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Run Co-Simulation Components on Multiple Cores

Simulink® supports co-simulation between components using local solvers or that involves simulation tools. For example, co-simulation can involve an S-function implemented as a co-simulation gateway between Simulink and third-party tools or custom code. It can also involve an FMU in co-simulation mode imported to Simulink.

To improve performance, consider running models that contain co-simulation blocks (components) on multiple threads if:

  • You are integrating multiple co-simulation components

  • Integration at the component level is computationally intense

This topic assumes that you are familiar with multithreaded programming and concepts.

Simulink lets you run C MEX S-functions and Co-Simulation FMU blocks on multiple threads if they satisfy these requirements:

  • The block is nondirect feedthrough.

  • The block is threadsafe, that is, the block can work with multiple threads accessing shared data, resources, and objects without any conflicts.

Note

Multithreaded co-simulation for Level-2 MATLAB S-Function blocks is not supported.

By default, Simulink configures all models to run on multiple threads. However, not all models have co-simulation components that can run on multiple threads, and not all models benefit from running on multiple threads. To see if a model has co-simulation components that can benefit from running on multiple threads, follow these steps:

  1. Open your model.

  2. Start the Performance Advisor tool (Analysis > Performance Tools > Performance Advisor).

  3. Select Simulation > Checks that Require Simulation to Run > Select multi-thread co-simulation setting on or off.

    This check verifies that the model or block is optimally configured to take advantage of multithreaded or singlethreaded processing. If the configuration is not optimal, Performance Advisor shows the current setting and warns you that the model is not a good candidate to run on multiple threads.

  4. Run the selected check.

Alternatively, you can manually measure the simulation of the model before and after changing the MultiThreadCoSim parameter. For example:

tic; sim('sfunction_components'); toc
Elapsed time is 2.323264 seconds.
get_param(gcs,'MultiThreadCoSim')
ans =
 'on'
set_param(gcs,'MultiThreadCoSim','off')
tic; sim('sfunction_components'); toc
Elapsed time is 4.112674 seconds.

For an example of running co-simulation components on multiple cores, see the slexCoSimPrimeExample model.

Using the MultiThreadCoSim Parameter

You can specify that an entire model run on multiple threads, or specify that particular blocks run on multiple threads, using the MultiThreadCoSim parameter. Specify that an entire model run on multiple threads if all the co-simulation blocks in the model are nondirect feedthrough and threadsafe. If some, but not all blocks, are nondirect feedthrough and threadsafe, identify only those blocks to run on multiple threads. The model and blocks use the MultiThreadCoSim parameter as follows.

SettingModelBlockDescription

'on'

 

(Default) Model can run on multiple threads.

'off'

Disable the block or model from running on multiple threads.

'auto'

 

(Default) Let Simulink decide if the block can run on multiple threads.

Enabling the MultiThreadCoSim parameter does not mean that the block or model simulates on multiple threads. Simulation on multiple threads occurs when MultiThreadCoSim is enabled and:

  • The block and/or model operate at a single rate.

  • The block and/or model are threadsafe. (For example, they do not use static or global data).

  • The block and/or model are nondirect feedthrough.

    • For S-function blocks, use the ssSetInputPortDirectFeedThrough function.

    • For FMU blocks, leave the dependencies attribute in the FMU model description file for the FMU ModelStructure/Outputs and ModelStructure/InitialUnknowns field as empty. This attribute must be (" ").

  • The block and/or model is exception-free. For S-function blocks, use the ssSetOptions function to set SS_OPTION_EXCEPTION_FREE_CODE.

Multithreading does not allow solver reset checks, and therefore skips over any use of the ssSetSolverNeedsReset and ssBlockStateForSolverChangedAtMajorStep functions. Conversely, in accelerator mode, if these functions are used or there are continuous states, multithreading is automatically turned off.

Configuring S-Function Blocks to Run Single or Multithreaded

Whether an S-function block runs single or multithreaded depends on the MultiThreadCoSim parameter value and the ssSetRuntimeThreadSafetyCompliance function.

MultiThreadCoSim SettingssSetRuntimeThreadSafetyCompliance SettingSingle or Multithread
'auto'RUNTIME_THREAD_SAFETY_COMPLIANCE_UNKNOWNSingle thread
'auto'RUNTIME_THREAD_SAFETY_COMPLIANCE_TRUEMultithread
'auto'RUNTIME_THREAD_SAFETY_COMPLIANCE_FALSESingle thread
'off'The setting is ignored and the S-function block runs singlethreaded

Co-Simulation on Multiple Threads Limitations

  • The simulation runs on a single thread for accelerator and rapid accelerator modes.

  • There is no code generation for co-simulation components.

  • When the FMU block has these settings, it does not support co-simulation:

S-Function Block Limitations

  • Must have a single rate — ssSetSampleTime(SimStruct *S, int_T st_index, time_T period) must be called to register only one discrete rate.

  • Must have a fixed sample time — In time_T ssSetSampleTime(SimStruct *S, int_T st_index, time_T period), period cannot be VARIABLE_SAMPLE_TIME.

  • Cannot have continuous states — In ssSetNumContStates(SimStruct *S, int_T n), n must be 0.

  • Must have no direct feedthrough ports — In ssSetInputPortDirectFeedThrough(SimStruct *S, int_T port, int_T dirFeed), dirFeed must be 0 for each input port.

  • Must be thread safe — In ssSetRuntimeThreadSafetyCompliance(SimStruct *S, int_T val), val must be RUNTIME_THREAD_SAFETY_COMPLIANCE_TRUE.

  • Must be exception-free — In ssSetOptions(SimStruct *S, uint_T options), options must include SS_OPTION_EXCEPTION_FREE_CODE.

FMU Import Block Limitations

  • Has to be in co-simulation mode.

  • Has to be thread-safe, that is, multiple FMUs must not access the same file at the same time.

  • Debug logging must be disabled — For example, set_param(block1,'FMUDebugLogging','on')

  • Debug logging redirect is set to File — For example, set_param(block1,'FMUDebugLoggingRedirect','File')

Model Block Limitations

  • Cannot expose any IRT ports for scheduling.

  • Cannot be inside a for-each subsystem.

  • Must be in accelerator mode.

  • Has to have single rate.

  • Cannot use blocks with variable sample time.

  • Cannot have continuous states.

  • Cannot have direct feedthrough on any input port.

  • Must have a fixed-step solver.

  • Cannot access any global data stores.

  • Cannot use any Simulink functions or caller blocks.

  • Cannot contain To/From File blocks.

See Also

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