Co-simulation of networked embedded control systems, a CSP-like process-oriented approach

Complex control software problems can be solved by using structured design methods that take advantage of hardware abstraction and concurrency. In our lab, a toolchain has been developed that facilitates such a design method. This paper presents two extensions to this toolchain. The first, a distributed simulation framework, enables one to simulate a complete distributed control system, prior to the actual implementation. Focus has been on the influence the network communication exerts on the overall behavior of the system. The second extension, a new communication framework, allows for a smooth transition from simulation to a real control system, by hiding all low-level communication details from the control software. This separates the concerns of the control software from distribution and inter-node communication issues, creating freedom in process allocation.