picas_static_phase

This tool reproduces the priority and affinity settings of the PiCAS framework [1] using multiple DAGs as input. The results are output in the form of a ros2_thread_configurator configuration file.

Input DAG file format

The input DAG must be in yaml format, as in the autoware_dags directory. autoware_dags/visualize_dag.py is a visualization script to check the correctness of DAG yaml files.

Note

The callback_group_id of each node should correspond to the id in template.yaml generated in ros2_thread_configurator prerun mode.

Usage

$ cd picas_static_phase
$ cargo run --release -- -d <DAG_DIR_PATH> -c <NUMBER_OF_CORES> -o <OUTPUT_DIR_PATH>

The details of each option are as follows:

-d, --dag_dir <DAG_DIR_PATH>             Path to DAGSet directory [default: ../autoware_dags]
-c, --number_of_cores <NUMBER_OF_CORES>  Number of processing cores [default: 16]
-o, --output_path <OUTPUT_DIR_PATH>      Path to output directory [default: ../]

Reference

1. Choi, H., Xiang, Y., & Kim, H. (2021). PiCAS: New design of priority-driven chain-aware scheduling for ROS2. In Proceedings of the 2021 IEEE 27th Real-Time and Embedded Technology and Applications Symposium (RTAS) (pp. 251-263). IEEE.