Configure AUTOSAR Client-Server Communication

In Simulink®, you can model AUTOSAR client-server communication for simulation and code generation. For information about the Simulink blocks you use and the high-level workflow, see Client-Server Interface.

To model AUTOSAR servers and clients, you can do either or both of the following:

  • Import AUTOSAR servers and clients from ARXML code into a model.

  • Configure AUTOSAR servers and clients from Simulink blocks.

This topic provides examples of AUTOSAR server and client configuration that start from Simulink blocks.

Configure AUTOSAR Server

This example shows how to configure a Simulink Function block as an AUTOSAR server. The example uses these files in the folder matlabroot/help/toolbox/autosar/examples (cd to folder):

If you copy the files to a working folder, collocate the MATLAB® file with the model file.

  1. Open a model in which you want to create and configure an AUTOSAR server, or open the example model mControllerWithInterface_server.slx.

  2. Add a Simulink Function block to the model. In the Simulink Library Browser, the Simulink Function block is in User-Defined Functions.

    The example model provides two Simulink Function blocks, doOverride and readData.

  3. Configure the Simulink Function block to implement a server function. Configure a function prototype and implement the server function algorithm.

    In the example model, the contents of the Simulink Function block named readData implement a server function named readData.

    The contents include:

    • Trigger block readData, representing a trigger port for the server function. In the Trigger block properties, Trigger type is set to Function call. Also, the option Treat as Simulink function is selected.

    • Argument Inport block Op and Argument Outport blocks Data, ERR, and NegCode, corresponding to the function prototype [Data,ERR,NegCode]=readData(Op).

      Note

      When configuring server function arguments, you must specify signal data type, port dimensions, and signal type on the Signal Attributes tab of the inport and outport blocks. The AUTOSAR configuration fails validation if signal attributes are absent for server function arguments.

    • Blocks implementing the readData function algorithm. In this example, a few simple blocks provide Data, ERR, and NegCode output values with minimal manipulation. A Constant block represents the value of an application error defined for the server function. The value of Op passed by the caller is ignored. In a real-world application, the algorithm could perform a more complex manipulation, for example, selecting an execution path based on the passed value of Op, producing output data required by the application, and checking for error conditions.

  4. When the server function is working in Simulink, set up the Simulink Function block in a model configured for AUTOSAR. For example, configure the current model for AUTOSAR or copy the block into an AUTOSAR model.

    The example model is an AUTOSAR model, into which the Simulink Function block readData has been copied. In place of a meaningful Op input value for the readData function, Simulink data transfer line CurVal provides an input value that is used in the function algorithm.

  5. The required elements to configure an AUTOSAR server, in the general order they are created, are:

    • AUTOSAR client-server (C-S) interface

    • One or more AUTOSAR operations for which the C-S interface handles client requests

    • AUTOSAR server port to receive client requests for a server operation

    • For each server operation, an AUTOSAR server runnable to execute client requests

    Open the AUTOSAR Dictionary. To view AUTOSAR C-S interfaces in the model, go to the C-S Interfaces view. The example model already contains client-server interfaces.

    If a C-S interface does not yet exist in your model, create one.

    1. In the C-S interfaces view, click the Add button . This action opens the Add Interfaces dialog box.

    2. In the dialog box, name the new C-S Interface, and specify the number of operations you intend to associate with the interface. Leave other parameters at their defaults. Click Add. The new interface appears in the C-S interfaces view.

  6. Under C-S Interfaces, create one or more AUTOSAR server operations for which the C-S interface handles client requests. Each operation corresponds to a Simulink server function in the model.

    Expand C-S Interfaces and expand the individual C-S interface to which you want to add a server operation. (In the example model, expand CsIf1.) To view operations for the interface, select Operations. The example model already contains AUTOSAR server operations named doOverride and readData.

    If a server operation does not yet exist in your model, create one. (If your C-S interface contains a placeholder operation named Operation1, you can safely delete it.)

    1. In the operations view, click the Add button . This action opens the Add Operation dialog box.

    2. In the dialog box, enter the Operation Name. Specify the name of the corresponding Simulink server function.

    3. If the corresponding Simulink server function has arguments, select the function in the Simulink Function list. This action causes AUTOSAR operation arguments to be automatically created based on the Simulink server function arguments. Click OK. The operation and its arguments appear in the operations view.

  7. Examine the arguments listed for the AUTOSAR server operation. Expand Operations, expand the individual operation (for example, readData), and select Arguments. The listed arguments correspond to the Simulink server function prototype.

  8. To view AUTOSAR server ports in the model, go to the server ports view. Expand AtomicComponents, expand the individual component that you are configuring, and select ServerPorts. The example model already contains an AUTOSAR server port named sPort.

    If a server port does not yet exist in your model, create one.

    1. In the server ports view, click the Add button . This action opens the Add Ports dialog box.

    2. In the dialog box, name the new server port, and select the C-S interface for which you configured a server operation. Click Add. The new port appears in the server ports view.

  9. For each AUTOSAR server operation, configure an AUTOSAR server runnable to execute client requests. To view AUTOSAR runnables in the model, select Runnables. The example model already contains a server runnable for readData, named Runnable_readData.

    If a suitable server runnable does not yet exist in your model, create one.

    1. In the runnables view, click the Add button . This action adds a table entry for a new runnable.

    2. Select the new runnable and configure its name and symbol. The symbol name specified for the runnable must match the Simulink server function name. (In the example model, the symbol name for Runnable_readData is the function name readData.)

    3. Create an operation-invoked event to trigger the server runnable. (The example model defines event event_readData for server runnable Runnable_readData.)

      1. Under Events, click Add Event. Select the new event.

      2. For Event Type, select OperationInvokedEvent.

      3. Enter the Event Name.

      4. Under Event Properties, select a Trigger value that corresponds to the server port and C-S operation previously created for the server function. (In the example model, the Trigger value selected for Runnable_readData is sPort.readData, combining server port sPort with operation readData.) Click Apply.

    This step completes the configuration of an AUTOSAR server in the AUTOSAR Dictionary view of the configuration.

  10. Switch to the Code Mappings editor view of the configuration and map the Simulink server function to the AUTOSAR server runnable.

    1. Open the Code Mappings editor. Select the Functions tab.

    2. Select the Simulink server function. To map the function to an AUTOSAR runnable, click on the Runnable field and select the corresponding runnable from the list of available server runnables. In the example model, the Simulink function readData is mapped to AUTOSAR runnable Runnable_readData.

  11. To validate the AUTOSAR component configuration, click the Validate button . If errors are reported, fix the errors, and retry validation. Repeat until validation succeeds.

  12. Generate C and ARXML code for the model.

After you configure an AUTOSAR server, configure a corresponding AUTOSAR client invocation, as described in Configure AUTOSAR Client.

Configure AUTOSAR Client

After you configure an AUTOSAR server, as described in Configure AUTOSAR Server, configure a corresponding AUTOSAR client invocation. This example shows how to configure a Function Caller block as an AUTOSAR client invocation. The example uses the file matlabroot/help/toolbox/autosar/examples/mControllerWithInterface_client.slx.

  1. Open a model in which you want to create and configure an AUTOSAR client, or open the example model mControllerWithInterface_client.slx.

  2. Add a Function Caller block to the model. In the Simulink Library Browser, the Function Caller block is in User-Defined Functions.

    The example model provides a Simulink Function block named readData, which is located inside Runnable3_Subsystem.

  3. Configure the Function Caller block to call a corresponding Simulink Function block. Double-click the block to open it, and edit the block parameters to specify the server function prototype.

    In the example model, the readData Function Caller parameters specify a function prototype for the readData server function used in the AUTOSAR server example, Configure AUTOSAR Server. Here is the readData function from the server example.

    The Function Caller parameters include function prototype and argument specification fields. The function name in the prototype must match the Operation Name specified for the corresponding server operation. See the operation creation step in Configure AUTOSAR Server. The argument types and dimensions also must match the server function arguments.

    Note

    If you want to simulate the function invocation at this point, you must place the Function Caller block in a common model or test harness with the corresponding Simulink Function block. Simulation is not required for this example.

  4. When the function invocation is completely formed in Simulink, set up the Function Caller block in a model configured for AUTOSAR. For example, configure the current model for AUTOSAR or copy the block into an AUTOSAR model.

    Tip

    If you create (or copy) a Function Caller block in a model before you map and configure the AUTOSAR component, you have the option of having the software populate the AUTOSAR operation arguments for you, rather than creating the arguments manually. To have the arguments created for you, along with a fully-configured AUTOSAR client port and a fully mapped Simulink function caller, use the AUTOSAR Component Quick Start to create a default component. For more information, see Create AUTOSAR Software Component in Simulink.

    The example model is an AUTOSAR model, into which the Function Caller block readData has been copied. The block is connected to inports, outports, and signal lines matching the function argument data types and dimensions.

    Note

    Whenever you add or change a Function Caller block in an AUTOSAR model, update function callers in the AUTOSAR configuration. Open the Code Mappings editor. In the dialog box, click the Update button . This action loads or updates Simulink data transfers, function callers, and numeric types in your model. After updating, the function caller you added appears in the Function Callers tab of the Code Mappings editor.

  5. The required elements to configure an AUTOSAR client, in the general order they should be created, are:

    • AUTOSAR client-server (C-S) interface

    • One or more AUTOSAR operations matching the Simulink server functions that you defined in the AUTOSAR server model

    • AUTOSAR client port to receive client requests for a server operation offered by the C-S interface

    Open the AUTOSAR Dictionary. To view AUTOSAR C-S interfaces in the model, go to the C-S Interfaces view. The example model already contains a client-server interface named csInterface.

    If a C-S interface does not yet exist in the AUTOSAR configuration, create one.

    1. In the C-S interfaces view, click the Add button . This action opens the Add Interfaces dialog box.

    2. In the dialog box, name the new C-S Interface, and specify the number of operations you intend to associate with the interface. Leave other parameters at their defaults. Click Add. The new interface appears in the C-S interfaces view.

  6. Under C-S Interfaces, create one or more AUTOSAR operations matching the Simulink server functions that you defined in the AUTOSAR server model.

    Expand C-S Interfaces and expand the individual C-S interface to which you want to add an AUTOSAR operation. (In the example model, expand CsInterface.) To view operations for the interface, select Operations. The example model already contains an AUTOSAR operation named readData.

    If an AUTOSAR operation does not yet exist in your model, create one. (If your C-S interface contains a placeholder operation named Operation1, you can safely delete it.)

    1. In the operations view, click the Add button . This action opens the Add Operation dialog box.

    2. In the dialog box, enter the Operation Name. Specify the name of the corresponding Simulink server function. Leave Simulink Function set to None, because the client model does not contain the Simulink server function block. Click OK. The new operation appears in the operations view.

  7. Add the AUTOSAR operation arguments.

    1. Expand Operations, expand the individual operation (for example, readData), and select Arguments.

    2. In the arguments view, click the Add button one time for each function argument. For example, for readData, click the Add button four times, for arguments Op, Data, ERR, and NegCode. Each click creates one new argument entry.

    3. Select each argument entry and set the argument Name and Direction to match the function prototype.

  8. To view AUTOSAR client ports in the model, go to the client ports view. Expand AtomicComponents, expand the individual component that you are configuring, and select ClientPorts. The example model already contains an AUTOSAR client port named cPort.

    If a client port does not yet exist in your model, create one.

    1. In the client ports view, click the Add button . This action opens the Add Ports dialog box.

    2. In the dialog box, name the new client port, and select a C-S interface. Click Add. The new port appears in the client ports view.

    This step completes the configuration of an AUTOSAR client in the AUTOSAR Dictionary view of the configuration.

  9. Switch to the Code Mappings editor view of the configuration and map the Simulink function caller to an AUTOSAR client port and C-S operation.

    1. Open the Code Mappings editor. Select the Function Callers tab.

    2. Select the Simulink function caller. Click on the ClientPort field and select a port from the list of available AUTOSAR client ports. Click on the Operation field and select an operation from the list of available AUTOSAR C-S operations. In the example model, the Simulink function caller readData is mapped to AUTOSAR client port cPort and C-S operation readData.

  10. To validate the AUTOSAR component configuration, click the Validate button . If errors are reported, fix the errors, and retry validation. Repeat until validation succeeds.

  11. Generate C and ARXML code for the model.

Configure AUTOSAR Client-Server Error Handling

AUTOSAR defines an application error status mechanism for client-server error handling. An AUTOSAR server returns error status, with a value matching a predefined possible error. An AUTOSAR client receives and responds to the error status. An AUTOSAR software component that follows client-server error handling guidelines potentially provides error status to AUTOSAR Basic Software, such as a Diagnostic Event Manager (DEM).

In Simulink, you can:

  • Import ARXML code that implements client-server error handling.

  • Configure error handling for a client-server interface.

  • Generate C and ARXML code for client-server error handling.

If you import ARXML code that implements client-server error handling, the importer creates error status ports at the corresponding server call-point (Function Caller block) locations.

To implement AUTOSAR client-server error handling in Simulink:

  1. Define the possible error status values that the AUTOSAR server returns in a Simulink data type. Define one or more error codes in the range 0-63, inclusive. The underlying storage of the data type must be an unsigned 8-bit integer. The data scope must be Exported. For example, define an enumeration type appErrType:

    classdef(Enumeration) appErrType < uint8

   enumeration
      SUCCESS(0)
      ERROR(1)
      COMM_MODE_LIMITATION(2) 
      OVERFLOW(3)
      UNDERFLOW(4)
      VALUE_MOD3(5)
   end

   methods (Static = true)
      function descr = getDescription()
         descr = 'Definition of application error type.';
      end

      function hdrFile = getHeaderFile()
         hdrFile = '';
      end

      function retVal = addClassNameToEnumNames()
          retVal = false;
      end
      
      function dataScope = getDataScope()
          dataScope = 'Exported';
      end
   end

end

    Note

    The Simulink data type that you define to represent possible errors in the model does not directly impact the AUTOSAR possible errors that are imported and exported in ARXML code. To modify the exported possible errors for a C-S interface or C-S operation, use AUTOSAR properties functions. This topic provides examples.

  2. Define an error status output argument for the Simulink Function block that models the AUTOSAR server. Configure the error status argument as the only function output or add it to other outputs. For example, here is a Simulink Function block that returns an error status value in output err.

    The Simulink Function block implements an algorithm to return error status.

  3. Reference the possible error values type in the model. In the Argument Outport block parameters for the error outport, specify the error status data type, in this case, appErrType. Set Port dimensions to 1 and Signal type to real.

  4. Configure the AUTOSAR properties of the error argument in the client-server interface. Open the AUTOSAR Dictionary, expand C-S Interfaces, and navigate to the Arguments view of the AUTOSAR operation. To add an argument, click the Add button . Configure the argument name and set Direction to Error.

  5. Create an error port in each Function Caller block that models an AUTOSAR client invocation. For example, here is a Function Caller block that models an invocation of fcnWErr.

    In the Function Caller block parameters, specify the same error status data type.

    Configure the AUTOSAR properties of the error argument to match the information in the AUTOSAR Dictionary, Arguments view, shown in Step 4.

The generated C code for the function reflects the configured function signature and the logic defined in the model for handling the possible errors.

appErrType fcnWErr(real_T x1, real_T x2)
{
  appErrType rty_err_0;
  if (...) == 0.0) {
    rty_err_0 = ...;
  } else {
    rty_err_0 = ...;
  }

  return rty_err_0;
}

Additionally, for the enumeration type class definition used in this example, the build generates header file appErrType.h, containing the possible error type definitions.

The exported ARXML code contains the possible error definitions, and references to them.

<POSSIBLE-ERRORS>
   <APPLICATION-ERROR …>
      <SHORT-NAME>SUCCESS</SHORT-NAME>
      <ERROR-CODE>0</ERROR-CODE>
   </APPLICATION-ERROR>
   <APPLICATION-ERROR …>
      <SHORT-NAME>ERROR</SHORT-NAME>
      <ERROR-CODE>1</ERROR-CODE>
   </APPLICATION-ERROR>
   …
   <APPLICATION-ERROR …>
      <SHORT-NAME>UNDERFLOW</SHORT-NAME>
      <ERROR-CODE>4</ERROR-CODE>
   </APPLICATION-ERROR>
   <APPLICATION-ERROR …>
      <SHORT-NAME>VALUE_MOD3</SHORT-NAME>
      <ERROR-CODE>5</ERROR-CODE>
   </APPLICATION-ERROR>
</POSSIBLE-ERRORS>

You can use AUTOSAR property functions to programmatically modify the possible errors that are exported in ARXML code, and to set the Direction property of a C-S operation argument to Error.

The following example adds UNDERFLOW and VALUE_MOD3 to the possible errors for a C-S interface named fcnWErr.

>> arProps = autosar.api.getAUTOSARProperties(bdroot)
>> get(arProps,'fcnWErr','PossibleError')
ans = 
    'fcnWErr/SUCCESS'    'fcnWErr/ERROR'    'fcnWErr/COMM_MODE…'
    'fcnWErr/OVERFLOW'
>> get(arProps,'fcnWErr/OVERFLOW','errorCode')
ans =
           3
>> add(arProps,'fcnWErr','PossibleError','UNDERFLOW')
>> set(arProps,'fcnWErr/UNDERFLOW','errorCode',4)
>> add(arProps,'fcnWErr','PossibleError','VALUE_MOD3')
>> set(arProps,'fcnWErr/VALUE_MOD3','errorCode',5)
>> get(arProps,'fcnWErr','PossibleError')
ans = 
    'fcnWErr/SUCCESS'    'fcnWErr/ERROR'    'fcnWErr/COMM_MODE…'
    'fcnWErr/OVERFLOW'    'fcnWErr/UNDERFLOW'    'fcnWErr/VALUE_MOD3'

You can also access possible errors on a C-S operation. The following example lists possible errors for operation fcnWErr on C-S interface fcnWErr.

>> arProps = autosar.api.getAUTOSARProperties(bdroot)
>> get(arProps,'fcnWErr/fcnWErr','PossibleError')
ans = 
    'fcnWErr/SUCCESS'    'fcnWErr/ERROR'    'fcnWErr/COMM_MODE…' 
    'fcnWErr/OVERFLOW'

The following example sets the direction of C-S operation argument err to Error.

>> arProps = autosar.api.getAUTOSARProperties(bdroot)
>> set(arProps,'fcnWErr/fcnWErr/err','Direction','Error')
>> get(arProps,'fcnWErr/fcnWErr/err','Direction')
ans =
    Error

Concurrency Constraints for AUTOSAR Server Runnables

The following blocks and modeling patterns are incompatible with concurrent execution of an AUTOSAR server runnable.

  • Blocks inside a Simulink function:

    • Blocks with state, such as Unit Delay.

    • Blocks with zero-crossing logic, such as Triggered Subsystem and Enabled Subsystem.

    • Stateflow® charts.

    • Other Simulink Function blocks.

    • Noninlined subsystems.

    • Legacy C function calls with side effects.

  • Modeling patterns inside a Simulink function:

    • Writing to a data store memory (for example, per-instance-memory).

    • Writing to a global block signal (for example, static memory).

To enforce concurrency constraints for AUTOSAR server runnables, use the runnable property canBeInvokedConcurrently. The property is located in the Runnables view in the AUTOSAR Dictionary.

When canBeInvokedConcurrently is set to true for a server runnable, AUTOSAR validation checks for blocks and modeling patterns that are incompatible with concurrent execution of a server runnable. If a Simulink function contains an incompatible block or modeling pattern, validation reports errors. If canBeInvokedConcurrently is set to false, validation does not check for blocks and modeling patterns that are incompatible with concurrent execution of a server runnable.

You can set the property canBeInvokedConcurrently to true only for an AUTOSAR server runnable — that is, a runnable with an OperationInvokedEvent. Runnables with other event triggers, such as timing events, cannot be concurrently invoked. If canBeInvokedConcurrently is set to true for a nonserver runnable, AUTOSAR validation fails.

To programmatically set the runnable property canBeInvokedConcurrently, use the AUTOSAR property function set. The following example sets the runnable property canBeInvokedConcurrently to true for an AUTOSAR server runnable named Runnable_readData.

addpath(fullfile(matlabroot,'/help/toolbox/autosar/examples'));
open_system('mControllerWithInterface_server')
arProps = autosar.api.getAUTOSARProperties('mControllerWithInterface_server');
SRPath = find(arProps,[],'Runnable','Name','Runnable_readData')
SRPath =
  1×1 cell array
    {'SWC_Controller/ControllerWithInterface_ar/Runnable_readData'}
invConc = get(arProps,'SWC_Controller/ControllerWithInterface_ar/Runnable_readData',...
  'canBeInvokedConcurrently')
invConc =
  logical
   0
set(arProps,'SWC_Controller/ControllerWithInterface_ar/Runnable_readData',...
  'canBeInvokedConcurrently',true)
invConc = get(arProps,'SWC_Controller/ControllerWithInterface_ar/Runnable_readData',...
  'canBeInvokedConcurrently')
invConc =
  logical
   1

Configure and Map AUTOSAR Server and Client Programmatically

To programmatically configure AUTOSAR properties of AUTOSAR client-server interfaces, use AUTOSAR property functions such as set and get.

To programmatically configure Simulink to AUTOSAR mapping information for AUTOSAR clients and servers, use these functions:

For example scripts that use AUTOSAR property and map functions, see Configure AUTOSAR Client-Server Interfaces.

See Also

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