TrueTime-flex
TrueTime is a Matlab/Simulink-based simulator for real-time control systems. This repository is an improved and modified version of TrueTime in order to support flexible tasks scheduling schemes.
The original TrueTime was developed by Lund University (http://www.control.lth.se/research/tools-and-software/truetime/). It stopped updating since 2016 and the latest version is 2.0.
In order to fit my application, I am going to make the following improvements:
- A more flexible task model and programming interface
- Support for multiple schedulers and controllers
- Task period can be changed at run-time
- Run-time diagnose of schedulability and control performance
Original readme with instructions:
TrueTime 2.0, 2016-04-06
GETTING STARTED:
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Unpack all files to some suitable directory $DIR
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Start Matlab R2012a or later and cd to $DIR
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Run init_truetime.m to add the necessary Matlab paths and to set the TTKERNEL environment variable.
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Open any example, for instance $DIR/examples/simple/matlab/simple.slx Note that you must cd to the directory of the .slx file before you hit "Run".
RECOMPILING THE TRUETIME C++ MEX FILES:
The current release includes precompiled files for 64-bit Matlab under 64-bit Windows, Mac OS X, and Linux. This should be sufficient to run all the examples and also to construct new models that utilize the Matlab API.
If you are unable run the examples using the precompiled files, then you need to recompile all the C++ MEX files:
a. Make sure that you have a Matlab-supported C++ compiler installed. See http://www.mathworks.com/support/compilers/current_release/
b. Run
> mex -setup C++
c. Run
> make_truetime
and make sure that all files are compiled without error. You should now be
able to run all the examples.
For questions and bug reports, please contact truetime@control.lth.se