C codegen considered unnecessary: go directly to binary, do not pass C. Compilation of Julia code for deployment in model-based engineering
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arXiv
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| Autori principali: | , , , |
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| Natura: | Preprint |
| Pubblicazione: |
2025
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| _version_ | 1866912223114297344 |
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| author | Carlson, Fredrik Bagge Tapscott, Cody Baraldi, Gabriel Rackauckas, Chris |
| author_facet | Carlson, Fredrik Bagge Tapscott, Cody Baraldi, Gabriel Rackauckas, Chris |
| contents | Since time immemorial an old adage has always seemed to ring true: you cannot use a high-level productive programming language like Python or R for real-time control and embedded-systems programming, you must rewrite your program in C. We present a counterexample to this mantra by demonstrating how recent compiler developments in the Julia programming language allow users of Julia and the equation-based modeling language ModelingToolkit to compile and deploy binaries for real-time model-based estimation and control. Contrary to the approach taken by a majority of modeling and simulation tools, we do not generate C code, and instead demonstrate how we may use the native Julia code-generation pipeline through LLVM to compile architecture-specific binaries from high-level code. This approach avoids many of the restrictions typically placed on high-level languages to enable C-code generation. As case studies, we include a nonlinear state estimator derived from an equation-based model which is compiled into a program that performs state estimation for deployment onto a Raspberry Pi, as well as a PID controller library implemented in Julia and compiled into a shared library callable from a C program. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2502_01128 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | C codegen considered unnecessary: go directly to binary, do not pass C. Compilation of Julia code for deployment in model-based engineering Carlson, Fredrik Bagge Tapscott, Cody Baraldi, Gabriel Rackauckas, Chris Systems and Control Since time immemorial an old adage has always seemed to ring true: you cannot use a high-level productive programming language like Python or R for real-time control and embedded-systems programming, you must rewrite your program in C. We present a counterexample to this mantra by demonstrating how recent compiler developments in the Julia programming language allow users of Julia and the equation-based modeling language ModelingToolkit to compile and deploy binaries for real-time model-based estimation and control. Contrary to the approach taken by a majority of modeling and simulation tools, we do not generate C code, and instead demonstrate how we may use the native Julia code-generation pipeline through LLVM to compile architecture-specific binaries from high-level code. This approach avoids many of the restrictions typically placed on high-level languages to enable C-code generation. As case studies, we include a nonlinear state estimator derived from an equation-based model which is compiled into a program that performs state estimation for deployment onto a Raspberry Pi, as well as a PID controller library implemented in Julia and compiled into a shared library callable from a C program. |
| title | C codegen considered unnecessary: go directly to binary, do not pass C. Compilation of Julia code for deployment in model-based engineering |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2502.01128 |