OpenXilEnv

OpenXilEnv is a lightweight SIL/HIL environment. At the moment OpenXilEnv focus one SIL environment.

SIL:

With a Software In the Loop system it is possible to run and test embedded software without a target plattform and compiler. XilEnv is an environment to setup a SIL system on Windows or Linux host. It will be clean separate it own componnts from the embedded software under test with a network layer. Each component can run in an own executable, they are memory protected against each other. Communication between software under test, model and XilEnv are made with socket or on Windows Named pipe / Linux local sockets and will be used for:

Signal transfers.
Virtual network (CAN and CAN FD) transfers.

XilEnvGui have a configurable graphical user interface base on Qt. There exist value display/change, oscilloscope, calibration, slider, knob, ... elements for interaction.

XilEnv have no graphical user interface and can be used for automation with no user interaction.

Current GCC compiler with dwarf debug information is Supported. Visual Studio compiler only withot debug information.
FMUs with FMI2.0 interface are supported (by ExtProc_FMU2Extract(.EXE), ExtProc_FMU2Loader32(.EXE), ExtProc_FMU2Loader64(.EXE)) Partial FMI3.0 interface are supported (by ExtProc_FMU3Extract(.EXE), ExtProc_FMU3Loader32(.EXE), ExtProc_FMU3Loader64(.EXE)) (It will be only support the additional datatypes).
An small A2L parser is included for calibration.
With a XCP over ethernet port a connection to a calibration systen is possible.
Multicore support with barriers for synchronisation.
XilEnv is automatable through a remote procedure call interface XilEnvRpc.DLL/.so or a buildin script interpreter.
The software under test, FMU and the model can be a 32 or 64bit executable (a mixture is allowed). XilEnv must be a 64bit executable
Time is simulated with a fixed configurable period with a resolution of 1ns.
Residual bus simulation of none existing CAN (FD) bus members are available.
A recording and stimulation is possible with text or MDF3 files.

The DLL/shared library XilEnvExtProc64.DLL/.so or XilEnvExtProc32.DLL/.so are the interface for the embedded test software or model.This DLL/shared libray must be load dynamically. The main module XilEnvExtProcMain.c will do this for you. The declaration of the interface functions lives here: XilEnvRtProc.h. An easy example can be found inside the folder "Samples/ExternalProcesses/ExtProc_Simple".

HIL option:

To use OpenXilEnv as a HIL system a second PC with Linux is necessary. Currently only socket CAN (FD) are supported as hardware interfaces. A defined time response < 1ms are possible if RT-Preempt patch is installed.

To fulfill defined time response requirement XilEnv will be spit into two pieces (one with a defined time response and one without defined time response) All component of XilEnv needed defined time response will be extracted to a shared library LinuxRemoteMasterCore.so the rest stays inside the XilEnv executable. The part with defined time response must be executed on a Linux systen with RT-Preempt patch installed. The part with no defined time response can be execute on Linux or Windows. Between both a local (point to point) ethernet connection should be established. If a model is needed it must be compiled for Linux and must load the shared library LinuxRemoteMasterCore.so If no model is needed LinuxRemoteMaster.Out can be used. The service RemoteStartServer should be installed and actived on the second PC. So XilEnv can control the second PC to copy and start all needed executable from the main PC

Source Code

You can get OpenXilEnv from:

https://github.com/eclipse-openxilenv

Build Instructions

Windows

Install dependencies

Qt Library 5.12.9 ... 6.7.2
MinGW 11.2
Strawberry perl
pugixml-1.11 (optional if -DBUILD_WITH_FMU2_SUPPORT=ON or if -DBUILD_WITH_FMU3_SUPPORT=ON)

https://pugixml.org/

FMU Parser (optional if -DBUILD_WITH_FMU2_SUPPORT=ON or if -DBUILD_WITH_FMU3_SUPPORT=ON)

https://github.com/modelica/fmi-standard/releases/download/v3.0.1/FMI-Standard-3.0.1.zip

https://github.com/modelica/fmi-standard/releases/download/v2.0.4/FMI-Standard-2.0.4.zip

Build options

  > -DBUILD_EXAMPLES=ON/OFF (default is ON)
  > -DBUILD_WITH_FMU2_SUPPORT=ON/OFF (default is OFF)
  >   -DFMI2_SOURCE_PATH=<path>
  >   -DPUGIXML_SOURCE_PATH=<path>
  > -DBUILD_WITH_FMU3_SUPPORT=ON/OFF (default is OFF)
  >   -DFMI3_SOURCE_PATH=<path>
  >   -DPUGIXML_SOURCE_PATH=<path>
  > -DBUILD_ESMINI_EXAMPLE=ON/OFF (default is OFF) 
  >   -DESMINI_LIBRARY_PATH=<path>
  > -DCMAKE_BUILD_TYPE=Debug/Release (default is Release)
  > -DCMAKE_INSTALL_PREFIX=../install_win
  > -DBUILD_32BIT=ON/OFF (default is OFF, if you want to build the 32 bit support you need also a 32 bit MinGW)

Build and install

Open a command box and enter folowing commands:

  > mkdir xxx\openxilenv\build_win
  > cd xxx\openxilenv\build_win
  > set PATH=[PathToQt]\bin;%PATH%
  > set PATH=[PathToGcc]\bin;%PATH%
  > set PATH=[PathToStrawberry]\c\bin;%PATH%
  > set PATH=[PathToCMAKE]\bin;%PATH%
  > cmake -G [YOUR Compiler] [CMAKE-LIST-FILEPATH] [BUILD OPTIONS]
  > cmake --build .

Install

  > cmake --install .

Install optional (copy the Qt DLL to the install folder)

  > cd xxx\openxilenv\install_win
  > windeployqt6.exe XilEnvGui.exe

Run example

Running the electric car sample

  > cd xxx\openxilenv\install_win
  > .\XilEnvGui.exe -ini ..\Samples\Configurations\ElectricCarSample.ini

Linux

Install dependencies

Qt Library 5.12.9 ... 6.7.2
pugixml-1.11 (optional if -DBUILD_WITH_FMU2_SUPPORT=ON or if -DBUILD_WITH_FMU3_SUPPORT=ON)

https://pugixml.org/

FMU Parser (optional if -DBUILD_WITH_FMU2_SUPPORT=ON or if -DBUILD_WITH_FMU3_SUPPORT=ON)

https://github.com/modelica/fmi-standard/releases/download/v3.0.1/FMI-Standard-3.0.1.zip

https://github.com/modelica/fmi-standard/releases/download/v2.0.4/FMI-Standard-2.0.4.zip

Build and install

Open a bash and enter folowing commands:

  > mkdir xxx/openxilenv/build_linux
  > cd xxx/openxilenv/build_linux
  > cmake -DBUILD_EXAMPLES=ON -DCMAKE_INSTALL_PREFIX=../install_linux -DCMAKE_BUILD_TYPE=Release ../.
  > cmake --build .

Install

  > cmake --install .

Run example

Running the electric car sample

  > cd xxx\openxilenv\install_linux
  > ./XilEnvGui -ini ../Samples/Configurations/ElectricCarSample.ini

Build options

  > -DBUILD_EXAMPLES=ON/OFF (default is ON)
  > -DBUILD_WITH_FMU2_SUPPORT=ON/OFF (default is OFF)
  >   -DPUGIXML_SOURCE_PATH=<path>
  >   -DFMI2_SOURCE_PATH=<path>
  > -DBUILD_WITH_FMU3_SUPPORT=ON/OFF (default is OFF)
  >   -DPUGIXML_SOURCE_PATH=<path>
  >   -DFMI3_SOURCE_PATH=<path>
  > -DBUILD_ESMINI_EXAMPLE=ON/OFF (default is OFF) 
  >   -DESMINI_LIBRARY_PATH=<path>
  > -DCMAKE_BUILD_TYPE=Debug/Release (default is Release)
  > -DCMAKE_INSTALL_PREFIX=../install_win
  > -DBUILD_32BIT=ON/OFF (default is OFF)

Setting up your project

Setup an own external process

An easy simple external process have to provide 4 functions.

void reference_varis (void)

This function will be called one time if the process is started. Here should be added all signals the process is needed

int init_test_object (void)

This function will be called after the reference_varis function. Here can be done some initialization stuff.

void cyclic_test_object (void)

This is the main cyclic function of the external process this will be called for each simulated time cycle.

void terminate_test_object (void)

This function will be called one time if the external process will be terminated.

Source code of ExtProc_Simple.c (you caan find the code also inside the folder xxx\openxilenv\Samples\ExternalProcesses\ExtProc_Simple)

#include <stdlib.h>
#include <stdio.h>
#include <math.h>

#define XILENV_INTERFACE_TYPE XILENV_DLL_INTERFACE_TYPE
#include "XilEnvExtProc.h"
#include "XilEnvExtProcMain.c"

// Global variable of the external process
short Ramp;
double Sinus;
short Random;
double SampleTime;

// use volatile const to avoid compiler optimization
volatile const short BOTTOM_LIMIT_RAMP = 0;
volatile const short UPPER_LIMIT_RAMP = 1000;

volatile const double SINUS_AMPLITUDE  = 1.0;
volatile const double SINUS_FREQUENCY = 0.2;

// This will be called first if the process is started
void reference_varis (void)
{
    REFERENCE_WORD_VAR(Ramp, "Ramp");
    REFERENCE_DOUBLE_VAR(Sinus, "Sinus");
    REFERENCE_WORD_VAR(Random, "Random");
    REFERENCE_DOUBLE_VAR(SampleTime, "XilEnv.SampleTime");
}

// This function will be called next to reference_varis
int init_test_object(void)
{
    return 0;   // == 0 -> No error continue
                // != 0 -> Error do not continue
}

// This will call every simulated cycle
void cyclic_test_object(void)
{
    static double SinusTime;
    if(Ramp++ > UPPER_LIMIT_RAMP) Ramp = BOTTOM_LIMIT_RAMP;
    SinusTime += 2.0 * M_PI * SampleTime * SINUS_FREQUENCY;
    Sinus = SINUS_AMPLITUDE * sin(SinusTime);
    Random = rand();
}

// This will be called if the external processs will be terminated
void terminate_test_object(void)
{
}

To bild this small sample:

On Windows:

  > gcc -g -I xxx\openxilenv\install_win\include ExtProc_Simple.c -o ExtProc_Simple.exe

On Linux:

  > gcc -g -I xxx/openxilenv/install_linux/include ExtProc_Simple.c -ldl -lpthread -o ExtProc_Simple.EXE

Now you should be able to start your own externel process and add this to the electric car sample:

On Windows:

  > set PATH=%PATH%;xxx\openxilenv\install_win
  > ExtProc_Simple.exe -q2 XilEnvGui.exe -ini xxx\openxilenv\Samples\Configurations\ElectricCarSample.ini

On Linux:

  > export PATH=$PATH;xxx\openxilenv\install_linux
  > ExtProc_Simple.EXE -q2 XilEnvGui -ini xxx/openxilenv/Samples/Configurations/ElectricCarSample.ini

Name		Name	Last commit message	Last commit date
Latest commit History 10 Commits
Samples		Samples
Src		Src
Tools		Tools
Userguide		Userguide
third_party		third_party
.gitignore		.gitignore
CMakeLists.txt		CMakeLists.txt
LICENSE.txt		LICENSE.txt
OpenXilEnv_Sil.png		OpenXilEnv_Sil.png
Readme.md		Readme.md

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SIL:

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OpenXilEnv

SIL:

HIL option:

Table of contents

Source Code

Build Instructions

Windows

Install dependencies

Build options

Build and install

Run example

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Install dependencies

Build and install

Run example

Build options

Setting up your project

Setup an own external process

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