Some questions about Xcos

[Andrea.Amorosi76 at gmail.com]

Hi to all,
I'm a Simulink user and I would like to switch to Xcos.
So I have the following questions:
1) is it possible to run a simulation in a soft real time mode?
2) is it possible to select a fixed step solver (Euler, Runge-Kutta 4, etc)?
3) is it possible to send and receive udp packet and/or interface with a
joystick?
4) is it possible to generate c/c++ code from a model?
5) can I create additional blocks libraries?
6) is there any mechanism similar to the referenced model of
Matlab/Simulink?
Thank you,
Andrea