Adapting the DEVS kernel 'RT-CADMIUM' to the ESP32 embedded platform

Discrete Event Modelling of Embedded Systems (DEMES) is a development methodology based on the Discrete Event Systems (DEVS) specification that improves the time -to-market by simplifying the development and testing of embedded systems. CADMIUM is a C++ header-only library developed at Carleton University that helps simulate models built using the DEVS specification. RT-CADMIUM is a fork of CADMIUM that provides a development framework that helps users develop systems using the DEMES technology. RT-CADMIUM, however, has a limited scope of deployment due to the use of Mbed OS as its Hardware Abstraction Layer (HAL). This paper provides the methodology for porting the RT-CADMIUM library to a different platform (ESP32 specifically). This paper also portrays the performance improvements gained due to this adoption.