https://www.mdu.se/

Industrial real-time software is commonly evaluated on real embedded systems, while simulators are less used, since the abstraction level and purpose vary with for example, different programming languages and run-time contexts. This paper extends, applies, and evaluates previous work on a flexible task design that improve code reuse between discrete event simulators and embedded real-time systems. The paper focuses on two parts: (i) The performance cost of the proposed design in practice, by comparing the flexible task design with a traditional threaded approach. (ii) The potential of an alternative way to support legacy code in combination with discrete event simulation. The experiments indicate an almost negligible performance cost with respect to the real-time behavior, i.e., latency and jitter, while enabling improved code reuse between discrete event simulation and industrial embedded real-time systems.