[rclc] Executor for multi-threaded and non-POSIX operating systems (AUTOSAR)

[JanStaschulat]

Extend rclc-Executor to support

1. multi-threaded execution (1:1 correspondence of a subscription callback to a thread) using "Dispatcher Executor" concept.
2. assignment of thread scheduling parameters (e.g. priority) to the thread, which processes a callback (e.g. subscription callback).
3. non-POSIX operating systems, aka callback is not processed in a thread but in periodic task.

Tasks:

• baseline branch
• Executor prototype (only timer, subscription, limited functionality) for single-threaded, multi-threaded API
• Executor prototype for non-POSIX OS API
• Discussion and Feedback
• Feature-complete rclc-Executor API (all other handles and API-functions)

current status: pull request rclc#339

[Zard-C]

Hi Jan, this work has captured my keen interest, could you show some relevant discussions and information?

[JanStaschulat]

Hi @Zard-C , early this year I have been thinking about a better software archicture that would support single-threaded, multi-threaded and non-POSIX executor. Here are the slides about it:

2023-02-design-document-modular-micro-ROS-Executors.pdf

I don't have a written document about it unfortunately, but I think the slides represent the concept quite well. If you have questions/suggestions/remarks, please reach out on micro-ROS slack channel or via email (jan.staschulat@de.bosch.com).

[Zard-C]

Hi @Zard-C , early this year I have been thinking about a better software archicture that would support single-threaded, multi-threaded and non-POSIX executor. Here are the slides about it:

2023-02-design-document-modular-micro-ROS-Executors.pdf

I don't have a written document about it unfortunately, but I think the slides represent the concept quite well. If you have questions/suggestions/remarks, please reach out on micro-ROS slack channel or via email (jan.staschulat@de.bosch.com).

Much appreciated!