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Added a prioritized demo configuring the thread attributes with
the infrastructure proposed in REP-2017 below and some sample YAML files of thread attribute settings for the existing executors (Singlethreaded/Multithreaded). ros-infrastructure/rep#385 Signed-off-by: Shoji Morita <s-morita@esol.co.jp>
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‎autoware_reference_system/cfg/thread_attr_for_existing_executors.yaml‎

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- priority: 10
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name: RCLCPP_EXECUTOR_SINGLE_THREADED
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core_affinity: []
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scheduling_policy: RR
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- priority: 10
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name: RCLCPP_EXECUTOR_MULTI_THREADED
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core_affinity: []
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scheduling_policy: RR
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‎autoware_reference_system/cfg/thread_attr_for_prioritized.yaml‎

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- priority: 1
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name: RCLCPP_EXECUTOR_HOTPATH
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core_affinity: [1,2,3]
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scheduling_policy: RR
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- priority: 30
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name: RCLCPP_EXECUTOR_PLANNER
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core_affinity: [0]
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scheduling_policy: RR
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‎autoware_reference_system/src/ros2/executor/autoware_default_prioritized_using_rep2017.cpp‎

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// Copyright 2021 Robert Bosch GmbH
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include <memory>
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#include <string>
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#include <vector>
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#include <unordered_set>
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#include <unordered_map>
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#include <set>
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#include <optional>
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#include "rclcpp/rclcpp.hpp"
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#include "rcpputils/thread.hpp"
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#include "rcl/context.h"
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#include "rcutils/thread_attr.h"
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#include "reference_system/system/type/rclcpp_system.hpp"
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#include "autoware_reference_system/autoware_system_builder.hpp"
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#include "autoware_reference_system/system/timing/benchmark.hpp"
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#include "autoware_reference_system/system/timing/default.hpp"
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#include "autoware_reference_system/priorities.hpp"
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#ifdef USE_USER_IMPLEMENTED_ATTR_FIND_ROUTINE
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std::optional<rcpputils::ThreadAttribute> find_thread_attr(const std::string & name)
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{
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rcl_context_t const * ctx = rclcpp::contexts::get_global_default_context()->get_rcl_context().get();
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rcutils_thread_attrs_t * rcl_attrs = rcl_context_get_thread_attrs(ctx);
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if (!rcl_attrs) {
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return std::nullopt;
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}
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for (std::size_t i = 0; i < rcl_attrs->num_attributes; ++i) {
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if (name == rcl_attrs->attributes[i].name) {
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rcutils_thread_attr_t const & rcl_attr = rcl_attrs->attributes[i];
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rcpputils::ThreadAttribute attr(rcl_attr);
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return {attr};
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}
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}
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return std::nullopt;
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}
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#endif // USE_USER_IMPLEMENTED_ATTR_FIND_ROUTINE
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int main(int argc, char ** argv)
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{
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rclcpp::init(argc, argv);
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using TimeConfig = nodes::timing::Default;
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// uncomment for benchmarking
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// using TimeConfig = nodes::timing::BenchmarkCPUUsage;
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// set_benchmark_mode(true);
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auto nodes_vec = create_autoware_nodes<RclcppSystem, TimeConfig>();
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using NodeMap = std::unordered_map<std::string,
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std::shared_ptr<RclcppSystem::NodeBaseType>>;
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NodeMap nodes;
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for (const auto & node : nodes_vec) {
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nodes.emplace(node->get_name(), node);
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std::cout << node->get_name() << "\n";
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}
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#ifdef USE_USER_IMPLEMENTED_ATTR_FIND_ROUTINE
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auto logger = rclcpp::get_logger("autoware_default_prioritized");
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auto hotpath_attr = find_thread_attr("RCLCPP_EXECUTOR_HOTPATH");
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if (!hotpath_attr) {
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RCLCPP_ERROR(logger, "not found thread attribute \"RCLCPP_EXECUTOR_HOTPATH\"");
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return 1;
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}
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auto planner_attr= find_thread_attr("RCLCPP_EXECUTOR_PLANNER");
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if (!planner_attr) {
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RCLCPP_ERROR(logger, "not found thread attribute \"RCLCPP_EXECUTOR_PLANNER\"");
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return 1;
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}
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rclcpp::executors::SingleThreadedExecutor front_exe(rclcpp::ExecutorOptions(), *hotpath_attr);
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rclcpp::executors::SingleThreadedExecutor rear_exe(rclcpp::ExecutorOptions(), *hotpath_attr);
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rclcpp::executors::SingleThreadedExecutor fusion_exe(rclcpp::ExecutorOptions(), *hotpath_attr);
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rclcpp::executors::SingleThreadedExecutor planner_exe(rclcpp::ExecutorOptions(), *planner_attr);
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#else // USE_USER_IMPLEMENTED_ATTR_FIND_ROUTINE
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auto front_exe_options = rclcpp::ExecutorOptions();
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auto rear_exe_options = rclcpp::ExecutorOptions();
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auto fusion_exe_options = rclcpp::ExecutorOptions();
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auto planner_exe_options = rclcpp::ExecutorOptions();
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front_exe_options.name = "RCLCPP_EXECUTOR_HOTPATH";
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rear_exe_options.name = "RCLCPP_EXECUTOR_HOTPATH";
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fusion_exe_options.name = "RCLCPP_EXECUTOR_HOTPATH";
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planner_exe_options.name = "RCLCPP_EXECUTOR_PLANNER";
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rclcpp::executors::SingleThreadedExecutor front_exe(front_exe_options);
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rclcpp::executors::SingleThreadedExecutor rear_exe(rear_exe_options);
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rclcpp::executors::SingleThreadedExecutor fusion_exe(fusion_exe_options);
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rclcpp::executors::SingleThreadedExecutor planner_exe(planner_exe_options);
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#endif // USE_USER_IMPLEMENTED_ATTR_FIND_ROUTINE
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rclcpp::executors::SingleThreadedExecutor other_exe;
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std::set<std::string> front_nodes = {"FrontLidarDriver", "PointsTransformerFront"};
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std::set<std::string> rear_nodes = {"RearLidarDriver", "PointsTransformerRear"};
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std::set<std::string> fusion_nodes = {"PointCloudFusion",
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"RayGroundFilter",
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"EuclideanClusterDetector",
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"ObjectCollisionEstimator"};
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std::set<std::string> planner_nodes = {"BehaviorPlanner"};
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std::set<std::string> other_nodes = {"PointCloudMap",
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"Visualizer",
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"Lanelet2Map",
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"EuclideanClusterSettings",
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"PointCloudMapLoader",
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"MPCController",
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"VehicleInterface",
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"VehicleDBWSystem",
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"NDTLocalizer",
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"Lanelet2GlobalPlanner",
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"Lanelet2MapLoader",
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"ParkingPlanner",
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"LanePlanner",
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"IntersectionOutput",
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"VoxelGridDownsampler"};
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for (const auto & node : front_nodes) {
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front_exe.add_node(nodes.at(node));
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}
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for (const auto & node : rear_nodes) {
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rear_exe.add_node(nodes.at(node));
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}
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for (const auto & node : fusion_nodes) {
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std::cout << node << "\n";
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fusion_exe.add_node(nodes.at(node));
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}
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for (const auto & node : planner_nodes) {
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planner_exe.add_node(nodes.at(node));
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}
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for (const auto & node : other_nodes) {
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other_exe.add_node(nodes.at(node));
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}
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rcpputils::Thread front_thread {[&]() {
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front_exe.spin();
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}};
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rcpputils::Thread rear_thread {[&]() {
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rear_exe.spin();
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}};
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rcpputils::Thread fusion_thread {[&]() {
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fusion_exe.spin();
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}};
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rcpputils::Thread planner_thread {[&]() {
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planner_exe.spin();
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}};
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rcpputils::Thread other_thread {[&]() {
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other_exe.spin();
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}};
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front_thread.join();
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rear_thread.join();
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fusion_thread.join();
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planner_thread.join();
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rclcpp::shutdown();
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}

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