REAL-TIME OPERATING SYSTEMS AND STANDARDS - Hard Real-Time Computing Systems: Predictable Scheduling Algorithms and Applications - page 455

12.5.3 SCHEDULING SIMULATORS

These tools are useful for generating the schedule produced by given scheduling algo-
rithm on synthetic task sets. Some of the existing tools are reported below.

RTSim 24 (Real-Time system SIMulator) is a collection of programming libraries
written in C++ for simulating real-time control systems. RTSim was developed
at the Retis Lab of the Scuola Superiore Sant'Anna of Pisa (Italy) as an internal
project. It has been primarily used for testing the performance of new scheduling
algorithms under different workload conditions. For this reason, it contains, al-
ready implemented, most of the real-time scheduling algorithms developed in the
real-time community. The tool is released as open source to let other researchers
play with the simulator and build a shared simulation platform for comparing the
performance of new scheduling algorithms. RTSim is currently compatible with
many systems, including several distributions of Linux, recent FreeBSD, Mac OS
X and Cygwin.

TrueTime 25 is a Matlab/Simulink-based simulator developed at the University
of Lund (Sweden) for testing the behavior of real-time distributed control sys-
tems. TrueTime facilitates co-simulation of controller task execution in real-
time kernels, network transmissions, and continuous plant dynamics. Features
of the tool include the simulation of external interrupts, or the possibility to call
Simulink block diagrams, including network blocks (Ethernet, CAN, TDMA,
FDMA, Round Robin, Switched Ethernet, FlexRay and PROFINET), wireless
network blocks (802.11b WLAN and 802.15.4 ZigBee), and battery-powered de-
vices using Dynamic Voltage Scaling.

chronSIM 26 is a tool that allows engineers to perform real-time simulation, anal-
ysis and forecast of embedded software dynamic performance. It creates the task
structure, interrupt service routines scheme and scheduling procedures to maxi-
mize data throughput and comply with all specified response times. chronSIM
uncovers and visualizes hidden dynamic operating sequences using state of the art
UML-based diagrams (sequence, task, state, stack, processor load, function nest-
ing, etc.) It allow performing Monte Carlo simulations and stress tests through
random variations of the event times.

24 RTSim: http://rtsim.sssup.it/
25 TrueTime: http://www3.control.lth.se/truetime/
26 chronSIM: http://www.inchron.com/chronsim.html