The code sets forth minumum dimensional requirements (height, picket spacing, rail locations, extensions, etc.), as well as minumum strength requirements for the guardrail. They must withstand specific loads both from above and laterally. How you do it is up to you - and your engineer. A Simpson bracket will likely be sufficient (depending on how you use it), and you will probable need to use concrete lags or expansion bolts for anchoring into a concrete wall. But you really should consult an engineer on the specifics - it won't cost much for this limited scope of information.