LUSTRE: a declarative language for real-time programming
POPL '87 Proceedings of the 14th ACM SIGACT-SIGPLAN symposium on Principles of programming languages
The ESTEREL synchronous programming language: design, semantics, implementation
Science of Computer Programming
A case study in computer-aided co-design of embedded controllers
Design Automation for Embedded Systems
Compiling Esterel into sequential code
Proceedings of the 37th Annual Design Automation Conference
Efficient compilation of ESTEREL for real-time embedded systems
CASES '00 Proceedings of the 2000 international conference on Compilers, architecture, and synthesis for embedded systems
Event driven simulation without loops or conditionals
Proceedings of the 2000 IEEE/ACM international conference on Computer-aided design
Preemption in Concurrent Systems
Proceedings of the 13th Conference on Foundations of Software Technology and Theoretical Computer Science
Tutorial: Compiling concurrent languages for sequential processors
ACM Transactions on Design Automation of Electronic Systems (TODAES)
Optimizations for Faster Execution of Esterel Programs
MEMOCODE '03 Proceedings of the First ACM and IEEE International Conference on Formal Methods and Models for Co-Design
An Esterel compiler for large control-dominated systems
IEEE Transactions on Computer-Aided Design of Integrated Circuits and Systems
Passive code in synchronous programs
ACM Transactions on Embedded Computing Systems (TECS) - Special Section ESFH'12, ESTIMedia'11 and Regular Papers
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Executing concurrent specifications on sequential hardware is important for both simulation of systems that are eventually implemented on concurrent hardware and for those most conveniently described as a set of concurrent processes. As with most forms of simulation, this is easy to do correctly but difficult to do efficiently. Solutions such as preemptive operating systems and discrete-event simulators present significant overhead. In this paper, we present a technique for compiling the concurrent language Esterel into very efficient C code. Our technique minimizes runtime overhead by making most scheduling decisions at compile time and using a very simple linked-list-based event queue at runtime. While these techniques work particularly well for Esterel with its high-level concurrent semantics, the same technique could also be applied to efficiently execute other concurrent specifications.