Unable to simulate multiple Kernels

[m-morelli]

Background

Diagrams with multiple Kernel blocks allow to model distributed systems, where multiple control units (each one running a RTOS) are connected together and cooperate to realize a functionality (represented by standard Simulink blocks in models).

Problem Description

The current version of tres_bundle cannot simulate models with multiple Kernel block.

Consider a simple model with two Kernel blocks each one executing one task, and each task executing one segment:

At the beginning of the simulation, Simulink raises the following error:

Discussion

The concrete implementor of RTOS functionality in tres_bundle is based on RTSim and complies with its design architecture. RTSim entities created by all the Kernel blocks in the model all share the same instance of RTSim simulation engine. In some cases, different Kernel blocks generate entities with the same name. Because entity names must be unique, the simulation cannot run.