Hi all,
I've worked with linuxcnc realtime machine controller for the last 5 years.
I have been playing around in my spare time with building a new motion
controller that is jerk limited. My prototyping is being done in racket to
prove out my math and implementation. Once working well it will be ported
to C for hard realtime production code. It's been nice with the FFI to be
able to actually interface with linuxcnc.
Now I find myself wondering, why can't racket run in realtime? The GC is
the most obvious hurdle that I can see. But racket execution speed by
itself is plenty fast enough.
If we had a racket language that could generate code that doesn't generate
garbage during execution I think implementing realtime components in racket
could be doable.
Most realtime code in the machine controller consists of tiny little
functions that are executed at 1000 times per second.
So what I'm looking for is a racket language that doesn't generate garbage
at execution time. But a "setup" phase could do so and it wouldn't be a
problem.
Is there such a thing? Is it worth pursuing? Or better to just stick with C?
Anyhow just something I've been wondering about and I'm seeking opinions or
any known resources from the research world.
Thanks,
Curtis
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