taktwerk 0.5.2

Fixed-step model execution engine for Linux with its own OPC UA server
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# 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](https://labinetix.github.io/taktwerk/), for users
and model developers.

```mermaid
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 ยท any OPC UA client]
```

## Getting started

```sh
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](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, and a systemd unit).

Design: [DESIGN.md](DESIGN.md).

Licensed under either of [MIT](LICENSE-MIT) or [Apache-2.0](LICENSE-APACHE) at your option.