Co-simulation tools question

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Has anyone had experience with Hardware/Software co-simulation tools ?
About 6 years ago, I used Mentor Graphics Seamless product and it
worked out well. But I'm wondering if anything else
exists in this space recently.

We'd like to simulate our entire board which contains ASICs, FPGAs,
PowerPCs, lots of glue logic, etc. And we'd like to be able to execute
and debug our low level Diagnostics softare.

Any suggestions ?

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