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DESTECS User Manual

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1. a i website l lg amp Debug Configurations Create manage and run configurations Debug j x zE Name pid_pinch_FT l Main Shared Design Parameters VDM Options 20 sim options Advanced i Common amp Co Sim Launch a Save as amp BodercPaperPath Local file amp ChesswayComplex H Sa ChesswaySimple ee pe pinch FT HerP pasaras j Display in favorites menu Encoding amp extendedWatertank Debug Default inherited Cp1252 d etendedWatertank E amp DESTECS Launch Other 150 8859 1 d extendedWatertank amp New_configuration amp New_configuration et ARCH Standard Input and Output amp i T Allocate Console necessary for input pid_pinch_ amp pid_pinch2 E File lt aa Workspace File System Variables ertan amp WatertankCascade Append WatertankEventDriy Wisse F 1 i amp WatertankPeriodic EESE A WatertaniGrrint m r matched 40 c Apply Revert Filter matched 40 of 40 items References 1 http help eclipse org galileo index jsp topic org eclipse mtj doc user html reference launchers wireless_toolkit common html Scenarios 48 Scenarios Introduction Current version of DESTECS tool supports two different kinds of syntaxes for the script languages 1 with the extension name script For each project it is pos
2. e Select Archive File and Browse for the Watertank zip file that you have downloaded e Click Finish to import the project Getting Started Running the Project Now the Watertank project should be visibe File Edit Navigate Search Project Run Window Help ror OQ A Eees m Ga DESTECS Exp X a D FE Outline 23 eB z An outline is not available B Watertank E Simulation Engine View 3 gt o gt oe oben Source Message pam 0 warnings 0 others Description Resource gt Errors 2 items e Click on the Watertank project entry to select it Press the Debug bution car if you have multiple projects loaded you have to select the Watertank project first by clicking the black triangle at the right of the Debug button Now a co simulation will start The 20 sim editor showing the continuous time model will be opened the 20 sim Simulator showing the plot of the continuous time part of the simulation will be opened and the 3D animator showing an animation of the watertank will be opened File Edit View Insert Model Drawing Settings Tools Help BERA DA PLO 7 R O Model Library Roun ma Aa 2 frode E control cosim l Drain FlowSource ms tank Valve mm Output Process Find 12 equations icon 11 variables 2 independent states The model has 0 errors and 5 warnings
3. gt rat iss Ha 7 B2 lllustration of the ACA process From these partial configurations it is possible to construct complete configurations in by combining each of the different partial configurations The figure above together with the following description helps illustrating the concept The result of generating complete configurations from the partial configuration would be 4 different complete configurations A1 B1 C1 A1 B1 C2 A1 B2 C1 and A1 B2 C2 The user can easily get many more configurations by adding more parameters or adding more values to existing parameters for example simply adding a A2 value would result in 4 more different configurations Using the ACA features Launching an ACA is made through the Debug Configuration menu g Ti o e O O Oo Create manage and run configurations a Sp Configure launch settings from this dialog Press the New button to create a configuration of the selected type ype filter text 4 da ACA Launch ja New_configuration Co Sim Launch ACA Launch in the Debug Configuration Menu B Press the Duplicate button to copy the selected configuration Press the Delete button to remove the selected configuration Creating a new Debug Configuration of an ACA Launch type will bring up the menu to configure the ACA As it is possible to notice from the figure below the several present tabs The rightmost tab
4. identifier unary expression binary expression boolean literal true false time literal numeric literal time unit Y time unit microseconds us milliseconds ms seconds s minutes m hours h numeric literal numeral digit digit exponent exponent E e numeral numeral digit digit identifier domain real bool identifier literal domain de ct unary expression unary operator expression unary operator abs floor ceil binary expression expression binary operator expression oe binary operator 7 div mod lt lt gt gt lt gt or and gt lt gt formatted string string identifier identifier Scenarios 50 We assume that digit string and file path have their obvious definitions Since no variables can be defined in the script language all identifiers will exist in the co model and therefore identifier literal will conform to the conventions of VDM and 20 sim Examples The following introduces a series of simple examples that demonstrate the features of this script
5. And in the ACA launch Main Tab Main gt Architectures SDPs Sweep Scenarios CT Settings Common Base Configuration LineFollowACA 121 Browse Octave Invoking Octave from DESTECS It is possible to invoke Octave from the DESTECS IDE Right clicking on an Octave m file reveals the option Run Octave If you want to use this command be sure to tick the Show plot automatically when the script runs box gt up wuveraye B Engine log i B launch i B LineFollowACA_121 dlaunch Message log Share New Simu Open L Vdm Open With b index hti Copy Ctrl C P results Paste Ctrl V vdmj propel_9 Delete Deicke gt scenarios gt g PIController E pid_pinch_FT Rename F2 i pid_pinch2 g Import Watertank eA Export Move WaterTankCascade gt E WatertankEventDriv gt E watertankMatrix t El WatertankPeriodic gt E WatertankScript Compare With m Replace With gt PO Proof Obligations gt DESTECS r Run Octave Refresh F5 Team gt E Simulation Engine View Source Message All Simulation exec Properties Alt Enter If the tick to show plot automatically was checked a plot will be drawn and shown in a window like this Octave 76 Setting Octave path If your Octave installation was not made in the default installer path the path to Octave must be corrected in the DESTECS settings fo
6. amp Coll amp amp ControllerPattern cosim A ree kA I OTH Hia T r Filter matched 38 of 38 items Debug ACA Launch Architecture tab Automated Co model Analysis 57 Shared Design Parameters Tab In the Shared Design Parameters tab it is possible to make a value sweep of the shared design parameters amp s Debug Configurations we E J x Ep type filter text a ACA Launch Create manage and run configurations ja ChessWay_Destecs_2D_ACA example_Matrix_ACA Excavator_SoftStop_ACA amp LineFollowACA_121_sensor_distanc a amp Co Sim Launch BodercPaperPath S ChessWay_DESTEC S ChessWay_DESTECS_CoSIM_2D S_CoSIM E ChesswayComplexCosim amp ChesswaySimple S Coll amp ControllerPattern cosim Esa MarsRover CO S example_matrix S Excavator_Dig d Excavator Safety S Excavator_SoftStop SIM amp extendedWatertankBlack extendedWatertankBlackBlue S extendedWatertankBlackBlueOrang S FuelSystem Ww Filter matched 38 of 38 items m Name LineFollowACA_121_sensor_distance Main Architectures SDPs Sweep Scenarios CT Settings E Common Incremental Sweep Name linefollow_lateral_offset linefollow_longitudinal_offset Value Set Sweep Name From To Increment by 0 01 0 05 0 02 0 01 0 13 0 06 P Values Apply Revert
7. DESTECS Grant Agreement Number CNECT ICT 248134 DESTECS User Manual SEVENTH FRAMEWORK PROGRAMME Peter G Larsen Christian Kleijn Kenneth G Lausdahl Augusto Ribeiro Jos Antonio Esparza Isasa Peter M Visser Frank N J Groen Marcel A Groothuis Deliverable D3 4c Consortium University of Twente Newcastle University Aarhus University Chess eT International B V Chess iT International B V Controllab Products B V Neopost Technologies B V Verhaert New Products and Services N V Document Info Deliverable Dissemination Status Doc s Lead Partner Date Version Pages D3 4c Public Final IHA December 06 2012 1 3 8 84 Contents Articles Installing What is Destecs Requirements Installing Destecs Getting Started Getting Started Building a simple project Movies Example Models Basic Use Introduction Opening Destecs The Destecs Tool Projects Adding Models Contracts Linking DE and CT Elements Debug Configuration Launching a Co Simulation Advanced Topics Debug Configuration Advanced Scenarios Logfiles Debug Reports Automated Co model Analysis Control Library Setting Shared Design Parameters Matrices DE Architecture Events Octave po _ 19 19 20 20 21 23 25 27 30 34 36 39 41 41 48 51 52 54 63 66 67 69 72 74 Folder Launch Configuration Additional Information Syntax Notation Glossary Bibliog
8. Deployment Architecture files arch should be placed in a folder called model_de architectures in the project root The architecture files should have the following form Architecture instance variables CPU ECRU snewn CPU lt HCES gt CPUE CPU news CPU lt E CHS gt CpusCPUNs sneweCPUM lt EChS gt busil BUS lt new BUS lt FILOs Deployment cpul deploy mmi cpu3 deploy navigation cpu2 deploy radio 1000000 1000000 1000000 OOO fe lea ee Ye ie Sfp pe iis Pp loca a 7 crow come Eoo y When an architecture file like this is selected the architecture and deployment declaration is inserted in the right place under the tags in the system file creating a complete system just before the co simulation starts DE Architecture Selecting an architecture in a normal DESTECS launch When in a debug configuration for a DESTECS project it is possible to select which architecture is to be used at run time in the Controller Architecture group in the VDM Tab a petug connsurstons Create manage and run configurations Debug amp x G te Name LineFollowACA 121 Main Shared Design Parameters VDM sim Post Processing Advanced E Common S ChessWay_DESTECS_CoSIM a Interpreting Sa ChessWay_DESTECS_CoSIM_2D V Dynamic type checks V Inv
9. default The classes will now be added to your co model Using the Control Library Basic Use To use a class from the library simply define a variable of the correct type instantiate it with a constructor call SetSampleTime and then call Output in your control loop All of the control library classes have an operation called Output which takes in an error and returns a control value with the following form public Output real gt real ites Clete ee ane lt span class Apple style span style line height 16px gt class Controller instance variables COnt collonsoObm ect private pid PID setpoint private SP real shared variables private MV real private out real operations COMNSIEKUCEOK ore Controller public Controller gt Controller Controller Control Library 64 pac g mew DDATO i Oriy pid SetSampleTime SAMPLE_TIME OMicicoll Ios public Step gt Steal dcl err real SP MV out pid Output err 100i Conc rol Loog values SAMPLE TIME 0 01 thread periodic 10E6 0 0 O Step end Controller lt span gt Also all of the classes have an operation called SetSampleTime which takes a sample time in seconds public SetSampleTime real gt SetSampleTime s Unlike 20 sim VDM does not have a sampletime keyword so it is necess
10. each run will contain the commands to show the plot automatically i e simply running the script will show the plots Advanced Tab The advanced tab is reserved for developers extra debug information can be turned on or off in this tab More detail on the extra debug information can be found in Debug Reports k Debug Configurations Create manage and run configurations Debug i x si S08 Name pid_pinch_FT Main Shared Design Parameters VDM Options 20 sim options Advanced Common Sa Co Sim Launch A Development options S BodercPaperPath E Remote debug T Enable logging Enable runtime debug info S ChesswayComplex d ChesswaySimple Simulation Connection d ControllerPattern DE Simulator URL S examplematrix S d extendedWatertank 1 dh extendedWatertank 1 d extendedWatertank i S New_configuration amp New_configuration d S New_configuration S New_configuration S pid_pinch_FT d pid_pinch2 watartankMatrix S Watertank amp WatertankCascade _ 4 m r Filter matched 40 of 40 items CT Simulator URL http localhost 1580 Apply Revert Debug Configuration Advanced 47 Common Tab The Common tab is a standard Eclipse tab which for example allows users to save the debug configurations into files so that they can be shared with others More information about the tab can be found in the Common Tab Eclipse
11. ACA Launch Shared Design Parameters tab The incremental Sweep In the first column it is possible to select from a drop down the shared design parameter to sweep In the second column From it is possible to select the value which the sweep should start from The third column To indicates where the sweep should end and the forth column Increment By indicates the increment to be used in the sweep Incremental Sweep Name From linefollow_lateral_offset linefollow_longitudinal_offset 0 01 0 01 To 0 05 0 13 Increment by 0 02 0 06 Automated Co model Analysis 58 The value set Sweep In the first column it is possible to select from a drop down the shared design parameter to sweep In the second column a list of double values should be introduced separated by Value Set Sweep Name Values JUUUOCUUSUCUUUUGUOUSUCUUUOUOEUSUSUUUOUUSUUUUUSUOUESUSUUUNOESUSUUUUSUDUOUSUUUUSUDUSUUSUUUUUOSUUEN VOOUSSUSUUSOGUUSEUSUUVOUDESUSUUUSUONUUSUSUUOUEUUSUSUUSNOGUSUUUUUNEGENUUEUUSSOUEUUEUUUUONONOUEUENEOS lt n 190720077250 ne Complex SDP variables It is possible to sweep by value set complex variables Value Set Sweep Name Values Clear initial_Position 1 1 448 1 736 Delete initial_Position 2 1 110 Delete J The behaviour of complex SDPs is a bit different from the atomic SDPs For example the configuration on the picture above will generate 2 ACA runs for the variable initial_Posit
12. DE and CT Elements In order to show the co simulation tool how to link the elements from the contract to the DE and CT models respectively a link file must be present for each co model This is stored in a vdm link file e Inthe tree select vdm link Simple configuration e Replace the contents of this file by the text below sdp amplitude Process amplitude input x System p x output y System p y The DESTECS tool will now look like DESTECS Simple configuration vdm link DESTECS Tools en File Edit Navigate Search Project Run Window Help rr O rQ gr irp Oro m S Destecs a DESTECS Exp 3 A F Configuration Editor 5 6 GE Outline 53 a em sdp amplitude Process amplitude a _ An outline is not available a simple 4 configuration input x System p x Y contract csc output y System p y Y vdm link model_ct 4 model_de En CSV vdmrt En lO vdmt E Process vdmrt I System vdmrt E Woridvdmrt scenarios E Watertank Contract VDM Link 20 Sim Link Overview E Simulation Engine View 23 B Ei Proble E Simula Simula Consol 5 E VDMD FH vdmb Dm Source Message No consoles to display at this time riy Ae S Simple configuration vdm link Building a simple project 17 Debug Configuration Before starting a co simulation a debug configuration must be created The purpose of this is to define where the continuous time and discrete event models are located as well a
13. DESTECS project e Right click the explorer view and select Import Select General Existing Projects into Workspace Select Create new projects from an archive file or directory Select an import source type filter text a amp General gt Archive File C3 Existing Projects into Workspace C File System Tl Preferences E Rur Debug S Team Import project dialog e Click Next to proceed Projects 26 e Select the the radio button Select root directory if the project is uncompressed Select the the radio button Select archive file if the project is contained in a compressed archive file Use the Browse button to locate the project Import Projects Select a directory to search for existing Eclipse projects Select root directory Select archive file C Temp Watertank zip Projects V Watertank Watertank Copy projects into workspace Working sets F Add project to working sets Select project archive file A compressed archive file may contain multiple projects Select the projects that you want to import e Click the Finish button The imported project will appear on the DESTECS explorer view Exporting projects Follow these steps in order to export a DESTECS project e Right click on the target project and select Export followed by General and Archive File See the figure below for more details Select an output format for the exporting process e Click Next
14. Explorer view lets you create select and delete DESTECS projects and navigate between the files in these projects as well as adding new files to existing projects The DESTECS Explorer view Outline View The Outline view on the right hand side of the figure above presents an outline of the file selected in the editor This view displays any declared VDM definitions such as their state components values types functions and operations The type of the definitions are also shown in the outline view The Outline view is at the moment only available for the VDM models of the system In the case another type of file is selected the message An outline is not available will be displayed The class outline view showing the composition of the system VDM RT class The colour of the icons in front of a name in the outline names indicates the accessibility of the corresponding definition Red is used for private definitions yellow for protected definitions and finally green is used for public definitions Triangles are used for type definitions small squares are used for values state components and instance variables functions and operations are represented by larger circles and squares permission predicates are shown with small lock symbols and finally traces are shown with a T Functions have a small F lifted over the icons and static definitions have a small S lifted over the icon For record types a small arrow is placed in fron
15. Invariants checks V Pre condition checks V Post condition checks V Measure Run Time checks V Generate Coverage Log Real Time Events Log 4 F class System E controller 4 levelSensor level 7 fault 4 valveActuator J valveState Apply Revert VDM Options tab permits the selection of variables to log Logfiles 52 Checking the box next to a variable enables the logging of that variable Currently it is only possible to log variables with basic types all types except objects For the Watertank example if we use the configuration shown above a file with the contents as follows is generated time_ levelSensor fault levelSensor level valveActuator valveState 0 0 0 0 0 Q 01 0 0 01 O01 0 0 02 0 02 0 0 03 0 0 03 0 0 03 0 The first column is the time and the following ones are the value of the variable at the given moment A CSV file can be better visualized for example in 20 sim Excel or other software capable of opening this format Debug Reports Once the simulation has been completed a set of log files will be generated The contents of these files are displayed while the simulation is running in the simulation logging views Even though those records are shown on the tool it might be useful to have them logged to external files for further post simulation analysis The Engine log file The Engine log file is registering the events indicate
16. LFW 09 Peter Gorm Larsen John Fitzgerald and Sune Wolff Methods for the Development of Distributed Real Time Systems using VDM International Journal of Software and Informatics 3 2 3 October 2009 LLR 10 Peter Gorm Larsen Kenneth Lausdahl Augusto Ribeiro Sune Wolff and Nick Battle Overture vdm 10 tool support User guide Technical Report TR 2010 02 The Overture Initiative www overturetool org May 2010 Rob 04 Stewart Robinson Simulation The Practice of Model Development and Use John Wiley amp Sons 2004 vA 10 Job van Amerongen Dynamical Systems for Creative Technology B Controllab Products B V Enschede 2010 References 1 http www 20sim com products books dynsys html
17. The model has 0 errors and 5 warnings The 20 sim Editor contains the continuous time WaterTank model Getting Started File View Properties Simulation Tools Help Be oe Awe sw rip gt Er wm Q time triggered control Tanklevel 8 time s Opening file C Temp Destecs DestecsWorkspace Watertank model_ct Watertank emx File opened No bytes are read from the socket is it still open 20 sim 4 1 2011 Controllab Products B V The 20 sim Simulator shows the co simulated plots File View Properties Replay Help BR O4 i D gt i O 20 sim can also show simulation results in an animation The animation will start to play and the plot will be filled Getting Started References 1 http youtu be a0VaqWoYPT8 2 http www 20sim com downloads files 20sim42GettingStartedManual pdf 3 http wiki overturetool org images 5 5b VDMSL Guide ToOvertureV 1 pdf 4 http www destecs org downloads Watertank zip Building a simple project We will now create a project completely from scratch New Project From the File Menu click New Project a Sa New Project ol rym Select a wizard lt gt Wizards type filter text DESTECS Project VDM PP Project i VDM RT Project E VDM SL Project General DESTECS amp Overture lt Back Next gt Finis Cancel Select
18. a popular description of these concepts that might not be completely correct but will hopefully enhance the understanding of beginning DESTECS users Models It starts with models Models are a more or less abstract representation of a system or component of interest In DESTECS we use continuous time models CT model and discrete event models DE models Continuous time models are models that describe real physical systems These models describe the behaviour of physical systems at any desired time Discrete event models typically describe computer systems that run at a predetermined time steps Between these time steps nothing happens Simulation Continuous time models can be entered and simulated in 20 sim This tool will calculate continuous time models with as many small time steps as required to get accurate results Sometime the accuracy is violated The tool will then step back and use smaller time steps until the required accuracy is met This is called a continuous time simulation A continuous time simulation is therefore always characterized by the accuracy of the simulation and the time steps taken Discrete event models can be entered and simulated in VDM This tool will calculate discrete event models with exactly the time steps required This is called a discrete event simulation There is not accuracy involved and therefore no backstepping is required The properties of a model that affects its behaviour but which remains consta
19. been executed the simulation can be started VDM RT getVersion VDM RT initialize 20 Sim getVersion S oS oe S amp S S iS 2 20 Sim initialize VDM RT 7 Uissad 5 wos Salm y oac 0 0 RT queryInterface 0 0 Sim queryInterface 0 0 RT setDesignParameters 0 0 SRE o Sec y O0 Salm y Seene m 0 0 Ww e WD soe s es amp oS Sr sce OE Debug Reports 54 As in the case of the Engine log file the terminating signals are registered as well in the Message log file See the listing below WON scom 10 0 VDM RT terminate 10 0 20 Sim terminate 10 0 The Simulation log file The Simulation log file is reflecting the evolution of the different parameters under study in a given co simulation In the WaterTank example this is focused on the values of the variables evel and valve and thus these are logged see listing below VDM RT valve 0 0 2 0 20 Sim lLevel 2 0 22 0 VDM RT valve 0 0 4 0 20 Sim level 4 0 4 0 VDM RT valve 0 0 6 0 20 Sim level 6 0 6 0 VDM RT valve 0 0 8 0 20 Sim level 8 0 8 0 VDM RT valve 0 0 10 0 This is definitely a valuable collection of data since it can be exported as data files for analysis by external tools Automated Co model Analysis In order to support Design Space Exploration DSE the Automated Co model Analysis ACA is a feature that enables runnin
20. info controllab nl 3 http overturetool org q Documentation 4 http www 20sim com support movies html 5 http www 20sim com downloads files 20sim43GettingStartedManual pdf Getting Started Getting Started Introduction To get help you get started with DESTECS this section will give you step by step instructions how to configure the software get a basic WaterTank example running and create your own Simple project e You can watch a movies showing you exactly what you have to do http youtu be a0VaqWoYPT8 m More Help e Readers who are unfamiliar with Eclipse or the DESTECS tool are advised to read the overview first before starting this getting started section e lf you encounter terms specific for the DESTECS tool that you are unfamiliar with check the Glossary for their meaning e An good introduction into 20 sim can be found in the 20 sim Getting Started manual 2 A good introduction into VDM can be found here BI Installing Install the DESTECS tool e Download the WaterTank model http www destecs org downloads Watertank zip 4 and store it on on any location where you have read and write access e g My Documents You do not have to extract this zip file Opening DESTECS e Open DESTECS from the start menu You will see a splash screen when the program opens and a dialog prompting you to give a location for the workspace fm Select a workspace DESTECS Tools stores
21. is possible to get a similar behaviour by creating and deploying an object to a CPU that contains the job to run when an interrupt occurs and then call this from the async operation which is triggered when event occurs It is just important that no objects having a periodic threads are deployed to the same CPU since this will delay the event by exactly one periodic loop Events are linked to VDM through async operations and made assessable through the system class system System instance variables eventHandler EventHandler end System The async operation must be specified in a class that is not deployed to a CPU This makes the evaluation instant This means that the event operation it self do not take time to run class EventHandler operations public async eventl gt event1 skip end EventHandler Note about the VDM scheduler The VDM scheduler uses priorities to select which thread should run each thread is then executed with a limited allowed number of expressions statements it can execute before another thread has to be schedulled and executed The priority defined how many expressions statements a thread can execute at a time A thread will always continue executing until it is blocked or finished the allowed number of expressions statements Octave 74 Octave GNU Octave is a high level interpreted language primarily intended for numerical computations It provides capabilities for
22. new scenario file Follow these steps in order to create a new scenario file e Right click on the project that is going to contain the contract file Select New and DESTECS new scenario Anew window will pop up named Scenario Wizard Select the current project by clicking on the Browse button Click on the Finish button to end the process After following these steps a new file named Scenario script will be placed under the scenarios folder To use the script2 functionality the extension of script file needs to be changed to script2 Scripts with extension name script The syntax of each scenario file needs to be scenario file numeric literal DE CT identifier symbolic literal identifier initial letter following letter symbolic literal numeric literal boolean literal nil literal character literal text literal quote literal boolean literal true false coms cms text literal character escape sequence quote literal lt identifier gt In the following listing an extract from the scenario file provided with the water tank introductory example is shown 2 Di tawllkie g 2 ey 1 0 CT Control testSignal 1 Essentially the meaning of a scenario is simply that the indicated changes of the variables either on the DE or the CT side is changing at the time the first value in all cases to the value provid
23. text Main Shared Design Parameters VDM 20 sim Post Processing Advanced Common a ACA Launch Project d Co Sim Launch Project Simpl B S New_configuratior Te aope SOWSE S Watertank Simulation Model Paths Folder Launch VDM PP Model DE Path model_de Browse L VOM RT Model CT Path model_ct simple emx Browse E VDM SL Model Simulation Configuration Scenario Browse Remove Simulation Duration Total simulation time 10 4 w r l Revert Filter matched 8 of 8 items Apply me Close Building a simple project 18 Inthe Shared Design Parameters Tab click on the Synchronize with contract Set the parameter amplitude to 10 Inthe Common Tab click on the Browse button and choose the Simple project The Shared file should now show Simple Click the Apply button to store the Debug Configurations Click the Debug button to start the co simulation The co simulation will now start and the 20 sim Editor and Simulator will appear After the co simulation the 20 sim Simulator should look like Eile Properties Simulation Tools Help Hele yA KM a r R M Window 1 model model ut time s Output No bytes are read from the socket is it still open 20 sim 4 2 c 2012 Controllab Products B V Movies 19 Movies Click on the folllowing link to see the movies e How to open Destec
24. the ACA is made in a slightly different way since it is possible to select different architectures to use in the ACA f Debug Configurati Create manage and run configurations 3 x py Name example_Matrix_ACA type filter tet Main Architectures gt SDPs Sweep Scenarios CT Settings Common l ACA Launch a Architectures folder model_de architectures fa Ch aa C eWay Dees ALMA rear i ileal da example Matrix ACA J Sa Excavator_SoftStop ACA Sa LineFollowACA_121 sensor_ Co Sim Launch iy BodercPaperPath architecture2 arch amp ChessWay_DESTECS_CoSIM F architecture3 arch amp ChessWay_DESTECS_CoSIM S ChesswayComplexCosim S ChesswaySimple amp Coll amp ControllerPattern cosim a ree y E te CTH Ha m Filter matched 38 of 38 items Debug Close As it is characteristic of the ACA the architectures selected here will be combined with all the other settings in order to Architectures selection 4 architecturel arch Apply generate all the permutations of settings Events 72 Events Events can be triggered in the CT world They will stop the simulation before the allowed time slice is completed The co simulation engine will then allow the DE simulator to take action but only until the point where the event has been raised The events are used in the contract in order to sup
25. the Common tab will not be mention here since is a standard Eclipse tab will be explained individually in the following subsections Filter matched 38 of 38 items type filter text Main gt Architectures SDPs Sweep Scenarios CT Settings Common ga ACA Launch A Base Configuration a ChessWay_Destecs 2D ACA 1 jam example Matrix ACA ba Excavator_SoftStop_ACA ba LineFollowACA 121 sensor_ d Co Sim Launch La BodercPaperPath S ChessWay_DESTECS_CoSIM S ChessWay_DESTECS_CoSIM S ChesswayComplexCosim a ChesswaySimple Coll amp ControllerPattern cosim Esa MarsRover CO SIM X w r B a Debug Configurations aa O O Create manage and run configurations S Sex E Name LineFollowACA_121_sensor_distance LineFollowACA_121 ws Automated Co model Analysis 56 To start an ACA launch a base configuration needs to be selected This configuration is a normal DESTECS launch which will be used as base for the ACA settings This means that launch options that are not overwritten in the ACA will use as default the ones present in the base launch There is also an Octave option which is explained in the Octave page The Main Tab The Main tab will be the place where general settings for the ACA launch are set Currently the only option present is the Base Configuration The Base Configuration as the name sa
26. the numerical solution of linear and non linear problems and for performing other numerical experiments It also provides extensive graphics capabilities for data visualization and manipulation Octave is normally used through its interactive command line interface but it can also be used to write non interactive programs The Octave language is quite similar to Matlab so that most programs are easily portable 1 Octave Version It is very important that the correct version of Octave is used to run the scripts generated by DESTECS The correct version can be found in Chessforge together with the DESTECS Releases Octave use in DESTECS After each co simulation run an Octave script is generated in the output dir The script contains Octave code that reads the variable logs produced by both VDM and 20 sim during the run Show plot automatically when script is run There is one option available in the debug configuration that affects the script This option appears in two places both in the normal DESTECS run and in ACA If enabled when the script is executed a plot or several depending on the amount of variables selected will automatically be drawn In the case of an ACA run being executed for the same variable the several runs will juxtaposed Picture below shows where to find this option for a normal run Post Processing tab Main Shared Design Parameters VDM 20 sim Post Processing gt Advanced Common Octave Options
27. to both declare and operate over the matrices VDM In VDM matrices of n dimensions m Xon represented as a seq of seq of real X m are represented as seq of seq of real So a 2x2 matrix is The contract matrix variables are linked in the same manner as any other variable but the target variable needs to be of the correct type in our case seq of seq of real class Process values public amplitude real 0 instance variables 0 07 0 017 0 070 01 ROR OF ORL 017 00001 y seq of seq of real X seq of seq of real operations public calculateY calculateY IO print Amplitude DE D KORO en OE IO println amplitude OROA M g i X thread periodic 100E6 0 0 0 calculateyY end Process r r DE Architecture 69 DE Architecture This feature allows the selection of the hardware and deployment to be specified in a separate file from the VDM system class In order to do this separation the following steps need to be done The System class must be cleaned of CPU and BUS declarations and deployments of the objects e Annotations need to be added to the system class that indicate where the architecture and deployment statements The architecture tag must be places under an instance variables block Architecture The deployment tab must be places in the constructor where the deployment normally will have been specified
28. your projects in a folder called a workspace Choose a workspace folder to use for this session Workspace C Temp Destecs DestecsWorkspace X V Use this as the default and do not ask again Enter a location where you have read and write access The program should respond by opening with a welcome screen Getting Started TA Dy a The DESTECS Platform Click the Cross Now the window should look like File Edit Navigate Search Project Run Window Help rte Oe Oe SETERS a DESTECS Explor 53 m BE Outline 23 acaba An outline is not available E Simulation Engine View 53 io 3 El Problems O Simulation View 2 Source Message Sou Message Sou Message Getting Started Opening the Project From the File menu choose File Import Select Create new projects from an archive file or directory Select an import source type filter text a amp General Archive File LS Existing Projects into Workspace CY File System D Preferences S Rur Debug S Team E Imp Import Projects Select a directory to search for existing Eclipse projects Select root directory Select archive file C Temp Watertank zip Projects Browse Watertank Watertank Z Copy projects into workspace Working sets Add project to working sets Working set Select nes anh Cancel
29. Coverage ChesswaySimple x TIE amp Coll Log Real Time Events _ Check timing invariants H d ControllerPattern cosim Log Esa MarsRover CO SIM F system S example_matrix a Excavator_Dig d Excavator Safety Excavator_SoftStop g extendedWatertankBlack extendedWatertankBlackBlue 1 Faults i amp extendedWatertankBlackBlueOrange DE Replace pattern A B M E FuelSystem Sa LineFollowACA 121 Controller Architecture Sa New_configuration Architectures folder model_de architectures pid_pinch_FT pid_pinch2 Folder not found E Watertank 7 WatertankCascade Architecture f d WatertankEventDriven a Remove amp watertankMatrix g WatertankPeriodic g WatertankScript X x Apply Revert Filter matched 37 of 37 items 20 sim Options tab The 20 sim Options tab contains options related with the execution of the CT model At first both tables Log and Settings contain only the previously saved settings if no settings were previously selected then the tables will be empty the tables can be populated by pressing the Populate button The Populate button launches the model selected in 20 sim model and dynamically extracts the settings and the variables present in the model There is two sections present in the 20 sim options tab e Log in this section it is possible to select which CT variables should be logged during the co simulation execution e Settings the settin
30. DESTECS Project and click Next c 2 New Project sex Project Create a new project resource z Project name Simple V Use default location C Temp DestecsWorkspace Simple Browse Working sets Add project to working sets lt Back Next gt Cancel Building a simple project e Enter the project name Simple and click Finish System Description We wil create a VDM model and a 20 sim and run a co simulation The 20 sim model will run the following equation x sin time The equation runs in continuous time and exports the variable x though the DESTECS tool to the VDM model In the VDM model the following equation runs in discete time y amplitude x It is updated every 100 ms The variable y is exported back to 20 sim The Discrete Event Model The overall structure of the discrete model is shown in the figure below The System class contains the discrete time equation in association with the World class The Process Class The process class defines the the two variables x and y which are needed to for the function calculateY which calculates the function y amplitude x and prints the results to a log file The active behaviour of the process is modelled in the thread part of the class The function calculateY is calculated every 100 ms and will be running as long as the simulation is in process class Process values public amplitude real 0 0 instance variables Ve
31. E and CT Elements 36 Shared Design Parameters The parameters to be shared across the two models need to be marked with the keyword shared Example parameters real aParam shared 5 Events Events need to be marked using the keyword event this marks the variable that it used as return value of the event function to be an event variable The keywords eventdown and eventup are used as in standalone 20 sim models See more under Events Example variables boolean minLevelReached event equations maxLevelReached eventup leveliIn maxlevel Debug Configuration Before starting a co simulation a debug configuration must be created The purpose of this is to define where the continuous time and discrete event models are located as well as the scenario file and the simulation time Creating a Debug Configuration Select the project for which you want t create a Debug Configuration Press the small arrow next to the debug icon at the top of the workbench A drop down menu will appear in which the option Debug configuration has to be selected Debug Configuration 37 Create manage and run configurations 3 X B Co Sim Launch E New_configuration gm DSE Launch VDM PP Model VDM RT Model E VDM SL Model Filter matched 6 of 6 iterns Configure launch settings from this dialog L Press the New button to create a co
32. TE THE NEI y amplitude x j Output Process Find Optimizing equation structure Generating simulation instructions The model is empty The model has 0 errors and 0 warnings Simulation e Click on the Model menu and select Start Simulator Now a Simulator window will open In the Simulator click on the Properties menu and select Plot to open the Plot Properties Select the variable x for the first curve e Choose Add Curve and select the variable y for the second curve Plot Properties X Anis Y Axis Delete Curve x d Variable Name y Label y V Show Unit Line Properties Line Style Tick gt si Zero Thickness B Min Distance pixels First R G 1 g m B mv Saing T Shared Y Axis Manual Automatic Post Clip to Bounds From To es Ta 1 10476897101314 E 0 V Show Values Separate X Axis Choose OK Cancel Close the Plot Properties e Run a simulation click the Simulation menu and select Run Building a simple project 15 The result should look like 20 sim Simulator mE File View Properties Simulation Tools Help BBO Are mM DIP ll el ff Window 1 model A model 1 l T 05 time s Output ay Simulation Running ea a Simulation stopped after 0 003 seco
33. Yunyun Ni and Xiaochen Zhang Methodological guidelines 1 Technical report The DESTECS Project INFSO ICT 248134 December 2010 BFPA11 Jan F Broenink John Fitzgerald Ken Pierce Yunyun Ni and Xiaochen Zhang Methodological guidelines 2 Technical report The DESTECS Project INFSO ICT 248134 December 2011 BLV 10 J F Broenink P G Larsen M Verhoef C Kleijn D Jovanovic K Pierce and Wouters F Design Support and Tooling for Dependable Embedded Control Software In Proceedings of Serene 2010 International Workshop on Software Engineering for Resilient Systems ACM April 2010 Bro 97 Jan F Broenink Modelling Simulation and Analysis with 20 Sim Journal A Special Issue CACSD 38 3 22 25 1997 Car 05 David Carlson Eclipse Distilled Addison Wesley 2005 ISBN 0 321 28815 7 Bibliography 84 FLM 05 John Fitzgerald Peter Gorm Larsen Paul Mukherjee Nico Plat and Marcel Verhoef Validated Designs for Object oriented Systems Springer New York 2005 IEE 00 IEEE 100 The Authoritative Dictionary of IEEE Standards Terms Seventh Edition IEEE Std 100 2000 2000 Kle 09 C Kleijn 20 sim 4 1 reference manual pages 59 70 2009 ISBN 978 90 79499 05 2 7 LBF 10 Peter Gorm Larsen Nick Battle Miguel Ferreira John Fitzgerald Kenneth Lausdahl and Marcel Verhoef The Overture Initiative Integrating Tools for VDM ACM Software Engineering Notes 35 1 January 2010
34. ain parameters specially relevant in the co simulation As in the Simulation Messages View every message is timestamped and ordered chronologically This is illustrated in the figure below There is a default arrangement of views in the perspective but they can be changed and then restored to the default at any time The Simulation view Editor View The Editor View allows you to edit Contracts Scenario s etc Y Configuration Editor 53 Shared Design Parameters sdp real MAXLEVEL Monitored variables monitored real level Controlled variables controlled real valve Events event HIGH Contract VDM Link 20 Sim Link Overview The Editor View Projects 25 Projects All data that is necessary for a co simulation e g models contracts etc is stored in a DESTECS project This section explains how to use the DESTECS tool to manage projects Step by step instructions for importing exporting and creating projects will be given Creating new projects Follow these steps in order to create a new DESTECS project Create a new project by choosing File and New and Project and DESTECS project Type in a project name e Click the button Finish see the figure below Create project dialog You can create projects in the DESTECS tool The highlighted project is the project that is currently selected Importing projects Follow these steps in order to import an already existing
35. al x Scenarios 51 The engineer can reference co model state in conditions and assignment and revert statements The state that can be referred is wither for VDM specified with the model keyword in the link file or for 20 sim marked as global note 20 sim access is not yet implemented Additionally all shared variables can be accessed with the contract name and used in conditions assignments or revert statements It is also possible to have some statements executed exactly once on the first time a condition is detected This is acheived using the once keyword instead of when once de real x gt 500 do set some flag de bool flag true print First time x exceeds 500 Logfiles When starting a simulation it is possible to select a set of variables that are logged throughout the co simulation At the moment this manual is being written there is only the possibility of logging DE variables support to log CT variables will be added later The result of this logging is a CSV file comma separated values DE variables The variables of the DE model to log can be selected in the tab VDM Options presented in the figure below If a model does not contain type errors this tab will display all instance variables that are accessible from the VDM system class Name Watertank Main Shared Design Parameters DSE VDM Options 20 sim options Advanced gt Common Interpreting V Dynamic type checks V
36. ariants checks V Pre condition checks a ChesswayComplexCosim V Post condition checks V Measure Run Time checks Generate Coverage E ChesswaySimple aes f amp Coll Log Real Time Events _ Check timing invariants amp ControllerPattern cosim p Log da Esa MarsRover CO SIM F System example_matrix e Excavator_Dig a Excavator_Safety Excavator_SoftStop g extendedWatertankBlack f S extendedWatertankBlackBlue _ Faults i extendedWatertankBlackBlueOrange DE Replace pat f E FuelSystem S LineFollowACA 121 Controller Architecture New_configuration Architectures folder model_de architectures id_pinch_FT FN 2 a ch2 Create Architectures Folder Folder not found g Watertank g g WatertankCascade Architecture i g WatertankEventDriven f g watertankMatrix S WatertankPeriodic WatertankScript j Filter matched 37 of 37 items Cen ae I If the model_de architectures folder does not exist yet the Create Architecture Folder can be pressed to create it Apply Revert The architecture arch files should be placed inside this folder The architecture to be used in the launch can be used by pressing Browse amp Architecture Selection Select an architecture architecture2 arch architecture3 arch DE Architecture 71 Selecting architectures in an ACA launch The architecture selection in
37. ary to explicitly tell the object what sample time to use in calculations Therefore for all control objects except P you must call SetSampleTime before the Output is used This only needs to be done once and it is recommended that it is called immediately after the constructor If this is not done the co simulation will fail with a pre condition violation the first time Output is called Advanced Use All of the controller classes in the library are subclasses of a single class called DTObject discrete time object This class contains the definitions for SetSampleTime and Output and enforces a consistent interface It is possible to use the various controller classes without making reference to DTObject However if it is desirable to test different controllers variables can be defined as type D7TObject meaning that only the call to the constructor needs to be changed in order to use a different controller implementation This is also useful if control objects are passed to controllers In the following example the Controller class can accept any control object P PID etc class Controller instance variables controller object privateer E IWC eco ILe operations Const UCOLL LOr Controller public Controller DTControl gt Controller Controller c Control Library 65 ei bites ctrl SetSampleTime SAMPLE_TIME Constructors P The P class has the following constructors SOEK publ
38. ation for VDM 20 sim and the DESTECS tools VDM and the DESTECS tools are open source tools and will run on any computer 20 sim is a commerical tool that will run as a viewer on any computer If you want to build your own models in 20 sim and store them you will need a license e Windows platform XP Vista 7 e 256 MB free memory e 200 MB disk space x86 compatible CPU Installing Destecs Installing Destecs Combined Installer First time users are advised to use the combined installer that will install the DESTECS tools and VDM and 20 sim on your computer You can download the installer from the DESTECS website http www destecs org downloads html N During installation the main installer will pause A second installer will then guide you trough the installation of 20 sim Once 20 sim is installed the DESTECS installer will continue License Both VDM and the DESTECS tools are open source and do not require an additional license 20 sim is a commercial tool that will run in viewer mode on any computer This means that you can only run and edit models If you want to store models you will need a license You can send an email to Controllab 2 to get an trial license Manuals e VDM To help you work with VDM check out this page 3 e 20 sim To help you work with 20 sim you can visit the 20 sim website 4 or download the 20 sim manual 5 References 1 http www destecs org downloads html 2 mailto
39. ay position 3 Although arrays are limited to one dimension Clarification In VDM even though both are represented in vdm as seq of seq of real a matrix 1 6 and a matrix 6 1 are distinct matrix 1 3 the outer seq has length 1 the inner seq has length 3 example 1 2 3 matrix 3 1 the outer seq has length 3 the inner seq has length 1 example 1 2 3 While a matrix 3 array 3 is in fact just a seq of real with length 3 example 1 2 3 Error detection in the Contract Link file A static error check is performed every time the contract or the link file are saved This is a cross file consistency check which resolves if all the variables events declared in a contract are also present in the link and vice versa DESTECS will prevent the launch of projects with consistency errors between the contract and link files but there is the possibility to turn this protection off by un checking the referent preference accessible in the menu Windows gt Preferences r sy Preferences Destecs DESTECS r vv DESTECS V Prevent launch of Co Simulations with Contract Link errors Restore Defaults Apply Ges Contracts 33 Contract Overview An overview of the contract can be seen on the last tab of multi editor Shared Design Parameters linefollow_lateral_offset World linefollow_lateral_offset lt gt linefollow_lateral_offset lt gt linefollo
40. behaviour a model of a component that does not account for disturbances inheritance in object oriented programming the mechanism by which a subclass contains all public and protected data fields and methods of its superclass e input a signal provided to a model e interface in object oriented programming a class which defines the signatures of but no bodies for any of its methods Should not be instantiated e junction in bond graphs a point in a bond graph where the sum of flow 1 junction or effort 0 junction of all bonds to that point is zero L e log data written to a file during a simulation metadata information that is associated with and gives information about a piece of data model base the collection of artefacts gathered during a development including various models and co models scenarios and test results and documentation model management the activity of organizing co models within a model base model structuring the activity of organizing elements within a model model synthesis see code generation model a more or less abstract representation of a system or component of interest e modelling the activity of creating models e modularisation construction of self contained units modules that can be combined to form larger models e monitored variable a variable that a controller observes in order to inform control actions e object in object oriented programming a
41. d from the discrete event simulation noted by VDM RT in the beginning of the entry from the continuous simulation indicated by 20 sim in the beginning of the entry or both labelled Al As an example of an Engine log an extract from the one generated after the WaterTank simulation is shown below As it can be seen it is registered how the engine has been loaded which design parameters are going to be used and the versions corresponding to the different continuous time and discrete event simulation applications Paths to the exact models and the loading actions together with their results are monitored as well All Simulation engine type loaded org destecs core simulationengine ScenarioSimulationEngine All Shared Design Parameter initialized as maxlevel 0 0 minlevel 0 0 VDM RT Launching VDM RT Interface Version name VDMJ version 0 0 0 1 WADIMIIRGE Inimaticstikalyexcl le 3 1e1eulS AQ Silimt Winieeriteles Versions memes 2O Salim Versions 4 i 2 3 A20 Siim z Winsicatswecl OS Crue VDM RT Loading model C Users ja DestecsIde 0 0 2 workspace watertank_new model Debug Reports 53 VDM RT Loading model completed with no errors true 20 Siim Loacha moce C Users ja DestecsIde 0 0 2 workspace watertank_new watertank_new emx 20 Sim Loading model completed with no errors true VDM RT Interface gt Design P maxlevel minlevel Inputs level Outputs valve 20 Sim Int
42. e C cles aOR OF x 9 roal g OO operations jolsilake ailkeullercew 3g calculateY IO print Amplitude IO printin amplitude joreauiate xe a OO atime Ilia ox P WO joresume Wye Vy rO joxeminte tlin Gy 6 y amplitude x thread periodic 100E6 0 0 0 calculateyY end Process Building a simple project 10 Copy the contents above and store in a text file called Process vdmrt The System Class The System class contains a reference to the Process class As it can be seen in the instance variable section the modelled elements is referenced through the variable p The system class is responsible for deploying and allocating the components in processing units called CPUs This is the reason why an instance of the class CPU is declared system System instance variables USL BiLeele i gt 2 PwOCSSS 8 Mew PeOeSss p iMeCEllaeSeicwles Cerna e Oyo Cou 3 OLY 32 gt mew CEPURE P Zins TODO Define deployable objects as static instance variables operations public System gt System System cpu deploy p process i end System Copy the contents above and store in a text file called System vdmrt The World Class The World class is responsible for launching the simulation This is done by invoking the start statement This operation will start the thread contained in the class which models the active behaviour of
43. ed after the sign So these can be Scenarios 49 considered as disturbances provided for the simulation at the specific time and thus each such a file correspond to one scenario Sweeping over for example different design parameters will be done with a kind of higher level scenario as a part of the Design Space Exploration feature to be developed as a part of the DESTECS tool suite Scripts with extension name script2 The syntax of each scenario file needs to be Script script top level statement top level statement 5 Top Level Statements top level statement include statement when statement once statement include statement include file path when statement when expression for time literal do statement after revert block statement once statement once expression for time literal do statement after revert block statement Statements statement assign statement print statement error statement quit revert block statement revert statement revert statement Y assign statement identifier expression revert statement revert identifier print statement print formatted string error statement error formatted string Expressions expression boolean literal numeric literal time literal time
44. en Populate g watertankMatrix WatertankPeriodic f Apply Revert Filter matched 38 of 38 items In the picture above it is possible to see that two variables are selected for logging selected the different submodels appear listed in the combo box in the right Post Processing The post processing tab shows the options available for the post processing phase Debug Create manage and run configurations top half of the tab In the bottom half it is possible to see that the 20 sim implementation of the Control this is specific to the Watertank model is CB x EF Name Watertank type filter text d BodercPaperPath d ChessWay_DESTECS_CoSIM ChessWay_DESTECS_CoSIM_2D ChesswayComplexCosim d ChesswaySimple amp Coll d ControllerPattern cosim amp Esa MarsRover CO SIM a example_matrix e Excavator_Dig d Excavator_Safety d Excavator_SoftStop y extendedWatertankBlack g extendedWatertankBlackBlue Filter matched 38 of 38 items d extendedWatertankBlackBlueOrange Main Shared Design Parameters VDM 20 sim Post Processing Advanced E Common Octave Options v m Debug Configuration Advanced Octave Options Show plot automatically when the script runs with this option enabled the Octave script that is generated after
45. en the co simulation starts The following image shows the Shared Design Parameters tab for a project that has a matrix 2x2 has a shared design parameter Debug Configuration Advanced 43 F II a Debug Configurations x Create manage and run configurations Debug FS 4 a ax Bpr Name example_matrix type filter text Main Shared Design Parameters VDM 20 sim Post Processing Advanced Common FA A AA pach Synchronize with contract dam ChessWay_Destecs_2D_ACA Excavator_SoftStop_ACA Name Value da LineFollowACA 121 sensor_distance J amp Co Sim Launch amp BodercPaperPath a ChessWay_DESTECS_CoSIM a ChessWay_DESTECS_CoSIM_2D amp ChesswayComplexCosim a ChesswaySimple Coll ControllerPattern cosim amp Esa MarsRover CO SIM example_matrix g Excavator_Dig a Excavator_Safety a Excavator_SoftStop amp extendedWatertankRlack Filter matched 37 of 37 items sharedMatrix 1 1 0 0 sharedMatrix 1 2 0 0 sharedMatrix 2 1 0 0 sharedMatrix 2 2 0 0 m Apply f Reet f VDM Options Tab The VDM Options tab is the tab where runtime options for the DE part of the model can be activated deactivated It is divided in 4 options groups Interpreting these are options related with the interpretation of the DE models Certain checks and also the generation of reports such as coverage or the real time events can be turned o
46. er WheelPositionEncode 4 WorldAndSensors 4 LineFollowSensorl Demux gt LineFollowSensorf WheelPositionEncode IfLeftFailureBlock IfRightFailureBloct globals_CT_Only 4 simulator m Options Name V FailFixedValueDetected V NoFault amp New_configuration K Filter matched 38 of 38 items Automated Co model Analysis 61 Repeating one single launch part of an ACA After a successful ACA launch the output folder will contain information regarding what was exactly run in a specific ACA launch This information in stored in the output folder By looking closely at the figure below which shows the result of an ACA run it is possible to see a file named xxx dlaunch for each ACA run 4 2 output _ 20simVariables csv amp coverage Excavator_SoftStop dlaunch B launch P results m _ 20simVariables csv amp coverage Excavator_SoftStop dlaunch B launch P results m _ 20simVariables csv amp coverage E Excavator_SoftStop dlaunch B launch P results m index html P results m By right clicking a dlaunch file and selecting the option DESTECS gt Create and Launch the single selected run will be launched again This single launch configuration is also stored together with the other launch configurations typically its name is prefixed by generated Aut
47. erface gt Design P Control maxlevel Control minlevel Control testSignal Inputs valve Outputs level All Validating interfaces All Validating interfaces completed Once simulation time is over the engine will send termination commands to each continuous and discrete simulations This is notified in a three stepped way indicating that the process is going to be terminated indicating that the process has been sent the kill command and finally a done message As it can be seen the labels VDM RT and 20 sim are used to indicate whether the message is referring to the continuous time or the discrete event simulation VDM RT Terminating WADIMISIRIP E e 4 5 eal JUIL VDM RT Terminating done ZO Siim y WrIAMaLIAGIC IAG 4 2 o ZQ Silim 7 WeiesMaiMeresiner 4 4 RLL 20 Sim Terminating done The Message log file The Message log file is logging the the messages coming from both VDM RT discrete and20 sim continuous simulation In the following listing the contents of the Message log file for the water tank example are shown Note that that the structure this file is presenting is similar to the co simulations run by the DESTECS tool As it can be seen the first step is to check the version of the components so they can be initialized and loaded afterwards The next step is to query the interface for the simulation engine and set the appropriate design parameters Once those preliminary actions have
48. ertank Controller v 1 Configuration V Used linked libraries At this point the IO library was added to your DE model and the model is ready to run not displaying any error The Continuous Time Model Modelling We will build the continuous time model in 20 sim e From the Windows start menu open 20 sim From the File menu select New Equation Model Enter the equations below parameters real global amplitude shared externals real global export x real global import y variables real result code THE EXPORT FOR THIS MODEL x sin time IN BETWEEN HERE THE VDM DESTECS WILL CALCULATE THE NEW VALUE i sumpoliewels x27 AND IMPORT THE RESULT result y The model has one parameter that is shared with VDM Two variables are exported x to VDM and imported y from VDM The code block describes the equation that is calculated Now in 20 sim the result should look like the figure below Building a simple project File Edit View Insert Model Drawing Settings Tools Help D besioaoxhO t A S RALA Model brary W fx t m add x A parameters real global amplitude shared externals real global export x real global import y variables real result code THE EXPORT FOR THIS MODEL x sin time IN BETWEEN HERE THE VDM DESTECS WILL CALCULA
49. ftStop S extendedWatertankBlack Simulation Configuration E extendedWatertankBlackBlue amp extendedWatertankBlackBlueOrange a Fuelsystem Simulation Duration a Generated_Excavator_SoftStop S LineFollowACA 121 Total simulation time 15 S pid_pinch_FT d pid_pinch2 E Watertank WatertankCascade amp WatertankEventDriven g watertankMatrix S WatertankPeriodic S WatertankScript E VDM PP Model b amp VDM RT Model EL VOM SL Model Filter matched 38 of 38 items Project Excavator CT Path model_ct KraanModelSimVA emx Scenario scenarios Dig script Control Library 63 Control Library In order to help build controllers in VDM that can handle low level proportional control in addition to supervisory control a control library has been included in the DESTECS tool This library provides classes that are equivalent to the P PD PI and PID blocks of the 20 sim library under Signal Control PID Conitrol Discrete Accessing the Control Library To use the control library the class definitions must be imported into the project e rightclick on the project and select New and Other e Under the DESTECS folder select Add DESTECS Library and click Next Add the Control Library TODO New screenshot with control library in Then check the box marked Control Library Unless you want to edit the class files leave Use linked libraries checked
50. g many different co simulations with minimal user intervention The ACA feature enables the user to select different configurations for each individual parts of the co model and then runs the co simulation combining all possible configurations that were selected by the user ACA Workflow The figure below illustrates the steps in the process of the ACA work flow First the user provides configurations for different parts of the co simulation then the tool generates different complete configurations by composing the different configurations parts that were provided by the user Automatic User Input i Automatic Presenting the i t Generation of S Configurations Analysis results Configurations lllustration of the ACA process These complete configurations are used to execute co simulations At this stage year 2 of the project only the first two part of the work flow are supported year 3 will bring the automatic analysis of the results of these co simulations as well with presenting the results Currently it is only possible for the user to select different configurations for different parts of the co simulation more specifically chose different architectures for deployment of the controller DE side and select different starting values for the shared design parameters Automated Co model Analysis 55 Configuration Part A Configuration Part B Configuration Part C
51. gs are presented in a tree view In this tree there is two types of nodes option nodes and virtual nodes which are only there to give the tree structure If an option node is selected the different possibilities will be presented on the right side Options group Debug Configuration Advanced 45 2s Debug Create manage and run configurations Debug Le CBX B Spy Name Watertank type filter text Main Shared Design Parameters VDM 20 sim Post Processing Advanced Common S BodercPaperPath Log S ChessWay_DESTECS_CoSIM Variable Name a S ChessWay DESTECS_ CoSIM_2D E ChesswayComplexCosim Control levelln sy ChesswaySimple Control valvecontrolOut amp Coll Drain p e ControllerPattern cosim V Drain p f Esa MarsRover CO SIM FlowSource inflow S example_matrix FlowSource p p S Excavator_Dig FlowSource p phi M g Excavator_Safety da Excavator_SoftStop Settings d extendedWatertankBlack i model Options S extendedWatertankBlackBlue 3 implementations EEEE d extendedWatertankBlackBlueOrange Control maraa Sil S FuelSystem simulator cosimEvents S LineFollowACA 121 eventdelta local d New_configuration fastmode S pid_pinch_FT integrationmethod i S pid_pinch2 i S Watertank il WatertankCascade ga WatertankEventDriv
52. here is not yet any static check ensuring this but this will be defined in the tools later Matrices Matrices were introduced in the release 1 2 0 Matrix Example A simple example where a matrix 2x2 is transferred back and forward from DE to CT sides The co model does not do anything else besides the transfer and a small calculation with the matrix This example called example_matrix can be found in the examples zip distributed together with the release Contract The matrices must be declared in the contract Shared Design Parameters sdp real amplitude Monitored variables monn conrcedima crina 2 7 6 Controlled variables controlled matrix y 2 2 The matrix x is the output from 20 sim and the y is used as input for 20 sim Both are declared with size 2x2 20 sim The 20 sim model is as simple as this one here parameters real global amplitude shared 2 2 externals real global export x 2 2 real global import y 2 2 variables week weesuilke 2 2 Matrices 68 code the export for this model x amplitude time sin time cos time sin time cos time IN BETWEEN HERE THE VDM DESTECS WILL CALCULATE THE NEW VALVE and import the valveControl result y CONTROL VALUI Al The matrices behave as any other variable that is being transmitted in DESTECS In 20 sim the matrix notation is used
53. ic P real gt P P k defaults k 057 public P gt P P PD The PD class has the following constructors set k tauD beta public PD real real real gt PD PD k tauD beta er k ran pera ial public PD real real gt PD PD k tauD default k 0 2 taud 1 0 beta 0 1 public PD gt PD RD PI The PI class has the following constructors S60 kpo Cawl public PI real real gt PI PI k taulI gt defaults amp 022 haul 0 5 public PI gt PI Pid Control Library 66 PID The PID class has the following constructors set k taulI tauD beta public PID real real real real gt PID PID k taulI tauD beta set k taul tauD beta 0 1 public PID real real real gt PID PID k taur tauD default k 0 2 tauIl 0 5 tauD 0 5 beta 0 1 public PID gt PID PID Setting Shared Design Parameters The shared design parameters that the simulation is using can be modified from the Debug configuration view e Press the small arrow next to the debug icon 7 atthe top of the workbench A drop down menu will appear in which the option Debug configurations has to be selected e The Dubug Configuration window will open Click the tab Shared Design Parameters A list of the parameters used in the simulation can be viewed In
54. imple model_de Options _ Overwrite existing resources without warning T Create top level folder e Select the directory where you have stored the vdmrt files Select the three files and click Finish After adding the files to the directory an error will be appear because the library IO used in the Process class is not present e To add this library right click the DESTECS project and press Add DESTECS Library a DESTECS simple configuratio DESTECS Tools File Edit Navigate Search Project Run Window Help Te HGS i O rQ if ih H eera Configuration Editor 53 E Vv 5 a sdp amplitude Process amplitude gt F Project Ecim Sf DESTECS New Contract Copy Ctrl C DESTECS New Scenario Paste Cti V amp DESTECS Project tees Delete Add DESTECS Library Move tee r2 MD Add VDM Library Import Class Export E Empty File System pane i VDM PP Project pome EL VDM RT Project Close Unrelated Projects amp VDM SL Project TE P FS Other Ctrl N Compare With The Add Library Wizard window will pop up Select the IO library and press Finish Building a simple project 13 E a Add Library Wizard Add Library Select the libraries to include Libraries C Control Library v 1 DESTECS Initial classes Do not link this v1 V L P Controller v 1 Rotary Encoder v 1 Wat
55. imulation tool how to link the elements from the contract to the DE and CT models respectively a link file must be present for each co model This is stored in a vdm link file DE model Editing the link file The link file is automatically created when you start a new project You can edit the link file by selecting the configuration folder in the project tree Expand the project and configuration folder and select the file vdm link L DESTECS My Project configuration contract csc DESTECS Tools kolba File Edit Navigate Search Project Run Window Help oy BwrOvrQriwv vgly BP Ory E a DESTECS S DESTECS Explorer 3 E 5 Y Configuration Edito 23 N 1 O BE Outline 33 m AT Pe Oe EARN E aN _ 4 bk My Project a yical model and the simulatio An outline is not available 4 configuration contract csc 2l levelSensor level Y vdm link lve valvedctuator valveState 4 amp model_ct Watertank emx vel Controller maxLevel 4 amp model_de vel Controller minLevel L Controllersvdrnrt L IOvdmrt linked names used in scenario L LevelSensorvdmrt ault le x fault Systemvdmrt 212 levelSensor level amp Valvedictuator vdmrt ve2 valveactuator valveState v 1 World vdmrt s N Oe cenai Contract YDM Link 20 Sim Link E Simulation Engine View 52 6 Gi Simulat X 2 Proble m m s A x Ayov 7A Source Message So Message No consoles to displa
56. ion 1st run initial_Position 1 448 1 110 2nd run initial Position 1 736 X where X is the value defined in the base debug configuration for initional_Position 2 The values defined in the value sweep are put together according to the order they appear if a for one of the indexes is missing like in this case the second value of initial_Position 2 the value from the original debug configuration will be used Automated Co model Analysis 59 Scenario Tab In the scenarios tab it is possible to select which scenarios will be used in the ACA run The scenarios present in the scenarios folder in the root of the project will be presented on the Scenario selection table It is then possible to check which scenarios will be used in the ACA amp Debug Configurati X Create manage and run configurations Sex e Name Excavator SoftStop ACA Main Architectures SDPs Sweep Scenarios gt CT Settings Common A Excavator_SoftStop_ACA a Scenarios folder scenarios i A ma a Create Scenarios Folder Folda peen BodercPaperPath a ChessWay_DESTECS_CoSIM n da ChessWay_DESTECS_CoSIM_2D Dig script ChesswayComplexCosim J OperatorTest script S ChesswaySimple F Safety script s Coll SafetyFault script amp ControllerPattern cosim SoftStop script d Esa MarsRover CO SIM amp example_matrix a Excavator_Dig Excavator_Safety Excavator_SoftStop d exctendedWatertan
57. ion of the workspace Opening Destecs 22 The program should respond by opening with a welcome screen Click the Cross of the Welcome screen when you have read the message Click on the cross of the Welcome tab to remove the welcome message EB DESTES DESTECS Took Da File Edit Navigate Search Project Run Window Help ml Civ rO Q iv i h ei BaDESTECS S DESTECS Explor 53 zis B Outline 2 So B v An outline is not available E Simulation Engine View amp mo Z Simulatio 3 Bi Problems O Simulation View amp Source Message Sou Message Sou Message The DESTECS tool after the first start up The Destecs Tool 23 The Destecs Tool Workbench Eclipse is an open source platform based around a workbench that provides a common look and feel to a large collection of extension products Thus if a user is familiar with one Eclipse product it will generally be easy to start using a different product on the same workbench The Eclipse workbench consists of several panels known as views A collection of panels is called a perspective The figure below shows the standard DESTECS perspective The DESTECS perspective consists of a set of views for managing DESTECS projects and viewing and editing files in a project Different perspectives are available in DESTECS based on the task that you are doing Outline of the DESTECS Workbench Explorer View The DESTECS
58. kBlack extendedWatertankBlackBlue m EG Filter matched 38 of 38 items Scenario selection Automated Co model Analysis 60 CT Settings Tab The CT side settings here work much in a similar fashion to the ones in the normal DESTECS launch The only difference is that it is possible to select multiple options instead of one In the ACA Settings tab it is only possible to select options which have limited alternatives i e enumerations arm Create manage and run configurations my x l EEA Name LineFollowACA_121_sensor_distance type filter text Main Architectures SDPs Sweep Scenarios cr Settings E Common ja ACA Launch ga ChessWay_Destecs 2D_ACA example_Matrix_ACA Excavator_SoftStop_ACA ja LineFollowACA_121_sensor_ g Co Sim Launch d BodercPaperPath S ChessWay_DESTECS_CoSIM S ChessWay_DESTECS_CoSIM S ChesswayComplexCosim d ChesswaySimple S Coll ControllerPattern cosim amp Esa MarsRover CO SIM S example_matrix amp Excavator_Dig Excavator Safety S Excavator SoftStop g extendedWatertankBlack extendedWatertankBlackBlu d extendedWatertankBlackBlu S FuelSystem d LineFollowACA 121 Settings 4 model 4 implementations 4 AutoPositioningCam Cam_PID_X Cam_PID_Y Cam_PID_Z Controll
59. language when time 5 do de real x 10 The time keyword yields the current co simulation time The de keyword indicates that x is resides at the top level in the DE model Naturally the ct keyword is used to indicate the CT model Comments may also be included when time 5 do ct real y true Statements can also be grouped in blocks surrounded by parentheses and separated by semicolons Expressions of time can optionally include a unit e g milliseconds given in curly braces Units are assumed to be in seconds if no unit is given The engineer may output messages to the tool or to a log in batch mode with the print statement when time 900 ms do de real x 10 ct real y true print Co simulation time reached 900 ms Logical operators can be used in expressions When the condition becomes true the statement s in the do clause will execute If the condition becomes false again the optional after clause will execute once Note that block statements do not permit local variables to be defined when time gt 10 and time lt 15 do print Co simulation time reached 10 seconds Since this script language does not allow local variables to be defined a special statement revert may be used in an after clause to change a value back to what it was when the do clause executed when time gt 10 and time lt 15 do assume x 5 de real x 10 after revert de re
60. ls meta identifier the concatenate symbol the define symbol the definition separator symbol alternatives enclose optional syntactic items enclose syntactic items which may occur zero or more times single quotes are used to enclose terminal symbols non terminal symbols are written in lower case letters possibly including spaces terminator symbol to denote the end of a rule used for grouping e g a b j c is equivalent to a b j a c denotes subtraction from a set of terminal symbols e g character denotes all characters excepting the double quote character Glossary 79 Glossary As might be expected in such an interdisciplinary project terms and concepts that are well known in one discipline may be unknown or understood quite differently in another This page therefore contains common descriptions of core concepts agreed with the partners that are used consistently within the project A e abstract class in object oriented programming a class where one or more methods are defined abstractly using the text is subclass responsibility as their body e actuator a component that produces a physical output in response to a signal aggregate in object oriented programming the act of bringing together several objects into a single whole e automated co model analysis tool support for the selection of a single design from a set of design alternatives including definition of
61. n instantiation of a class contains data fields and methods objective function see cost function ontology a structure that defines the relationships between concepts operation in object oriented programming defines an operation that an object may perform on some data Operations may be private public or protected output the states of a model as observed during and after simulation Glossary 82 N non normative behaviour behaviour that is judged to deviate from specification P e physical concept in bond graphs a class of component or phenomena that could exist or be observed in the real world e g an electrical resistor or mechanical friction plant the part of the system which is to be controlled power port in bond graphs the port type connected in a bond graph Contains two variables effort and flow A power port exchanges energy with its connected models private in object oriented programming VDM the method or data field may only be accessed from within the containing class protected in object oriented programming VDM the method or data field may only be accessed by its containing class or any of its subclasses e public in object oriented programming VDM the method or data field may be accessed by any other class e ranking function a function that assigns a value to a design based on its ability to meet requirements defined by the engineer e realistic behaviou
62. n off Log in this section it is possible to select variables from the DE model that should be logged during the simulation To find more details about this feature see Logfiles Faults experimental feature in this section it is possible to chose a class A to replace a class B before the simulation start the intention is to experiment with faulty modules that can be substituted by the non faulty model To make sure there will be no runtime exceptions class B should be subclass of A To indicate that class A should be substituted by class B the following should be inserted in the text box A B It is possible to make several substitutions by separating the substitutions with a comma A B C D Architecture experimental feature in this section it is possible to select an architecture file that defines the architecture of the deployment of the DE controller More information on the architecture file can be seen in DE Architecture Debug Configuration Advanced 44 F S Debug Configurations Create manage and run configurations Debug cCEexIB Name LineFollowACA 121 Main Shared Design Parameters VDM 20 sim Post Processing Advanced E Common S ChessWay_DESTECS_CoSIM a Interpreting S ChessWay_DESTECS_CoSIM_2D V Dynamic type checks V Invariants checks V Pre condition checks amp CheseayComplert sean V Post condition checks V Measure Run Time checks 7 Generate
63. nder the configuration folder contained in the project tree The middle of the Workbench will show the Editor with a new contract Y Configuration Editor 23 Shared Design Parameters a sdp real MAXLEVEL Monitored variables monitored real level Controlled variables controlled real valve Events event HIGH 4 P Contract VDM Link 20 Sim Link Overview The Editor with a new contract Contracts 31 Contents of a Contract A contract between a CT and a DE model can contain the following kind of information e Design parameters These are typically values which indicate the properties of components e g size weight temperature A designer would like to explore different values of these parameters in order to find an optimal solution to the challenge he is working on The actual values for the shared design parameters are set outside the contract in a separate file e Variables The variables are the active interface between the CT and DE models so these indicate the variables that change during one simulation Variables typically represent sensor readings and signals to actuators e Events Events can be triggered in the CT world They will stop the simulation before the allowed time slice is completed The co simulation engine will then allow the DE simulator to take action but only until the point where the event has been raised The events are used in the contract in orde
64. nds Model calculations 1007 Number of output points 1004 Average steps per seco Finished Simulation 0 errors 0 warnings 4 m r 20 sim 4 2 c 2012 Controllab Products B V The simulation shows the continuous time equation x sim time but the variable y is zero This is obvious because have not coupled VDM yet e Return to the 20 sim Editor e Click on the File menu and select Save As and store the 20 sim model using the name simple emx e Inthe 20 sim Editor from the File menu select Save e Save the model as simple emx in the same location as the vdmrt files Adding the 20 sim Model Now we will add the 20 sim model to the project e Return to the DESTECS tool e Inthe tree from the Simple project select model_ct From the File menu select Import General File System and click Next Select the proper location From Directory select the 20 sim model simple emx and click Finish Contract We will continue by creating a contract that connects both the discrete time and continuous time model e Inthe tree select Simple e From the right mouse menu choose New DESTECS new contract and click Finish e Replace the contents of this file by the text below Shared Design Parameters sdp real amplitude Monitored variables monitored real x Controlled vairialoles Building a simple project 16 controlled real y EVENES event HIGH Linking
65. nfiguration of the selected type Press the Duplicate button to copy the selected configuration Press the Delete button to remove the selected configuration i Press the Filter button to configure filtering options Edit or view an existing configuration by selecting it Configure launch perspective settings from the Perspectives preference page Select a new debug configuration Now a window will show up where you can enter the settings of the Debug Configuration We wil describe the tabs Select the option Co Sim Launch and New_Configuration that are necessary to run a co simulation Main Create manage and run configurations Project not set Se amp x ex type filter text d Co Sim Launch E New_configuration DSE Launch VDM PP Model L VDM RT Model EL VDM SL Model Filter matched 6 of 6 items Name New_configuration E Main Shared Design Parameters DSE VDM Options 20 sim options Advanced Common Project Project Simulation Model Paths DE Path No Path Selected Browse CT Path No Path Selected Simulation Configuration Scenario Browse Remove Simulation Duration Total simulation time 0 Apply Revert x Debug Configuration 38 The Main tab of the Debug Configuration Click the Browse button to select yo
66. nt during a simulation are called parameters Examples of parameters are the height of a watertank with varying waterlevel or the mass of a car with varying speed A variable is a property of a model that may change during a given simulation Examples of variables are the varying waterlevel of a watertank or the varying speed of a car Co Simulation A co simulation is a combined simulation of a continuous time model and a discrete event model in separate tools The DETSECS tool allows you to run discrete event models in VDM and continuous time models in 20 sim and exchange information between VDM and 20 sim during run time Because the the notion of a model in a co simulation may lead to misinterpretations we will use the following definitions e constituent model the continuous time model or the discrete event model of a co simulation co model a model comprising two constituent models a discrete event submodel and a continuous time submodel Introduction 21 Contract The description of the communication between the constituent models of a co model is called the contract A contract typically describes the variables that are shared between the continuous time model and the discrete event model An example of a shared variable is the waterlevel that is calculated in the continuous time model and sent to the discrete event model where it is used to calculate the response of a water level controller In most cases a continuous time m
67. ntinuously through time contract a description of the communication between the constituent models of a co model given in terms of shared design parameters shared variables and common events e controlled variable a variable that a controller changes in order to perform control actions e controller the part of the system that controls the plant controller architecture the allocation of software processes to CPUs and the configuration of those CPUs over a communications infrastructure co sim launch the type of debug configuration used in the DESTECS tool to define and launch a single scenario e co simulation baseline the set of elements co model scenario test results etc required to reproduce a specific co simulation Glossary 80 co simulation engine a program that supervises a co simulation e co simulation the simulation of a co model e cost function a function which calculates the cost of a design D debug config Eclipse term the place in Eclipse where a simulation scenario is defined e design alternatives where two or more co models represent different possible solutions to the same problem design parameter a property of a model that affects its behaviour but which remains constant during a given simulation e design space exploration the iterative process of constructing co models performing co simulations and evaluating the results in order to select co models for
68. odel and a discrete event model will use similar parameters For the watertank example such a parameter may be the maximum water level In the continuous time model this parameter indicates the height at which a sensor is placed and in the discrete time model this parameter may indicate a property of the water level controller To prevent different values to be used in the continuous time model and discrete event model we may share this parameter in the contract This is called a shared design parameter Opening Destecs When you open the DESTECS tool for the first time you will have to set the default location of your projects and remove the welcome screen Open DESTECS from the start menu or go to the location where you have installed the DESTECS tool e g where you have extracted the zip file Destecslde versionid win32 win32 x86 Destecslde versionid and open the the file Destecs exe e You will see a splash screen when the program opens i DESIlEGsae The splash screen shows that the DESTECS tool is opening e The first time the program is started you will have to decide where you want the default place for your projects to be fa Select a workspace DESTECS Tools stores your projects in a folder called a workspace Choose a workspace folder to use for this session Workspace C Temp Destecs DestecsWorkspace v Browse V Use this as the default and do not ask again Caneel Choose the locat
69. omated Co model Analysis _ 20simVariables csv gt amp coverage launch P results m Open gt 201203252032 Open With R index html P results m Copy Ctrl C vdmj properties Paste Ctrl V gt amp scenarios X Delete Delete ha SoftStop_ xlsx cs SoftStop_template xlsx E SoftStop xlsx Rename F2 gt GE extendedWatertankBlack g Import gt EB extendedWatertankBlackBlue p4 Export gt EE extendedWatertankBlackBlue gt GE FuelSystem amp Refresh F5 gt E LineFollowACA 121 gt E PIController Team A gt W pid_pinch_FT Compare With gt b WE pid_pinch2 Replace With gt gt W Watertank PO fete 5 gt Watertank Carie 3 ae gt E WatertankEventDriven BP Ni decent een ed EEE gt g watertankMatrix D gt WatertankPeriodic gt E WatertankScript Inspecting the launch configurations it is possible to find the launch that was just created The launch contains all the same settings as the launch that was selected to be created from the ACA Create manage and run configurations Debug Fj x B e Name Generated_Excavator_SoftStop Dfe Main gt Shared Design Parameters VDM 20 sim Post Processing Advanced Common S ChesswaySimple Project S Coll amp ControllerPattern cosim Esa MarsRover CO SIM Simulation Model Paths S example_matrix g Excavator_Dig DE Path model_de __ Browse da Excavator Safety S Excavator_So
70. onitored variable in the contract with a instance variable in the DE model The qualified name must start with the system class name e output links one controlled variable in the contract with a instance variable in the DE model The qualified name must start with the system class name sdp links a shared design parameter in the contract with a value in the DE model The qualified name can start by any class name and the referenced value must be a value in VDM model links a name and a variable in the VDM model The name can then be used to reference the variable in scripts The qualified name must start with the system class name The vdm link file for the WaterTank example looks as input level System levelSensor level output valve System valveActuator valveState sdp maxlevel Controller maxLevel sdp minlevel Controller minlLevel other linked names used in scenarios model fault System levelSensor fault CT Model On the 20 sim side a link file is not used but still the variables parameters need to be declared in a certain way in order to carry out the co simulation Co simulation variables Variables used in the co simulation need to be in the externals field and marked as global Depending if they are used as input or output they need to be marked import or export respectively Example externals real global export level real global import valve Linking D
71. port event based triggering and not just time triggered scheduling Simulation setup Events in the contract For events to be considered during a simulation the event must be defined in the contract events event identifier Events in the link file Events must be connected to a public async operation in VDM This is done by linking the event name specified in the contract to the fully qualified operation name in VDM in the link file events event identifier System identifier identifier Example event event1 System eventHandler eventt Where e eventi is the event name from the contract e System is the system class e eventHandler is the class holding the operation to execute e eventi the last event1 is the async operation which to execute when the event occurs Events in CT Events need to be marked using the keyword event this marks the variable that it used as return value of the event function to be an event variable The keywords eventdown and eventup are used as in standalone 20 sim models See more under Events Example variables boolean minLevelReached event equations maxLevelReached eventup leveliIn maxlevel Events 73 Events in DE The scheduler in VDM do not schedule events in the same way as for instance a micro controller would do where the current executing job is suspended in favour of the interrupt routine However it
72. r a model of a component which includes disturbances defined by the tolerances associated with that component repository a shared store of data or files response a change in the state of a system as a consequence of a stimulus e revision control the activity of managing changes revisions to computer data or files e scenario test of a co model e signal domain where models share a single value or array at each port and where those ports are uni directional unlike bond graphs where the ports are bi directional sensor a component whose input is a physical phenomenon and whose output is a quantitative measure of the phenomenon e shared design parameter a design parameter that appears in both constituent models of a co model shared variable a variable that appears in and can be accessed from both constituent models of a co model e simulation symbolic execution of a model semantically consistent the state when the constituent models of a co model agree on the semantics of the variables parameters and events they share The nature of these semantics is not yet described e static analysis a method for checking some property of a model without executing that model e state event an event triggered by a change within a model e stimulus a phenomenon that effects a change in the state of a system e subclass in object oriented programming a class that is defined as extending another class The other clas
73. r the feature mentioned above to work The settings below can be found by navigating to the Window gt Preferences menu G g Preferences type filter text Octave v Yv General ANTLR Path to octave c Octave 3 2 4_gcc 4 4 0 bin octave exe a DESTECS Octave Dynamic Languages EclipseNSIS Help Install Update Java Maven Run Debug Team gt VDM XML Restore Defaults l Apply References 1 http www gnu org software octave Folder Launch Configuration 77 Folder Launch Configuration This is a en EXPERIMENTAL feature This is a new way of launching an ACA by selecting a folder containing launch files The user has to produce it s own launch files The options to select are the project and the folder containing the launch files Create manage and run configurations C Bx Fy Name FolderWatertank type filter text Main Common ACA Launch Project Selection amp Co Sim Launch E Folder Launch amp New_configurati Folder selection VDM PP Model VDMRT Model E vom st Me Project Watertank Folder launches 4 m r Filter matched 30 of 30 items 78 Additional Information Syntax Notation Wherever the syntax for parts of the language is presented in the document it will be described ina BNF dialect The BNF notation used employs the following special symbo
74. r to support event based triggering and not just time triggered scheduling The syntax for contracts follow the following rules contract parameters variables events parameters shared_design_parameter type identifier sdp type identifier variables kind type identifier kind matrix identifier shape shape T integer integer T events event identifier type real bool identifier initial_letter following letter kind monitored controlled value float boolean_literal boolean literal true false In the following listing an extract from the contract file provided with the WaterTank example is shown sdp real maxlevel sdp real minlevel monitored real level controlled bool valve Contracts 32 Matrixes From Release 1 2 0 and onwards it is possible to exchange matrices between DE and CT models To be able to do this a matrix needs to be declared in the contract The adopted syntax is similar to 20 sim where the shape of the matrix is indicated by a sequence of integers m M_ For example to declare a 2x2 matrix which is monitored named M the following must be added to the contract monitored matrix M 2 2 For further information on how matrices are used in co models please see Matrices Arrays Arrays can be declared in the same style monitored arr
75. raphy 77 78 78 79 83 Installing What is Destecs DESTECS Design Support and Tooling for Embedded Control Software is a consortium of research groups and companies working on the challenge of developing fault tolerant embedded systems The consortium is focussed on developing design methods and tools that bridge the gap between the disciplines involved in designing an embedded system systems control mechanical and software engineering for example As an FP 7 project 2 DESTECS has developed methods and tools that that combine continuous time system models with discrete event controller models through co simulation to allow multidisciplinary modelling including modelling of faults and fault tolerance mechanisms The analysis of these effects at every stage in a design process will help to build more dependable real time embedded systems The DESTECS tool connects discrete event tools with continuous time tools to facilitate co simulation In this wiki you can find a comprehensive help on this tool Currently two tools are supported VDM and 20 sim Support for Simulink is under development and will be described in this manual as soon as it is ready References 1 http www destecs org 2 http cordis europa eu search index cfm fuseaction proj document amp PJ_RCN 11 157826 Requirements The DESTECS tool suite can be downloaded as a single installation package from the DESTECS website The package contains an install
76. roduced Main Tab The Main Tab is where the project to co simulate is selected This can be done by pressing the Browse button After selecting the wanted project in the picture the project is called LineFollowACA_121 the DE model path is automatically filled since it is only possible to have one DE model in the model_de folder Though he CT model path needs to be selected Browse button If a scenario should be used it is possible to select which one in the Simulation Configuration section The total simulation time should be a number greater than zero to be able to run the co simulation Create manage and run configurations Debug e x bee Name LineFollowACA 121 Main gt Shared Design Parameters VDM 20 sim Post Processing Advanced B Common amp Co Sim Launch a Project E BodercPaperPath S ChessWay_DESTECS_CoSIM ChessWay_DESTECS_CoSIM_2D Simulation Model Paths E ChesswayComplexCosim ChesswaySimple DE Path model_de Browse S Coll CT Path model_ct RobotAndSensors v7 001 emx ControllerPattern cosim i Esa MarsRover CO SIM Simulation Configuration Ga example_matrix i e Excavator_Dig Scenario Remove g Excavator_Safety a Excavator_SoftStop a extendedWatertankBlack Total simulation time 40 extendedWatertankBlackBlue e extendedWatertankBlackBlueOrange E FuelSystem d LineFollowACA 121 New_configuration vid pinch FT Filter matched 37 of 37 items Projec
77. ry C Ternp Watertank YDM X E S Watertank VDM W L Controllersvdrart T i IO vdrmrt T o LevelSensoravdrrt T System vdrmrt T valve ctuator vdrmrt T World vdrart Filter Types Select All Deselect All Into folder New Project rnodel_de Options E Overwrite existing resources without warning D Create complete folder structure Create selected folders only Nes Choose the file to import Select the directories that comprise the VDM mode Click Finish Contracts Contracts To connect the continuous time model and discrete event model together we have to define a contract Creating a new contract file Right click on the project that is going to contain the contract file Select New and DESTECS new contract Sa DESTECS Explor 3 4 ie test m New gt E Project gpi DESTECS New Contract gB Copy Ctrl C DESTECS New Scenario Paste Ctrl V DESTECS Project 2 babe Add DESTECS Library Move Renanee p Wil Add VDM Library a Import Class rA Export L EmptyfFile e System gt aal asc F5 E VDM PP Project Close Project E VDM RT Project Close Unrelated Projects VDM SL Project Pr k Run amp s Debug As gt Choosing a new contract Other Ctrl N y LS A new window will pop up Choose a contract name and click on the Finish button to end the process After following these steps a new file named projectName csc will appear u
78. s becomes its superclass The subclass inherits all non private data fields and methods e submodel a distinct part of a larger model superclass in object oriented programming the class from which a subclass is defined syntactically consistent the state when the constituent models of a co model agree on the identities and data types of all shared variables parameters and events system boundary the common frontier between a system and its environment Glossary 83 system under test SUT the part of a model that represents the system we wish to build as opposed to parts of the model which are not part of this system system an entity that interacts with other entities including hardware software humans and the physical world T tag to associate metadata with a piece of data e test result a record of the output from a simulation of a model see also log time event an expected event that occurs at a predetermined time V e variable part of a model that may change during a given simulation vertices in bond graphs the joining points of bonds May be manifested as either a junction or a submodel Bibliography ALRL 04 Algirdas Avi ienis Jean Claude Laprie Brian Randell and Carl Landwehr Basic concepts and taxonomy of dependable and secure computing IEEE Transactions on Dependable and Secure Computing 1 11 33 2004 BFP 10 Jan F Broenink John Fitzgerald Ken Pierce
79. s and run projects m Example Models WaterTank e Description This is a model of a watertank showing the a basic co simulation More Information The topic Getting Started shows you how to load and run the WaterTank model More information on the model itself can be found in the WaterTank topic Download Location http www destecs org downloads Watertank zip 4 Simple Description This is the Destecs version of Hello World A very simple model that you can create yourself and run a co simulation More Information The topic Building a Simple Project shows you how you create this model and run it e Download Location http www destecs org downloads Simple zip 1 Examples Compendium e Description The examples compendium contains a number of example projects You can import these projects using the zip file below More Information More information on the examples can be found in http www destecs org downloads examples_compendium_M33 pdf 2 Download Location http www destecs org downloads examples_compendium_M33 zip 3 References 1 http www destecs org downloads Simple zip 2 http www destecs org downloads examples_compendium_M33 pdf 3 http www destecs org downloads examples_compendium_M33 zip 20 Basic Use Introduction The DESTECS tool allows you to define and a co simulation To get a basic understanding of the tool we first need to define some concepts We will use use
80. s the scenario file and the simulation time Press the small arrow next to the debug icon at the top of the workbench A drop down menu will appear in which the option Debug configurations has to be selected S Debug Configurations Create manage and run configurations S lB gt Configure launch settings from this dialog Press the New button to create a configuration of the selected type Co Sim Launch Press the Duplicate button to copy the selected configuration E New_configuration Raa DSE Launch 3 Press the Delete button to remove the selected configuration VDM PP Model e Press the Filter button to configure filtering options ER VOM RT Mode Edit or view an existing confi by sel E VDM SL Model g configuration by selecting it Configure launch perspective settings from the Perspectives preference page Filter matched 6 of 6 iterns Debug Close Select the option Co Sim Launch and New launch configuration Now a window will show up where you can enter the settings of the Debug Configuration We wil describe the tabs that are necessary to run a co simulation Create a New Debug Configurationnamed Simple e Inthe Main tab change the settings use the Browse buttons and set the time to 10s until it looks like S Debug Configurations l Create manage and run configurations Debug GB x D 2 v a Name Simple type filter
81. scenarios execution of co simulations and visualisation and analysis of co simulation results bond in bond graphs a directed point to point connection between power ports on submodels Represents the sharing of both flow and effort by those ports bond graph a domain independent idealised physical model based on the representing energy and its exchange between submodels causality in bond graphs dictates which variable of a power port is the input cause for sub model s equations and which is the output effect e class in object oriented programming the definition of the data field and methods an object of that class will contain code generation the process of implementing a system controller by automatically translating a model into a representation in some programming language which can then be executed on the real hardware of the system commit to record changes to data under revision control co model a model comprising two constituent models a DE submodel and a CT submodel and a contract describing the communication between them configuration management the managing of the composition of co models from various DE and CT models consistency a co model is consistent if the constituent models are both syntactically and semantically consistent e constituent model one of the two submodels in a co model e continuous time simulation a form of simulation where the state of the system changes co
82. sible to define a large collection of scenarios From a discrete event perspective these scenarios can be thought off as test cases Each scenario can be considered as a sequence of external stimuli to the co simulation Each stimulus has a time associated with it that is when the stimuli is injected into the simulation In addition each stimulus has an action associated with it Such actions can set variables either at the CT or the DE side of the simulation 2 with the extension name script2 this scripts allow users to define condition action pairs using a statement called when which perform an action when the condition becomes true during a co simulation This script allows these conditions to reference the current co simulation time and the state of the co model and to combine them with logical operators Actions can assign to selected parts of the co model and also provide information back to the user as well as terminating the simulation This chapter topic describes how to create scenario files and introduces a command language for DESTECS scripts called DCL DESTECS Command Language The main purpose of DCL is to allow engineers to simulate user input and activate latent non normative behaviours during a co simulation The language is designed to be sufficiently rich as to allow engineers to influence a co model during co simulation without being overly complex For example it does not allow local variables to be defined Creating a
83. t LineFollowACA 121 m Simulation Duration Apply Revert Debug Configuration Advanced 42 Shared Design Parameters Tab In the Shared Design Parameters tab a list of the parameters used in the simulation can be viewed For the variables to appear for the first time the the button Synchronize with contract needs to be pressed Every time the shared design parameters are changed in the contract the button must be pressed again in order to synchronize the view with the contract F Debug Configurations m M uM M p Debug SAx e x type filter text 4 amp Co Sim Launch d BodercPaperPath S ChesswayComplexCosi S ChesswaySimple amp ControllerPattern cosir d examplematrix amp atendedWatertankBlac amp extendedWatertankBlac da extendedWatertankBlac d New_configuration amp New_configuration 1 amp New_configuration 3 a New_configuration 4 d pid_pinch_FT d pid_pinch2 d watartankMatrix a Watertank WatertankCascade 4 m Filter matched 40 of 40 items m Create manage and run configurations Name Watertank Main Shared Design Parameters VDM Options 20 sim options Advanced Common Synchronize with contract Name maxlevel minlevel Value 2 0 Apply Revert i For the variables present in the table it is possible to decide which values they will have wh
84. t Import File System Adding Models 28 Select Import resources from the local file system into an existing project Select an import source type filter text 4 General Archive File 9 Existing Projects into Workspace E Preferences gt amp Run Debug gt amp Team Import files into the DESTECS tool From the Import Dialog choose the directory that contains the 20 sim model File system Import resources from the local file system From directory C Termp E amp Temp 20 simm 4 Lreg SE destecsdebuglog csv Ay ja_ironis v1 0 1zip Eil michel png L peterodt Untitled 2 pdf Wwatertank emx A Watertank zip Jh WaterTankCascade zip O AOp A nOA Filter Types Select All Deselect All Into folder New Project model_ct Options Overwrite existing resources without warning Create complete folder structure Create selected folders only errs ce Choose the file to import Select the 20 sim model from the list of files Adding Models 29 Click Finish Discrete event Model Select the item model_de Right click and select Import File System From the Import Dialog choose the directory that contains the VDM model S Import lt gt kelkoj File system Import resources from the local file system ay a From directo
85. t of the icon and if that is clicked the fields of the records can be shown In the case a System class is being displayed in the Outline View the root element representing the class will be a violet filled circle with an S in the center as illustrated in the figure below Simulation Engine View The Simulation Engine View located in the lower left part of the environment is showing the evolution of a co simulation This is done by monitoring the interaction between the VDM RT discrete event simulation the 20 sim continuous time simulation and the engine This view has two columns the first one is specifying the source of the message and the second one the content of it As it can be seen in teh figure below the values for the sources can be All VDM RT or 20 sim In the first case the message is common to both simulations In the second case the message belongs specifically to either the discrete or the continuous simulation The engine view The Destecs Tool 24 Simulation Messages View To the right of the Simulation Engine View there is a view called the Simulation Messages View see figure below In this case different messages coming specifically from the continuous or the discrete simulation are shown Each entry shows the source of the message its content and a timestamp The Simulation Message view Simulation View A third view related to the simulation is the Simulation View which displays the evolution of cert
86. the case the parameters are changed click the button Synchronize with contract a Debug Configurations Create manage and run configurations Main Simulation time not set lr 2 Bx BF Name My Project type filter text Main Shared Design Parameters gt DSE VDM Options 20 sim options Advanced Common d Co Sim Launch Pe My Project gm DSE Launch Name Value VDM PP Model iL VDM RT Model E VDM SL Model Synchronize with contract maxlevel 0 0 minlevel 0 0 Filter matched 6 of 6 items The shared design parameter tab in the Debug Configuration window Setting Shared Design Parameters 67 Setting Shared Design Parameters for batch execution For command line execution planned in future versions of DESTECS the design parameters that are shared between the CT and DE models are placed in a separate file with a file extension called sdp These are typically parameters that the user will wish to sweep over with multiple values The syntax of the sdp file needs to be sdp file identifier numeric literal identifier initial letter following letter Note that at the moment the only type of literals that may be used are numeric literals since 20 sim is limited to that Note also that the identifier must be defined both as a shared parameter inside the CT model as well as publicly declared values inside the DE model as it is linked in the link file T
87. the class class World operations public run gt run start System p DOCK i operations block gt block skip Building a simple project 11 sync per block gt false end World Copy the contents above and store in a text file called World vdmrt Building the VDM Model When a new DESTECS project is created several directories are created on its root one of them is called model_de which is designed to contain the DE model The vdmrt files created above should be put into this directory Select the Simple project click on the triangle to expand it and select model_de Px DESTECS DESTECS Tools anma File Edit Navigate Search Project Run Window Help me Hr OvrG wr Gyr ERES EES wa DESTECS da DESTECS Exp 3 a 6 B Outline 53 B z An outline is not available amp configuration amp model_ct E model_de scenarios E Watertank a Simple E Simulation Engine View 23 O Ei Proble O Simula Simula Consol 2N O voMD O vdmL Tis Source Message No consoles to display at this time ri Simple model_de From the File menu choose Import General File System Building a simple project File system Import resources from the local file system From directory C Temp Simple T amp Simple L System vdmrt L World vdmrt Faron Into folder S
88. the continuous time part of the simulation will be loaded automatically The simulation plot will show the variables during a simulation If a 3D model of the system has been developed for the CT model an extra window with a 3D animator will also open File Edit View Insert Model Drawing Settings Tools Help DL taes Mi e S FA Model Library Roan m EALA Ef frode E Control cosim l Drain FlowSource E tank Valve lt u Output Process Find 12 equations 11 variables 2 independent states The model has 0 errors and 5 warnings File View Properties To Tools Help Behe yA mw Aa Enel time triggered control Tanklevel Valve Oo o _ Output Opening file C Temp Destecs DestecsWorkspace Watertank model_ct Watertank emx File opened No bytes are read from the socket is it still open 20 sim 4 1 c 2011 Controllab Products B V The 20 sim Simulator shows the co simulated plots Launching a Co Simulation 40 File View Properties Replay Help BE e iF mid gt vi O 20 sim can also show simulation results in an animation 41 Advanced Topics Debug Configuration Advanced An introduction to the Debug Configurations was first made in the introductory part of this manual In this section all the tabs presented in the Debug Configuration will be int
89. the next iteration e design step a co model which is considered to be a significant evolution of a previous co model e discrete event simulation a form of simulation where only the points in time at which the state of the system changes are represented e disturbance a stimulus that tends to deflect the plant from desired behaviour edges in bond graphs see bond effort in bond graphs one of the variables exposed by a power port Represents physical concepts such as electrical voltage mechanical force or hydraulic pressure environment everything that is outside of a given system error part of the system state that may lead to a failure event an action that is initiated in one constituent model of a co model which leads to an action in the other constituent model e executable model a model that can be simulated e failure a system s delivered service deviates from specification fault injection the act of triggering faulty behaviour during simulation fault modelling the act of extending a model to encompass faulty behaviours fault the adjudged or hypothesized cause of an error e fault behaviour fault like phenomena any behaviour that can be modelled like a fault e g disturbance flow in bond graphs one of the variables exposed by a power port Represents physical concepts such as electrical current mechanical velocity fluid flow Glossary 81 ideal
90. to proceed A new window like the one shown in the figure below will follow In this case the selected project will appear as root node on the left side of it It is possible to browse through the contents of the project and select the convenient files to be exported All the files contained in the project will be selected by default Project ready to be exported Enter a name for the archive file in the text box following To archive file An specific path to place the final file can be selected through the button Browse e Click on the Finish button to complete the export process Adding Models 27 Adding Models When you have created a new project you have to define the continuous time model and the discrete event model that have to be coupled in a co simulation Continuous time model e Click on the arrow in front of the project name to expand the project tree Ps DESTECS DESTECS Tools oe File Edit Navigate Search Project Run Window Help lw HBr OrQr wr plr Oeror E wa DESTECS Sa DESTECS Explorer 2 ARo O FE Outline 23 a 4 ww New Project An outline is not available configuration amp model_ct G model_de scenarios O Simulation Engine View 53 6 amp i Simulatio El Problems Osace x Avidv iu No consoles to display at this time Source Message Sou Message fiv L E New Project The project tree showing the CT and DT entries Select the item model_ct e Right click and selec
91. ur project Once the project is found and selected the paths for both Discrete Event and Continuous Time models will be automatically set e Click on the Browse button to select the scenario file if a scenario file is available Set the option Total simulation time which defines for how long the simulation is going to be running Shared Design Parameters Tab An important feature of the debug configuration is the possibility to view and modify the shared design parameters of the simulation a Debug Configurations Create manage and run configurations Main Simulation time not set vex 5 Name My Project type filter text Main Shared Design Parameters gt DSE VDM Options 20 sim options Advanced Common Co Sim Launch S My Project Synchronize with contract dm DSE Launch Name Value VDM PP Model maxlevel 0 0 1 VDM RT Model minlevel 0 0 E VDM SL Model App ert Filter matched 6 of 6 items Debug Close The Shared Design Parameters tab of the Debug Configuration e Click Synchronize with contract to import the shared design parameters Set the parameters to their proper values After this step it is possible to launch a Co simulation Launching a Co Simulation 39 Launching a Co Simulation To start up a co simulation you simply press the Debug button 3 The 20 sim editor showing the continuous time model and the 20 sim simulation showing the plot of
92. w_lateral_offset linefollow_longitudinal_offset World linefollow_longitudinal_offset lt gt linefollow_longitudinal_offset lt gt linefollov encLeft System encLeft val lt gt encLeft lt gt encLeft not checked encRight System encRight val lt gt encRight lt gt encRight not checked lfLeft System 1lfLleft val lt gt lfLeft lt gt lfLeft not checked 1fRight System 1fRight val lt gt 1fRight lt gt 1fRight not checked lfLeftFaultDetected System elfLeft err lt gt lfLeftFaultDetected lt gt lfLeftFaultDetected not checked 1fRightFaultDetected System elfRight err lt gt 1fRightFaultDetected lt gt 1fRightFaultDetected not checked Controlled Variables elocity_Left System velLeft val lt gt velocity_Left lt gt velocity_Left not checked velocity_Right System velRight val lt gt velocity_Right lt gt velocity_Right not checked Contract VDM Link 20 Sim Link Overview In this view it is possible to see which variable from the DE side is connected to which contract variable and transitively to which CT variable The form they are presented is VDM variable lt gt Contract Variable lt gt 20 sim variable The not checked appears next to the 20 sim variables because at this moment is not possible to static check if the variables exist in the 20 sim model Linking DE and CT Elements 34 Linking DE and CT Elements In order to show the co s
93. y at this time wa iL 0 0 iterns selected Expand the configuration folder to see the link file The middle of the Workbench will show the Editor with the contents of the link file Contents of a link file The syntax of a link file is a sequence of link definitions each definition is formed by an interface type a qualified name sign and a qualified name separated by line breaks Here all the design parameters the variables and the events from the contract must be present on the left hand side of each of these definitions It is important to note that the link file may contain more links than required by the contract this allows a DE model to be reused in different simulations where different contracts are used Additionally links can be made to variables that exist within the model in order to be able to reference them from a script the keyword model is used for this purpose The right hand side of all the signs provide the names seen from the DE co model side f e the instance variables inside a system class in the VDM RT model Linking DE and CT Elements 35 The syntax of these definitions are vdmlink file interface qualified name qualified name interface output input sdp event model qualified name identifier identifier identifier initial letter following letter Link file parts e input links one m
94. ys is the configuration that forms the base for the ACA to work Main Architecture Shared Design Parameters E Common Base Configuration Browse ACA Launch Main tab By pressing the button Browse it is possible to browse through the Co Sim Launches present in the DESTECS Tool and chose one This configuration will be the base configuration for all the ones generated by the ACA The ACA will take the base configuration and combine it in all possible ways depending on what the user set on the other tabs The Architecture Tab Deployment Architectures It is possible in this tab to select which Controller Architectures will be used in the ACA run For more information on Controller Architectures and how to define them please see DE Architecture Create manage and run configurations SB x Oy Name example_Matrix_ACA L type filter text Main Architectures es SDPs Sweep Scenarios CT Settings Common ACA Launch Architectures folder model_de architectures 2 ChessWay_Destecs_2D_ACA FA example_Matrix_ ACA da Excavator_SoftStop_ACA gt Create Architectures Folder Folder present Architectures selection ja LineFollowACA 121_sensor_ _ amp Co Sim Launch architecturel arch i BodercPaperPath V architecture2 arch ChessWay_DESTECS_CoSIM architecture3 arch S ChessWay_DESTECS_CoSIM S ChesswayComplexCosim ChesswaySimple

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