Because of their complexity, embedded systems are designed with sub-systems or components taken in charge by different development teams or entities and with different modeling frameworks and simulation tools, depending on the characteristics of each component. Unfortunately, this diversity of tools and semantics makes the integration of these heterogeneous components difficult. Thus, to evaluate their integration before their hardware or software is available, one solution would be to merge them into a common modeling framework. Yet, such a holistic environment supporting many computation and computation semantics seems hard to settle. Another solution we investigate in this paper is to generically link their respective simulation environments in order to keep the strength and semantics of each component environment. The paper presents a method to simulate heterogeneous components of embedded systems in real-time. These components can be described at any abstraction level. Our main contribution is a generic glue that can analyze in real-time the state of different simulation environments and accordingly enforce the correct communication semantics between components. Once presented in a generic way, our glue is illustrated with Apache Kafka as the communication facility between simulation engines. It is then applied to two model and simulation frameworks: TTool and SystemC. Finally, Zigbee serves as a case study to illustrate the strengths of our approach.