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Principles of Modeling pp 122–142Cite as

Ptolemy-HLA: A Cyber-Physical System Distributed Simulation Framework

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Part of the book series: Lecture Notes in Computer Science ((LNPSE,volume 10760))

Abstract

The Ptolemy-HLA distributed co-simulation framework leverages two open source tools, Ptolemy II and HLA/CERTI, for the simulation of Cyber-Physical Systems (CPS). This framework enables dealing with three important issues: (1) Distribution of a simulation, allowing to scale up models and performance; (2) Interoperability of tools, allowing reusability and interfacing with other simulators or real devices/systems; (3) Heterogeneous simulations (discrete events, continuous time).

The framework extends Ptolemy both, by coordinating the time advance of various Ptolemy instances, and by allowing data communication between them with the help of HLA management services.

These additions enable the creation of HLA federates (i.e., simulators) in a Federation (i.e., a distributed simulation) in an easy way, since the user does not need to be an HLA specialist in order to design a Federate. The paper presents the new components added to Ptolemy, some semantic issues, an application example and performance analysis.

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Notes

  1. 1.

    A federate can only advance its time if it is granted by the RTI. When this federate is time-constrained, this grant is computed by the RTI with knowledge of the time advancements of the time-regulating federates, so that the conservative property of the distributed simulation is guaranteed between regulating and constrained federates.

  2. 2.

    NERA stands for Next Event Request Available and TARA for Time Advance Request Available. A TARA(t) (respectively, NERA(t)) that ends with a TAG(t) can be followed with the production and the reception of new events timestamped with t. If federates exchange data at the same time in a loop, the loop must be broken by calling TAR(t) (respectively, NER(t)). Then no additional event will be delivered to the federate with timestamp t and time can be advanced.

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Acknowledgements

The authors would like to thank the anonymous reviewers for their valuable comments and suggestions to improve the quality of the paper.

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Authors and Affiliations

  1. ISAE-SUPAERO, Université de Toulouse, Toulouse, France

    Janette Cardoso & Pierre Siron

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  1. Janette Cardoso
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  2. Pierre Siron
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Correspondence to Janette Cardoso .

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Editors and Affiliations

  1. University of California, Berkeley, Berkeley, California, USA

    Marten Lohstroh

  2. National Instruments, Berkeley, California, USA

    Patricia Derler

  3. Mälardalen University, Västerås, Sweden, Reykjavík University, Reykjavik, Iceland

    Marjan Sirjani

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Cardoso, J., Siron, P. (2018). Ptolemy-HLA: A Cyber-Physical System Distributed Simulation Framework. In: Lohstroh, M., Derler, P., Sirjani, M. (eds) Principles of Modeling. Lecture Notes in Computer Science(), vol 10760. Springer, Cham. https://doi.org/10.1007/978-3-319-95246-8_8

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  • DOI: https://doi.org/10.1007/978-3-319-95246-8_8

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