This work proposes an environment for testing of heterogeneous embedded systems by means of distributed co-simulation. The test occurs in real-time, co-simulating the system software and hardware platform using the high level architecture (HLA) as a middleware. The novelty of this approach is not only providing support for simulations, but allowing the synchronous integration of heterogeneous simulators with a physical real-time environment. In this work we use the Ptolemy framework as a simulation platform. The approach of co-simulation based on HLA allows different simulators and physical devices to inter-operate, for example robots can operate and be tested with a Ptolemy simulations. Case studies are presented to prove the concept, showing the successful integration between Ptolemy and the HLA and test systems using Robot-in-the-loop. The integration of real-time devices through robot operating system was also presented. The approach proved to be able to detect logical and physical design flaws.

中文翻译：

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使用高级架构测试实时嵌入式系统

这项工作提出了一种通过分布式协同仿真来测试异构嵌入式系统的环境。该测试实时进行，使用高级体系结构（HLA）作为中间件，共同仿真系统软件和硬件平台。这种方法的新颖性不仅为仿真提供了支持，而且允许异构仿真器与物理实时环境的同步集成。在这项工作中，我们将Ptolemy框架用作模拟平台。基于HLA的协同仿真方法允许不同的仿真器和物理设备进行互操作，例如，机器人可以使用托勒密仿真进行操作和测试。通过案例研究证明了这一概念，并展示了Ptolemy与HLA和使用环环机器人的测试系统之间的成功集成。还介绍了通过机器人操作系统集成实时设备。实践证明，该方法能够检测逻辑和物理设计缺陷。