple initial condition files into one file In conjunction with the EuroSim Dict module it is possible to set variables to specific values and then save them in an initial condition file The following steps must be taken to change values in an initial condition file 1 Load a data dictionary file 2 Load one or more initial condition files into that data dictionary 3 Set one or more values of variables to their initial values 4 Save the initial condition file with the new values This initial condition file can be used in a new simulation run or it can be loaded into an already running simulator In order to load it into a running simulator the simulator must be in standby state or it can be used for reinitialization A complete overview of all functions provided by th
118. is selected by the daemon and returned on successful start up of the simulator Put a positive value here if you want to force the new simulator to have a specific connection number umask the umask used for creation of new files See umask 2 flags there are currently two flags defined SESSION REALTIME and SESSION NO AUTO INIT Flags shall be or ed together Add the SESSION REALTIME flag for real time runs or do not set the flag for non real time runs The SESSION NO AUTO INIT flag can be set to prevent the EuroSim scheduler from automatically going into initializing state This is used by the EuroSim Simulation Controller to set break points and traces and to disable tasks before the simulation goes into initializing state Table J 1 session_def structure The following small example in C will show how to start a simulator using representative values for the parameters Listing J 2 tc example c include lt rpc rpc h gt define RPCGI include lt esi EN CLNT md h gt int main void struct session3_def session struct start result xresult env item env 6 file def scenario file def initcond CLIENT xclnt session sim path Demo sim session sim vers session work dir home user projects STD session simulator Demo exe session schedule path Demo sched session schedule vers scenario path Demo mdl Dutch Space BV 333 iss
119. is started by running the esimsh command The esim gt prompt appears and you can start typing commands The shell has various forms of completion Typing TAB once will show you a complete list of available commands Each command is in fact a perl function provided by the EuroSim modules Read the manual pages for detailed information on arguments and return values You can save the commands by using the built in logging function This function is started by calling log open perl script All commands entered after this are written to the file called perl script This Not supported on the Windows NT platform Dutch Space BV 149 iss 5 rev 0 SUM NLR EFO SUM 2 file can then be used as a starting point for further non interactive runs To stop logging commands you call log close When you start a simulation in interactive mode the default when starting esimsh an xterm window is started to show the journal messages 14 4 Batch utility modules The batch utility consists of one module for each object This follows the perl object oriented design features It means that given an object you can call methods in the following manner Sobject gt method argl arg2 There is one module which forms an exception to this rule for convenience reasons when using the interactive shell EuroSim Session All functions methods can be called directly without the object reference This is done to reduce typing in the interactive
120. it downstream in the schedule will also not be called Single stepping breakpoints and disabling of tasks are all easily controlled through the schedule tab page The schedule tab shows the schedule as defined by the Schedule Editor You can set breakpoints traces and enable disable tasks using the Debug menu or by right clicking on a task to show the context menu If you are in debugging mode then the simulation state is executing even if you are paused at a breakpoint In such a case the main window will say executing whilst the simulation time is stopped In order to return to normal executing you need to clear all breakpoint tags and continue using the Continue button If you set a breakpoint of a task in Initializing state then that breakpoint will not work because the list of breakpoints is passed on to the simulator after the Initializing tasks have been called This is a known limitation 12 9 2 Debug Control objects 12 9 2 1 Enabled task These are the tasks as defined in the schedule of the simulation An enabled task will be executed by the simulator 116 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 12 9 2 2 amp Disabled task A disabled task will not be executed by the simulator Note that any task connected to a disabled task will also not be executed 12 9 2 3 Current task The current task shown in green is the task currently being executed by the scheduler If the simulatio
121. join events Table J 4 shows the functions which can be used to reguest the change and the events sent back as a result Command Description Response eventFreeze Request state transition to rtStandby standby state from initializing or executing state eventFreezeAt Same as previous but rtStandby lt wallclocktime gt wait until a certain wallclock time eventFreezeAtSimtime Same as previous but rtStandby lt simtime gt wait until a certain simulation time eventGo Request state transition to rtExecuting executing state from standby state Table J 4 Real time control channel commands Dutch Space BV 337 iss 5 rev 0 SUM NLR EFO SUM 2 Command Description Response eventGoAt Same as previous but rtExecuting lt wallclocktime gt wait until a certain wallclock time eventStep Request the execution of rtExecuting one main cycle rtStandby eventReset Request reinitialization rtExiting from standby state rtUnconfigured rtInitialising rtStandby 1f performed automatically by the schedule configuration eventStop Request the controlled rtExiting termination from standby rtUnconfigured state eventAbort Request immediate abort rtUnconfigured from any state eventHealth Request health check maMessage lt eurosimversion gt maMessage lt executable is healthy gt maMessage lt executing scenario for group gt rtHealth
122. local name EuroSim name to the view e Use of extViewConnect to connect the local view to the EuroSim simulator The ext View manual pages or PMAOS5 provide more information on data views include extSim h define VAR VERBOSE FLAG Verbose Wonly x void main int argc char xargvl 1 194 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 int ext_verbose 0 w_view_ext extViewCreate sim w_view extViewAdd w_view_ext VAR VERBOSE FLAG amp ext_verbose xtVarInt extViewConnect w view ext EXT DICT WRITE frequency COMPRESS NONE Creating a Local Data View In this example only one local view w view ext is being created from the EuroSim w view defined in the model exports file It is possible to make several views for example w view sensors w view actuators each local view then having added to it a subset of the dict items available in the referenced w view see Section 18 4 for more information Linking EuroSim Variables Local Variables in the Local Data View In this case the local view is to contain just one item the EuroSim dictionary variable Verbose A define is used to make a symbolic name from the data dictionary variable name The link between the data dictionary symbolic name VAR_VERBOSE_FLAG and the local variable ext_verbose is made with the extViewAda call The type of the variable also needs to be
123. many types of signals and if type functions can be constructed For example e step x 1 step x 1 or doublet x doublet x results in the box function which is only 1 in the range 1 1 and 0 everywhere else e xxstep x x x step x results in a line for x less than zero and a parabola for x greater than zero Function Description catch x Reserved for future use changed x Return 1 if x has changed with respect to the previous invocation else return 0 Typically used in the condition part of an action in combination with data dictionary variables freq 100 4 changed model var duration Return the elapsed simulation time in seconds that the action has been continuously i e at each activation of the ACTION_MGR executed Elapsed time is reset to zero when the action is not executed This function can be used to have an action run for a certain period of time format x Return formatted string using printf like format specification E g str format Hex value 4x model var freg x Use this function to have an action executed at a given freguency It returns 1 if desired frequency x in Hertz is met by internal basic frequency else freq returns 0 The basic frequency is the frequency with which ACTION_MGR is scheduled Depending on the scheduling table used this frequency may differ from the scheduler basic frequency If the basic frequency is not an exact multiple of t
124. model code 20 4 1 The simulator First we build the simulator from the src com counter directory Start up the EuroSim project manager either double click the EuroSim icon on the desktop or run esim from the command line You may want to refer to the approriate section of the SUM if you are not yet familiar with the following steps e Create a project called Counter and give it a directory e Copy the files from the src com testsim directory into your project directory e Add the Counter sim and Counter model files to the project e Double click the Counter model file in the project manager and build F8 key the simulator with the Model Editor e Double click the Counter sim file in the project manager and run the simulator by clicking the Init button of the Simulation Controller If all went well you should see some messages in the log window of the Simulation Controller indicating that the simulation is running e Stop the simulation by clicking the Stop button of the Simulation Controller At this point we have a working simulator which we can use to test the MS Excel based client application 20 4 2 The MS Excel client application We create the MS Excel client application in a couple of steps Open a new MS Excel sheet and open the Visual Basic VB editor Menu Tools Macro Visual Basic Editor Open the references dialog box in the VB editor Menu Tools References and check the box in front of the EuroSi
125. model file are generated from non modified repository versions e g 1 2 not 1 2 and b the versions on disk match the required versions 12 4 Simulation Controller output files During a simulation run a number of files are generated journal file This file contains all messages generated by the simulator as well as all entered marks and comments There are two variants of this file A human readable version and a machine readable version The filename of the human readable file is EsimJournal txt The filename of the machine readable file is EsimJournal xml timings file This file contains timing information which can be used in a schedule see Section 11 3 1 of the Schedule Editor This file has the name timings See also Section 11 4 for information on task timings recording files These are the files that result from the recording actions as defined in the scenario definition For each recorder a file is created with the name recordername rec if the default name was chosen in the scenario definition test result file This file contains a list of all recordings performed during the simulation run This file will have the extension tr All these files are created in a directory with a name like 2001 12 14 15 33 30 which includes the date and time of the simulation run 12 5 Dictionary Browser reference The Dictionary Browser allows the Simulation Controller and other programs to look at which variables and entry
126. on the internal event Keep the left mouse button pressed and move the mouse to the task Notice how the flow follows the cursor Release the left mouse button again above the task The two are now connected Finally add the PAUSE output connector to the tab page and connect a flow from the task to the output connector The initializing schedule should now look something like Figure 4 6 Schedule Editor Satellite sched minbar dutchspace nl File Edit View Insert Tools Help 2 a a gt a 5 a mo QA k s Y 77 New Open Select Flow Task Nrttask Timer Mutex Freq changer Frequency chan Initializing ag Standby fp Executing E Exiting gt STATE ENTRY Initialise Add a freguency changer to the canvas Figure 4 6 The initializing schedule 4 7 2 Executing schedule First select the Executing tab to show the schedule for the executing state On the tab page create two more tasks named Thruster and Altitude The Thruster task should contain the Thruster entrypoint and the Altitude task should contain the decayaltitude entrypoint Next to each task put a timer Connect each timer to a task using a flow As the Altitude task should be executed less often than the Thruster task double click on the timer connected to the Altitude task A timer attribute window will show In the window change the frequency to 20 Hz Close the window with the
127. on the level of code assertions in libraries which do not know the message mechanism These errors usually result in a text like Assertion failed All errors of these kinds are reported through standard error 1 e they are displayed on the console or the window in which EuroSim was started In most cases they indicate a problem in RT_SCHD and should be reported through an SPR The second category of errors may also be caused by errors in the user code Dutch Space BV 245 iss 5 rev 0 SUM NLR EFO SUM 2 246 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 Appendix D EuroSim services This appendix describes all services and their interface description available for simulation models that want to use the EuroSim services These services can be used both from C as well as Fortran programs In the latter case the function calls are all in lower or upper case depending on your programming style Below a short description of the available functions is given For more information refer to the esim 3C man page D 1 Synopsis D 1 1 Usage in C include lt esim h gt cc LSEFOROOT 1ib32 lesServer les D 1 1 1 Real time shared memory allocation void xesimMalloc size t size void esimFree void ptr void esimRealloc void ptr size_t size void xesimCalloc size t nelem size t elsize char xesimStrdup const char str D 1 1 2 Real time timing functions double esimGetSi
128. or checkboxes on the MMI tab page In order to reduce required bandwidth between the simulator and Simulation Controller you can deactivate an MMI file Image Definitions The simulation definition can contain information about one or more image definitions Once the simulation has been initialized an image definition can be launched as a separate client User Program Definitions A user program definition is used to launch a program as a separate client That program can connect to the simulator and provide additional functionality Monitors could be stored in a scenario but this is obsolescent Instead monitors should be defined in MMI files If an old scenario containing monitors is imported then the monitors should be converted using the menu Tools Convert Old Monitors Existing monitors in a scenario cannot be edited only converted and deleted Not all of these components have to be present in one simulation definition Only the references to the model and schedule are required 100 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 12 2 1 Initial Condition A particular simulation is often required to be executed several times each one starting from a different state 1 e a different initial condition definition Instead of creating different simulation definitions for each of these possibilities it is easier to reference all the possible initial conditions within a single sim ulation definition and then to ensu
129. other namespaces make use of a deleted type it will be either modified or deleted depending on the nature of the using type E g a field may be removed from a structure if the type of the field is deleted An array will be deleted if its item type is deleted Another example is the modification of an array s item type It will not be allowed by the editor to create a recursive type system Only those item types that will not create a recursive type system can be chosen from So the array type itself may not be chosen as item type nor may a structure that contains a field that has the array as its type As another example names must be unique in their context E g the names of all nested namespaces and types which are defined in a certain namespace must be unique On creating a new object or renaming an existing object the SMP2 Editor automatically checks if the new name is unique for its context If not 1t is made unique by automatically appending an index number to the name If the user is not satisfied with the result of an edit action the SMP2 Editor s undo functionality can restore up to 10 edit actions 10 4 SMP2 Editor objects 10 4 1 Catalogue The Catalogue window consists of three tabs General General textual information Namespaces The tree of namespaces In new catalogues only a root namespace named is shown Al though a root namespace is not part of the SMP2 standard here serves as a bootstrapping mech an
130. plot can be set to either all data or to a specified time range Grid To display a grid check the Show grid option Optionally a grid style can be entered The effect of the grid style depends on the back end In gnuplot for example this influences the line style of the grid Note that the apply button must be pressed after you have made your changes 13 4 2 Curve editor reference The curve editor is the tool to make change or remove curves from a plot It displays the curves of the plot selected on the plot view Plot Properties Altitude Plot x General Curves Axes Info Curve Legend text Line style i Curve 0 lt legend text var name gt 0 altitude rec simulation time Primary altitude rec Altitude Altitude decayaltitude altdata altitude Primary Figure 13 5 The curve editor About curves As shown in Figure 13 5 a variable or function must be specified for the X and Y in each curve Some of the fields in the curve editor can be edited by clicking them For example to change the line style of a curve click on the last column of the curve s row and type in the desired style gt This is different from previous versions of the Test Analyzer where there could be only one x axis variable or function in a plot Dutch Space BV 137 iss 5 rev 0 SUM NLR EFO SUM 2 Legend text The legend text can be specified manually by typing in a legend text or it can be generated automati
131. rameter Exchange file s referenced by the Schedule file is that the entrypoints are generated on the fly and you need the entrypoints when you edit the Schedule 19 3 4 Specifying the schedule As the last step when using Simulator Integration Support the schedule has to be specified At this point we should have e A successfully built simulator executable e A successfully built data dictionary e One or more Model Description files added to the model file as file nodes e One or more Parameter Exchange files optionally added to the Project Manager We are now at a point were we can create the schedule file for the simulator For our use case example a screen shot of the Schedule Editor looks like Figure 19 4 202 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 Schedule Editor SimlntExample sched minbar dutchspace nl File Edit View Insert Tools Help O IS Y db Select Flow Task Nrttask Timer Mutex Freq changer Initializing 11 Standby fp Executing a Exiting modelA update modelB_update ParameterExcha 10 Hz modelA update modelB update ParameterExchange home fl75708 EfoHome SimIntExample SimintExample model No errors Feasible Experimental Figure 19 4 Schedule Editor Task ModelA update contains three entrypoints e datapool SimIntExample ModelA calc sin input set input variables e modelA calc sin e datapool SimIntExample ModelA
132. sample rate the variable values should be read from the file Note if UTC is selected times should entered as Y Y Y Y mm dd HH MM SS sss e g 2001 12 31 16 01 02 400 Note that this action editor can only be used to make stimuli actions which read in data from an external source To update a variable using a function e g to feed a sinusoidal value this needs to be defined using a script Action Editor with e g varZ sin varX Dutch Space BV 125 iss 5 rev 0 SUM NLR EFO SUM 2 2 el 2e Name Description A Variables script Qaltitude x x mn D Altitude Stimulus File None Browse J decayaltitude Start Time i 7 ano INTEGER End Time a ma altdatabdecay INTEGER D Initialise_Altitude Freguency 100 Hz Z initializealtitude Mode Soft Hard Cyclic m Variables 3 Initialise Thruster x Uy Initialise_Thruster padd i D Thruster Altitude Altitude decayaltitude altdata altitude INTEGER Thruster au CalowerAltitude i int cp satelliteAscent int i ejathrusteronoff int X Remove ta upperAltitudeL int Stimulus Variables Figure 12 19 The Stimulus Action Editor Variables If any variables were added from the Dictionary Browser see Section 12 5 they are shown here Variables can be added using drag and drop by double clicking on a variable in the Dictionary Browser or by selecting variables in the Dictionary Browser and pr
133. scenario file or when you explicitly create a script action containing a monitor When an obsolescent monitor action is triggered a new tab page Script Monitors will appear that contains the created monitor In EuroSim Mk4 0 a monitor is no longer a script action Instead monitors are defined in a mmi file and can be edited in the corresponding MMI tab page You can create multiple MMI tab pages each containing a set of monitors In order to reduce required bandwidth between the simulator and Simulation Controller you can deac tivate an MMI file When and MMI file is inactive its monitors will not be subscribed for updates from the simulator You can activate or deactive an MMI file when the simulator is running The monitors will then subscribe or unsubscribe for updates as appropriate Monitors on the scenario tab page can be converted to an MMI tab page by using Tools Convert Old Monitors There are two types of monitors alpha numerical and graphical monitors With alpha numeric monitors a window will be shown in the MMI tab page in which the current value of one or more variables will be presented The window will be updated when the value changes Graphical monitors use one of three types of graphs to display the values of variables XY Plot one or more variables against an independent variable Simulation Time Plot one or more variables against the simulation time Wall Clock Time Plot one or more variables against the wall clock
134. session hash array To access the value of a variable use the following expression s gt monitored vars gt var path To stop monitoring a variable you must call the function monitor delete with the variable you want to stop monitoring If you only want to get the value of a variable once it is better to call the function monitor get This function retrieves the value of the variable immediately from the simulator but only once The value of the variable is in the return value 14 4 1 3 Modifying variables If you want to change the value of a variable in the simulator you can simply call monitor_set with the name and value of the variable The value will be set as soon as possible in the simulator 14 4 2 EuroSim MDL module This is a wrapper module for the EuroSim Script functions These functions manipulate MDL files and actions The following sets of functions are available e read MDL file e write MDL file e add actions to the MDL file e delete actions from the MDL file e utility functions to ease the creation of new actions There are four functions to generate action text script_action create a generic action script monitor_action create a monitor action script recorder_action create a recorder action script stimulus action create a stimulus action script A complete overview of all functions provided by this module can be found in the manual page Eu roSim MDL 3 14 4 3 EuroSim Dict module This
135. shell Each function uses the current session This works fine as long as you only have one session If you want to manage multiple sessions in parallel within one script you must use the full notation 14 4 1 EuroSim Session module This is the central module used to run simulations It supports the complete client server protocol with the running simulator executable For each command you can send to the simulator there is a function For each message sent from the simulator to the application you can install a callback You can also wait synchronously for any message The messages and responses are documented in detail in Appendix J The idea behind this module is that it is a replacement for the simulation controller It can fully automate anything you can do with those tools To start a simulator all you need to do is Ss new EuroSim Session some sim Ss gt realtime 1 Ss gt init This command will use the information defined in the simulation definition file to start the simulator The realtime flag results in a real time run of the simulator As you can see you pass similar information to the function call as needed by the simulation controller In the simulation controller you open a simulation definition file and then you select whether or not you want to run real time Then you hit the init button which launches the simulator The simulation controller automatically connects to the simulator just like the init
136. should be raised to the top can be chosen There are four possible states Initializing Standby Executing and Exit Enlarge drawing area Enlarges the drawing area so that more items can be placed Note that printing the drawing area will resize it to fit all items on one page Shrink drawing area Shrinks the drawing area Refresh Reads in the new data dictionary that is associated with the currently selected model This option is useful if you have an instance of the Model Editor open and update the model and data dictionary by building it while you are also editing the schedule Dutch Space BV 87 iss 5 rev 0 SUM NLR EFO SUM 2 11 3 4 Insert menu In this menu an item can be found for each of the items described in Section 11 2 For the internal events and output events a cascading sub menu is available from which various predefined internal and output events can be selected For an explanation of the predefined events see Section 11 3 4 2 and Section 11 3 4 3 When an item has been selected from this menu the cursor will change to the selected item after which the item can be positioned on the tab page If a flow is chosen click on the item from which the flow should go keep the left mouse button pressed move to the target item and release the mouse button 11 3 4 1 External events External event handlers that are of type automatic automatically add their input connector to this menu See Figure 11 3 5 on
137. simulator Because the session list is specific for a certain monitor it is necessary to pass the monitor id to the method This method could fail if the specified monitorld is unknown Method getSessionList Parameters monitorld The id of the monitor whose ses sion list is requested Return A session list on success or an error if something went wrong Example 226 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 To request the session list for a monitor with id localhost 0 from a server at address hostname use the following https hostname esim method getSessionList amp monitorId localhost 0 21 6 1 3 Retrieving the view list The server keeps a list of views for each user The user is tracked by the server using cookies containing a session id The view list contains for each defined view a list of variables and their values and the simulator state simtime and runtime This method cannot fail Method getViewList Parameters None Return A view list on success or an er ror if something went wrong Example To request the list of views currently in your session at server hostname use the following URL https hostname esim method getViewList 21 6 1 4 Adding a view The user can add a view to the view list by using the addView method The name of the new view is specified by the viewId parameter The monitorld and simld parameters are used
138. some way has to be found to define this state The memory portion of the state is defined using so called state variables These map onto the keyword Global State Variables The part of the state that determines ex actly how to transform input to output using the current state is defined by the functions or subroutines or procedures in the source code EuroSim assumes that one source code file i e C Fortran or Ada 95 file contains one black box 10 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 Note as far as EuroSim is concerned it doesn t really matter whether a variable is tagged input output or state Each tag will allow EuroSim to access the variable during the simulation There s only one case where it does make a difference and that s for the Schedule Editor This editor can check for data overlap between two tasks but it will only consider the input and output variables of the tasks entrypoints in this check As EuroSim needs a way to run the black box i e to trigger it at the right times there is a need for a certain amount of control on the black box This control is given to EuroSim by declaring a number of functions to be an Entry Point which means that these functions can be called by EuroSim when necessary An additional bonus of specifying all the variables is that 1t allows the user define some additional attributes such as description unit etc which might be useful to the Test Conductor
139. source file and close the editor Repeat the process for Initialize_Altitude with the source file Listing 4 2 Source Initialize Altitude f File Initialize Altitude f Contents Initialize the altitude decay simulation model 0 00 60 QQ SUBROUTINE INITIALIZEALTITUDE C Global Variable definition INTEGER ALTITUDE INTEGER DECAYSPEED DECAYCOUNTER COMMON Block Definition COMMON ALTDATA ALTITUDE DECAYSPEED DECAYCOUNTER E Parameter Definition PARAMETER DECAYSPEEDDEFAULT 100 ALTITUDE 0 DECAYCOUNTER 0 DECAYSPEED DECAYSPEEDDEFAULT RETURN END Listing 4 3 The C source code for the Thruster file node File Thruster c Contents The C routines that simulate the thruster module of the satellite define On 1 define Off 0 Dutch Space BV 23 iss 5 rev 0 SUM NLR EFO SUM 2 extern int altitude int thrusteronoft int speedCounter 0 int satelliteAscentSpeed int lowerAltitudeLimit int upperAltitudeLimit void Thruster void if thrusterOnOff On if speedCounter gt satelliteAscentSpeed speedCounter 0 altitude thrusterOnOff altitude lt upperAltitudeLimit else thrusterOnOff altitude lt lowerAltitudeLimit Listing 4 4 The source file for the Initiali
140. stopped In Figure 18 4 a sequence diagram of the exchange of tokens is shown Please note that the client as well as the simulator are always blocked from the point where they wait for the token until the next token is received This is the essence of the synchronization mechanism client simulator send sync amp send sync amp wait for sync wait for sync receive sync receive sync send sync amp 2 send sync z wait for sync wait for sync receive sync receive sync Figure 18 4 Synchronization sequence of a client and a simulator 18 6 Summary of procedure The following steps summarize how to set up and use the connection between a EuroSim simulator and another external simulator 1 Create an exports file to specify which EuroSim data dictionary API items are visible to the external simulator 2 Add calls to the external simulator code to link to EuroSim as a client at runtime 3 Add calls to the external simulator code to make local data view s linking EuroSim data items to local variables 4 Add calls to receive and send shared data at runtime 192 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 5 Close the connection 18 7 Case study setting up shared data to another simulator This section provides examples of how the procedure is implemented The examples are taken from complete demonstration models installed in SEFOROOT src TmTc Ext SimModel 18 7 1 Cr
141. switching off maRecording lt off gt maMessage lt suspended recordings gt When switching on maRecording lt on gt maMessage lt resumed recordings gt eventRecordingSwitch Switch recorder files For each recorder file maRecorderFileClosed lt recorderfilename gt maMessage lt Switching recorder files gt Table J 6 Mission channel commands Table J 7 shows the events relating to messages which can be sent from the model code or the simulator infrastructure ln case a monitor action obsolescent is executed various messages from the monitor channel are generated These can be found in Table J 9 340 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 Event Description Arguments maMessage Message severity message Table J 7 Message events Table J 8 shows the messages sent autonomously every 2 seconds Event Description Arguments maRecordingBandwidth Current recording bandwidth bandwidth bytes sec consumption notification maStimulatorBandwidth Current stimulator bandwidth bandwidth bytes sec consumption notification Table J 8 Mission channel autonomous messages The following example in C requests the loading of a scenario file into the simulator Listing J 8 Load an MDL file into the simulator Connection conn must be set with eventConnect x eventOpenMission conn NULL home eurosim project pr
142. the EuroSim environment ESIMRTI_STANDALONE must be defined DESIMRTISTANDALONE 1 2 2 1 Dis advantages of the multi threaded version of the EsimRTI library Using the multi threaded has disadvantages and advantages e An advantage is that the application developer does not have to worry about the delivery of the RTI calls to the RTI and the queuing of the federate ambassador callbacks from the RTI for the ap plication although the EsimRTI must be ticked to deliver the queued callbacks to the application Dutch Space BV 303 iss 5 rev 0 SUM NLR EFO SUM 2 e An advantage is that the gueued RTI calls are transferred to the RTI on a regular basis e A disadvantage is that with a high the number of RTI calls and or federate ambassador callbacks the buffers might overflow because the application developer has little influence on the amount of processing the thread is allowed For these reasons the EuroSim version of the EsimRTI library is single threaded The esimRTIrti Ambas sadorTick method transfers the RTI calls one or more depending on the EsimRTI mode to the RTI ticks the RTI and transfers the queued federate ambassador callbacks to the application one or more depending on the EsimRTI mode 1 2 2 2 Functionality of esimRTlrtiAmbassadorTick and esimRTlthread All versions of the EsimRTI library include a function esimRTIrtiAmbassadorTick and the multi threaded version includes a separate t
143. the task which causes the task properties dialog to open In this dialog select the Initialize Thruster entrypoint on the left Data Dictionary view and press the Add button This will copy the entrypoint to the Entrypoints list indicating that this entrypoint belongs to the task we are defining Do the same with the Initialize_Altitude entrypoint When a task is executed each of the entrypoints contained in the task will be executed sequentially For this initializing task the order is not important but if it is the up and down arrow buttons can be used to re order the entrypoints Timing information can be entered for each entrypoint As we don t have such information at this moment we will leave it empty Later on if the simulation has been executed See Section 11 2 for a description of which icon belongs to which item 28 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 successfully it is possible to import a timings file created by the simulator which contains the various data required here Now change the name of the task to Initialize by entering the new name in the field Taskname below the Data Dictionary box Press the OK button The task on the Schedule Editor now also has the name Initialize Next from the Insert menu select the menu item Internal Event Select STATE ENTRY from the sub menu Put it on the tab page Next select a flow curved arrow from the tool button bar Click the left mouse button
144. this simulation definition has currently no filename The simulation definition should be saved as SUM sim Dutch Space BV 33 iss 5 rev 0 SUM NLR EFO SUM 2 atio O olle ate e par d pace ICE File Edit View Insert Server Control Debug Tools Help D 6 S M Es G K gt m Ez New Open New Folder Init a Files sj Schedule Q API E Satellite rset decay speed to 20 none recortar A Not Connected minbar dutchspace nl Test Controller Non Realtime Not Running 0 0000 0 0000 Experimental Figure 4 11 The Scenario tab page 4 9 Executing a simulation run Everything is now set to perform an actual simulation of the model A simulation runs on a so called simulation server which is a machine running the EuroSim scheduler Select Server Select server from the menu and select one of the servers shown in the list Simulations can run either in real time or non real time In non real time mode the simulation server will try to be as real time as possible but no real time errors will be generated see also Section 2 2 5 By default non real time mode is selected Initialize the simulation by pressing the Init button from the tool bar or from the Control Init menu After the initialization is completed the Init button will become inactive and the other buttons will become active Notice that the wall clock time will start running Now press the Go button
145. thruster must be turned on Ca satelliteAscentSpeed ca thrusterOnOff 0 1 1 0 Thruster on off indicator CH upperAltitudeLimit 0 1000 km Above this limit the thruster must be turned off Not Connected minbar dutchspace nl Test Controller Non Realtime Not Running 0 0000 0 0000 Experimental Figure 12 13 The API tab page Not supported on the Windows NT platform 118 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 12 12 Scenario tab page For each scenario file a separate Scenario tab page is created When the scenario file is opened or created you are asked to provide the caption that appears as the name of the tab page The scenario can be presented either as a tree view see Figure 12 14 or as an icon view see Fig ure 12 15 In both cases the actions in the scenario can be organized in folders atio 0 olle ate e par d pace Jinx File Edit View Insert Server Control Debug Tools Help a G a 9 a Es GC M i k m New Open New Folder Init uss Files gj Schedule Q API j al dal Monitors ld set decay speed to 20 63 Record altitude Not Connected minbar dutchspace nl Test Controller Non Realtime Not Running 0 0000 0 0000 Experimental Figure 12 14 The Scenario tab page tree view atio 0 olle ate e par d pace ICE File Edit View Insert Server Control Debug Tools Help D 6 2 9 Oo i C K u lt gt
146. ticked e In the Buffered mode EsimRTImodeBuffered invocation of EsimRTIrtiAmbassador calls will only result in the queuing of the calls in a call buffer The calls will not be executed directly Federate ambassador callbacks are queued as well and are executed when the EsimRTT is ticked The synchronous RTI calls are not available in buffered mode an overview is presented elsewhere in this document 1 2 1 2 Disadvantages of the use of the Direct mode Using the direct processing of the RTI calls has the following disadvantages e The amount of time the RTI uses to process a call is not predictable e Although the RTI throws an exception when an application attempts to access the RTI concurrently RTI calls can be made from multiple tasks executed in parallel special precautions are required to prevent concurrent access to the RTI and to ensure the call is processed 1 2 1 3 Disadvantages of the use of the Buffered mode The mechanism of buffered or deferred function calls at least has the following disadvantages e The perception the application has of the internal state of the RTI does not necessarily always match to the actual internal state of the RTI for short periods the two may differ This wrong perception can lead to inconsistencies in the delivery of messages to the application e The reason is of course that a call into the RTI is not processed directly by the RTI and conversely messages delivered by the RTI are not re
147. time See Section 12 14 3 for a more detailed description of the Monitor Editor 102 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 12 3 Simulation Controller windows When the Simulation Controller has been started a window similar to the one in Section 12 3 3 is shown This window is divided into two main parts separated by a splitter Tab pane This pane contains several tab pages that used for editing debugging and viewing a simulation Message pane Shows the messages from the simulator At the top is the menu bar and a tool bar At the bottom a status bar provides additional state information 12 3 1 The toolbar The tool bar provides easy access to the following functions OD New Create a new Simulation Definition The same as the File New menu item amp Open Open an existing Simulation Definition The same as the File Open menu item Save Save the current Simulation Definition The same as the File Save menu item Up Go up one level in the folder hierarchy Available when the scenario is represented using icons The same as the View Up menu item Ey New Folder Create a new folder Available in the scenario tab page The same as the Insert New Folder menu item Init Initialize the simulator The same as the Control Init menu item M Reset Reset the simulation The same as the Control Reset menu item 11 Pause Pause the simulation The same as the Control Pause menu item Step Adv
148. to select between simulators when more than one is currently active on the server default of 0 is sufficient if only one simulator is active 17 4 2 Create and customize a link between the two TM TC clients The next step is to establish a simulated TM TC link between the two systems 1 e either between the external client and EuroSim or between two sub models within a EuroSim application In both cases the link is set up and used in almost the same way The link needs to be created on both sides with esimLinkOpen The function esimLinkOpen will initialize a link with the supplied name A point to point link is not established until the other side has also called esimLinkOpen with the same link name The pointer returned by esimLinkOpen e g tmtcLink in the following example is used as an identifier for the link in all future calls e g read write close An external client needs to call esimLinkConnect to connect the link to the simulator Various options can be set using esimLinkloctl see Section 17 2 In the first example here the link for the ground station is set up and customized to lose packets if they arrive after a certain time delay include lt esimLink h gt define TMTC CONNECTION NAMI define REO FREOUENCY 10 E tmtc_connection static int gFreguency REO FREQUENCY static void do_client int signal tmtcLink esimLinkOpen TMTC_CONNECTION_NAME rw
149. to start the simulation On the Scenario tab page notice that an X appears in the status column for the recorder This indicates that data is being recorded the recorder is eXecuting Select the Altitude tab page and notice that the altitude of the satellite is plotted against time in the monitor window During the simulation it is possible to change attributes of the monitor for example the X and Y ranges When the satellite starts coming down double click on the Set decay speed to 20 intervention action The satellite should now come down more rapidly Directly after double clicking the intervention action select Insert Mark Journal A mark with a number should now appear on the message pane Afterwards make a comment with Insert Comment Journal Mark to explain that the mark indicates that the interven tion action was executed For example enter as comment Mark 1 tc indicates activation of intervention action After a while stop the simulation by pressing the Pause button and then the Stop button Close the Simulation Controller with the File Exit menu item 4 10 Analyzing the simulation results In order to make some plots of the recorded variables select Test Analyzer from the main EuroSim window Make sure you have PV Wave or gnuplot installed otherwise this tool will not work An empty Test Analyzer window will appear 34 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 Now we will load the test resul
150. userdata true result gt start_result_u prefcon The second parameter is the client name In this example it has the value test controller If the string contains the sub string observer the client is treated as a read only client of the simulator The client can monitor variables but not change them The client cannot do anything which influences the simulator The parameter eventHandler is the callback function which is called when an event from the simulator has been received Each event results in one call to the callback The callback must determine the type of the message and decode its contents The callback has one parameter called userdata which contains the value given when calling eventConnect The following example in C code shows an implementation of the eventHandler callback Listing J 5 Example of an eventHandler callback function int eventHandler Connection conn const evEvent xevent void xuserdata size_t offset evEventArgOffset int sev char xmesg double speed AuxTime simtime wallclocktime simtime evEventSimTime event wallclocktime evEventRunTime event switch evEventType event case maMessage evEventArg event amp offset EV ARG STRING ssev evEventArg event amp offset EV ARG STRING smesg printf s Ss n auxSeverity2string sev mesg break case scSpeed evEventArg event amp offset EV_ARG_DOUBLI
151. variable can sometimes appear twice because the parser sees the variable being used not only at file level but also at the level of the function that uses it See for example altdata altitude in Figure 6 1 In principle there is no difference between selecting one or the other both variable nodes are different representations of the same variable and hence point to the same memory address The default situation can be taken as tagging variables at the level of their file scope However there can be sometimes reasons for tagging the variables beneath their entrypoint 48 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 e if there are a lot of API variables within a particular sub model source code file then selecting variables which appear below their relevant entrypoints gives you an additional level of hierarchy which can ease identification and manipulation of API variables later on e if there is a significant amount of data dependency between entrypoints which needs to be taken into account during scheduling then again the variables beneath entrypoints should be selected as this relationship is used when determining tasks which share data see also Section 11 3 5 on intersection 6 3 2 Selection from two or more sub models Where variables are used by two or more functions they will appear in more than one sub model An example is the altdata altitude variable seen in Figure 6 1 which also appears in the listing
152. will not be inserted in the opened enumeration By double clicking one of the fields in the table of literals the field can be edited 10 4 6 String Apart from the General tab the window for the String type has a single tab Details which allows setting the string size On creation a default size is provided 10 4 7 Array Apart from the General tab the window for the Enumeration type has a single tab Details which allows setting the array size and item type On creation a default size and item type are provided Dutch Space BV 73 iss 5 rev 0 SUM NLR EFO SUM 2 10 4 8 Event Apart from the General tab the window for the Event type has a single tab Details which allows editing the optional argument type 10 4 9 Structure Apart from the General tab the window for the Structure type has a single tab Fields which allows editing the list of fields and their attributes New fields can be added and existing fields can be modified and deleted 10 4 10 Class Apart from the General tab the window for the Class type has the following tabs Inheritance Allows setting the single base class and to define the class as abstract Fields Identical to the Fields tab of the Structure window Properties Allows editing the properties list of the class Operations Allows editing the list of operations of the class and their parameters Operations may be viewed and defined in the upper half of the window By selecting one of
153. within these slots will be AD ADB AD ADBC AD ADB In the previous example we used frequency changers to define the sequences of tasks With the defined sequence it is implicitly defined that tasks do not run simultaneous If we do not want to define a sequence but we only want to define that tasks are not executing simultaneous we can use mutual exclusions Tasks that read or write from the same mutual exclusion are never executed by the scheduler simultaneous For example if we have a printing task that prints the contents of a linked list on 50 Hz and a updating task that is changing the list at 200 Hz It is obvious that the updating task may not run simultaneous with the printing task To solve this problem we can use a frequency changer freq 200Hz freq 50Hz offs 0ms offs 0ms pr AR Update Print List A V List X Time ES a List 11 4 3 Frequency changers and mutual exclusive execution of tasks The frequency changer takes care of mutual exclusive execution of the tasks that write to it with the tasks that read from it In case of a N 1 frequency store this can severely limit the allowed execution time of the reading tasks This is explained using the drawing below GA 3 5Hz Oms A AET 200ms 5Hz 1Hz X7 I a 5 oy to z In this figure the freguency changer must guarantee that task A will run mutual exclusive with tasks B and C The allowed execution time of task
154. 0 Appendix O Software Problem Reports In case a problem or error with EuroSim occurs use the spr tool for submitting Software Problem Reports See Figure O 1 for a screendump of the tool Document the problem or error with as much detail as possible Things of interest are e Software version numbers e Hardware specifications e Sequence of actions such as selecting files clicking buttons changing state of the simulator e Contents of files used Preferably the problem or error should be reproducible and try to create a minimal environment in which the error occurs to facilitate finding the source of the problem The user criticality can be one of Critical A major problem that hinders the completion of the user s job This category includes a time aspect solution is needed as soon as possible for the user to be able to finish the job Major A serious problem but the user can still continue with the job Minor A problem was noted but it is not seriously affecting the use of EuroSim Suggestion A suggestion for the improvement of EuroSim Ouestion A question on EuroSim details If you are not able to submit the SPR by e mail then please send a paper version and any related infor mation to EuroSim Product Support Dutch Space BV P O Box 32070 2303 DB Leiden The Netherlands Dutch Space BV 361 iss 5 rev 0 SUM NLR EFO SUM 2 yj Personal information Your real name Robert H d
155. 0000 Table K 3 Computation time of the not optimized schedule Dutch Space BV 351 iss 5 rev 0 SUM NLR EFO SUM 2 Frequency Hz Duration us Subtotal us Total contribution us Scheduler Clock 1000 8 8000 Task A 500 12 6000 Task B 20 12 240 Total 14240 ActionMgr ActionMgr 1000 17 1 1 19000 Recorder 1 100 10 1000 Recorder 2 10 10 100 Total 20100 Total 44340 Table K 3 Computation time of the not optimized schedule Maximum acceleration of this schedule 1000000 44340 23 The actionMgr uses 20100 44340 45 of the computation time When the actionMgr is scheduled at 100 Hz it will only use 3000 ws The maximum acceleration will then be 1000000 27240 37 This schedule could be optimized further if a basic frequency of 500 Hz is used giving another 4000 us reduction The maximum acceleration will then be 1000000 23240 43 352 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 Appendix L EuroSim Mk2 to Mk3 conversion L 1 Introduction EuroSim Mk3 offers a completely rewritten GUI based on the Qt toolkit A lot of effort has been in vested in eliminating the shortcomings of the Mk2 interface At the same time new features have been introduced which result in some user visible changes The changes for each tool will be described in a separate chapter The last chapter describes the conver sion tool which is capable of converting a complete project from Mk2 in Mk3 L 2 Project Manager
156. 1 EsimRTI usage with EuroSim The list of EuroSim capabilities has been extended with an entry for EsimRTI and RTI this allows the EuroSim user to select that capability in the Model Editor Tools Set Build Options 1 1 2 EsimRTI usage without EuroSim The functionality provided in the EsimRTI can be used without EuroSim as well This stand alone use of the EsimRTI library is available in two versions e A single threaded library libEsimRTIsts a e A multi threaded library libEsimRTImts a To use the stand alone versions of the EsimRTI libraries compile your source code with the preferred preprocessor defines and link with the appropriate EsimRTI library The relevant preprocessor defines are ESIMRTI_STANDALONE mandatory and ESIMRTI_MULTI_THREADED optional The relevant include files are located in SEFOROOT include RTI The libraries are located in SEFOROOT 1ib32 esim The functions esimMalloc and esimFree are replaced with malloc and free for the EsimRTI usage with out EuroSim The functions esimMessage esimWarning esimError esimFatal esimReport and esim SetState are replaced with appropriate printf statements EsimRTI usage without EuroSim 1 1 3 Running To execute a EuroSim model or to run a program that uses the EsimRTI the rtiexec which can be found in SRTI HOME bin IRIX 6 5 n32 should be started somewhere on the network IP multicasts should be able to reach this rtiexec host The appropriate
157. 105 Dynamic Link Libraries see external simulator 197 efoKill 158 efoList 157 entrypoints 84 esim menu 42 Dutch Space BV 365 iss 5 rev 0 NLR EFO SUM 2 reference 41 esim library functions 173 175 178 184 247 252 EuroSim Automatic addition of files to the project 44 concepts 5 GUI see GUI 13 reference 41 services see services 247 tools 8 tutorial 19 evExtByteOrder 194 exports file 193 format 281 ext library functions 193 194 external debugging facilities 118 external interrupts 173 external simulator byte order 194 case study 193 linking to EuroSim Tm Tc 184 linking to EuroSim 193 performance 197 receiving data 195 receiving events 195 selection of shared data 189 sending data 196 synchronization 191 facility management 6 Files created by EuroSim 277 flows 87 Fortran language limitations see API limitations 296 Freguency changers 85 global variables 295 Go 111 GUI 13 common buttons 14 common menus 15 conventions 13 elements 13 ellipsis 13 keyboard shortcuts 14 HLA extension EsimRTI 299 Init 110 initial condition concepts 101 editor menu 107 overview 9 reference 106 file format 281 input connector EI 173 interrupt handler 174 journal marks and comments 108 journal file 105 linking Fortran and C 27 MDL 101 257 error conditions 258 formal description 263 functions built in 263 vari
158. 13 Dutch Space BV 35 iss 5 rev 0 SUM NLR EFO SUM 2 A er a dePlot p bar d pace Jinx File Edit View Plot Curve Tools Help D B E j E A Select Add Plot New Plot Delete Plot s Add Vars Remove Curve Variable Browser x Satellite model tr gt altitude rec i simulation time Altitude Altitude General curves Axes nfo decayaltitude Plot title Attitude Pot si sSSSS altdata altiti Plot description r Legend position Simulation time Top left Top right Use all recorded data C Bottom left Bottom right Use data recorded between and seconds F Show a grid Style lusers fl75708 EfoHome Satellite 2004 09 15 13 59 40 Satellite model tr Figure 4 13 A new plot The next step is to create a curve of the altitude versus the simulation time Select the variable altitude altitude Now click on the variables and curves tab of the plot properties tabpages The curve editor appears Drag the selected variable from the variable browser to the curve editor A new curve is created and the window should look like Figure 4 14 estAna er a dePlot p bar d pace INE File Edit View Plot Curve Tools Help D GB a P E T E m New Open Select Add Plot New Plot Add Vars Remove Curve F Variable Browser x Satellite model tr altitude rec Ha simulation time Altitude General Curves Axes
159. 14 7 1 or the unix manual pages for more information Dutch Space BV 111 iss 5 rev 0 SUM NLR EFO SUM 2 Check Health Check whether the connection to the simulator is working correctly A message appears in the log pane describing the health status of the simulator 12 7 5 Tools menu Preferences Show a preferences dialog for editing global settings It allows you to specify the maximum number of Simulation Definition files that are stored in the most recently used files list in the File menu You can also select whether all changes are always automatically written to disk when the stimulator is started CPU Load This option enables or disables a CPU load monitor as shown in Figure 12 9 CPU load Wall Clock seconds CPU 1 CPU Average Load Peak Load lnterval Time ms 1 122 12 4 500 Dismiss Figure 12 9 The CPU load window The average and peak load percentage readings are shown for each CPU The loads are measured over the time interval specified in the line edit in the last column The time interval can be set in a range from 1 to 9999 ms If you edit values in the last column you should press the Apply Time button to actually use the changed value The graphical plot shows the peak values measured in the specified interval This CPU load monitor is only available if a connection to a simulator is active and the simulator is running in real time Rec Stim Bandwidth This menu it
160. 2 Creating an intervening action In order to create an action which changes a variable during the simulation you first have to create a scenario file where such actions are defined Choose Insert New Scenario from the menu Save the file as SUM md1 Now you will be asked for the caption of the new tab page By default the name of the file is used without the suffix Accept the default To add a script choose Insert Script from the menu Change the name of the action to Set decay speed to 20 Select the options Initializing and Standby Because this action should only be executed if the Test Conductor wants it the Condition field is left blank Now the action has to be started explicitly by the Test Conductor Select the variable altdata decayspeed from the Dictionary Browser using the left mouse button Whilst keeping the mouse button pressed drag the name of the variable to the Action field Release the button The variable is now copied to the Action field Add 20 to the same line as where the variable is shown This statement means to set the variable to a value of 20 Optionally press Check Script to see if any errors were made The Script Editor should now look like Figure 4 9 Close the Script Editor with the OK button The new action appears on the Scenario tab page Dutch Space BV 31 iss 5 rev 0 SUM NLR EFO SUM 2 Name Altitude Altitude i cla altdata altitude cla altdata d
161. 4 1 1 Effect of mutual exclusions A mutual exclusion or asynchronous store in the Schedule Editor represents a mutual exclusive run time behavior between tasks The task that captures the store first is allowed to continue running while all other tasks that are attached to that store are prevented from starting until the store becomes available again only one task can capture the store at any one time 11 4 1 2 Effect of task priorities Using priorities on tasks implies that when the task with the lowest priority is running and a task with a higher priority is activated the task with the highest priority will preempt the lower priority task when that lower task is preemptable and no other processor is available Thus in the case that two tasks are connected to a mutual exclusion using a higher priority for a task does not imply that that task will capture the mutual exclusion first as it is the starting time that is of importance If such a dependency is required then it can be better specified using the following construction 1Hz Oms 1Hz Oms 1Hz 0ms prio high A B prio low AB Wrong approach Correct approach Note that even in the example above the starting time is never exactly the same one of A or B will start slightly earlier than the other the difference might be in nanoseconds Which one in this case runs first depends on system internal behavior 11 4 2 Dependencies stores and frequency changers Dependencies s
162. 5 i i 1 sgr with int if sgr i i 1 rror error 1 for x 0 0 x lt 5 0 x x 1 0 sgr with float if sgr x x x rror error 1 if error print function test OK else print Error The scope of the function name is that of the enclosing action As with variables one can use a function defined in another action by pre pending that action s name and a colon to the function s name simple external function call action object float velocity 10 0 static variable function speedup velocity velocity 2 0 function slowdown velocity velocity x 0 5 function current return velocity action accel Dutch Space BV 261 iss 5 rev 0 SUM NLR EFO SUM 2 object speedup print speed object current prints speed 20 0 Warning because all MDL variables have static storage recursive function calls may have unexpected results E 5 Input Output and Simulator Control In MDL input and output can be done in two ways each having a particular purpose 1 Via variables in the simulation model 2 Via specific built in commands An example of the latter is the print command already shown in many of the previous examples It prints the given expression on the Simulation Controller s message pane and in the simulation log MDL provides access to variables in the simulation model via the model
163. 5 rev 0 SUM NLR EFO SUM 2 interpolation polynom lookup engineering gt sample Interpolation 0 export rhdv EuroFO Documentation SUM sample cal Figure 9 2 Calibration Editor 9 3 1 Calibration view The calibration view provides an overview of the calibrations in the opened Calibration file 9 3 2 Table view The table view shows the data for a single calibration curve in tabular form 66 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 9 3 3 Graph view The graph view shows the data for a single calibration curve in a graphical form as a 2D curve 9 4 Menu items Note that most common commands are also available in context sensitive menus that pop up when click ing the right mouse button Some commands also have keyboard short cuts 9 4 1 Edit menu New Calibration Add a new calibration curve This will show a dialog box to enter the name type and min max values of the new calibration curve New Calibration Name Type interpolation Minimum Maximum Figure 9 3 New Calibration dialog box Add Data Row Add a new data row to the currently active calibration curve Rename Rename start editing the first column of the row which has focus Delete Delete the selected rows in the currently active view Select All Select all rows of the currently active view 9 5 Curve Restrictions The following restrictions are applicable to data
164. 53Close esimMi11553Start esimMil1553Po11 and esimMi11553Stop For detailed information see the esimMil1553 manual pages or PMA 05 16 3 3 Bus Controller operations In BC mode the user can use the operation esimMi11553BcAdd to add RI BC BC RT and RT RT message transfers control blocks to the scenario This scenario can be started by the user with esimMi11553Start BC scenario s are automatically stopped when the transfers are completed With the esimMi11553BcRead and esimMi11553BcWrite operations data can be read from written to the scenario without changing the scenario For detailed information see the esimMil1553 manual pages or PM A0 16 3 4 Remote Terminal operations In RT mode the user can specify with the esimMi11553RtAdd operation which RT s and which sub addresses are simulated With the esimMi11553Start operation the RT s are activated until the user explicitly stops the RT s with esimMi11553Stop Active RT s will solitarily send or receive data from the bus controller With esimMi11553RtRead and esimMi11553RtWrite the user can read and write the input output buffers for each RT and subaddress without stopping the RT s For more information see the esimMil 1553 manual pages or PMA05 Dutch Space BV 175 iss 5 rev 0 SUM NLR EFO SUM 2 16 3 5 Bus Monitor operations In BM mode the user can specify that the board should stop when the buffer is full or can specify that
165. 55 iss 5 rev 0 SUM NLR EFO SUM 2 14 5 Extending the batch utility The batch utility is based on the Event module This perl module provides a framework where you can integrate various systems with each other The client server connection with the simulator sends packets to its clients such as the batch utility These packets are handled by a callback watcher in Event module terminology The Event module is used to perform the mapping between incoming data on a socket to the central event dispatching function of the EuroSim Session module Also the wait functions are implemented by using the timer watcher The interactive EuroSim shell is implemented using this module The input is processed by the package Term ReadLine Gnu This package reads commands from stdin The readline input function is hooked into the Event framework using an io watcher The EuroSim connection is handled by another Event io watcher This enables the interactive shell to stay interactive It reads simultaneously from the standard input and from the EuroSim socket This mechanism can be extended to your needs For a complete reference check out the Event 3 manual page 14 6 Example The following example is a complete script which performs one simulation run Some event handlers are installed as well as some monitors Batch script example usr bin perl This is an example perl script using the EuroSim bindings to automate a sim
166. 591 160 MB Disk free space 247884 145 MB Percentage used 20 7 Time before disk full 12 days 22 hours and 7 minutes Figure 12 10 The Rec Stim bandwidth window This menu item will display a window in which various information on the current simulation is given see Figure 12 11 In the top half of the window the names of the files currently in use as model schedule export data dictionary initial condition and scenario are displayed as well as any stimuli data files referenced so far Finally the actual stimuli throughput in bytes sec is given In the bottom half of the window any recording data files in use and the recording throughput are given Also prior to requesting Init the user can change here the directory in which all results files should be stored as well as whether additional date and time subdirectories should be created where the results files are placed The Show Paths button can be used to view the full path of each of the filenames The Rescan button can be used to get the latest information on the throughput rates Configuration m x r Current Simulation Inputs Simulation Definition Model Schedule Export Data Dictionary Scenario Init Conditions Stimulus Stim Throughput bytes sec 0 0000 Satellite sim Satellite model Satellite sched None Satellite dict Satellite mdl Verified init Assumed init None r Current Simulation Outputs Resul
167. A is limited to a maximum of 200 msec as a conseguence of the frequency of 5Hz After 5 activations of Sync Store the store will activate tasks B and C before releasing task A for the next activation However task A must be released in 200msec its AET or else it will cause real time Dutch Space BV 93 iss 5 rev 0 SUM NLR EFO SUM 2 errors The total allowed execution time of the combination of task B and task C is therefore limited to a maximum of 200msec In practice the duration of task A will be larger than zero which further reduces the allowed execution time of B C If the execution of B C is more than allowed a solution might be to store the part of the code that needs the mutual exclusive behavior in a separate task For instance GA A 5Hz Oms A AET 200ms 5Hz 1Hz KY poo Y p D E 7 i B C The part of the code of B and C that needs to be executed mutually exclusive with A because it accesses the same variables is stored in D and E The remaining code is still in tasks B and C Now only the code in D and E must have a combined duration that is smaller than 200msec Note D and E do not run mutually exclusive If that is reguired this can be accomplished by connecting these two tasks to a mutual exclusion see Section 11 3 or even simpler by combining the code contained in D and C in one task 11 4 4 Timing the output frequency of a frequency changer Although a frequency chang
168. Add Vars Remove Curve Functions Var Browser Large Icons Small Icons List Figure 13 10 The Test Analyzer toolbar 13 9 Using User Defined Functions User defined functions can be specified in the function editor see Section 13 9 1 How format and validation of these functions is handled is described in Section 13 9 2 13 9 1 The function editor The function editor allows you to specify a function that uses one or more of the variables of the test results The function editor is displayed if you select f Plot Edit Functions or if you press the Add a function of variables button in the curve editor Variables functions available Variable or function altitude rec Altitude Altitude decayaltitude altc 2 altitude rec simulation time func 1 1 2 250 M Add a function of variables 1 1 2 250 Close Figure 13 11 The function editor By default the function editor displays the variables already in use by the selected plot If a variable is required that is not yet listed it suffices to drag and drop the variable from the variable browser onto the function editor To add a user defined function type it in the edit field below the list and press the add button User defined functions are added to the bottom of the list and are tagged as func They can be edited by clicking on the function An edit field will then appear 142 Dutch Sp
169. Application level events Open the VB Editor and choose Class Module from the Insert menu to create a new Class Module Select the class module and insert the following statement as a global declaration Public WithEvents App As Application This will declare a variable named App as an instance of the Application class The WithEvents statement tells Excel to send Application events to this object At the top of the code window there are two drop down edit boxes In the one on the left select App and in the one on the right select the SheetChange The VB editor will automatically insert the Private Sub and End Sub statements into the module Add the following code to the app SheetChange event handler On Error Resume Next Application EnableEvents False If Target Address B 6 Then Dutch Space BV 213 iss 5 rev 0 SUM NLR EFO SUM 2 newCounter Target Value WriteView Send If Err lt gt 0 Then MsgBox Err Description End If End If Application EnableEvents True Each time cell B6 is changed i e the user types a value its value is copied to the variable called newCounter This value is sent to the simulator variable dCounter using the Send method on the Write View object Press F4 to display the Properties window and change the name of the class module to EventClass see Figure 20 7 m Microsoft Yisual Basic sum_client xls EventClass Code In xf A File Edit view Insert Forma
170. As Double Then add a Create View button with the following code Private Sub CommandButton4 Click On Error Resume Next Set ReadView sim CreateVarView readview If Err lt gt 0 Then MsgBox Error 6 Err Description Else ReadView AddDouble dCounter dCounter ReadView Connect EuroSim Read 10 End If End Sub That is all the code needed to have EuroSim copy the value of simulator variable dCounter to the client variable dCounter The updates will occur at a frequency of 10 Hz Now we want to display the value of dCounter in a cell of the sheet We could add a button that invokes some code that copies the value of dCounter into a cell but there is a more sophisticated means to achieve this which is described in the next paragraphs 20 4 4 Receiving updates from the simulator So far the client has been calling the methods on the simulator interface of the EuroSim component This is depicted in Figure 20 4 O IUnknown ISimulator EuroSim PO component Client application Figure 20 4 Client calling methods on the ISimulator interface If the client application wants to keep track of changes in simulator variables it could simply poll However if this is done from VBA code in for example an Excel spreadsheet the complete Excel application would not be responsive to user input while polling To solve this problem the EuroSim COM interface provides an eve
171. Assignment Lvalue is Cont Lvalue C set set Lvalue value ont to Exp Expr Expr Expr E ComplexAssignment ComplexAssignment Lvalue Lvalue Lvalue Lvalue 2 Lvalue Lvalue Variable Expr MdlExpr Variable Argument MdlExpr Variable MdlExpr Constant FunctionCall Expr Expr EXpr EXpr Expr Expr Expr Expr Expr plus Expr Expr Expr Expr minus Expr Expr Expr Expr Expr Dutch Space BV 271 iss 5 rev 0 SUM NLR EFO SUM 2 Expr times Expr Expr Expr Expr minus Expr Expr Expr Expr pow Expr conditions Expr Expr Expr equals Expr Expr Expr Expr not_equals Expr Expr gt Expr Expr greater_equal Expr Expr lt Expr Expr less_equal Expr Expr gt Expr Expr greater_than Expr Expr lt Expr Expr less_than Expr Expr amp amp Expr Expr and Expr Expr Expr Expr or Expr Expr amp Expr Expr Expr Expr lt lt Expr Expr gt gt Expr Expr not Expr FunctionCall BuiltInFunction UserFunction ExternalFunction UserFunction identifier identifier Exprlist r ExternalFunction xternal identifier external identifier ExprList r BuiltInFuncti
172. C source file SMP2 catalog ue file Data dictionary this derived file contains all API information for the simulator It is generated by the Model Editor Human readable journal file this file contains the logging of a simulation run Machine readable journal file this file contains the logging of a simulation run Simulator executable this derived file is generated by the Model Editor Exports file contains variable nodes exported to simulation clients Fortran source file C header file Initial condition this file contains initial conditions for a simulator It is generated by the initial condition editor which is integrated in the Simulation Controller Model makefile this derived file controls the model building and is generated by the Model Editor Model Description file Describes which variables of a model should be copied to the datapool To edit a model description file start the Model Description Editor from the Model Editor Scenario file this file contains an MDL scenario containing monitor obsolescent recording and stimuli definitions It is generated by the Simulation Controller Dutch Space BV 277 iss 5 rev 0 SUM NLR EFO SUM 2 Extension s mmi model px rec sched snap timings tx Short description Man Machine Interface definition this file describes the contents of an MMI tab page in the Simulation Controller The contents consists of one or more mo
173. Conversions sc eo ae as e ee Ve A 305 1 5 2 Constructora and destructor aos 00400 dara aa A 305 13 3 Method naming convention 444 306 L34 Useful Constants e s sek dd dd kule a a es 306 L35 Syiitactical replacements 4 2 2 00 2 24 22 a ada eee ES 306 Loh Peeping oo ge dod a SOR ak eee ee be dow sa Sa aoe 306 13 7 Joining a federation execution e a ienei 307 13 8 Registering an object Instance 6 ee lt lt 4 307 139 Callback TORGHONS o sou cae eb ee ee eee ee ee ld ee we kl 308 13 10 set names and pethandles s o 6 s 4 a ko k 6 309 LZ Vie ATC cci roec ece a BS he eee ha eae nA 309 15 12 Function overloadmg ocios ea ai soka m A bo n 309 13 13 EsimRTI mode change and mode dependent functions 310 13 14 Memory Management lt lt lt lt 311 xiv Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 1 3 15 Limitations and performance lt eee eee 312 1 3 16 Missing Functionality wu caw e 484 ee ea kad 312 I 4 EsimRTlobject and EsimRTlvariable structures lt 444 312 IAI CEST 3 ecu a A dol s a 312 142 EsimRTivariable 5 zk dres occ ae a 313 I 5 HandleValuePairSet encoding and decoding facilities lt lt 314 15 1 Encoding methods s Gad dop v Pl vd A EER OE Se Ha eS 315 1 5 4 Decade methods ecos arpa PA A do A eee 315 16 Classes structures and header files of the EsimRTI a 316 LOA Ll
174. DSO s and are part of the standard EuroSim distribution The include files are located in the include subdirectory of the directory where EuroSim is installed 18 9 2 Windows When using the Cygwin environment you can use the mingw gcc compiler and the external simulator access libraries as provided in the 1ib subdirectory of the directory where EuroSim is installed If you prefer to use the Microsoft development tools then you can use the DLL s To link your client application with the DLL s you must first create import libraries from the def files in the 1ib subdirectory for example lib DEF c eurosim lib libes def lib DEF c eurosim lib libesClient def The above commands create libes lib and libesClient lib which you can use to link your client application with Make sure that the DLL s can be found on the PATH before you execute your client application Dutch Space BV 197 iss 5 rev 0 SUM NLR EFO SUM 2 198 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 Chapter 19 Simulator Integration Support library reference 19 1 Introduction The purpose of the Simulator Integration Support library is to support the integration of several indepen dent models into one simulator without wanting to do the integration explicitly in model source code In other words the Simulator Integration Support library provides the glue between models 19 2 Files Two file types have be
175. EE Event Handler Specification Name mire Processor fi q F Exclusive Handler Type Automatic User Defined r Event Source Specification Source EuroSim Compatible Device y Device Path AAA Device VMIC Reflective Memory VMIPCI 5565 gt Unit 0 2 Signal Nr Level Figure 11 9 External Event Handler Dialog Intersection This item will show the Intersection dialog see Figure 11 10 The Intersection window shows all variables that are shared by all the selected tasks This way it is easy to see if there are any possibly unwanted interactions between tasks Intersection Shared Task variables Jaltdata altitude altdatafdecayspeed Dismiss Figure 11 10 Intersection Dialog CPU load The fields of this window show the processor load for each of the processors per state of the schedule see Figure 11 11 The processor load is calculated using the mean duration exe cution fields of the tasks Timings for tasks assigned to Any processor are split among all processors If any of the processors has a load of more than 50 this will result in a non feasible schedule This setting has no meaning on single cpu machines 90 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 Timebar CPU Load initialising stand by executing exiting Worst Main Cycle 0 5 0 0 0 0 0
176. EsimRTI the RTI equivalent and a short description EsimRTI RTI eguivalent Contents esimRTI h RTI hh Basic header esimRTlboolean h baseTypes hh Boolean conversions between C and RTI esimRTleventRetractionHandle h RTltypes hh EventRetractionHandle conversions between C and RTI esimRTIfedTime h fed Time hh Time conversions between C and RTI esimRTIfederateAmbassador h RTI hh Federate Ambassador federate AmbServices hh NULL federateAmbSer vives hh Table 1 13 EsimRTI header files RTI eguivalents and short descriptions These structures can be used to register information of object classes attributes interactions and parameters The registered information can be used to associate application variables to their RTI equivalents Note that these structures are not part of the HLA RTI specification Dutch Space BV 317 iss 5 rev 0 SUM NLR EFO SUM 2 EsimRTI RTI eguivalent Contents esimRTIfederate A mbassadorCallbacks h federateAmbServices hh Federate Ambassador methods callbacks esimRTThandleSet h RTItypes hh HandleSet conversions between EsimRTI and RTI esimRTlhandleValuePairSet h RTltypes hh HandleValueSet conversions between EsimRTI and RTI esimRTImutex h Mutual exclusion functions for the EsimRTI esimRTlobjects h Data structures and enumerated types that can be used associate application objects and variables to HLA RTI classes objects interactions a
177. F 2 Monitor Types Dutch Space BV 285 iss 5 rev 0 SUM NLR EFO SUM 2 Type Description 2 Plot against the wall clock time 3 Plot against another variable 4 Action button Table F 2 Monitor Types history the maximum number of data points that are used for the plot left the position of the left edge of the monitor in pixels top the position of the top edge of the monitor in pixels width the width of the monitor in pixels height the height of the monitor in pixels manualScalingX 1f 1 then the X axis has a fixed range otherwise the X axis scales automatically xMin the minimum value of the X axis xMax the maximum value of the X axis manualScalingY if 1 then the Y axis has a fixed range otherwise the Y axis scales automatically yMin the minimum value of the Y axis yMax the maximum value of the Y axis var start a nested section for a variable definition See below for valid keywords This keyword can be used more than once Valid keywords for the var nested section name the variable to monitor showLine if 1 then draw the line connecting two data points lineColor the color of the line It is the decimal representation of the hexadecimal RGB value OxR RGGBB symbol the symbol to use for a datapoint Value Description No symbol Ellipse Rectangle Diamond Down triangle Up triangle U Oo U UW NWN gt L
178. File Node In the window that appears enter as file name Initialize_Altitude f or use the file selection dialog if you already have the tutorial source files EuroSim will recognize this file as a Fortran source file A new file node will be added to the model hierarchy Repeat the process for the three other file nodes attach a file node with file name Altitude to the Altitude node and add two file nodes with names Initialize Thruster and Thruster respec tively to the Thruster node using files Initialize_Thruster cand Thruster c By now the model should look like Figure 4 4 Notice that after making changes to the new model as asterisk is shown in the title bar of the window to indicate that there are changes to be saved Model Editor Satellite model minbar dutchspace nl File Edit View Interface Tools Help 9 a XQ M JU B Cut Copy Delete Build All Cleanup Model Tree V Parameter Min Max Unit Type init Source Description q Q Satellite model Altitude Sub model for the regulation of alt D Altitude y Initialise_Altitude EN Thruster Initialise Thruster D Thruster Ej lusers fl75708 EfoHome Satellite Satellite model Experimental Figure 4 4 Model with the file nodes Save the model by selecting File Save As model name enter SUM mode1 in the file selection window This file selection is shown because the new model has not been saved befo
179. G 5 1 Function to get the runtime data dictionary lt ooa 290 G 5 2 Functions to publish data variables and entrypoints in a data dictionary 291 GO Example API header cecce Seg dp ra dok Dawa ES 291 GOL RAMPA K oa A de ara aa ca o S A gt 291 G 62 Examplein Adieu je A a a eae k 292 H Programming language limitations 295 Fil Generic limitations lt S o sacos eee a er eG ee S aa Sa E ee 295 Ha CACAO ca a a e a a ea k ubo de ade a Ga l ee ae E ee 295 ELA Fortran imans ge Ava o a a a A e ES 296 BA Ada 95 TEMA VO 35 eee ae a ch Oe a a a Sa da 296 HAI Compilaton o se ee eos ce AA a A O d o E k 296 His tl AE 296 HAS EDISPOM S lt lt lt canas a o e a A ew gae o 296 O 296 HAS TASK oeoc a oa o do E we hee bee obal 297 H46 Debugging support 2 xe bs cia we ada k n 297 HA7 Realtime aspects skoda va da K ra A 297 I HLA extension EsimRTI 299 LI o AA 299 11 1 EsimRTI usage with EuroSim lt 00 000 000 4 299 11 2 EsimRTI usage without EuroSim lt lt lt lt e e 299 LAA A c 2 cs sai do eh bu ck bw Bok A o ewe bees 299 11 4 Memory use of EuroSim models with EsimRTI extension lt 300 12 Implementation and usage notes lt lt lt lt a 302 121 Dect and Buffered modes oeae a rs E Ro A 302 1 2 2 Single and Multi threaded EsimRTI libraries 303 13 Porting an existing federate to EsimRT o o e 305 1 5 1 Type
180. However when the rest of the line following a character contains valid keyword value pairs it is interpreted Keyword value line have the form Dutch Space BV 281 iss 5 rev 0 SUM NLR EFO SUM 2 keyword value Valid keywords are comment the comment that was passed when the file was written May be omitted format either ASCII or binary When omitted the file is interpreted as being ASCII simtime the simulation time at the time the snapshot was taken dict the EuroSim data dictionary file from which this file was written The path to the data dictionary 1s relative to the place where it can be found May be omitted reference an optional version control reference for the state of the model this file s data dictionary was generated from Any other keywords can be generated by dictdump or by the user but they are not interpreted Every initial condition or snapshot file written by EuroSim also contains a comment line indicating the type of snapshot or initial condition file written It is either contains only differences wrt dict default values or contains all current dict values at lt date gt which indicates whether it is a partial snapshot or initial condition file or a complete snapshot containing all the variables in the data dictionary When the format of the file is binary there is at least one mandatory empty line following the header The data section of a binary file contains records for each data
181. IMA ISI APIPA USO SO QBIIBA US JO Avie SOJLIO Y MONA RIIYO QPIIPA uso suond x apry moys so3esso quondo9xq91330 USD sou Jopssequiey TY ye I9NO SW JINQIOPPSSPQUIY O LY uso uore19poj ay paurof sey ALIOPOJ DY JI NT LASA SUMPA pourofspopessegury UNIT LYUUSO Se JOpessequie y Surpuad sumy STIEDIOJJNINI9D Jopessequey HAL yusa JOPesSeQUuIy DI LUIS q oy SUMY I PUBHI9DIOPESSEQUIY II Lurso SIxe OWI 89130 UONLISPYJ 104 Punogloddj AUTLOITUYUJOATISOdT Torso yolqoL Leis SOJR90 y MaN Delgo Lyuse PO JOTLNISAH S94 ajofaquoefqoy LUIS paran gopou LASH JO 39911 9POUI UNS 0 SPOLU jas 19S9POUT LISO Polo gn gopout quis q 10 J99119POWU WISH SUMY POPULUS yew y Idy HUS lav LH 321 Dutch Space BV SUM NLR EFO SUM 2 iss 5 rev 0 Idy ILAUUISH SU ojuo poddew 14V LLY PT TSIILL sjas JOJOULILS PUL 9INQINIY 107 AQLAY OJPULHIPDIPSNEJN EA SIPULH lt gt LISO PWHP PSNEON EA APU H lt gt ILA sjos JOJQUIBIE Y PUL ANNY 107 AQLAY Aydurgqiag negonye AI PULH lt gt Luisa jdu PSNEZONTEA A PULH lt gt LL sjas JOJOULILS PUL 9INQINIY 103 AQLAY PPVIPSNEJAN EA SIPULH lt gt LY uso ppe segone o puey lt gt La SJOS JOJQUIBIR pure ajelapa y SINQINIY 107 AQLAY MINIISI PULH lt gt Le urso KIOL J9S9 PULH lt gt LLA SJOS Jojourereg pue oje1opo4 9INQILNIY JOJ ARRAY I
182. In case the simulation is driven by the external interrupt the precision is equal to that period If the simulator has real time errors the simulation time will be slower than the wall clock The simulation time is set to zero 0 on arriving in initializing state esimGetWallelocktime returns the wallclock time in seconds The basic resolution is equal to the resolution of the high res time described next but is truncated to milliseconds The wallclock time is set to zero when the first model task is scheduled and runs real time which means that is independent from the simulation time esimGetWallclocktimets returns the wallclock time in a timespec structure It replaces the obso lescent esimGetWallclocktimeUTC esimGetHighResWallclocktime returns the same time as esimGetWallclocktime but in milliseconds and with a higher resolution This high resolution is 21 ns on high end platforms such as a Challenge and Onyx On low end platforms this resolution is as good as what can be achieved by the gettimeofday 3 call esimGetSimtimets returns the simulation time in a timespec structure It replaces the obsolescent esimGetSimtimeUTC esimGetSimtimeYMDHMSs returns the simulation time in an array of 7 integers containing year month day hour minute second and nanoseconds esimSetSimtime sets the requested simulation time simtime in seconds This can only be done in the standby state If calling esimSetSimtime in
183. January 1 1970 On success this function returns 0 otherwise 1 esimGetMainCycleTime returns the main cycle time of the schedule The result can be used to com pute valid state transition times for use in the function simSetStateTimed esimGetMainCycleBoundarySimtime returns the simulation time of the last state transition This boundary time can be used to compute valid state transition times for use in the function esimSetStateTimed when the value of use_simtime is true esimGetMainCycleBoundaryWallclocktime returns the wallclock time of the last state transi tion This boundary time can be used to compute valid state transition times for use in the function simSetStateTimed when the value of use_simtime is false esimGetTaskname returns the name of your current task esimGetTaskrate returns the frequency in Hz of your current task esimDisableTask disables the task taskname defined with the Schedule Editor It will be skipped not executed by the EuroSim runtime until a call is made to esimEnableTask esimEnableTask enables the task taskname defined with the Schedule Editor It will be execut ed scheduled according to the schedule made with the Schedule Editor esimEntrypointFreguency stores the frequency in Hz of the entrypoint with the name entry point in the argument freq in the state state If the entrypoint appears multiple times in the sche
184. N ojgejeaysonboeoueapyoum OJJETIEAVISONboJ 2 ULAPVOUIIOPESSEGU VIII LUIS ojqereaysonboyovueapy AUN Jopessequie LILY jsonbogoouvapyoum jsonboysouva py oul LJopessequry NILUS jsonboyoouvapy oun JOPPSSEQUEL LA ILA JON YoLLJopessequry MT Lyssa JON Jopessequiel LA ILA P9AIMYI Y JUTO JUONBZHOIYIU S PIADMIYIUTO JUONBZIUOIYIV SIOPESSLGU VII LAULS P9A9YI Y JULOJUONEZIHUOIGOU S JOPPSSEQUIPL LY LLY SOINGLVsse QIIelqQoqhosgns SAJNILUJY SSLIDNAJDLJHOSYNSIOPESSLJUV A uso soINGLVsse gielqQoqLosqns JOPESSEJLULT LY LLY SSP DUOTOBIOJUTOQIIOSqNS sse UOT OPIVJUTOJ IO STN SIOPESSEGTU V Ty JUTSO Sse QuONoeIOUTOQLIOSqns Jopessequie LY TIN UONJOLJOJUJPUJS UONHOLIOJUJpUDGIOpesSLGUY NL Ls q UONOLJAJUJPUJS JOPeSSEQUPL LA LLY PLNA JE NY JOPESSEGUVUJI LAUSO JE NOT IOPESSEGLUL LA LLY UOHNODXTUONHPLIOPOHU ISOI UONNOAXFUCNEJOPOHU ISAYJOPESSLCUV NIJ LY USI UONNDSXFUONEJAPOJU ISAI Jopessequel LY LLY arepd ante omqrumysfqojsanbar ojepdnoneA ainginyyelqcisonboysopessequry tL Luisa ayepdpjanyea aynqinyy selqoisonbor 1opessequeyl LY LLY YJEUISH DARLSUONBIDPIHISINDAL sav guoreslopo jisonboylopessequry HIT USO iav LUISA oavguonviopa sonborIopessequie LY ILA Idv LY 329 Dutch Space BV iss 5 rev 0 SUM NLR EFO SUM 2 330 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 Appendix J Run time Interface Description J 1 Introduction Th
185. O d E kok as o v o or ae 204 195 Relion WHRSMP oso oo ae ee A ved ee ea ea ee a a 204 12 0 BU PBS lt lt o aada 6 Sde AA a ee a A Ge kon 205 20 COM Interface reference 207 21 Tuk odNIE KOB a sas as aa PA ee Rade ee V VE ae wae ae 207 22 TOSTADO a fk va Se ok e es Qtek a a a a 207 EA o Ge n Se ee OR a nk he nh es ae eee No b u B e Rw ae 207 UE NE ese ea Ad BS ed O Sea A A et o aa 207 20 3 Programmers teierence eas 4 a ae a ae ee aa 207 20 4 Upecase Excel example socia eR eS eee ae A 208 204 1 The simulator 2 2 zb do a ee eae 208 20 4 2 The MS Excel client application o o 0 00200 000 208 204 3 POSS VIEW cao o a ES 210 20 4 4 Receiving updates from the simulator lt 211 20 4 5 Creating an event handler in VBA lt lt 212 20 4 6 Sending updates to the simulator lt lt lt lt a 213 21 Web Interface reference 217 zb b Trieda RODE sas dej dok oe hw V AA we AE AA A a A 217 bce MODOS es a o vy V e da a A yb ea 217 2121 Usor inona y eee 40 a A ae a N O dow Soe A 218 pa a ABE e o do EE A A ad 218 xii Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 21 2 5 Startlist AMAS oo ee a i 219 Pa ESS o e s r A ONE os a v Yo vo o E A E a a d say de 220 ZL UA os kok ae Ra a ee es ad a a ge 220 ARE oc ede e eS Bw a we Ee we 8 48 221 aka CORTES o ie a Ge BU Ae eh ea ee AA Sr 221 zisk Whatis A COMICAS o oce eae dou U ee Ge A ee k
186. OO 40 10 0 M amp U U 9 9 If the stimulus action is to update variable Z at a frequency of 0 5 Hz and the stimulation mode was set to soft then Z would be updated as follows i e every 2 seconds the next value is used from the file Simulation simtime Z 0 10 2 15 4 17 6 19 8 20 10 18 12 15 14 15 16 14 18 2 20 no more data If the stimulus actions is to update variable Z at a frequency of 0 5 Hz and the stimulation mode was set to hard then Z would be updated as follows i e every 2 seconds the most up to date value is used from the file Simulation simtime Z 0 0 2 15 4 19 6 18 8 15 10 12 12 no more data If the stimulus action is to update variable Z at a frequency of 0 5 Hz and the stimulation mode was set to cyclic then Z would be updated as follows i e every 2 seconds the next value is used from the file and when there is no more data the data from the file is used again Simulation simtime Z Ds NO NH U ON ARG U O 10 I U 8 10 12 14 16 18 20 22 start from the beginning etc Dutch Space BV 127 iss 5 rev 0 SUM NLR EFO SUM 2 12 14 MMI tab page For each mmi file a separate MMI Man Machine Interface tab page is created When the mmi file is opened or created you will be asked to provide the caption that appears as the name of the tab page The MMI tab page is a large pane on which you can place monitors to
187. ObjectID Description Identifies the object to which the service belongs DatalD Identifies the service of which the description is set description Textual description Return Value TRUE if the operation succeeded otherwise FALSE Table 15 6 Parameters 166 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 15 7 Step by step example This section describes a simple example of how to integrate a C sub model using SMP Suppose we have the following C source code file simple cpp include lt esim h gt include lt smi h gt class Simple public Simple bool initialize const char xname bool update Parameter_t xparameters private Integer32_t foo The constructor of the class initializes the member foo to zero Simple Simple foo 0 The update method of our class bool Simple update Parameter t xparameters foo return true The update method cannot be registered directly as SMP is not C aware We introduce a wrapper function so we can retrieve the original this pointer and then call the actual update method on the instance of our class Boolean t update wrapper Data_t pObject Parameter_t parameters Simple simple static_cast lt Simplex gt pObject return simple gt update parameters Once an instance of the class has been created we can call the initialize method It will publish th
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189. Ptr Data Void_Ptr Size Integer return Integer function EsimEventRaise EventName in String Data in Void_Ptr Size Integer return Boolean function EsimEventRaiseTimed EventName in Chars_Ptr Data in Void_Ptr Size Integer T in Time Spec Use Simtime Integer return Integer function EsimEventRaiseTimed EventName in String Data in Void Ptr Size Integer L in Tames Spec Use_Simtime Boolean return Boolean type Integer_Ptr is access Integer function EsimEventData Data in Void_Ptr Size Integer_Ptr return Integer function EsimEventCount EventName String return Integer D 1 3 6 Real time clock functions function EsimGetSpeed return Long_Float function EsimSetSpeed Frequency Long Float return Integer function EsimSetSpeed Frequency Long_Float return Boolean function EsimGetRealtime return Integer function EsimGetRealtime return Boolean function EsimSetRealtime On Integer return Integer function EsimSetRealtime On Boolean return Boolean D 1 3 7 Real time recording functions function EsimGetRecordingState return Integer function EsimGetRecordingState return Boolean function EsimSetRecordingState On Integer return Integer function EsimSetRecordingState On Boolean return Boolean
190. S souR supse qgaiajoq es0 Jopessequrel LY ILA UONNIIXJUONPISPIJUIO VONNIIXHJUONLISPIJUTO rropessequry MJ LY USI UONNIIXJUONPIDPIJUTO JOPESSEGTULT LY TIN oweNuoneJodsue1 193 OULNUONHLJIOdSUPITJODIOpesSLGUVTIITIUISO owe Nuoneyodsuvrp jos JOPESSEGLULT LA LLY o pueyUoneyodsuerspjos OJPULHUCNEJLIO SUEJ 190 10pesequIyn 1 UIS pue quoneJ1odsue1 93 Jopessequeyl LU LLY IWBNIOJQUIPIC AOS IUL NIQUI JIO QIOpesseqU yV ILWIS DUE NIPU IIS JOPESSEGTULT LY ILA PUB HI9J9UIRIL AOS PUR HI9IMIRIP AID IOPRSSEQUIY pI LUIS PUR HI9JQUIRIR AOS IOpessequel LA LLY YJEUI9H Idy HUIISJ IdV LY 5 rev ISS Dutch Space BV 328 0 5 rev iss SUM NLR EFO SUM 2 IdV LUISA oy QUO poddetu Idv LLA p TI AQEL sone oIngLVorepdn sone singin yolepdjopessequiy Lus SONTEN ANI VOJEPdN sJopessequiel LA ILA sse Qelqgaquosqnsun sse QielqgoqiosqnsupJopessequiy tp Luisa sserD 199 90 9qHISQNSUNIOPeSSPQUPL LA ILA SSE JUONPEJOJUJOJLIOSZNSUN SSP DUONIPIAUTIQLISQNSU IOPESSEQUIY A LY USI SSE DUO PE JOJUJOJLIOSYNSUN JOPESSEGLULT LA LLY sseporafqoysHqndun ssepyofqoysyqndun1opessequy n LY USI ssero199fqoysyqndun Jopessequiel TY TIN sse DUCNJPEJOJUTYSTIYNJUN SSETJUONOLIAJUTUSTIANU JOPESSEJUVUJI LY uso SSE DUO PE JOJUTY STIANJUN JOPESSLGULET LAILA DM NOSOM IdTYSIPUM DANGL YTEUONIPUOoUN 9INJNSIALATSIDUM ONI VTEUCHIPUCDU IOPPSSEQUIY OI LY USI AIMISDM IdTYSIFUM ONI VTEUONIPUCDUN JOPESSEGTULT LY TI
191. SEGJULTINIIM IJ9 dWIOD IONIALSIJLIDPIY II ALODIONIAR SIJLIDPIHIOPESSPQUIY NI USD 3J9 dUIO JONIALSALIDPIJ Jopessequiel ALLA 39 UIO IALSIALIDPIY HATUA SIPIDPIHIOPESSPQUIY NI USD J9 ALUO IALSALIDPAFIOPPSSEQUIPL ALLA unSagaavsayelopay UNZIFIALSIJLIDPIHIOPESSEQUIY AI USD unSagaarsoayelopay Iopessequiel LA ILA IJ9 dUIO IONIIOISIYICIDPIJ 99 ALUUODIONIIOISI HOJLIDPIJIOPESSEQUIYI QUISO IJ9 ALUO J0 NIIOISIHILIDPIF Jopessequel LA LLY 39d UIO 910 SIYIPIDPIJ HAUA SI H9PIDPIJIOPESSEQUIYT YUUIso IJ9 LULO 210IS9HILIDPIF Jopessequel LA TIN UONLNSa Youll o1qeus Vonen aut 9 qe ug IOpessequiy NIL LU SO U One n33 Sur qeu JOPESSEGTULTIN TIA P9UTE SUO QU 9 QRUI PAUTE IISUO AUT I QUUJIOPESSEQUIYI LYS P9UT SUO UIT 9 QRLUI IOPPSSEQUIPL ALLA YOM S JOSTAP Y 9DULAD OYUONICIDUTO RUI YOM S TOSTAP V DDULAD OYUONOLIOUJO gPUJIOpessegUTY NIT USD YM S JOSIAP V 90ULAS PYUOMOLIOJUJOTIEUI JOPESSEGULET LY LLY YM S JOSIAP V DDUPAD DYSSLIDO GPUD YOM S JOSTAP Y O90ULAGJ FY SSE IS IILUHIOPESSLIUI V NI Quurso UDIIM S JOSTAP V INULA FY SSE IS UU JOPESSEGTULT IN LLY YJEUI9H Idy HUIISJ lav LH 327 Dutch Space BV Idy ILAUUISH SU ojo poddew 14V LLY PIT 18L NLR EFO SUM 2 SUM 0 910 SIJUONTISPIAISINDAL 910ISIAUONLIP9AISINDIFIOPRSSPQUIY Lyw 210 59JUONRIMPIHISINbAIIOPeSSeQUPI LY TL yepdnonTeA Ang V SSe sanba NEP NONTEN NANIA Y sse DIsonbo1opessegury Lyw ojepdnonTeA angi Vsse Oisonbo
192. SUM 2 Global amp Active States These options are used to indicate whether the action should either be active or inactive when the scenario is started as well as in which of the four simulation states the action should be active ActionMgr Nr This attribute allows you to specify on which action manager this action will be executed The next part of the window is a text entry area where the execution condition of the current action can be specified The execution condition is specified using the Mission Definition Language see Appendix E The final part of the window is another text entry area in which the actual action script can be entered The Check script button can be used to check whether or not the entered MDL scripts are syntactically correct The MDL Keywords button will pop up a small window with a list of all available MDL commands With the Add to Clipboard button or by double clicking on a command you can copy the command to the clipboard and paste it in the Condition or Action text entry areas The Events button will show a window with all input connectors from the schedule With the Add to Clipboard button or by double clicking on an events you can copy the events to the clipboard and paste it in the Condition or Action text entry areas If no user defined input connectors are found then this button will not appear Any errors that are detected in the condition or action text will appear in the Errors area at the bottom of
193. Sim Schedule Editor SMP2 schedules are not suitable for creating the hard real time simulators that form EuroSim s core functionality Metadata and its subclasses Comment Documentation and Attribute used to annotate SMP2 ele ments are not supported Use e g the description field to annotate catalogues and types Visibility part of Visibility Element is implemented but its semantic constraints are ignored for dependencies between Visibility Elements This means e g that types can use other types independent of their visibility Public visibility is assumed here The SMP2 Editor allows setting the visibility however and it is taken into account during code generation Native Type and Platform mapping used by Native Type are not supported Primitive Type is supported although not based on Native Type Unique values of Enumeration Literal are not enforced in the editor It is checked on reading catalogues however The Primitive Type of Integer is assumed to be Int32 The Primitive Type of Float is assumed to be Float64 Dutch Space BV 77 iss 5 rev 0 SUM NLR EFO SUM 2 Value and its subclasses are not supported Attribute Type and Attribute are not supported Property s Category is not supported Types nested in a Model are not supported DefaultModel of Container is not supported in the editor and otherwise in a limited way AttachedField of Property is not supported in the editor The Minimum Maximum
194. Stimulus Action The stimulus action is a special case of the script action and can be used to easily create actions that provide stimuli to the simulator using data from a specified file to update the values of the selected variables at a certain frequency and for a certain time period Using the Variables tab page in the Action Editor there is no need for the user to write the MDL script himself However if needed users can still access the raw MDL script allowing the editor to be used for the creation of the basic stimulus action and then be customized See Section 12 13 3 for a more detailed description of the stimulus Action Editor 12 2 4 Recorder Action The recorder action is also a special case of the script action and can be used to easily create actions that record the values of one or more selected variables at a certain freguency and for a certain time period Using the Variables tab page in the Action Editor there 1s no need for the user to write the MDL script himself However if needed users can still access the raw MDL script allowing this editor to be used for the creation of the basic recorder action and then be customized See Section 12 13 2 for a more detailed description of the recorder Action Editor 12 2 5 Monitors While it is possible to create a monitor script action this type of monitor has become obsolescent Generally you only come across a monitor action when loading an old EuroSim Mk2 or earlier mal
195. T esimEHDispatch context START ID break case STOP esimEHDispatch context STOP ID amp break case PANIC hw shutdown esimEHDispatch context SHUTDOWN I esimEHDispatch context ERROR ID break default break return 0 static int associate const char name void xuser data static int intr handler esimEH context void xuser data enum hw status status hw status get esimEHForward context status sizeof status static int dispatcher esimEH context void xuser data const void msg enum hw status status enum hw statusx msg data sizeof data data sizeof data D amp data sizeof data data sizeof data static void dissociate const char xname int id void xarg Dutch Space BV 181 iss 5 rev 0 SUM NLR EFO SUM 2 void name void id void arg function for event handler installation int event_handler_install void return esimEHInstall HW_INT associate dissociate intr_handler dispatcher NULL x function for event handler uninstallation int event_handler_uninstall void return esimEHUninstall HW INT entrypoint raised by START x void started void int hw_data int size sizeof hw data esimEventData amp hw_data amp size esimMessage HW started data sd hw data 16 5 3 User Defined EuroSim compatible devices Ther
196. TAFLOW GJ ENV ETC E EXP cI exp_per c 9 exp stub c CI currDirPath 0 199 fedrsimiexpmmu 3 currexpstub 0 C cunrFileName o 199 ECMTestFile bd dMonisSet 0 Description di 0 aj 0 dk 0 C expDataCon 0 6 9 CexpDataCon 0 expDataCon 0 DirPathEcm 0 249 CI expDataCon 0 expReadBufer 0 4999 expDataCon O fileTransferHandle expDataCon 0 AToEcmStarted expDataCon 0 ATOEGrStarted expDataCon 1 c expDataCon 2 C expDataCon 3 CJ expDataCon 4 S expDataCont5 3 expDataCon 6 fedrsimiexprmmu 0 0 0 SimTime Wallelock Type Message Figure 21 9 API tab Select Sim JI init Reset Hous I Sten Go Stop State Executing Simtime 41 11 wallclock 262173 a Tena My counter n counter 7 gt 2 2 5 20 i a 1 Test a 15 a a 10 5 lui 300 325 350 375 400 o 175 200 225 250 275 Time counter SimTime Wallelock Type J Message 37 0 262169 0 Message executer 1 0 New counter value 3 z 38 0 262170 0 Message executer 1 0 New counter value 4 39 0 262171 0 Message executer 1 0 New counter value 5 40 0 12621720 Message executer 1 0 New counter value 6 41 0 262173 0 Message lexecuter 1 0 New counter value 7 KENNI Figure 21 10 MMI t
197. Table J 4 Real time control channel commands As state transitions may take some time a rtTimeToNext State message is sent to the simulator client which contains the amount of time to the transition After joining the rt control channel the current simulator state 1s sent All state transitions from then on are sent to the client including automatic state transitions or transitions reguested by another client The standard time stamps of the state transition message can be used to calculate valid future state transition times which can be used to issue timed state transition commands To calculate a valid future transition time take the wallclock or simulation time from the last state transition message and add an integer number of main cycle times The following example in C requests a state transition at midnight on April 1 2001 wallclock time Listing J 7 Time state transition Connection conn must be set with eventConnect x struct timespec tv struct tm tm tm tm_sec 0 tm tm_min 0 tm tm_hour 0 tm tm_mday 1 tm tm_mon 4 tm tm_year 100 years since 1900 x tm tm_isdst 0 tv tv sec mktime amp tm tv tv nsec 0 eventGoAt conn NULL stv At the indicated time an event rtExecut ing is sent to the simulator client Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 J 5 Mission channel The mission channel is used for all activities relating
198. ULIIOPESSEGU VUT LU SO uonismbovdIiySsIPUM JANJLNIVIP2ULI JOPESSEGUET LY TIN YJEUI9H Idy HUS IdV 11 5 rev ISS Dutch Space BV 326 0 5 rev iss SUM NLR EFO SUM 2 Idy LAUUISH ay ojuo poddew 14V LLY PTT 18L UIE NSULIAPIOIOS IUL NSULIOpIOIEHJOpessequIy NIT LISO IWENSULIIPIDIAS Jopessequel LY LLY ojpueHSunop10193 ojpueHSunop1010910pessegurynIUso opueHgSunop10198 Jopessequiel LALLA IWENIIULISUNIDIOIA OUTPNODULISUIOO GO1ODIOpessegUVTIITIUISO OUPNODUPISUJIOO GO108 Jopessequiel LA ILA OIPULHOVULJSUTIOA 90193 s puefppoourysupoolqgieHsJopessequiy pI Luisa ojpuegoouejsu 0090198 Jopessequiel LA ILA MUEUSSL DIAJ0193 sure Nsse QalqoleHsopessequIV HIT Le urso IWENSSEIIDI OI JOPeSSeQUeL LY ILLA OIPULHSSLTDIOV40193 a pueHsseD 19 qOIDIOPessequiy NI LYUSI 3 purHssepo19qO193 JOpessequel LY LLY sseroralqor3 ssepjoralqo1anJopessequiynI LY USI ssep91a q0193 1Opessequel LY LLY IUL NSSEJ DUONJOLIAUNIOJ IUIENSSE DUONICIUNINDIOPESSEQUY NIJ uso OUPNSSL ODUONHDEIOUJIO8 JOPESSEQUIPL LALLA I PUBHSSE DUONIPIDUNIOS IPULHSSE DUONILINUNINIOPESSEQUY LAULS OIPULHSSETDUONOEIAUJIOJ Jopessequiel LA ILA IWIENOIINQINIVI93 IUENIMALNIVIIDIOPESSEQUIY II uso OUIE NONGLINV103 Jopessequiel LA ILA I PUBH9INQIMIYI93 IPUBHIINQILNIVI9DIOPESSEQUIYI uso I PUBH9INQLIYI93 Jopessequiel LALLA jsonboyanonOysny Isonboyonendysnypfiopessequry NI LY USI jsonboyanonOysny JOPES
199. USI sos JOJOULILS PUL 9INQINIY 107 AQLAY 3U0 INDIAS AMILA PULH lt gt LAWS s 9s PULIHA PUL 9INQINIY 103 AQLAY SUL SOL JOJINO M2 DI SNEFONTEA AI PULH lt gt Le uurso SUM SOS JOJOULILS PUL 9INQINIY 107 AQLAY OAIJNOMIP2DIPSNEZONTEAAIPULH lt gt J LJ USI s 9s PULIHA PUL 9INQINIY 103 AQLAY Sug AdopioguiegonyeA o puey lt gt TL USI SOS JOJOULILS PUL 9INQINIY 10 AQLAY AdoD19SIRJMILA9 PULH lt gt LJ uso s as PULIRE PUL 9INQINIV 103 AQLAY Sussy Zuo TPPYSIEJNPAPH lt gt TLQUISO SOS JOJOUILILS PUL 9INQINIY 103 AQLAY 3UNSSYIIAMOPP VISIT LINE A9 PUPH lt gt LAUS 0 s 9s PULIHA PUL 9INQINIY 103 AQLAY YJEUISH AdonDIP SS PULH lt gt LY USI Idv LUISA IdV LH 5 rev ISS Dutch Space BV 320 iss 5 rev 0 SUM NLR EFO SUM 2 Idy LNUUISH SU ojuo poddew 14V LLY PIT 18L Jopessequ y AI LUIS oy S OHSDT ANIAIGIOPRSSEQUIY TI Luurso JOPessequIe LN ILN Jopessegury IJLI9P9F LUISA ay S OHSOT AO ATIOpessegUVOILIOPIJILUISO JOPESSEGUIVOJLJO POH TIM Sjas Jojouesreg PUL 9INQINIY 103 AQLAY AAAMISNE ON LA SIPULH lt gt LLAU 19S IP IINTEASPUH lt gt LLL sps JOJQUUIRIB A pue oje10po4 onguny 107 ojgejmeAy NAPAIISAPUPH lt gt ILUSO JOSOIPULH lt L gt TIN ojpuey uonoeno 0 0 OIPULHUONOLNOYCJIZI so IQA WISH SOJLIO Y MONOIGELIPAT LAUSO O QLLHBA WISH S
200. Uplot for showing the graphs Plotting with PV Wave is faster than with GNUplot but GNUplot 1s free L 7 Conversion Tool The conversion projconv is able to convert all projects at once or individual projects When converting all projects at once the program is called with the Mk2 project file as an argument The Mk2 project file 1s located in the directory specified in the environment variable EFO_HOME In order to convert all your EuroSim projects in one step do host EfoHome projconv project After the conversion a new project database file has been created called projects db If you start now the new Mk3 Project Manager you will see all the existing projects back It is also possible to convert individual projects In that case you call the conversion tool like this host EfoProject projconv After the conversion the files in that directory have been converted and a file database for this project has been created called project db The conversion of a project consists of the following activities 354 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 L 8 build clean for every Mk2 makefile found and remove the makefile extension mk remove Mk2 temporary model files extension tm remove Mk2 schedule file from model file convert Mk2 schedule files into Mk3 sched files convert Mk2 plot description files pdf into Mk3 plot files plt create Mk3 simulation definition files from Mk2 MDL files cre
201. Use this menu item to get the Speed Control Window as shown in Figure 12 7 When the simulation is running non real time the user can speed up or slow down the scheduler clock with the slider The as fast as possible button selects a mode where the scheduler is boosted to maximum speed without internal clock overhead The actual speed can be lower than the requested speed since the scheduler slows down if tasks do not complete in time Speed Control Reguested speed Normal speed As fast as possible Dismiss Figure 12 7 The Speed Control window Init This will initialize the simulator This process comprises of the following steps Load the application model associated with the current simulation definition Use the data dictionary information to set initial values Use the Initial Condition files if active to update initial values Execute the task from the initializing schedule through the scheduler Po oe Execute the actions that are tagged as active during the initializing state Once the initial ization is complete the simulator will be in the standby state at simulation time 0 0000 seconds or the simulation time set by a script or model code Reset This will reset the simulation i e perform steps 2 through 5 of the initialization process Note that if the schedule contains an output connector connected to ABORT the simulation cannot be reset Speed Control has no effect if an
202. W Updated MDL syntax description Added chapter for Windows COM interface All pages 2 Sep 2004 Mk3rev2 release Added new chapters for Model Description Editor and Parameter Exchange Editor Simulation Controller added description for exports file removed sections on IGS Schedule Editor added description on how to add Parameter Exchange file s to the schedule Model Editor Added the Model Description file node EuroSim files and formats Added Model Description and Parameter Exchange files Updated screen shots All pages 18 Apr 2006 Mk4rev0 release Added new chapters for Calibration Editor SMP2 Editor and the Web Interface Model Editor Added the SMP2 Catalogue file node Updated various screen shots Various pages Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 Table of Contents Revision Record v Table of Contents xvi I EuroSim Basics 1 1 Introduction 3 It POS oia ai a auca doaie ai Ada bel a Ed td 3 PR A lak d A o 3 13 Where tostato z esos de ee deb Ro A a bal a u d K Ak A 3 1 4 Document conyentions gt ss ses sre meme iea a a a ko 4 2 Concepts 5 2 1 EuroSim simulation life cycle 5 22 Simulaior elements oo lt s ba k dob pda ad eee a A a 6 220 Themodel 4 u 3 6 rosenes da v eee aa a a a 6 22 2 Tasks and schedule lt lt lt u a a ec ba ea es a aa A 4 6 2 2 0 ME e oosa a bod k drog A bs ge dh Ro we eee e 7 2
203. ZISI9SI PULH lt gt J LJ uIso IZIS 1I9S9PULH lt gt LLA SJOS JOJQUIBIR pure ALIDPOA SINQINIY 103 AQLAY PAOLA SA PULH lt gt LAWS JAQUISTFJISAPULH lt gt LA SJOS JOJQUIRIP Y pue IIP NNQUNY JOJ APRA Y JOQUIIJASTA PULHI9SIPUPH lt gt LJ USI JOQUIAASSTI9SA PULH lt gt LLA SJOS JOJQUIBIR pure ALIDPOA SINQINIY 103 AQLAY idur aso SA PULH lt gt LWS idurgsri9so pueH lt gt LLY SJOS Jojourereg pue oje1opo4 ANIIIY 107 APRA Y OIPULHR9DI SA PULH lt gt LJ USI a puepes ISA PUEH lt gt TLA SJOS JOJQUIRIR pure ALIDPOA SINQINIY 103 AQLAY Adwo SS IPULH lt gt Lyurso Kdu9 79 SS PULH lt gt TLY S S Jojourereg pur Ae19po4 AINILNIV 10 AQLAY PPVIPSPIPUEH lt gt I LY USI PPEIPSAIPUEH lt gt La JOPesseqUuIy O IUS oy SALAIJ MONIOPESSEGUV NI LUS Jopessequey Ly LLY Mou JOPPSSPQUIY ALIS LISA oy SIJ YJEUISH MONIOPESSEJLU VOJEJOPIJI LAUS iav LUISA Jopessequiryoyelopoy ILA MOU Idv LY Dutch Space BV 322 0 5 rev iss SUM NLR EFO SUM 2 IdV LLAUSA oy QUO poddew Idv LLY VT I NRL uoNROYHONIIN YSoArqdrysiauMQenqiye UONBIYHONAININSaATdrYys1ouMOINGLNIVJOpessequrYyoaesapoj LY USI UONLIYNONOIMNSDATTdTYSIDUMOOMGTE Jopessequrya elopay LLY uoneoyyoyuonrsmboydysioumoomquye uONe9YNONUONISMbIVATSISUMO INMI VIOPESSEGLU V IWII PALAU uoneoynoyuonismboydiysium oange Jopessegury NLI p A ILA LIN F
204. a da Ba wR ADE EE PER A ES 135 13 30 Chanel plat 2 a4 A Sko PE BA a Ae ea a ae BAe 135 13 3 7 Showing and printing plots 4 ec ocea cs a ee ee a 136 134 Plot properties reference cio usara ee a ob 6 136 134 1 General plot properties s s 4 be a A ko 136 134 2 Curve editor referente cia a dok dok A a a bs 137 1343 ARES Properties o 1 3 800060 ee do dok dd a bs 138 135 Variable browser reference ooo oos co oca es oca coga ee Oa GR ee eS 139 135 Plot view riere oci u sta ma eea a AA AA 139 13 7 Metin items reference a V a ee v ee ee 139 13 9 Filemoni oee a a a ol ky E so de a ee we 140 E DMC MGM oaee aue a cg sb aa Akon eo n alee dk a a u en B dk o v 140 LARA NIPOS a A l oo dl d atd due ae 8 8 140 UF PAOLO s e do Sta ed ah ws RN Ge da and v d 141 1383 CUNE MENW a RA bo k S 141 ITA TOGE MEDU 13645 dy A UP ee HE Cod wg ew 141 107 EO 142 LAS Toolbar irenge lt a Wake OA PR Se je a S v Z ES 142 13 9 Using User Defined Fonctions lt 2 kes oe dk v dec dc aa A 142 13914 The funcion odist ocre a a e 142 1392 Formatand Validation lt a s ag soe cawe a a a ee 6 143 13 10PV WAVE interface o ae a a A k 4 143 13 10 1 PV WAVE Operators and Functions lt lt lt lt lt lt 143 13 10 2PV WAVE Variables c u u bu e ce sa wee bes 144 13 10 3 Accessing recorded data saa cooo a we eee es 145 13 10 4 Examples of using PV WAVE commands directly 145 13 105 User defined MOCOS lt s os e
205. ab against another variable and plotted on a graph Besides monitoring variables you can also have Action Buttons to execute MDL scripts or to enable disable recorders or stimuli 21 5 6 1 Alpha numerical monitors Alpha numerical monitors display a window in the MMI tab page in which the current value of one or more variables will be presented These values will be updated every second 21 5 6 2 Graphical monitors Graphical monitors use one of three types of graphs to display the values of variables XY Plot One or more variables against an independent variable Simulation Time Plot one or more variables against the simulation time Wall Clock Time Plot one or more variables against the wall clock time Dutch Space BV 225 iss 5 rev 0 SUM NLR EFO SUM 2 21 5 6 3 Action buttons Action buttons are used to execute MDL scripts or to enable disable recorders or stimuli 21 6 Reference This chapter provides a reference to the methods of the server interface and a description of the XML formats that are used 21 6 1 Server interface The following sections describe how to call the methods of the server interface from clients Method calls are performed by requesting a URL with the method name and parameters encoded in it For example to request the monitor list from a server located at www hostname com the following URL is used https www hostname com esim method getMonitorList Additional parameters are encoded t
206. ab Enter arrow keys Home and End are available Besides these keys the following keys have special meaning e Prior or PageUp scrolls down a page e Next or PageDown scrolls up a page e Ctrl a moves to the beginning of the line e Ctrl b moves the cursor backwards a character e Ctrl c copies the selected text to the clipboard e Ctrl d deletes a character e Ctrl e goes to the end of the line e Ctrl f moves the cursor forward a character e Ctrl h backspaces a characters e Ctrl k deletes to the end of the line or removes an empty line e Ctrl n moves to the next line e Ctrl p moves to the previous line e Ctrl v inserts text previously cut or copied e Ctrl x cuts selected text from the field e F2 starts editing a selected label in a tree view On systems running the X Window System UNIX platforms the second mousebutton inserts the Xbuffer selection at the cursor location 3 4 Common buttons There are a number of buttons that are used throughout EuroSim OK Acknowledges the question or accept the changes made in a window and close the window Cancel Abort the operation and all entered data is ignored Apply Accept the changes made in a window but do not close the window Dismiss Close the dialog window Browse Open a dialog to select an item from a list Often used to select a file 14 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 3 5 Common menu items Throughout EuroSim a number of menus appear w
207. ables 259 MIL1553 bus controller 175 bus monitor 175 case study 176 177 interface 174 remote terminal 175 mirroring of data 189 Mission Definition Language see MDL 101 mode real time non real time 110 model creating 20 importing submodels 49 nodes 47 options 51 Preferences 54 Model Description Editor datapool 57 Entrypoint node 59 Input and Output nodes 59 Inputs and Outputs group nodes 59 menu 60 Model node 59 objects in model description tree 58 overview 8 reference 57 Root node 59 Scheduling datapool updates 58 user defined variables 58 Model Editor Clear Logging 53 Compiler specification 53 Entry node 47 366 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 environment editor 54 Project file 9 File node 46 Project management 9 menu 49 Model Description file node in Model Editor Teal time 47 see simulation mode 7 objects in model tree 45 recorder 102 Org node 46 editor 124 overview 8 file format 280 Preferences 54 frequency 124 Preferences dialog 53 suspend 111 reference 45 test results file format 281 Root node 46 recording files 105 Save Logging 53 Reset 110 showing all nodes 50 revision control Source file node 46 see version management 11 structuring the model 46 RT Variable node 47 see remote terminal 175 Montar RTI extension editor 130 EsimRTI 299 formatting and conversion 132 q scenario graphical 102 diff 120 reducing bandwidth
208. ace BV NLR EFO SUM 2 SUM iss 5 rev 0 To use a function in a plot drag and drop the function from the function editor to the desired axis of the desired curve in the curve editor It is also possible to click on the variable or function field of the desired axis of the desired curve and then select the function from the list Note that unused functions and variables are removed between sessions That is if you save the plt file and load it again unused variables and functions are not longer listed 13 9 2 Format and Validation The entry for the function is free format allowing you to build functions using standard mathematical operators and expressions To reference data from another variable or from another user defined func tion refer to the reference tag shown in front of the variable in the Ref column e g sin 1 will give the sine of the variable tagged as 1 in the list Functions are tagged as func in the list Note that it is not longer possible to reference functions 1 e it is no longer possible to nest functions The function typed in is sent to the plot back end as is No checks are performed to see if the function 1s correct because each back end has its own format for functions Tf there is an error then the plot will not appear when Plot Show Plot is requested Common errors are recognized and the plot back end interface window will appear Since not all errors are recognized it is recommen
209. active at a new tick this resulted in the loss of one basic cycle This warning is an indication that the system cannot support the requested clock frequency the periodic part of the scheduler overruns Reduce the clock frequency WS a preemption of the task activation tick detected this should not have occurred The scheduler detected a double invocation of its periodic part a situation which definitely should not have occurred W too few processors for specified amount of executors The schedule definition file requests a number of real time processors which is larger than physically available This message is reported in combination with message at line nnn number of real time processors must be within the range 1 p Correct the definition file by choosing a processor in the reported range or restart with real time privi leges off no super user authorities This latter will result in non real time execution mode in which any number of real time processors may be emulated WS executor table overflow This message indicates an overflow of one of the scheduler s internal tables It should never occur since the size of this table has been chosen sufficiently large N execution stopped before task sss In debugging mode this message reports each task which has hit a breakpoint this task is the one which will be resumed at the next step command WS taskpool was too small extended but this should not have occur
210. ains all variables and user defined functions for this plot Properties Shows hides the plot properties area 13 7 5 Curve menu Add Curve Adds a new curve to the current plot See also the remarks in Section 13 4 2 about adding curves X Remove Curve Removes the current curve from the current plot 13 7 6 Tools menu Select Plot Backend Shows a dialog in which the plot back end can be selected See Figure 13 9 below Select Plot Backend Select plot backend gnuplot Cancel Figure 13 9 Plot back end selection Dutch Space BV 141 iss 5 rev 0 SUM NLR EFO SUM 2 Plot Backend Interface Shows the interface to the plot back end The interface allows you to see the responses from the plot back end and send commands to the back end manually See Section 13 10 1 or Sec tion 13 11 1 for more information 13 7 7 Help menu Online Help Starts the help browser About EuroSim Shows a dialog with information about EuroSim 13 8 Toolbar reference Many of the menu items described in the previous section are also present on the toolbar The toolbar provides shortcuts to these menu items as toolbar buttons The toolbar is shown in Figure 13 10 A description of the action of each toolbar button is provided in Section 13 7 The icons on the toolbar are shown next to the menu items 1 m y B B a m X li E z E New Open Save Select Undo Add Plot New Plot
211. al Timing problem The scheduler can not guarantee that the task can be completed in the available time Modify timing of item or items connected to item concerned Dutch Space BV 241 iss 5 rev 0 SUM NLR EFO SUM 2 C 2 Scheduler run time messages The errors in this section are generated by the EuroSim scheduler during a simulation run Each error has in the margin one or two of the following symbols N This message is an informational message only No action is required W This message is a warning It indicates a potential problem which does not yet prevent the system proceeding E This message is an error The system cannot proceed This message should not occur it stems from a file generated by EuroSim itself Submit an SPR for this message Each message is accompanied by a short description and recovery suggestions if recovery by the user is possible ES at line nnn syntax error This error is flagged when the textual schedule definition file contains a syntax error ES cannot open scheduler description file sss The schedule definition file could not be opened at initialization of RT_SCHD probably because 1t is not present in the current directory Make sure that the schedule definition in a file named SCHEDULE_FTLE is present in the current directory and restart RT_SCHD E at line nnn number of real time processors must be within the range LP The schedule definition file reguests a numb
212. ame for all kinds of types After clicking OK the new type s window will be opened for further editing of the newly created type No types can be created if no namespace is added to the root namespace 10 4 2 Types Each type kind has its own window layout However some common information is always shown in a General tab This is the key information that the user entered when creating a new type Most of the fields can still be edited after creation of the type with the exception of Namespace and Kind 10 4 3 Integer Apart from the General tab the window for the Integer type has a single tab Details which allows setting the lower and upper bounds 10 4 4 Float Apart from the General tab the window for the Float type has a single tab Details which allows setting the lower and upper bounds including the Inclusive flags and the Unit 10 4 5 Enumeration Apart from the General tab the window for the Enumeration type has a single tab Literals which allows creating a list of literals Enter the name of the new literal and press Add to add a new literal Select a literal from the list and press Delete to remove it again To be a valid enumeration at least one literal must be present The editor however allows creation of an empty enumeration type assuming the user will add literals once it has been created On saving a catalogue containing an empty enumeration a dummy literal will be inserted in the file to make it valid This dummy
213. ance the simulation through one executing cycle The same as the Control Step menu item gt Go Put the simulation in executing state The same as the Control Go menu item Stop Stop the simulation The same as the Control Stop menu item Abort Abort the simulation The same as the Control Abort menu item V Mark Place a mark in the journal file The same as the Insert Mark Journal menu item 12 3 2 The tab pane The tab pane consists of the following tab pages Input Files Shows all files used by the Simulation Definition Schedule Used to debug a simulation run API Show the data dictionary and quickly monitor and or change the value of a variable Dutch Space BV 103 iss 5 rev 0 SUM NLR EFO SUM 2 Scenario View and edit all actions in a scenario One tab page appears for each scenario in the Simulation Definition MMI The Man Machine Interface One tab page appears for each MMI file in the Simulation Defi nition The MMI tab page allows you to monitor variables and to execute scripts recorders or stimuli 12 3 3 The message pane On the message pane all messages are displayed This includes messages generated by the simulator e g when starting the simulator or when pausing it errors from the scheduler see Appendix C as well as marks and comments created by the test conductor Comments are marks with an extra item of text attached See Section 12 3 3 for some examples Marks and comments can
214. and realtime library Overwrite variable values with API default variables at init Use user id instead of group id for testcontroller observer F Produce simulator that allows useful runs with purify non realtime Represent wallclock and simulation time in UTC YYYY mm dd HH MM SS ssss iso relative time PCI VME bridge interrupt support simulator Integration SIMINT support requires SMP support V Simulation Model Portability SMP support I Matlab support Requires EuroSim s Matlab Real Time Workshop target Shared memory size for the simulator in bytes stack size for the simulator threads in bytes Model message buffer size Figure 15 1 Model Editor Build Options dialog box with SMP support enabled After this the user only has to run the Build All command to compile the model source into a runnable simulator The command also generates a schedule file from the SMP scheduling functions called during the initialization function This file can be edited by the EuroSim schedule editor The generated file 1s placed in the directory where all generated files are placed This directory is derived from the model file name and is called model O S where OS can be IRIX 64 IRIX Linux or WINNT This directory and its contents are removed when the user runs the Cleanup command It is therefore wise to save the file into another directory when changes have been made The best directory for
215. and selecting the Info menu item in the context menu Variables of type int long int float and double do not need a length modifier in the format string note that int and long int are the same on 32 bit platforms The following conversion specifiers are explicitly not supported c character and s string Table 12 1 gives a few examples of formatting and conversion of monitored variables Note that conver sion to from hexadecimal values can only be done on integers while formatting of floating point numbers only works on float and double types Value in simulator Format Result in monitor 255 TeX FF 255 08X 000000FF 255 Ox 08X 0x000000FF 3 141592 21 3 14 3000 2E 3 00E 03 Table 12 1 Examples of formatting and conversion 12 144 Action Button Editor The Action Button Editor see Figure 12 22 allows you to add a button or checkbox to the MMI pane to execute MDL scripts or enable disable recorders or stimuli The editor has the following properties Caption This is the text that you want on the button checkbox If left empty then the name of the action 1s used instead Scenario Choose the scenario containing the action that you want to use Action Choose the action from the scenario selected above A script action will now appear on the MMI tab as a button Pressing the button when simulator is running will execute the action Recorders and stimuli appear as a checkbox When checked the
216. and therefore it is more efficient to split data items into views which can be given high and low update frequencies as required e The simulator model uses an object oriented approach and creating a data view per object con tinues to support this methodology Each local data view is created from i e maps to a single EuroSim data view i e a single line as defined in the exports file However there can be several local data views mapping to a single EuroSim data view for example to provide the possibility to read new values at different frequencies as mentioned above External Simulator Exports file views defining available EuroSim views 10Hz read data view This gives read access to nodeA varX everything nodeF varG nodeD varP rniew R s 20Hz read data view And here some nodes vars e lt nodeB varX selected for write access nodeB varY nodeB bw_view s ta view nodeC varS cs view wW nodeC varU cu_view wW nodeB varZ Figure 18 3 Mapping of EuroSim and Local Data Views 18 5 Synchronization The external simulator access link can also be used to synchronize the client and the simulator with each other If either the client or the simulator is slower than the other the other side waits until the slowest side is finished Also if one side stops for some reason hitting a breakpoint or going to standby state for instance the other side is halted as well The synchronization mechanism
217. apply to the members of compound variables 106 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 Any variable that has an initial value is marked with a small asterisk Also all entrypoint and org nodes that contain variables that have an initial value are marked the same way 12 6 2 Context menu items If you right click on a node or on the background a context menu appears with the following items besides the menu items that are described in Section 12 5 Clear The initial value is removed for the selected variable Show Modifications Only Show All This menu item toggles between showing all variables or only those that have an initial value You can also use the key F4 as a shortcut Undo Undo the last change Redo Redo the last Undo action 12 7 Simulation Controller Menu Items This section describes the menu items that are not tied to a specific tab page and that do not belong to the group of common menu items that are described in Section 3 5 Menu items that are only enabled when a specific tab page is on top are described in the section for that tab page 12 7 1 View menu Input Files Raise the Input Files tab page to the top Schedule Raise the Schedule tab page to the top API Raise the API tab page to the top Script Monitors Raise the Script Monitors tab page to the top MMI A sub menu with all MMI tab pages The selected tab page will be raised to the top Scenarios A sub menu with a
218. arameterHandle ValuePairSet RTI EventRetractionHandle ErsimRTleventRetractionHandle RTI Boolean EsimRTlboolean Table 1 2 Mapping of RTI types and classes onto equivalent C types 1 3 2 Constructors and destructors The following table shows how the RIT constructors and destructors are mapped onto C equivalent functions C constructor destructor C function RTI AttributeHandleSetFactory create esimRTTattributeHandleSetNew delete RTI AttributeHandleSet esimRTIattributeHandleSetDelete RTI AttributeSetFactory create esimRTIattribute Handle ValuePairSetNew delete RTI AttributeHandleValuePairSet esimRTIattribute Handle ValuePairSetDelete Table 1 3 Mapping of C constructors and destructors onto equivalent C functions Dutch Space BV 305 iss 5 rev 0 SUM NLR EFO SUM 2 C constructor destructor C function new RTI FederateA mbassador esimRTlfederateA mbassadorNew delete RTI Federate A mbassador esimRTlfederateA mbassdadorDelete RTI FederateHandleSetFactory create esimRTIfederateHandleSetNew delete RTI FederateHandleSet esimRTIfederateHandleSetDelete RTI ParameterSetFactory create esimRTIparameterHandle ValuePairSetNew delete RTI ParameterHandleValuePairSet esimRTIparameterHandle ValuePairSetDelete new RTI RTIambassador esimRTIrtiAmbassadorNew delete RTI RTIambassador esimRTIrtiAmbassdadorDelete Table I 3 Mapping of C construct
219. are displayed in a hierarchical view This allows easy selection On the MDI that covers the main part of the screen the windows of the selected SMP2 element is shown on top The bottom part of the screen is dedicated to the output of the code generation process SMP2 Editor Satellite cat eurosim ISatellite interface A generic interface for satellites Satellite model The example satellite model Filter lt None gt W Including Nested New Type Running smp2gen c ISatellite h disk2 home moelands eie EuroFO Documentation SUM Satellite ca Execution of smp2gen c ISatellite h disk2 home moelands eie EuroFO Documentation SUM Satellite cat finished successfully Ready Figure 10 1 Overview of the SMP2 Editor screen Dutch Space BV 71 iss 5 rev 0 SUM NLR EFO SUM 2 10 3 1 General remarks on editing a catalogue The SMP2 Editor ensures that at all times a catalogue is valid This means that no invalid catalogue files can be produced and validating a created catalogue file is not necessary The editor enforces validity by doing all necessary semantic checks on every edit action of the user and taking measures if necessary This way of working provides powerful editing possibilities As an example suppose the user deletes a namespace which contains types Apart from the namespace itself all types in this namespace and all nested namespaces will be deleted Moreover if any types located in
220. are shown here Variables can be added using drag and drop by double clicking on a variable in the Dictionary Browser or by selecting variables in the Dictionary Browser and pressing the Add button to add them To remove a variable from the list select it and press the Remove button You can change the order of the variables by selecting variables in the listbox and using the Up and Down buttons The values of the variables in the list are recorded into the specified file at the specified frequency EuroSim automatically generates an MDL script for this purpose which can be viewed in the Script tab page If you want to use a non numerical start or end time you can change the values manually in that tab For example you can use a simulator variable as the end time 12 13 3 Stimulus Action Editor When the stimulus editor is started you will be asked to select a stimulus file You can select both a stim file ora rec recorder file The stimulus Action Editor consists of two tab pages see Figure 12 17 and Figure 12 18 The Script Action Editor tab page see Figure 12 17 is identical for both cases The first stimulus Action Editor tab page see Figure 12 18 has the following fields Stimulus File This should be the name of the input file containing the stimulus data You can use the Browse button to select an input file Frequency Start Time and End Time The three attributes specify when the stimulus should start and stop and with what
221. arepository where the versioned files reside e a version control system name AI this information is stored in the project database Dutch Space BV 9 iss 5 rev 0 SUM NLR EFO SUM 2 2 5 Application Programmers Interface The name Application Programmers Interface API is used within EuroSim to describe the interface between the model and the EuroSim software This description includes the services available through EuroSim as well as the variables and functions from the simulation model which need to be accessed by EuroSim The API for the EuroSim services is relatively simple it consists of a number of predefined function calls that can be used from within the user s model code See Appendix D for a description of the available functions The API for the simulation model is a bit more complicated as EuroSim does not know beforehand what the user s model code will look like Therefore in order for the model code to be used in EuroSim the user has to add API information to the model code the API header This API header consists of a number of lines at the top of the model code As the information is stored as comments the source code will still be usable outside of EuroSim Using the Model Editor of EuroSim see Chapter 6 the user can easily enter the functions and variables in the source code which need to be available to EuroSim The information from all the API headers in the model together forms the data dictionary of the m
222. ariable When starting the EuroSim tools from the Project Manager you can use the Tools Version menu commands to add files to the repository M 4 Using CVS under Windows When you are using Cygwin s native version of CVS then specify the CVSROOT environment variable as follows export CVSROOT cygdrive drive letter repository root directory Example for Cygwin when your repository is on the F drive export CVSROOT cygdrive f repository Other versions of CVS for Windows may require the addition of the local server specification like this export CVSROOT local drive letter repository root directory For example export CVSROOT local F repository Consult the README files of the version of CVS that you are using for more information on how to set up CVS M 5 More information You can get more information by typing man CVS on the command line Of course the internet provides multiple sources of CVS manuals in multiple formats tex pdf etc O Reilly amp Associates have a nice pocket reference see CVS00 358 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 Appendix N EuroSim XML Schemas The XML files used in EuroSim are officially described by XML schemas These schema files are located in the 1ib schemas subdirectory of the EuroSim installation directory Dutch Space BV 359 p iss 5 rev 0 SUM NLR EFO SUM 2 360 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev
223. ase evExtSetData curses_print command break case rtExecuting case rtStandby However the events can be ignored it is also possible to schedule local tasks which access the local data as and when required rather than waiting for a data update to trigger processing Sending Updated Data Views When the view is opened with write permission the external simulator can send an update to the EuroSim simulator with a call to extViewSend This will result in an event being sent to the EuroSim server unless the data has not changed since the last call to ext ViewSend The following example shows the verbose data item being toggled and the updated view being sent xt_verbose ext_verbose extViewSend w view ext 18 7 6 Close the connection To close the connection between the client and the server call the disconnect on exiting for example installSignalHandler SIGQUIT cleanup static void cleanup int signal extDisconnect sim if signal exit 1 exit 0 196 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 18 8 Performance The External Simulator Access protocol is based on TCP IP This means that each data packet has some protocol overhead When an isolated peer to peer Ethernet network is used i e two computers connected by means of an Ethernet cross over cable then a theoretical throughput of 10 MByte s can be achieved when using qua
224. ash If the shell script file is located in the same directory as the sim file and you do not specify the full path to it then you may need to prefix the name of the shell script file with a depending on whether the current directory dot is in your search path or not environment variable PATH Examples bash c myscript sh or cmd C mybatch bat User Program Editor home fI75708 EfoHome CountellE2 Definition home f175708 clnt h h c c Browse Sim Server Hostname minbar dutchspace nl port 0 Figure 12 3 Example User Program Definition Add User Program Definition Import an existing User Program Definition Make Mark Use this menu item to make a mark in the simulation log The mark is also displayed on the message pane The idea behind marks is to allow you to tag some interesting unexpected event guickly Each mark is allocated a unigue number which can also be used for adding explanatory comments later on 108 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 Make Comment Use this menu item to enter a comment in the simulation log The comment is also shown on the message pane When this menu item is selected a window shown in Figure 12 4 will pop up in which the comment can be entered By default the comment belongs to the last mark made but you can add comments to earlier marks by manually editing the number in the Mark field
225. assadorJoinFederationExecution I Table 1 7 Overview of functions available in direct mode only 310 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 Name esimRTIrti AmbassadorGetAttributeName Initialization Finalization esimRTIrtiAmbassadorGetAttribute Handle esimRTIrtiAmbassadorGetInteractionClassHandle esimRTIrtiAmbassadorGetInteractionClassName esimRTIrtiAmbassadorGetObjectClass esimRTIrtiAmbassadorGetObjectClassHandle esimRTIrtiAmbassadorGetObjectClassName esimRTIrtiAmbassadorGetObjectInstanceHandle esimRTIrtiAmbassadorGetObjectInstanceName esimRTIrtiAmbassadorGetOrderingHandle esimRTIrtiAmbassadorGetOrderingName esimRTIrtiAmbassadorGetParameterHandle esimRTIrtiAmbassadorGetParameterName esimRTIrtiAmbassadorGetTransportationHandle esimRTIrtiAmbassadorGetTransportationName e E O e O Table I 7 Overview of functions available in direct mode only 1 3 14 Memory Management All memory that is referenced in the real time domain should be allocated by means of the real time memory allocator esimMalloc and its derivatives esimCalloc esimRealloc and esimStrdup It should be freed by esimFree The EsimRTI library overrides the operators new and delete for all of its classes The global new and delete are not overridden since this gives some problems on IRIX platform Memory conventions of passing arguments i
226. at hl s o o Eat Se A ko 26 15 e U 15 42 5 BOK Ment ou OE a EE OA A 15 334 Tools Version menu su 42 dn dle a us a a 15 o HEP 224 4 Soulad a Sa ee Ee o Se Ss Be 17 4 EuroSim tutorial 19 NS uo eo ate Pd bo a ew ud ew obe E 19 d Sara ELFOS ca ee oe a a ee ale 19 43 Creating a project yourself lt lt lt coe wu ws dd ee ee k es 20 4 4 Creating a shared project 0 6 0 044 66 be eee wee ee ee es 20 AS Aba Ni model lt a Pee eed Oa eee ee ee Da eS eo es BS 20 LL Model los curados ce a Se a bee ak ie de oa we de 21 4 5 2 Adding the sub models 2 ec lt eceu oea dea eee 22 4 5 3 Adding the sourcecode 242040804 000808 tka smen add k 22 4 5 4 Adding the API headers e eee eee 24 46 Building the simulator lt lt s 4 4 64 ee ee a A 27 47 Creating Me schedule cate eca 44 de ee eee A oki a don 28 AU Jnitializing schedule o lt 4 cara code ZA dk bd nA 28 4 1 2 Executing schedule o e ea bob be ce bebe o kA bee e 29 4 7 3 Closing the Schedule Editor 30 4 8 Creating a simulation definition lt lt lt lt lt 44 o 30 4 8 1 Creating a graphical monitor lt lt 444 0000004 30 48 2 Creating an intervening action o s es es eo ca canoes ma a 31 Aba CRNE A TECO 00 ld oa an a A ho cia k 32 49 Executing a simulation MAV o e s sa oae e a e a a AA 34 4 10 Analyzing the simulation results lt lt 44 a 34 4 11 Concluding remarks
227. ate a project file database with the following contents model files schedule files simulation definition files MDL files initial condition files User Program definition files Run time Interface changes The server sends some extra events compared to Mk2 The changes are as follows see Appendix J for a full overview L 8 1 Real time control channel eventHealth returns an extra rtHealth event L 8 2 Mission channel When you join this channel you receive an extra maSimDef message with the simulation definition filename eventNewMission returns an extra maNewMission event eventOpenMission returns an extra maOpenMission event eventNew Action returns an extra maNewAction event eventDeleteAction returns an extra maDelete Action event eventReload returns an extra maReload event L 8 3 Monitor channel eventAdd2LogList returns an extra dtAdd2LogList event eventRemoveFromLogList returns an extra dtRemoveFromLogList event eventSetValueReguest returns an extra dtSetValueRequest event eventCpuLoadSetPeak returns an extra dtCpuLoadSetPeak event L 8 4 Scheduler control channel eventWhere now always returns the current position in the schedule this command was undocu mented in Mk2 and in fact didn t always return the position eventRaiseEvent returns an extra scRaiseEvent event eventRaiseEventAt returns an extra scRaiseEventAt event eventRaiseEventAtSimtime returns an extra scRaiseEventAtSimtime event Dutc
228. atellite C EE m 2004 09 15 y Satellite Linux C exampleResults IB altitudePlot plt File name faltitudePlot plt File type Plots plt Cancel A Figure 13 2 Importing plot definition files Click on the File type combobox to switch between file formats Next browse to the plot definition file that needs to be imported and click on the OK button A warning message will appear stating that the pdf file will be converted Press OK to convert the pdf file The Test Analyzer now contains the converted data If you wish you can save the converted file with Q File Save or with File Save As in case you wish to save the file under a different name 13 3 3 Selecting the test results file Plots cannot be shown until a matching set of test results is loaded A matching set of test results is a test results file that contains the same variables as used in the plot s If the selected test results do not match some of the plots these plots will be marked with a big red X To select a test results set select 3 File Select Test Results File and the test results file will be loaded into the variable browser It is not possible to have multiple test results files selected at the same time 13 3 4 Using recorder files Usually the recorder files used are the ones related to the selected test results file Plots use the data from that specific test results set Sometimes however it
229. ation on using hardware in the loop with EuroSim Finally a number of appendices contain the remaining information Abbreviations and terms are defined in Appendix A and Appendix B respectively The remaining appendices go into more detail on some of the features of EuroSim 1 3 Where to start Novice users should start with Chapter 2 and then follow and possibly re create the case study from Chapter 4 It might be necessary to read Chapter 3 to get acquainted with some of EuroSim s user interface aspects Users who already have knowledge of EuroSim can immediately proceed to the reference chapters where each of the EuroSim tools is described in detail The table of contents and the index can be used to find certain subjects in the user manual Facility managers are advised to read also OM05 the EuroSim Owner s Manual More files and docu ments that contain information related to EuroSim can be found in the bibliography Dutch Space BV 3 iss 5 rev 0 SUM NLR EFO SUM 2 1 4 Document conventions The selection of a menu option from the GUI is referred to as for example Select the menu option File Close which means to select from the menu with the name File the option Close Key combinations are shown as Alt Backspace which means to hold down the key labeled Alt and then simultaneously pressing the Backspace key Computer input and output is shown as a fixed pitch font Buttons are referenced with their label in
230. ave it to a file Default file name is snapshot n snap n 0 1 2 stimuli soft Stimulate the specified set of data dictionary variables with the hard Meyetia next record of values contained in filename If the hard option filename dictlist 1s given the next record in the stimuli file will be applied when the given timestamp value in first column in the stimuli file matches the simulation time In the default case soft the timestamps are ignored With the cyclic option the stimulation 1s applied periodically ignoring the timestamps stop request change simulator state to stopping Table E 5 Input Output and Control commands do not return values E 7 MDL syntax The syntax below is specified in a Backus Naur Form 7 indicates the start of the definition of the item listed before the colon indicates an alternative and 7 terminates the definition So A B C D means that A can be B C or D Bold words are literal strings string is a placeholder for an actual string i e a sequence of characters delimited by double quotes Example this is a string identifier is a placeholder for an actual identifier of a variable or function Identifiers consist of a sequence of letters digits and the underscore and dollar character Examples var1 var2 and block var3 external identifier is a placeholder for an actual identifier of a variable or function coming from another
231. be created with the Insert Mark Journal and Insert Comment Journal Mark menu items All messages appearing on the pane are also logged into the journal file see Section 12 4 O O 0 e ate e Dd G Da e Jinx File Edit View Insert Server Control Debug Tools Help D amp 2 5 Ba 14 es E K 0 4 b E 8 New Open Pause Abort Mark A Input Files schedule Q API E Satellite dal Monitors d Satellite sim if Satellite model 5 Satellite sched 3 lt lt no export file gt gt f Satellite mdl Yes Y Message gt startup async main applying default settings from datadict Satellite dict startup async main applied initial condition file users fl75708 EfoHome Satellite Verified init no c startup async main applied initial condition file users fl75708 EfoHome Satellite Assumed init no 0 0000 0 0324 async main loading scenario users fI75708 EfoHome Satellite Satellite mdl 0 0000 0 0524 async main new client localhost localdomain SimulationCtrl on socket 9 uid 18157 gid 0 0000 1 0049 clock simulator started at Wed Sep 15 15 41 50 2004 0 0000 1 0049 clock state transition from void to initialising 0 0000 1 0548 clock state transition from initialising to stand by 0 0000 6 4050 clock state transition from stand by to executing 4 Executing minbar dutchspace nl Test Controller Realtime v 1 00 13 7200 20 1301 Experimental Figure 12 2 The Simulation Contr
232. bed in this chapter refer to Section 3 5 Simulation Model Portability SMP is ESA s standard for simulation interfaces The purpose of the standard is to promote portability of models among different simulation environments and operating systems and to promote the re use of simulation models EuroSim has implemented an interface for this standard SMP2 is the successor of SMP SMP2 is a totally new standard adopting state of the art techniques and has a much wider scope than its predecessor The way of working with this standard and its complexity demand tools for specification development integration and storage of the SMP2 models EuroSim has an SMP2 Editor to edit SMP2 catalogues code generation tools to generate C model code from SMP2 types and an interface that integrates an SMP2 model with other EuroSim compatible models e g SMP models Profound knowledge of the SMP2 standard is a prerequisite for successfully using the SMP2 Editor to create SMP2 models For an overview of the standard refer to SMP05c For a comprehensive formal description of the standard see SMPO5e for the SMP2 Meta Model or Simulation Model Definition Language SMDL SMP05b for the SMP2 Component Model SMPO5a for the SMP2 C Mapping and SMP05d for the SMP2 Model Development Kit MDK 10 1 Using SMP2 in the EuroSim Environment With the current release of EuroSim a subset of the SMP2 standard is supported See Section 10 6 for details on compl
233. ble EFOROOT to the directory where EuroSim has been installed by default this is usr EuroSim e Only for IRIX Issue the command SEFOROOT etc user sh for Bourne shell or compatible or source SEFOROOT etc user csh for C shell or compatible e Start EuroSim by typing esim at the command prompt To run EuroSim on a Windows NT platform select EuroSim from Start Menu Programs or double click on the EuroSim icon on the desktop Dutch Space BV 19 iss 5 rev 0 SUM NLR EFO SUM 2 Proje anage bar d pace lnx File Edit View Tools Help a a B a gt a Project Files Model Figure 4 1 The main EuroSim window After a short while the main EuroSim window will appear see Figure 4 1 This window will display the projects to which you have access If no project 1s shown ask the EuroSim facility manager to create one for you or alternatively create your own project as described in the next section 4 3 Creating a project yourself Select File Add Project from the menu To create a new project enter the project name choose the project directory and version control system The Description and Repository Root fields are optional For the remainder of this chapter the name SUM is assumed 4 4 Creating a shared project Instead of using a project created by yourself you can create shared project s and database managed by the EuroSim faci
234. bles operators and expressions lt lt 259 ES EMO Flow ss aga ele a s we a ee a es Sh we ww 260 Ed Pens sia Be aloe o hy A ee Sy A Bh ea hd a 261 E 5 Input Output and Simulator Control lt lt lt lt lt 262 E 6 MDL Built in functions and commands lt lt 263 a MOLER o ca ho de ol a baw de Bd dG dod WS a 268 F EuroSim files and formats 277 E Eure project MISS 13 sou odb we a a ada a a a 277 F2 EuroSim Configuration file format 2020400020 4 dubu A es 278 BEZI Beye se by R a A U A v k 278 B22 Pile types ce es a ES dn ee Be a ee ek A 279 F3 Recorder tile format oc ge dk vod a eg ea ae a ay eR Re Le EG Gee eR ewe 280 PA The test results the 2 4 4 4 48 4 84 248 cero Be eda ERR eRe a EES 281 Po exportation i kou 4 A ee Be k a eee O K o Dee dn 281 Dutch Space BV xiii iss 5 rev 0 SUM NLR EFO SUM 2 F6 Initial Condition le format z s s se ed A O Ron ev 281 E7 Simulation Definition file format s se es es emea O aa 283 ES IMT Ge TORS o 3 a a ee a A Mot dn A a 8 285 FO User Program Definition file format o os lt lt xx wa bude a sen 288 G API header layout 289 tat folobal State Variables 4 14 44 a a Re Ba da 289 G2 Global Input Variables 4 u rererere nena n br 8 O 290 1 3 Global Output Variables ssr erete AJ Ea ek EEE EG 290 La TENET PAM co a yap A A vo a A A A cia 290 G9 Publishing of variables 5 4 sd a RAK a as a 290
235. bles such as arrays and structures are shown as children of the variable node Some attributes of the variable node can be edited at variable node level in the tree view of the Model Editor while others must be edited at the variable base level f i min and max You can only edit attributes of variables when the API flag on the left of the variable is checked Use the mouse or the space bar to change the state of the API check box on the current selection which can contain multiple items Dutch Space BV 47 iss 5 rev 0 SUM NLR EFO SUM 2 A grey box around an attribute indicates that it is editable Start editing by clicking in the box with the mouse or press the F2 key to start editing the first editable attribute in the current selection The Tab key moves to the next editable attribute in the current selection while the Enter key finishes editing without moving to another attribute The Esc key lets you leave edit mode without making any changes The user can specify e parameter a variable set as a parameter may only be changed at initialization time by an initial condition e unit the unit of the variable e g km It is for informational purposes only and written to the dictionary for use by other EuroSim tools such as the API tab of the Simulation Controller e min the minimum value of the variable e max the maximum value of the variable The latter two min and max are checked at run time when f i a user cha
236. by the built in event handler for event maRecordingBandwidth schedule Schedule file name The value is defined in the simulation definition file simdef Simulation definition handle to a EuroSim SimDef object sim_time The simulation time as seen by the running simulator The value is set by the built in event handler for event dtHeartBeat speed The clock acceleration factor achieved by the simulator Values larger than 1 indicate faster than real time Values smaller than 1 indicate slower than real time The value is set by the built in event handler for event scSpeed state Simulator state Can be unconfigured initialising standby executing exiting The value is set by the built in event handler for the following events rtUnconfigured rtInitialising rtStandby rtExecuting and rtExiting stimulus bandwidth Stimulus bandwidth in bytes second The value is set by the built in event handler for event maStimulatorBandwidth tasklist List of tasks present in the schedule The value is set by the built in event handlers for the events scTaskListStart scTaskStart scTaskEntry scTaskEnd and scTaskListend The field tasklist is a hash table Each key in the hash table is the name of a task e g session gt tasklist gt tasknam Each task consists of a number of entry points and a flag called disable The disable flag is set by the built in event handler of scTaskDisable The entry points are stored in an array Each arra
237. c 21 2 3 Startlist XML file Next to querying the local network for running simulators the monitor also reads an xml file to generate a startlist The path to the startlist can be defined on the settings tab of a monitor An example of such a startlist file is given below lt xml version 1 0 gt lt startlist gt lt simulation gt lt id gt Demol lt id gt lt name gt Atos Origin Nederland Demo 1 lt name gt lt simfile gt home n127111 demol demol sim lt simfile gt lt host gt nwgesim002 nl int atosorigin com lt host gt lt simulation gt lt simulation gt lt id gt Demo2 lt id gt lt name gt Atos Origin Demo 2 lt name gt lt simfile gt home n127111 demo2 demo2 sim lt simfile gt Dutch Space BV 219 iss 5 rev 0 SUM NLR EFO SUM 2 lt host gt nwgesim002 nl int atosorigin com lt host gt lt simulation gt lt startlist gt The file always has one startlist element with one or more simulation elements Every simulation has four child elements id name simfile and host Note The id field of a simulation has to be one word without spaces 21 3 Server This chapter explains how to use the server application 21 3 1 Startup Starting the server can be done in 2 ways via the command line or via the internet daemon xinetd which is the preferred way 21 3 1 1 Command line When starting the server on the command line for testing purposes the option test should
238. c_sin 5 input double hx double Qsimintexample QModel_B_to_model_A Se counter ch SimIntExample md SimintExample ModelB update_counter output counter EA Simintexample md Simintexample ModelB update_counter input counter E Z X ech Simintexample md Simintexample ModelB update_counter output counter Ca SimIntExample md SimintExample ModelA calc_sin input x home fl75708 EfoHome SimIntExample SimIntExample px home fI75708 EfoHome Simintexample Simintexample model Experimental Figure 19 3 Parameter Exchange Editor 19 3 3 1 Why are Parameter Exchange files not part of the model This is done for flexibility It allows the model developer to put together several sub models into one simulator executable and describe the model variables by means of one or more Model Description files The simulator developer could then create two Parameter Exchange files and reference these from two Schedule files The first variant of the Parameter Exchange may for example update the input variables of one of the models with variables in the datapool that are updated by an external simulator see Chap ter 18 The second variant may update the input variables of one of the models with variables in the datapool that are updated by an internal model In that way the test controller can easily switch between the two configurations simply by selecting the appropriate Schedule file The reason for having the Pa
239. calc sin output set output variables The first entrypoint is generated by the Model Editor build process when the Model Description file was read It copies variable x from the datapool to variable x of model A step 1 in Figure 19 5 The second entrypoint is the one from model A and uses variable x in model A to calculate the sine value and store the result in variable y step 2 The last entrypoint is also generated and copies variable y from model A to variable y in the datapool step 3 datapoo model input x output y y input counter calc_sin output counter Figure 19 5 Datapool exchanges and update for model A Task ModelB update contains three entrypoints e datapool SimlntExample ModelB update counter input set input variables e modelB update counter e datapool SimIntExample ModelB update counter set output variables The first entrypoint is generated by the Model Editor build process when the Model Description file was read It copies variable counter from the datapool to variable counter of model B step 4 in Figure 19 6 The second entrypoint is the one from model B and uses variable counter in model B to increment itself step 5 The last entrypoint is also generated and copies variable counter from model B to variable counter in the datapool step 6 datapoo input x output y input counter output counter counter modelB update counter 5 Figure 19 6 Datapool exchang
240. cally In that case one of these formats can be chosen e variable name e variable path e variable description Line style The effect of the line style depends on the back end and the output media screen or printer With gnuplot for example the decimals specify the linetype as specified in the gnuplot doc umentation and the hundredths specify the style Up to nine gnuplot styles are supported Example the value 100 will give you the gnuplot points style Variable The axis variable can be changed in two ways The drop down list contains the recently used variables in this plot and can be chosen the normal way It is also possible to drag a variable from the variable browser and drop it on the desired axis Axis The axis can be set to Primary or Secondary The primary axis is on the left for X and at the bottom for Y The secondary axis is the right axis for X and the top axis for Y Adding curves Curves can be added in many ways e Double click a variable in the variable browser The selected variable is added as a curve Initially the variable is plotted against simulation time so do not forget to change this if necessary e Drag the variables selected in the variable browser to an empty spot of the curve editor If there is a variable with time or x in its name it is used as the x axis variable The curves created are all other variables plotted against this curve or against the first variable i
241. cations result in the following task seguence Dutch Space BV 349 iss 5 rev 0 SUM NLR EFO SUM 2 simulation time 0 5 10 15 20 I I I I I real real A allowed allowed real real B allowed allowed real real c allowed allowed TT 0 5 10 15 20 wall clock time Figure K 7 Real time execution of the task chain simulation time 0 3 47 8 11 12 17 18 21 22 27 I I I I I I A real real real B real real C real real O O a 0 5 10 15 20 wall clock time Figure K 8 AFAP execution of the task chain After task B has completed simulation time can be incremented to 11 ms allowing task A to start again According to the schedule this is allowed since task C does not depend on A The effect is that task A and C run in parallel If this is not the intended behavior then task C should be made dependent on task A Figure K 9 or the sum of all allowed execution times should be made smaller then the task period In fact with this schedule parallelism would also occur in the real time situation if every task had a real execution time of 4 ms B y aloe 100Hz Oms Figure K 9 A chain of dependent tasks K 6 Other effects Offset allowed execution time gt period If the sum of the offset of a task and its allowed execution time is larger than the period it can happen that the task is started after a state transition 350 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 Timed Events and Timed State Changes
242. ce BV 209 iss 5 rev 0 SUM NLR EFO SUM 2 MsgBox Error amp Err Description Else A5 Value Stopped End If End Sub Your client should now look similar to Figure 20 3 m Microsoft Visual Basic sum_client xls Sheet1 Code n I se Edit View Insert Format Debug Run Tools Add Ins Window Help 18 x gt on m BS SES O in cole a Par Private Sub CommandButtonl Click YBAProject sum client xls On Error Resume Next amp Microsoft Excel Objects Sim Launch localhost C testsims Counter Counter sim TestClient 0 ES Sheet1 Sheet1 If Err lt gt 0 Then EB Sheet2 Sheet2 MsgBox Error Err Description ES Sheet3 Sheet3 Else aE ThisWorkbook A5 Value Launch successful amp Modules End If v Modulel End Sub Private Sub CormandButton2_Click On Error Resume Next Sim Go If Err lt gt O Then MsgBox Error Err Description Else A5 Value Started End If End 5ub Private Sub CommandButton3 Click On Error Resume Next Sim Stop If Err lt gt O Then z Tomat Tools Data Window Lelp sla K RAB S a MIA E 2A 4 LB A A R cmp Init launch Go Stap lady I sheets sheetz l BBE Dg a el uj Figure 20 3 The basic test client The client is ready for a first test Leave design mode the left most button on the Control Toolbox toolbar click the
243. ce please refer to Section 13 4 Section 13 7 13 3 Test Analyzer main window The main window of the Test Analyzer is shown in Figure 13 1 The main window contains the following elements Not supported on the Windows NT platform Dutch Space BV 133 iss 5 rev 0 SUM NLR EFO SUM 2 e a e dePlot p bar d pace mx File Edit View Plot Curve Tools Help D B Z Om 2 wv 7 New Open Select Add Plot New Plot Delete Plot s Add Vars Remove Curve Fun Variable Browser x Variable Satellite model tr altitude rec simulation time Altitude Altitude 5 decayaltitude ks altdata altitudd Legend text Line style A Oi lt legend text var name gt 0 be X altitude rec simulation_time Primary Y altitude rec Altitude Altitude decayaltitude altdata altitude Primary Delete Plot s Figure 13 1 The Test Analyzer main window Menu bar For a detailed description of the menu items see Section 13 7 Toolbar A description of the action the toolbar button performs is displayed if the mouse is left above the button for a short period of time The toolbar provides a shortcut to many often used menu items like undo redo add plot etc Plot view The plot view holds the icons representing the plots that are defined Variable browser The variable browser contains the variables found in the test results that are loaded You can use these variables to cr
244. ceil x 2 2 1 1 1 0 0 0 1 A 1 2 2 3 3 2 3 2 1012 3 3 2 1 0 1 2 3 Figure E 1 Some of MDL s mathematical functions Function Description doublet x Compute the doublet of x and return it If x is between 0 and 1 return 1 if x is between 0 and 1 return 1 else return 0 ramp x Compute the ramp of x and return it If x is less than zero return zero if x is greater than 1 return 1 else return x jigsaw x Compute the jigsaw of x and return it If x is less than 0 return 0 if x is greater than 1 return 0 else return x step x Compute the step of x and return it If x is less than 0 return 0 if x is greater than 0 return 1 frac x Compute the frac of x and return it Frac is the remainder of x from its nearest integer value Table E 3 Signal processing functions 264 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 4 doublet x 1 jigsaw x 0 0 1 1 2 A 0 1 2 2 A 0 1 2 1 step x 1 ramp x Figure E 2 Some of MDL s signal processing functions By combining or modulating the various functions in expressions
245. ceived directly by the application Methods stored in the Federate callback buffer may conflict with the perception of the application of the internal state of the RTI for instance Suppose the application just divested the ownership of an object unconditionally which means that from now on the federate no longer has any update responsi bility while the Federate callback buffer holds the request for the update of the attributes of the very same object After ticking the EsimRTI the application will receive the request and since it relies on the internal state of the EsimRTI does no checking and sends the updates of the at tributes of the object When the RTI processes this updateAttribute it will generate the exception ObjectNotKnown e To ensure buffer consistency the operations on the buffer must be mutual exclusive Mutex locks and release calls are used to implement this Locking and releasing the mutex variable takes time of course 302 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 1 2 1 4 Suggested usage The easiest use of the EsimRTI is e To implement all RTI related tasks in soft real time tasks e To use the direct mode during initialization and finalization e To use buffered mode during standby and execution 1 2 2 Single and Multi threaded EsimRTI libraries The EsimRTI library is available in three versions e EuroSim EsimRTI single threaded e Stand alone single threaded e Stand alone multi thread
246. ces Task A unit within a model schedule consisting of an ordered list of one or more entrypoints Task execution starts with the first entrypoint listed and suspends always after the last entrypoint listed has been executed It is possible for tasks to be executed in parallel in a multi processor environment Test analysis Mode of operation where the Test Analyst can mathematically analyze test results replay vi sual images and export data for external use See Operational modes Test Conductor The user who operates the simulator as a tool to perform a simulation run Test execution Mode of operation where the Test Conductor has interactive control of a simulation run and may initiate on line events The Test Conductor and optionally an Observer may also monitor data dictionary item values and create marks See Operational modes Test preparation Mode of operation where the Test Conductor can create and or update simulation definitions and an Observer can identify data dictionary items for monitoring See Operational modes Test results All information resulting from a particular simulation run i e the journal and the recorded data dictionary item values Dutch Space BV 239 iss 5 rev 0 SUM NLR EFO SUM 2 240 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 Appendix C Scheduler Errors In this appendix two categories of errors are described e Errors generated by the Schedule Editor when creat
247. ck the Use proxy checkbox This enables the Proxy hostname and Proxy port fields which have the same meaning for the proxy as the Server hostname and Server port have for the server The standard port for proxies is 8080 The Certificate file is the file that contains the certificates for Certificate Authorities On Linux sys tems this typically is usr share ssl cert pem See Section 21 4 for a more detailed explanation of certificates The EuroSim baseport is normally 4850 This value gets added to the prefcon value for simulator connections to give the actual TCP port number The Monitor login and Monitor password are necessary to establish the connection to the server Without a valid username and password it is not possible to use the web interface The Monitor name is the name that appears in the monitor list that is sent to the client The Startlist file is the path and filename to the file that describes the known simulators that can be started by the EuroSim Web Interface via this monitor 218 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 i Do Edit settings 82 161 242 60 pompa Figure 21 3 The Monitor Settings first tab a Edit settings x pe ok Ra aE Matthijs Monitor wi monitor startlist sl Figure 21 4 The Monitor Settings second tab The values of these settings are stored in the file HOME gt esimwebr
248. crete occurrence during a simulation run which can cause a change in the behavior of the system being simulated for example a component failure Execution state The state of a simulator Certain user requests are only valid in certain states External simulator A simulator which is not running under EuroSim Facility management The means of providing maintenance support and project and user management during the simulation life cycle Flight format Binary format used for input and output by the MultiGen and ModelGen database modelling tools It is a comprehensive format that can represent nearly all imaging concepts Files in Flight format are structured as a linear sequence of records and have a flt extension Hardware in the loop A piece of equipment which forms part of the real world system which is given a real time interface to the simulation loop Dutch Space BV 237 iss 5 rev 0 SUM NLR EFO SUM 2 Initial condition Consistent set of model state values to put the model into a particular state at the beginning of a simulation run In EuroSim the initial condition can be created with the Initial Condition Editor or it can be a snapshot of values from previous simulation run Journal Information resulting from a particular simulation run excluding sampled data values e g log of executed event s error warning messages and marks Man in the loop A person taking on the role of an operator within the real world
249. ct 4 7 Creating the schedule The schedule of a simulation defines which tasks need to be activated at which time A task is a set of entrypoints which are executed sequentially Task and schedule can be created using the Schedule Editor Select the EuroSim main window and press the Schedule Editor button The schedule contains four tab pages one for each of the simulator states initializing executing standby and exit For the example three of the four states will be used In the initializing state a schedule will be created which will be triggered by state entry and which will then initialize the thruster and altitude model After these have been executed the schedule will put the simulator in standby state For the executing state a schedule will be created which triggers the thruster and altitude models using two timers one at 20 Hz and one at 100 Hz In the exit state a schedule will be created which will close down the simulator 4 7 1 Initializing schedule Choose File Select Model from the menu Select the file SUM mode1 to be able to use the created API header Select the circle symbol from the toolbar for a task The cursor changes into a circle Put the circle on the schedule tab page It will change color to red indicating an error in this case the task has no input and output connectors attached It will get a default name of New Task Select the arrow tool from the toolbar on the left Double click on
250. d IFactory interfaces are not supported The SMP2 Scheduler interface is quite limited in its possibilities to define a schedule for real time applications Use the EuroSim Schedule Editor instead to create schedules for real time purposes SMP2 entrypoints can be scheduled just like normal EuroSim entrypoints Some convenience methods in the IPublication interface are not implemented PublishArray and PublishStructure are not supported Publish the type first and use Publish Field instead PublishOperation GetFieldValue SetFieldValue CreateRequest DeleteReguest SetArrayValue GetArrayValue are not implemented IPublishOperation is not implemented IPublication PublishProperty is not implemented The view parameter of the Publication PublishField methods is ignored by EuroSim The minIncluse and maxInclusive parameters of ITypeRegistry AddFloatType are ignored by Eu roSim IType Publish is not implemented Use the Publication interface instead The optional Resolver service is not supported The EuroSim scheduler states are mapped to SMP2 states as follows 78 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 EuroSim SMP2 Unconfigured Building Connecting Initialising Initializing n a Standby Standby Executing Executing Exiting Exiting Aborting Abort Table 10 1 EuroSim scheduler state to SMP2 state mapping The sMP2 ISimulator state change com
251. d conversion tool This tool is also used when doing the conversion of a complete project The new schedule editor is capable of loading Mk2 schedule files The time bar dialog box has been removed The overall usefulness of this dialog box is not very great It might in fact be misleading under certain circumstances In future releases a new analysis tool will be developed which will show precise timings of each event in the scheduler This will much better help Dutch Space BV 353 iss 5 rev 0 SUM NLR EFO SUM 2 user analyze timing behavior of the system Where the Mk2 time bar display showed timings based on average minimum and maximum values the Mk3 variant will show individual timings The special El input connector has been removed in Mk3 This is done because all external events can now be configured in the Tools External Even menu of the Schedule Editor it was decided to not have an exception for the El External Interrupt on SGI You can simply create an external event handler for EI with the appropriate path i e dev ei and set the dispatcher type to default The Schedule Editor then automatically adds an external input connector with the name of the event handler to the Insert External event menu You can then use this input connector just as the E input connector in Mk1 and Mk2 L 5 Mission Tool Initial Condition Editor and Test Controller All of these tools have been combined into the new Simulati
252. d in separate subsections of this chapter For menu items not described in this chapter refer to Section 3 5 7 1 Introduction The use of the MDE is optional but you would typically use Model Description files when integrating several independent models into one simulator without wanting to do the integration explicitly in model source code Use Model Description files in combination with Parameter Exchange files see Chapter 8 to exchange data between models Model Description files serve as input to functions of the Simulator Integration Support library which is described in detail in Chapter 19 The MDE can be used to create one or more Model Description files that describe copies of API variables that exist in the data dictionary The data dictionary itself is built by the build process make that can be started from the EuroSim Model Editor see Section 6 4 5 The copies of the variables can have names that are different from the ones in the data dictionary This is especially useful when the data dictionary contains API variables with ambiguous names f i when the source code of the model is generated by a software generation tool or when you address an index in an array variable and wish to give it a more descriptive name for example model description data dictionary sun update input X sun c vector 0 sun update input Y sun c vector 1 sun update input Z sun c vector 2 7 2 Datapool All variables created by the MDE
253. data items under the named node in the data dictionary hierarchy The viewName provides a symbolic name for this set of data items which needs to be referenced later on when creating a local data view for the external simulator Each viewName has to be unique It is generally recommended to make at least two views one allowing read and one allowing write access By choosing the views so that they contain different sets of data this approach helps to reduce potential data inconsistencies which could be caused by simultaneous read writes Additional views may also be created for the purposes of data hiding e g defining two views which give read access for nodes A and C leaving node B inaccessible to an external simulator The accessType indicates the type of access R or W which the external simulator is given to the specified variables 18 4 Creating multiple local data views Instead of providing the external simulator with a single view of the shared EuroSim data which is the situation implied in Figure 18 2 above it can sometimes be advantageous to create and use several 190 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 local data views This is often useful when the external simulator is complex and there are a significant number of shared data items Two particular circumstances where multiple data views are recommended are e Data items need to be read written at a wide range of frequencies
254. datapool should be copied to which input variables in the datapool The input and output variables must be of the same type and unit Parameter exchanges are grouped together in logical groups For each parameter exchange group an entrypoint will be generated Scheduling the parameter exchanges is described in Section 19 3 4 Use the Parameter Exchange Editor to create or modify a Parameter Exchange file There is no need to re run the build process in the Model Editor after creating or modifying a Parameter Exchange file as the entrypoints are generated on the fly when the simulator is started For our use case example a screen shot of the Parameter Exchange Editor looks like Figure 19 3 Each time the parameter exchange entrypoint is scheduled the value of output variable counter of ModelB is copied to input variable x of ModelA and to the input variable counter of ModelB The parameter exchange entrypoint receives the same name as name the exchange group node Thus in our example the entrypoint will be available as Model B to model A Dutch Space BV 201 iss 5 rev 0 SUM NLR EFO SUM 2 Parameter Exchange Editor SimlntExample px minbar dutchspace nl File Edit View Tools Help X m 1 A Cut Copy Delete Source Destination pame Type unt Tosca 3 SimintExample md 3 SimintExample md 1i8 ModelB 18 ModelB E JEupdate counter IBupdate counter 5 output f 2 Y input ModelA 5 44 cal
255. ded that the plot back end interface window is kept open when plotting user defined functions at least for the first few times so that any errors can be quickly identified and corrected 13 10 PV WAVE interface Plot Backend Interface 2 nix PV WAVE CL Version 6 01 sgi IRIX mipseb Copyright C 1995 Visual Numerics Inc All rights reserved Unauthorized reproduction prohibited PV WAVE v6 01 UNIX OpenVMS November 8 1995 Your current interactive graphics device is X If you are not running on an sgi integrated display use the SET PLOT command to set the appropriate graphics device if you have not already done 80 The following function keys are defined with PV WAVE commands Keypad 7 Start the PV WAVE Demonstration Tutorial System Keypad 8 Invoke the PV WAVE Online Help Facility Keypad 4 Output the PV WAVE Session Status Keypad 5 Create a SGI Subprocess PV WAVE Visual Exploration technology available Enter NAVIGATOR at the WAVE gt prompt to start the PV WAVE Navigator E Command Clear Dismiss Figure 13 12 The plot back end interface window showing PV WAVE output 13 10 1 PV WAVE Operators and Functions There are many PV WAVE functions which can be used the main criteria is that the function should return an array The following are examples of valid functions assuming that the variables tagged with 1 and 2 exist in the list of variables D
256. ded user scenarios 11 1175708 Wed Sep 15 12 15 02 2004 This mission file is used to test revision control I Remove old file before update Figure 3 2 Get Version Detailed Show the detailed version history of the selected file The version with a checkmark in front is the reguired version Detailed Information of users fl75708 EfoH ome TmTc ExtSimM odel SpacelHIEE version user Date ET 1 3 1175708 Wed Sep 15 12 16 41 2004 Added initial conditions 1 2 1175708 Wed Sep 15 12 16 11 2004 Added user scenarios 11 1175708 Wed Sep 15 12 15 02 2004 This mission file is used to test revision control Figure 3 3 Detailed Information Set Required Select a required version of the selected file The version with a checkmark in front is the current required version Set Required Version for users fl75708 EfoHome TmTc ExtSimM odel SpadBIEE version user ste osa 1 2 fi75708 Wed Sep 15 12 22 16 2004 Added environment description file node 11 fI75708 Wed Sep 15 12 20 21 2004 Initial version of model Figure 3 4 Set Required Version 16 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 Diff with Show the differences of the selected file with another version of that file The version with a checkmark in front is the required version Diff With version of users fl75708 EfoH ome TmTc ExtSimM odel SpaceStailkall E3 13 fI75708 Wed Sep 15 12 16 41 2004 Added initial
257. definition This link is necessary to actually run a simulation Reference to an export This is a link to an export definition This link is optional and specifies the exports file that de scribes which variable nodes will be exported to external clients see file formats in Appendix F for a description on the exports file format Chapter 18 describes in more detail how an exports file is used Initial conditions These are used to change the initial state of the model The initial conditions override the initial values of the variables defined in the code Scenarios These are used to create events and actions e g to introduce malfunctions in the simulation A scenario contains script recorder and stimulus actions Several scenarios can be loaded at one time Stimuli files Stimuli are used to replace external data inputs which would be present in the real world Time series stimuli have their values taken from a file for example to feed in values representing an operator s input Functional stimuli have their values generated from a mathematical function MMI Definitions MMI definitions describe where monitors are placed on the MMI tab page and which data they monitor Monitors on an active MMI page collect data during a simulation run They do not store the information in a file but display the data directly on screen It is also possible to execute scenario scripts and activate deactivate recorders and stimulus actions by placing buttons
258. del EuroSim ethernet TC packets Ground station commands X Thermal Operator Control Model Jo readings Display data aa TM packets Figure 17 1 External TM TC Link Schematic In the case of an internal TM TC link i e between two or more sub models within an EuroSim applica tion the link needs to be set up customized and then used In the case of an external TM TC client the only difference is first to connect the external client over TCP IP to the EuroSim server Then the setting up and use of the link uses exactly the same routines The EuroSim routines are intended to be usable within a heterogeneous environment and should be suitable for any UNIX based simulators Dutch Space BV 183 iss 5 rev 0 SUM NLR EFO SUM 2 17 2 Characteristics of the TM TC Link Various characteristics of the link can be changed by calling esimLinkIoctl to customize the trans mission of packets some of the possible arguments for esimLinkIoctl are e LINKDELAY integer sets the delay of the packages to the given number of milliseconds e LINKDELAYPROC procname the given function will be called for each time a new package is put on the link with the call 1ink_write Its return value is used as the delay for the given package The arguments it gets are the Link identifier for which the delay is requested and the last delay returned by this function for this Link e LINKBANDWIDTH integer indicates the number of byte
259. dictionary symbol as follows symbol_length 1 symbol value length value where the symbols are fully qualified data dictionary paths and the values for the symbols are of course in binary form no formatting When the format of the file is ASCII the records of the data section look like InitialCondition symbol value Again the symbols are fully qualified data dictionary paths the values for the symbols are formatted The records may extend several lines but the carriage return n is then escaped with a backslash so in there is in principle one record per line The following example shows a typical layout of a full ASCII initial condition file EuroSim initial condition file version Header dumpfile dict thermo dict comment complete ascii dump format ascii contains all current dict values at Mon Jan 27 14 15 24 1997 InitialCondition thermo f thermo celltemp 0 0 O X 1 0 0 0 0 0 0 0 0 0 InitialCondition thermo f initthermo thermoScapa 0 0 0 0 0 0 0 0 O 0 0 OFF InitialCondition thermo f initthermo thermo condfac 0 InitialCondition thermo f initthermo thermofemisfac 0 282 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 F 7 Simulation Definition file format The format of the sim file and also of the mmi and u
260. drysI9SUM ODBMNIINIVTUJOJ TYSIOUMOANGIMTY ULIOJUTIOPeSSEQUIYIJLIDPO LAUSO drysroumoongunyunojuropessegury NLI pA ILLA POZTUOTYOU SUONRIDPAJ POZIUOIYOU SUCNEJOPY LIOPESSEGTU V OJEJOPOJI LY USI P9ZIUOIYIU SUOLI poy JOPESSEGUIV NEJOPOH LLY POAPSUCNEJOPOJ PIAL SUONEJOPYHIOPESSEJU VOJEJOPIJI LUIS POAPSUONEJOPOJ JOPPSSEQUIYILIDP9H LLA POIOJSDYUCNEJOPOJ POIOJSTYUOCNEJOPYHLIOPESSEJ U VOJEJOPIJI LAWS posojsoyuoneiopoy JOPESSEGUIV NLI PA LLY UN39910 S9JUONLIDPIJ UNZOFOIOJSDYUCNLJAPOHLIOPESSEGU V OJEJSPOJI USD uNZAFOJOJSDYUCNEJOPOJ Jopessequiyayelopay LLY P9ALSIONUONBIDPIY PIALSIONUONBIDPIJIOPESSEQUIYIJLIDPIJ LISO P9ARSIONUONBIDPIJ Jopessequryayelopoy LLY POIOJSONJONUCNEJOPOJ PolojsoyONUONLAapa j1opessequryaesapoj LISO POIOJSDYJONUCNEJOPOJ JOpessequiryoyelopay LLY IDUPISUNIIGOIDAOISTP IIULISUNIDINIOIDAOISTGIOPELSSEQUIYIILIDPA LISO IDUPISUJIDILGOIIAOIS TP JOPESSEQUIYIJLIDPOH LLY uonejpoueguonismboy drysioumooangune vole PU JUN ISINbo VdTYSIUM DANI VTUIJUOC DIOPESSEJUVOJEJOPIJTILN USI uonejpoueguonismboy drysroumoangunmywuyu0010pesseguy OJLISPOYILY ojgejmeaeundrysrouMoangye OJGENTEALU dTYSIUMOJHJNJLIVIOPESSEGU V OJEJSPOJI LY USI o gejrmeaeundrysrouMoangrme JOPESSEGLU VOJEIS POH ILA YJEUISY IdV LHUIISJ IdY LH 5 rev ISS Dutch Space BV 324 0 5 rev iss SUM NLR EFO SUM 2 IdV WISH oy 01U0 poddew IdV LLY HTI IEL aouodsayasvajoydiysioumOoinqie
261. dule the function returns 1 If the entrypoint does not appear in the schedule in the given state the frequency 1s 0 esimEventRaise raises the event eventname for triggering tasks defined with the Schedule Editor User defined data can be passed in data and size On success this function returns 0 otherwise 1 esimEventRaiseTimed ralses the event eventname for triggering tasks defined with the schedule editor at the specified time t User defined data can be passed in data and size If the flag use simtime is set to 1 true the specified time is interpreted as simulation time If the flag is set to O false the specified time is interpreted as the wallclock time The transition time uses a struct timespec where the number of seconds is relative to January 1 1970 On success this function returns 0 otherwise 1 esimEventData gets the data passed with the event This function can only be used in the task connected to the input connector esimEventCount returns the number of times that event eventname has been raised or 1 if no such event is defined simGetRealtime returns the current operational state of the EuroSim real time Scheduler If 1 is returned hard real time execution is in progress whereas a return of 0 indicates that your model is not executing in real time mode simSetRealtime sets the current operational state of the EuroSim real time Scheduler Hard real time execution can only be set if the sc
262. e Suspend Resume Recording This menu option allows the user to activate deactivate all recording actions in the simulation via a single request This can be useful for temporarily suspending recording during a simula tion run Execution Snapshot 2 Filename satellite_relativetime_0 0000 snap Summary Cancel Figure 12 8 Take Snapshot window Take Snapshot This menu option will pop up a window see Figure 12 8 with which a snapshot of the current state of all simulation variables can be made In the same window a comment can be added to the snapshot The file created has a default extension of snap Snapshot files can be used as initial condition files see Section 12 6 Apply Snapshot This menu item will have a sub menu showing all available initial condition and snapshot files 1 e all files referenced within the current simulation definition Select one of the initial condi tions to override current simulation values with the values in that file Apply Initial Condition Apply the selected initial condition file to the currently active simulation to override the current simulation values with the values from the selected file As a last resort use the efoKi11 command from a UNIX shell or Windows NT command prompt to remove the remaining executables see Section 14 7 2 The efoList command can be used to list the simulator runs currently executing on the host machine see Section
263. e The purpose of this document is to provide a user of the EuroSim facility with an understanding of the functions available and the logical order in which they should be used in order to achieve the objective of developing and executing a simulation model for a particular application It is expected that the user has some basic UNIX knowledge and familiarity with simulation in general This manual is also available on line including hypertext 1 2 Scope This document describes the use of the EuroSim facility It provides details of the functions that are available for the user and relates these functions to a typical operational scenario It also provides guidance on the development of the application model itself including the recommended structure of the model and the library routines provided by the facility In this manual the main functions of the EuroSim facility are described from the user s point of view The document is divided in four parts the first part Chapter 2 and Chapter 3 describes the general functionality of EuroSim its user interface and some of the underlying concepts Next Chapter 4 contains a complete case study for building a working simulator The more basic functions are described here but not in detail For more detail chapters 5 through 13 contain a reference guide to all menu items concepts and objects which can be found in the various editors and windows of EuroSim Chapters 16 through 18 contain inform
264. e char x theObjectName EsimRTIobjectHandle theObjectHandle EsimRTIobjectType theObjectType EsimRTIpublishType thePublishType Allocates memory for a new EsimRTlobject and initializes the fields The char arguments are copied to new allocated memory The method uses esimMalloc EsimRTIobject dsimRTIobjectDelete EsimRTIobject xtheObject Frees the memory occupied by the given EsimRTIobject including the char fields referred to The method uses esimFree 312 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 1 4 2 EsimRTlvariable 1 4 2 1 Structure typedef struct char EsimRTIhandle void x char x EsimRTIvariable Notes EsimRTIvariableType unsigned int EsimRTIobject x variab leName variableHandle variabl eType variableRef nArrayEnt objectName P tries EsimRTIobject xEsimRTIvariableRef e The nArrayEntries field is only applicable if the variableType field represents one of the array types e Note that the variable reference in the EsimRTIvariable struct always refers to the actual variable contains the address of the variable and not of the buffer with the encoded value e The objectName field looks redundant but it is not the EsimRTIvariable structure can be used to define a series of variables e g using a const array in the model source code where the address of the correspondin
265. e object instance to the SMI Simulation Model Interface so that it is registered in the simulator environ ment Note that this is done once during the build process of the simulator in the ModelEditor and once during startup of the simulator The initialize method may look like this bool Simple initialize const char name ObjectID t object id ServiceID_t update id Publish the instance using the this pointer SMIPublishObject name this object 1d Dutch Space BV 167 iss 5 rev 0 SUM NLR EFO SUM 2 Publish the data member foo SMIPublishData object id foo SMI 132 amp foo 1 SMI INOUT MODE SMI VIEW TAG Publish the wrapper to the update method SMIPublishService object id update update wrapper update id Add the update method to the schedule SMIEnvAddServiceToSchedule 1000000000LL 0 object id update id NULL return true The call to SMIPublishObject publishes the object instance using the C this pointer It gets reg istered under the name that was passed as argument to the initialize method The result is stored in object_id Note that no error checking is performed in this example but you are strongly encouraged to do so in your own model source code Next the only data member foo is published to the environment using the SMIPublishData function The object idis passed to tell the environment that foo is a member of our cla
266. e Tun Jos Counter md COUNTER MODEL 5 4 UPDATE Thi 2 Y input CH x in struct 0 2 double chy in struct 0 2 dou dou double x Cg my array 0 11 double cos x sec Thisis chy cos Exchanges Counter ca Counter md Counter COUNTER MODEL UPDATE input x El home fI75708 EfoHome Counter Counter model Experimental home fl75708 EfoHome Counter Counter px Figure 8 2 Example parameter exchange tree 8 4 1 Source view The source view provides an overview of available output variables in the selected Model Description files Use the File menu to add Model Description files to the view 8 4 2 Destination view The destination view provides an overview of available input variables in the selected Model Description files Use the File menu to add Model Description files to the view 8 4 3 Exchange view The exchange view is used to view and edit the parameter exchange by means of a hierarchical tree structure Elements in the tree are called nodes and have a specific function which are described in the following subsections 62 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 8 4 3 1 Root node Each parameter exchange has one root node It represents the complete parameter exchange and it has the basename of the parameter exchange file The root node can hold one ore more Exchange group nodes
267. e Vries Your email address R de VriesPdutchspace nl Your phone number 45464 SPR Information Email address of support site p sjm spr dutchspace nl Main Group lt unknown gt Problem catagory lt unknown gt One line problem summary Linux 2 4 18 19 8 0 timer i666 System Window title Command v Problem description Submit Figure O 1 The SPR tool 362 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 Bibliography COM98 Inside distributed COM 1998 ISBN 1 57231 849 X Microsoft Press Eddon amp Eddon Background on D COM components and applications CVS00 CVS pocket reference 2000 ISBN 0 596 00003 0 O Reilly amp Associates Gregor N Purdy Pocket reference to the Concurrent Versions System FAG05 EuroSim frequently asked questions 2005 This can be found in SEFOROOT doc html FAO fag html This file contains the EuroSim Frequently Asked Questions list in HTML format MANOS EuroSim manual pages 2005 Stored in EFOROOT man This directory contains the Eu roSim on line manual pages which can be read using the UNIX man command OMO5 Dutch Space BV EuroSim Mk4 0 owner s manual 2005 FSS EFO TN 530 This docu ment contains the information relevant for the facility manager of EuroSim Stored in SEFOROOT doc pdf OM paf This file contains the EuroSim Owner s Manual in Adobe Acrobat format Also stored in directory SEFOROOT doc ht
268. e are currently three devices with EuroSim compatible device drivers e Datum IRIG B bc635PCI e SBS PCI VME bridge Model 616 617 e VMIC Reflective Memory VMIPCI 5565 Drivers for these devices are delivered as part of EuroSim for IRIX and Linux except for the reflective memory device which is only supported under Linux It is possible to develop your own EuroSim compatible device drivers The driver must implement three 10ctl commands OS TOCTL WAITINT 95 0S TOCTL BREAKWAITINT 96 and OS_IOCTL_GETIRQ 97 These commands are defined in osIntr h The OS IOCTL GETIRO command is Linux specific and optional The call to ioct1 OS_IOCTL_WAITINT must wait for an interrupt or an event to arrive It is done in a special event handler thread and must block forever if needed It can only return on two occasions an in coming interrupt or event or after an ioctl call with parameter OS IOCTL BREAKWAITINT Whenever the call returns EuroSim expects that an interrupt or event has arrived The call to ioctl with command OS TOCTL BREAKWAITINT is issued when the application exits or when the user calls esimEHUninstal1 This ensures that the thread blocking on the ioct1 OS TOCTL WAITINT can terminate properly When running the Linux OS the call to ioctl with command OS IOCTL GETIRO is issued when the event handler is installed If implemented then this ioctl returns the IRQ number used for interrupts sent by thi
269. e as well The editor should now look like Figure 4 10 32 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 Recorder 2m Name Record altitude Description Ji QAlitude Recorder File atitude rec 5 Altitude cla altdataSaltitude Start Time es ch altdata decaycounter Edita ooo cja altdata decayspeed F H decayaltitude o 100 z ET Switch Per fo secs hours cya altdata decaycounter Recorded Variable CH altdata decayspeed 42 thruster 2 gt Add i Initialise_Altitude Qj Thruster Altitude Altitude decayaltitude altdata altitude ELE Figure 4 10 The Recorder Editor The Recorder Editor has two tab pages Change to the Script tab page and notice that now a Condition has been filled in at a frequency of 100 Hz the Action will be executed Although not used here the Inactive setting can be useful for temporarily disabling a recording action or others e g a check on variable values Active actions are represented by an A in the status column The Condition and Action fields are read only but by checking the Manual checkbox you can customize these fields Close the Recorder Editor with the OK button A second icon is now visible on the Scenario tab page The tab page should now look like Figure 4 11 Save the simulation definition by selecting File Save Requesting Save will cause the Save As file selector to appear as
270. e buffer size of the Federate callback buffer and the RTI ambassador call buffer is defined as 256 currently Regular calls of the EsimRTIrtiAmbassadorTick are required to flush both buffers The extra performance degradation caused by the EsimRTI when compared to the RTI is minimal Delays caused by the buffering can be minimized by calling the EsimRTIrtiAmbassadorTick tick at an appropriate frequency 1 3 16 Missing Functionality All functionality regarding regions spaces data distribution management declaration management han dling data distribution management extents and dimensions is not implemented in EsimRTI 1 4 EsimRTlobject and EsimRTlvariable structures The EsimRTlobject and EsimRTI variable data structures are the basis for the development of facilities that can be used to ease the association of application data with HLA RTI classes objects interactions attributes and parameters The EsimRTlobject and EsimRTIvariable data structures do not have equivalents in the HLA RTI speci fication 1 4 1 EsimRTlobject 1 4 1 1 Structure typedef struct EsimRTIobject char className EsimRTIclassHandle classHandle char x objectName EsimRTIobjectHandle objectHandle EsimRTIobjectType esimRTIobjectType EsimRTIpublishType esimRTIpublishType EsimRTIobject xEsimRTIobjectRef 1 4 1 2 Methods EsimRTIobject xesimRTIobjectNevw char x theclassName EsimRTIclassHandle theClassHandl
271. e click the variable altdata altitude on the Dictionary Browser The variable ap pears in the Variables list and is now connected to the monitor Change the style from Alpha Numeric to Plot against Simulation Time By default the X and Y axis will scale automatically when the plot is being created Select Manual Scaling to define the min max 30 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 range yourself As you can see the first time you select Manual Scaling the min and max values will be determined from the Variables list if possible The Monitor Editor should now look like Figure 4 8 Close the editor with the OK button On the Altitude tab page the new monitor is shown 21 m 2 Data Dictionary Caption Altitude monitor Altitude Style Plot against Simulation Time History so y Altitude 2 4 decayaltitude X Axis Variable Atitude altitude decayaltitude altdatasalttude y i altdata altitude X Axis TAE cp altdata decayspeed Manual Scaling Manual Scaling M Ex lnitialise Altitude Minimum DJ Minimum o i E initializealtitude By Thruster Maximum Maximum 300 Variables Altitude Altitude decayaltitude altdata altitude gt Add X Remove di r Variable Properties Show Line W Line Color Select Symbol Diamond y Symbol Color Select Read Only E Figure 4 8 The Monitor Editor 4 8
272. e current simulation values The simulation state is not affected when this option is used 12 2 2 Script Action This type of action contains a Mission Definition Language MDL script A script is the basic building block from which all actions can be made For ease of use EuroSim provides special purpose interfaces for recorders and stimuli However any actions which require more complex activation conditions e g a recorder which is to record when a particular data value is between predefined boundaries can only be made by defining the script directly MDL is a simple yet versatile language for simulation scripting It allows users to write control scripts in a limited free text C like language Appendix E contains a comprehensive overview of MDL A script action is made up from four parts name Used to reference the action attributes Which determine how the action looks on the scenario tab page in which state 1t should be executed etc Dutch Space BV 101 iss 5 rev 0 SUM NLR EFO SUM 2 execution condition Which contains the condition written in MDL under which the action will be executed action to be executed Which contains the actual MDL script which will be executed when the condition is true All of these items can be modified with the Action Editor which is described in more detail in Sec tion 12 13 The Action Editor is started when creating a new action or when modifying an existing action 12 2 3
273. e e 159 153 Esample code seso a lA k dc A A dl A we a NA 160 15A ADA ALENA ios a dbal dv aE oe he A O a AA AA eS Z 160 15 3 Compliance Matas lt A 80004 4 Seared RK ee ewe et dy V ee B ey U 160 156 Eur Sim Extensions 6x08 0348X r kA ko ee E d l v dB RO ck 162 15 6 1 SMIExtSetObjec Description 2 o e eee 2 163 15 6 2 SMIExtSetDataDescription lt lt e 164 15 03 SMIE X A MALM o m A ac ae A AA o k dp 165 15 64 SMIExtSetServiceDescriplion 2 2018000002084 A 2 166 15 7 Step by step example o 2 rs we R A a k k e 167 III EuroSim Advanced Topics 171 16 Hardware Interfaces to EuroSim 173 16 1 Tnir duc on ooo ee rea o Pa b 173 16 2 External interrupts interface lt lt cacca 208084 ARA RAO a ee 173 16 2 1 Generation of output imtenupis lt lt cscs 23 2420824 s yros ee gau 173 16 2 2 The mputsomector BL zb Pane ea ka oe ede US be OR ES 173 16 4 3 User defined interrupt handler sa 24 2544245 ho ued ede eG Ga 174 16 24 External real time click 0s esera ee ee ae ke ae be ee ee 174 183 MILIISI Gerace oia ea Aa ee eres he A RA 174 AA ORIO se oaoa a A A RR ee 175 16 3 2 General operali n as lt seme o dv bodl 4 dob pomoh ew ka be k 4 175 16 3 3 Bus Controller operations 4 4 eee 175 16 3 4 Remote Terminal operations lt lt lt lt lt 4 4 ee 175 16 3 5 Bus Monitor operations gt gt gt lt es 4 44 ee ee 175 16 3 6 Case study Remote
274. e in which the recorded variable values should be stored The default file name is actionname rec Frequency Start Time and End Time The three attributes specify when the recording should start and stop and with what sample rate the variable values should be written to the file Note if UTC is selected times should entered as Y Y Y Y mm dd HH MM SSI sss e g 2001 12 31 16 01 02 400 Switch Per A switch time can be specified whether the recorder should switch periodically This value is given in units of seconds or hours After each elapsed switch time the recorder actionname rec is closed and actionname nnn rec is opened with switch counter nnn 124 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 Recorder 2m Name Record altitude Description Ji Altitude Recorder File atitude rec D Altitude ca altdata altitude Start Time m c 3 altdata decaycounter End Time ii CT altdata d d pa ata decayspee Freguency 100 Hz decayaltitude altdata altitude Switch Per fo secs hours ji altdata decaycounter Recorded Variable CH altdata decayspeed thruster 2 Add i D Initialise_Altitude Qj Thruster Altitude Altitude decayaltitude altdata altitude ELE Figure 12 18 The Recorder Action Editor Below these attributes the Recorded Variable listbox is shown If any variables were added from the Dictionary Browser see Section 12 5 they
275. e input variable of modelA we would need to modify the source code of modelB to perform its update on variable x instead of using variable counter We would also need to change modelA to remove the static keyword from variable x so that it can be accessed from modelB global scope When using the Simulator Integration Support library we do not have to modify the source of the sub models as will be explained in the following sub sections Figure 19 1 shows a screen shot of what the Model Editor looks like with the two sub models modelA and modelB The sub models have been parsed and check marks are placed in front of the entrypoints and variables that have to be available in the data dictionary Model Editor SimlntExample model minbar dutchspace nl File Edit View Interface Tools Help Build All Cleanup Model Tee _____ rarameter wn Max Unt Type int source bescrpton FI D modelA M JE calc sin double double double double c a counter double VE update counter i A cfa counter double Y modelmanager c i y SimintExample md home fl75708 EfoHome SimintExample SimintExample model Experimental Figure 19 1 Model Editor 19 3 2 Model Description file The philosophy behind the Model Description file is that each model has one or more input variables one or more update functions entrypoints and one or more output variables The Model Description Editor can be used to se
276. e is a Dictionary Browser see Section 12 5 with some extra functionality When no simulation is running it just shows the dictionary with a few extra columns to show the minimum and maximum values the unit of the value and the description of the variable The column Value is empty until a simulation is started As long as a connection to the simulator is active this column will show the current value of that variable just like a monitor in an MMI tab page By clicking on the value or by selecting the line and pressing F2 you can edit it and set the variable to a new value Parameter variables cannot be set as they are read only Basically the API tab page is a quick monitor facility atio 0 olle E E bar d pace a x File Edit View Insert Server cia Debug Tools Help amp O 4 M b E W z New A Init anes Files sj Schedule E API 2 Satellite 4 mentor p CT LHe vale unt Description _ _____ Altitude Sub model for the regulation of altitude emer 2 12 decayaltitude c altdata altitude 0 1000 km The altitude of the satellite cp altdatasdecayspeed 1 200 km s The speed with which the altitude decays D Initialise_Altitude i Z initializealtitude Initialize the altitude decay operations 5 Thruster Initialise_Thruster lnitialise Thruster Initialise the thruster D Thruster 5 4 Thruster cy lowerAltitudeLimit 0 1000 km Below this limit the
277. e other hand for files that need to be in a stable or predictable state a version requirement could be used The repository is the top of a central directory tree where all versions of files for a project are stored This location is defined when creating a new project see Section 5 2 3 The project root which is also defined when creating a new project contains the current working version of the files being used for the simulation When a group of users is accessing the model through the same project directory they are all working with the same current version If each user has a project description file of his her own or 1f tilde expansion is used for the project root using the in a path to represent the users home directory more than one project root can be defined which effectively gives each user a private version of the model files A copy of any version can be modified at will e g adding new files or changing existing ones and when it is decided that a specific file is as 1t should be it can be brought under version management by creating a new version This new version is then the new requirement for the file Other users can either update their model by changing the file requirement or keep using an older version Note that all files that can be saved from within EuroSim can be put under version management This includes the simulation model itself which contains the requirements on the other files By versioning a model
278. e run time interface of EuroSim is the interface which is used to communicate with the running simu lator The Simulation Controller tool and the batch utility use this interface to start a new simulation run and to control it This interface description provides a step by step description of how to start the simulator and what commands to send to control the simulator once it is running The order of the chapters is the order of each step In Section J 2 is explained how to start a simulator using the EuroSim daemon and how to connect to the new simulator In order to receive autonomous messages from the simulator the client must subscribe to certain channels This is explained in Section J 3 The following 4 chapters describe each one channel Shutdown and cleanup is described in Section J 8 Finally Section J 9 gives an overview of the available manual pages on the subject J 2 Simulator start up On each host where a EuroSim simulation can run a daemon must be started This daemon is respon sible for the starting of simulators among other things The interface to this RPC daemon is defined in esimd x in SEFOROOT include rpcsve The header file can be found in SEFOROOT include esim The details of the interface are described in manual page esimd 3 With the advent of EuroSim Mk3 a new version of the interface was created to support the new simulation definition file The RPC daemon still supports the old version In this document only the ne
279. e runtime data dictionary When a EuroSim simulation application program needs access to the runtime data dictionary it must call esimDict void This function returns a pointer to the runtime data dictionary DICT and is defined in the header file esimDict h 290 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 G 5 2 Functions to publish data variables and entrypoints in a data dictionary dictPublish DICT dict const char name const void x address sets the address of the variable specified by name in the data dictionary specified by dict to address This function can be called from C or Ada dictpublish DICT xdict const char xname const void xaddress int namelen 1s the Fortran wrapper for dictPublish It has an extra parameter with the length of the name parame ter This is required by the calling convention of Fortran functions dictPubEntry DICT dict const char name EntryPtr address sets the function ad dress of the entrypoint specified by name in the runtime data dictionary to address This function can be called from C or Ada dictpubentry DICT dict const char name EntryPtr address int namelen is the Fortran wrapper for dictPubEntry It has an extra parameter with the length of the name parameter This is reguired by the calling convention of Fortran functions The prototypes for these functions can be found in DictPublish h G 6 Example API header G 6 1 Example in C As an exam
280. e used to define the simulation These tools all have an often graphical user interface and include editors such as the Model Editor and the Schedule Editor e The second level of support is through a number of services which are available to the model developer Services are functions in the EuroSim software that can be called from within model code See Section 2 5 and Appendix D In the next sections an overview is given of the available tools 2 3 1 Project Manager The Project Manager is used to define new projects The Project Manager is the main EuroSim window and is described in detail in Chapter 5 2 3 2 Model Editor The Model Editor is used to define a model and its hierarchy together with the definition of the variables and parameters that are available for monitoring recording etc during the simulation run The Model Editor is described in detail in Chapter 6 2 3 3 Model Description Editor The Model Description Editor is used when integrating several independent models into one simulator without wanting to do the integration explicitly in model source code It is used to describe which model variables should appear in the so called datapool The Model Description Editor is described in detail in Chapter 7 2 3 4 Parameter Exchange Editor The Parameter Exchange Editor is used when integrating several independent models into one simulator without wanting to do the integration explicitly in model source code
281. e will be applied to the running simulation Double clicking on the file name has the same effect as selecting Properties from the Edit menu There are a few exceptions double clicking on a User Program Definition file when a connection to the Simu lator is active will Launch the program 12 8 2 Context menus Two context menus are available in the Input Files tab page depending on where you click the right mouse button If you click on a file item in the tree then a context menu with the following items appears see Section 12 8 1 for a description of the menu items e Properties e Delete Activate Deactivate Launch Apply Initial Condition Select Model Select Schedule e Select Export The other context menu appears when you click outside the tree area to the right of the last column or below the last row see Section 12 7 2 for a description of the menu items e New Scenario e Add Scenario e New MMI Add MMI New Initial Condition Add Initial Condition e New User Program Definition Add User Program Definition 12 9 Schedule tab page The schedule used by the simulation definition can be debugged in the Schedule tab page see Sec tion 12 9 1 Dutch Space BV 115 iss 5 rev 0 SUM NLR EFO SUM 2 Proje anage bar d pace a 3e File Edit View Tools Help 2 3 A 2 e Add Model Remove Model Add Remove Project Files me Model lig Model Satelitemodel z
282. eObjectInstance objectHandle tag will call the function esimRTIfederateAmbassadorRemoveObjectInstance objectHandle NULL tag esimRTIzeroRetractionHandle 1 3 13 EsimRTI mode change and mode dependent functions The EsimRTI mode is can be changed from direct to buffered using the esimRTImodeSet function A number of functions are only supported if the EsimRTI mode is direct e g before esimRTImodeSet EsimRTImodeBuffered or after esimRTImodeSet EsimRTImodeDirect is called In general these functions are related to initialization and finalization This means that the initialization and the final ization of the federate have to be done in Direct mode For most applications and simulations this is no problem except for the function getObjectInstanceHandle and getObjectInstanceName which will typically be needed throughout the simulation If one of the direct mode only functions mentioned below is called in buffered mode the following message will be printed on the console WARNING Cannot invoke lt method gt in Buffered mode and the function will return 0 or NULL Name Initialization Finalization esimRTlfederateA mbassadorNew I esimRTIfederate A mbassadorDelete F esimRTIrtiA mbassadorNew I esimRTIrtiA mbassadorDelete Fl esimRTIrtiAmbassadorCreateFederationExecution I esimRTIrtiAmbassadorDestroyFederationExecution F esimRTIrtiA mbassadorResignFederationExecution F esimRTIrtiA mb
283. eal time part of EuroSim In order to safeguard the real time execution of a EuroSim simulator error conditions within MDL actions are handled in the following way 1 The execution of the action causing the error condition is suspended 2 An error message of this event is reported to the Test Controller and the journal log 3 The specific action is deactivated so the action will not be executed again 4 The execution of remaining actions in the MDL script is resumed Run time error conditions include e MDL or data dictionary array bound overflows e Errors in MDL math functions or expressions e g sqrt i with i lt 0 e Errors in action condition freguency specification e g freguency higher than the ACTION MGR freguency e Trying to read stimuli from nonexisting or exhausted stimuli files e Observers which have read only access trying to change the data dictionary variables from actions apply stimuli or raise events e MDL scripts accessing undefined external MDL variables or functions e MDL scripts trying to execute an undefined action An MDL action body consists of statements separated by newlines or by a semicolon The latter may however only be used to separate multiple statements on a single line MDL is case sensitive Every thing following a sign until end of line is considered comment MDL is a powerful languages but remember that it is an interpreted language running in the real time part of the si
284. eate an exports file No changes need to be made to the EuroSim application model itself but an additional file thermo exports must be created and added to the simulation definition file using the simulation controller The given example has the following lines in the thermo exports file r view R SPARC w view W The first line in the export file specifies that all data items i e from the root of the data dictionary downwards are to be available to an external simulator with read only access and under the id of r_view A specific node or data item can be referenced individually if required however the symbol is a useful shorthand to allow all data items to be referenced in one go The second line specifies that all data items under the SPARC node in the data dictionary are to be available under the id of w_view with write only access for the external simulator As the SPARC node has also been included in the specification for r view all data items under this note have effectively been given RW access and care should be taken when accessing their values In this example two separate views are created for the external simulator one containing data for read ing One containing data for writing This is recommended to limit potential data inconsistency problems when allowing simultaneous read write access 18 7 2 Link the external simulator as a EuroSim client The external simulator access library is initialized with the fol
285. eate or edit curves in the plots Plot properties The plot properties pane contains three tabpages The first page deals with the general plot properties like plot title and description The second page is dedicated to the curves of the plot curve editor The third page is used to change axes related settings like scaling linear loga rithmic and axis range Statusbar The status bar displays the location of the currently loaded test results file on the right The rest of the statusbar is used to show short status messages 13 3 1 Opening a plot file The Test Analyzer works with plot files A plot file contains one or more often related plots Previous versions of the Test Analyzer worked with plot definition files pdf This file format is no longer in use Instructions on how to convert old pdf files can be found in Section 13 3 2 To open a plot file select 6 File Open from the menu or click on the amp button on the toolbar The plot view now shows the plots defined in this file To be able to show the plots test results need to be loaded as well 134 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 13 3 2 Importing old plot definition files To import old plot definition files select 6 File Open In the dialog that appears select the Plot definition files pdf from the file filter selection area see picture below Open File Look in users fi75708 EfoHome S
286. ecaycounter cla altdata decayspeed decayaltitude c 3 altdata altitude i 4 thruster 2 Initialise_Altitude Qj Thruster cya altdata decaycounter altdata decayspeed Set decay speed to 20 Description none il Global Active States Type ActionMgr Nr W Active W Initializing V Standby Script 0 W Executing J Exiting Recorder Stimulus Condition Action Altitude Altitude decayaltitude altdata decayspeed 20 Add Variable Check Script MDL Keywords Help Errors 4 8 3 Creating a recorder Figure 4 9 The Script Editor In a recorder action the values of one or more selected variables are saved to a file in contrast with a monitor where the values are shown on screen another difference with monitors is the sample rate monitors sample at a fixed rate of 2 Hz whereas recorders can sample at a user defined frequency up to the maximum schedule frequency usually 200 Hz Select Insert New Recorder to create a new recorder In the Recorder Editor change the name to Record altitude Double click on the altdata altitude variable in the Dictionary Browser It will be added to the Variables list For a recorder a number of extra attributes have to be filled in Change the name of the recorder file by setting the edit field Recorder File to altitude rec Optionally the recording frequency and start stop times can be entered her
287. ecution Preempted The time the task was preempted by a higher priority task Duration The total time to execute the task entrypoints Offset The start of execution measured from the start of the current cycle Finished The end of execution measured from the start of the current cycle Offset Duration The last item Error shows the status of the item Dutch Space BV 83 iss 5 rev 0 SUM NLR EFO SUM 2 M 11 2 2 Non real time tasks Non real time tasks are the links between the real time domain and the non real time domain A non real time task can be raised by a completed task by an internal event or by an external event When the schedule is executed by the scheduler all tasks seen as a set of entrypoints connected to a non real time task will be executed in the non real time domain For each activation of the non real time task this will be done once unless the buffer overflows because tasks in the non real time domain can not be executed fast enough Edit Non Realtime Task Properties New Task ANNES Max ms Qaltitude Altitude initialise_Altitu 0 000 0 000 0 000 B Altitude gt Add amp decayaltitude D Initialise_Altitude 5 Thruster BB Initialise Thruster nitialise Thruster y Thruster i Thruster dde y Statistics Min ms Mean ms Max ms 0 000 0 000 0 000 Taskname New Task Offset 0 000 0 000 0 000 Buffer capacity 5 Period 50
288. ed The differences between these versions is expressed in e the presence or absence of a separate thread and e the functionality of the EsimRTIrtiAmbassadorTick function the method that has replaced the RTI RTIambassador tick In the single threaded versions of the EsimRTI library ticking the EsimRTI using esimRTIrtiAmbas sadorTick e delivers one in Buffered mode or more in Direct mode RTIambassador call s to the RTI e ticks the RTI and e delivers one in Buffered mode or more in Direct mode federateAmbassador callback s to the application In the multi threaded version of the library a thread is created when the EsimRTIrtiAmbassador is cre ated The thread is suspended when created and when the EsimRTI mode is switched to Direct mode The thread is resumed when the EsimRTI mode is switched to Buffered mode The thread takes care of e flushing the queued RTIambassador calls and e ticking the RTI Ticking the RTI delivers federateAmbassador callbacks from the RTI to the EsimRTI library and queues them in a callback buffer To deliver the queued callbacks the EsimRTI must be ticked using esimRTIr tiambassadorTick To use the multi threaded version of the EsimRTI library for stand alone applications only compile the source code of your application with ESIMRTI MULTI THREADED defined using the D compiler option and link with the right library ibEsimRTImts a To compile the source code of your application outside
289. eft triangle Table F 3 Available Symbols 286 Dutch Space BV NLR EFO SUM 2 iss 5 rev 0 Value Description 8 Right triangle 9 Cross 10 X Cross Table F 3 Available Symbols Note that value 4 is not used symbolColor the color of the symbol It is the decimal representation of the hexadecimal RGB value OxR RGGBB readOnly 1f 1 then this variable is read only Syntax MMI x Man Machine Interface file x keyvals EOF i keyvals keyval keyvals keyval ct r keyval monitor monitor keyvals version numeric monitor keyvals monitor keyval monitor keyvals monitor keyval r monitor keyval var var keyvals name string mdl string action string monitorType numeric history numeric left numeric top numeric width numeric height numeric manualScalingX numeric xMin numeric xMax numeric manualScalingY numeric yMin numeric yMax numeric 7 var_keyvals Dutch Space BV 287 iss 5 rev 0 SUM NLR EFO SUM 2 var_keyval var_keyvals var_keyval r var keyval name string showLine numeric lineColor numeric symbol numeric symbolColor numeric readOnly numeric F 9 User Program Definition file format The format is identical to the simulation definition The purpose of a usr file is to specify a program that can be used to connect to a runni
290. elements in each curve e No duplicate In Power Index values e The lookup table must contain at least one entry e The polynom must have at least one coefficient e The interpolation must have at least two point pairs 9 6 Using Calibrations 9 6 1 Calibration API The calibration API consists of only three functions The first function is called esimCalibrationLookup This function looks up a calibration curve given its name The function returns a handle which can then be used to perform the actual calibration To perform the actual calibration you call esimCalibrate The function takes the calibration handle and a value to calibrate and produces the calibrated value and a status code Dutch Space BV 67 iss 5 rev 0 SUM NLR EFO SUM 2 Detailed information can be found in the on line manual page esimCalibration and in the EuroSim Man ual Pages document 9 6 2 Selecting Calibration Files When starting a simulator a user must specify which calibration files to use for a specific run This is done in the Simulation Controller On the Input Files tab there is a section called Calibrations You can add or delete the calibration files you want to use 68 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 Chapter 10 SMP2 Editor reference This chapter provides details on the SMP2 Editor The various objects which can be edited the menu items of the editor and their options are described For menu items not descri
291. els or toolbar buttons 10 5 4 Tools menu Generate Generate code for the current selection This can be for a catalogue or for an SMP2 type that results in a C class Class Interface and Model Code can only be generated for catalogues that are saved Therefore if the current selection is part of a catalogue that is not saved you will first be prompted to confirm saving the catalogue v Document not saved Satellite Document contains unsaved changes Save changes first Figure 10 3 Your are prompted to confirm saving the catalogue before generating code The following files can be generated e a C mapping compliant header file for the catalogue containing all type declarations that are not C classes e a C mapping compliant header file for each type that results in a C class Class Interface and Model e aboilerplate file for each Class and Model implementing the class s interface e an implementation file for each Class and Model allowing the model developer to add model logic If the current selection is a catalogue a type that will not result in a generated C class or an Interface only a header file will be generated You will be prompted for to confirm this v Generate E i Generate C header file for interface Cancel Figure 10 4 Your are prompted to confirm the generation of a header file Note that no files are overwritten Instead if earlier generated file
292. em will show in a window see Figure 12 10 the runtime bandwidth in bytes sec ond for the recorders and stimuli defined in all scenarios in the Simulation Definition There are two estimates one for all actions and one for all active actions These estimates do not take into account start and stop times of these actions or any other conditions such as a test like if varx gt 100 record The actual bandwidth values are only available during a simulation The Time before disk full item is an estimate based on the bandwidth of the active recorders and does not take other file actions into account It also assumes that all recorder files are written to the results directory as displayed in this window Press the Rescan button to perform a new calculation based on the most actual bandwidth and free disk space values 112 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 Configuration Rec Stim Bandwidth Ball Heigth and Velocity Coupled Pendulum Create stim rec L Model Durations Acion Recording Stimuli Active IES 100800 0 Yes 12800 0 Yes 100400 0 Yes 12400 0 Yes 2400 0 Yes 2400 0 Yes 1600 0 600 0 Yes 3800 0 Yes x Mission total bytes sec Estimate Actual Recordings 241680 0 Stimuli 400 0 Active Recordings 239800 0 232818 3 Active Stimuli 400 0 0 0 Disk statistics Results directory projects eurosimS 175708 EfoHome SystemTest Disk total space 312
293. ems In the Schedule Editor tab pages a schedule can be created by positioning schedule items tasks mu tual exclusions frequency changers internal and external events output events timers and connecting them with flows A schedule is a set of attributed tasks timers scheduling events and their respective dependencies The overall behavior of a schedule is deterministic whereas that of a single task need not be Dutch Space BV 81 iss 5 rev 0 SUM NLR EFO SUM 2 When an item is placed in the tab page it is given some default values for the properties of the item These can be changed by double clicking the item or by selecting the item and activating the menu item Edit Properties or pressing Alt Enter on the keyboard When the item is shown in a color other than yellow there is an error for the item The error message can be viewed alongside the properties of the item For a list of possible error messages refer to Appendix C Items in the tab page can be repositioned by selecting the item with the left mouse button and whilst holding the button pressed down moving the item to another location on the tab page All flows to and from the item will remain connected Labels can also be repositioned in the same way This allows you to move the label out of the way if a flow passes through the label The position of the label remains relative to the item it belongs to In the next sections each of the items is described to
294. en introduced for this purpose e Model Description file e Parameter Exchange file Model Description files can be created and edited with the Model Description Editor see Chapter 7 Parameter Exchange files can be created and edited with the Parameter Exchange Editor see Chapter 8 The use of these files will be described in the following sub sections by means of a use case example 19 3 Use case example 19 3 1 Model files Suppose we have two sub models modelA c and modelB c as listed below Listing 19 1 The C source code for the mode1A file node include lt math h gt static double x static double y void calc_sin void y sin x The file extensions are provided in Appendix F Dutch Space BV 199 iss 5 rev 0 SUM NLR EFO SUM 2 Listing 19 2 The C source code for the mode1B file node static double counter void update_counter void counter counter 0 1 The complete source code including the other files discussed in this section can be found in the src subdirectory of the directory where EuroSim is installed ModelA takes variable x as input to the sin function and stores the result in variable y The entrypoint for the update of modelA is calc_sin ModelB takes variable counter as input increments it and writes the result back to the same variable The entrypoint for the update of modelB is update_counter When we want to use modelB to update th
295. ency is converted to a period in milliseconds This period is used as the basis to calculate simulation time so round numbers are in favour Note that on some platforms it is possible to specify external clock sources In that case it is important that you specify the right frequency for correct simulation time calculation Real time The number of processors to be allocated to the scheduler The maximum number of real time processors is 10 The default value is 3 processors Number of Action Managers The number of action managers which can be explicitly scheduled in each simulator state The default value is 1 External Event Handlers This menu item will show the list of External Event Handlers see Figure 11 9 Here Exter nal Event Handlers can be added deleted or modified The user has to specify the processor Dutch Space BV 89 iss 5 rev 0 SUM NLR EFO SUM 2 that handles the external event With exclusive use of the specified processor the scheduler excludes the processor from the any pool for task execution Event handlers that have an au tomatic handler type automatically add an input connector to the Insert External event menu see Section 11 3 4 1 The external event gets the same name as the event handler Event han dlers of handler type user defined need additional code to handle the event and optionally raise one or more user defined input connectors see Section 16 5 1 External Event Handler I
296. ent state In each EuroSim state output connectors must be declared before use in the schedule defini tion file apparently this is not the case for the reported output connector Add or move the declaration of the output connector ES at line nnn this processor number falls outside the defined range of real time processors In the schedule definition file a task has been allocated to a processor which is not in the range of real time processors which has been requested in the same file Lower the processor number of the indicated task such that it falls in the range requested at the RT_PROCESSORS request 242 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 E executer process creation failed Creation of a real time task executor process failed The most probable cause of this situation is insufficient memory W cannot run executor on processor p Allocation of one of the real time executor processes to the specified processor failed This message will be the result of starting RT_SCHD with insufficient privileges The system will proceed in non real time mode When this is not intended stop the simulation and restart with super user authorities W too many reschedule levels for executor One of the internal scheduler s stacks overflows This situation almost always occurs in combi nation with real time errors Resolve the cause of the real time errors W the task activation tick of the previous cycle was still
297. ents oo os ca 00 4 644 dana a Se ee e 86 1126 Output events lt c s cc cecce a cr ea e bee V E b a 86 O 86 11 2 8 FIOWS ooe cea es aa SA A RA A a 87 115 Ment opgie lt o 246 ae ewe aaa a A g a A 87 A A eh ees Car d a de ae a eR 87 11 32 TEMES olse a a De eo v alee A a ln Re ee ae 87 DUES Vermenin a RA v ee ae ed t 87 LS SSH MOM y o hs jl kon o es a ia a s obec 88 1155 Tools eN 2 0 rra d bok ee k db ko A A ok k dob 89 11 4 Advanced Schedulertopics lt lt lt lt 4 4 4 lt ur ako A So ee 91 11 4 1 Scheduler mutual exclusion behavior lt lt lt lt lt 92 11 4 2 Dependencies stores and frequency changers lt lt lt 92 11 4 3 Frequency changers and mutual exclusive execution of tasks 93 11 4 4 Timing the output frequency of a frequency changer 94 11 4 5 Example of using an output connector for I O ooo aa 94 viii Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 11 4 6 State transitions o oo ee 95 A E E n E E eet E ee E n 96 11 4 8 Scheduling the action manager ACTION MGR ooo o 96 LAS CIEN IES ci a A a 97 12 Simulation Controller reference 99 12 1 Starting the Simulation Controller o o e e 99 12 1 1 Converting EuroSim Mk2 missions o e e 0 005 99 12 2 Simulation Controller Input Files lt lt lt o Xena ss 100 12 2 1 minal Condo lt lt lt on aj dd aje d
298. epository for the directory where your project files are located e Go to the directory where the files of your EuroSim project are located model files schedule file etc cd project_directory Dutch Space BV 357 iss 5 rev 0 SUM NLR EFO SUM 2 e Create an empty CVS repository directory in the CVS repository root cvs import I m log msg repository vendor tag release tag The I option with the escaped wildcard tells CVS to ignore all files in the project directory This is done because at this point we do not want to import any files into the repository we selectively add files to the repository later on by means of the menu commands in the EuroSim tools The m option allows you to enter a descriptive log message for the repository Enclose the message in quotes or double quotes The vendor_tag and release_tag can be any text because we are not importing any files at this point Example cvs import I A m Test MyProject Foo Bar e Go to the parent directory cd e Initialize project directory with the CVS files cvs checkout d project directory repository name The project directory should now contain a directory CVS Example cvs checkout d MyProject MyProject You can now start the EuroSim Project Manager select your project and select the Tools Project Settings menu command to set the project repository root to the repository_root_directory that you assigned to the CVSROOT environment v
299. epresented by an icon on the Simulation Controller s tree or icon view The four parts of each action can be edited via the Simulation Controller Section 12 13 A simple example which prints a message 10 seconds into the simulation action name and attributes action Primer description bitmap script_stub show active Executing 50 50 1 action body print Hello at t 10 action condition when time 10 Dutch Space BV 257 iss 5 rev 0 SUM NLR EFO SUM 2 The action attributes are used to e Give a description of the action e Manipulate the appearance of the action on the Simulation Controller tree or icon view e Set the initial status of the action The action status can either be active or nonactive Furthermore one can specify in which of the four simulation states the action has to be evaluated when active Initializing Executing StandBy or Stopping EuroSim maintains for each of these states a list of active actions The action conditions of these actions are checked each time the ACTION_MGR is activated in that state and normally at the end of each simu lation step The action body is executed by EuroSim when the action condition evaluates true When the action has no condition part this never happens these actions can only be activated manually by double clicking the action icon on the Simulation Controller scenario tab page The MDL script is executed in the r
300. er Control Debug Tools Help i jara O G A M eje w H gt o 1 m n New Open Abort Mark p 1000 km INTEGER 0 0000 0 003 Winputriles ssischecule Qari satelite si Montors M Dl epaltdatasdecaycounter INTEGER 0 0000 0 054 ocom HU cpaltdatasdecayspeed 1 200 km s INTEGER sono a jE JEdecayaltitude 0000 KON Satellite model D Initialise_Altitude Satellite sched O chaltdata altitude O 1000 km INTEGER Executing mirbard Lk la i O chaltdata decaycounter INTEGER Ejsatellte mdl Yes O chaltdatasdecayspeed 1 200 km s INTEGER S PES initial Conditions Eiverireo nk res Dassumedinit Yes User Program Definitions gmake Entering directory users fl75708 EfoHome Satellite gmake Satellite Linux Thruster c subdic is up to date gmake Leaving directory users f75708 EfoHome Satellite Simtime Wallclock Type message E OB stod omme Sateline Sotniitmmrocal Jesparimental startup sync man app ied inal Condon Fle TUSES AJ 5TOB ETOHOM SAE AS TE NE no comm 00000 00012 asynemain loacing scenario usersf757 D8 EfaHomeySstelite Satellee mal 0 0000 00500 async m in nos cien ocslhostlocaldominSmuisionov on socket id 18157 gid 100 ov 00000 09962 dock simulator started at Thu Sep 16 08 34 52 2004 0 0000 09562 dock state transition from void t intial ing 60000 10461 dockstaeirans
301. er has an output frequency tasks reading from a frequency changer will only be activated with a frequency that approximates the specified output frequency If more accuracy 1s desired the frequency of the activations can be made exactly the one specified in the output frequency of the frequency changer by adding a timer This is explained in the figure below GA 3 1Hz Oms 1Hz 5Hz gt Without the SHz timer B is activated 5 times in rapid succession after each activation of A Therefore the freguency of B would not be exactly 5 Hz but would be determined by the execution duration of B This is sufficient if only the ratio between A and B is of importance However if it is required that B must be executed with an exact frequency of 5Hz then the 5Hz timer should be added which forces B to wait 200msec between the successive executions of B The advantage of not adding a timer is that execution time is more efficiently used 11 4 5 Example of using an output connector for I O VO is non deterministic in time and thus calls must be issued from the non real time domain In the Schedule Editor this can be achieved by connecting the task that performs the I O to an output connector There are two ways to synchronize your non real time tasks with the real time tasks 94 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 1 You can synchronize explicitly in the Schedule Editor using the schedule items available 2 You can use a
302. er of real time processors which is larger than physically available Correct the definition file by choosing a processor in the reported range or restart with real time privileges off no super user authorities This latter will result in non real time execution mode in which any number of real time processors may be emulated E at line nnn basic frequency must be within the range 0 f A scheduler clock frequency beyond the system imposed limit has been requested in the sched ule definition file Choose a clock frequency which falls within the reported range ES at line nnn task sss has not been defined in the current state In each EuroSim state tasks must be declared before use in the schedule definition file appar ently this is not the case for the reported task Add or move the declaration of the task ES at line nnn store sss has not been defined in the current state In each EuroSim state stores must be declared before use in the schedule definition file appar ently this is not the case for the reported store Add or move the declaration of the store ES at line nnn inputconnector sss has not been defined in the current state In each EuroSim state input connectors must be declared before use in the schedule defini tion file apparently this is not the case for the reported input connector Add or move the declaration of the input connector ES at line nnn outputconnector sss has not been defined in the curr
303. er the caption of the new tab page By default the new MMI file will be marked as Active in the Input Files tab page Add MMI Import an existing MMI file into the Simulation Definition A new tab page will be created where this file can be edited You will be asked to enter the caption of the new tab page By default the imported MMI file will be marked as Active in the Input Files tab page New Initial Condition Add a new Initial Condition file to the Simulation Definition By default the new initial condi tion file will be marked as Active in the Input Files tab page Add Initial Condition Import an existing Initial Condition file into the Simulation Definition By default the imported initial condition file will be marked as Active in the Input Files tab page New User Program Definition Create a new User Program Definition This is basically a user defined program that will be launched when you select Edit Launch The User Program Definition window is very sim ple see Figure 12 3 In the Definition input field the program to start is specified and any arguments that are needed The h sequence will be replaced with the hostname of the run ning simulator and the c sequence will be replaced with the preferred connection number If you need to run bat batch files Windows version only then you have to precede the User Program Definition with cmd C Similarly for shell scripts sh files precede the User Program Definition with b
304. ere is a connection to a simu lator Convert Old Monitors Convert all monitor actions in this scenario to a new MMI tab page You are asked for the filename of the new mmi file the caption for the new tab page and if you want to delete the old monitors after conversion 12 12 22 Context menus Two context menus are available in the Scenario tab page depending on where you click the right mouse button If you click on an action item in the tree then a context menu with the following items appears see Section 12 12 1 for a description of the menu items e Properties e Activate e Deactivate e Execute Action e Delete e Cut e Copy e Paste e Undo e Redo The other context menu appears when you click outside the tree area to the right of the last column or below the last row see Section 12 12 1 for a description of the menu items e New Recorder e New Stimulus e New Script e New Folder o Up e Paste e Undo 122 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 Redo Rearrange Icons Edit Scenario Caption Delete Scenario Tab Page 12 13 Action Editor reference The Action Editor allows for the creation and modification of action objects as they are used in the Simulation Controller For each of the three possible action types a variation of the Action Editor is used A number of elements are shared amongst all editor variations and these are described in the section on script actions
305. erences to scenario are to the run time data structure inside the simulator Command Description Response eventNewMission Create a new virtual maNewMission lt scenario gt lt scenario gt scenario maMessage lt scenario scenario created for group gt eventOpenMission Open an existing scenario maOpenMission lt scenariofile gt lt scenariofile gt file maMessage lt scenario scenariofile opened for group gt eventCloseMission Close a scenario maMessage lt scenario scenario owned lt scenario gt by group closed gt maCloseMission lt scenario gt eventNewAction Create a new action in a maNewAction lt scenario gt lt actionname gt lt scenario gt scenario maMessage lt new active action lt actiontext gt actionname in scenario gt eventDelete Action Delete an action in a maDeleteAction lt scenario gt lt action gt lt scenario gt scenario maMessage lt deleted action action lt actionname gt from scenario gt Table J 6 Mission channel commands Dutch Space BV 339 iss 5 rev 0 SUM NLR EFO SUM 2 Command Description Response eventActionExecute Execute trigger an maActionExecute lt scenario gt lt action gt lt scenario gt action in a scenario maActionExecuteStop lt scenario gt lt action gt lt actionname gt maMessage lt manually triggered action action gt eventActionActivate Make an action active in maActionActivate lt scenario gt lt
306. ern struct altitudeDataStruct int ALTITUDE int DECAYSPEED int DECAYCOUNTER altdata_ And change the use of the variable altitude to altdata_ ALTITUD E Note that the altitude variable is used in three places Be sure to change them all The Thruster c source file should now look like File Thruster c Contents The C routines that simulate the thruster module of the satellite define On 1 define Off 0 extern struct altitudeDataStruct int ALTITUD int DECAYSPEE int DECAYCOUNTER altdata_ T T O Dutch Space BV iss 5 rev 0 SUM NLR EFO SUM 2 int thrusteronoft int speedCounter 0 int satelliteAscentSpeed int lowerAltitudeLimit int upperAltitudeLimit void Thruster void if thrusterOnOff On if speedCounter gt satelliteAscentSpeed speedCounter 0 altdata_ ALTITUDE thrusteronoff altdata_ ALTITUDE lt upperAltitudeLimit else thrusterOnOff altdata_ ALTITUDE lt lowerAltitudeLimit When the changes to the source file have been made try rebuilding the simulator If the build was successful the messages SUM exe MADE and all DONE should be displayed in the status window Save the model and exit the model editor In the EuroSim main window choose Edit Add Model and select SUM model to add the created model to the proje
307. es and update for model B Dutch Space BV 203 iss 5 rev 0 SUM NLR EFO SUM 2 Task ParameterExchange contains one entrypoint e paramexchg Model A to Model B This entrypoint copies the updated counter output variable in the datapool to the counter input vari able and the x input variable step 7 in Figure 19 7 After this parameter exchange the schedule starts again at step 1 This time model A uses the updated x variable to perform its model update datapoo input x output y input counter output counter Figure 19 7 Parameter exchange Notice that entrypoints that are generated for parameter exchanges are placed in a special node in the data dictionary called paramexchg The name of the entrypoint is the same as the name of the parameter exchange group node in the Parameter Exchange file The parameter exchange entrypoint copies the values of the specified variable s from the source to the destination The names of the generated entrypoints to update the datapool and model variables receive the names of the input and output group nodes as specified by the Model Description file Name of entrypoint set_nodename_variables In order to generate the parameter exchange entrypoints you must use the File Parameter Exchange files command in the schedule editor to specify which parameter exchange file s should be used by the simulator As soon as you add a parameter exchange file the Schedule Editor will
308. es or PMA0 16 4 2 Case study Setting up a serial interface x This example demonstrates the non blocking read and write of the x esimSerial interface Two serial devices are opened From one device x 10 bytes are read and then sent to the other include lt stdio h gt include lt unistd h gt 178 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 include lt esimSerial h gt int main void int serl int ser2 unsigned char buf 10 int buffered 0 Open the input device if serl esimSerialOpen dev ttyd2 buffered 1 printf Cannot open dev ttyd2 n return 1 Open the output device if ser2 esimSerialOpen dev ttyd3 buffered 1 printf Cannot open dev ttyd3 n return 1 Read non blocking data from the input device x while esimSerialRead ser1 buf 10 printf Non blocking read demon sleep 1 Write the received data esimSerialWrite ser2 buf sizeof buf x Close both devices esimSerialClose ser2 esimSerialClose serl return 0 16 5 External Events 16 5 1 External Event Sources External events can be generated by e VME interrupts interrupt level and vector must be specified e PCI interrupts e External Interrupts Dutch Space BV 179 iss 5 rev 0 SUM NLR EFO SUM 2 e POSIX named semaphores see the manual page of sem_open The semaphores
309. es that are used to access the EsimRTI functions equivalent with the RTI methods 316 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 RTI C domain C domain RTI EventRetraction structure EsimRTleventRetractionHandle RTI HandleSet EsimRTlhandleSet RTI AttributeHandleSet EsimRTTattributeHandleSet RTI FederateHandleSet EsimRTlfederateHandleSet EsimRTlvaluePair RTI ParameterHandleSet EsimRTIparameterHandleSet RTI AttributeHandle ValuePairSet EsimRTTattributeHandleValuePairSet RTI ParameterHandleValuePairSet EsimRTIparameterHandle ValuePairSet EsimRTltime Template RTI RTlambassador class EsimRTlrti Ambassador RTI Federate Ambassador class EsimRTlfederateA mbassador EsimRTlobject Structure that can be used to associate application objects to HLA RTI objects EsimRTlvariable Structure that can be used to associate application variables to HLA RTI parameters and attributes Table 1 12 RTI C types and classes mapped onto eguivalent C structures 1 6 3 Header files The developer using the EsimRTI should include only the esimRTI h header file This esimRTI h header file itself includes a number of headers just as the RTI hh header of the RTI does An optional second file to include is esimRTIshortnames h that defines short cuts for the sometimes very long names of the EsimRTI The following table lists the header files of the
310. esimLinkIoctl tmtcLink LINKMAXTIME PENDING 1000 gFrequency 100 The following lines from the SpaceStation model give an example of setting up the link and using esimLinkIoctl to set the default delay for packets being transmitted include esimLink h include esim h define TMTC CONNECTION NAME tmtc_connection int reguiredDelay 300 msec delay for link to ground x void tmtclnit void Dutch Space BV 185 iss 5 rev 0 SUM NLR EFO SUM 2 tmtcLink esimLinkOpen TMTC CONNECTION NAME rw if tmtcLink NULL esimMessage Couldn t establish TmTc Link return Nothing possible esimLinkloctl tmtcLink LINKDELAY requiredDelay 17 4 3 Sending packets The packets are sent using esimLinkWrite providing arguments for the link identifier the data packet buffer and the size of the buffer e g send packet packet static int send packet EGSE uns8 pus PUS P Header xheader header PUS P Header pus return esimLinkWrite tmtcLink char pus header gt Packet Length PUS P HEADER SIZE The packet is then available for the other client to read after a certain time delay the length of the delay being dependent on the characteristics defined by esimLinkIoctl 17 4 4 Receiving packets Internal Client In the example code for the EuroSim SpaceStation app
311. essing the Add button to add them To remove a variable from the list select it and press the Remove button You can change the order of the variables by selecting variables in the listbox and using the Up and Down buttons Stimulus Variables Mode The variables you add to the Variables list must match with the variables from this list This list is extracted from the selected stimulus file The variable types are shown in both lists and in the Dictionary Browser This makes it easier to find a match If the Variables list is empty when a stimulus file was selected then the program tries to prefill the Variables list with correct matches This can either be set to soft hard or cyclic With the first option the data in the stimulus file is read in sequential order at the specified frequency and the timestamps attached to the data are ignored With the second option only those data from the file are used whose timestamp match the current simulation time or has the nearest elapsed time when the data is requested Data between these points are ignored With the third option the data in the stimulus file is read in sequential order and after the last datapoint read the stimulus file is reread from the beginning These stimuli data is applied in soft manner Consider the following input data file Data file simtime data 0 9 10 1 9 15 2 9 17 3 9 19 126 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 0 JI DU M
312. eve the value of a variable only once by using the dt Get ValueRequest command Event Description Arguments dtMonitor Start new monitor scenario action name Table J 9 Monitor events on monitor action obsolescent execution Dutch Space BV 341 iss 5 rev 0 SUM NLR EFO SUM 2 Event Description Arguments dtMonitorVar Monitor variable variable name dtMonitorDone Finish new monitor attributes Table J 9 Monitor events on monitor action obsolescent execution Table J 10 shows the event sent periodically at 2 Hz for each variable in an active monitor Event Description Arguments dtLogValueUpdate Monitor value update variable name value Table J 10 Monitor update event Table J 11 shows the commands which can be sent Command Description Response eventAdd2LogList Add variable to list of dtAdd2LogList lt variable name gt lt variable name gt monitored variables dtLogValueUpdate lt variable gt lt value gt eventRemoveFromLogList Remove variable from list dtRemoveFromLogList lt variable name gt lt variable name gt of monitored variables eventSetValueRequest Set variable to value dtSetValueReguest lt variable name gt lt variable name gt lt value gt lt value gt maMessage lt set variable to value gt If variable is monitored at that moment dtLogValueUpdate lt variable gt lt value gt eventCpuLoadSetPeak Monitor
313. f ManagerInitialise void ManagerInitialise void Add modelmanager c and simple cpp to your model in the ModelEditor and then select the Build All command in the Tools menu Make sure that you selected SMP support in the Build Options The next step is to run the ScheduleEditor to create a custom schedule or to run the SimulationController and use the generated schedule The published variables and entrypoints can be found under the SMP org node in the data dictionary Dutch Space BV 169 iss 5 rev 0 SUM NLR EFO SUM 2 170 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 Part Ill EuroSim Advanced Topics Dutch Space BV 171 NLR EFO SUM 2 SUM iss 5 rev 0 Chapter 16 Hardware Interfaces to EuroSim 16 1 Introduction With EuroSim Mk4 0 HIL it is possible to use three different hardware interfaces the External Interrupt Interface the MIL1553 Interface and the Serial Interface The External Interrupts interface provides ac cess to the external interrupt functionality on SGI Origin Challenge Onyx L XL The MIL1553 interface provides a general interface to access a MIL STD 1553 serial data bus The Serial interface provides non blocking access to the standard RS232 RS422 interface on SGI Origin Challenge Onyx L XL Each of these interfaces will be described in the following subsections Example code from a complete demonstration model using MIL1553 serial and external interrupts li brary
314. f no such variable could be found This is probably the easiest method e Select M Curves Add Curve from the menu The result is the same as dragging the selected variables from the variable browser to the curve editor 13 4 3 Axes properties The plot s axes can be configured with the last tabpage Figure 13 6 shows this tabpage On the left the axis can be selected On the right the settings for the current axis are shown Plot Properties Altitude Plot x General Curves Axes info Click on an axis to edit its properties Axis range Axis label Auto Auto Automatic Automatic label Auto Auto C Use this range C Use this label Minimum value Maximum value Axis scaling Auto Auto Linear Auto Auto Logarithmic osy Figure 13 6 Axes properties The axis properties that can be set include axis range scale and label Automatic axis range calculates a default range from the data values Automatic axis label creates a default label for the selected axis based on the variable names 138 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 13 5 Variable browser reference The variable browser displays the variables present in the currently loaded test result and recorder files By default all nodes are collapsed To expand all nodes to the variable level right click the variable browser and choose Expand All Nodes Variable Browser x Description Sate
315. field will appear depending on where you clicked For example clicking the variable name in one of the curves axis will show a selection box with the variables used or recently used in the plot A more detailed list of the possibilities can be found in Section 13 4 2 Removing curves To remove a curve select it in the curve editor and press the delete key use the toolbar or menu CA Curve Remove Curve Changing other plot settings General plot settings can be changed on the General tab page of the plot properties area This in cludes settings like plot title description legend position etc A more detailed list can be found in Section 13 4 1 Settings related to the axes like scaling and range can be changed on the Axes tab page of the plot properties area Detailed information can be found in Section 13 4 3 13 3 7 Showing and printing plots After a plot has been properly set up it is shown by selecting Plot Show Plot from the menu or double click the plot icon A new window appears containing the plot If gnuplot is selected as the plot back end the window can be closed like any other window or by selecting Plot Close Plot from the menu If PV WAVE is the current back end the window can only be closed by selecting Plot Close Plot from the menu To print one or more plots select them and choose File Print The print dialog appears Print Plot Printto Printer File
316. for comment or verbose information e esimSevWarning for warnings e esimSevError for errors e esimSevFatal for non recoverable errors In the C interface routines the message consists of a format string format and its optional arguments see print 3 In the Fortran interface routines the message consists of a single string argument message esimVersion returns a string indicating the current version of EuroSim that you are running esimInstallErrorHandler installs a user defined error handler callback of the form void userhandler esimErrorScope scope const char xobjectid This callback function is called when an error occurs that may need intervention in user code Passing a NULL pointer will de install the user error handler No stack of user error handlers is main tained This means that the last call to esimInstallErrorHandler defines which handler will be called The possible values for scope are e esimDeadlineError when the user defined error handler is called with this scope then the objectid 1s the name of a task in the simulator schedule that has exceeded its deadline by a factor of ten This allows a model developer to take action f i force a core dump when part of a model is ill behaved never ending loops or simply a calculation that takes too long and causes real time errors If no error handler is installed the default action is to disable the offending task and enter the stand by state Note that deadline
317. g behavior of the system Be careful with this mechanism 16 2 4 External real time clock The previous mechanism can be used as the heartbeat mechanism for the scheduler This is done by using the interrupts to drive the scheduler clock With this option the external interrupts will drive the scheduler instead of the internal timer This option is selected via the schedule Configuration option see Section 11 3 5 on the ClockType field of the Configuration option When the scheduler is driven by the external interrupts the user cannot install a user defined interrupt handler because this will overwrite the existing scheduler heartbeat handler which causes a scheduler hangup The default basic frequency of the scheduler is 100 Hz which means that one interrupt stands for 10 ms in real time 16 3 MIL1553 interface The objective to the EuroSim MIL1553 interface is to offer the user a set of functions that will allow him to communicate with the devices on the bus without having to bother about the details involved with programming the MIL1553 communication itself A power user should however be able to employ all functionality and features provided by the protocol or by the hardware interface card e g program the card to simulate a MIL1553 bus with one or more RTs VMIVME 6000 The MIL1553 interface provides both interface levels 174 Dutch Space BV NLR EFO SUM 2 iss 5 rev 0 SUM Power user VMIVME 6000 Hardwa
318. g EsimRTIobject is not known or complex to retrieve the objectName can be used to find the right EsimRTlobject 1 4 2 2 Methods EsimRTIvariabl char EsimRTIhandl EsimRTIvariableType t void char EsimRTIobject x LE eVariabl eVariabl eVariabl eVariabl e xesimRTIvariableNew leName leHandle leType leRef eObjectName theEsimRTIobject The method uses createEsimRTIvariableArrayNew with 0 as theNarrayEntries argument EsimRTIvariabl char EsimRTIhandl EsimRTIvariableType t void x char x e unsigned int EsimRTIobject x eVariabl eVariabl eVariabl e esimRTIvariableArrayNew leName e Handle leType eVariab te Ref eNarrayEntries eObjectName eEsimRTIobject Allocates memory for a new EsimRTIvariable and initializes the fields The char arguments are copied to new allocated memory The method uses esimMalloc Because the method is used by esimRTIvari ableNew the method does not check whether theVariableType is one of the array types EsimRTIvariable xesimRTIvariableDelete EsimRTIvariable x theVariable Frees the memory occupied by the given EsimRTIvariable including the char fields referred to The method uses esimFree Dutch Space BV 313 iss 5 rev 0 SUM NLR EFO SUM 2 1 4 2 3 Enumerated types The following table shows the supported values for
319. g the value of the X variable in the datapool to the X variable of the model code Step 2 calls the actual entrypoint in the model to update the X variable At last step 3 copies the updated model variable X back to the datapool This last step is also performed by automatically generated code Use the Schedule Editor to specify when the generated entrypoints should be called The generated entrypoints are also placed under the datapool node in the data dictionary The names of the entrypoints are based on the names of the input and output group nodes datapool model step 1 input X P int X tput X void foo void step 2 output step 3 f X 2X 1 Figure 7 1 Example of data transfer between datapool and model 7 4 Starting the Model Description Editor The Model Description Editor MDE can be started from the Model Editor When the model tree contains a file with the appropriate extension see Appendix F then the MDE is automatically started when the Edit command is selected on the model description file node in the Model Editor The MDE needs a data dictionary as input When the MDE is started from the Model Editor the Model Editor first runs the build process make in order to ensure that the data dictionary is up to date This means that there may be some delay when starting the MDE if there are a lot of outstanding changes since the last build command was given 7 5 Model Description Editor objects In the Model Description Edi
320. ges or PMA05 provide more information on connection and disconnecting a client 18 7 3 Determine host byte order When accessing a simulator running on a host with a different byte order than the client the bytes need to be swapped This is needed when simulator runs on an IRIX computer and the client runs on a Linux PC In order to facilitate the detection of this difference in byte order a message is sent to the client which allows you to determine the simulator byte order Comparing the byte order to your own byte order will detect any differences Below you find an example of such a detection routine int needs swap 0 x set to 0 if the byte order is the same int eventHandler Connection conn const evEvent xevent void xuserdata switch evEventType event case evExtByteOrder int size int magic evEventArg event amp offset EV_ARG_RAW amp size amp magic needs swap magic EXT BYTE ORDER MAGIC 18 7 4 Set up local data view with links to EuroSim data Overview Once the client link is set up local data view s can be created which link external and EuroSim data items The views can contain all or a subset of the data items which were exported from EuroSim as described in Section 18 7 1 There are three steps necessary as shown in the following extract e Use of extViewCreate to create a local view e Use of ext ViewAdd to add a data item
321. gether with the properties which can be modified The graphic representation of the item in the tab page of the Schedule Editor is shown on the left 11 2 1 Tasks A task item represents a list of one or more entrypoints Each task represents a single execution unit during the simulation Grouping entrypoints within a task will ensure that the operations represented by the entrypoints are executed sequentially In a schedule tasks can be activated by e a simulator execution state transition STATE ENTRY connector on entering and STATE EXIT connector on leaving a state completion of another task periodically using a timer which triggers the task at a given frequency through an input connector that is triggered from an operation that has ended execution a freguency changer A task can be used in more than one state Edit Task Properties Thruster 2 01 2 Data Dictionary Entrypoints Max ms QAltitude LE Thruster Thruster Thrus 0 000 0 000 0 000 D Altitude Descri J decayaltitude D Initialise_Altitude sau i B initializealtitude Initializ 5 Thruster D Initialise Thruster 4 JE lnitialise_Thruster Initialis y Thruster x Thruster gt Taskname Thruster Processor Any Running Priority Moderate Blocked 0 000 0 000 0 000 Preempted 0 000 0 000 0 000 Preemptable Yes Duration 0 000 0 000 0 000 All didurat
322. gine is that it is the ultimate glue language The EuroSim modules can be combined with the built in features of perl itself or with one of the many perl modules which are freely available on the internet Check out CPAN Comprehensive Perl Archive Network at www cpan org for a complete overview of all available perl modules There is an interactive shell which can be used to type commands directly on the command line to start and manipulate simulators This tool has been implemented in perl using the EuroSim modules and a few other helper modules for the command line interaction Section 14 2 describes the conversion utility for people using the event probe tool Section 14 3 shows you how to use the interactive batch shell Section 14 4 explains all EuroSim modules Section 14 5 shows you how to extend the batch utility to integrate it in a larger system Section 14 6 contains a simple example script 14 2 Conversion utility for event probe users Event probe is an unsupported batch utility program which was meant to be used for internal testing only In order to facilitate the users of this tool to convert to the new batch facilities a conversion tool has been supplied This tool is called probe2esh To convert an existing event probe script use the following command probe2esh lt probe script gt perl script For more information read the manual page probe2esh 1 14 3 Starting the interactive batch shell The EuroSim command line shell
323. gs Opens a dialog for changing various project description items A project description contains a number of elements each of which can be set in this dialog see Figure 5 3 Project Settings Name Satellite Description AA Directory users f175708 EfoHome Satellite Browse Version Control System cvs X Repository Root users fl75708 MyRepository Browse Figure 5 3 Project Settings dialog Name The project name is the name that appears in the project list of the Project Manager as well as in various other places such as the name of the root node of the model hierarchy in the Model Editor Description The project description is a free text field that can be used for a more precise descrip tion of the project Directory The project directory is the top of the directory tree in which all project related files will be stored The Browse button can be used to search for an existing directory Use the operating system file protections to protect project files against unauthorized use Under UNIX one could for example create a UNIX group for each EuroSim project and Dutch Space BV 43 iss 5 rev 0 SUM NLR EFO SUM 2 make the project files writable by group members only Depending on the security level required the project files can be made world readable or not Version Control System Defines which version control system will be used f
324. gt 100 hz then the raising of the associated El input connectors will be delayed until the following timeslots see Figure 16 1 Not supported on the Windows NT platform Dutch Space BV 173 iss 5 rev 0 SUM NLR EFO SUM 2 For more information on the EI input connector see also Section 11 3 4 2 100 Hz Heartbeat pp pff 1 The scheduler raises the El input connector for each inter nterrupt N rupt one at a time and with the frequency of the scheduler 1 2 3 occurences default 100 Hz Figure 16 1 Raising EI Input Connector 16 2 3 User defined interrupt handler If direct response is required the previous solution will not always be sufficient The External Interrupt interface provides the functionality to directly activate a user defined handler on interrupt occurrences On interrupt occurrences the dev ei or dev external_int 1 device will send a user de fined signal to the scheduler so that the interrupt handler will be executed directly The handler should be defined as a normal EuroSim task and it can be installed via the schedule Config uration option see Section 11 3 5 on the EI handler field of the Configuration option When interrupts will occur very fast after each other some signals can be lost UNIX anomaly so that not all interrupts will be handled This mechanism interrupts the scheduler and thus the real time performance and or lockin
325. h Space BV 355 p iss 5 rev 0 SUM NLR EFO SUM 2 356 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 Appendix M Introduction to CVS M 1 Introduction CVS short for Concurrent Versions System allows you to save versions of your files for later retrieval by yourself or other users provided they have sufficient access rights The files are stored in what is called a repository This chapter describes the basic commands that are required to start using CVS with EuroSim See CVS00 for more information on CVS M 2 Initializing the repository root After deciding where to install the CVS repository root usually a directory on a network drive that is backed up at regular intervals you must initialize it e Open a shell and change directory to the designated directory create it first if it doesn t exist yet cd repository root directory e Set the CVSROOT environment variable export CVSROOT repository root directory Example for IRIX Linux export CVSROOT projects share repository See Section M 4 for a description on how to use CVS under Windows e Initialize the CVS repository cvs init If all went well a CVSROOT directory is created in the repository root directory Note that you only have to perform the above steps once M 3 Setting up a CVS repository Once the CVS repository root has been initialized you can add repositories to it When using CVS with EuroSim you can create a r
326. han once ic start a nested section for an initial condition file See below for valid keywords This keyword can be used more than once Valid keywords for the mode1 schedule export and usr nested sections path the path of the file required the required version of the file Valid keywords for the mdl nested section path the path of the scenario file Dutch Space BV 283 iss 5 rev 0 SUM NLR EFO SUM 2 reguired the reguired version of the file caption the caption of the corresponding tab page active if 1 then the scenario is active otherwise it is inactive iconView if 1 then represent the scenario using an iconview if 0 then the scenario is represented as a treeview Valid keywords for the mmi nested section path the path of the mmi file required the required version of the file caption the caption of the corresponding tab page Valid keywords for the ic nested section path the path of the initial condition file required the required version of the initial condition file active if 1 then the initial condition is active otherwise it is inactive Syntax SIM Simulation Definition file x keyvals tEOF i keyvals keyval keyvals keyval i keyval server string version numeric model file keyvals schedule file keyvals export file keyvals usr file keyvals ic ic keyvals mdl mdl keyvals mmi mmi keyvals file
327. hat is a certificate This section was taken from the OtSSLSocket documentation A certificate is a document which describes a network host s identity It contains among others the DNS name of the host the name and ID of the certificate issuer an expiry date and a digital signature Certificates are created together with a host s private key The certificate is either self signed or signed by a certification authority CA Safe communication reguires the certificate to be signed by a CA Basically a self signed certificate can never be used to verify the identity of a server but it can be used to seed the ciphers used to encrypt communication For this reason self signed certificates are often used in test systems but seldom in production systems Official CAs sign public certificates for a certain price Two well known official CAs are Thawte http www thawte com and Verisign http www verisign com To obtain a CA signed certificate a certificate request unsigned certificate is generated and posted to certain forms on the CAs home pages It is quite possible to set up one s own local CA and use that to sign servers certificates Although this avoids the expense of using an official CA all clients must then have a local copy of your own CA s SSL certificate Dutch Space BV 221 iss 5 rev 0 SUM NLR EFO SUM 2 21 4 2 Creating a self signed certificate It is possible to use the openssl utility to create a
328. hat is referenced in this example the simulation_time values For this to give the intended result the two datasets should have the same recording characteristics 1 e have been recorded at the same frequency and be in synchrony either due to the same timestamps within the recording or because both recording files begin after the same event 13 10 2 PV WAVE Variables PV WAVE has various system variables available of which the following may be useful e Pi The floating point value of pi 3 14159 e DPi Contains the double precision value of pi 3 1415927 e Dtor Contains the conversion factor to convert degrees to radians The value is pi 180 which is approximately 0 0174533 e Radeg A floating point value for converting radians to degrees The value is 180 pi or approxi mately 57 2958 PV WAVE Reference Volume 2 Chapter 4 gives an overview of all the available system variables although the majority are concerned with plot appearances defaults and are not relevant for function definitions 3It is assumed that simulat ion_time is used for the x axis variable but it could be some other variable of course 144 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 13 10 3 Accessing recorded data After a plot has been activated the plot back end interface window will show the exact commands sent to PV WAVE in blue If we inspect this output we can see that the variables used in our plot 1 2 etc
329. hat the RCS or CVS repository tree has the same structure as the project tree 12 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 Chapter 3 The EuroSim GUI EuroSim uses a graphical user interface GUI for all tools available to the user This chapter describes the following elements of the user interface e Some of the conventions used throughout the user interface The keyboard shortcuts which can be used to quickly access functions from the menus e The menu items that are available in every tool 3 1 GUI conventions in EuroSim An ellipsis is shown after a menu item description when a dialog box is shown to request more information from the user before an action is performed E g File Save As e Menu items and buttons that can not be selected either due to the context or because they are currently not implemented in EuroSim are shown grayed out Where applicable keyboard shortcuts are shown next to the item For more information refer to Section 3 3 As the EuroSim GUT s are based upon the Qt toolkit the following elements are used for user input e Checkboxes little squares which can be selected by pressing the box e Radiobuttons circles which behave the same as checkboxes with the exception that of a group of related radiobuttons only one can be active e Normal buttons rectangles which have a descriptive label such as Save on top of the button Pushing the button performs an actio
330. he desired frequency x the desired frequency will be approximated in the long run When parsing an action with a f req function the ACTION MGR will issue a warning if this is the case provided x is a constant getenv x Return the string value of shell environment variable x realtime Return the current real time mode of the simulator Table E 4 Auxiliary functions Dutch Space BV 265 iss 5 rev 0 SUM NLR EFO SUM 2 Function Description simstate Return current simulator state as string value e g standby Can be used by actions which can execute in different simulator states in expressions like if simstate executing count count 1 time Return the current simulation time in seconds wallclock Return the current wallclock time in seconds main cycle Return the main cycle time of the schedule in seconds simtime boundary Return simulation time of last state transition wallclock boundary Return wallclock time of last state transition Table E 4 Auxiliary functions The last table explains the MDL commands The commands take numerical or string arguments Contrary to functions the command arguments are not to be given between parenthesis and commands do not return a value Hence they cannot be used in expressions Command abort Description request abort of the simulator activate action task activate an ac
331. he same way for example https www hostname com esim method getSessionList rmonitorId localhost 0 The result format can be specified by the format parameter It can either be xml or html and defaults to xml The html version is of course better suited for a web browser interface while the xml version will probably be used more from scripts An example of reguesting the session list in html https www hostname com esim method getSessionList amp monitorId localhost 0 amp format html 21 6 1 1 Retrieving the monitor list Clients can request a list of the monitors that are currently connected to the server This list contains the id and the name of the monitors The monitor id is particularly useful since it is used in subsequent calls to refer to the monitor This method cannot fail Method getMonitorList Parameters None Return A monitor list on success or an error if something went wrong Example To request the monitor list from a server at address hostname use the following URL https hostname esim method getMonitorList 21 6 1 2 Retrieving the session list The session list is a list of session info structures of simulators that are running on the same local network as the monitor It contains parameters of each session such as simulator name path of the data dictionary etc If the monitor is able to read the dictionary each session info also contains a list of variables of the
332. he user Redo the last undone action Move the selected portion of data from the tool window to the clipboard Copy the selected portion of data from the tool window to the clipboard Move the contents of the clipboard to the tool window Depending on the tool the location where to paste can be selected Remove the selected portion of data from the tool window Tools menu Start a command line session also known as xterm on X Window Systems UNIX platforms or Command Promp on Windows NT platforms Tools Version menu Add the selected file to the repository A dialog appears where you can enter a text describing the change See Figure 3 1 for an example Dutch Space BV 15 iss 5 rev 0 SUM NLR EFO SUM 2 Enter Log Message for users fl75 Log Message This mission file is used to Figure 3 1 The Log Message Update Update the selected file with the latest version from the repository Get Get a specific version of the selected file from the repository If the checkbox Remove file before update is checked then before the selected version is retrieved the old file is removed Otherwise the selected version is merged with the current version The version with a check mark in front is the reguired version Get Version of users fl75708 EfoHome TmTc ExtSimModel SpaceStation t EE 1 3 1175708 Wed Sep 15 12 16 41 2004 Added initial conditions 1 2 fl75708 Wed Sep 15 12 16 11 2004 Ad
333. heSet void esimRTIhandleValuePairSetAddLong EsimRTIhandle handle long number EsimRTIhandleValuePairSet x theSet void esimRTIhandleValuePairSetAddLongAsString EsimRTIhandle handle long number EsimRTIhandleValuePairSet x theSet void esimRTIhandleValuePairSetAddString EsimRTIhandle handle const char x string EsimRTIhandleValuePairSet x theSet 1 5 2 Decoding methods double esimRTIhandleValuePairSetGetDouble unsigned long index const EsimRTIhandleValuePairSet x theSet double esimRTIhandleValuePairSetGetDoubleFromString unsigned long index const EsimRTIhandleValuePairSet x theSet long getLongFromHandleValuePairSet unsigned long index const EsimRTIhandleValuePairSet theSet Dutch Space BV 315 iss 5 rev 0 SUM NLR EFO SUM 2 long esimRTIhandleValuePairSetGet unsigned const long Esin nRTIhandleValuePairSet tLongFromString index theSet char esimRTIhandleValuePairSetCopyString unsigned const long Esin index nRTIhandleValuePairSet x theSet I 6 Classes structures and header files of the EsimRTI This chapter contains a list and short description implement the EsimRTI library 1 6 1 Classes of the classes C structs C and the header files that The following table shows the classes that are used within the EsimRTI to support the RTI functional ity
334. heduler was launched in hard real time mode 1 is returned on success 0 is returned on failure Dutch Space BV 253 iss 5 rev 0 SUM NLR EFO SUM 2 esimGet Speed returns the current speed of EuroSim Scheduler e g 1 0 means hard or soft real time 0 1 means slowdown by a factor 10 1 means as fast as possible esimSetSpeed sets the current speed of EuroSim Scheduler e g 1 0 means hard or soft real time 0 1 means slowdown by a factor 10 1 means as fast as possible The speed can only be changed if the scheduler is running non real time If speed is not a feasible speed 0 is returned on a successful setting of the speed 1 is returned esimGetRecordingState returns the current state of the EuroSim real time data Recorder If true 1s returned data is logged to disk whereas a return of false indicates that recording is switched off esimSetRecordingState sets the state of the Recorder to on If on is true data will subsequently be written to disk if on is false data recording will be suspended Return value is either true or false depending on success or not The functions esimReport esimMessage esimWarning esimError and esimFatal can be used to send messages from the EuroSim model code to the test conductor interface The esimReport func tion allows the caller to specify the severity of the message The other functions have implicit severities The possible severity levels are e esimSevMessage
335. hen it detects that this variable has been set both io variables can be reset and data read in the I O action can be used Note that within this approach it is also possible to activate input connector C from a MDL script instead of a task Using this feature D can be activated from the Simulation Controller 11 4 6 State transitions A state transition can only occur at a main cycle boundary A main cycle has a period equal to the least common multiple LCM of the periodic tasks computed over all states of the simulator in the schedule In the current implementation the main cycle is taken as the LCM of the periods of all periodic tasks over all states instead of the LCM of the periods of active tasks in the current running state This for reasons of simplicity is still correct although it may make the main cycle somewhat larger than strictly necessary Dutch Space BV 95 iss 5 rev 0 SUM NLR EFO SUM 2 In the previous example we had a main cycle AD ADB AD ADBC of 20 ms duration This means that state transitions can only occur at each 4 slots boundary For this reason the scheduler will delay the user s state transition request until the end of slot 4 8 12 etc Current state i New state SS SED CE KMA AO CEST ESR OC DEA CI MR ET State transition State transition request NB If in the period between the request and the transition more state requests are given these requests are b
336. hough an attempt is made to publish types in the correct order in case of complicated types it may be necessary to rearrange this generated code for correct order of publication of types Dutch Space BV 79 iss 5 rev 0 SUM NLR EFO SUM 2 e Four methods have been added to a model s interface UserCreate UserDelete UserConnect and Userlnitialize Their empty bodies are generated as part of the C class s implementation Logic may be provided by the model developer Implementations for a mode s constructors and destructor are generated that call methods UserCreate and UserDelete respectively An imple mentation of the Initialize method for models is generated that calls method Userlnitialize An implementation of the Connect method for models is generated that calls method Userlnitialize Generated model code is fully SMP2 compliant IManagedModel IAggregate IEventProvider IEventConsumer and IEntryPointPublisher interfaces are always inherited even when not strictly necessary See section Section 10 6 3 for limitations to the Component Model that may imply limitations to functionality of the generated model code if use in combination with the EuroSim Component Model implementation e g model functionality that uses the Simulator interface internally 10 6 5 Model development kit Generated code as well as the Component Model library are based on the MDK SMP05d where appli 80 Dutch S
337. hown When the file is generated by the record command the first variable column in the file will always be the simulation time vari able Each invocation of the record command results in one record of variable values see example in Figure F 2 Mission Demo48hr mdl Record size 20 Dict Demo48hr dict SimTime simulation time TimeFormat relative Number of variables 3 simulation time double BouncingBall ballF77 f balf77 ballvarSheight float BouncingBall ballC c ballC Velocity double Figure F 2 An example of a EuroSim recorder file The naming conventions for EuroSim recorder files are the following e for the files read and processed by the stimulation process any file name can be specified with the MDL stimulate command e for the files generated by the recording process a filename can be specified in the MDL record command or e for the files generated by the record command when no file name is specified in the MDL record command a file name is generated with the name rec x 1 rec The variable for the simulation time can be specified by an environment variable This way registration to a named file and subsequent stimulation from a named file is possible within the same simulation run For named registration the user should use record filename in MDL for blind unnamed registration record suffices Note that when the user changes an action containing registration co
338. hread esimRTIthread The function and the thread replace the tick method of the RTI RTIambassador An overview of the differences is presented in the following table in the table tick should be read as esimRTIrtiAmbassadorTick Mode Single Threaded Single Threaded Multi Threaded Multi Threaded Direct Buffered Direct Buffered Buffer RTI calls NO the RTI calls YES NO the RTI calls YES are executed are executed directly directly Buffer RTI YES YES YES YES callbacks Execute the RTI the RTI calls are Tick reads and The RTI calls are esimRTIthread calls executed directly executes one call executed directly reads and from the RTI call executes all calls buffer from the RTI call buffer The RTI is ticked tick tick tick esimRTIthread by Buffer the RTI YES YES YES YES callbacks Execute the RTI Tick reads and Tick reads and Tick reads and Tick reads and callbacks executes all executes one executes all executes one callbacks from callback from the callbacks from callback from the the RTI callback RTI callback the RTI callback RTI callback buffer buffer buffer buffer Table I 1 Overview of the functionality of esimRTIrtiAmbassadorTick function in the available combi nations of EsimRT libraries single threaded vs multi threaded and EsimRTI mode of operation direct mode vs buffered mode In the table tick should be read as esimRTIrtiAmbassadorTick The esimRTIrtiAmbassadorTick should be
339. i Offset 0 000 0 000 0 000 owed duration default j ms Finished 0 000 Period 10 000000000 ms gt Deadline default ms Error no error Cancel Figure 11 2 Task dialog The following properties can be modified in the Edit Task Properties window see Figure 11 2 82 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 Entrypoints This list shows all entrypoints that are associated with the task The Data Dictionary list contains all known entrypoints the Entrypoints list shows the entrypoints selected for the current task The list can be modified by pressing the buttons in between the two listboxes An entrypoint can be copied from the Data Dictionary list to the Entrypoints list right arrow or removed from the task list the Delete button The up and down arrow buttons can be used to re order the entrypoints For editing the entrypoint list a model file should be selected so a data dictionary will be loaded into memory see also Section 11 3 1 the data dictionary file of the model must have been build otherwise the list will be empty and no entrypoints can be selected Timing information for the selected entrypoint is shown next to the Entrypoints list Timing information can be modified by clicking on the entrypoint timing values Timing information can also be imported into the scheduler using the File Import timings menu item The latter is only possible if you
340. iance This subset includes the key functionality for developing SMP2 models and integrating them in a EuroSim simulation Specifically EuroSim supports only the Catalogue document type The entire work flow from creating catalogues to compilation and integration into a EuroSim simulator has been fully automated using the following e SMP2 Editor The graphical tool fully integrated in the EuroSim tool set that allows to create and edit SMP2 catalogues No separate catalogue validation tool is necessary only valid catalogues can be created using this tool Powerful undo redo functionality allows correcting mistakes SMP2 Validator smp2val This utility allows validation of SMP2 catalogues from the command line It is not mandatory when using the SMP2 Editor SMP2 Code Generator smp2gen In order to successfully use SMP2 the time consuming and error prone process of producing code according to the SMP2 C mapping needs to be automated This utility allows generation of Of course model logic has to be hand coded Dutch Space BV 69 iss 5 rev 0 SUM NLR EFO SUM 2 code from a catalogue Generated header files are compliant with the standard s C mapping Generated implementation files separate boilerplate code from the model logic Boilerplate code 1s based on the SMP2 MDK The code generation utility is integrated in the SMP2 Editor and also available from the command line for tweaking of the code generation paramete
341. icated to serve as an input variable as well as an output variable for ModelB Model Description Editor SimintExample md minbar dutchspace nl File Edit View Tools Help D 2 New Open NA SimintExample nn Er d calc_sin modelA calc_sin Anew i modelA calc_sin x double opa modelA calc_sin y double J update counter modelB update counter Ninput Ca counter modelB update counter counter double SQ output cth counter modelB update counter counter double zi home fl757 08 EfoHome Simintexample SimintExample md home fl75708 EfoHome Simintexample SimintExample model Experimental Figure 19 2 Model Description Editor 19 3 2 1 Datapool Once you have finished editing a Model Description file select the Tools Build All menu command in the Model Editor which generates the so called datapool see also Section 7 2 The datapool contains the variables described in the Model Description file s It also contains automatically generated entrypoints to exchange the data between model variables and datapool variables The variables in the datapool are always of the same type as the ones they refer to in the model files During the build process the variables and entrypoints in the datapool are merged into the data dictionary see Section 19 6 19 3 3 Parameter Exchange file A Parameter Exchange file describes which output variables in the
342. ies are available when one of the plot styles is selected History This value indicates how many samples of each variable should be simultaneously displayed Once the maximum is reached the older values will be discarded Manual scaling This checkbox can be checked if the user wishes to specify the minimum and maximum values for the axis Minimum The minimum value for the corresponding axis Maximum The minimum value for the corresponding axis Rotation The rotation of the labels on the corresponding axis The following property is available when the XY Plot style is selected X Axis Variable Select a variable from the Variables list that provides the X Axis variable values 12 14 3 2 Variable properties The variable properties are disabled if no variable is selected in the Variables list Otherwise they change the representation of the selected variable The following properties are available when the Alpha Numeric style is selected Format Allows you to enter an optional formatting string using the printf style see Section 12 14 3 3 The drop down list box gives you a few suggestions for representing integer values as hexadec imals Read Only If checked then this variable cannot be modified in the monitor During a simulation run an alphanumeric monitor can be used as a mechanism for updating the value of the variable s it is displaying You just need to type a new value into the field and press Return If the Format fie
343. iew to large icon mode The icons are large the plot title is shown below the icon and icons are initially placed right to left Small icons Toggles the plot view to small icon mode The icons are smaller the plot title is shown next to the icon and icons are initially placed right to left 140 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 a List Toggles the plot view to list mode The icons are small the plot title is shown next to the icon and icons are initially placed top to bottom 13 7 4 Plot menu 4 Add Plot Wizard Starts the wizard The wizard allows you to create a plot step by step All information needed to create a plot is gathered in several pages F New Plot Creates a new empty plot El Delete Plot s Deletes the plots selected on the plot view Show Plot s Shows the plots selected on the plot view Close Plot Window Closes an open plot window for the selected plot If you are using gnuplot the plot window can also be closed as usual However if you are using PV WAVE you must close the plot window this way S Print Prints the selected plots A Add Selected Variables as Curves Adds the variables selected in the variable browser as curves to the current graph If a variable is found containing x or time it is used as the X axis variable Otherwise the first variable 1s used as the X axis fe Edit Functions Shows the function editor dialog box for this plot It cont
344. iion from iialsng to stand by ri pala Executing minbardutchspacenl Test Controller Non Realtime V L00 2527500 269 1308 Experimental National Atos SED Aerospa Dutch Space Sis Laboratory NLR iss 5 rev 0 SUM NLR EFO SUM 2 Summary EuroSim Mk4 0 is an engineering simulator to support the design development and verification of space sub systems defined by ESA programmes of various scales The facility provides a reconfigurable real time execution environment with the possibility of man in the loop and or hardware in the loop additions This document describes the facilities available for usage in EuroSim Mk4 0 and how those facilities can be used Copyright Dutch Space BV AI rights reserved Disclosure to third parties of this document or any part thereof or the use of any information contained therein for purposes other than provided for by this document is not permitted except with the prior and express written permission of Dutch Space BV PO Box 32070 2303 DB Leiden The Netherlands ii Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 Revision Record Issue 0 Revision 1 Date 11 Mar 1994 Reason for change Document creation internal distribution only Changes AI pages 0 2 10 Apr 1994 Update to expand contents and take into account internal comments 15 Dec 1994 Completely updated for
345. il1553Stop mil1553 Close milbus and exit esimMil1553Close mil1553 return 0 Note that in example given above and in the remainder of this chapter use is made of the esimi function If the code is running on an external simulator the equivalent ext extMessage 3 man page 16 3 7 Case study Transferring data between a BC and a RT Error Error is available see the x This example demonstrates the esimMil153 interface x BC gt RT transfer and RT gt BC transfer is demonstrated will send 8 words from the BC to RT 3 and subaddress 5 The RT gt BC transfer will receive 8 words from RT 3 and subaddress 10 include lt esim h gt include lt esimMil1553 h gt define MIL1553_BOARDNR 0 define VME_A16_D define VME A24 D EVIC E hw vme 1 usrvme al6n d16 EVIC E hw vme 1 usrvme a24n d16 int main void int i int mil1553 uword snd 8 uword rcv 8 Open the milbus device x if mil1553 esimMi115530pen MIL1553 BOARDNR VME Ale D VME A24 DEVICE 1 esimError Cannot open MilONn return 1 Set the mode of the milbus to BC T if esimMil1553SetMode mil1553 MODE BCSIM 1 esimError Cannot set BC mode n return 1 x Add BC gt RT transfer of 8 bytes from BC to RT 3 and subaddress 5 esimMil1553BcAdd mil1553 3
346. ill be used to get the data dictionary The model file and hence the data dictionary defines which entrypoints and variables you can choose from in the dialogs when adding and entrypoint node or a variable node 7 6 2 Edit menu Add Model node Add a model node to the root node see Section 7 5 2 Add Entrypoint node Add an Entrypoint node to a Model node see Section 7 5 3 Add Inputs group node Add an Inputs group node to an Entrypoint node see Section 7 5 4 Add Outputs group node Add an Outputs group node to an Entrypoint node see Section 7 5 4 Add Input node Add an Input node to an Inputs group node see Section 7 5 5 Add Output node Add an Output node to an Outputs group node see Section 7 5 5 7 6 3 Tools menu Check Model Description for errors Checks the model description for any errors The model description is also automatically checked on each save to disk This feature can be disabled through the Tools Preferences menu 60 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 Chapter 8 Parameter Exchange Editor reference This chapter provides details on the Parameter Exchange Editor PXE The menu items that are specific to the PXE will be described in separate subsections For menu items not described in this chapter refer to Section 3 5 8 1 Introduction The use of the PXE is optional but you would typically use Parameter Exchange files when integrating several independent models into one sim
347. imeYMDHMSs Simtime in YMDHMSs return Integer tWallclocktime return Long_Float tHighResWallclocktime return Long_Float tWallclocktimets return Time_Spec D 1 3 3 Real time simulation state functions function EsimGetState return esimState function EsimSetState State esimState return Integer function EsimSetState State esimState return Boolean function EsimSetStateTimed State EsimState T in Time Spec Use_Simtime Integer return Integer function EsimSetStateTimed State EsimState T in Time Spec Use_Simtime Boolean return Boolean function EsimGetMainCycleTime return Time_Spec function EsimGetMainCycleBoundarySimtime return Time_Spec function EsimGetMainCycleBoundaryWallclocktime return Time_Spec 250 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 D 1 3 4 Real time task related functions function EsimGetTaskname return Chars_Ptr function EsimGetTaskname return String function EsimGetTaskrate return Long_Float function EsimEnableTask Taskname Chars_Ptr return Integer function EsimEnableTask Taskname String return Boolean function EsimDisableTask Taskname Chars Ptr return Integer function EsimDisableTask Taskname String return Boolean D 1 3 5 Event functions function EsimEventRaise EventName Chars_
348. imilar to the recorder Action Editor see Figure 12 18 in terms of overall layout but there are still many differences Nevertheless as can be seen in Figure 12 21 the basics are the same on the left hand side is the Dic tionary Browser see Section 12 5 for more information on the right hand side is a Variables list and in between are buttons to add to remove from and rearrange the variables in the list If you try to add an array or structure that contains more than 10 elements you will be asked if this is really what you want Since structures and arrays are expanded in the Variables list to their constituent variables this prevents against the accidental selection of large arrays or structures A monitor of more than 10 variables is generally not very useful There are two property areas in the editor the properties above the Variables list are properties of the monitor as a whole the properties below the list are properties of the currently selected variable in the Variables list zla Caption Jsdisadf Altitude Style Plot against Simulation Time y History 300 Altitude are Initialise_Altitude X Axis Variable 5 Thruster X Axis Y Axis Y Initialise_Thruster Manual Scaling V Manual Scaling IV D Thruster Star o Minimum fo cy altdata_ ects altdata_ALTITUDE Maximum 200 hm a09 y ch ahdata DECAYSPEED oP fas Rotation o Lets altdata_ DECAY COUNTER 1E Thruster Variables Thruster Th
349. imulation Controller 318 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 This version does not use HLA RTI for the data communication between engine and flywheel e as two models within EuroSim using two Simulation Controllers the engine model and the fly wheel model This version uses the EsimRTI library to exchange data through the RTI between engine and flywheel e as two stand alone programs build using Makefile without EuroSim This version uses the Esim RTI library to exchange data through the RTI between engine and flywheel 8 RTI API compared with the EsimRTI API Table 1 14 maps the RTI methods onto their EsimRTI equivalent functions The table also includes the short names as defined in esimRTIshortNames h That file includes a short name if the EsimRTI API cell contains two entries Dutch Space BV 319 Idy ILNUSF aq ozuo poddeuu IdV LLY vl I ode NLR EFO SUM 2 SWE LP9J LAWIsg Sooty ISTRIA LPOJT LY UT SO 3 poposdonguonensisoyaourjsupoelqo popssdonguonensisayoourysupalqciopessequiyolelopay LAUS SYPLJITEO JOPESSEGLUIVOJEJOPOJ 3urpuad SUIMOY SYPEITEDIOJJNINI9DIOPESSEJLU VOJEJOPIJI LU SO JOPESSEGUUIV 9IEJ0POJI LYUUISO SUMY OJPULHIODIOPESSEG UV OJEJSPOJI LISO O PUeHUONDLHOIUDADI LYWISY sooty Hooqo puepyUoHov noyUsagy LAUSO peayexoo JNEJOP 6 201 AU UO ISH9 QUISO s 9s PULIHA PUL 9INQINIV 103 AQLAY SUL SUOLJSUO PoH oS Me INTE A9 PULH lt gt TL
350. ing or modifying a schedule e Errors generated by the EuroSim scheduler during simulation runs C 1 Schedule Editor errors The Schedule Editor helps the model developer by indicating where problems arise during schedule definition When one of the items placed on the schedule view is red then there is an error for that item The error can be viewed in the item attributes window Below the possible error messages are described name unique The name entered is already in use by another task Change the name number_of_input_flows The item needs mandatory input Add an input number of output flows The item needs mandatory output Add an output active flows There is no active flow Active flows are flows from data generating items Connect a data generating item freguency mismatch A task has two input with different input freguencies or a synchronous store has an input freguency which does not match the assigned input freguency Remove one of the inputs change the frequency of one of the inputs or use a synchronous store in one of the flows freguency zero The timer of the synchronous store has a frequency of zero Change it incorrect ratio The ratio of the input and output frequency of a synchronous store is not Z n or n 1 Adjust one or both of the freguencies cycle There is a cycle in the schedule i e following the flows you can come back where you started Break the cycle by removing a flow or task critic
351. int in the model code Entrypoint nodes are children of a model node and can hold inputs and outputs group nodes When you create a new Entrypoint node you are presented with a dialog box to select an entrypoint from the data dictionary 7 5 4 Inputs and Outputs group nodes Inputs and Outputs group nodes are used to logically group the input and output variables of an entry point Inputs and Outputs group nodes are children of an Entrypoint node An Inputs group node can hold Input nodes and an Outputs group node can hold output nodes 7 5 5 Input and Output nodes Input and Output nodes refer to API variables of the model code i e variables in the data dictionary or they are user defined i e the node holds an ANSI C variable declaration Input and Output nodes cannot have children i e they are the leaves of the model description tree When you create a new input or output node you are presented with a dialog box to select the API variable from the data dictionary or enter an ANSI C variable declaration when defining a user defined variable In the latter case the name of the node is derived from the entered variable name Dutch Space BV 59 iss 5 rev 0 SUM NLR EFO SUM 2 7 6 Menu items Note that most common commands are also available in context sensitive menus that pop up when click ing the right mouse button Some commands also have keyboard short cuts 7 6 1 File menu Select model Select the model file that w
352. ion is being overloaded in the RTI there are always at most 2 versions of the function and the set of parameters belonging to the one is a subset of the parameters least informative version belonging to other most informative version Since C does not support overloading the most informative functions have been implemented in the EsimRTI Choosing between the invocations of a certain RTI method would normally be achieved by means of the distinct lists of parameters In the EsimRTI the least informative functions are available by means of calling the most informative ones with the non relevant parameters set to 0 or NULL 1 3 12 1 Examples that illustrate how functions are mapped onto overloaded methods and vice versa The function call esimRTIrtiAmbassadorRegisterObjectInstance theClassHandle NULL will invoke the method RTI RTIambassador registerObjectInstance theClassHandle Dutch Space BV 309 p iss 5 rev 0 SUM NLR EFO SUM 2 The function call esimRTIrtiAmbassadorRegisterObjectInstance theClassHandle objectName will invoke the method RTI RTIambassador registerObjectInstance theClassHandle objectName The method RTI FederateAmbassadorassador removeObjectInstance objectHandle time tag retractionHandle will call the function esimRTIfederateAmbassadorRemoveObjectInstance objectHandle time tag retractionHandle The method RTI FederateAmbassadorassador remov
353. ion task A and B run in parallel where they were running exclusive in the real time simulation K 4 Example 2 implicit mutual exclusion of two tasks Tasks A and B are scheduled as in example 1 However the allowed execution time for task A is set to 5 ms The real time execution shown in Figure K 4 does not differ from Figure K 2 But the parallelism in the AFAP simulation Figure K 5 has disappeared The simulation time cannot be incremented up to 5 ms until task A has completed Due to this implicit exclusion the acceleration factor is 2 348 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 simulation time 0 5 10 15 20 I I I I I real A allowed real B allowed P 0 5 10 15 20 wall clock time Figure K 4 Real time execution sequence with 5 ms allowed execution time for task A simulation time 0 5 15 20 wall clock time Figure K 5 AFAP execution sequence with 5 ms allowed execution time for task A K 5 Example 3 A chain of tasks is a pipeline and has parallelism A chain of tasks as shown in Figure K 6 is a pipeline and will be executed as such by the scheduler GA TAS Sa P A O OD C NY ae NE 100Hz Oms Figure K 6 A chain of tasks forming a pipeline The schedule has a basic freguency of 1000 Hz and the tasks have the following properties e Processor any Schedule Editor default e Allowed execution time 4 ms e Real execution time 3 ms In a real time run these specifi
354. iption Boolean t SMIExtSetDataDescription const ObjectID t ObjectID const DatalD_t DatalD const char description Parameter ObjectID Description Identifies the object to which the data item belongs DatalD Identifies the data item of which the description is set description Textual description Return Value TRUE if the operation succeeded otherwise FALSE Table 15 4 Parameters 164 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 15 6 3 SMIExtSetDataUni t 15 6 3 1 Functional description Attach a textual unit specification 15 6 3 2 Formal description to a data item Boolean t SMIExtSetDataUnit const ObjectID t ObjectID const DatalD_t DatalD const char xunit Parameter Description ObjectID Identifies the object to which the data item belongs DatalD Identifies the data item of which the unit is set unit Textual representation of the unit Return Value TRUE if the operation succeeded otherwise FALSE Table 15 5 Parameters Dutch Space BV 165 iss 5 rev 0 SUM NLR EFO SUM 2 15 6 4 SMIExtSetServiceDescription 15 6 4 1 Functional description Attach a textual description to a service 15 6 4 2 Formal description Boolean t SMIExtSetServiceDescription const ObjectID t ObjectID const ServicelD t ServicelD const char description Parameter
355. iption field on the right Enter the description The altitude decay operation Select the altdataSaltitude variable The Type and Init Source fields cannot be changed as they are extracted from the source file Enter a description of The altitude of the satellite Enter as Unit the string km as Min the value O and as Max the value 1000 Repeat this for the Dutch Space BV 25 iss 5 rev 0 SUM NLR EFO SUM 2 altdata decayspeed variable using the values Description The speed with which the altitude decays Unit km s Min 1 Max 200 The model should now look like Figure 4 5 Repeat the above steps for the three remaining sub models using the values from the next sections Model Editor Satellite model minbar dutchspace nl File Edit View Interface Tools Help NE a A A New Open Cut Ey Satellite model gt Altitude D Altitude O cizaltdata altitude O cjaaltdatabdecaycounter O cpaltdata decayspeed LE decayaltitude D Initialise_Altitude O chaltdata altitude O chaltdata decaycounter O chaltdata decayspeed 4 D eurosim Initialise Altitude f Da BA Copy Delete Model Tree V Parameter min Max unit Type mitSource Description gt O 1000 km 1 200 km O 1000 km 1 200 km dict2api s Satellite Linux lnitialise Altitude f subdict gt Satellite Linux Initialise_Altitude f refapi gmake Leaving director
356. irectories Add Define Options DDEBUG Compile Options ANSI C Fa Compile Options ANSI C g wal Compile Options F77 DP O Compile Options ADA Ce gl Add Loader Options Libraries Add Figure 6 4 Model Build Options dialog Options tab page Also specific compiler options can be specified including directories where the compilers should look for include files In the libraries field libraries which need to be linked to the simulator should specified in the form 1 ibraryname One of the more often used libraries is m the math library Build Options ERE Options Support Compilers F Linux Fortran runtime libraries W EuroSim External Simulator Access Server T EuroSim TeleMetry TeleCommand realtime library T Overwrite variable values with API default variables at init I Use user id instead of group id for testcontroller observer T Produce simulator that allows useful runs with purify non realtime I Represent wallclock and simulation time in UTC YYYY mm dd HH MM SS ssss iso relative time F PCI VME bridge interrupt support V Simulator Integration SIMINT support requires SMP support JV Simulation Model Portability SMP support I Matlab support Requires EuroSim s Matlab Real Time Workshop target F Shared memory size for the simulator in bytes Stack size for the simulator threads in bytes I Model message buffer size
357. is coupled with the data being exchanged over the link so that data integrity is also ensured At the simulator side this is done implicitly but at the client side the user has to make sure to call ext ViewSend before sending the synchronization token The synchronization token should be a unique token for each synchronization point in a simulator It is possible to have multiple synchronization points in a simulator possibly with multiple clients It is the responsibility to make sure that the numbers are unique If the same token number is used by multiple clients the simulator and or one of the clients will very likely become blocked At startup the client shall connect to the simulator before the first synchronization token is sent from the simulator to the client Sending synchronization tokens by the simulator is done by broadcasting as it is not possible to know in the simulator which client is performing synchronization external simulator access clients are anonymous at the simulator side So if the simulator sends the synchronization token before the client is connected the token gets lost and the synchronization mechanism at the client side will have missed one token resulting in a blocked client At the client side there are two functions for synchronization purposes The function extSyncSend sends the synchronization token to the simulator The function extSyncRecv waits for the synchro nization token from the simulator The follo
358. is desirable to be able to create a plot from a specific recorder file For example to compare the results from a certain test run to a reference run This can be achieved by adding recorder files to the variable browser File Add Recorder File Curves created with variables from this specific recorder file always display with the data in that specific recorder file Switching test result files has no effect on these curves The variables in the curves from such a manually inserted recorder file are labeled with A absolute 13 3 5 Creating a new plot To create a new plot either select F Plot New Plot to create an empty plot or select 4 Plot Add Plot Wizard to start the wizard that will guide you through the various needed steps to create a plot from information you provide 13 3 6 Changing a plot A plot is changed using the plot properties part of the user interface To show the plot properties select a plot on the plot view and choose Plot Properties Dutch Space BV 135 iss 5 rev 0 SUM NLR EFO SUM 2 Adding curves Curves can be added to a plot in many ways The easiest way 1s to use drag and drop Select the variables you would like to add as curves in the variable browser and drag them to the curve editor or on the desired plot icon in the plot view More information can be found in Section 13 4 2 Changing curves To change a curve or one of its properties click on it in the curve editor An edit
359. is module can be found in the manual page Eu roSim InitCond 3 Example load a data dictionary dict EuroSim Dict open test dict load initial values into that dictionary Sinitcond EuroSim InitCond read test init dict get an initial condition value value dict gt var value get test varl set an initial condition value Sdict gt var value set test var2 3 1415 save the new initial condition file in ASCII format Sinitcond gt write test2 init 0 14 4 5 EuroSim Link module This module wraps the EuroSim TM TC Link library see Chapter 17 You can create a TM TC link and connect to a running simulator with link open and link connect Then you can read and write to the link from perl using the functions link read and link write When you are finished you can call link close A complete overview of all functions provided by this module can be found in the manual page Eu roSim Link 3 14 4 6 EuroSim Conn module This is the low level module used to send and receive events messages from to a running simulator All of these functions are used internally by the EuroSim Session module To print a list of all events use print event list This function prints a list of all events their internal event number and their arguments A complete overview of all functions provided by this module can be found in the manual page Eu roSim Conn 3 Dutch Space BV 1
360. ism for adding new namespaces The root namespace is special it cannot be removed or renamed and no types may be placed in it Add a namespace by right clicking on the parent and selecting Add Nested from the context menu Note that no types are shown in the namespaces They are listed under the Types tab Types Key information on all types defined in the catalogue Note that types are not shown per names pace but in a flat list instead This provides a better overview A filter may be used to select the range of types to be shown Selection may be done per single namespace or per namespace tree Filter allows selection of a namespace Check Including Nested to shown types from entire tree rooted at Filter By default all types are shown in that case Filter is the root namespace The built in SMP2 types are never shown in this list This list is read only Double clicking an entry in the list opens the type s window and allows viewing and editing of all information Each kind of type has its own window type To add a new type click New Type This opens the New Type dialog 72 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 O NAIL Name Untitled Catalogue Satellite Namespace root V Use Filter Kind lt Select gt Visibility private Description 5 cues Figure 10 2 New Type dialog This dialog allows setting key information on the new type This information is the s
361. iss 5 rev 0 Appendix K Scheduler behavior with as fast as possible simulation K 1 Introduction The execution seguence of as fast as possible AFAP scheduling is a result of the same constraints as normal real time scheduling and the overall behavior will thus be the same However one should be aware that AFAP scheduling exploits the parallelism of the schedule to a maximum If a schedule is not well defined this parallelism could lead to erroneous behavior Below is an explanation of the opera tion of the scheduler followed by some examples illustrating AFAP scheduling and some consequences regarding parallelism K 2 Deadlines and simulation time A task in EuroSim has a deadline which is equal to the sum of its start time and its allowed execution time A deadline is the point in time at which a task should be ready In a non real time simulation the deadline is not a real world time but a virtual simulation time In a normal speed non real time simulation this simulation time runs as fast as the real world time However when a task is not ready before its deadline the simulation time is halted until the task gets ready Thus when a task misses a deadline no more tasks will be started until that task gets ready When the scheduler is running a simulation as fast as possible it increments the simulation time and starts tasks until the simulation time reaches the deadline of one of the started tasks The scheduler then waits unti
362. ith every tool These menus have a number of stan dard items which are described in this section Note that each tool can add a number of tool specific Items to these menus these tool specific items are described in the sections on these tools 3 5 1 New Open Save Save As Print Exit 3 5 2 Undo Redo Cut Copy Paste Delete 3 5 3 Shell 3 5 4 Add File menu A new file will be created If there are any unsaved changes in the current file a warning dialog box will pop up and ask whether you want to save the changes first Pop up a file selection dialog box in which a file to be opened can be selected If there are any unsaved changes to the current file first a Warning dialog box will appear see New Save the current file without closing it If the current file has never been saved before an Untitled file a file selection dialog box will pop up asking the user to enter the name of the file Note that this item cannot be selected if there are no unsaved changes Note that a window title will have an asterisk appended to the name of the file in the title if the file needs to be saved Save the current file with a different name The newly created file will become the current file Print the current file in an appropriate form Close the tool and all windows associated with it If there are any unsaved changes a warning dialog box will pop up Edit menu Undo the last action performed by t
363. itor atosorigin com Cancel Ok Java Applet Window Figure 21 7 Monitor list dialog This shows a list of all monitors that are currently connected to the server To retreive the sessionlist s tartlist of a monitor select a row and click Ok 21 5 4 Session list dialog The session list dialog looks like Figure 21 8 Dutch Space BV 223 iss 5 rev 0 SUM NLR EFO SUM 2 Join Session Start Session Join Session Name IB nwgesim002 nl int atosorigin com 0 homestops ESS ESS LinuwESS exe nwgesim002 nl int atosorigin com 2 homenl08044 edr simulator edritest nwgesim002 nl int atosorigin com 1 home n 27111 counter counter Linux Start Session tuner ID Name Counter home 27111 counter counter sim_ Counter2 homelni27111 counter counter sim Cancel Ok Java Applet Window Figure 21 8 Session list dialog It shows a list of all sessions that are currently running on the monitors local network and a list of simulators that can be started Each running session is represented on a row in the upper table that contains its hostname prefcon number and the name and path of the simulator executable The lower table contains a short name and the name and path for sessions that can be started Join or start a session by selecting the row and pressing the Ok button 21 5 5 API Tab
364. just copied the two files e Type the following command at the prompt regsvr32 esimcom dll followed by the Enter key 20 2 2 C When you plan to develop C clients then you need the esimcom h the header file and the esim com 1f c files in your development environment Copy those files from the EuroSim include directory into an appropriate directory and make sure you add an include path to the esimcom h file The esim cim_if c file should be compiled and linked in with the other files of your client program If you get errors at compile time about MIDL versions you may need to use the esimcom_vc6 h header file instead of esimcom h 20 3 Programmers reference The complete reference is installed as HTML pages in the doc subdirectory of the directory where Eu roSim is installed For background information on COM DCOM programming see COM98 Dutch Space BV 207 iss 5 rev 0 SUM NLR EFO SUM 2 20 4 Use case Excel example In this chapter we will guide you through the EuroSim COM interface by means of a use case We have a simulation which is kept very simple for demonstration purpose and a client application based on Microsoft Excel and Visual Basic for Applications which will launch the simulator monitor the state of variables in the model code of the simulator monitor wallclock time simulation time and the state of the simulator As a last example the client will change the value of the variables in the
365. keyvals file keyval file keyvals file keyval r file keyval path string required string i ic_keyvals 284 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 ic keyval ic keyvals ic keyval 7 ic keyval path string required string active numeric mdl_keyvals mdl_keyval mdl_keyvals mdl_keyval r mdl keyval path string caption string required string active numeric iconView numeric i mmi_keyvals mmi_keyval mmi_keyvals mmi_keyval i mmi_keyval path string required string caption string r F 8 MMI file format The format is identical to the simulation definition The purpose of an MMI file is to define monitors and action buttons on a tab page The following keywords are valid for the MMI format version the version number of the file format should be 2 monitor start a nested section for a monitor definition See below for valid keywords This keyword can be used more than once Valid keywords for the monitor nested section name the caption of the monitor or action button mdl the scenario file containing the action used by the action button Use an empty string if not relevant action the action executed or disabled enabled by the action button Use an empty string if not relevant monitorType the type of the monitor Type Description 0 Alpha numerical monitor 1 Plot against the simulation time Table
366. l x icon on action Sheet Hexadecimal x icon on action Sheet x bitmap is string x bitmap bitmap string x bitmap x index is Decimal x index index Octadecimal index x index is Hexadecimal index x folder is string folder x folder string x folder x actionmgr is Decimal actionmgr Octadecimal actionmgr is Hexadecimal x action mgr nr x type is string type string string description field x ActionStateAttribute identifier ActionStateAttribute identifier ActionStateAttribute or identifier ActionStateAttribute identifier ActionStateAttribute plus identifier CompoundStatement Cont Statementlist Cont begin Cont StatementList Cont end F StatementList Statement StatementList Statement Statement DeclarationList for Assignment Condition Assignment Cont Statement for Assignment to Expr loop Cont Statement while Condition Cont Statement do Statement while Condition Term 270 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 IfStatement do CompoundStatement while Condition Term continue Term break Term return Term return Expr Term Assignment Term BuiltInCommand Term FunctionCall Term Term IfStatement CompoundStatement Term if Condition Cont ThenStatement ElseStatement if Condition Cont ThenStatement ThenStatement Statement ElseStatement else Cont Statement
367. l code a script or the event connection An event can also be raised by an External Event Handler e g a handler connected to a HW device or a signal handler see section Section 11 3 5 external event handler Error shows the status of the item 11 2 6 O Output events An output connector can be raised by a completed task or by an input connector It represents an event related to simulator state changes and scheduler mode switches A user defined output event activates the user defined input event that matches its name No properties can be modified Only user defined output events can be renamed 11 2 7 I Timers Timers activate their output at the specified frequency and can be used to activate f i tasks The max imum allowed frequency can be defined in the Schedule Configuration tool see Section 11 3 5 The system uses 200 Hz IRIX or 100 Hz Linux Windows NT as default value Timer id9 2 Freguency 20 000000000000 Hz Period 50 000000000 ms Offset 0 000000000 q ms Error no error Figure 11 7 Timer Dialog The following properties can be modified in the properties dialog see Figure 11 7 86 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 Frequency and Period Use either of these to set the frequency of the timer If one is modified the other is updated au tomatically The maximum and default frequency is 200 Hz IRIX or 100 Hz Linux Windows NT The
368. l that task is ready and continues to increment the simulation time until the next deadline is reached K 3 Example 1 AFAP simulation with 2 independent tasks Two tasks A and B are scheduled according to the schedule of Figure K 1 Both tasks have an allowed execution time of 15 ms Task A has a real execution time of 4 ms and runs on processor 1 Task B has a real execution time of 6 ms and runs on processor 2 The real time execution sequence is shown in Figure K 2 Tasks B starts after task A is ready Dutch Space BV 347 iss 5 rev 0 SUM NLR EFO SUM 2 GA rN O 50Hz Oms GH PLS A 50Hz Sms Figure K 1 Schedule of example 1 simulation time 0 5 10 15 20 I l real A allowed real R allowed aa 0 5 10 15 20 wall clock time Figure K 2 Real time execution sequence simulation time 0 10 15 20 l l A real B real 0 5 10 15 20 wall clock time Figure K 3 AFAP execution sequence Figure K 3 shows the execution sequence of the AFAP simulation After task A is started the simulation time may be increased immediately up to 5 ms because there is no task with a deadline at 5 ms Task B can thus be started and the simulation time can be increased up to 10 ms The simulation time can be increased up to 15 ms only after the completion of task A and up to 20 ms after the completion of task B The 20 ms of simulation time are executed in 6 ms real time an acceleration factor of 3 3 In the AFAP simulat
369. l the default editor defined under Windows NT Dutch Space BV 279 iss 5 rev 0 SUM NLR EFO SUM 2 F3 Recorder file format The files written by the MDL record command and the files read by the MDL stimulate command both have the same file format Each file can contain input output data for a number of variables The number of variables in a particular file is stated at the beginning of the file Following the line denoting the number of variables is a set of lines one for each variable stating the variable name variable type and variable dimension The lt type gt field in the header is a basic type as defined in the C language FORTRAN or Ada Mission lt missionname mdl gt Record size lt number of bytes gt Dict lt dictname dict gt SimTime lt simtime varname gt TimeFormat relative UTC Number of variables lt number gt lt variable path gt lt type gt lt variable path dimension gt Figure F 1 Syntax of EuroSim recording files Following these definitions is a set of lines one for each input timepoint stating the stimuli data to be inserted or register data generated for each of the variables The order of the values of the variables is the same as the definitions given for the variables The files all contain binary data for the lt variable value gt records of the variable values The headers of the files are in ASCII In Figure F 1 part of the syntax definition is s
370. ld specifies a conversion f i to hexadecimal then you must also enter the value in that format For traceability this update event is logged Read only variables cannot be edited and are displayed as text instead of an edit field If the variable is a parameter then that variable is always read only The following properties are available when a Plot style is selected Show Line If checked connect the data points in the plot with a line Line Color Press the Select button to select the color for the line Symbol Choose a symbol to be used for each data point Symbol Color Press the Select button to select the color for the symbol Dutch Space BV 131 iss 5 rev 0 SUM NLR EFO SUM 2 12 14 3 3 Variable formatting and conversion The Format field of the Variable properties allows formatting and or conversion of the monitored vari able When this field is left blank then a default formatting will be applied that is appropriate for the type of the variable The Format field supports a sub set of the format string as specfied for the printf function see the printf 3 man page for more details The following length modifiers are supported h short int or unsigned short int II long long int or unsigned long long int Make sure that the length modifier matches the type of the model variable in the simulator You can retrieve the variable type by pressing the right mouse button on the variable in the Dictionary Browser
371. lect the input and output variables and the entrypoints from the data dictionary and logically group them together see for example the calc_sin node in Figure 19 2 This describes a model at a higher abstraction level even if the original model source code is rather unstructured or actually contains more than one sub model In the latter case the Model Description file can be used to organize the model by defining multiple model nodes with entrypoints and variables that refer to a single 200 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 model source code file Each model variable that is described as a variable in the Model Description file will be available for exchange with other variable s It is possible to add one or more Model Description file nodes to a model using the EuroSim Model Editor see Section 6 2 3 4 When you select the Edit command on a Model Description file node in the Model Editor the Model Description Editor will be started After specifying which variables from the example models should be available for model to model ex changes the Model Description Editor looks like Figure 19 2 We have created two model nodes ModelA and Mode1B that contain references to the entrypoints in the respective models Since this is a very sim ple example the screen shot shows an almost one to one copy of the original model tree in the Model Editor Notice that the counter variable in the Model Description file has been dupl
372. lication model a task is created which is scheduled at 5 Hz and which calls a procedure which reads the incoming telecommand packets The actually reading of the packets is done using esimLinkRead the information being put into tmt cPacket The return code ret is used to check on the success of the read include esim h include esimlink h define PUS P HEADER SIZE sizeof PUS_P Header define PUS DATA SIZE 512 static EGSE_uns8 xtmtcPacket NULL void decodeTelecommand void ret esimLinkRead tmtcLink char tmtcPacket PUS_P_HEADER_SIZE PUS_DATA_SIZE if ret lt 0 if ret lt 0 incoming package is bigger than allocated data area esimMessage Fatal TmTc command too big to read value of zero means no data to read return 186 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 PUS_P_Decompose_Packet_Header tmtcPacket amp VersionNumber Type 8 DataFieldHeaderFlag sApplicationProcessld amp SegmentationFlags amp SourcesequenceCount amp PacketLength External Client polling for packets An external client has two possibilities to get packets The first is to use the polling method as described above i e regularly calling esimLinkRead to check if there are any incoming packets available In the Ground Station TM TC example code incoming telemetry packets are checked for at 10H
373. lity 100 Mbit s network adapters and cable The above figure can be affected in a negative way by a number of causes e Cheap network cards that saturate the CPU at an interrupt rate that allows only a few MByte s on a 100 Mbit s network e Overhead and latency introduced by routers e Operating system e Driver implementation e Collisions in a non isolated network e Configuration tuning of TCP IP parameters The latter point needs some explanation On most systems the default transmit and receive buffer size for TCP IP sockets is only 16384 bytes On Linux you can use the sysct1 8 command to increase buffer sizes 18 8 1 Maximum throughput When using an non isolated network you must be aware of network collisions that affect the average throughput Collisions are caused by multiple network nodes trying to access the medium i e send a packet at the same time Each node will retry after a random interval For that reason a safe rule of thumb is to take one third 1 3 of the theoretical maximum as a basis for your calculations In practice this means that you can transfer 3 MBytes s on a 100 Mbit s network or in EuroSim terms have a view of 7500 long integers 4 bytes each updated at 100 Hz Be aware though that any network hiccup will cause buffer overflows at such high data rates 18 9 Building the client 18 9 1 Unix and Linux The external simulator access libraries are provided as dynamic shared objects
374. lity manager This can be achieved by doing the following before starting EuroSim as described in the previous section e The EuroSim Facility Manager creates a directory where the shared project database can be stored e Set the environment variable EFO HOME to this directory e Start EuroSim see Section 4 2 4 5 Creating a model In the main EuroSim window select the project to be used for this case study from the Project combobox and press the Model Editor button to create a new model The Model Editor will show When creating a new model a basic model structure consisting of the root node will appear When editing an existing model select File New to create this basic model structure see Figure 4 2 On a Windows NT platform environment variables are defined in the file EFOROOT bin esim bashrc 20 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 Model Editor Untitled model minbar dutchspace nl File Edit View Interface Tools Help D A New Open Save Model Tee __ Parameter win wax Unt Type it source Description e EW Untitled model Experimental Figure 4 2 A new model 4 5 1 Model The model for this simulation is divided into four parts e a sub model that decreases the altitude of the satellite e a sub model that lifts the satellite to a higher altitude by usage of a thruster e a sub model that initializes the altitude decay sub model e a sub
375. ll Scenario tab pages The selected tab page will be raised to the top Toolbar Button Labels Show text below the toolbar buttons This setting is saved in a settings file and will be restored the next time the Simulation Controller is started Large Toolbar Buttons Show large icons for the toolbar buttons instead of the default small icons This setting is saved in a settings file and will be restored the next time the Simulation Controller is started Tabbar Labels Show text on the tab bar Disabling this setting can be useful if your Simulation Definition file contains a lot of MMI and or script files This setting is saved in a settings file and will be restored the next time the Simulation Controller is started Refresh If the data dictionary or schedule file have been changed then reload these files Dutch Space BV 107 iss 5 rev 0 SUM NLR EFO SUM 2 12 7 2 Insert menu New Scenario Add a new Scenario file to the Simulation Definition This will automatically create a new Scenario tab page where this file can be edited You will be asked to enter the caption of the new tab page Add Scenario Import an existing scenario file into the Simulation Definition A new tab page will be created where this file can be edited You will be asked to enter the caption of the new tab page New MMI Add a new MMI file to the Simulation Definition A new MMI tab page will appear where you can add monitors etc You will be asked to ent
376. ller The editors are described in detail in Section 12 13 2 3 9 Initial Condition Editor With the Initial Condition Editor initial conditions can be created and modified An initial condition 1s used to initialize the simulator by providing the simulation variables with initial values The Initial Condition Editor is described in Section 12 6 2 3 10 Test Analyzer The Test Analyzer can be used to view and plot the results from a simulation run Chapter 13 contains more information on the Test Analyzer 2 4 Facility and project management With respect to facility and project management there are the following concepts 2 4 1 Facility manager This is the system administrator having root privileges responsible for the EuroSim installation including the default system wide project file For more information on the facility managers role refer to OMOS 2 4 2 Project file This is a file holding the definition of a number of EuroSim projects The default project file is maintained by the user The project file is located by default in the eurosim directory in the home directory of the user The location can be changed by defining the EFO HOME variable To use a shared project file a user has to set the EFO HOME environment variable to point to a shared project file 2 4 3 Project A EuroSim project consists of e a description e adirectory where the files reside also called the project root e
377. llite model tr i i users fl75708 EfoHome Satellite 2004 09 15 13 59 40 Satellite model tr S altituderec 777 Jusers fI75708 EfoHome Satellite 2004 09 15 13 59 40 altitude rec single recording i simulation time Altitude gt Altitude 2 decayaltitude i altdata altitude The altitude of the satellite Figure 13 7 The variable browser The variable browser has two columns The first column contains the variables the second column contains the variable descriptions 13 6 Plot view reference The plot view shows all defined plots The plot view can be switched between three modes e Large icons e Small icons e List Figure 13 8 shows the default large icons Em Em Em E a f f 3 Pag gt Robot speed Robot position Plots against time Figure 13 8 The plot view In small icons and list mode the plot icon is small and the plot title is shown right of the icons instead of below them The difference between small icons and list mode is the order of display In small icons mode the icons are ordered left to right while in list mode the icons are ordered top to bottom 13 7 Menu items reference The next sections describe each of the menus and their menu items Some of these menu items also have a toolbar button that performs the same action These are described in Section 13 8 Dutch Space BV 139 iss 5 rev 0 SUM NLR EFO SUM 2 13 7 1 File menu New Starts a new empty plt file 6 Open
378. long duration some time slots are filled completely leaving no time to run the action manager In this case the default Low priority will lead to real time errors Scheduling the action manager in the Schedule Editor with a higher priority may be the solution This is illustrated below Task A ActionMgr Default scheduling pi lo dd ActionMgr mm am em Task A m Mamally scheduled Lo Default vs Manual scheduling of the ActionMgr when having a long duration task 11 4 8 1 Multiple action managers There are situations where a single action manager does not allow you to execute the actions at the appropriate place in the schedule For that situation it is possible to specify more than one action manager task The number of action managers can be configured in the Schedule Configuration dialog box see Section 11 3 5 Each action manager can be scheduled individually at different frequencies in each scheduler state When there is only a single action manager it has the name ACTION_MGR In the case when there is more than one action manager the names are ACTION MGR 0 ACTION_MGR_1 etc The number corresponds to the action manager number you can specify for each individual action in the script dialog box in the Simulation Controller see Section 12 13 1 11 4 9 Clock types Depending on the platform the simulator will be running on the developer can choose from a number of clock types or clock sources The type of clock t
379. lowing call in the external simulator source code include lt extSim h gt extInit Note that this only needs to be called once in your main function Next the link is set up with the following call in the external simulator source code include lt extSim h gt sim extConnect hostname clientname eventHandler userdata async prefcon and takes the arguments hostname Simulator host running target EuroSim simulator clientname Name by which this client is to be known to the EuroSim server e g TRPClientTester eventHandler Name of procedure in external simulator code which will process events coming from EuroSim simulator flags indicating data updates and state changes are received as events Dutch Space BV 193 iss 5 rev 0 SUM NLR EFO SUM 2 userdata Pointer to user defined data This pointer is passed as a parameter to the eventHandler proce dure async Flag to indicate signal driven event handling versus polled event handling see also extPoll prefcon Preferred connection on the EuroSim server should be used to select between simulators when more than one is currently active on the EuroSim simulation server default of 0 is sufficient if only one simulator is active A pointer is returned which identifies the simulator and which you need to reference later on e g when setting up the local view of the data dictionary The extClient manual pa
380. m SimAccess Type Library see Figure 20 1 Press the OK button of this dialog to accept the changes and close the dialog M Visual Basic For Applications M Microsoft Excel 9 0 Object Library 145 RADIUS Protocol 1 0 Type Library Acrobat Scan Type Library Priority Active DS Type Library Help Active Setup Control Library ActiveEx type library C ActiveMovie control type library ActiveX DLL to perform Migration of MS Repository V1 DAM Automation Server Type Library n gt 2 JO00 EuroSim Sim ccess Type Library Location d EfoRootWin32 bin esimcom tlb Language Standard Figure 20 1 Adding a reference to the EuroSim type library Now we will add a declaration that creates an instance of the EuroSim COM interface Create a new module by right clicking the VBAProject tree and selecting Insert Module Then type the following in the code section of the new module 208 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 Public Sim As New EuroSim SimAccess Your VB editor should now look similar to Figure 20 2 7g Microsoft Visual Basic sum_client xls design Module1 Code In xj amp File Edit View Insert Format Debug Run Tools Add Ins Window Help lej x Nadir oc gt ny a MY B inz col 3 Project YBAProject xj Public Sim As New EuroSim Simiccess YBAProject sum client xls B 63 Microsoft Excel Objects EB Sheet1 Sheet1 B Sheet2 Sheet2
381. made known when adding it to the view e g extVarInt the different types possible are listed in the ext View manual pages which also provides more detailed information on setting up data views Connecting the View to EuroSim The final step is to define the connection characteristics for the local data view The given frequency in extViewConnect is only useful for views which are requested with EXT_DICT_READ permission It indicates how many times per second a view must be sent over The maximum frequency is the maximum frequency of the EuroSim scheduler currently 200Hz This fre quency can be changed with a call to extViewChangeFrequency The last argument in extViewConnect indicates if compression should be used For now only one compression method is available which simply discards values that are not changed since the last update and has minimal effect on process time Alternative Method to Create Use a Local Data View An alternative way of setting up a local data view requires access to EuroSim dict access routines and the example code as provided in EFOROOT src TmTc ExtSimModel uses this technique to set up the write view The method described above is generally preferred as it can be used by any external simulator independently of EuroSim the only knowledge of EuroSim then being required is a list of data dictionary items 18 7 5 Receiving and sending shared data at runtime Receiving Data Update
382. mands are mapped to EuroSim state changes as follows SMP2 state change commands EuroSim state Run Executing Hold Standby Store Not Implemented Restore Not Implemented Exit Exit Abort Abort Table 10 2 SMP2 ISimulator state change mapping to EuroSim states 10 6 4 C mapping The generated code is human readable It is possible to generate all header code in a single file Alternatively the code for each C class can be generated to a separate file It is possible and recommended to generate each type surrounded by its own namespace declara tion or alternatively group all types in a single namespace declaration On top of the C mapping which concerns only header files separate implementation and boil erplate files can be generated that automate writing of model code as much as possible Parameterless operations cannot be supported due to a known bug in SMP2 s MDK In line property getters and setters are supported as suggested in the standard Support for the Static flag of Feature in boilerplate file is limited Hand coding may be necessary in boilerplate files A public static void Publish IPublication method is generated for SMP2 Classes that may be used to publish the class s fields An implementation of the Publish method for models is provided in boilerplate code This method publishes all types that may be used in the model and all the models fields and operations Alt
383. ml OM This directory contains the EuroSim Owner s Manual in HTML format PMA05 EuroSim manual pages 2005 FSS EFO SPE 523 issue 3 revision 0 2 Sep 2004 This docu ment contains a printed version of all end user relevant manual pages which are also available on line though the UNIX man command PVW Visual Numerics Inc Documentation and manuals for PV WAVE CL version 6 01 Contains the user manual and reference documentation for the operation of PV Wave Sec03 ECSS Secretariat ed Ground systems and operations telemetry and telecommand packet utilization Space engineering no ECSS E 70 41A ESA ESTEC 2003 SMP03 Simulation model portability handbook 2003 EWP 2080 issue 1 revision 4 2003 01 29 This document is the Handbook for the Simulation Model Portability SMP Standard SMPO a Simulation model portability 2 0 c mapping 2005 EGOS SIM GEN TN 0102 issue 1 revi sion 2 2005 10 28 This document contains the mapping to C for both the metamodel and the component model of the SMP2 standard SMP05b Simulation model portability 2 0 component model 2005 EGOS SIM GEN TN 0101 issue 1 revision 2 2005 10 28 This document specifies the component model of the SMP2 standard SMP05c Simulation model portability 2 0 handbook 2005 EGOS SIM GEN TN 0099 issue 1 revision 2 2005 10 28 This document is the Handbook for the SMP2 Standard SMP05d Simulation model portability 2 0 c model developme
384. mmands the original registration file produced may be overwritten 280 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 F 4 The test results file The data recording process produces an index file in which all recorded Application model variables names are logged including the name of the file where their values can be found In Figure F 2 an example of an index file is shown This file can be used to get a quick overview index of the various variables recorded to disk during real time simulation It is meant to be used during off line analysis of the recorded data The name of the index file is derived from the name of the ready to run simulator executable filename If that is SUM exe then the index file will get the filename SUM exe tr Filename Variable SateliteDecayTest rec simulation_time SateliteDecayTest rec Altitude altitude SateliteDecayTest rec Thruster thrusteronoff SateliteDecayTest rec Altitude decaySpeed Figure F 3 An example of a test results file F 5 Exports file format The exports file which has as name modelname export s describes which part of the EuroSim data dictionary may be accessed by external non EuroSim simulators For each part that should be accessi ble for external simulators one can indicate how it can be accessed read write or both and by whom The exports file consists of a number of lines each line describing one part of the data dictionar
385. model that initializes the thruster sub model The two initialization sub models will initialize all the variables of the model The thruster sub model will monitor the altitude and keep it within limits These limits are between 210 km and 280 km respectively When it is below the lower limit the thruster will increase the altitude until it reaches the upper limit At that point it will wait until the altitude has decayed to the lower limit and the process starts all over again In Figure 4 3 the flowcharts of the two main sub models are shown These flowcharts could be compared to a first version of the design Later on in the case study more optimized code will be used decrease altitude increase altitude altitude lt altitude gt 0 e upper limit no altitude gt lower limit Figure 4 3 The altitude left and thruster models Dutch Space BV 21 iss 5 rev 0 SUM NLR EFO SUM 2 4 5 2 Adding the sub models In order to add the four sub models to the model select the root node the left most node and choose Edit Add Org Node from the menu In the window that appears enter as name Altitude Add another org node after first selecting the root node again if necessary and this time use the name Thruster The next level of the model hierarchy will consist of four source files each corresponding to one of the four sub models Start by selecting the Altitude node and then do an Edit Add
386. monitor variables in the simulation There are two basic types of monitors alpha numerical i e each variable is presented as a caption followed by the value and graphical where each variable is tracked over time or possibly against another variable and plotted on a canvas See Figure 12 20 for an example Besides monitoring variables you can also add Action Buttons to execute MDL scripts or to enable disable recorders or stimuli atio 0 olle ate e bar d pace x File Edit View Insert Server Control Debug Tools Help DB 2 9 A C E KH u 4 b i O New Open Undo Pause Abort Mark U Input Files 5 Schedule Q API 13 Satellite dal Monitors altdata altitude 274 km altdata decayspeed 20 km s lowerAltitudeLimit 210 km satelliteAscentSpeed fio thrusterOnOff o 1 0n 0 0ff upperAltitudeLimit 280 km altdata altitude 4 Set decay speed Vv Toggle recorder Time seconds Wallclock Message 0 0000 1 0466 clock state transition from initialising to stand by 0 0000 3 3967 clock state transition from stand by to executing 2 7100 6 1068 script manually triggered action Set decay speed to 20 Executing minbar dutchspace nl Test Controller Realtime v 1 00 128 7300 132 1359 Experimental Figure 12 20 The MMI tab page When you select a monitor by clicking on the monitor window with the left mouse button a rectangle with
387. more than one file node referring to the same source filename even if these files are in different directories 46 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 Double clicking on a file node will unfold or fold it thus showing the API information of a source file If the source file cannot be parsed due to a syntax error the broken file icon is shown If the API information is changed i e attributes of variables or entrypoints are changed and the file is not yet saved the file icon gets an asterisk Ef A variable or entrypoint is part of the API if its checkbox is checked See the decayaltitude entry node in Figure 6 1 Use the mouse or the space bar to change the state of the API check box on the current selection which can contain multiple items Interface Save API writes this information to the source file Warnings and errors that occur during parsing and saving of files are shown in the logging window at the bottom of the Model Editor For more information on how to add SMP source code and or C sub models see Section 15 7 6 2 3 2 FrameMaker file node A FrameMaker file node can be used to attach documentation to a model The file should be a FrameMa ker MIF or regular document file Only the MIF type of FrameMaker file can be versioned the regular FrameMaker file will cause problems 6 2 3 3 Environment file node The environment node of a model is used to store information on the current development en
388. ms Error no error Cancel Figure 11 3 Non Real time Task Dialog The following properties can be modified in the properties dialog see Figure 11 3 Entrypoints This field indicates the entrypoints that will be triggered by this non real time task This list can be modified just like real time tasks see Section 11 2 1 Taskname The name of the non real time task Buffer Capacity This indicates the buffering capacity of the non real time task The Period field is inherited from the schedule Timingsfile shows the selected timingsfile Error shows the status of the non real time task 11 2 3 Mutual exclusions Mutual exclusions are used for asynchronous stores Independently of the direction of a connected flow only one task of those connected to the store will be executed at a time The sequence of execution is done on a first come first serve basis 84 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 Mutual Exclusion New Mutex Name jm Mutex Tasks Shared Task variables altdata altitude altdatabdecayspeed Error no error Figure 11 4 Mutual Exclusion Dialog The following properties are shown in the properties window see Figure 11 4 Tasks This list shows all tasks currently connected to the mutual exclusion Shared Task Variables The Shared Task variables box shows a list of the variables that are shared by the listed task s
389. mtime void struct timespec esimGetSimtimets void void esimGetSimtimeYMDHMSs int t 7 double esimGetWallclocktime void struct timespec esimGetWallclocktimets void double esimGetHighResWallclocktime void int esimSetSimtime double simtime int esimSetSimtimets struct timespec simtime int esimSetSimtimeYMDHMSs int t 7 D 1 1 3 Real time simulation state functions esimState esimGetState void int esimSetState esimState state int esimSetStateTimed esimState state const struct timespec xt int use_simtime Dutch Space BV 247 iss 5 rev 0 SUM NLR EFO SUM 2 struct timespec esimGetMainCycleTime void struct timespec esimGetMainCycleBoundarySimtime void struct timespec esimGetMainCycleBoundaryWallclocktime void D 1 1 4 Real time task related functions const char xesimGetTaskname void double esimGetTaskrate void int esimEnableTask const char taskname int esimDisableTask const char xtaskname int esimEntrypointFreguency esimState state const char xentrypoint double freq int esimGetRealtime void int esimSetRealtime int on D 1 1 5 Event functions esim esim esim esim esim Eve Eve Eve Eve Eve ntRaise const char xe ntCount const char xe D 1 1 6 Real time clock functions do in do ub int ubl esimSet le
390. mulator Hence keep your scripts as simple and small as possible Don t write large loops and keep computation to a minimum If you have to do serious programming and or computation consider adding an extra sub model and associated tasks to you model Initial as this can change during the simulation See Section 11 3 5 for scheduling of the ACTION_MGR 258 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 E 2 MDL constants types variables operators and expressions Variable names are made up of letters underscores and digits Upper and lower case letters are distinct MDL has four basic variable types e int representing an integer value e float representing a floating point value e string representing a character string e datetime representing a time value Variables which are explicitly declared as one of the above are called static variables Static variables are in the absence of an initializer always initialize at zero or the empty string Variables need not be declared in MDL Undeclared variables are created automatically the first time they are used as a left hand value in an assignment These variables are called automatic variables The scope of variables is that of the enclosing action body or function see below By prepending the action or function name the static variables from other actions and functions can be accessed Static variables retain their values in between different acti
391. n e Textfields large rectangular areas sometimes with sliders alongside it which can be used to enter text If the field has sliders they can be used to reveal parts of the field which are not shown on screen 3 2 Mouse buttons An item in a window is selected by placing the mouse pointer over it and clicking the left mouse button MB1 More objects can be selected by holding down the Control or Shift key when clicking MBI Double clicking an item with MB1 will activate it i e do the thing the icon represents e g drawing a plot or fold unfold it in case it is an icon in a tree structure Pressing the left mouse button over a selected icon allows one to drag the icon and drop it somewhere else e g in a monitor definition that will then be extended with the new variable name Dutch Space BV 13 iss 5 rev 0 SUM NLR EFO SUM 2 3 3 Keyboard shortcuts The menu items can also be accessed using the keyboard There are two methods e The Alt key can be used to access the menubar Once selected menu options can be selected by using the cursor keys followed by Return or by typing the underlined letter for a particular menu option Escape aborts from the menu traversal e Specific often used menu items can also be selected directly using a short cut These shortcuts are usually combinations of the Ctrl and Alt keys and a character key and are shown next to the menu item In textfields the usual editing keys such as T
392. n 1s run on more than one processor more than one current task can be present in the schedule view 12 9 2 4 Breakpoint This is used to indicate the entrypoint s which have a breakpoint attached 12 9 2 5 Trace This is used to indicate the entrypoint activation will be traced A traced entrypoint writes time tagged messages in the Simulation Controller log window If an entrypoint has both a trace and a breakpoint only the breakpoint is shown 12 9 2 6 Color coding The tasks are color coded blue indicates the selected task green indicates the currently executing task breakpoint 12 9 3 Menu items The following Debug menu item is available in the scenario tab page Item Debug Settings Open the Debug Settings window to set and clear breakpoints and traces for the selected task Clear All Breakpoints Clear all breakpoints in the schedule Clear All Traces Clear all traces in the schedule Toggle Task Activity Enable or disable the task Continue Let the simulator run until a breakpoint is encountered Note that the Go button on the main Simulation Controller window cannot be used for this purpose If Continue is reguested after all breakpoints have been cleared then this puts the simulation run back into a normal non debugging mode You can use the function key F8 to guickly access this menu item Step Advance the simulation to the next entrypoint to be executed This button should not be con fused with the
393. n are processed and analyzed Dutch Space BV 5 iss 5 rev 0 SUM NLR EFO SUM 2 The last rectangle facility management offers services with respect to project management and manage ment of EuroSim software and hardware configurations For more information on facility management refer to OM05 For each of these phases one or more tools are available to the user See Section 2 3 for more details 2 2 Simulator elements During this life cycle a number of objects are used to represent various parts of the simulation These are A model e One or more tasks and a schedule e A data dictionary e One or more simulation definitions e The simulator itself Each of these objects is described in more detail in the following sections 2 2 1 The model The model or application model contains all the information needed to describe a real world system for the purpose of simulation Using a hierarchical structure this information comprises of sub system descriptions using any of the languages supported by EuroSim C Fortran and Ada 95 timing informa tion through tasks and a schedule and information on parameters and variables which can be modified or monitored during a simulation the data dictionary The model hierarchy can be used to group common elements together To this end the model hierarchy is a tree like structure with the model itself at the top with the various sub system descriptions grouped t
394. n the EsimRTI are exactly similar to the RTI conventions The following table lists the 6 different ways of passing parameters as defined by the RTI reference The caller destroys the instance delete at its leisure C1 In parameter by value C2 Out parameter by reference C3 Function return by value C4 In parameter by const reference Caller provides memory Caller may free memory or overwrite it upon completion of the call Callee must copy during the call anything it wishes to save beyond completion of the call Parameter type must define const accessor methods CS Out parameter by reference Caller provides reference to object Callee constructs an instance on the heap new and returns The caller destroys the instance delete at its leisure C6 Function return by reference Callee constructs an instance on the heap new and returns a Table 1 8 Different ways of passing arguments as defined by the RTI These methods automatically change the EsimRTI mode to Direct gt This method returns EsimRTIfalse if the federation execution was not destroyed because other federates still have joined the federation execution EsimRTltrue is returned if there is an RTI internal error or if the federation execution does not exist Exception warning are printed through esim Warning in all cases Dutch Space BV 311 iss 5 rev 0 SUM NLR EFO SUM 2 1 3 15 Limitations and performance Th
395. nal xml files are stored in directories representing the date and time of the simulation The exe and dict files are created in a temporary directory that is made up of the basename of the model file and extension of the operating system f i MyModel Linux The personal modelrc file should be in the users home directory All other files are in user specified directories F 2 EuroSim Configuration file format Most of the tunable settings of the EuroSim tools are controlled by settings in the system wide configu ration file which is stored in the file SEFOROOT etc esim_conf If a user wants to have settings differently from these system wide settings he can copy the file SEFOROOT etc esim conf to his home directory At startup the system wide configuration file is read first followed by the user s configuration file if available Please note that a personal configuration file overrides any system wide settings so it is best only to include those settings that are actually changed The EuroSim configuration file is divided into two sections the first section contains key value pairs the second section contains file type settings Comment lines are started with the character F 2 1 Keys Keys are defined with the format lt key gt lt value string gt 278 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 The following keys are currently used by EuroSim UndoHistory the number of commands to remember f
396. nbar dutchspace nl 2 4 20 18 time Main memory size 1023 4375 Mbytes Main memory size 1023 4375 Mbytes Mk3 rev2 RC1 Mk3 rev2 RC1 lnifiad rarha linifiad rarha Figure 6 7 The environment viewer 6 6 2 The environment editor The environment editor allows the user to retrieve the current environment and save it to the environment description file as well as adding a comment to the environment file Use the button Get Current Environment in the Environment Editor to retrieve the current environment To put the file under configuration control use the same procedure as for source code files 54 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 Environment Editor tmp Configuration 2 3070 MHZ Genuinelntel Intel R Xeon TM CPU 3 06GHz processors ADA FTN EXT TMTC FIXINIT OWNERS PUR SHAREDMEMSIZE STACKSIZE MESSAGEBUFSIZE UTC PC Cache size 512 KB Integrated FPU Linux minbar dutchspace nl 2 4 20 18 timercustom 42 SMP Tue Sep 14 13 22 53 CEST 2004 686 686 Main memory size 1023 4375 Mbytes Comment Get Current Environment Save Figure 6 8 The environment editor Dutch Space BV 55 iss 5 rev 0 SUM NLR EFO SUM 2 56 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 Chapter 7 Model Description Editor reference This chapter provides details on the Model Description Editor MDE The menu items that are specific to the MDE will be describe
397. ncluding automatic building of simulators As this version of EuroSim does not support the SMP2 assembly files a replacement facility has been implemented to allow users to instantiate a number of models from catalogue files in the model editor The user must include the catalogue files used in the EuroSim assembly file in the model file The EuroSim build system automatically generates all the source code files needed to create the simulator The implementation code must be provided by the user e Integration of SMP2 models and non SMP2 models Use the EuroSim Model Editor to add EuroSim compliant models to the generated SMP2 model file and the Model Description Editor to make the published fields available for non SMP2 mod els Refer to Chapter 7 for more information on the Model Description Editor The Parameter Exchange Editor see Chapter 8 can be used to add dataflows between models a feature currently not available from within SMP2 models SMP2 entry points can be scheduled by the Schedule Editor see Chapter 11 just like ordinary EuroSim entry points The SMP2 schedule specification is not suitable for real time simulation Apart from the tool and utilities described above the EuroSim distribution comes with e C and XML sources of the supported version v1 2 of the standard 70 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 e Compiled versions of the MDK debug and non debug e A compiled version of the Compone
398. ng simulator The following keyword is valid for the usr format def the specification of the program and its arguments Note that the sequence h is replaced with the hostname of the running simulator and the sequence c is replaced with the preferred connection number Syntax USR x User Program Definition file x keyvals tEOF i keyvals keyval keyvals keyval i keyval def string 288 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 Appendix G API header layout This appendix contains the lay out of the API headers as they are generated by EuroSim for C and Fortran model code As EuroSim does not generate API headers for Ada 95 model code the information in this appendix can be used to create API headers for Ada 95 model code by hand The API header is contained in a comment block at the top of the source code i e between in C on lines starting with C in Fortran and on lines starting with in Ada 95 In Ada 95 and Fortran make sure that if the original source code started with a comment block that there 1s an empty line between the API header and the source code comments Each API header consists of the following four keywords see Section 2 5 for more information e Global State Variables e Global Input Variables e Global Output Variables e Entry Point The first three keywords are used to describe the variables in the source code and the las
399. ng variables to a view is done using the add Variable method This method takes 4 parameters the monitorld simId and viewld have the same meaning as above and the varName parameter contains the name of the variable that is to be added This method could fail if any of the ids monitorId simld and viewId are unknown or if the view already contains a variable with the specified name Method addVariable Parameters monitorld The id of the monitor simld The id of the simulator viewld The name of the view where the variable has to be added varName The name of the variable to be added Return A view list on success or an er ror if something went wrong Example To add a variable Altitude to view DemoView for simulator sim 0 on monitor localhost 0 use the following URL https hostname esim method add Variable amp monitorId localhost 0 amp simId sim 0 amp viewld DemoView amp varName Altitude 21 6 1 7 Deleting a variable Deleting a variable from a view is done using the delVariable method It takes the same parameters as the addVariable method above This method could fail if any of the specified ids are unknown Method del Variable Parameters monitorld The id of the monitor simld The id of the simulator viewld The name of the view where the variable has to be deleted varName The name of the variable to be deleted Return A view list on success or an er ror if something wen
400. nge view o oo 2000204 deed ow ea ew SO BS O L U 62 Do MBM ENS oca a el GR are we ek ke R dokon A ee Y 63 60 1 File mem 2 cade 40 be Se ee A A a RE RRS ERE ED SER U 63 80 2 BA menu 2 4 46 004 ee A A A k a Re eRe eee aS 63 Boo TORDE eesse V A V RE ny o ee Ao AE ed 64 9 Calibration Editor reference 65 Ol o 544 4 xe A ek TE A o d r E o Ro ee Ee ee 65 9 2 Starting the Calibration Editor 2 cu cu 4 v wed dna eee 65 U ICAC TYPOS cu doa koa a pb KA a 4S 65 9 3 1 Calibration view 4 du 4 R 24 conc ea ea ada A k 66 dao PDE boda a we A e dl o le M hn E v 66 O25 ROAD MEN o od oe vo ko a e we dno ee de edk vp r 67 94 MB UGS mi i ce ce d l be sew we A bod k kov oe oe c l V Ge ov Me ee kn 67 941 EICMEM e ociosa a a Aa v d db okn 67 OS CUIVE Restrlenom 2 oa a ew aa ee we id a 67 96 Using Calibrations oc ea 40 1004 a rio edo A A i kk 67 961 Calibration API erca ce te dona dd o nel Bd wa bo 67 9 6 2 Selecting Calibration Files gt cs co ca ca cro ancas moer ees 68 Dutch Space BV vii iss 5 rev 0 SUM NLR EFO SUM 2 10 SMP2 Editor reference 69 10 1 Using SMP2 in the EuroSim Environment 0000 4 69 102 Starting the SMP2 Editor lt lt 4 de dvd ee a a 71 10 3 SMP2 Editor Overview os cis dara aa a A 71 10 3 1 General remarks on editing a catalogue o ooo 72 10 4 SMP2 Editor objects o lt lt 400b a dou ad nk dle k a k 72 IAT ERIGE o ae a
401. nges the value through the API tab of the Simulation Controller 7 If the API information in the file contains variables that are not available in the source code a red cross is drawn through the icon Note that the entrypoint and variable information 1s extracted from the file after the language specific pre processor has processed the file In particular if compile flags determine which entrypoints are available the API may show conflicts when compile flags change In order to avoid problems with globals that only have a local extern declaration in entrypoints the extern keyword will be emitted by EuroSim when creating the data dictionary In particular this means that for externals with function scope no API information can be generated 6 2 5 1 State variable These nodes refer to variables which have filescope and are read and written by entrypoints in the file 6 2 5 2 17 Input variable These nodes refer to variables that are read by the entrypoint The icon indicates that data is flowing out from the variable 4 6 2 5 3 Output variable These nodes refer to variables that are written by the entrypoint The icon indicates that data is flowing into the variable 4 6 2 5 4 I Input output variable These nodes refer to variables that are both read and written by the entrypoint 6 3 Selecting an API variable 6 3 1 Selection within a sub model When selecting a variable for inclusion within the API header a
402. nitors This file replaces the use of monitors in the scenario md1 file Model file contains all components for a simulator To edit a model file start the Model Editor Parameter Exchange file Describes exchanges of data in the datapool To edit a parameter exchange file start the Parameter Exchange Editor Recording file this file contains data written by recording actions in the corresponding EuroSim scenario Schedule file contains all timing information for a simulator The following files are referenced the model and zero or more Parameter Exchange files To edit a schedule start the Schedule Editor Simulation Definition file contains references to all files needed to create and run a successful simulation The following files are referenced the model the schedule the optional exports zero or more scenario files initial condition files MMI definitions or User Defined Program files To edit Simulation Definition start the Simulation Controller Snap shot file this file contains an full image of all API variables of an EuroSim simulator Timings file contains timings made during a simulation run Can be imported by the Schedule Editor Test result file this file contains a list of all recordings performed by the corresponding EuroSim scenario User Defined Program contains all data necessary to launch a user defined program as client of the simulator The tr rec timings EsimJournal txt and EsimJour
403. nits are shown in the data dictionary browsers of EuroSim The unit is also shown in monitors after the value Normally this information is entered in the Model Editor but SMP bypasses that editor These functions add back the EuroSim capability to annotate objects variables and entrypoints SMP function SMIExtSetObjectDescription Description Attach a textual description to an object or sub object SMIExtSetDataDescription Attach a textual description to a data item SMIExtSetDataUnit Specify a unit for a data item SMIExtSetServiceDescription Attach a textual description to a service Table 15 2 EuroSim SMP extensions 162 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 15 6 1 SMIExtSetObjectDescription 15 6 1 1 Functional description Attach a textual description to an object or sub object 15 6 1 2 Formal description Boolean_t SMIExtSetObjectDescription const ObjectID t ObjectID const char description Parameter ObjectID Description Identifies the object of which the description is set description Textual description Return Value TRUE if the operation succeeded otherwise FALSE Table 15 3 Parameters Dutch Space BV 163 iss 5 rev 0 SUM NLR EFO SUM 2 15 6 2 SMIExtSetDataDescription 15 6 2 1 Functional description Attach a textual description to a data item 15 6 2 2 Formal descr
404. node The name and description of the new node can be entered Add File Node When an org node is selected in the model hierarchy this menu item can be used to attach a new file node as a child to the selected node The file can be selected using a file selector The name of the node can be changed into a more descriptive name by clicking in the selected node Dutch Space BV 49 iss 5 rev 0 SUM NLR EFO SUM 2 name after the file node has been added to the node tree When adding a non existing file a dialog box will pop up asking whether to create a new file or not Templates for new files can be found in the 1ib templates sub directory of the EuroSim installation directory Add Directory When an org node is selected in the model hierarchy this menu item can be used to recursively add a complete directory tree to the selected node The directory can be selected using a direc tory selector Each directory found in the selected directory will be added as an org node The files that are found will be added as children to their respective parent node This command automatically filters out the CVS directories if any Edit Source For file nodes this option will start an editor with which the file attached to the node can be modified For program source files by default the vi editor will be started on UNIX platforms and NotePad on Windows NT platforms If the environment variable EDITOR is set that editor will be used
405. nt Model library that allows running of SMP2 models in the EuroSim run time environment For the utilities described on line manual pages MANOS are available Summarizing while being compatible with the SMP2 standard EuroSim s SMP2 support is almed at full integration of developed models in the EuroSim environment aiming at making available EuroSim s real time simulation capabilities towards the SMP2 community while allowing the re use of native EuroSim and SMP real time models The EuroSim user will have little trouble learning how to use EuroSim s SMP2 capabilities as they are fully integrated in the EuroSim toolset and way of working 10 2 Starting the SMP2 Editor The SMP2 Editor can be started from the Model Editor When the model tree contains a file with the appropriate extension see Appendix F then the SMP2 Editor is automatically started when the Edit command is selected on the file node in the Model Editor 10 3 SMP2 Editor Overview The SMP2 Editor is centered around a so called multiple document interface MDI that allows displaying multiple windows containing information on SMP2 objects The main SMP2 meta model elements have their own window in the SMP2 Editor These elements are the catalogue itself and the types contained in it The various pieces of information that make up the catalogue or type are grouped in tabs On the left side of the SMP2 Editor window the currently open catalogues and the types they contain
406. nt callback mechanism Note that the client application has to implement an interface that the EuroSim component makes calls on However the EuroSim component specifies this interface in the type library Since the component 1s the source of the calls on this outgoing interface this interface is called a source interface The client 1s called the sink for calls on this interface The next paragraphs describe how to set up a sink or event handler in VBA Dutch Space BV 211 iss 5 rev 0 SUM NLR EFO SUM 2 O Unknown Client application Termalar EuroSim event sink A component 04 ISim5tatus Figure 20 5 Component calling methods on the client interface 20 4 5 Creating an event handler in VBA Right click the VBAProject tree and Insert Class module Select the new class and press F4 to display the properties window Rename the class to EsimEventClass Enter the following declaration in the code window of the new class Public WithEvents Simulator As EuroSim SimAccess This will declare an object named Simulator as an instance of the EuroSim SimAccess class The WithEvent s statement tells VB that it receives events At the top of the code window there are two drop down edit boxes In the one on the left select Simulator from the list Since there is only one method Changed the VB editor automatically creates a subroutine called Simulator Change Add the following line to this new subroutine If Reason
407. nt kit 2005 EGOS SIM GEN TN 1001 issue 1 revision 2 2005 10 28 This document contains the documentation of the Model Development Kit for the SMP2 standard SMP05e Simulation model portability 2 0 metamodel 2005 EGOS SIM GEN TN 0100 issue 1 revision 2 2005 10 28 This document describes the metamodel specification SMDL of the SMP2 standard Dutch Space BV 363 p iss 5 rev 0 SUM NLR EFO SUM 2 SPROS SRNOS SUMOS VMI VMI93 Resolved SPR list 2005 Stored in SEFOROOT etc ResolvedSPRLi st This file contains a list of solved bugs SPRs of each EuroSim release EuroSim Mk4 0 software release notes 2005 FSS EFO SRN 388 Stored in SEFOROOT etc SoftwareReleaseNote Final word from developers before pack aging always contains last and latest information concerning delivered EuroSim release Dutch Space BV EuroSim Mk4 0 software user s manual 2005 NLR EFO SUM 002 Stored in SEFOROOT doc pdf SUM pdf This file contains the EuroSim Software User Manual in Adobe Acrobat format Also stored in directory SEFOROOT doc html SUM This directory contains the EuroSim Software User Manual in HTML format VMIVME 6000 BCU software library VMIVME 6000 1553 communications interface board product manual October 26 1993 These documents contain information on the VMIVME 6000 BCU software library 364 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 Index action acti
408. nt shows how only some of the public data variables are actually referenced by the external simulator for his own internal use EuroSim External Application Model Exports Simulator Client Data Dictionary Interface Data View nodeA varX nodeA varX R nodeA varX R nodeA varY nodeA varY R nodeA varZ nodeA varZ R nodeB varM nodeB varM R nodeB varM R nodeB varN nodeC varR nodeC varS nodeC varS W nodeC varS W nodeC varT nodeC varT W nodeC varU nodeC varU W Figure 18 2 Filtering of Data Dictionary Items 18 3 Exports file To share data between a EuroSim application and an external simulator an additional file is needed This file shall have the extension exports e g thermo exports and shall be included in the simulation definition file for this simulator The exports file specifies the EuroSim data dictionary items which will be made accessible at runtime to the external simulator see Section 18 2 Itis a text file and the contents can contain any number of lines of either of the following formats this is an optional comment line the next line can be tab or space separated dict node ref viewName accessType The dict node refisareference to a node or individual data item within the data dictionary hierarchy Hence myNode file c stateVariablea is a legal reference which allows a particular variable to be accessed explicitly as is myNode which implicitly allows access to all of the
409. ntainers Allows setting the list of containers 10 5 Menu items 10 5 1 File menu New Creates a new empty catalogue Open Opens a catalogue It is possible to have multiple catalogues open If the catalogue being opened has xlinks to other catalogues they will be opened as well Close Closes a catalogue Save Save the current catalogue If other catalogues are xlinked it is advisable to use the Save All command instead Save As Rename and save the current catalogue This function must also be used when copying a cat alogue Moving or copying a catalogue from the UNIX prompt will not work Note that any xlinks to the renamed catalogue from other catalogues that are currently open will be changed to the new catalogue name Save All Save all open catalogues that need saving 10 5 2 Edit menu Undo Redo Undo Redo edit actions Up to 10 levels of undo redo are available Cut Copy Paste Currently not available Delete Delete the current selection Rename Rename the current selection Any xlinks to the renamed catalogue or type from catalogues that are currently open will be changed to the new name Note that renaming can also be done by editing the Name attribute in the General tab of a catalogue or type window Dutch Space BV 75 iss 5 rev 0 SUM NLR EFO SUM 2 10 5 3 View menu Large toolbar buttons Selecting this option shows large buttons in the toolbar Toolbar button labels Selecting this option shows lab
410. ntifier DeclarationList Type identifier Term Type identifier is Expr Term Type identifier Expr Term Type identifier ArraySelector Term FunctionDeclaration Term FunctionDeclaration function identifier Identlist Cont CompoundStatement function identifier Cont CompoundStatement ArraySelector Expr ArraySelector Expr Type int float string datetime Cont S x nothing tNEWLINE Term TNEWLINE lo tokens tAND_ASSIGN amp reserved tCASE case reserved tDEC OP reserved tDEFAULT default reserved tEOF end of file tINC OP reserved tNEWLINE newline character tOR_ASSIGN reserved tSWITCH switch reserved tUSED_OP used reserved tXOR_ASSIGN reserved Dutch Space BV 275 iss 5 rev 0 SUM NLR EFO SUM 2 276 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 Appendix F EuroSim files and formats In this appendix an overview is given of the various files which are used and created by EuroSim Also for a number of files their format is given F 1 EuroSim project files In this section each of the files which can be part of a EuroSim project is described briefly Files used in a project can be identified by their extension Extension s adb ads cat dict EsimJournal txt EsimJournal xml exe exports ESE h init make md mdl Short description Ada body source file Ada spec source file
411. nvironment variable will not be used by EuroSim gt This variable only needs to be set to override the default value HOME eurosim Dutch Space BV 41 iss 5 rev 0 SUM NLR EFO SUM 2 The file project s db contains all project references If project s db does not exist EuroSim will create a new file Each individual project should have its own project directory preferably in a subdirectory of EFO HOME This directory contains a local project database file project db which contains all references to project related models and files For a full list of the initialization files and environment files used by EuroSim refer to Appendix F The Project Manager shows a screen with a Project combobox to select a project a Model combobox to select a model and a Files list showing all files that refer to the model Double clicking a file will start the associated editor The editor buttons start an empty editor in the project directory EuroSim can be terminated by selecting the File Exit menu option 5 2 Menu items 5 2 1 File menu Add Project Opens a dialog for adding an existing project or for creating a new project see Figure 5 2 Add Project Name New Project Description Directory Browse Version Control System lt none gt Repository Root Figure 5 2 Add Project dialog Fill in the various project descri
412. o a single action in the MDL script Below two examples are given one in C like syntax and one in the alternative free style syntax action looptest2 j 0 N 100 print ww print forloop test2 expect loopcount N for i 1 i lt 10 x N i i 1 ja 3 1 if i N break print loopcount j free style syntax action looptest5 action begin N 3000 k 0 print ww print forloop test5 expect loopcount N See Section E 6 for a complete list of reserved but unused words 260 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 for i is 1 to N 10 loop begin for j is 1 to 10 loop begin k is k plus 1 end end print loopcount k action end E 4 Functions MDL has an extensive set of built in functions for simulation support see Section E 6 It also supports user defined functions Functions return simple values and can be used freely in MDL expressions User functions can be defined and used within the action body Function arguments and return values must be basic types and behave like automatic variables Within the function body the complete MDL syntax can be used e g to define local variables or other functions The type of the function arguments and the type returned by the function may vary from invocation to invocation as is shown in next example action my action int i float x error 0 function sqr n return n x n for i 0 i lt
413. o be used by the scheduler can be configured in the Schedule Editor see Section 11 3 5 Note that for all external clock sources it is important that you specify the right frequency period for correct simulation time calculation The following clock types are available on all platforms Internal Represents the internal clock of the computer running the simulation As Fast As Possible Runs the simulation as fast as possible see Appendix K The following clock types are available on Irix and Linux IRIG B The Datum IRIG B card bc635PCI Signal Wait for the specified signal number to be raised Dutch Space BV 97 iss 5 rev 0 SUM NLR EFO SUM 2 EuroSim Compatible Device Currently the following devices are supported The SBS PCI VME card Model 616 617 and the VMIC Reflective Memory card VMIPCI 5565 When a device driver is used that meets the EuroSim interface requirements then that device can also be used as a clock source For more information on customization contact your EuroSim representative The following clock type is only available on Irix External Interrupts Uses the SGI external interrupt facility 98 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 Chapter 12 Simulation Controller reference This chapter provides details on the Simulation Controller The panes and tab pages of the editor the various objects that can be created all menu items of the editor and their options are described
414. o be written containing the variables used in the plot This file will be deleted when the Test Analyzer is closed or when the back end is set to something else than gnuplot In the meantime the data in this file remains accessible The name of the data file can be obtained from the plot back end interface window After showing a plot the name of the datafile is shown on the line containing the plot command for example plot var tmp gnuAAAa0Y093 using 51 1 1 x 2 250 axes xlyl title just a plot with lines 1t 0 The name of the file is shown in bold The data can be accessed using gnuplot s using command as shown in the plot command above See the gnuplot documentation for more information Dutch Space BV 147 iss 5 rev 0 SUM NLR EFO SUM 2 13 11 3 gnuplot help The gnuplot help interface can be accessed by sending the help command from the back end interface window Note that you should press enter a few times to leave help mode 148 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 Chapter 14 Batch utility reference 14 1 Introduction This chapter provides details on the batch utility The utility uses perl as the scripting engine Various perl modules have been created that provide an interface to existing EuroSim libraries This means that a batch script is no more than an ordinary perl script using EuroSim modules The main reason to choose perl as the batch utility en
415. o main components of the web interface are e the server e the monitor e the classes that describe the JAVA applet client The server is the central component of the system It communicates with client side software typically web browsers with the monitor application and with simulators via the monitor simulator client A simulator monitor server simulator Figure 21 1 EuroSim Web Interface The server communicates with the clients using the HTTPS protocol HTTP over SSL The server uses the EuroSim protocol for communication with the simulators Instead of letting the server connect directly to the simulator the monitor sets up connections to the simulator and the server after which it does nothing more than forward data between the two The monitor is installed on the same network as the simulators it has to watch The server can request the monitor to scan its local network for simulators and request a connection to a simulator How to use these applications is explained in more detail in the following chapters 21 2 Monitor This chapter explains how to use the monitor application Dutch Space BV 217 iss 5 rev 0 SUM NLR EFO SUM 2 21 2 1 User interface The monitor has a simple graphical user interface see Figure 21 2 It allows the user to connect to the server disconnect from the server and to change the configuration It also displays the state of the connection with the se
416. odel see Section 2 2 3 The API information required by EuroSim is defined using four keywords the is part of the keyword e Global Input Variables e Global Output Variables e Global State Variables e Entry Point The choice of these keywords stems from systems theory a discipline closely related to the application areas of EuroSim In systems theory a classical way to look at systems is from a causal input output point of view often referred to as the black box approach to modeling of systems Inputs are converted to outputs via a so called black box Figure 2 3 black box input Gute output control Figure 2 3 The black box approach An example would be a heater a current in Amperes goes in a heat flow in Joules second comes out These inputs and outputs are mapped onto the API header keywords Global Input Variables and Global Output Variables The next step in the modeling process is to extract 1 e to model the memory function of the system The memory at a certain time is known as the state of the system The state of the system describes in detail how inputs are converted to outputs Whereas inputs and outputs are the means with which a system communicates to the outside world there does not exist something like a unigue state the notion of state is very much a mathematical modeling tool However as the system has to be implemented in software to be usable in EuroSim
417. oed as well as their outputs Things to look out for are lines starting with Error which indicate that an error has occurred during building Usually directly above a more descriptive error message is given You can ignore the file version warnings but there should be an error message like Satellite Linux Thruster pub o In function Thruster Satellite Linux Thruster pub o text 0x2b undefined reference to altitude Satellite Linux Thruster pub o text 0x31 undefined reference to altitude Satellite Linux Thruster pub o text 0x4e undefined reference to altitude collect2 ld returned 1 exit status gmake Leaving directory home jv75763 work Satellite gmake xx Satellite Linux Satellite exe Error 1 xxx Errors during build xxx The meaning of this message is that the compiler can not find a declaration with the name altitude Inspection of the source files indicates that the C function Thruster uses an external declaration of a variable with the name altitude Although the Fortran source has a variable with the name ALTITUD 1t is not possible to connect these two variables in the way the current satellite model has been written This is a general problem with linking Fortran and C code It arises from compiler conventions not from the EuroSim tools To solve the problem change the altitude variable in the file Thruster c to the following struct declaration Gl ext
418. of variables for the Initialise_Altitude source file Again there is no difference between selecting one or the other as both representations point to the same memory address The general guideline is to tag and annotate the variable belonging to the code which will be active during the executing scheduling state In the example given above this means that altdata altitude would be tagged for the Altitude source rather than for its one off use in the Initialise Altitude source 6 4 Menu items 6 4 1 File menu New Creates a new empty model Open Opens a model Save Save the current model Save As If the model file is saved to a different directory the file nodes are updated so that the newly saved model file shares its files with the original model file If you want a copy of the model file with the relative pathnames of file nodes unchanged thus possibly referring to non existing files use the UNIX cp or DOS copy command from the command line of a shell Exit Exit the Model Editor 6 4 2 Edit menu Undo Redo Undo redo actions Cut Copy When cutting or copying an org node the whole subtree including the selected org node will be copied for later pasting Paste Paste cut or copied data Nodes are pasted into the currently selected node Delete Delete the current selection Add Org Node When an org node is selected in the model hierarchy this menu item can used to attach a new org node as a child to the selected
419. ogether by nodes in the tree The model hierarchy itself is created with the Model Editor see Chapter 6 2 2 2 Tasks and schedule The timing information of a model is defined through one or more tasks and a schedule which ties together the tasks A task is a sequential list of operations provided by the sub systems of the model These operations have to be executed consecutively starting with the first operation and ending with the last one Within a task there are no timing constraints and or synchronization points The schedule contains information on when and how tasks should be activated in order to e achieve real time parallel simulation when executing the simulation and e realize a requested change in simulator state e g from executing to standby see Section 2 2 5 for more information on simulator states The tasks and schedule are defined using the Schedule Editor see Chapter 11 which is available through the Project Manager Ada 95 is not supported in the Windows NT version 6 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 2 2 3 The data dictionary During a simulation data can be monitored and or recorded and parameters can be set The data ele ments which should be accessible during the simulation have to be defined in the data dictionary for this purpose This is done through the use of so called API headers see also Section 2 5 The data dictionary is defined using the Model Editor see
420. oj mdl The result will be a maMessage event informing about the successful opening of the scenario file J 6 Monitor channel The monitor channel is used to manipulate monitors Table J 9 shows the messages which are sent when triggering a monitor action obsolescent The event dtMonitor is sent at the start to mark the beginning of a new monitor If one monitor action monitors multiple variables the dtMonitorVar event is sent once for each variable The event dtMonitorDone ends the list The client application can then set up the display for the new monitor The client must send a eventAdd2LogList command for each variable After that every 0 5 seconds 2 Hz an update dt LogValueUpdate is sent from the simulator to the client The frequency can be changed to a higher or a lower frequency by passing an option f to the EuroSim daemon esimd with the required frequency Using this command line option for the daemon sets the frequency for all simulators The frequency may be a floating point number The frequency can be changed to a lower frequency by passing an option d to the EuroSim daemon with a divisor This option reduces the frequency of the monitor updates etc with the specified integer factor This option affects all simulators started with the daemon The order of messages periodically sent by the simulator to the client is as follows e monitor values e heartbeat e cpu load optionally Alternatively it is possible to retri
421. oller Messages generated by the simulator include messages about e Change of state e Problems encountered such as real time errors e Manual activation of actions e Updates to the action definitions 12 3 4 The status bar In the status bar a number of items about the current simulation are displayed e The current simulation state e The simulation server e The current user role Test Conductor or Observer 104 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 e The simulation mode real time vs non real time vs debug e The simulation speed e The simulation time it is expressed in seconds or as an absolute time displayed as YY Y Y mm dd HH MM SS ssss if the simulation uses UTC The wall clock time elapsed time since start up or the UTC time if the simulation uses UTC Traceability experimental or traceable If the simulation of a versioned simulation definition is reguested then various checks will be carried out to assess whether the execution will be traceable at a later date or not If so then the status bar will state that the simulation is Traceable if not then the simulation is Experimental Traceability means that all source files involved in the simulation definition can themselves be traced at a later date This is only possible if a the source files 1 e simulation definition scenarios initial conditions executable MMI files data dictionary and schedule the latter deriving from the
422. on wallclock boundary realtime time duration simstate wallclock main cycle simtime boundary getenv Expr atan Expr cos Expr exp Expr fabs Expr log Expr sin Expr sqrt Expr tan Expr acos Expr 272 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 doublet ramp jigsaw frac freg eventcount asin Expr ceil Expr cosh Expr floor Expr logl0 Expr sinh Expr tanh Expr Expr Expr Expr step Expr xpr xpr catch Expr Expr format ExprlList changed BuiltInCommand Expr activate Expr deactivate Expr exec Expr raise Expr set time Expr set realtime Expr schedspeed Expr print ExprList monitor string ExprList monitor ExprList stimuli string ArgumentList stimulate string ArgumentList stimuli string string Argument x List no display options string contains options obsolescent x first arg is file name first arg is file name x stimulate string string ArgumentList record string string ArgumentList datalog string string Argument List registrate string string Argumentlist record string Argumentlist datalog string ArgumentList registrate string ArgumentList record ArgumentList datalog ArgumentList registrate ArgumentLi
423. on Controller The MDL file is no longer used as the main simulation configuration file The role has been taken over by the simulation definition file This file has a sim extension The function of this file is to combine the model file schedule file and any number of MDL files initial condition files and MMI Man Machine Interface files Instead of the separate monitor windows in Mk2 there are now MMI panes Each MMI pane can contain a number of alphanumerical or 2D plot monitors These monitors can be positioned by the user on the MMI pane Old Mk2 monitors appear on a separate MMI pane for backward compatibility This pane is called Script Monitors Monitors can be copied and pasted from this pane to a new MMI pane It is possible to activate and deactivate individual MDL and initial condition files If more than one initial condition file is active this means that each initial condition is applied in the order it is listed at start up or reset The Simulation Controller is capable of converting Mk2 MDL files to Mk3 Simulation Definition Files This is described in Section 12 1 1 L 6 Test Analyzer The test analyzer file format has changed The old pdf format can be converted with the pdf2plt tool This tool is also used when doing the conversion of a complete project The new Test Analyzer is capable of loading Mk2 pdf files The new Test Analyzer has two back ends used to produce the plots The user can choose to use PV Wave or GN
424. on is in real time execution mode A request has been given to change the clock frequency to a rate different from the rate on which the current schedule is based 200 Hz default This request is refused in real time simulation mode Make a mode transition to mode non real time W frequency change refused the requested frequency nn Hz is larger than the bound imposed by the system nn Hz A request has been given to change the clock frequency to a rate higher than a system imposed bound This has been ignored Choose a lower rate W itemname hard real time error for itemtype itemdetails previous firing not completed basic cycle has been extended The specified item has generated a hard real time error C 3 Low level errors The errors from the previous section are scheduler run time errors which are raised through the EuroSim message reporting mechanism It is possible that errors occur that are not caught by this mechanism This is usually because e They are raised at system initialization when the message mechanism has not yet been initialized These errors usually result in a text like error description e They cannot be caught e g bus errors access violations These errors usually result in a core dump Longer here is relative to the time granularity of the simulation so it might apply to one or more milliseconds 244 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 e They are
425. on manager number 124 condition 102 124 error conditions see MDL 101 icons 120 inactive 124 monitor see monitor 102 recorder see recorder 102 script 101 editor 123 stimulus see stimulus 102 action button editor 132 Action Editor overview 9 reference 123 action manager configuring multiple 89 multiple 97 scheduling 96 ADA language limitations see API limitations 296 API examples 291 header layout 289 limitations ADA language 296 C language 295 Fortran language 296 generic 295 331 variables conflicts 48 Batch utility 149 example script 156 useful command line utilities 157 BC see bus controller 175 BM see bus monitor 175 C language limitations see API limitations 295 Calibration Editor calibration types 65 menu 67 reference 65 client see external simulator 189 COM Interface reference 207 connectors output using for I O 94 CPU load monitor 112 CVS 357 Use under Windows 358 Datapool Model Description Editor 57 Simulator Integration Support 201 deadlock 295 Debug Control breakpoint on task entrypoint 116 concepts 116 enable disable task 116 return to normal 116 step to next entrypoint 116 trace task entrypoint 116 debugging using gdb 255 dev ei 174 dict view choosing EuroSim views 190 choosing external views 190 compression 195 linking variables 195 setting up 194 update frequency 195 Dictionary Browser see data dictionary
426. on or function invocations Automatic variables are recreated each time their scope is entered and disappear when that scope is left Automatic type conversions are applied when needed between all the basic types Constants can be given either in decimal octal or hexadecimal form as in C Constants are of type int except when the constant contains a decimal dot or is given in scientific notation e g 3e 9 in which case they re of type float A string constant consists of a number of characters between double quotes Some examples with MDL variables and constants action actionl int a_variable a Static variable of type int b_variable 100 an automatic variable of type string a_variable b_variable type conversion from string to int action action2 string a_variable hello world an initialised static variable action two_externals float f actionl a_variable print f prints 100 0000 print actionl a_variable prints 100 print action2 a_variable prints hello world action showtime NB No UTC selected datetime t 5 900 print time t 15 2 prints time 21 1000 action showtimeUTC NB UTC selection in model options int and float are implemented as C doubles check the documentation of your platform to see the valid range for that type Dutch Space BV 259 iss 5 rev 0 SUM NLR EFO SUM 2
427. onitorid CDATA REQUIRED monitorname CDATA REQUIRED gt lt ELEMENT simulator PCDATA gt Example lt xml version 1 0 gt lt sessionlist monitorid 127 0 0 1 36506 monitorname Demo monitor foobar c lt session simid demo foobar com 0 gt lt hostname gt demo foobar com lt hostname gt lt prefcon gt 0 lt prefcon gt lt simulator gt home demo foo ESS Linux ESS exe lt simulator gt lt session gt lt session simid demo example com 0 gt lt hostname gt demo example com lt hostname gt lt prefcon gt 0 lt prefcon gt lt simulator gt home test bar xyz Linux xyz exe lt simulator gt lt session gt lt sessionlist gt Dutch Space BV 229 iss 5 rev 0 SUM NLR EFO SUM 2 21 6 2 3 Sessioninfo The session info structure contains session parameters like the dictionary path working directory etc and a list of available variables Format lt ELEMENT description PCDATA gt lt ELEMENT dict PCDATA gt lt ELEMENT exports EMPTY gt lt ELEMENT gid PCDATA gt lt ELEMENT hostname PCDATA gt lt ELEMENT initconds item gt lt ELEMENT item PCDATA gt lt ELEMENT max PCDATA gt lt ELEMENT min PCDATA gt lt ELEMENT model PCDATA gt lt ELEMENT name PCDATA gt lt ELEMENT pid PCDATA gt lt ELEMENT prefcon PCDATA
428. opy the monitor or action button as a floating window on the desktop Edit MMI Caption Change the caption of the MMI tab page Delete MMI Tab Page Delete the MMI tab page You will be asked to confirm this operation The following Insert menu items are available in the MMI tab page New Monitor Create a new monitor See Section 12 14 3 for more information New Action Button Create a new action button See Section 12 14 4 for more information 12 14 2 Context menus Two context menus are available in the MMI tab page depending on where you click the right mouse button If you click on a monitor or action button then a context menu with the following items appears see Section 12 14 1 for a description of the menu items e Properties e Copy to Desktop e Delete e Cut e Copy e Paste e Undo e Redo The other context menu appears when you click directly on the tab page background see Section 12 14 1 for a description of the menu items e New Monitor e New Action Button e Paste e Undo e Redo Edit MMI Caption Delete MMI Tab Page e Activate MMI Tab Page e Dectivate MMI Tab Page The latter two menu items Activate MMI Tab Page and Dectivate MMI Tab Page are short cuts to the Activate and Deactivate menu items that are available in the Edit menu of the Input Files tab page see Section 12 8 1 Dutch Space BV 129 iss 5 rev 0 SUM NLR EFO SUM 2 12 14 3 Monitor Editor The monitor editor is s
429. or this project Currently EuroSim Mk3 supports the CVS and Cadese version control systems Repository Root The repository root is the top of the directory tree in which the version management of the various model files will be stored Refer to Section 2 6 for a discussion whether the repository can best be kept separate from the project root or not The Browse button can be used to search for an existing directory If an existing RCS or CVS repository 1s to be used within EuroSim make sure that the tree under the project root has the same structure as the repository tree The repository root field is optional and can be left empty See Appendix M on how to set up a repository root Preferences Opens a dialog to set the preferences The following items can be set Do not prompt to add files automatically When you start one of the EuroSim editors from the Project Manager and create a new file you are prompted whether the new file should be added to the current project If you check this item you will not be prompted and the decision whether to add the file to the current project depends on the value of the next item Never add files automatically If this option is checked new files that are created by one of the EuroSim editors will not be added to the current project automatically If you want to add a newly created file afterward then use the appropriate menu command 5 2 4 Help menu Online Help This menu option will start the
430. or together with a simulation definition can be used to start a simulation run Simulator development Mode of operation where the Model Developer can create and or update models and simulator definitions and generate simulators See Operational Modes Simulator software Model dependent software combined with model independent software for the performance and control of real time and non real time simulation State The current phase in the execution of the simulation EuroSim states are initialization standby executing and exit Stimuli A set of data which are input to the model during a simulation run which represent data from an interfacing system or sub system which would normally be present in the real world they can be used during replays of simulation runs to provide copies of the original operator inputs Sub model A component of a model which defines in source code an element or set of elements within the real world application The parts of a sub model visible to other users are the set of accessible state data items which are listed as part of the model data dictionary and a set of operations which can be called by other sub models or listed within a task within the schedule System services A set of services offered by EuroSim which can be called directly from model code for example in order to request information on the current simulation e g simulated time execution state or to communicate with HIL devi
431. or undo MakeCommand the command used to call GNU make EuroSimOnlineHelp location of the help index ProjectManagerOnlineHelp location of Project Manager help ModelEditorOnlineHelp location of Model Editor help ModelDescriptionEditorOnlineHelp location of Model Description Editor help ParameterExchangeEditorOnlineHelp location of Parameter Exchange Editor help ScheduleEditorOnlineHelp location of Schedule Editor help SimulationCtrlOnlineHelp location of Simulation Controller help TestAnalyzerOnlineHelp location of Test Analyzer help F 2 2 File types gt The definition of file types starts after the keyword FileTypes The format for file type entries lt ID string gt lt description gt lt extensions gt lt editor cmd gt lt viewer cmd gt lt icon gt ID string uniguely identifying string description short description of the file type extensions the file extensions for the file type comma separated editor cmd the command used to edit the file viewer cmd the command used for read only access to the file icon the icon for the file type The lt ID string gt is mandatory the other settings are optional As an example follows an entry for the Simulation Defintion file type SIM_FILE Simulation Definition sim SimulationCtrl Note On the Windows NT platform the EuroSim utility open exe can be specified as an edi tor viewer command to cal
432. ors and destructors onto equivalent C functions 1 3 3 Method naming convention The RTI RTIambassador methods are replaced with functions of which the name is formed by the combi nation of class and method In general Class method should be replaced with esimRTI lt class gt lt Method gt C method C function RTI FederateAmbassador method esimRIfederateAmbassadorMethod RTI RTlambassador method esimRTIrtiA mbassadorMethod Table I 4 Mapping of Class methods onto esimRTIclassMethods 1 3 4 Useful Constants A few useful C constants to use with the EsimRTI are Type Constant EsimRTIfedTime esimRTlnifinite Time EsimRTIfedTime esimRTIepsilonTime EsimRTleventRetractionHandle esimRTIzeroRetractionHandle Table I 5 C constants 1 3 5 Syntactical replacements All parameters by reference RTI FedTimed time have been replaced by pointer types EsimRTIfed Time time 1 3 6 Exceptions Exceptions thrown by the RTI are caught and an esimMessage is displayed providing the user with the reason of the error the calling function and the exception name Also when appropriate O or NULL is returned The format of the esimMessage is ERROR Exception lt exception name gt thrown in lt functionName gt reason lt reason of the exception gt 306 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 The corresponding possibly buffered RTI function call is not executed
433. over it s API and or find items that can be added to the API of the sub model Save API Writes the API information to the sub model source file Clear API Removes the API information from the sub model source file 6 4 5 Tools menu Build All Build the simulator and data dictionary Build Clean This menu option will remove all generated files from the model directory This includes the data dictionary and compiler generated object files Use this option to force a rebuild of the model This option is generally used when a new version of EuroSim has been installed when the filesystem has had integrity problems or when EuroSim does not behave as expected One specific case where a clean up is required is when you add a new file to the model hierarchy e g a C source file which is older than the already existing target file e g add a file file c whilst there still is a newer file o The make which is used to build the simulator will then not know that the target should be recreated The same applies when deleting a file node from the model tree Set Build Options When in source files external functions are used such as arithmetic or string functions the libraries containing these functions can be specified in the options dialog shown by this menu option see Figure 6 4 Dutch Space BV 51 iss 5 rev 0 SUM NLR EFO SUM 2 Build Options AICTE Options Support Compilers support include Include D
434. p loop Loopcnt Loopcnt 1 end loop Get Stop time from the Wall Clock and calculate Duration Stop esimGetWallclocktime Duration Stop Start end Ball end Ball 294 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 Appendix H Programming language limitations H 1 Generic limitations Model code should follow a set of rules when it is to be used in EuroSim The rules are e Entrypoints should have no return value e Entrypoints should have no calling arguments parameters functions not used as entrypoints do not have this restriction When calling arguments or parameters are needed they should be defined through one of two methods of which the first one is recommended 1 Define global variables through an API as virtual arguments parameters 2 Encapsulate a function with arguments in a function which complies to the guidelines this function can then call the function with arguments e If the entrypoint is used in the real time domain it is not allowed to use any operating system call open printf etc This is because operating system calls do not have deterministic execution times Calls which are allowed are the services provided by EuroSim See Appendix D for details on the EuroSim services e The entrypoint must not create a deadlock i e waiting on a resource not available for some undefined time e No names should be used which conflict with one of the internal EuroSim function
435. pace BV NLR EFO SUM 2 SUM iss 5 rev 0 Chapter 11 Schedule Editor reference This chapter provides details on the Schedule Editor The various items which can be placed on the schedule tab pages all menu items of the editor and their options are described For menu items not described in this chapter refer to Section 3 5 11 1 Starting the Schedule Editor The Schedule Editor can be started by selecting the Schedule Editor button in the Project Manager window or by choosing the Tools Schedule Editor menu item If no schedule file is selected in the Project Manager tree view the Schedule Editor starts with a new schedule It is recommended to use a filename of the form modelname sched The Schedule Editor can also be started by double clicking a schedule file in the Files list of the Project Manager When creating a new schedule the Schedule Editor automatically uses the name of the model file that is currently selected in the Project Manager Schedule Editor Satellite sched minbar dutchspace nl File Edit View Insert Tools Help D e k roe R S 5 D gt New Open Select Flow Task Nrttask Timer Mutex Freg changer Ext event Initializing 11 Standby b Executing a Exiting Altitude Thruster users fl75708 EfoHome Satellite Satellite model No errors Feasible Experimental Figure 11 1 Schedule Editor window 11 2 Schedule Editor it
436. page Script Monitors 102 Task Sequencer 91 tasks 82 activation methods 82 disabling from MDL 266 enabling from MDL 266 intersection between 49 90 triggering from MDL 266 Test analysis 5 Test Analyzer PV WAVE access to recorded data 145 examples 145 help 146 interface 146 operators and functions 143 variables 144 Dutch Space BV 369
437. passed to efoKill 158 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 Chapter 15 Simulation Model Portability interface reference 15 1 Introduction The purpose of the Simulation Model Portability SMP standard is to promote portability of models among different simulation environments and re use of simulation models EuroSim complies to the SMP standard by offering the complete SMP API and by easily importing existing models into the EuroSim tooling Information on using the SMP functions can be found in the handbook SMP03 15 2 Import and build procedure Importing SMP compliant models is done by simply creating a normal model file containing all the C source files of the SMP simulator The model manager source must provide two functions e void ManagerPublishInterfaces void e void ManagerInitialise void The first function is responsible for publishing the interfaces of the models It calls the publish functions for all the models it manages The second function is responsible for the initialisation of the models The user has to enable the Simulation Model Portability support option in the Model Editor build options dialog Dutch Space BV 159 iss 5 rev 0 SUM NLR EFO SUM 2 Build Options Options Support Compilers Gnat Ada runtime libraries F Linux Fortran runtime libraries IV EuroSim External Simulator Access Server EuroSim TeleMetry TeleComm
438. pect to asynchronous frequency for datalogger Every number th cycle data values will be delivered to interested clients e g a simulation controller with a datamonitor Defaults to 1 When number is 0 real time mode is off when it is 1 it is on Debugging flags Only available when EuroSim libraries were compiled with DEBUG defined The name of the model file used to create the simulator Don t use the daemon for services CPU allocation Do not go to initializing state automatically Stand alone mode do not wait for client to connect You may want to use this flag in combination with the E flag Useful for debugging from the command line with i e gdb Note that under normal circumstances the above options will be passed to the simulator by the EuroSim daemon Example of a debugging session running the simulator from the command line using gdb Note that you must have root privileges gdb mysimulator Linux mysimulator exe gdb run c 1 x mysimulator sim s mysimulator sched d mysimulator Linux mysimulator dict M mysimulator model r 1 user 18157 g 100 R result dir v f 10 E 8 Dutch Space BV 255 iss 5 rev 0 SUM NLR EFO SUM 2 256 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 Appendix E Mission Definition Language The Mission Definition Language MDL is a simple yet versatile language for simulation scripting It allows users to write simulator control scri
439. ple the API header from the Thruster c file used in the case study is shown below see Section 4 5 for the source code and the API information Entry Point Thruster DESCRIPTION The thruster brings the satellite to the correct altitude Global Input Variables int lowerAltitudeLimit UNIT km DESCRIPTION Below this limit the thruster must be turned on INIT 210 MIN 0 MAX 1000 int sateliteAscentSpeed UNIT km h DESCRIPTION The ascent speed of the satellite INIT 10 MIN 1 MAX 200 int thrusterOnOff UNIT 0n Off DESCRIPTION Indicates whether the thruster is on or off INIT 1 MIN 0 MAX 1 int upperAltitudeLimit UNIT km DESCRIPTION The upper limit at which the thrust er is to be switched of INIT 280 MIN 0 MAX 1000 Global Output Variables Dutch Space BV 291 iss 5 rev 0 SUM NLR EFO SUM 2 int thrusterOnoff UNIT 0n Off DESCRIPTION Indicates whether the thruster is on or off INIT 1 MIN 0 MAX 1 Note that there is no restriction on line length for the API headers but that the API Editor generates no lines longer than 80 characters This is done to ensure good readability on most terminals Also note that variables which act both as input as well as output variables are defined twice in the API header G 6 2 Example in Ada 95 Name ball adb Type Ada 95 implementation
440. points have been defined in the API headers of the model and therefore are available in the data dictionary The browser shows a tree hierarchy of the available nodes files entrypoints and variables If you try to expand a very large array then you will be asked for a confirmation first The selected items can be dragged and dropped to the destination Double clicking on a single item will also add that variable to the destination There is also a button Add to add the selected variables to the destination Dutch Space BV 105 iss 5 rev 0 SUM NLR EFO SUM 2 You can switch between a full view and a condensed view where all unnecessary nodes are left out by pressing the F3 key or by choosing Condensed View or Full View from the context menu that you get when pressing the right mouse button in the Dictionary Browser If you want to find a variable you can either choose Find from the context menu or start typing im mediately while the Dictionary Browser has the input focus For every key you type the browser will be updated to show only those variables that match the text you ve typed The browser uses a case insensitive substring search So any variable name that contains the text without regard to upper or lower case will match When no variables match the browser is empty Use backspace to delete the last char acter from the search string until the search string is empty and then you return to the original state of the browser No
441. pool updates in Section 7 3 the parameter exchange can take place between model A and model B This also shows that scheduling the exchange has to be done at the appropriate point in time 1 e after all models have updated their output variables and before the other models need the updated data on their respective input variables datapool Model A update output X exchange Model B update input X Figure 8 1 Example of data transfer between models Dutch Space BV 61 iss 5 rev 0 SUM NLR EFO SUM 2 8 3 Starting the Parameter Exchange Editor The Parameter Exchange Editor PXE can be started by selecting the Parameter Exchange Editor button in the EuroSim start up window see Section 5 2 3 The PXE uses the data dictionary and one or more Model Description files as input 8 4 Parameter Exchange Editor objects The Parameter Exchange Editor has three views The source and destination views are read only and show the available output and input variables of the selected Model Description files Use the File menu to add Model Description files to the views The exchange view provides a view of the parameter exchanges and can be used to add remove update and rename the actual parameter exchanges In Figure 8 2 an example parameter exchange tree is shown in the bottom view NE Parameter Exchange Editor Counter px minbar dutchspace nl File Edit View Tools Help Destination me Tre
442. pport two or more modes simultaneously See simulator development test prepara tion test execution and test analysis Phase A time offset between completion of one task and activation of another task which is dependent on that completion defined as a quantity of wall clock time Real time During real time execution or interfacing the time lining of the activities appears to be that which would be seen in an equivalent situation in the real world This is achieved through guaranteed periodicity of processing and response time within fixed deadlines Schedule A set of attributed tasks timers scheduling events and their respective dependencies The overall behavior of a schedule is deterministic whereas that of a single task need not be A schedule is executed by the scheduler The scheduler has four states Initializing Standby Executing and Exiting Every state has its own schedule The same task may appear in one or more state schedules Simulation The process of using models that behave or operate like a given system when provided a set of controlled inputs Simulation program The computer program built out of simulator software used for the simulation 238 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 Simulation run Execution of a simulator according to specified simulation definition Simulator A hardware device or simulation program or combination of both with which simulation can be performed A simulat
443. proc t xdr start result charx result return 1 The above example can be compiled as follows IRIX cc ISEFOROOT include esim o tc example tc example c A L EFOROOT 1ib32 les Linux cc ISEFOROOT include esim o tc example tc example c A L EFOROOT lib les lpthreads lposixtime It is however easier if you use the esimd complete session function to fill in the missing pieces You only have to provide the simulation definition and the other entries will be completed by the esimd_complete_session 334 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 Listing J 3 Example of the use of esimd complete session int main void struct session3_def session struct start result x result CLIENT xclnt extern char xxenviron memset 4session 0 sizeof session session work dir ds home user projects STD session sim path ds Demo sim if esimd complete session ssession environ 0 start session esimd free session ssession After successfully launching the simulator a connection can be created There is some time between launching the simulator and when a connection can be created This time is normally less than a second To make a connection with the simulator the function eventConnect must be called Listing J 4 Connect to a simulator Connection x conn conn eventConnect Spiff test controller connClient eventHandler
444. ption items of the window For the dialog field descriptions refer to Section 5 2 3 item Project Settings Remove Project Use this option to remove the current project from the projects list The actual project files such as the model file the schedule etc are not deleted 5 2 2 Edit menu Set Description Adds a file description to a selected file Edit File Opens the associated editor for the currently selected file This is the same as double clicking a file in the files list Add File Opens a file dialog to add an existing file to the current model Remove File Removes the currently selected file from the model The actual file is not deleted Add Model Opens a file dialog to add an existing model file to the current project 42 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 Remove Model Removes the currently selected model file from the project The actual model file and associated project files are not deleted 5 2 3 Tools menu Shell Opens a new command shell e g xterm or a DOS command prompt Model Editor Starts the Model Editor Parameter Exchange Editor Starts the Parameter Exchange Editor Schedule Editor Starts the Schedule Editor Simulation Controller Starts the Simulation Controller Test Analyzer Starts the Test Analyzer Observer Starts the Simulation Controller in Observer mode Project Settin
445. pts in a C type or alternatively in a limited free text language The language has all the facilities one can expect of a programming language including if statements for loops global and local variables Besides that the user has full access to the variables in the EuroSim data dictionary Direct simulation control commands can also be used in the language This appendix first starts with a primer in MDL followed by a number of sections providing detailed information on the various language elements A description of the built in functions and a concise formal definition of the MDL language can be found in the last two sections of this appendix Note that the majority of MDL scripts in EuroSim will can be made via the GUIs for which the user doesn t need to know much about the MDL language So this appendix is primarily intended for EuroSim users who want to do advanced things not supported via the predefined GUIs Throughout this section 1t is assumed that the reader has programming experience E 1 MDL primer An MDL script or scenario is normally created with EuroSim s Simulation Controller and interpreted during simulation by EuroSim s Action Manager ACTION MGR An MDL script contains amongst other things a collection of actions An MDL action consists of four parts 1 Action name 2 Action attributes optional 3 Action body 4 Action condition optional Each action in the MDL script is r
446. r Jopessequeyl LA ILA dourjsupIo qolo sIS01 URISUTIIO QCJO SISOYJOpessequry NI LISO 9IURISUJI9 O 19539 Jopessequiel LY TEN JUTOGUONEZIUOJYOU SUONRIDP9HI9ISIDOL JUTOKUONEZIUOTYOU SUONBIDPOJIDSIZIYIOPPSSEQUIY LAUS IUTOJUONEZIUOJYPU SUONRIDPOHIDSISILIOPPSSEQUIPL ALLA WI JU9AHIXION UA JO Nb ou INIA XI NUW NO IOPeSSPQUIY O LY USI QUILL JUIAHIXON UA Jo Nb JOPESSEGLULT LA ILA PLOVULNOO T JONb peayeyoo AlonOsopessequry AI LY USI peoyexooTAtonb10pessequel LY LLY SLE TAronbs Lg TL N JOPESSEJU VU Lys SLE T Jonb JOPESSEGUET TY LLY AUT 9JPISp9J TIND DUTTOLIOPOJ TON IOpessegUVTITIUISO ouITLaye1opa jAronb 10PeSSEQUIPLL ALLA diysioumOainqinry Lnb drysISUM DLANI LI y AonQ1opessequry a Lys diysisumQoinqiyy Jonb JOPESSEGULT LY LLY sse DolgOustand sse a100lgousHgna1opessegur NIL yusa sse pioofqgystiqnd 1opessequiel LY ILA SSL DUOHOLIOJUTYSTgN SSEJJUONOLIAIUTYSTIJNJJOPESSLGIU VII LY uIso sseppuonorIguyys qnd Jopessequiel LA TL OJJETTEAVISONDOYJUDAHIXOU OJJETIEAVISONDOYJUDJA AHIXINIIOPESSE IU VII LY USI OJJEJTEAVISONDOYJUDA HI xou JOPESSEJ WET LY ILA JSONDIYJUDAHIXOU JSONDOYJUPAHIXINIOPESSEGUY AA LY LISY jsonboyuaa xou JOPESSEGUET LA LLY armysoarqdiysrumoanquyy ALHOBOU AIMNISAMIdTYSISUMODANIINV Pare no3aNIOPessequIy TI Luisa aN NsaarqdrysiouMOengin ypoenosoujopessequel LA LEA peoyeyoo Ay pou peoye yoo T JIPONIOPESSEJUV nip LUIS peoyeyoo Ay pour JOPESSEGUET LY ILA souRsupoalqgaiajaq eoo soursup dafqQoi9 9q e907 JJopessequIV NILU
447. r Manual XML Extensible Markup Language 236 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 Appendix B Definitions Action From a user s perspective an action is part of his scenario and defines both the required re sponse to be taken when an event occurs plus the required event An action can be one of stimulus recorder monitor intervention and event EuroSim provides specific editors for de fault recorders and stimuli and a generic action editor for all other actions and customized recorders stimuli and monitors Monitor actions are obsolescent and are replaced with MMI definitions Application definition file Format of files created by LynX contain initialization and run time information for a Vega application Files have a adf extension Data dictionary A list of public data variables and parameters extracted from model code i e those which are accessible to the user for optionally updating monitoring and recording The list is augmented with descriptive information such as units default values ranges Data View A subset of the data items in the EuroSim data dictionary Used to define data items which are to be read written by an external simulator at run time and therefore provides a mechanism for sharing data between two independent simulators Entrypoint A function or procedure in the model code for which some restrictions apply which can be used to create tasks in the Schedule Editor Event A dis
448. r has no support for generic types If an instantiation of a generic package is made the user has to perform the necessary parameter substitution himself User defined types are not supported by EuroSim 296 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 H 4 5 Tasks Since the EuroSim environment supplies its own task mechanism the Ada 95 task and exception mech anism and associated commands e g select delay should not be used H 4 6 Debugging support As the dbx debugger on IRIX does not support Ada 95 if Ada 95 debugging support is needed an Ada 95 debugger with support for mixed language environments C and Fortran should be used e g gdb H 4 7 Real time aspects The timing of Ada 95 routines may be less predictable than the timing for C and Fortran due to the dynamic allocation of variables Dutch Space BV 297 iss 5 rev 0 SUM NLR EFO SUM 2 298 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 Appendix HLA extension EsimRTI 1 1 Introduction The EsimRTI is a HLA interface for EuroSim The EsimRTI is a real time layer on top of the RTI that provides the RTI services to an application in a real time manner with a C application programmer s interface EuroSim models that can use the EsimRTI must be composed from C source files It is possible to include Fortran 77 source files in the EuroSim model but the EsimRTI API must be called from the C source files 1 1
449. r of the Simulation Controller 21 5 1 2 Status information Displaved next to the control buttons are three fields with status information At first the current state of the simulator second the simulation time and third the wall clock time 222 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 21 5 1 3 Message window Located at the bottom of the screen is the message pane On the message pane all messages are displayed This includes messages generated by the simulator e g when starting the simulator or when pausing 1t errors from the scheduler 21 5 2 Select Simulator Clicking on the button Select Sim will pop up a dialog with a list of available monitors Before this list 1s shown however it is necessary that you login using a username and a password see Figure 21 6 1 Enter username and password for EuroSim Web Interface Client at https localhost 8000 User Name eurosim Password drot detotciu Use Password Manager to remember this password Cancel OK Figure 21 6 Login dialog When your input is accepted you will be taken to the monitor list Otherwise the login dialog will keep asking you for you credentials Pressing Cancel will stop this resulting in a 401 Unauthorized message 21 5 3 Monitor list dialog After you have successfully logged in you will see a dialog as shown in Figure 21 7 amp Select Monitor x ID Name 127 0 0 1 60927 Demo mon
450. r or direct the function differs in 1ts behavior e EsimRTI mode is buffered e The esimRTIrtiA mbassadorRegisterObjectlnstance is asynchronous and returns 0 as the EsimR TlobjectHandle return value The EsimRTlobjectHandle is delivered to the federate through the following EsimRTI specific callback e void esimRTIfederateA mbassadorObjectlnstanceRegistrationSucceeded EsimRTIclass Handle the Class EsimRTlobjectHandle theObject const char theName e EsimRTI mode is direct e The esimRTIrtiAmbassadorRegisterObjectInstance functions as the original RTI call would How ever the method calls the method to be implemented for the federate esimRTIfederate Ambas sadorRegisterObjectInstanceSucceeded as well to allow the federate to link the RTI object handle to the application object Linking the registration of object handles with the appropriate names through this callback can be done in two ways e register only one object of a certain class at a time wait for the callback to be delivered and then register the next object of the class e use the object name to link the callback to the registration The file esimRTlobjects h contains simple structures to register the linkage of classes objects interac tions attributes and parameters in the application C domain to the RTI domain C These structures are described in the next chapter Dutch Space BV 307 iss 5 rev 0 SUM NLR EFO SUM 2 1 3 9 Callback functions
451. re The VMIVME 6000 BCU software library guick extended and utility offers all the functionality and features that are provided by the VMIVME 6000 board The library is ported to IRIX 6 5 and is partly tested on SGI Onyx For more information about this library see VMI and VMI93 For optimisation and engineering reasons a new software module Im was developed and added to the BCU software library The MIL1553 interface is built on the Im interface and will be used by the normal EuroSim user It provides the general interface to a MIL1553 device The services of the MIL1553 interface are described in the following subsections 16 3 1 Scenarios The MIL1553 interface is based on a scenario driven mechanism called control blocks for VMIVME 6000 The user firstly defines e g in the initialization phase the input and output buffers for RT mode or defines the message transfers for BC mode that are required for the application model Once activated the MIL1553 interface will perform solitarily the specified message transfers BC mode and will send or receive the output input buffers in reaction of BC write read transfer actions RT mode 16 3 2 General operations The MIL1553 object provides general services to open and close the MIL1553 device and to let EuroSim operate in bus controller BC remote terminal RT or bus monitor BM mode These general oper ations are esimMi115530pen esimMi11553SetMode esimMil15
452. re The next time the model 1s saved no file selection window is shown 4 5 3 Adding the source code Next the actual source files have to be created Do this by selecting the Altitude file node and choosing Edit Edit Source from the menu An editor will show in which the following source code should be entered Beware that Fortran wants to have 6 spaces before the first character on the line except for the comment lines starting with C in column 1 This is a left over from the times that programs were entered using punch cards Listing 4 1 Source Altitude f File Altitude f Contents The Fortran routines that simulate the gravity pull of a planet 62162762601 0 Tf the files have already been selected with the file selection dialog this step can be skipped See Section 6 5 for information on how to change the default editor 22 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 SUBROUTINE DECAYALTITUDE C Global Variable definition INTEGER ALTITUDE INTEGER DECAYSPEED DECAYCOUNTER E COMMON Block Definition COMMON ALTDATA ALTITUDE DECAYSPEED DECAYCOUNTER DECAYCOUNTER DECAYCOUNTER 1 IF DECAYCOUNTER GT DECAYSPEED THEN DECAYCOUNTE IF ALTITUDE GT 0 THEN ALTITUDE ALTITUDE 1 ENDIF ENDIF py ll o RETURN END Save the
453. re that the required initial conditions are selected prior to initializing the simulator atio O olle e e Dar d pace al x File Edit View Insert Server Control Debug Tools Help A alse m G M T 4 b EB E IR ree Init A Input Files Schedule Q API 2 Satellite dal Monitors i jj Satellite sim A Satellite model 5 Satellite sched lt lt no export file gt gt Scenarios i HSatellite mdl Yes AMMI Verified init Yes JAssumediinit Yes User Program Definitions Wallclock Message Not Connected minbar dutchspace nl Test Controller Realtime Not Running 151 8000 156 1360 Experimental Figure 12 1 Simulation Controller with multiple Initial Conditions The required active initial conditions are indicated in the Input Files tab page the initial conditions marked Active form the set of values that will be applied if you request Init or Reset from the Simu lation Controller Values which have been updated are then used in tasks scheduled for the initializing state The set of active initial conditions can be updated by activating or deactivating the appropriate file in the Input Files tab page Alternatively you can request Control Apply Initial Condition from the Simulation Controller to cause the data values within the file to be applied directly to the current simulation In this case the values are used to override th
454. recorder or stimulus is active when unchecked it is not active Toggling the checkbox will activate deactivate the recorder or stimulus See Figure 12 20 for an example Action Button Caption set decay speed Scenario Satellite mdl y Action 4 Set decay speed to 20 Figure 12 22 The Action Button Editor 132 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 Chapter 13 Test Analyzer reference The Test Analyzer can be used to create and display plots of the generated test results It uses PV WAVE l or gnuplot to display and print the plots For most plots the user interface of the Test Analyzer is sufficient but it is also possible to send commands to the PV WAVE or gnuplot back end directly The purpose of this chapter is to provide a detailed reference of the Test Analyzer The first part of this chapter describes how to start and use the Test Analyzer Section 13 1 Section 13 2 The second part can be used for reference Section 13 4 Section 13 7 13 1 Starting the Test Analyzer The Test Analyzer can be started by selecting the Test analyzer button in the EuroSim start up window The Test Analyzer can also be started from the command line by issuing the TestAnalyzer command 13 2 Using the Test Analyzer The next sections describe how the Test Analyzer can be used without going into too much detail For a complete description of a particular part of the user interfa
455. red This situation indicates that some preallocated memory in unit Sched TaskPool c is insuffi cient Although it is not expected this situation might occur in simulations with a large number of different task frequencies or task execution time bounds The system responds to this situ ation by dynamically enlarging its memory resources which might theoretically result in real time errors although the probability of this is very low Raise an SPR requesting the size of pre allocated memory FREELIST_POOLSIZE in Sched_Taskpool c to be raised and continue simulating W An input event raised to connector sss was lost due to insufficient buffer space Raise the capacity of this input connector in this state currently nnn and rerun the simulation Self explanatory W An input event raised to connector sss was lost due to insufficient buffer space Raise the total capacity of the input connectors in this state currently nnn and rerun the simulation Self explanatory Dutch Space BV 243 iss 5 rev 0 SUM NLR EFO SUM 2 W An output event raised by connector sss was lost due to insufficient buffer space Raise the total capacity of this output connector in this state currently nnn and rerun the simulation Self explanatory W pending state buffer overflow state transition request ignored A very rapid sequence of state transition requests has caused an overflow of an internal buffer Slow down with changing
456. riables varx gt lt ELEMENT view name simstate simtime lt ATTLIST view monitorid CDATA REQUIRED simid CDATA REQUIRED gt lt ELEMENT viewlist view gt Example lt xml version 1 0 gt lt viewlist gt variabless gt lt view monitorid 127 0 0 1 36506 simid demo example com 0 gt Dutch Space BV 231 iss 5 rev 0 SUM NLR EFO SUM 2 lt name gt DemoView lt name gt lt simstate gt Executing lt simstate gt lt simtime gt 6 90288e 06 lt simtime gt lt runtime gt 6 90307e 06 lt runtime gt lt variables gt lt var gt lt name gt ball _ _ height lt name gt lt value gt 123 456 lt value gt lt var gt lt var gt lt name gt ball _ _ velocity lt name gt lt value gt 3 1415 lt value gt lt var gt lt variables gt lt view gt lt viewlist gt 21 6 2 5 Errors Errors can occur for a number of reasons for example because a specified id monitorld viewld simld is unknown or because an addVariable command is issued for a variable that is already present in the view Errors simply contain a message about what went wrong Format lt ELEMENT error message gt lt ELEMENT message PCDATA gt Example lt xml version 1 0 gt lt error gt lt message gt An unknown error occurred lt message gt lt error gt 232 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 Part IV Appendice
457. riodic switch the filename becomes filename 00n with switch counter 1 reinit soft Reload the data dictionary with the values from a snapshot file hard filename or If the hard option is given the simulation time will be set to the initialise init value defined in the snapshot file The soft option is the default When this option is used or no option the simulation time in the snapshot file is ignored After the loading of the file has finished the scheduler event SNAPSHOT_END is raised so that a task can be triggered to use the values to reinitialize external hardware for instance Table E 5 Input Output and Control commands do not return values 5An expression_list is a comma separated list of expressions SA dictlist is a comma separated list of data dictionary variables Dutch Space BV 267 iss 5 rev 0 SUM NLR EFO SUM 2 Command Description run or go Request change simulator state from standby to executing schedspeed expression Set the scheduler speed to result of expression schedspeed AFAP sets the scheduler in as fast as possible mode This function only has effect if the scheduler is in non realtime mode set_realtime Change the real time mode to result of expression expression set time expression Change the simulation time to result of expression snapshot filename Make a snapshot of the current data dictionary and s
458. ros1Im EuroSim Mk4 0 Software User s Manual Schedule Editor Untitled sched minbar dutchspace nl File Edit View Insert Tools Help B OVI U EE Proje ge bar d p New Open Save Undo Select Flow Task Nrttask Timer Mutex Freq changer EX Eie Edt vew Gauls Hep Tasklist Initializing m Standby b Executing a Exiing a a a B se ACTION MGR Add Model Remove Model Add Undo ST T Project Files Satellite Files Description Path Model ERIN satelitemodal gt Satellite model Satellite model s d EJParameter Exchanges produce Schedules Satelite sched Satellite sched initial Conditions jscenarios g Simulation Definitions Edit Task Properties Thruster oo sp Data Dictionary Description Entrypoints min ms Mean ms Max ms Plots Altitude Sub model for 1 1 Thruster Thruster Thruster 0 000 0 000 0 000 altitudeplot plt altitudeplotplt ch D Altitude fl Miscellaneous decayaltitude A B initalise altitude 3 Add ble Experimental nitializealtitude Initialize the alt Thruster Dp Iitalise_Thruster Einitialise Thruster Initialise the thr 2 Thruster Model Editor Parameter Exchange Editor Schedule Editor Simulation Controller Test Analyzer Observer jusers fi75708 foHome Satelite ELLE jJ
459. rs The code generator is automatically invoked from the ModelEditor when building the simulator executable It generates the boilerplate code and the header files into the directory where also the object files are stored The user only has to add the implementation files to the model file These implementation files must be generated by the code generator Example smp2gen c sensor model i spacecraft cat e EuroSim SMP2 assembly file The EuroSim replacement of the SMP2 assembly file is a simple list of instances of models The format is as follows Each line contains a list of instances It starts with the name of the catalogue file followed by the fully gualified name of the model and finally followed by a comma separated list of instances Comments are allowed anywhere and start with a sign The fully gualified name of the model is the name of the model in the namespace hierarchy The hierarchical elements are separated by forward slashes Example Catalogue Model Instance s spacecraft cat SC Sensors GPS GPS1 GPS2 GPS3 spacecraft cat SC AOCS AOCS spacecraft cat SC Sensors STR STR1 STR2 STR3 ground cat ground station stationl station2 This file is automatically processed by a code generator at build time You must add at least one such file to your model file or else no instances of models will be created at all More than one EuroSim assembly file may be specified e Integration in Model Editor i
460. ruster altdata_ ALTITUDE move iT Show Line Vv Line Color Select Symbol None Symbol Color Select Format Read Only Variable Properties Figure 12 21 The Monitor Editor 12 14 3 1 Monitor Properties The following properties are always available Caption Enter the caption of the monitor Style Select the style of the monitor The following styles are available Alpha Numeric Give a textual representation of the value of a variable Plot against Simulation Time Use the value of the variable as the Y axis value and the simulation time as the X axis value Plot against Wall Clock Time Use the value of the variable as the Y axis value and the wall clock time as the X axis value 130 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 XY Plot Use the value of the variable as the Y axis value and the value of a designated other variable as the X axis value Depending on the style some of the other properties in the monitor editor become enabled or disabled For the Alpha Numeric style the Read Only checkbox in the variable properties area is only enabled if the variable is an input variable and the Format combobox is only enabled if the variable is not a string For the plot styles all properties are enabled except for the Read Only checkbox and the Format combobox The X Axis Variable combobox is only enabled when the XY Plot style is selected The following propert
461. rver and a list of connections to simulators xi Eurosim Web Interface Monitor In x Settings minbar dutchspace nl 0 minbar dutchspace nl 1 Connected Figure 21 2 The Monitor GUI By pressing the Connect button the user initiates a connection to the server This can be a direct connection or via a proxy The state of the connection is displayed on the bottom of the window When the connection succeeds the status message changes to Connected On successful connection the caption of the connect button changes to Disconnect Pressing the button in this state closes the connection The Settings button brings up a configuration dialog where the monitor settings can be adjusted This is explained in more detail in the next section The listview below the buttons displays the simulator connections that are currently open 21 2 2 Settings The settings dialog has two tabs where several important configuration parameters can be adjusted The Server hostname is where the server can be found This can be in the form of a hostname for exam ple www dutchspace nl or an IP address in so called dotted decimal notation as shown in Figure 21 3 The Server port is the port number of the server This is usually 443 the standard port for HTTPS which is the protocol used by the server Next up are the proxy settings If web access requires a proxy at the location where the monitor is installed che
462. s Dutch Space BV 233 NLR EFO SUM 2 SUM iss 5 rev 0 Appendix A Abbreviations ADF Application Definition File AFAP As Fast As Possibe API Application Programmers Interface ASCII American Standards Code for Information Interchange COTS Commercial Off The Shelf Dict Dictionary EFO EuroSim Follow On EI External Interrupt ERA European Robotic Arm ESA European Space Agency Esim EuroSim ESTEC European Space Research and Technology Centre EuroSim European Real time Operations Simulator F77 Fortran 77 FFT Fast Fourier Transform DS Dutch Space GNAT GNU ADA Translator GUI Graphical User Interface HIL Hardware In the Loop HTML HyperText Markup Language Hz Hertz ID Identification 1 0 Input Output LCM Least Common Multiple MDL Mission Definition Language MIF Maker Interchange Format Mk Mark MMI Man Machine Interface NIVR Netherlands Agency for Aerospace Programs NLR National Aerospace Laboratory NLR Dutch Space BV 235 iss 5 rev 0 SUM NLR EFO SUM 2 Org Organization OSF Open Software Foundation RCS Revision Control System SGI Silicon Graphics Incorporated SMDL Simulation Model Definition Language SMI Simulation Model Interface SMP Simulation Model Portability SMP2 Simulation Model Portability 2 SPR Software Problem Report SUM Software Use
463. s Refer to the file SEFOROOT etc reserved words txt for the complete list of reserved words e Only variables with a memory address that is fixed at load time can be used as API variables The operation must not make use of a locking mechanism semaphores to establish mutual exclusion of a common defined variable This should be done using an asynchronous store see Section 11 3 During real time simulation the size of the system stack cannot change Therefore care should be taken with model code which allocates large data structures on the stack When combining programming languages in one model e g C and Fortran there are a number of rules to keep in consideration with respect to variable and function naming Refer to the programming language documentation for more information For an example see Section 4 6 H 2 Climitations Unnamed structures unions and bitfields cannot be used as API variables There is one exception static variables declared within a C function have a load time fixed address but are not accessible by EuroSim No implementation of such access is possible without violating the rule that EuroSim should not modify source code files Dutch Space BV 295 iss 5 rev 0 SUM NLR EFO SUM 2 H 3 Fortran limitations Because Fortran lacks the extern keyword as available in C the owner of a variable is not known to the Fortran compiler Therefore variables are declared in more than one For
464. s Simulator sim so that it looks like the code below Private Sub CommandButtonl Click On Error Resume Next sim Launch localhost C mysims Counter Counter sam Testeltent 0 If Err lt gt 0 Then MsgBox Error amp Err Description Else A535 Value Launch successful Set EsimClass Simulator sim End If End Sub 20 4 6 Sending updates to the simulator This chapter will help you to modify your Excel application so that when you modify cells on your worksheet these modified values are sent to the EuroSim simulator First we need a view with write permissions Add the following declarations to Modulel Public WriteView As EuroSim IvarView Public newCounter As Double Then add the following code to the CommandButton4 Click Create View button subroutine Set WriteView sim CreateVarView writeview If Err lt gt 0 Then MsgBox Error 4 Err Description Else WriteView AddDouble dCounter newCounter WriteView Connect EuroSim Write 0 End If The above code creates a relation between the local variable newCounter and the simulator variable Counter which we monitor using the readview Excel Worksheet and Workbook level events are contained by the Worksheet and Workbook objects respectively However there is no similar object to contain the Excel Application level events Therefore you must use a Class Module to create an object that can accept and handle
465. s ca t A A AR AA 146 13106 PA WAVE Delp oo he eh a ee al ee ee ee a 146 13109 The PY WAVE process lt a vy eo a ee Ee we a 146 TaTTi ennot ree jed ek a we de ee a 147 13 11 1 gnuplot operators and functions lt lt lt lt o e e 147 13 11 2 Accessmp recorded data o oo caros 147 13 113 gnuplot help 22 eb ee ROR RG we ee ew 148 14 Batch utility reference 149 PET e o iss hk Bee dp A ke ee A eed es a Rhee de bo al t 149 14 2 Conversion utility for event probe users lt lt lt lt lt lt e ee ee eee 149 143 Starting the interactive batch shell o c c ocono o on o se 149 14 4 Batch utility modules o os es a ee A A a o on 150 14 4 1 EuroSim Session module e e 150 14 4 2 EuroSim MDL module a 154 14 4 3 EuroSim Dict module eee 154 44 4 EuroSim InitCond module lt s o 578 k we e em ead alle ae 155 144 3 EurosinizL nk module z s o sanea d es rian ae 155 1446 EuroSim Conn module lt ec s soe da ea dd 155 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 14 5 Extending the batch utility o poos eos euc ea a a i denn 156 KG A u o E v s Ar dy we 156 14 7 Useful command line utilities 157 META BEBE o a a a A A EE OA 157 MZ BORM corra id By EK E a VU k 158 15 Simulation Model Portability interface reference 159 154 ROUCO oc e A a a a a eg bp a 159 15 2 Import and build procedure o s e e e soem 80h a k e e
466. s data dictionary Array elements are selected using square C or round Fortran brackets More dimensional array indexing follows the conventions of the sub model language Members of user defined type variables in C sub models are selected using a dot action position print three elements of an array in a Fortran style loop N 3 for i is 1 to N loop begin print position i source f position i end action clear clear all elements of an 2 dim array in a C style loop for i 0 i lt 10 i i 1 for j 0 j lt 10 j j 1 source c matrix i j 0 clear a member of a C struct source c vector xcoord 0 0 A combination of both mechanisms is used to stimulate and record certain data dictionary variables with the stimulate or record built in commands action register three int m Float x function f x 1 0 return x tit record filel n f A B C sourcel c workl locall record file3 A E C source2 c work4 localUdt record file2 A E C source2 c work4 localUdt 0 count when freq 100 262 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 Note that also MDL variables can be recorded this can be used e g for recording a derived variable derived from one or more data dictionary variables From within MDL the user has full control over the simulator by means of functions like go free
467. s driver This IRQ number is used by EuroSim to ensure that the interrupts go only to the CPU where the event handler is running Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 Chapter 17 Modelling a TM TC Link 17 1 Introduction With EuroSim the possibility exists to model a telemetry telecommand link at run time either between two sub models within a EuroSim simulator or between EuroSim and another external computer The main feature of this library is to simulate the bandwidth and time delay that characterize a long range communication link such as the TM TC link between a ground station and a satellite By default this delay is disabled and packets are forwarded without any delay The TM TC mechanism uses a central server process running within EuroSim via which the two terminators or clients can communicate The server can maintain one or more client to client links links are bidirectional and can be established between any two internal clients or between an internal and an external client For the latter use is made of TCP IP No link can be established between two external clients EuroSim has the flexibility to handle any data structure as a packet packets do not have to be compliant with ECSS PUS Sec03 standards in order to be sent and received over the TM TC link In Figure 17 1 a schematic of a TM TC link between an external simulator and a EuroSim simulator is provided Ground Station OnBoard Thermal Mo
468. s exist they are saved in filename old If on the other hand a Class or Model is currently selected you are asked to make a choice between generating all files header boilerplate implementation or to update only header and 76 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 boilerplate keeping an existing implementation file presumably with model logic code added by the user y Generate model or class Update model or class Generate only header and boilerplate files of corresponding C class Create new model or class Generate header implementation and boilerplate files of corresponding C class i Cancel Figure 10 5 Your are prompted to select the files to be generated Note that an updated Model may need regeneration of its implementation file e g if entry points are added As an alternative for these code generation options the smp2gen tool may be called directly from the command line 10 6 SMP2 Compliance This section describes EuroSim s compliance to the standard grouped per SMP2 document Note that the Handbook SMP05c is non normative 10 6 1 Applicable SMP2 version The implementation is based on SMP2 0 version 1 2 release date 28 October 2005 10 6 2 Metamodel Only catalogues are currently supported Assemblies and schedules are not supported For creating configurations of model instances use the smp2glue utility For creating real time schedules use the Euro
469. s from the EuroSim Simulator When the view is connected events from the EuroSim server arrive automatically and are passed through the eventHandler which was specified when extConnect was called see Section 18 7 2 Incoming events can either indicate that the data view has just been updated event gt type Of evExt SetData or At the moment the only way to find the correct data dictionary variable names is to get the information on line from the info menu option in the Model Editor or DictBrowser or to look in the model dict file Dutch Space BV 195 iss 5 rev 0 SUM NLR EFO SUM 2 that a state change command has been issued by EuroSim evEventType event of rtExecuting rtStandby etc Each event is timestamped with simtime and runtime evEventSimTime event and evEventRunTime event respectively In the given example external simulator code an incoming evExtSetData event is used to trigger a display of the data the data being read from local memory by the curses_print procedure Similarly any state events trigger the procedure curses_state which prints the state to screen together with the time stamps With this mechanism if the update frequency is set to 10Hz then the curses print procedure 1s effectively being scheduled at 10Hz static int eventHandler Connection conn const evEvent command void xuserdata char buf 50 evArgRec xpt switch evEventType command c
470. s which can be sent over the link per second A negative number indicates Unlimited default and will pose NO extra delay When this value is set to 100 and 200 bytes are sent over the package will take 2 seconds the LINKDE LAY to arrive at the other side Note that the package will arrive as a single entity and therefore will not be visible and cannot be read as long as the complete package has not arrived e LINKMAXTIME PENDING integer indicates how many milliseconds data may be overdue in the queue before it is discarded When a value less than zero is given the packages will never be discarded default The esimLinkloct1 procedure can be called at runtime so can be used to introduce a variable delay time for example in order to mimic an elliptical orbit or to simulate communications with a set of ground stations where the delay time is a function of the current location of the satellite Both TM TC clients can set their own characteristics so that the upward and downward links can differ accordingly The esimLink manual page or MANO5 provides more information on creating and customizing TM TC links 17 3 Summary of procedure The following steps summarize how to set up and use a TM TC link between two simulated stations 1 If one of the simulators is external to EuroSim set up a connection to the EuroSim server Create and customize the link between the two clients Send packets Receive packets nA A Q N
471. scriptor on which to accept a new connection PathToCertificate The path to the servers certificate file PathToPrivate Key The path to the servers private key file 21 3 2 Authentication The authentication information for clients and monitors is kept in a file called auth xml in the same directory as the server executable It contains all valid user password combinations Access control is divided into 2 realms this term is used in the HTTP basic authorization scheme one for clients and one for monitors The name of the client realm is EuroSim Web Interface Client and the name for the monitor realm is EuroSim Web Interface Monitor These names are hardcoded in the server and should match exactly Below is an example of such an authentication file lt authinfo gt lt realm name EuroSim Web Interface Client gt lt user login eurosim password hard2guess gt lt user login johndoe password 2hard4u gt lt realm gt lt realm name EuroSim Web Interface Monitor gt lt user login demo password xyz123 gt lt realm gt lt authinfo gt This file would give access to 2 clients one with username eurosim and password hard2guess and one with username johndoe and password 2hard4u Access is also granted for a monitor with username demo and password xyz123 21 4 Certificates This chapter will try to explain the basics of certificates 21 4 1 W
472. self signed certificate and the corresponding private key Of course this is only useful for testing purposes Use the following command openssl exe reg x509 newkey rsa 1024 keyout server key nodes days 365 out server crt This creates a 1024 bit RSA private key and a certificate that is valid for 365 days Make sure the server can find these files by specifying their locations in the configuration file 21 5 JAVA applet interface This chapter describes the JAVA applet of the EuroSim Web Interface 21 5 1 Start screen When visiting the main URL for the web interface you will probably be presented with a warning about the servers certificate This is because at this moment the server uses a self signed certificate instead of one issued by a genuine certificate authority CA For the moment this warning can be ignored Note To run an applet it is necessary to have a JAVA Virtual Machine JVM installed and enabled in your browser After this the JAVA applet will be presented see Figure 21 5 1 i i i z Select Sim Init I Reset Pause Step Go Stop State Simtime Wallclock a Name Min Max Value Unit Description 3 root SimTime Wallclock Type Message Figure 21 5 Java applet start screen 21 5 1 1 Control buttons The control buttons are located on top of the screen These buttons have the same functionality as the buttons on the toolba
473. similar to time celltmp 1 1 celltmp 1 2 celltmp 1 3 10 005000 193 298 169 990 260 438 10 015000 193 298 169 990 260 438 To export the selected data and store it in a file as ASCII use the following command status DC_WRITE_FIXED table dat subsetTable simtime subsetTable templ subsetTable temp2 subsetTable temp3 Col Dutch Space BV 145 iss 5 rev 0 SUM NLR EFO SUM 2 13 10 4 2 Data analysis On the recorded data analysis functions such as a Fast Fourier Transform FFT can be performed An example would be xd simtime yd templ n_sample N_ELEMENTS xd samp rate n sample 1 xd n sample 1 xd 0 x FINDGEN n sample n sample 2 x ind WHERE x GE 0 x x ind x x_ind 1 x freg X samp rate FLOAT n sample y proc ABS FFT yd 1 PLOT x freg SHIFT y proc n sample 2 A FFT plot should then appear Plots generated with the plot command can be removed again by using the command wdelete 0 for plot number 0 Also various statistical analysis functions are available through PV WAVE For example print min min yd print max max yd print mean avg yd print median median yd print std dev stdev yd 13 10 5 User defined functions It is possible to define user defined functions which can later be used interactively in the dialog box which shows the interface with the plot back end
474. simulation bandwidth actual 112 estimated 112 disconnect 110 kill 111 life cycle 5 mode 7 105 reconnect 109 server 104 109 speed 105 state 104 transitions 95 view 87 time 105 traceability 105 user role 104 wall clock time 105 Simulation Controller convert old monitors 100 input files 100 MMI definitions 100 image definitions 100 stimuli 100 user program definitions 100 menu 102 107 message pane 104 overview 9 preferences 112 reference 99 status bar 104 tab page API 118 input files 114 MMI 128 scenario 119 tab pane 103 toolbar 103 windows 103 simulation definition creating 30 referencing a model file 100 referencing a schedule file 100 referencing an exports file 100 referencing initial condition files 100 referencing scenario files 100 selection of active initial condition 101 use of multiple initial conditions 101 simulation log see journal 104 Simulation Model Portability see SMP simulation output files 105 user defined directory 113 simulation state see state transitions 7 simulator 7 command line options 254 data dictionary 7 development 5 elements 6 external 189 model 6 prefcon 185 194 255 state 7 state change 86 task 6 Simulator Integration Support library Build process 205 Datapool 201 Initial values 204 Model Description file 200 Parameter Exchange file 201 Relation with SMP 204 Schedule file 202
475. size of the source and destination variable 8 5 2 Edit menu Add Exchange Group Add an exchange group node to the root node see Section 8 4 3 2 Add Exchange Parameter Add an exchange parameter to an exchange group node see Section 8 4 3 3 You will be prompted with a dialog box to enter a name a sensible default is provided The name is purely informational In order to add an exchange parameter you must first select an output variable in the source view and an input variable in the destination view Then select the appropriate exchange group and select the Add Exchange Parameter command in the Edit menu Update Exchange Parameter Update an exchange parameter with currently selected input and output variables in the desti nation and source views respectively Dutch Space BV 63 iss 5 rev 0 SUM NLR EFO SUM 2 8 5 3 Tools menu Check Parameter Exchange for errors Checks the parameter exchange for any errors The parameter exchange is also automatically checked on each save to disk This feature can be disabled through the Tools Preferences menu Check Coverage Check if all output and input variables are covered by exchanges 64 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 Chapter 9 Calibration Editor reference This chapter provides details on the Calibration Editor CE The menu items that are specific to the CE will be described in separate subsections For menu items not described in this chapter
476. square root of x and return it If x is less than 0 a run time error results tan x Compute the tangent of x and return it x is in radians acos x Compute the arc cosine of x and return it Return value will be between 0 and r If x is not between 1 and 1 a run time error results asin x Compute the arc sine of x and return it Return value will be between r 2 and 7 2 If x is not between 1 and 1 a run time error results ceil x Rounds up x to the next highest integer and return it cosh x Compute the hyperbolic cosine of x and return it floor x Rounds down x to the next lowest integer and return it log10 x Compute the base 10 logarithm of x and return it If x is less or equal than 0 a run time error results sinh x Compute the hyperbolic sine of x and return it Table E 2 Mathematical functions Dutch Space BV 263 iss 5 rev 0 SUM NLR EFO SUM 2 Function Description tanh x Compute the hyperbolic tangent of x and return it Table E 2 Mathematical functions y frac x y sin x 1 1 2 1 0 1 2 4 3 2 1 0 1 2 3 4 2 fabs x 3 floor x 3
477. sr files is a simple keyword value format keyword value where value is either a number or a text between double guotes To embed a double guote in the text you have to prefix it with a backslash To embed a backslash in the text you also have to prefix it with a backslash Examples foo 1 bar text example escape quote backslash A keyword can also start a nested set of keyword value pairs Example nested_keyword keyl valuel key2 value2 The simulation definition file supports the following keywords version the version number of the file format server the server to use for the simulator resultsPath the directory where the result files are stored createSubDir if 1 then create lt date gt lt time gt subdirectories in the resultsPath directory and store the result files there If 0 then do not create these subdirectories model start a nested section for a model file See below for valid keywords schedule start a nested section for a schedule file See below for valid keywords export start a nested section for an exports file See below for valid keywords mdl start a nested section for a scenario file See below for valid keywords This keyword can be used more than once mmi start a nested section for an mmi file See below for valid keywords This keyword can be used more than once UST start a nested section for an usr file See below for valid keywords This keyword can be used more t
478. ss instance The update method is published by means of a call to SMIPublishService As explained earlier we pass this function a pointer to the wrapper function instead of a pointer to the update method itself The SMIEnvAddServiceToSchedule adds the update method to the schedule Note that you can leave this call out and use the EuroSim schedule editor instead to add the entrypoint to the schedule The next step is to create an instance of our Simple class and call the initialize method We do this in a separate function that can be called from ordinary C source extern C bool publish_simple const char name Simple simple new Simple return simple gt initialize name Next we create an interface header file simple h ifdef _ cplusplus extern C endif void publish simple const char xname ifdef _ cplusplus endif If you do not already have a file that contains the ManagerPublishInterfaces function then create a file called modelmanager c and add the following lines to it include lt smi h gt include simple h void ManagerPublishlnterfaces void initialise the SMI x SMIInitialise x Create an instance of class Simple and publish it 168 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 publish_simple Simple Unless you need additional initialization in your model s we can suffice with an empty implementation o
479. st initialise Expr reinit Expr init Expr initialise string Expr reinit string Expr init string Expr AtomicAction AtomicAction run go pause freeze stop abort snapshot Expr snapshot mark Expr mark health obsolescent x Dutch Space BV 273 iss 5 rev 0 SUM NLR EFO SUM 2 ExprList x list of simple expressions Expr ExprList Cont Expr Argument List x list of generic may contain complex types expressions Argument ArgumentList Cont Argument r IdentList identifier IdentList identifier r Constant string Decimal Octadecimal Hexadecimal FloatingPoint Time Zero off on PixelCoord Decimal Octadecimal Hexadecimal Decimal plus Octadecimal Hexadecimal Decimal minus Octadecimal Hexadecimal Variable identifier identifier ArraySelector ExternalVar DictVar ExternalVar xternal identifier xternal identifier ArraySelector DictVar DictPath DictPath DictSelectorList x ctype selectors x DictPath ArgumentList fortran array x r DictPath dictpath DictSelectorList DictSelector DictSelectorList DictSelector r 274 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 DictSelector RecSelector ArraySelector RecSelector identifier RecSelector ide
480. states by modifying schedule W hard real time error at uptime nnn msec periodic tasks were still active when they should have completed basic cycle has been extended An overload condition has been detected in which execution of a periodic task took longer than its allowed execution time unless otherwise specified this allowed time is equal to its activation period The system responds to this situation by slowing down the real time Increase number of real time processors used if possible or decide if the effective schedule is not optimal A schedule is not optimal if processors are unused for longer time spans where this could have been avoided by a smarter activation order of previously executed tasks In these cases scheduling can be influenced by processor allocation use of task offsets and priorities and by adding dependencies between tasks W illegal state transition from sss to sss ignored An unallowed EuroSim state transition has been requested It is ignored Check the state transition diagram for legal transitions W real time mode transition refused this machine is non real time A transition of RT SCHD s mode to mode real time has been requested in a simulation which runs with insufficient authorities or which runs on a machine without real time capabilities The mode transition is ignored Re run with super user authorities and use a multiprocessor platform W frequency change refused this simulati
481. t Debug Run Tools Add Ins Window Help Is x AAA oc gt na MKS Disco roject YBAProject C SheetChange hd JE Public WithEvents App As Application YBAProject sum client xls E E Microsoft Excel Objects Private Sub app SheetChange ByVal Sh As Object ByVal Target As Range EB Sheet1 Sheet1 On Error Resume Next EB Sheet2 Sheet2 Application EnableEvents False EB Sheet3 Sheet3 If Target Address B 6 Then ak ThisWorkbook newCounter Target Value E E Modules WriteView Send 2 Module If Err lt gt 0 Then E89 Class Modules MsgBox Err Description EY EsimEventClass End If EY EventClass End If Application EnableEvents True Figure 20 7 The application event handler Next add the following line Public AppClass As New EventClass to the global declarations in Modulel so that it looks like the code below ublic sim As New EuroSim SimAccess ublic ReadView As EuroSim IvarView ublic WriteView As EuroSim IvarView ublic dCounter As Double ublic EsimClass As New EsimEventClass ublic AppClass As New EventClass Ty ty u m Ty ty This will create an object called AppClass as a new instance of EventClass In order to receive application events the App variable of the AppClass object must be set to the actual Excel application One place to do this is in the CommandButtonl Click subroutine using the following statement Set AppClass App Applica
482. t keyword is used to describe the entrypoints The first keyword is used once per source file the last three once per entrypoint Each keyword is preceded by a straight quote G 1 Global State Variables Global state variables are the variables which are used in the current source file only and should not be seen by other source files The syntax of the keyword is Global State Variables VariableType VariableName Attributes The VariableType and VariableName are as they are defined in the source file The Attributes can be zero or more of the attributes described below If more than one attribute is used they should be sepa rated by spaces or newlines If more than one variable is defined with the keyword each VariableType VariableName Attributes set should be separated by commas e UNIT fext This defines text as the unit of the variable The string text can be any string e DESCRIPTION fext This defines a string text which is used as description of the variable e PARAMETER Or RO Dutch Space BV 289 iss 5 rev 0 SUM NLR EFO SUM 2 No additional information It defines a variable as parameter meaning that EuroSim should not allow the value of the variable to be changed during a simulation only during initialization e INIT value This defines value as the initial value for the variable value should be in the correct syntax for the associated variable e MIN value e MAX
483. t wrong Example To delete the variable Altitude from view DemoView for simulator sim 0 on monitor localhost 0 use the following URL https hostname esim method del Variable amp monitorld localhost 0 8 simId sim 08viewId DemoView zvarName Altitude 21 6 2 XML formats This section contains DTD and examples for all XML formats used in the web interface 228 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 21 6 2 1 The monitor list The monitor list is a structure that contains multiple monitor elements all consisting of an id and a name element Format lt ELEMENT id PCDATA gt lt ELEMENT monitor id name gt lt ELEMENT monitorlist monitor gt lt ELEMENT name PCDATA gt Example lt xml version 1 0 gt lt monitorlist gt lt monitor gt lt id gt 127 0 0 1 36506 lt id gt lt name gt Demo monitor atosorigin com lt name gt lt monitor gt lt monitorlist gt 21 6 2 2 The session list The session list structure contains multiple session elements all consisting of a hostname prefcon and simulator element Format lt ELEMENT hostname PCDATA gt lt ELEMENT prefcon PCDATA gt lt ELEMENT session hostname prefcon simulator gt lt ATTLIST session simid CDATA REQUIRED gt lt ELEMENT sessionlist sesslonx gt lt ATTLIST sessionlist m
484. tSimtime lt event gt lt sec gt lt nsec gt Raise event at simulation time scRaiseEventAtSimtime lt event gt lt sec gt lt nsec gt eventSpeed lt speed gt Set relative clock speed Only when running non realtime When speed is set to 1 the simulator will run as fast as possible scSpeed lt speed gt Table J 14 Scheduler control commands There are three groups of events which need additional attention These groups of events are used to transmit complicated data structures to the client e task list e event list Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 e debugger position list The task list uses 5 events which are sent in a nested fashion The task list starts with scTaskListStart and ends with scTaskListEnd After scTaskListStart one or more tasks are sent Each task starts with scTaskStart and ends with scTaskEnd After scTaskStart one or more entry points are sent Each entry point is sent using scTaskEntry The event list starts with scEventListStart and ends with scEventListEnd After scEvent List Start one or more event descriptions are sent Each event is sent using scEvent Info The debugger position list also called where list starts with scWhereListStart and ends with the response scWhereListEnd After scWhereList Start zero or more positions are sent Each position 1s sent using scWhereEntry Table J 15 shows the messages sent autonomously every 2 seconds
485. te that the search string is also displayed in the caption of the first column of the dictionary browser The context menu also contains a Expand All item to expand all nodes and a Collapse All item to collapse all nodes in the tree Finally there is a Info menu item in the context menu that appears when you click with the right mouse button on a node in the dictionary Selecting this menu item will pop up a window that shows type information about the selected node 12 6 Initial Condition Editor reference The Initial Condition editor allows the specification of a particular state to which the model should be initialized prior to execution e g locations of payloads or the state of hatches It is only necessary to specify values in the initial conditions if these values override the initial value specified in the API header The initial conditions are set prior to execution of the code and a simulation can be re initialized during a run The validity of the initial condition cannot be checked by EuroSim However the Initial Condition editor will only allow values of the correct type to be entered which are the range that was specified in the API headers of the model The initialization sequence is as follows e first the simulator is loaded and the variables will get the values as they are hard coded in the source file e next the model is loaded and the variables defined in the API headers will get their designated default values e finall
486. th name If it is a relative path name it is relative to the path in work dir Table J 1 session def structure 332 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 field environment description an array of environment variables in the usual format VAR value Normally it is sufficient to copy the entire current environment into this array If you want to start the simulator with a custom environment setting you have to set at least the following environment variables used by EuroSim in addition to the ones used by the simulator model software EFOROOT should be set to the EuroSim installation directory EFO SHAREDMEMSTIZE is the amount of memory reserved for dynamic memory allocation Default is 4194304 4 MB This value can be set in the ModelEditor since Mk3rev2 EFO STACKSIZE 1s the stack size reserved for each thread of the simulator Default is 128k IRIX or 16k Linux This value can be set in the ModelEditor since Mk3rev2 PwD is the current working directory and is set to work dir by the daemon if it is not present LD LIBRARYN32 PATH should be set to the path of the shared libraries of EuroSim for IRIX 6 5 The value is normally SEFOROOT 1ib32 LD LIBRARY PATH should be set to the path of the shared libraries of EuroSim for other systems than IRIX 6 5 e g Linux The value is normally EFOROOT lib prefcon set to 1 under normal circumstances a connection number
487. the CPU load of dtCpuLoadSetPeak lt processor gt lt processor gt a specific CPU lt peak_time ms gt lt peak time ms gt At a freguency of 2 Hz drCpuLoad lt processor gt lt average gt lt peak gt dtGetValueRequest Get the value of a dtLogValueUpdate lt variable name gt lt variable name gt variable once lt value gt Table J 11 Monitor channel commands Table J 12 shows the messages sent on the mission channel autonomously with a frequency of 2 Hz Event Description Arguments dtHeartBeat Heartbeat count Table J 12 Monitor channel autonomous events The following example in C requests the monitoring of a specific variable in the data dictionary of the running simulator Listing J 9 Start monitoring a variable Connection conn must be set with eventConnect x 342 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 eventAdd2LogList conn NULL model file var From this moment on dtLogValueUpdate messages will be sent to the simulator client with 2 Hz To stop these messages call Listing J 10 Stop monitoring a variable eventRemoveFromLogList conn NULL model file var J 7 Scheduler control channel The scheduler control channel is used to manipulate and monitor the EuroSim scheduler Table J 13 lists the messages sent to the client after joining the mission channel
488. the board will fill the buffer cyclic Information of the monitored data can be obtained with the BCU utility library For more information see the BCU utility manual 16 3 6 Case study Remote Terminal functions x This example demonstrates the esimMil153 interface In this example the x RT functionality will be demonstrated The RT 3 that is simulated writes x incoming data on subaddress 5 to subaddress 10 include lt esim h gt include lt esimMil1553 h gt define MIL1553_BOARDNR 0 define VME A16 DEVICE hw vme 1 usrvme al6n dle define VME A24 DEVICE hw vme 1 usrvme a24n d16 int main void int mil1553 uword buf 8 Open the milbus device x if mil1553 esimMi115530pen MIL1553 BOARDNR VME Al6 DEVICE VME A24 DEVICE 1 esimError Cannot open MilONn return 1 x Set the mode of the milbus to RT if esimMil1553SetMode mil1553 MODE_MRTMON 1 esimError Cannot set RT mode n return 1 Add RT 3 to control block x esimMi11553RtAdd mil1553 3 x Start the RT x esimMil1553Start mi11553 x Read incoming data on subaddress 5 and write it to subaddress 10 esimMil1553RtRead mil1553 3 5 buf 8 esimMi11553RtWrite mi1l1553 3 10 buf 8 x Stop the RT 176 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 esimM
489. the enumerated types used in the previous sections EsimRTIobjectType EsimRTIpublishType and EsimRTIvariableType Enumerated type EsimRTIobjectType Enumerated values class object interaction EsimRTIpublishType subscribe publish publish subscribe EsimRTIvariable Type char short short string unsigned short unsigned short string int int string unsigned int unsigned int string float float string double double string string short array unsigned short array int array unsigned int array float array double array Table 1 9 EsimRTlobject and EsimRTlvariable related enumerated types Notes e The string in the enumerated types represents that the variable is encoded as a string using appropriate c ld and lf sprintf and sscanf format specifiers e The other enumerated types are encoded as is as a series of bytes as expected on the current platform Note that this is valid for data transfer on single platform type federations only e The array in the enumerated types represents that the array will be encoded as is as a series of bytes as expected on the current platform Note that this is valid use for single platform federations only The array dimensions are supposed to be well known are defined in the SOM of the federate 1 5 HandleValuePairSet encoding and decoding facilities The EsimRTI has been extended with basic facilities that ease the encoding and decoding of attrib
490. the minute in the range of 0 to 59 You can specify sub second precisions by adding a fraction to the seconds Example 2003 06 05 10 11 12 131415 grammar MDL x MDL action scripts MDLscript tEOF MDLfuncs Cont MDLscript tEOF tEOF MDLscript Action MDLscript Action MDLfuncs FunctionDeclaration MDLfuncs Term FunctionDeclaration Action action string CONTINUED x Attributes Cont CONTINUED x ActionBody Cont CONTINUED x ActionCondition ActionBody CompoundStatement action begin Cont StatementList Cont action end action begin Cont action end Cont begin Cont end action begin Cont StatementList tEOF Cont StatementList tEOF begin Cont StatementList tEOF Attributes x no attributes AttributeList ActionCondition no condition x When Cont PossibleCondition Term 1 When when PossibleCondition Dutch Space BV 269 iss 5 rev 0 SUM NLR EFO SUM 2 nothing Condition Cont Condition Expr ActionAttribute are used to manipulate x appearance of Action in Action Sheet GUI x initial status of action when condition is specified x AttributeList ActionAttribute AttributeList ActionAttribute ActionAttribute ActionStateAttribute state attributes PixelCoord PixelCoord x y position on action Sheet Decimal x icon on action Sheet Octadecima
491. the operations from the list the parameters of the operation may be viewed and edited in the bottom half of the window Associations Allows editing the associations of the class 10 4 11 Interface Apart from the General tab the window for the Interface type has the following tabs Inheritance Allows setting the list of base interfaces Properties Identical to the Properties tab of the Structure window Operations Identical to the Operations tab of the Structure window 10 4 12 Model Apart from the General tab the window for the Model type has the following tabs Inheritance Allows setting the single base model Properties Identical to the Properties tab of the Structure window Fields Identical to the Fields tab of the Structure window Interfaces Allows setting the list of implemented interfaces Operations Identical to the Operations tab of the Structure window 74 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 Associations Allows setting the list of associations Entry Points Allows setting the list of entry points On the left side of the window the entry points can be viewed and edited When selecting an entry points from the list on the right side of the windows the input and output fields can be viewed and edited Event Sources Allows setting the list of event sources Event Sinks Allows setting the list of event sinks References Allows setting the list of event references Co
492. this would be the directory where you have stored the model file 15 3 Example code In the EuroSim installation directory you can find under the src directory a directory with SMP example project called SMP This is a very simple test simulator which shows you a working example Section Section 15 7 describes how to create a simple SMP model based on the C programming language 15 4 Limitations Currently the scheduling calls performed in the SMP code are translated to EuroSim equivalents in the schedule file when they are called during initialization and not during a run Because of this the param eters of a service are ignored and cannot be used It is also not possible to register services with a zero cycle time These limitations are recorded as EFO SPR 2635 in the EuroSim SPR database Published data and services are placed under the SMP org node in the EuroSim data dictionary 15 5 Compliance Matrix SMP function SMIAddCallbackRequest Y Table 15 1 SMP 1 4 Compliance Matrix Supported 160 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 SMP function MICreateParameters Supported MIDuplicateParameters MIEnvAddServiceToSchedule MIEnvGetSimulatedTime MIEnvReadAsciiObjectData MIEnvWriteAsciiObjectDetails MIEnvWriteMessage MIFreeParameters MIGetArrayDetails MIGetCallbackCount MIGetCallbackID MIGetDataDetails MIGetDatalD
493. tinue scWhereListStart scWhereEntry lt taskname gt lt entrynr gt scWhereListEnd eventGoRT lt enable gt Switch between real time and non real time scGoRT lt enable gt eventListTasks Request task list scTaskListStartscTaskStart lt taskname gt lt enabled gt scTaskEntry lt entryname gt lt breakpoint gt lt trace gt scTaskEndscTaskListEnd eventTaskDisable lt taskname gt lt disable gt Disable a task scTaskDisable lt taskname gt lt disable gt maMessage lt task taskname disabled enabled gt eventSetTrc lt taskname gt lt entrynr gt lt enable gt Enable disable tracing of an entry point scSetTre lt task entrypoint gt lt enable gt eventClearBrks Clear all breakpoints scClearBrks eventClearTrcs Clear all traces scClearTres eventWhere Request current position scWhereListStart in schedule scWhereEntry lt taskname gt lt entrynr gt scWhereListEnd eventListEvents Request event list scEventListStartscEventInfo lt eventname gt lt state gt lt is_standard gt scEventListEnd eventRaiseEvent lt event gt Raise event scRaiseEvent lt event gt eventSimtime lt simtime gt Set simulation time scSimtime lt simtime gt maMessage lt new simulation time simtime gt eventRaiseEventAt lt event gt lt sec gt lt nsec gt Raise event at wallclock time scRaiseEventAt lt event gt lt sec gt lt nsec gt eventRaiseEventA
494. tion Your VB editor should now look similar to Figure 20 8 The MS Excel based client application is ready for another test Leave design mode launch the simulator create the views and type a numeric value in cell B6 After pressing the Enter key the application event handler will be called which will send the value of cell B6 to the simulator 214 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 44 Microsoft Visual Basic sum client xls Sheet1 Code 8 File Edit view Insert Format Debug Run Tools Add Ins Window Help Eg a Hl eBAlo cl u mA SS nto Col 36 EE TEE fo y click y Private Sub CommandButtoni Click YBAProject sum_client xls On Error Resume Next amp Microsoft Excel Objects sim Launch localhost C 1testsims Counter Counter sim If Err lt gt O Then E Sheet2 Sheet2 MsgBox Error Err Description 4 Sheet3 Sheet3 Else k Thisworkbook A5 Value Launch successful 3 Modules Initialise the sinks k 2 Module1 Set EsimClass Simulator sim 5 Class Modules Set AppClass App Application EY EsimEventClass End If Y EventClass Figure 20 8 Setting the AppClass App Dutch Space BV 215 iss 5 rev 0 SUM NLR EFO SUM 2 216 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 Chapter 21 Web Interface reference 21 1 Introduction This document describes how to setup and use the EuroSim Web Interface The tw
495. tion file s stage 1 data dictionary datapoo 4 Y simulator data executable dictionary Figure 19 8 Build process steps Dutch Space BV 205 iss 5 rev 0 SUM NLR EFO SUM 2 206 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 Chapter 20 COM Interface reference 20 1 Introduction The EuroSim COM interface allows Windows scripting clients such as Visual Basic for Applications VBA supported by MS Excel to launch and or connect to an EuroSim simulator and control this sim ulator from your client application 20 2 Installation 20 2 1 VBA When you plan to use this interface only with VBA then you only need to install the esimcom dll the actual component and esimcom tlb the type library If you have an installation of EuroSim for Win dows then these files have already been copied for you If you want to use your own client applications on a PC that does not have EuroSim installed then you can manually install the COM interface e Copy the esimcom dll and esimcom tlb files from the EuroSim bin subdirectory to an appropriate directory this can be the system directory usually C windows system32 e Copy the files pthreadGC dll and oncrpc dll to the system directory if they are not installed on the target system yet you can find these files in the system directory of a system that has EuroSim for Windows installed e Open a command shell and go to the directory where you
496. tion i e make its state active or enable a task Actions and tasks must be specified as strings activate Inject Error activate task Thruster deactivate action task deactivate an action or disable a task Actions and tasks must be specified as strings deactivate Inject error deactivate task Thruster exec action entrypoint task execute action or model entrypoint or model task from within another action Action entrypoints and tasks must be specified as strings exec Trigger action exec entry do_step exec task my_task health check internal diagnostics and report it to the journal file mark expression Produce a mark in the message pane and journal file When expression is omitted the mark looks like MARK n with n being a seguence numberWhen expression is given the mark looks like COMMENT n comment with comment being the value of expression converted to string Table E 5 Input Output and Control commands do not return values 266 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 Command Description monitor options Please note that this command is obsolescent dictlist Pop up a monitor on the Script Monitors tab pane This command can be used to start monitoring of a set of variable s when a certain condition during simulation is met Information on the variables is derived from the data dictionary
497. to identify the simulator for which the view is constructed This method could fail if any of the specified ids are unknown or if the user has already defined another view with the same name Method addView Parameters monitorld The id of the monitor simld The id of the simulator viewld The name of the view that is to be created Return A viewlist on success or an error 1f something went wrong Example To add a view DemoView to the simulator with id sim 0 on monitor localhost 0 use the following URL https hostname esim method add View amp monitorld localhost 0 amp simId sim 0 amp viewId DemoView 21 6 1 5 Deleting a view Views can also be deleted from the view list This is done using the delView method which takes the same parameters as the addView method discussed above This method could fail if any of the ids are unknown Method delView Parameters monitorld The id of the monitor simld The id of the simulator viewld The name of the view that is to be created Return A viewlist on success or an error if something went wrong Dutch Space BV 227 iss 5 rev 0 SUM NLR EFO SUM 2 Example To delete a view DemoView on the simulator with id sim 0 on monitor localhost 0 use the following URL https hostname esim method del View amp monitorld localhost 0 amp simId sim 0 amp viewld Demo View 21 6 1 6 Adding a variable Addi
498. to reguest and report state changes of the simulator The simulator client can reguest state changes and the simulator will report the new state as soon as it has been reached 336 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 Figure J 1 shows the state transition diagram applicable to an external application controlling the simula tor Next to the arrows are the functions to be called for each state transition In the boxes the name of the event is shown that is sent to the client when entering the state The only exception is the eventReset command This command performs a small scenario consisting of a state transition from standby state to exiting state from exiting to unconfigured from unconfigured to initializing In initializing state the automatic state transition to standby is performed as specified in the schedule start_session_3 eventJoinChannel MISSIONCHANNEL rtUnconfigured rtInitializing automatic rtStandby eventStop eventAbort eventAbort automatic eventFreeze rtExecuting Figure J 1 Simulator states Table J 3 lists the messages sent to the client after joining the real time control channel Event Description Arguments rtUnconfigured rtInitializing Current state rtStandby rtExecuting rtExiting rtMainCycle Main cycle time of schedule cycle time in timespec format tv sec and tv nsec Table J 3 Real time control channel
499. to the manipulation of scenarios and actions Sce narios are either loaded at start up from disk or are created on the fly using the commands listed in this chapter Scenarios loaded from disk can be modified in the simulator The changes are only in the running simulator not in the file on disk Table J 5 lists the messages sent to the client after joining the mission channel Event Description Arguments maDenyWriteAccess Write access notification on off maCurrentWorkingDir Working directory notification working directory maCurrentDict Current data dictionary notification dictionary file name maSimDef Current simulation definition file simulation definition filename maCurrentResultDir Current result directory notification result directory maCurrentCycletime Current action manager cycle time notification cycle time maCurren TimeMode Current time mode notification 0 relative 1 UTC maCurrentInitconds Current list of initial condition files notification simulation definition file initial condition file s maRecording Recording status notification on off Table J 5 Mission channel join events Table J 6 shows the events which can be sent to the simulator and the responses they send back Argu ments are enclosed in angled brackets Literal messages are in courier where variant parts are in italic Wherever you see the word file as in scenario file a file on disk is meant All other ref
500. tor tree view the model description is created using a hierarchical tree structure Elements in the tree are called nodes and have a specific function In Figure 7 2 an example model description tree is shown 58 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 Model Description Editor Counter md minbar dutchspace nl File Edit View Tools Help Counters c update This is the update entrypoint CH my array ICounters c my array double 12 CPX Counters c x double sec This is the x input CH x in struct Counters c simple structure 0 x double 3 Counters c x double sec This is the x input i Counters c y cos double cos x chy in_struct Counters c simple_structure 1 y double 3 m home fl75708 EfoHome Counter Counter md home fl75708 EfoHome Counter Counter model Experimental Figure 7 2 Example model description tree 7 5 1 Root node Each model description has one root node It represents the complete model description and it has the basename of the model description file The root node can hold one or more Model nodes 7 5 2 Model node Model nodes are used to structure the model description and will usually but not necessarily refer to the model s as specified in the Model Editor Model nodes are children of the root node and can hold one or more Entrypoint nodes 7 5 3 Entrypoint node Entrypoint nodes are also used to structure the model description and refer to an entrypo
501. tores and freguency changers are used to define a seguence of tasks Suppose that we have the following schedule freg 200Hz freg 100Hz offs 0ms offs 0ms a A os 3 freg 50Hz freg 200Hz offs 0ms offs 0ms ga S Xe D With this schedule it is defined that task A and D must be activated each 5 ms task B must be activated each 10 ms and task C must be activated each 20 ms The maximum frequency on which the scheduler can activate tasks is for all states default 200 Hz This means that the real time is split up in time slots of 5 ms For the example the scheduler will activate tasks A and D in slot 1 2 3 task B in slot 2 4 6 and task C in slot 4 8 12 92 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 In the previous example the seguence of tasks within the slots is not defined To define the seguence between tasks within the slots dependencies between tasks with the same freguency and freguency changers for tasks with different freguencies can be used In the following example the seguence of tasks within the time slots 1s defined with dependencies and freguency changers freq 200Hz ON 200 100 100 50 Note that the frequency of task D is still 200Hz the frequency of task B is still 100Hz and the frequency of task C still 50Hz These frequencies are now defined in the output frequency of the frequency changer With these frequency changers it is defined that the time slots and sequences of tasks
502. tran source file However for EuroSim purposes the API information for a variable should only be in one API header The user should therefore make sure that a variable which is declared in more than one source file should only be added to the API header of one of those files H 4 Ada 95 limitations Although EuroSim does support the use of Ada 95 except on the Windows NT platform for the devel opment of model code the support is not at the same level as for C and Fortran This is mostly due to the complexity of the Ada 95 language The main difference with the use of C and Fortran code is that the API Editor does currently not support parsing of Ada 95 code This means that any API headers have to be entered by hand to the source code See Appendix G for details on the layout of the API headers as well as an example Ada 95 header Also EuroSim currently only supports the use of the GNAT Ada 95 compiler In this section the limitations of the use of Ada 95 are described H 4 1 Compilation The GNAT compiler allows only one compilation unit per file The gnat chop utility can be used to split the files A body should be contained in a adb file and specifications should be in ads files If the package name example is given in a with clause the compiler will look for example ads Filenames are mapped to lowercase so the file Example ads will not be found H 4 2 Variables Only variables which have a fixed address as specified
503. tree Note that only org nodes and file nodes can be directly added to the model hierarchy using the menu options Edit Add Org Node Edit Add File Node or Edit Add Directory The other nodes are put into the Dutch Space BV 45 iss 5 rev 0 SUM NLR EFO SUM 2 model hierarchy indirectly e g by parsing the files Informational messages are written to the logging window while parsing the files The next sections describe each of the nodes The default icon for the node is shown in the left margin If more than one icon is used all are shown 6 2 1 i Root node The root node represents the complete model It is a special type of org node see next section and therefore shares the same attributes of org nodes The name of the root node in the attributes window 1s the name of the model file The name displayed on the Model Editor window is the file name of the model or Untitled model if a new model is started and has not been saved vet Double clicking the root node folds or unfolds the node 6 2 2 i Org node Org nodes are used to structure the model By using org nodes two or more related sub models can be grouped together by connecting them to the same org node Both other org nodes as well as file nodes representing the sub models can be attached to an org node The name of the org node can be changed by clicking a selected node A description can be entered in the description field 6 2 3 C File node There are
504. ts directory Recorder Rec Throughput bytes sec Create lt date gt lt time gt subdirectory M Browse Record altitude 1200 0000 Show paths OK Figure 12 11 Sample Configuration Dutch Space BV 113 iss 5 rev 0 SUM NLR EFO SUM 2 12 8 Input Files tab page This tab page lists all files used in the Simulation Definition These files can be removed through Edit Delete new files can be added through the Insert menu and the contents can be edited where applicable through the Edit Properties menu The tab page consists of a tree structure that organizes the files by type Top Level Shows the used simulator definition sim model mode1 schedule sched and export exports files Scenarios Shows all scenario md1 files MMIs Shows all Man Machine Interface mmi files Initial Conditions Shows all initial condition init files User Program Definitions Shows all User Program Definition usr files You can reorder the scenario or MMI tab pages To do that you drag and drop a scenario or MMI file to before or after another scenario or MMI file To reorder the Initial Condition files and thus the order in which these files are applied you can also use drag and drop to move then around 12 8 1 Menu items The following File menu items are available in the Input Files tab page Select Model Select another model file for this Simulation Definition
505. ts generated during the simulation Select File Select Test Results File This will show a file selection window Now find the recording file generated during the simulation It will be in a directory like 2001 08 30 15 33 30 Select the Altitude tr file which contains a list of all recording files created during the simulation in this case just one Right click on the variable browser window on the left and select Expand All Nodes The window should now look like Figure 4 12 estAnalyze ed p bar d pace EVES File Edit View Plot Curve Tools Help D B a New Open Save Select Variable Browser x Variable Satellite model tr Add Plot New Plot simulation time Altitude Altitude gt decayaltitude i altdata altitud Plot Properties x General curves Axes Info m E Te m u L E Jusers fl75708 EfoHome Satellite 2004 09 15 13 59 40 Satellite model tr o Figure 4 12 The Test Analyzer with the simulation results loaded Now select Plot New Plot The plot view top right now shows an icon representing the plot The plot properties tabpages bottom right have also become available Enter Altitude as the plot title and Plot of altitude against time as a description Press the Apply button to commit the changes The text under the plot icon in the plot view will be updated The window should now look like Figure 4
506. ttributes and parameters esimRTIrtiAmbassador h RTI hh RTI Ambassador RTlambServices hh esimRTlrti A mbassadorCalls h RTlambServices hh RTI Ambassador functions calls esimRTIshortNames h Short equivalents for the long EsimRTI names esimRTIstandalone h Functions required for the stand alone versions of the EsimRTI library esimRTIstring h String manipulation functions esimRTIthread h esimRTIthread and related functions for the multi threaded EsimRTI library esimRTItypes h baseTypes hh Basic typedefs and classes Table I 13 EsimRTI header files RTI equivalents and short descriptions I 7 Flywheel example With the development of the EsimRTI a new example has been added to the EuroSim source code man agement repository EFOROOT Examples Flywheel This new example is based on the Satellite exam ple and consists of an engine model and a flywheel model An engine keeps a flywheel spinning with a RPM that lies within certain limits The engine is started if the flywheel RPM is below the minimum RPM and is turned off if the flywheel RPM is above the maximum RPM Note that the purpose of the example is to illustrate the implementation of the EsimRTI and that neither the model of the engine nor the model of the flywheel are physically correct The Flywheel example can be run in three different modes of operation e as one integrated model within EuroSim flywheelengine model using one S
507. ua zadala 189 WSS Exporis SY 190 18 4 Creating multiple local data views 190 18 5 Synchronizaon oo so ecos Re AA A v o a R A vro 191 15 6 Summary of proc dure o A A a ee ee a a a 192 18 7 Case study setting up shared data to another simulator 193 INTI Create AV ESPORSULE oia A a bad s st 193 18 7 2 Link the external simulator as a EuroSim client 193 13 7 3 Determine host byte ordet o u 404040404 dra we a 194 18 7 4 Set up local data view with links to EuroSim data 194 18 7 5 Receiving and sending shared data at runtime 195 18 7 0 Close the connection ce kesa a wgw P a o oh 196 18 8 PENOSA OV O V nA dd k 197 18 8 1 Maximum throughput lt s o s esoe e 197 18 9 Building the Clem cios sob ko A BOA O re a RA e a A 197 VAB Vio Ad LO ae e a BA 197 189 2 WINDOWS io coce hs PLEA a e ad Ba kon 197 19 Simulator Integration Support library reference 199 a o z b O A c dh B ae dok o oe ea ROSA ni BA A 199 I2 FURE o eoa O V V s Me v wee o 199 193 USC CI example a ua ara a ae ee e a e eS db nj wae k 199 15 3 1 Model files je v or a kole dok A o dod a A A A obr bk 199 19 3 2 Model Description file aa a ws cocer saca sad 200 1953 Parameter Exchange l lt s a sex eba ek A ds ka alb we 201 19 3 4 Specifying the schedule lt 44 ca ba za ed a sko don a 202 1935 Concluding remarks ss 44 4 4x creaa a mp a 204 o o A Re de
508. uce a valid state transition boundary time main_cycle The main cycle time of the current schedule It can be used to calculate valid boundary times for timed state transitions watcher Event io object Used to process incoming events where Current breakpoint The value is set by the built in event handlers for the following events scWhereListStart scWhereEntry scWhereListEnd It is cleared by the following events scStepTsk and scContinue The value is an array of value pairs stored in an ar ray The first value in the array is the task name and the second is the entry number For example print task s gt where gt 0 0 n print entry nr s gt where gt 0 1 n write access Flag to indicate whether this client is allowed to change variable values in the simulator The value is set by the built in event handler for event maDenyWriteAccess 14 4 1 2 Monitoring variables In order to monitor variables you must call the function monitor add with the variable you want to monitor The variable parameter is in the form of a valid EuroSim data dictionary path This function will add the variable to the list of variables monitored in EuroSim The value of each variable will be updated with a frequency of 2 Hz if they change If there is no change no update is sent Dutch Space BV 153 iss 5 rev 0 SUM NLR EFO SUM 2 The values of the variables are stored in the monitored vars hash array of the
509. uffered by the scheduler up to 32 and applied on FIFO basis at the next main cycle boundaries with one at a time 11 4 7 Offsets Offsets are used to delay tasks to following time slots Suppose we have the following schedule freg 20Hz freg 20Hz offs 0ms offs 10ms kua The 10 ms offset of timer B will delay all activations of task B by 10 ms When offsets are used state transitions will still be on the main cycle boundaries This means that task B must still be activated according to the current executing schedule in the first two slots of the new state This guarantees that the number of activations for each tasks are always the same Le a functional model will always complete leaving the system in a deterministic state Current state New state Note that no synchronization whatsoever is performed between the schedules in the old and new state this is omitted under the assumption that there is only one nontrivial EuroSim state state EXECUTING and that any other state is to perform simple procedures such as initialization or keeping hardware alive Supporting state synchronization would unnecessarily add to the complexity of the scheduler The user must however be aware of a possible overlap in execution of the schedules of two states just after a state transition when offsets are used Note One exception is made for the transition to ABORT An abort transition does not wait until the main c
510. ulation run Import all modules use EuroSim all use EuroSim InitCond all use EuroSim Session all use EuroSim Link all use EuroSim Conn all use EuroSim MDL all Load the simulation definition file Ss new EuroSim Session some sim Set to real time Ss gt realtime 1 Define a callback to be called when standby state is reached sub cb_standby my session Sevent_name simtime_sec simtime nsec wallclock sec wallclock nsec 8 print going to standby at Swallclock_sec n Install the callback Ss gt event_addhandler rtStandby J4cb standby The same thing but then a bit more compact Isn t perl wonderful Ss gt event addhandler rtExecuting sub print going to executing at _ 4 n Start the simulation run Ss gt init 156 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 Wait for standby state Ss gt wait event rtStandby Add a monitor for variable test varl Note that the sign in fortran variables must be escaped Svar test varl Ss gt monitor add var Wait one second This should be more than enough for the 2Hz update to take place Ss gt wait time 1 Print the value of the monitored variable print The value of Svar is s gt monitored_vars gt varjin Trigger an event my event Ss gt raise event my event
511. ulator without wanting to do the integration explicitly in model source code Use Parameter Exchange files in combination with Model Description files see Chapter 7 to exchange data between models Parameter Exchange files serve as input to functions of the Simulator Integration Support library which 1s described in detail in Chapter 19 The PXE can be used to create one or more Parameter Exchange files that describe which output variables in the datapool should be copied to which input variables in the datapool see Section 7 2 for a brief description on how to create the datapool using the EuroSim Model Description Editor 8 2 Scheduling parameter exchanges The actual copy of the variables is performed by automatically generated entrypoints These entrypoints are placed in a special node of the data dictionary called paramexchg The entrypoints have the same name as the exchange group Exchange groups are described later on in this chapter There is no need to re build the data dictionary in the EuroSim Model Editor since the entrypoints are generated at run time by reading the appropriate Parameter Exchange files Use the File menu in the EuroSim Schedule Editor to specify which Parameter Exchange files should be used for the simulator see Section 11 3 1 A simple example of scheduling an exchange group entrypoint is given in Figure 8 1 After model A has been updated and its output variable in the datapool is set see Scheduling data
512. ule any setting with an esim conf file in your home directory Model Editor specific preferences and preferences related to version control can be changed using the Preferences dialog see menu Tools Preferences 6 6 The environment editor and viewer The environment editor is started by selecting the environment node in the model tree and selecting the Node Edit Source menu option The viewer is started using the menu option Node View Source when the environment node is selected 6 6 1 The environment viewer The environment contains information on the target hardware required for the simulator being developed The environment viewer see Figure 6 7 shows at the right the current environment and at the left the target environment as it is stored in the environment file If there are any differences between the two these are indicated with unequal signs lt gt If a field from the environment is too long to fit in the text area the middle mouse button can be used to scroll the text area to reveal the remainder of the field Environment Viewer Counter env Mode s Configuration 2 3070 MHZ Genuinelntel Intel R Xeon TM CPU 3 06GHz 2 3070 MHZ Genuinelntel Intel R Xeon TI ADA FTN EXT TMTC FIXINIT OWNERS PUR SHAREDMEM ADA FTN EXT TMTC FIXINIT OWNERS PI Cache size 512 KB Cache size 512 KB Comment Integrated FPU Integrated FPU Linux minbar dutchspace nl 2 4 20 18 timercustom 2 SM Linux mi
513. up the Project Manager window of EuroSim see Figure 5 1 Proje anage par d pace ICE File Edit View Tools Help a 9 R Ss A Add Model Remove Model Add Undo Project Files EEN ries Tesco Tre Model Satellite model Satellite model Satellite model Parameter Exchanges Schedules Satellite sched Satellite sched Initial Conditions Scenarios Simulation Definitions Satellite sim Satellite sim Recordings Plots altitudePlot plt altitudePlot plt Gi Miscellaneous Model Editor Parameter Exchange Editor Schedule Editor Simulation Controller Test Analyzer Observer users fl75708 EfoHome Satellite Figure 5 1 EuroSim start up window With the Project Manager the various editors can be started Before starting EuroSim make sure that the environment variables PATH DISPLAY EFOROOT and EFO HOME 2 are set correctly On the RedHat Linux platform these environment variables are set automatically On the IRIX and Windows NT platform environment variables are defined in the file SEFOROOT bin esim bashrc See also Section 4 2 The Project Manager will use the global project database file projects db in the directory pointed to by the EFO HOME environment variable If EFO HOME has not been set before starting EuroSim EuroSim will use the subdirectory eurosim in your home directory On the Windows NT platform the DISPLAY e
514. using a script to update a data value are not available Before a simulation can be started through the Simulation Controller a simulation definition file has to be loaded using the normal File Open menu item or should be created using the normal File New menu item 12 1 1 Converting EuroSim Mk2 missions If you want to convert an existing EuroSim Mk2 mission mdl file then you can use File Open to select the existing mal file first choose Mdl files in the File Type combobox Based on this mission file a new Simulation Definition file will be created and also usr files if needed Please note that when you save the new Simulation Definition the original mission file will be overwritten and the original information in the mission file concerning Initial Condition files and the User Program Dutch Space BV 99 iss 5 rev 0 SUM NLR EFO SUM 2 definitions will be lost This information is now stored in the Simulation Definition file and in the usr files 12 2 Simulation Controller Input Files The Simulation Controller allows the Test Conductor to create different simulation definitions for ex ecuting a model in the simulator each testing e g a particular aspect of the model Such a definition consists of the following components Reference to a model This is a link to a model definition This link is necessary to collect all required information about a model Reference to a schedule This is a link to a schedule
515. utch Space BV 143 iss 5 rev 0 SUM NLR EFO SUM 2 e sin 1 e 172 e 1 exp 0 1 e 1 3 2 e Dtor 2 The last example shows the use of the PV WAVE system variable deg to rad this and other possibilities are described in Section 13 10 2 PV WAVE has various operators and functions available including the following e e sin cos tan sinh cosh etc e alog alog10 exp sqrt abs PV WAVE Programmers Guide Chapter 3 describes expressions and operators PV WAVE Reference Volume 1 Chapter 1 gives an overview of all the available routines of particular relevance are the General Special Transcendental Mathematical Functions When referencing two vars within a function e g 4 6 the function is applied in turn to each of the values within the two datasets e g the difference between the first two values and then between the second values and so on In the case of the two datasets having different number of recording entries then the function is applied until the smaller set of values is exhausted Warning a comparison of datasets produced by plotting Z and 2 requires that simulation time vari ables from both of the source recording files are referenced with the resulting comparison being actually an overlay of the two graphs each using a separate time base However if you use a single diff function instead e g 2 then only one timebase is possible This is taken from the first file t
516. utes and parameters These EsimRTIhandleValuePairSet facilities do not have equivalents in the HLA RTI specification The supported facilities are available for the EsimRTI equivalents of the RTI classes At tribute Handle ValuePairSet and ParameterHandle ValuePairSet The following sections contain the prototypes of the encoding and decoding functions for EsimRTlhan dleValuePairSet The following table shows how the names of these functions can be used to determine the function names for the EsimRTIattributeHandleValuePairSets and EsimRTIparameterHandleValue PairSets 314 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 Replace With esimRTlhandleValuePairSet esimRTTattributeHandleValuePairSet or esimRTIparameterHandle ValuePairSet EsimRTlhandle EsimRTTattributeHandle or EsimRTIparameterHandle EsimRTlhandleValuePairSet EsimRTTIattributeHandleValuePairSet or EsimRTIparameterHandle ValuePairSet Table I 10 Naming conventions for the attribute and parameter encoding and decoding functions and types listed in the following sections The list of encoding and decoding facilities can easily be extended if the need arises 1 5 1 Encoding methods void esimRTIhandleValuePairSetAddDouble EsimRTIhandle handle double number EsimRTIhandleValuePairSet x theSet void esimRTIhandleValuePairSetAddDoubleAsString EsimRTIhandle handle double number EsimRTIhandleValuePairSet x t
517. various types of file nodes They will be discussed in the sections below The name of the file node can be changed by clicking a selected node The filename cannot be changed A description can be entered in the description field 7 The file attached to a file node can be viewed and edited through the menu options Edit View Source and Edit Edit Source respectively Depending on the type of file the correct viewer or editor is started When a file is being edited or viewed the file icon with lock is shown The properties of a filenode can be shown with Edit Properties see Figure 6 2 You can select another file using the Browse button For non source files the type of the file can also be modified As different file types have different attributes and functions 1t is important to correctly enter the file type File Node Properties Name Altitude File Altitude f Browse Type Fortran 77 source file Absolute Path users fl75708 EfoHome Satellite Altitude f Owner 1175708 Group users Permissions r Modified Wed Sep 15 13 24 30 2004 Cancel Figure 6 2 File Properties See Section 3 5 4 for information on how to change the version requirement 6 2 3 1 C Source file node Currently supported source file nodes are C files FORTRAN files and Ada 95 files For more information on the restrictions on those files refer to Appendix H Note that it is not possible to have
518. vironment and the required target environment It is used during build to check whether the current environment matches the required environment The options Edit View Source and Edit Edit Source start the environ ment viewer and editor respectively Refer to Section 6 6 for more information 6 2 3 4 Model Description file node Model Description file nodes can be added to the model file to generate a so called datapool See Chapter 7 for a description on the datapool and how to create a Model Description file During the build process make which can be started from the Model Editor Model Description files that are part of the model will be read to generate the variables and entrypoints for the datapool 6 2 4 Entry node An entry node represents an entrypoint in a source file It is part of the API of the model if its checkbox is checked see Section 6 2 3 1 The description is the only attribute of an entrypoint 12 If the API information in the file contains entrypoints that are no longer available in the source code a red cross is drawn through the icon 6 2 5 Variable nodes A variable node represents a variable in a source file It is listed under the file where it is used and also under every entrypoint that uses it It is part of the API of the model if its checkbox is checked See Section 6 2 3 1 above on API editing The initial value and type of a variable are determined by parsing the source code Compound varia
519. w interface 1s described To start a simulator the RPC call start session 3 must be done The EuroSim daemon running on a EuroSim simulator host will launch the actual simulator executable This call takes the following structure as argument Listing J 1 session3_def structure struct session3_def file def sim char xwork dir char xsimulator file def schedule struct u int scenarios len file def xscenarios val scenarios char dict file def model char recorderdir struct Dutch Space BV 331 iss 5 rev 0 SUM NLR EFO SUM 2 u int initconds len file def xinitconds val initconds char xexports struct u_int environment_len env item environment_val environment int prefcon int umask int flags y struct file def char xpath char vers y The file def structure is used to store the name of the file and an optional version string Table J 1 describes each member of the session3_def structure field description sim The path and version name of the simulation definition file sim It can be an absolute or relative path name If it is a relative path name it is relative to the path in work_dir work_dir The path name of the current working directory of the simulator The directory should exist and be accessible by the EuroSim daemon Normally this is done by making the directory available through NES in case the RPC call is performed
520. which can be added to the model tree the menu items of the editor and their options are described For menu items not described in this chapter refer to Section 3 5 6 1 Starting the Model Editor The Model Editor can be started by selecting the Model Editor button in the EuroSim start up window see Section 5 2 3 6 2 Model Editor objects In the Model Editor tree view the structure of the model is created using a hierarchical tree structure Elements in the tree are called nodes and have a specific function The API properties of variables and entrypoints available to the rest of EuroSim can be edited in the Model Editor In Figure 6 1 an example model tree is shown Model Editor Satellite model minbar dutchspace nl File Edit View Interface Tools Help n F Build All Cleanup Model Tree Y Parameter Min max unit type init source Descrip atellite model Aude en y Altitude O chpaltdata altitude 1000 km INTEGER The alt claaltdatabdecaycounter INTEGER cp altdatabdecayspeed 200 km s INTEGER The sp HE LE decayaltitude Ex D Initialise Altitude i oO chaltdata altitude 1000 km INTEGER The alt ch altdata decaycounter INTEGER O chaltdatasdecayspeed 200 km s INTEGER The sp Einitializealtitude Initializ E Thruster 5 y Initialise Thruster users fl75708 EfoHome Satellite Satellite model Experimental Figure 6 1 Example model
521. will be activated on the first input activation The default activates the output after M input activations Note that the output side of the synchronous store runs mutually exclusive with the input side See also Section 11 4 3 and Section 11 4 4 The Output Frequency and Output Period are updated when the ratio changes The last item Error shows the status of the item Dutch Space BV 85 iss 5 rev 0 SUM NLR EFO SUM 2 11 2 5 Internal and External events Internal and external events both input connectors represent events in the non real time domain An input connector activates its output flow when the event occurs This may in turn execute a task or activate an output event An internal event represents a predefined event related to simulator state changes and real time errors An external event is an event explicitly raised by the user from an MDL script or by an external event handler Input Connector NOTICE Name Capacity 5 Error no error Figure 11 6 Input Connector Dialog The following properties can be modified in the properties window see Figure 11 6 Name The name of the input connector Predefined events cannot be renamed only user defined input events can be renamed The name must be unigue Capacity This indicates the buffering capacity of the connector Raised by This indicates the sources of the event An event can be raised internally by mode
522. wing example shows how to use the functions in a typical application where the client is two way synchronized to the server Dutch Space BV 191 iss 5 rev 0 SUM NLR EFO SUM 2 define SYNC TOKEN 1234 extViewSend write view send data to the simulat or x extSyncSend sim SYNC TOKEN send the synchronization token extSyncRecv sim SYNC TOKEN wait for the synchronization token x At the simulator side there are two functions for synchronization purposes which are the counterparts of the functions on the client side They differ from the client side functions by the fact that they do ExtSyncSend broadcasts the not have an argument to specify the connection The function esim synchronization token to all clients The function esimExtSyncRecv waits for the synchronization token from the client The following example shows how to use the functions in a typical application where the simulator is two way synchronized to a client define SYNC_TOKEN 1234 esimExtSyncSend SYNC_TOKE esimExtSyncRecv SYNC_TOKE send the synchronization token wait for the synchronization token x Please note that this method of synchronization cannot be used in a situation where hard real time performance is needed The calls which wait for the synchronization token extSyncRecv and esimExtSyncRecv may block for a long time if the other side is
523. within EuroSim action IGS PM7 3 Approved RIDs from DD R 68 77 103 105 124 125 Dutch Space BV iss 5 rev 0 SUM NLR EFO SUM 2 Issue Revision 2 5 Date 24 Jun 1997 Reason for change Added RID numbers for revisions 2 and 3 above Approved SPRs implemented 1557 1549 1592 Update Test Analyzer section in accordance with SPR 1505 1651 Updated appendix on MDL following DD R RID 177 and DD R RID 103 Also some knock on changes in Mission Tool Reference Changes 2 Mar 2000 Mk2 release SPR 1633 Section 3 2 2 May 2000 Mk2rev1 release Event counter functions added to EuroSim Services High resolution and max number processors changes added Recorder file switching and Stimuli cycling changes documented HLA extension EsimRTI usage as appendix added 6 Oct 2000 Mk2rev2 release Add appendix describing the run time interface as used by the test controller Add appendix explaining AFAP scheduling pitfalls 14 May 2002 Mk3 release Updated the manual to conform to the new Graphical User Interface All pages 12 Sep 2003 Mk3rev1 release Converted to IXIFX Updated screenshots Update descriptions of publish functions API headers Added description on new diff with functionality GUI Added action button support Simulation Controller Added description for timebar Schedule Editor Added section on user defined EuroSim compatible devices H
524. ws oc 2 wae eee we a bob 36 II EuroSim Reference 39 5 EuroSim reference 41 Sel Stating MOOS cocoa BOA o BO KOL Vo bok k 41 Ia E o EA RE v V r k ears wo eee kat ae Bows o 42 Jal NE V T ce iad ok he A o we b E wl n 42 d EIC INE oee ik Se eR pe Vy hv zd u o be Ape o Be do ev v 42 Z A a ski ddd VM e B dob ae eh abb dobyta sed gt 43 S28 o AN 44 5 2 5 Automatic addition of files to the project 44 6 Model Editor reference 45 6 1 Starting the Model Editor lt orea ee ee ee 45 62 Medel Bditof Objects lt 3 aout a Gd Ae a a we a eG a a 45 CLl Ronge ood vals s ee AN 46 A O Sa ee a 46 P28 PAS TRA cea u haa O eee we ee Pe we we eee a k oba 46 62d BMY NOUS ca eh Eee ee Ee eae ee ee ba 47 bi u Variable medes lt csie dove Po Saw awe 2 OG OO Ro Da PE does 47 6 3 Selecting a API vada NO oc ba ee ka WERE GEES eS Re ES 48 6 3 1 Selection within a sub model lt lt 0 000 200 dwd 48 6 3 2 Selection from two or more sub models lt lt lt lt 49 vi Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 OA Meniti eree v delle O ad om Gas ard r ar o Rk A vany ave o 8 d 49 CAT PIEDE RO ON NN VVN i v A ee O O v O ee as ae 49 a2 BODIE PM occ a k AL ake do d d r Ado die ee 49 D43 VIGW MORN 204 6 bodov sd O oe ad dh d a n n A 50 bLA Interface men lt o o 224 8 er ea O dob k V ce 51 fu A MRM 05 eases o b de A no O A O Ge ae Pe J 51 6
525. y the initial conditions are used to set the variables specified in the Initial Condition files with their values The order of appearance in the Input Files tab page determines the order of initialization I e the top most Initial Condition file is applied first followed by the second file etc 12 6 1 Starting the Initial Condition editor The editor is started by double clicking with the left mouse button on an Initial Condition file in the Input Files tab page or by selecting an Initial Condition file and then selecting Edit Properties A dialog appears that uses the Dictionary Browser to represent the dictionary and to edit the initial conditions You can set initial values by left clicking on the line containing the variable that you want to edit or by selecting the line and pressing F2 Values that are out of bounds are rejected If you want to set the initial value for a variable designated as a parameter then a window appears asking for confirmation You remove an initial value by clearing the contents However clearing a member of a structure or array will only reset the value to the default value If you want to clear the initial value of the whole compound variable then right click on the top variable node and select Clear from the context menu If the initial value that you entered is equal to the default value then the initial value is cleared and removed from the set of initial condition values As indicated above this does not
526. y users fl75708 EfoHome Satellite users fl75708 EfoHome Satellite Satellite model Experimental O Build All Cleanup Sub model for the r INTEGER The altitude of the s INTEGER INTEGER The speed with whic INTEGER The altitude of the s INTEGER INTEGER The speed with rie gt fue IBEPORUU queje a Z Figure 4 5 The expanded Altitude node 4 5 4 2 The Initialize Altitude sub model Add the entrypoint in initializealtitude with a description Initialize the altitude decay operations 4 5 4 3 The Thruster sub model Add the entrypoint Thruster with adescription The thruster brings the satellite to the correct altitude Add the following variables by selecting them from the list to the right of the Thruster entrypoint Variable Min Max lowerAltitudeLimit 0 1000 satelliteAscendSpeed 1 200 thrusteronoff 0 1 upperAltitudeLimit 0 1000 Unit km km s 1 0n 0 0ff km Description Below this limit thruster must be turned on The ascent speed of the satellite Thruster on off indicator Above this limit thruster must be turned off 26 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 4 5 4 4 The Initialize Thruster sub model Add the entrypoint Initialize Thruster with a description Initialize the thruster 4 6 Building the simulator Select Tools Build All from the menu in the Model Editor In the output window all commands executed are ech
527. y element is a hash table consisting of three fields 152 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 name The name of the entry point breakpoint Flag indicating that a breakpoint has been set on this entry point The value is set by the built in event handler for event scSetBrk trace Flag indicating that this entry point is being traced The value is set by the built in event handler for event scSetTrc time_mode The time mode can be relative or absolute UTC Relative is 0 and absolute is 1 The value is set by the built in event handler for event maCurrent TimeMode user_defined_journal User defined journal filename This journal filename overrides the default journal filename The value is set with the function journal user_defined_outputdir User defined output directory path This directory path overrides the default output directory path The value is set with the function outputdir wallclock_time The wallclock time as seen by the running simulator The value is set by the built in event handler for event dtHeartBeat wallclock_boundary The wallclock boundary time to be used for timed state transitions If you add an integer number of times the main cycle time to this value it will produce a valid state transition boundary time simtime_boundary The simulation time boundary to be used for timed state transitions If you add an integer num ber of times the main_cycle time to this value it will prod
528. y that may be exported Empty lines and lines beginning with are ignored Data following a is considered to be a comment Each non empty line has the following layout path id mode users Where path is the path to the data dictionary which should be exported id is the name under which this path should be exported mode is the operation that can be performed R W or RW and users is a list of clients that may request access The given path that is exported means that every subtree or variable that is located underneath that path may be requested in a view A simple way therefore to export every variable is to export the The id under which the path is exported is the name which the external simulator must use in his access request The access mode RW is not yet implemented However it is possible to add separate read and write export lines When no users are specified the export operation is valid for all users For more information see also the exports 4 man page of EuroSim and chapter Chapter 18 Example exports file Example file space station era era R space stars stars RW space rockets ariane esarocket W F6 Initial Condition file format The Initial Condition file format is either ASCII or binary The extensions of these files are snap or init The file consists of a header section and a data section Empty lines and lines starting with in the header section are ignored as comment lines
529. ycle boundary but is directly done by the scheduler This means that all tasks inclusive tasks with an offset are directly stopped 11 4 8 Scheduling the action manager ACTION_MGR The action manager is a special task provided by the EuroSim environment Although it is a special task the action manager must be scheduled just as any normal task As with any normal task how it 96 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 1s scheduled is of importance to its performance For instance if variables are to be logged just after performing a certain task then the action manager could best be scheduled after this task using a flow dependency relation When the action manager is not scheduled explicitly i e not placed on the tab page in the Schedule Editor the action manager is added to the schedule with a default frequency that is equal to the Basic Frequency of the scheduler and with a priority of Low In many cases this will be sufficient as this will activate the action manager with a high frequency and after all other tasks have been activated However there are cases where the action manager should be scheduled more carefully using the Sched ule Editor One such case has already been mentioned to provide logging of variables on a specific moment in the overall schedule Another example is the case in which only one real time executor 1s available on which a low frequency task with long duration is running Due to its
530. z include esimLink h define REQ FREQUENCY 10 static int gFreguency REQ FREQUENCY startTimer gFrequency do_client static void do_client int signal char buf BUFSIZ int n n esimLinkRead tmtcLink buf BUFSIZ if n 0 browse_pus buf n External Client event driven response Alternatively use can be made of the events which are sent from the EuroSim server to the client to trigger a response directly as a result of an incoming packet After extClientConnect or evcConnect has been called see Section 17 4 1 the client automatically receives events signalling new link data event gt type of evLinkData These incoming events are passed to the procedure which was specified as part of the connect call In this example this facility is not used but an action to do something with the incoming packet could easily be defined in the client s eventhandler e g replacing the DEBUGSTR statement in the following extract static int eventHandler Connection xconn const evEvent command void xdata switch evEventType command case evShutdown fprintf stderr nServer sent abort n cleanup 0 case evlinkData DEBUGSTR Incoming data break default DEBUGSTR Incoming unknown event d evEventType command return 0 Dutch Space BV 187 iss 5 rev 0 SUM NLR EFO SUM 2
531. ze stop etc see Table E 5 Also from one action one can activate other actions but also tasks and entry points within the model E 6 MDL Built in functions and commands MDL has built in functions and commands for the following applications e Mathematical functions see Table E 2 e Signal processing functions see Table E 3 e Auxiliary functions see Table E 4 e Input output and control commands see Table E 5 Functions return a value whereas commands do not Functions can be used in expressions The MDL built in functions all take numerical or no arguments Required arguments are indicated as follows Arguments may be functions themselves Non numerical arguments are automatically converted to nu func This function takes no argument func x This function takes one argument func x This function takes one or more arguments merical Function Description atan x Compute arc tangent of x and return it Return value will be between r 2 and 7 2 cos x Compute cosine of x and return it x is in radians exp x Compute the x th power of e and return it e is the base of natural logarithms fabs x Compute the absolute value of x and return it log x Compute the natural logarithm of x and return it If x is less than or equal to 0 a run time error results sin x Compute the sine of x and return it x is in radians sgrt x Compute the
532. ze Thruster node File Initialize Thruster Contents Initialize the thruster simulation model define SPEED DEFAULT 10 define On 1 define Off 0 extern int speedCounter extern int satelliteAscentSpeed extern int thrusteronoff extern int lowerAltitudeLimit extern int upperAltitudeLimit void Initialize Thruster void satelliteAscentSpeed SPEED DEFAULT speedCounter 0 thrusteronoff On lowerAltitudeLimit 210 upperAltitudeLimit 280 4 5 4 Adding the API headers 4 5 4 1 The Altitude sub model The next step is to add the API headers to the model Expand the Altitude file node by pressing the symbol or use View Expand All EuroSim will parse the expanded file s and display the available entries and variables in the code First the decayaltitude entrypoint will be added to the API header Click the checkbox left to decayaltitude to add this entrypoint to the API header We will also add two of the variables from this entrypoint to the API header tick the checkboxes in front of the altdata altitude and altdata decayspeed variables under the decayaltitude entrypoint 24 Dutch Space BV NLR EFO SUM 2 SUM iss 5 rev 0 When added to the API header checkmark used additional information on entrypoints and variables can be entered such as a description Select the decayaltitude entrypoint and click the De scr

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