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Hardware/software codesign investigates the concurrent design of hardware and software components of complex electronic systems. It tries to exploit the synergy of hardware and software with the goal to optimize and/or satisfy design constraints such as cost, performance, and power of the final product. At the same time, it targets to reduce the time-to-market frame considerably. This paper presents major achievements of two decades of research on methods and tools for hardware/software codesign by starting with a historical survey of its roots, by highlighting its major research directions and achievements until today, and finally, by predicting in which direction research in codesign might evolve in the decades to come.