Generating Modelica Models from Software Specifications for the Simulation of Cyber-Physical Systems

Future smart systems will provide functionality by dynamically interacting with each other in cyber-physical systems. Such interactions require a message-based coordination under hard real-time constraints. This is realized by complex software, which combines discrete, state-based behavior with continuous behavior controlling the dynamics of the physical system parts. The development methods and tools for these kinds of software are not well integrated so far. For the modeling and simulation of physical and continuous control behavior, Modelica can be used. For modeling the discrete coordination behavior, MECHATRONICUML (MUML) can be used, which in addition offers a formal verification of safety requirements like deadlock-freedom of interactions, for example. We introduce in this paper an automatic transformation for formally verified MUML models into Modelica to ensure that the discrete state-based software correctly interacts with the continuous control software, physical parts, and a plant model. We illustrate this concept by means of a car-to-car coordination scenario.