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Eurosim Mk7.1 Software User's Manual

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Eurosim Mk7.1 Software User's Manual EuroSim Mk7.1 Software User’s Manual iss: 8 rev: 1 SUM NLR-EFO-SUM-2 Summary EuroSim Mk7.1 is an engineering simulator framework to support the quick development of hard real- time simulators. EuroSim provides a reconfigurable real-time execution environment with the possibility of man-in-the-loop and/or hardware-in-the-loop additions. Extensive Graphical User Interfaces assist the user in constructing, using and analysing real-time simulations, resolving the user from the specialist software engineering knowledge required to built hard real-time systems. EuroSim has been developed initially to support the verification of space (sub) systems defined by ESA programmes of various scales. It’s heritage lies in the development of the European Robotic Arm(ERA) project where EuroSim was essential in the development and verification of the large symmetrical arm that can move accross the International Space Station. Up to today, EuroSim installations are still used around the world to support ERA’s mission preparation, verification and training. After initial devel- opment and application for ERA, EuroSim has been succesfully used in the development, verification and training of the Autonomous Transfer Vehicle (ATV) with multiple installations worldwide. Other space programs where EuroSim has been applied since are Galileo, Herschel & Planck, Gaia to name a few major missions. Currently EuroSim has made its way in to other domains as well, with application in the F-35 Lightning-II Embedded Training program and simulations in support of road tunnel system verification. This document contains both the User Guide as well as the Reference Guide documentation and consists of five volumes. The User Guide volume provides overview and insight in the toolchain as well as intro- duction and guidance on the development and usage of real-time simulators. This User Guide volume is recommended reading material for new users of EuroSim. The four Reference Guide volumes provide in detail information on the GUIs, modelling languages, scripting languages and interface capabilities of EuroSim. Experienced users will find these Refence volumes more usefull. Facility administrators are advised to read [OM20], the EuroSim Owner’s Manual. More files and docu- ments that contain information related to EuroSim can be found in the bibliography. c Copyright Airbus Defence and Space All rights reserved. Disclosure to third parties of this document or any part thereof, or the use of any information contained therein for purposes other than provided for by this document, is not permitted, except with the prior and express written permission of Airbus Defence and Space, PO Box 32070, 2303 DB, Leiden, The Netherlands. ii c Airbus Defence and Space NLR-EFO-SUM-2 SUM iss: 8 rev: 1 Table of Contents c Airbus Defence and Space iii NLR-EFO-SUM-2 SUM iss: 8 rev: 1 Table of Contentsv I User Guide1 1 Introduction 3 1.1 Purpose...........................................3 1.2 Scope............................................3 1.3 Where to start........................................4 1.4 Document conventions...................................4 2 Concepts 5 2.1 EuroSim simulation lifecycle................................5 2.2 Simulator elements.....................................6 2.2.1 Model........................................7 2.2.2 Data dictionary...................................7 2.2.3 Schedule......................................7 2.2.4 Simulator......................................7 2.2.5 Scenario.......................................8 2.2.6 Simulation.....................................8 2.2.7 Test Results.....................................8 2.2.8 Project.......................................8 2.3 Services and tools......................................9 2.3.1 Project Manager..................................9 2.3.2 Model Editor....................................9 2.3.3 Schedule Editor................................... 10 2.3.4 Simulation Controller............................... 10 2.3.5 Test Analyzer.................................... 10 2.4 Application Programmers Interface............................. 10 2.5 Version management.................................... 12 3 Tutorial 13 3.1 The case study........................................ 13 3.2 Starting EuroSim...................................... 13 3.2.1 Linux........................................ 13 3.2.2 Windows...................................... 13 3.3 Creating a project yourself................................. 14 3.4 Creating a shared project.................................. 14 3.5 Creating a model...................................... 14 3.5.1 Model........................................ 15 3.5.2 Adding the sub-models............................... 16 3.5.3 Adding the source code............................... 17 3.5.4 Adding the API headers.............................. 19 3.6 Building the simulator................................... 21 3.7 Creating the schedule.................................... 22 3.7.1 Initializing schedule................................ 22 3.7.2 Executing schedule................................. 23 3.7.3 Closing the Schedule Editor............................ 24 3.8 Creating a simulation definition............................... 24 3.8.1 Creating a graphical monitor............................ 24 3.8.2 Creating an intervening action........................... 25 3.8.3 Creating a recorder................................. 26 3.9 Executing a simulation run................................. 28 3.10 Analyzing the simulation results.............................. 28 c Airbus Defence and Space v iss: 8 rev: 1 SUM NLR-EFO-SUM-2 3.11 Concluding remarks..................................... 30 4 Troubleshooting 31 4.1 Introduction......................................... 31 4.2 Daemon Log Inspection................................... 31 4.3 Core file analysis...................................... 32 4.4 Symbolic Debugging.................................... 32 4.5 Scheduler Debugging.................................... 34 4.6 Tuning Memory options.................................. 34 4.7 Tuning Simulator Startup time-out............................. 35 4.8 Execution Timing analysis................................. 35 4.9 Coverage analysis...................................... 36 4.10 Profiling.......................................... 37 4.11 Linux Capabilities...................................... 38 II GUI Reference Guide 39 5 Common GUI reference 41 5.1 GUI conventions in EuroSim................................ 41 5.2 Mouse buttons........................................ 41 5.3 Keyboard shortcuts..................................... 42 5.4 Common dialog buttons................................... 42 5.5 Common toolbar buttons.................................. 43 5.6 Common menu items.................................... 43 5.6.1 File menu...................................... 43 5.6.2 Edit menu...................................... 43 5.6.3 Tools menu..................................... 44 5.6.4 Tools:Version menu................................ 44 5.6.5 Help menu..................................... 45 5.7 Dictionary Browser..................................... 45 6 Project Manager reference 49 6.1 Introduction......................................... 49 6.2 Starting the EuroSim Project Manager........................... 49 6.3 Views in the Project Manager................................ 50 6.4 Menu items......................................... 51 6.4.1 File menu...................................... 51 6.4.2 Edit menu...................................... 51 6.4.3 Insert menu..................................... 52 6.4.4 Tools menu..................................... 53 6.4.5 Help menu..................................... 54 7 Model Editor reference 55 7.1 Starting the Model Editor.................................. 55 7.2 Views in the Model Editor................................. 55 7.2.1 The toolbar..................................... 56 7.2.2 The tab pane.................................... 56 7.2.3 The message pane................................. 57 7.2.4 The status bar.................................... 57 7.3 Objects in the Model Editor................................. 57 7.3.1 Root node...................................... 57 7.3.2 Org node...................................... 58 7.3.3 lib node....................................... 58 vi c Airbus Defence and Space NLR-EFO-SUM-2 SUM iss: 8 rev: 1 7.3.4 File node...................................... 58 7.3.5 Entry nodes..................................... 60 7.3.6 Variable nodes................................... 61 7.3.7 Object node..................................... 63 7.3.8 Model node..................................... 63 7.3.9 Device node.................................... 63 7.3.10 Port node...................................... 63 7.3.11 Channel node.................................... 63 7.3.12 Sequence node................................... 63 7.4 API Selection........................................ 63 7.4.1 Selecting API Variables and Entrypoints...................... 63 7.4.2 Selection within a sub-model............................ 64 7.4.3 Selection from two or more sub-models...................... 64 7.5 Menu items......................................... 64 7.5.1 File menu...................................... 64 7.5.2 Edit menu...................................... 64 7.5.3 View menu..................................... 65 7.5.4 Insert menu..................................... 65 7.5.5
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