taktwerk

Runs compiled models (FMI co-simulation FMUs or plain C libraries) at a fixed step on Linux, beside or on a PLC. The engine owns a process image, serves it over its own OPC UA server, and syncs it with other systems through connectors.

Guide: labinetix.github.io/taktwerk, for users and model developers.

flowchart LR
  subgraph taktwerk
    S[Step thread<br/>fixed period] <--> PI[(Process image)]
    PI <--> SRV[OPC UA server]
    PI <--> C[OPC UA client connector]
  end
  M[FMU / C library] --- S
  C <--> PLC[PLC]
  SRV <--> UI[taktwerk tui · any OPC UA client]
  PI <--> H[HTTP API]
  H <--> WB[workbench · browser]

Getting started

cargo install taktwerk                   # or, from a checkout: cargo build --release

taktwerk inspect plant.fmu --kind fmi    # dimensions, variables, shapes
taktwerk new plant.fmu --kind fmi -o plant.toml
taktwerk check plant.toml                # load, resolve, bind; prints the plan
taktwerk run plant.toml                  # until SIGINT or SIGTERM
taktwerk tui opc.tcp://127.0.0.1:4840    # watch signals, edit inputs and tunables

A C library becomes a model package with taktwerk import-header model.h -o taktwerk-model.toml: read as confirmed when the header follows the recommended shape, proposed for review otherwise. A package leaves as a standard FMI 3 FMU with taktwerk fmu-wrap. Runnable projects: examples (an FMU, a C controller, a C filter bank in the recommended shape, a C library behind a single entry point, a closed loop, a recorder, and a systemd unit). Lossless per-tick history of selected signals: recording.

Workbench: a desktop app and web UI over a project folder: the plan, local runs with live signals and editable inputs and tunables, run records with two-run comparison, campaign results. It needs a build with the ui feature (desktop/ wraps it as an app):

cargo install taktwerk --features ui
taktwerk serve examples/campaign          # prints http://127.0.0.1:8470/#token=…
taktwerk run plant.toml --http 127.0.0.1:8480   # one engine's live view, also on a PLC

Design: DESIGN.md.

Licensed under either of MIT or Apache-2.0 at your option.