Using Gazebo to Generate Use Case Based Stimuli for SystemC

Realistic simulations of new hardware are of utmost importance to achieve good results. The current approach to such simulations is that the Device under Test is exposed to stimuli that are either generated randomly, or that are generated by engineers reverse engineering the use cases and extending the inputs by some extreme cases. In this paper we describe an approach to generate useful stimuli for a SystemC simulation directly from a simulation of the use case. In this approach the use case is simulated using the Gazebo simulator. The stimuli for the Device under Test are then extracted and sent to the SystemC simulation.