Tama Compiler Overhaul

Triamec Motion AG manufactures ultra-precision servo drives that can be programmed using the C# programming language and the Tama framework. These servo drives run a virtual machine that executes a proprietary bytecode format, which is generated by the Tama compiler. The compiler previously relied on Microsoft's deprecated CCI library to read C# assembly files and transpile them to the Tama bytecode format.

In this project, our goal was to replace the unmaintained CCI library with a modern, actively maintained alternative. After evaluating several options, we chose to replace the CCI library with ILSpy. ILSpy is a modern, actively maintained and well documented .NET decompiler with an active community.

In addition to ensuring the ability to support newer versions of .NET in the future, we also implemented a computed goto performance optimization in the servo's runtime, resulting in an overall performance increase of approximately 16%. There is still potential for further performance gains, for example by implementing a template-based just-in-time (JIT) compiler in the servo's runtime.