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Installation

FalCAuN is fully implemented in Java. FalCAuN works on many UNIX-like operating systems. We tested FalCAuN on macOS Sequoia 15.5, Ubuntu 24.04, Ubuntu 22.04, and Arch Linux.

Requirements

The requirements for the core and examples modules of FalCAuN are as follows.

  • Java 17
  • Maven
  • LTSMin 3.1.0
    • This is not officially released yet.
    • You can download it from HERE.

The matlab module also requires the following.

  • MATLAB/Simulink
    • We tested with MATLAB R2024a, but any later version should be fine.

Installation of the core Module

Here, we provide the instructions to install the core module of FalCAuN.

1. Install the Requirements

You need to install the requirements above. For example, on Ubuntu, you can install Java 17 and Maven by the following command.

sudo apt-get install maven openjdk-17-jdk-headless -y

brew install maven openjdk@17

You have to manually install LTSMin 3.1.0 and MATLAB/Simulink. For example, you can install LTSMin 3.1.0 with the following commands.

wget https://github.com/Meijuh/ltsmin/releases/download/v3.1.0/ltsmin-v3.1.0-linux.tgz -O ltsmin-v3.1.0-linux.tgz
tar xvf ltsmin-v3.1.0-linux.tgz
sudo cp -r ./v3.1.0/share /usr/local/share
sudo cp -r ./v3.1.0/include /usr/local/include
sudo install ./v3.1.0/bin/* /usr/local/bin

We provide a script to check if some of the requirements are installed. You can run the script by the following command. Since this script also checks the dependencies of the matlab module, you can ignore the error messages related to the matlab module.

./utils/check_env.sh

2. Build and Install FalCAuN

You can build and install FalCAuN using Maven. An example of installing the core module and the top-level module is as follows.

mvn install --also-make --projects core

You can also install the examples module as follows.

mvn install --also-make --projects core, examples

Installation of the matlab Module

Here, we provide the instructions to install the matlab module.

Note

For the matlab module, the unit test on mvn install is disabled by default because it can be time-consuming. If you want, you can run it by mvn test -DskipTests=false.

1. Install the Requirements

You need to install MATLAB/Simulink manually. Please follow the instructions on the official website of Mathworks.

2. Setup the environment variable

We assume that the environment variable MATLAB_HOME shows where MATLAB is installed. An example is as follows.

export MATLAB_HOME=<path/to/matlab/home>
## Example:
# export MATLAB_HOME=/usr/local/MATLAB/R2024a/

3. Build and Install FalCAuN

You can build and install FalCAuN using Maven. You have to execute mvn clean to set up the Java API of MATLAB. An example to install the matlab module, as well as the others, is as follows.

mvn clean --projects matlab
mvn install

Installation of LTSMin 3.1.0 on macOS with ARM Processors

FalCAuN works on macOS with ARM Processors, but the setup of LTSMin is a bit tricky because it only supports x86_64. One can still run LTSMin using Rosetta and libtool for x86_64.

  1. Set up Rosetta on the macOS
  2. Install Homebrew for intel processors with arch -x86_64 /bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install.sh)"
  3. Install libtool for x86_64 with /usr/local/bin/brew install libtool

Notes

  • You may have to explicitly specify JAVA_HOME, for example, JAVA_HOME=$(/usr/libexec/java_home -v 17) mvn test -DskipTests=False.
  • The automatic transmission model requires parameters defined in an example by Mathworks. To load it, you probably need to set up the example by Mathworks and the path beforehand.
    • The example by Mathworks can be opened with openExample('simulink_automotive/ModelingAnAutomaticTransmissionControllerExample')
    • See ./src/test/resources/MATLAB/initAT.m for an example to set the path.