A Real-Time Simulation Framework for Incremental Development of Cyber-Physical Systems

When developing a CPS, since it is nature of CPS to interact with a physical system, CPS should be verified during its development process by real-time simulation supporting timely interactions between the simulator and existing implemented hardwares. Furthermore, when a part of a simulated system is implemented to real hardwares, i.e., incremental development, the simulator should aware changes of the simulated system and apply it automatically without manual description of the changes for effective development. For this, we suggest a real-time simulation framework including the concept of `port` which abstracts communication details between the tasks, and a scheduling algorithm for guaranteeing `real-time correctness` of the simulator.