Zélus is a synchronous language extended with Ordinary Differential Equations (ODEs) to program hybrid systems that mix discrete-time and continuous-time models. An example is a (discrete-time) model of a control software paired with a (continuous-time) model of the plant. The language shares the basic principles of the synchronous languages Lustre with modularity features from Lucid Synchrone (type inference, hierarchical automata, and higher-order functions). It is conservatively extended to write continuous-time models expressed by ODEs and zero-crossing events. The compiler is written in OCaml and is structured as a series of source-to-source and traceable transformations that ultimately yield statically scheduled sequential code. Continuous-time models are simulated using an off-the-shelf numerical solver (here Sundials CVODE and, for the moment, the two built-in solvers ode23 and ode45).
The easiest way to install Zelus is via Opam, the OCaml package manager.
opam install .
You can then test your installation with:
zeluc -version
The manual, examples, and research papers can be found at http://zelus.di.ens.fr
By default Zelus relies on the built-in solvers. To switch to Sundials CVODE you need to install sundialsml (which requires sundials). Some examples also depend on lablgtk (which requires gtk2.0)
opam install sundialsml lablgtk
You can then reinstall zelus
opam reinstall zelus
We also provide a dockerfile to setup an environment with all the dependencies. Build the image with (you might need to increase available memory in docker preferences):
make docker-build
Run with:
make docker-run
This repository includes runnable examples demonstrating different aspects of the language.
The source code for several of the examples can be found in the examples directory.
To build most of the examples:
cd examples && make
The excutables can be found in each example directory (e.g., horloge/horloge_main.exe).
We use dune to build the compiler, the libraries, and the examples. To build the project:
dune build
This produces two executables:
compiler/zeluc.exe: the compilercompiler/zlsdep.exe: a tool to track dependencies between zelus files
Libraries are split in two packages:
zelus: the standard librarieszelus-gtk: additional libraries that depend on lablgtk (only built if lablgtk is installed)
The build automatically detects if sundialsml is installed and update the librairies accordingly.
@inproceedings{Zelus2013HSCC,
author = {Timothy Bourke and Marc Pouzet},
title = {Zélus: A Synchronous Language with {ODEs}},
booktitle = {16th International Conference on Hybrid Systems: Computation and Control (HSCC'13)},
pages = {113--118},
month = mar,
year = 2013,
}