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feat: Thread configuration prototype #1075

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Commits on Jun 6, 2023

  1. feat: Thread configuration prototype

    This is a prototype implementation of RCL for discussion about the thread configuration feature to receive and apply a set of scheduling parameters for the threads controlled by the ROS 2 executor.
    
    Our basic idea is as below.
     1. Implement a new class rclcpp::thread and modify rclcpp to use it.
       This class has the same function set as the std::thread but also additional features to control its thread attributions.
     2. Modify the rcl layer to receive a set of scheduling parameters.
       The parameters are described in YAML format and passed via command line parameters, environment variables, or files.
     3. the rclcpp reads the parameters from rcl and applies them to each thread in the thread pool.
    
    There have been some discussions about this pull request, as below.
    [ROS Discourse]
    https://discourse.ros.org/t/adding-thread-attributes-configuration-in-ros-2-framework/30701
    [ROS 2 Real-Time Working Group]
    ros-realtime/ros-realtime.github.io#18
    
    Signed-off-by: Shoji Morita <[email protected]>
    smorita-esol committed Jun 6, 2023
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Commits on Jun 20, 2023

  1. Decoupled the additional feature from rcl to rcutils, reflecting on t…

    …he pointing out below.
    
    ros2/rclcpp#2205 (comment)
    
    Signed-off-by: Shoji Morita <[email protected]>
    smorita-esol committed Jun 20, 2023
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Commits on Jul 12, 2023

  1. Added tests and fixed problems found in the test.

    Signed-off-by: Shoji Morita <[email protected]>
    smorita-esol committed Jul 12, 2023
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Commits on Aug 3, 2023

  1. Added tests and modified the interface to the upper language binding.

    The modification of the interface is to go along with the
    specification described in the draft REP shared in the thread below.
    
    https://discourse.ros.org/t/adding-thread-attributes-configuration-in-ros-2-framework/30701/5
    
    Signed-off-by: Shoji Morita <[email protected]>
    smorita-esol committed Aug 3, 2023
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Commits on Oct 26, 2023

  1. Modified to receive multiple core affinity parameters according to th…

    …e update of REP-2017 below.
    
    ros-infrastructure/rep#385
    
    Signed-off-by: Shoji Morita <[email protected]>
    smorita-esol committed Oct 26, 2023
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Commits on Dec 14, 2023

  1. Fixed a trivial bug related to core affinity configuration.

    Signed-off-by: Shoji Morita <[email protected]>
    smorita-esol committed Dec 14, 2023
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Commits on Jan 26, 2024

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