diff --git a/nexosim/examples/external_input.rs b/nexosim/examples/external_input.rs
index 1b5406a..f64a012 100644
--- a/nexosim/examples/external_input.rs
+++ b/nexosim/examples/external_input.rs
@@ -148,9 +148,9 @@ impl Model for Listener {
 impl Drop for Listener {
     /// Wait for UDP Server shutdown.
     fn drop(&mut self) {
-        self.server_handle.take().map(|handle| {
+        if let Some(handle) = self.server_handle.take() {
             let _ = handle.join();
-        });
+        };
     }
 }
 
diff --git a/nexosim/examples/infinite_loop.rs b/nexosim/examples/infinite_loop.rs
new file mode 100644
index 0000000..32c92b5
--- /dev/null
+++ b/nexosim/examples/infinite_loop.rs
@@ -0,0 +1,127 @@
+//! Example: a simulation that runs infinitely, receiving data from
+//! outside. This setup is typical for hardware-in-the-loop use case.
+//!
+//! This example demonstrates in particular:
+//!
+//! * infinite simulation (useful in hardware-in-the-loop),
+//! * simulation halting,
+//! * processing of external data (useful in co-simulation),
+//! * system clock,
+//! * periodic scheduling.
+//!
+//! ```text
+//!                              ┏━━━━━━━━━━━━━━━━━━━━━━━━┓
+//!                              ┃ Simulation             ┃
+//!┌╌╌╌╌╌╌╌╌╌╌╌╌╌╌╌╌╌┐           ┃   ┌──────────┐         ┃
+//!┆                 ┆  message  ┃   │          │ message ┃
+//!┆ External thread ├╌╌╌╌╌╌╌╌╌╌╌╂╌╌►│ Listener ├─────────╂─►
+//!┆                 ┆ [channel] ┃   │          │         ┃
+//!└╌╌╌╌╌╌╌╌╌╌╌╌╌╌╌╌╌┘           ┃   └──────────┘         ┃
+//!                              ┗━━━━━━━━━━━━━━━━━━━━━━━━┛
+//! ```
+
+use std::sync::mpsc::{channel, Receiver};
+use std::thread::{self, sleep};
+use std::time::Duration;
+
+use nexosim::model::{Context, InitializedModel, Model};
+use nexosim::ports::{EventBuffer, Output};
+use nexosim::simulation::{Mailbox, SimInit, SimulationError};
+use nexosim::time::{AutoSystemClock, MonotonicTime};
+
+const DELTA: Duration = Duration::from_millis(2);
+const PERIOD: Duration = Duration::from_millis(20);
+const N: usize = 10;
+
+/// The `Listener` Model.
+pub struct Listener {
+    /// Received message.
+    pub message: Output<String>,
+
+    /// Source of external messages.
+    external: Receiver<String>,
+}
+
+impl Listener {
+    /// Creates new `Listener` model.
+    fn new(external: Receiver<String>) -> Self {
+        Self {
+            message: Output::default(),
+            external,
+        }
+    }
+
+    /// Periodically scheduled function that processes external events.
+    async fn process(&mut self) {
+        while let Ok(message) = self.external.try_recv() {
+            self.message.send(message).await;
+        }
+    }
+}
+
+impl Model for Listener {
+    /// Initialize model.
+    async fn init(self, cx: &mut Context<Self>) -> InitializedModel<Self> {
+        // Schedule periodic function that processes external events.
+        cx.schedule_periodic_event(DELTA, PERIOD, Listener::process, ())
+            .unwrap();
+
+        self.into()
+    }
+}
+
+fn main() -> Result<(), SimulationError> {
+    // ---------------
+    // Bench assembly.
+    // ---------------
+
+    // Channel for communication with simulation from outside.
+    let (tx, rx) = channel();
+
+    // Models.
+
+    // The listener model.
+    let mut listener = Listener::new(rx);
+
+    // Mailboxes.
+    let listener_mbox = Mailbox::new();
+
+    // Model handles for simulation.
+    let mut message = EventBuffer::with_capacity(N + 1);
+    listener.message.connect_sink(&message);
+
+    // Start time (arbitrary since models do not depend on absolute time).
+    let t0 = MonotonicTime::EPOCH;
+
+    // Assembly and initialization.
+    let (mut simu, mut scheduler) = SimInit::new()
+        .add_model(listener, listener_mbox, "listener")
+        .set_clock(AutoSystemClock::new())
+        .init(t0)?;
+
+    // Simulation thread.
+    let simulation_handle = thread::spawn(move || {
+        // ----------
+        // Simulation.
+        // ----------
+        simu.step_unbounded()
+    });
+
+    // Send data to simulation from outside.
+    for i in 0..N {
+        tx.send(i.to_string()).unwrap();
+        if i % 3 == 0 {
+            sleep(PERIOD * i as u32)
+        }
+    }
+
+    // Check collected external messages.
+    for i in 0..N {
+        assert_eq!(message.next().unwrap(), i.to_string());
+    }
+    assert_eq!(message.next(), None);
+
+    // Stop the simulation.
+    scheduler.halt();
+    Ok(simulation_handle.join().unwrap()?)
+}
diff --git a/nexosim/src/grpc/api/simulation.proto b/nexosim/src/grpc/api/simulation.proto
index 1841f63..58afd12 100644
--- a/nexosim/src/grpc/api/simulation.proto
+++ b/nexosim/src/grpc/api/simulation.proto
@@ -17,15 +17,16 @@ enum ErrorCode {
   INVALID_KEY = 6;
   INITIALIZER_PANIC = 10;
   SIMULATION_NOT_STARTED = 11;
-  SIMULATION_TERMINATED = 12;
-  SIMULATION_DEADLOCK = 13;
-  SIMULATION_MESSAGE_LOSS = 14;
-  SIMULATION_NO_RECIPIENT = 15;
-  SIMULATION_PANIC = 16;
-  SIMULATION_TIMEOUT = 17;
-  SIMULATION_OUT_OF_SYNC = 18;
-  SIMULATION_BAD_QUERY = 19;
-  SIMULATION_TIME_OUT_OF_RANGE = 20;
+  SIMULATION_HALTED = 12;
+  SIMULATION_TERMINATED = 13;
+  SIMULATION_DEADLOCK = 14;
+  SIMULATION_MESSAGE_LOSS = 15;
+  SIMULATION_NO_RECIPIENT = 16;
+  SIMULATION_PANIC = 17;
+  SIMULATION_TIMEOUT = 18;
+  SIMULATION_OUT_OF_SYNC = 19;
+  SIMULATION_BAD_QUERY = 20;
+  SIMULATION_TIME_OUT_OF_RANGE = 21;
   SOURCE_NOT_FOUND = 30;
   SINK_NOT_FOUND = 31;
 }
diff --git a/nexosim/src/grpc/codegen/simulation.v1.rs b/nexosim/src/grpc/codegen/simulation.v1.rs
index bbbd6a5..88f9be4 100644
--- a/nexosim/src/grpc/codegen/simulation.v1.rs
+++ b/nexosim/src/grpc/codegen/simulation.v1.rs
@@ -343,15 +343,16 @@ pub enum ErrorCode {
     InvalidKey = 6,
     InitializerPanic = 10,
     SimulationNotStarted = 11,
-    SimulationTerminated = 12,
-    SimulationDeadlock = 13,
-    SimulationMessageLoss = 14,
-    SimulationNoRecipient = 15,
-    SimulationPanic = 16,
-    SimulationTimeout = 17,
-    SimulationOutOfSync = 18,
-    SimulationBadQuery = 19,
-    SimulationTimeOutOfRange = 20,
+    SimulationHalted = 12,
+    SimulationTerminated = 13,
+    SimulationDeadlock = 14,
+    SimulationMessageLoss = 15,
+    SimulationNoRecipient = 16,
+    SimulationPanic = 17,
+    SimulationTimeout = 18,
+    SimulationOutOfSync = 19,
+    SimulationBadQuery = 20,
+    SimulationTimeOutOfRange = 21,
     SourceNotFound = 30,
     SinkNotFound = 31,
 }
@@ -371,6 +372,7 @@ impl ErrorCode {
             Self::InvalidKey => "INVALID_KEY",
             Self::InitializerPanic => "INITIALIZER_PANIC",
             Self::SimulationNotStarted => "SIMULATION_NOT_STARTED",
+            Self::SimulationHalted => "SIMULATION_HALTED",
             Self::SimulationTerminated => "SIMULATION_TERMINATED",
             Self::SimulationDeadlock => "SIMULATION_DEADLOCK",
             Self::SimulationMessageLoss => "SIMULATION_MESSAGE_LOSS",
@@ -396,6 +398,7 @@ impl ErrorCode {
             "INVALID_KEY" => Some(Self::InvalidKey),
             "INITIALIZER_PANIC" => Some(Self::InitializerPanic),
             "SIMULATION_NOT_STARTED" => Some(Self::SimulationNotStarted),
+            "SIMULATION_HALTED" => Some(Self::SimulationHalted),
             "SIMULATION_TERMINATED" => Some(Self::SimulationTerminated),
             "SIMULATION_DEADLOCK" => Some(Self::SimulationDeadlock),
             "SIMULATION_MESSAGE_LOSS" => Some(Self::SimulationMessageLoss),
diff --git a/nexosim/src/grpc/services.rs b/nexosim/src/grpc/services.rs
index 05b5e9e..8d752a3 100644
--- a/nexosim/src/grpc/services.rs
+++ b/nexosim/src/grpc/services.rs
@@ -42,6 +42,7 @@ fn map_execution_error(error: ExecutionError) -> Error {
         ExecutionError::Timeout => ErrorCode::SimulationTimeout,
         ExecutionError::OutOfSync(_) => ErrorCode::SimulationOutOfSync,
         ExecutionError::BadQuery => ErrorCode::SimulationBadQuery,
+        ExecutionError::Halted => ErrorCode::SimulationHalted,
         ExecutionError::Terminated => ErrorCode::SimulationTerminated,
         ExecutionError::InvalidDeadline(_) => ErrorCode::InvalidDeadline,
     };
diff --git a/nexosim/src/model/context.rs b/nexosim/src/model/context.rs
index 2d593e6..0555d99 100644
--- a/nexosim/src/model/context.rs
+++ b/nexosim/src/model/context.rs
@@ -8,6 +8,9 @@ use crate::time::{Deadline, MonotonicTime};
 
 use super::{Model, ProtoModel};
 
+#[cfg(all(test, not(nexosim_loom)))]
+use crate::channel::Receiver;
+
 /// A local context for models.
 ///
 /// A `Context` is a handle to the global context associated to a model
@@ -521,3 +524,16 @@ impl<'a, P: ProtoModel> BuildContext<'a, P> {
         );
     }
 }
+
+#[cfg(all(test, not(nexosim_loom)))]
+impl<M: Model> Context<M> {
+    /// Creates a dummy context for testing purposes.
+    pub(crate) fn new_dummy() -> Self {
+        let dummy_address = Receiver::new(1).sender();
+        Context::new(
+            String::new(),
+            GlobalScheduler::new_dummy(),
+            Address(dummy_address),
+        )
+    }
+}
diff --git a/nexosim/src/ports/output/broadcaster.rs b/nexosim/src/ports/output/broadcaster.rs
index e7d7470..4da1d4a 100644
--- a/nexosim/src/ports/output/broadcaster.rs
+++ b/nexosim/src/ports/output/broadcaster.rs
@@ -504,16 +504,12 @@ fn recycle_vec<T, U>(mut v: Vec<T>) -> Vec<U> {
 #[cfg(all(test, not(nexosim_loom)))]
 mod tests {
     use std::sync::atomic::{AtomicUsize, Ordering};
-    use std::sync::{Arc, Mutex};
+    use std::sync::Arc;
     use std::thread;
 
     use futures_executor::block_on;
 
     use crate::channel::Receiver;
-    use crate::simulation::{Address, GlobalScheduler};
-    use crate::time::{MonotonicTime, TearableAtomicTime};
-    use crate::util::priority_queue::PriorityQueue;
-    use crate::util::sync_cell::SyncCell;
 
     use super::super::sender::{
         FilterMapInputSender, FilterMapReplierSender, InputSender, ReplierSender,
@@ -574,15 +570,7 @@ mod tests {
                     let mut sum_model = SumModel::new(sum.clone());
 
                     move || {
-                        let dummy_address = Receiver::new(1).sender();
-                        let dummy_priority_queue = Arc::new(Mutex::new(PriorityQueue::new()));
-                        let dummy_time =
-                            SyncCell::new(TearableAtomicTime::new(MonotonicTime::EPOCH)).reader();
-                        let mut dummy_cx = Context::new(
-                            String::new(),
-                            GlobalScheduler::new(dummy_priority_queue, dummy_time),
-                            Address(dummy_address),
-                        );
+                        let mut dummy_cx = Context::new_dummy();
                         block_on(mailbox.recv(&mut sum_model, &mut dummy_cx)).unwrap();
                     }
                 })
@@ -644,15 +632,7 @@ mod tests {
                     let mut sum_model = SumModel::new(sum.clone());
 
                     move || {
-                        let dummy_address = Receiver::new(1).sender();
-                        let dummy_priority_queue = Arc::new(Mutex::new(PriorityQueue::new()));
-                        let dummy_time =
-                            SyncCell::new(TearableAtomicTime::new(MonotonicTime::EPOCH)).reader();
-                        let mut dummy_cx = Context::new(
-                            String::new(),
-                            GlobalScheduler::new(dummy_priority_queue, dummy_time),
-                            Address(dummy_address),
-                        );
+                        let mut dummy_cx = Context::new_dummy();
                         block_on(async {
                             mailbox.recv(&mut sum_model, &mut dummy_cx).await.unwrap();
                             mailbox.recv(&mut sum_model, &mut dummy_cx).await.unwrap();
@@ -704,15 +684,7 @@ mod tests {
                     let mut double_model = DoubleModel::new();
 
                     move || {
-                        let dummy_address = Receiver::new(1).sender();
-                        let dummy_priority_queue = Arc::new(Mutex::new(PriorityQueue::new()));
-                        let dummy_time =
-                            SyncCell::new(TearableAtomicTime::new(MonotonicTime::EPOCH)).reader();
-                        let mut dummy_cx = Context::new(
-                            String::new(),
-                            GlobalScheduler::new(dummy_priority_queue, dummy_time),
-                            Address(dummy_address),
-                        );
+                        let mut dummy_cx = Context::new_dummy();
                         block_on(mailbox.recv(&mut double_model, &mut dummy_cx)).unwrap();
                         thread::sleep(std::time::Duration::from_millis(100));
                     }
@@ -789,15 +761,7 @@ mod tests {
                     let mut double_model = DoubleModel::new();
 
                     move || {
-                        let dummy_address = Receiver::new(1).sender();
-                        let dummy_priority_queue = Arc::new(Mutex::new(PriorityQueue::new()));
-                        let dummy_time =
-                            SyncCell::new(TearableAtomicTime::new(MonotonicTime::EPOCH)).reader();
-                        let mut dummy_cx = Context::new(
-                            String::new(),
-                            GlobalScheduler::new(dummy_priority_queue, dummy_time),
-                            Address(dummy_address),
-                        );
+                        let mut dummy_cx = Context::new_dummy();
 
                         block_on(async {
                             mailbox
diff --git a/nexosim/src/ports/source/broadcaster.rs b/nexosim/src/ports/source/broadcaster.rs
index 1a1bdac..69c91ed 100644
--- a/nexosim/src/ports/source/broadcaster.rs
+++ b/nexosim/src/ports/source/broadcaster.rs
@@ -399,16 +399,12 @@ impl<R> Iterator for ReplyIterator<R> {
 #[cfg(all(test, not(nexosim_loom)))]
 mod tests {
     use std::sync::atomic::{AtomicUsize, Ordering};
-    use std::sync::{Arc, Mutex};
+    use std::sync::Arc;
     use std::thread;
 
     use futures_executor::block_on;
 
     use crate::channel::Receiver;
-    use crate::simulation::{Address, GlobalScheduler};
-    use crate::time::{MonotonicTime, TearableAtomicTime};
-    use crate::util::priority_queue::PriorityQueue;
-    use crate::util::sync_cell::SyncCell;
 
     use super::super::sender::{
         FilterMapInputSender, FilterMapReplierSender, InputSender, ReplierSender,
@@ -469,15 +465,7 @@ mod tests {
                     let mut sum_model = SumModel::new(sum.clone());
 
                     move || {
-                        let dummy_address = Receiver::new(1).sender();
-                        let dummy_priority_queue = Arc::new(Mutex::new(PriorityQueue::new()));
-                        let dummy_time =
-                            SyncCell::new(TearableAtomicTime::new(MonotonicTime::EPOCH)).reader();
-                        let mut dummy_cx = Context::new(
-                            String::new(),
-                            GlobalScheduler::new(dummy_priority_queue, dummy_time),
-                            Address(dummy_address),
-                        );
+                        let mut dummy_cx = Context::new_dummy();
                         block_on(mailbox.recv(&mut sum_model, &mut dummy_cx)).unwrap();
                     }
                 })
@@ -539,15 +527,7 @@ mod tests {
                     let mut sum_model = SumModel::new(sum.clone());
 
                     move || {
-                        let dummy_address = Receiver::new(1).sender();
-                        let dummy_priority_queue = Arc::new(Mutex::new(PriorityQueue::new()));
-                        let dummy_time =
-                            SyncCell::new(TearableAtomicTime::new(MonotonicTime::EPOCH)).reader();
-                        let mut dummy_cx = Context::new(
-                            String::new(),
-                            GlobalScheduler::new(dummy_priority_queue, dummy_time),
-                            Address(dummy_address),
-                        );
+                        let mut dummy_cx = Context::new_dummy();
                         block_on(async {
                             mailbox.recv(&mut sum_model, &mut dummy_cx).await.unwrap();
                             mailbox.recv(&mut sum_model, &mut dummy_cx).await.unwrap();
@@ -599,15 +579,7 @@ mod tests {
                     let mut double_model = DoubleModel::new();
 
                     move || {
-                        let dummy_address = Receiver::new(1).sender();
-                        let dummy_priority_queue = Arc::new(Mutex::new(PriorityQueue::new()));
-                        let dummy_time =
-                            SyncCell::new(TearableAtomicTime::new(MonotonicTime::EPOCH)).reader();
-                        let mut dummy_cx = Context::new(
-                            String::new(),
-                            GlobalScheduler::new(dummy_priority_queue, dummy_time),
-                            Address(dummy_address),
-                        );
+                        let mut dummy_cx = Context::new_dummy();
                         block_on(mailbox.recv(&mut double_model, &mut dummy_cx)).unwrap();
                         thread::sleep(std::time::Duration::from_millis(100));
                     }
@@ -684,15 +656,7 @@ mod tests {
                     let mut double_model = DoubleModel::new();
 
                     move || {
-                        let dummy_address = Receiver::new(1).sender();
-                        let dummy_priority_queue = Arc::new(Mutex::new(PriorityQueue::new()));
-                        let dummy_time =
-                            SyncCell::new(TearableAtomicTime::new(MonotonicTime::EPOCH)).reader();
-                        let mut dummy_cx = Context::new(
-                            String::new(),
-                            GlobalScheduler::new(dummy_priority_queue, dummy_time),
-                            Address(dummy_address),
-                        );
+                        let mut dummy_cx = Context::new_dummy();
 
                         block_on(async {
                             mailbox
diff --git a/nexosim/src/simulation.rs b/nexosim/src/simulation.rs
index a80271b..b93f287 100644
--- a/nexosim/src/simulation.rs
+++ b/nexosim/src/simulation.rs
@@ -94,6 +94,7 @@ use std::error::Error;
 use std::fmt;
 use std::future::Future;
 use std::pin::Pin;
+use std::sync::atomic::{AtomicBool, Ordering};
 use std::sync::{Arc, Mutex, MutexGuard};
 use std::task::Poll;
 use std::time::Duration;
@@ -160,6 +161,7 @@ pub struct Simulation {
     timeout: Duration,
     observers: Vec<(String, Box<dyn ChannelObserver>)>,
     model_names: Vec<String>,
+    is_halted: Arc<AtomicBool>,
     is_terminated: bool,
 }
 
@@ -175,6 +177,7 @@ impl Simulation {
         timeout: Duration,
         observers: Vec<(String, Box<dyn ChannelObserver>)>,
         model_names: Vec<String>,
+        is_halted: Arc<AtomicBool>,
     ) -> Self {
         Self {
             executor,
@@ -185,6 +188,7 @@ impl Simulation {
             timeout,
             observers,
             model_names,
+            is_halted,
             is_terminated: false,
         }
     }
@@ -216,7 +220,7 @@ impl Simulation {
     /// simulation clock. This method blocks until all newly processed events
     /// have completed.
     pub fn step(&mut self) -> Result<(), ExecutionError> {
-        self.step_to_next_bounded(MonotonicTime::MAX).map(|_| ())
+        self.step_to_next(None).map(|_| ())
     }
 
     /// Iteratively advances the simulation time until the specified deadline,
@@ -232,7 +236,19 @@ impl Simulation {
         if target_time < now {
             return Err(ExecutionError::InvalidDeadline(target_time));
         }
-        self.step_until_unchecked(target_time)
+        self.step_until_unchecked(Some(target_time))
+    }
+
+    /// Iteratively advances the simulation time, as if by calling
+    /// [`Simulation::step()`] repeatedly.
+    ///
+    /// This method blocks until all events scheduled have completed. If
+    /// simulation is halted, this method returns without an error.
+    pub fn step_unbounded(&mut self) -> Result<(), ExecutionError> {
+        match self.step_until_unchecked(None) {
+            Err(ExecutionError::Halted) => Ok(()),
+            result => result,
+        }
     }
 
     /// Processes an action immediately, blocking until completion.
@@ -332,6 +348,11 @@ impl Simulation {
             return Err(ExecutionError::Terminated);
         }
 
+        if self.is_halted.load(Ordering::Relaxed) {
+            self.is_terminated = true;
+            return Err(ExecutionError::Halted);
+        }
+
         self.executor.run(self.timeout).map_err(|e| {
             self.is_terminated = true;
 
@@ -382,10 +403,19 @@ impl Simulation {
     ///
     /// If at least one action was found that satisfied the time bound, the
     /// corresponding new simulation time is returned.
-    fn step_to_next_bounded(
+    fn step_to_next(
         &mut self,
-        upper_time_bound: MonotonicTime,
+        upper_time_bound: Option<MonotonicTime>,
     ) -> Result<Option<MonotonicTime>, ExecutionError> {
+        if self.is_terminated {
+            return Err(ExecutionError::Terminated);
+        }
+
+        if self.is_halted.load(Ordering::Relaxed) {
+            self.is_terminated = true;
+            return Err(ExecutionError::Halted);
+        }
+
         // Function pulling the next action. If the action is periodic, it is
         // immediately re-scheduled.
         fn pull_next_action(scheduler_queue: &mut MutexGuard<SchedulerQueue>) -> Action {
@@ -397,6 +427,8 @@ impl Simulation {
             action
         }
 
+        let upper_time_bound = upper_time_bound.unwrap_or(MonotonicTime::MAX);
+
         // Closure returning the next key which time stamp is no older than the
         // upper bound, if any. Cancelled actions are pulled and discarded.
         let peek_next_key = |scheduler_queue: &mut MutexGuard<SchedulerQueue>| {
@@ -484,16 +516,21 @@ impl Simulation {
     ///
     /// This method does not check whether the specified time lies in the future
     /// of the current simulation time.
-    fn step_until_unchecked(&mut self, target_time: MonotonicTime) -> Result<(), ExecutionError> {
+    fn step_until_unchecked(
+        &mut self,
+        target_time: Option<MonotonicTime>,
+    ) -> Result<(), ExecutionError> {
         loop {
-            match self.step_to_next_bounded(target_time) {
+            match self.step_to_next(target_time) {
                 // The target time was reached exactly.
-                Ok(Some(t)) if t == target_time => return Ok(()),
+                Ok(reached_time) if reached_time == target_time => return Ok(()),
                 // No actions are scheduled before or at the target time.
                 Ok(None) => {
-                    // Update the simulation time.
-                    self.time.write(target_time);
-                    self.clock.synchronize(target_time);
+                    if let Some(target_time) = target_time {
+                        // Update the simulation time.
+                        self.time.write(target_time);
+                        self.clock.synchronize(target_time);
+                    }
                     return Ok(());
                 }
                 Err(e) => return Err(e),
@@ -506,7 +543,11 @@ impl Simulation {
     /// Returns a scheduler handle.
     #[cfg(feature = "grpc")]
     pub(crate) fn scheduler(&self) -> Scheduler {
-        Scheduler::new(self.scheduler_queue.clone(), self.time.reader())
+        Scheduler::new(
+            self.scheduler_queue.clone(),
+            self.time.reader(),
+            self.is_halted.clone(),
+        )
     }
 }
 
@@ -533,6 +574,8 @@ pub struct DeadlockInfo {
 /// An error returned upon simulation execution failure.
 #[derive(Debug)]
 pub enum ExecutionError {
+    /// The simulation has been intentionally stopped.
+    Halted,
     /// The simulation has been terminated due to an earlier deadlock, message
     /// loss, missing recipient, model panic, timeout or synchronization loss.
     Terminated,
@@ -613,6 +656,7 @@ pub enum ExecutionError {
 impl fmt::Display for ExecutionError {
     fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
         match self {
+            Self::Halted => f.write_str("the simulation has been intentionally stopped"),
             Self::Terminated => f.write_str("the simulation has been terminated"),
             Self::Deadlock(list) => {
                 f.write_str(
diff --git a/nexosim/src/simulation/scheduler.rs b/nexosim/src/simulation/scheduler.rs
index e938d4c..e8c2073 100644
--- a/nexosim/src/simulation/scheduler.rs
+++ b/nexosim/src/simulation/scheduler.rs
@@ -20,6 +20,9 @@ use crate::simulation::Address;
 use crate::time::{AtomicTimeReader, Deadline, MonotonicTime};
 use crate::util::priority_queue::PriorityQueue;
 
+#[cfg(all(test, not(nexosim_loom)))]
+use crate::{time::TearableAtomicTime, util::sync_cell::SyncCell};
+
 const GLOBAL_SCHEDULER_ORIGIN_ID: usize = 0;
 
 /// A global scheduler.
@@ -27,8 +30,12 @@ const GLOBAL_SCHEDULER_ORIGIN_ID: usize = 0;
 pub struct Scheduler(GlobalScheduler);
 
 impl Scheduler {
-    pub(crate) fn new(scheduler_queue: Arc<Mutex<SchedulerQueue>>, time: AtomicTimeReader) -> Self {
-        Self(GlobalScheduler::new(scheduler_queue, time))
+    pub(crate) fn new(
+        scheduler_queue: Arc<Mutex<SchedulerQueue>>,
+        time: AtomicTimeReader,
+        is_halted: Arc<AtomicBool>,
+    ) -> Self {
+        Self(GlobalScheduler::new(scheduler_queue, time, is_halted))
     }
 
     /// Returns the current simulation time.
@@ -175,6 +182,11 @@ impl Scheduler {
             GLOBAL_SCHEDULER_ORIGIN_ID,
         )
     }
+
+    /// Stops the simulation on the next step.
+    pub fn halt(&mut self) {
+        self.0.halt()
+    }
 }
 
 impl fmt::Debug for Scheduler {
@@ -341,13 +353,19 @@ pub(crate) type SchedulerQueue = PriorityQueue<(MonotonicTime, usize), Action>;
 pub(crate) struct GlobalScheduler {
     scheduler_queue: Arc<Mutex<SchedulerQueue>>,
     time: AtomicTimeReader,
+    is_halted: Arc<AtomicBool>,
 }
 
 impl GlobalScheduler {
-    pub(crate) fn new(scheduler_queue: Arc<Mutex<SchedulerQueue>>, time: AtomicTimeReader) -> Self {
+    pub(crate) fn new(
+        scheduler_queue: Arc<Mutex<SchedulerQueue>>,
+        time: AtomicTimeReader,
+        is_halted: Arc<AtomicBool>,
+    ) -> Self {
         Self {
             scheduler_queue,
             time,
+            is_halted,
         }
     }
 
@@ -538,6 +556,11 @@ impl GlobalScheduler {
 
         Ok(event_key)
     }
+
+    /// Stops the simulation on the next step.
+    pub(crate) fn halt(&mut self) {
+        self.is_halted.store(true, Ordering::Relaxed);
+    }
 }
 
 impl fmt::Debug for GlobalScheduler {
@@ -814,3 +837,14 @@ pub(crate) async fn send_keyed_event<M, F, T, S>(
         )
         .await;
 }
+
+#[cfg(all(test, not(nexosim_loom)))]
+impl GlobalScheduler {
+    /// Creates a dummy scheduler for testing purposes.
+    pub(crate) fn new_dummy() -> Self {
+        let dummy_priority_queue = Arc::new(Mutex::new(PriorityQueue::new()));
+        let dummy_time = SyncCell::new(TearableAtomicTime::new(MonotonicTime::EPOCH)).reader();
+        let dummy_halter = Arc::new(AtomicBool::new(false));
+        GlobalScheduler::new(dummy_priority_queue, dummy_time, dummy_halter)
+    }
+}
diff --git a/nexosim/src/simulation/sim_init.rs b/nexosim/src/simulation/sim_init.rs
index 273b256..9969dd4 100644
--- a/nexosim/src/simulation/sim_init.rs
+++ b/nexosim/src/simulation/sim_init.rs
@@ -1,4 +1,5 @@
 use std::fmt;
+use std::sync::atomic::AtomicBool;
 use std::sync::{Arc, Mutex};
 use std::time::Duration;
 
@@ -20,6 +21,7 @@ pub struct SimInit {
     executor: Executor,
     scheduler_queue: Arc<Mutex<SchedulerQueue>>,
     time: AtomicTime,
+    is_halted: Arc<AtomicBool>,
     clock: Box<dyn Clock + 'static>,
     clock_tolerance: Option<Duration>,
     timeout: Duration,
@@ -64,6 +66,7 @@ impl SimInit {
             executor,
             scheduler_queue: Arc::new(Mutex::new(PriorityQueue::new())),
             time,
+            is_halted: Arc::new(AtomicBool::new(false)),
             clock: Box::new(NoClock::new()),
             clock_tolerance: None,
             timeout: Duration::ZERO,
@@ -91,7 +94,11 @@ impl SimInit {
         };
         self.observers
             .push((name.clone(), Box::new(mailbox.0.observer())));
-        let scheduler = GlobalScheduler::new(self.scheduler_queue.clone(), self.time.reader());
+        let scheduler = GlobalScheduler::new(
+            self.scheduler_queue.clone(),
+            self.time.reader(),
+            self.is_halted.clone(),
+        );
 
         add_model(
             model,
@@ -157,7 +164,11 @@ impl SimInit {
         self.time.write(start_time);
         self.clock.synchronize(start_time);
 
-        let scheduler = Scheduler::new(self.scheduler_queue.clone(), self.time.reader());
+        let scheduler = Scheduler::new(
+            self.scheduler_queue.clone(),
+            self.time.reader(),
+            self.is_halted.clone(),
+        );
         let mut simulation = Simulation::new(
             self.executor,
             self.scheduler_queue,
@@ -167,6 +178,7 @@ impl SimInit {
             self.timeout,
             self.observers,
             self.model_names,
+            self.is_halted,
         );
         simulation.run()?;