Co-simulation of embedded systems in a heterogeneous MoC-based modeling framework

New design methodologies and modeling frameworks are required to provide a solution for integrating legacy code and IP models in order to be accepted in the industry. To tackle this problem, we introduce the concept of wrappers in the context of a formal heterogeneous embedded system modeling framework. The formalism is based on the language-independent concept of models of computation. Wrappers enable the framework to co-simulate/co-execute with external models which might be legacy code, an IP block, or an implementation of a partially refined system. They are defined formally in order to keep the analyzability of the original framework and also enable automations such as generation of model wrappers and co-simulation interfaces. As a proof of concept, three wrappers for models in different abstraction levels are introduced and implemented for two case studies.