This paper presents some ongoing researches carried out in the context of the PRISE (Research Platform for Embedded Systems Engineering) Project. This platform has been designed to evaluate and validate new embedded system concepts and techniques through a special hardware and software environment. Since many actual embedded equipments are not available, their corresponding behavior is simulated using the HLA architecture, an IEEE standard for distributed simulation, and a Run-time infrastructure called CERTI and developed at ONERA. HLA is currently largely used in many simulation applications, but the limited performances of the RTIs raises doubts over the feasibility of HLA federations with real-time requirements. This paper addresses the problem of achieving real-time performances with HLA. Several experiments are discussed using well-known aircraft simulators such as the Microsoft Flight Simulator, FlightGear, and X-plane connected with the CERTI Run-time Infrastructure. The added value of these activities is to demonstrate that according to a set of innovative solutions, HLA is well suited to achieve hard real time constraints

Chaudron, Jean-Baptiste

Gervais, Clément

Leconte, Régine

Saussié, David

Siron, Pierre

English

Gervais, Clement

Chaudron, Jean-Baptise

Leconte, Regine

PolyPublie

Real-time distributed aircraft simulation through HLA

Open Archive Toulouse Archive Ouverte

 To cite this document: Gervais, Clément and Chaudron, Jean-Baptiste and Siron, Pierre and Leconte, Régine and Saussié, David Real-Time Distributed Aircraft Simulation through HLA. (2012) In: 16th IEEE/ACM International Symposium on Distributed Simulation and Real Time Applications DS-RT 2012, 25-27 Oct 2012, Dublin, Ireland. Open Archive Toulouse Archive Ouverte (OATAO)  OATAO is an open access repository that collects the work of Toulouse researchers and makes it freely available over the web where possible.  This is an author-deposited version published in: http://oatao.univ-toulouse.fr/  Eprints ID: 6844 Any correspondence concerning this service should be sent to the repository administrator: staff-oatao@inp-toulouse.fr  Real-Time Distributed Aircraft Simulation through HLACle´ment Gervais, Jean-Baptise Chaudron,Pierre Siron, Re´gine LeconteMathematics, Computer Science and Control Theory Departmentlnstitut Supe´rieur de l’Ae´ronautique et de l’Espace (ISAE)Toulouse, FranceEmail: pierre.siron@isae.frDavid Saussie´Electrical Engineering DepartmentE´cole Polytechnique de Montre´alMontre´al,CanadaEmail: david.saussie@polymtl.caAbstract—This paper presents some ongoing researches car-ried out in the context of the PRISE (Research Platform forEmbedded Systems Engineering) Project. This platform hasbeen designed to evaluate and validate new embedded systemconcepts and techniques through a special hardware and soft-ware environment. Since many actual embedded equipmentsare not available, their corresponding behavior is simulatedusing the HLA architecture, an IEEE standard for distributedsimulation, and a Run-time infrastructure called CERTI anddeveloped at ONERA. HLA is currently largely used in manysimulation applications, but the limited performances of theRTIs raises doubts over the feasibility of HLA federations withreal-time requirements. This paper addresses the problem ofachieving real-time performances with HLA. Several experi-ments are discussed using well-known aircraft simulators suchas the Microsoft Flight Simulator, FlightGear, and X-planeconnected with the CERTI Run-time Infrastructure. The addedvalue of these activities is to demonstrate that according to aset of innovative solutions, HLA is well suited to achieve hardreal time constraints.Keywords-real-time HLA; aircraft simulation; CERTI.I. INTRODUCTIONDistributed computing paradigm proposes a high perfor-mance solution thanks to advances in network technologies.Different programs located on several computers interact alltogether in order to achieve a global common goal. However,designers and developers of distributed software applicationshave to face several problems such as heterogeneity of thevarious hardware components as well as both operating sys-tems and communication protocols. Development of middle-ware standards like CORBA [1] allows to consistently facingthese problems. The term middleware describes a softwareagent operating as an intermediary between distributed pro-cesses. This software must be considered in the domain ofinteroperability; it is a connectivity software which enablesthe execution of several interacting applications on one ormore linked computers.Modern flight simulation techniques and implementationsoften result in many sophisticated and complex calculationsthat require a high level of computing power. Several flightsimulator applications often require their services to bedelivered with respect to a given instant of time (deadline).This issue constitutes the problematic of real-time systemswhich are defined as systems in which the correctnessof the system not only depends on the logical results ofcomputation, but also on the time at which these results areproduced [2]. Real-time systems are broadly classified intotwo categories based on the nature of the deadline, namely,hard real-time systems, in which the consequences of notexecuting a task before its deadline may be catastrophicand soft real-time systems, in which the utility of resultsproduced by a task with a soft deadline decreases over timeafter the deadline expires. Examples of typical hard real-time systems are flight control and nuclear plant control.Telephone switching system and image processing applica-tions are examples of soft real-time systems. Figure 3 showsthat our application is concerned by both types of real-timesystem characteristics.Traditional standards and middleware architectures arenot suitable for supporting real-time constraints. Real-timeaircraft software and hardware components interconnectedwith middleware such as CORBA [3] have led to advancesin current standards to include real-times properties, likeReal-time CORBA [4] or more recently DDS [5]. The mainobjective of our work is to use the HLA IEEE 1516-2000standard [6]–[8] , to develop, interconnect and maintain aflight simulator. However, works to include real-time speci-fications and properties to HLA standard are less advancedthan others ones [9]. This article explains how we proceedto implement and test this simulator and how we validatereal time behavior on our computing platform. The useof a distributed simulation architecture to study distributedembedded systems and hardware should provide a morenatural and flexible framework for new researches in thedomain.II. BACKGROUNDSimulation is a well established technique used in theman-machine system area for training, evaluation of per-formance and research. Flight simulation re-creates how anairplane flies in its environment; it models the dynamicbehavior of the flight vehicle under the action of aerody-namic, thrust and gravity forces, accordingly to the externalenvironment characteristics (air density, wind, turbulence...).To achieve this goal, a flight simulator consists of differentcomponents. The essential one still remains the mathemat-ical description of the aircraft and its environment; themore accurate the model, the more realistic and reliablethe simulation will be. Then a digital computer runninga real-time operating system computes this model. Thesimulation can finally be completed with input organs (e.g.yoke-pedal systems, joysticks), display screens, cockpit-likeenvironment and mechanical devices reproducing the aircraftmotion (e.g. Stewart platform).We claim that the choice of a distributed standard andits underlying middleware is an important requirement toobtain a high fidelity, valid and scalable real-time flightsimulation. This choice implies which operating system,which programming language and which hardware could beused for compliance with the middleware. Many studies andintegration simulations are elements of the Airbus indus-trial process but the different models are proprietary (andsometimes certified) as well as the Run Time Infrastructure.Indeed some works focus on the DDS standard for our flightsimulator basis [10]. Other ones, like the authors of thepresent paper, choose the HLA standard [11]. The RTI (HLAunderlying middleware) is the distributed software usedfor interconnecting various federates to a global federationexecution. In [11], the authors use the RTI-NG [12] whichwas the first RTI developed and used by the US Departmentof Defense; this RTI is no longer maintained. Since then,several approaches have been investigated to add real-timeproperties to HLA standard and underlying software RTI.These works include optimized time management services[13], multi-threaded synchronous processes for RTI [13]–[15] and global scheduling services [14], [15]. These differ-ent techniques allow an improved use of system resources,better scalability and also a higher reactivity of servicesprovided by the RTI.III. HARDWARE AND SOFTWARE COMPONENTSOur work takes place in a global project named PRISE(Plate-forme de Recherche et d’Inge´nierie des Syste`mesEmbarque´s ). The main focus of this project is to studynew embedded system concepts and techniques through aspecial hardware and software environment.A. DescriptionOur platform is built around the following components:1) Hardware: 4 real-time nodes with Opteron 6 coreprocessors, 2 Graphical HP station computer with IntelXeon processors and high performance GP-GPU, anethernet Gigabit switch on a dedicated network andalso two input organs (Yoke/Throttle/Pedal systems).2) Software: Linux Red Hawk [16] Operating systemcompliant with POSIX Real time standard [17]. ThisRTOS has been already used in the simulation domainby TNO laboratory which uses this OS to run theirown RTI implemented in C++. Their experiments haveconcluded that this operating system is suitable forreal-time computing [18].3) A distributed clock technology allowing distributingsame clock reference to each node [19].B. CERTIFor years, the French Aerospace Laboratory (ONERA)has been developing his own Open-Source middleware RTIcompliant with HLA standard called CERTI [20], runningunder several operating systems including Linux and Win-dows. We will use this RTI for interconnecting each com-ponent of the simulator. This RTI is recognizable throughits original architecture of communicating processes. It isa distributed system involving two processes, a local one(RTIA) and a global one (RTIG), as well as a library(libRTI) linked with each federate. The CERTI architectureis depicted in Fig. 1. Each federate process interacts locallywith an RTI Ambassador process (RTIA) through a Unix-domain socket. The RTIA processes exchange messages overthe network, in particular with the RTIG process, via TCP(and also UDP) sockets, in order to run the distributedalgorithms associated with the RTI services.In our case, a key benefit of this architecture is to masterthe implementation of the used RTI and thus to facilitate theintegration of changes in the source code to ensure tempo-ral predictability of CERTI. Initial results, providing someanswers about the suitability of CERTI to face real-timeconstraints, came from ONERA/CNES satellites formationflying studies [21]. These studies have shown that CERTI(in its original version) is able to manage multiple real-timefederates with short period of time.IV. SIMULATION ARCHITECTUREA. Global viewThe PRISE HLA Federation is composed of 11 feder-ates, each representing a specific part of the aircraft or! Figure 1: CERTI architecture Figure 1. CERTI Architectureenvironment (Fig. 2). New federates will be incorporatedaccordingly to the evolution of the requirements. For now,the federates go as follows:• Federate 0: Main controller monitors and controls allsimulation attributes;• Federate 1: Joystick relays pilot inputs coming fromthe yoke/pedals device;• Federate 2: Cockpit emulates user interface for au-topilot settings via touchscreen;• Federate 3: EFCS (Electronic Flight Control System)englobes all flight controllers and automatic pilot func-tions;• Federate 4 Control surfaces simulates five differentcontrol surfaces (left/right ailerons, left/right elevators,rudder)• Federate 5 Engines simulates two CFM56-5A1 turbo-fans;• Federate 6 Flight Dynamics simulates the flight me-chanics equations;• Federate 7 Sensors simulates twenty different sensorsof various kinds;• Federate 8 Environment represents the US stan-dard atmosphere (1976) and different turbulences/winds(Dryden, Von Karman, windshear) that could occurduring the flight;• Federate 9 PFD (Primary Flight Display) is a cockpitview with flight instruments;• Federate 10 Visualization shows the aircraft in avirtual environment (FlightGear visualization engine,but as well Microsoft Flight Simulator or X-Plane).B. Real-time constraintsThe application is divided into two parts:• the first part is concerned by hard real-time constraintsand has to ensure that all deadlines are met for eachfederate. The Joystick and EFCS federates work ata frequency of 50 Hz, corresponding to an averagefrequency of the usual avionics system. The otherfederates (Engines, Control Surfaces, Flight Dynamicsand Sensors) work at a frequency of 100 Hz; they sim-ulate continuous-time systems modeled by differentialequations and solved by numerical methods. Empiricexperiments showed that 100 Hz was sufficient todeliver reliable results. Moreover, by taking too higha frequency, the real-time constraints would no longerbe held.• the second part deals with soft real-time constraints; thegoal is to meet a certain subset of deadlines in order tooptimize some application specific criteria. In our case,the Visualization and PFD federates work at a meanrefresh rate of 60Hz in order to be fluid for humaneyes [22].V. TOWARDS A REAL-TIME EXECUTIONWe present here the key steps that led us to a real-timeexecution of the federation.A. Run-time Execution CharacteristicsThe calculation of Worst Case Execution Time (WCET)is a key issue for successfully schedule processes becauseit allows determining the Ci parameter value for a task.Calculation of the WCET should take into account specificcalculations made by the federate. WCET were estimated foreach federate. Moreover, Worst Case Transit Time (WCTT)were calculated for each message through CERTI middle-ware.Current CERTI version does not provide any service ormechanism to ensure a real-time behavior of a simulation(federation). To manage every part of federation and tobe compliant with formal techniques and scheduling tech-niques, different methods were added to the CERTI API(for Linux Operating System). The different implementedservices also ensure a correct predictability for CERTI com-munications (WCTT) and federate computation (WCET).We first implemented functions in CERTI that allow usingaffinity mechanism. CPU affinity is a scheduler property thatassigns a process (federate, RTIA or RTIG) to a given setof CPUs on the system. The Linux scheduler will honor thegiven CPU affinity and the process will not run on any otherCPU.Another interface allows now the management of priorityand scheduler for CERTI processes (including federates,RTIAs and RTIG). Modification of priority relies thenon the choice of real-time scheduling algorithms underPOSIX/Linux: two real-time algorithms, SCHED FIFO andSCHED RR, are intended for time-critical applications thatneed accurate control over the way in which runnableprocesses are selected for execution. Finally, we also usethe mlockall mechanism for each federate, their respectiveRTIA and the RTIG processes in order to disable memorypaging into the address space of the calling process.  Figure 2. Federation descriptionB. Run time execution modeDifferent executions modes were designed and imple-mented, each based on different approaches (data flow, timemanagement). Depending on the chosen approach, a formalvalidation of the real-time behavior could be exhibited [23].VI. CONCLUSIONThe first but complete step of PRISE project has requiredthe mastering of many aspects: from the realistic imple-mentation of avionics code and environment models to theextension of HLA and CERTI distributed simulation to real-time. 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Real-Time Distributed Aircraft Simulation through HLA

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