CyberRT-任务调度-scheduler

调度空间

主要关注三个方面 通信和数据传输以及监控 SchedulerConf TransportConf PerfConf

OS Process(操作系统进程)、OS Thread(操作系统线程)、Cyber RT Task(用户空间协程)。
Cyber RT 调度器有两种调度策略，分别为Choreo与Classic，
Choreo策略是Cyber RT下无人车专属调度，它强调任务执行周期性以及实时性

component--使用传输和调度的起点

cyber/component/component.h
#include "cyber/croutine/routine_factory.h"
#include "cyber/scheduler/scheduler.h"
cyber/component/component_base.h
#include "cyber/node/node.h"
#include "cyber/scheduler/scheduler.h"
#include "cyber/class_loader/class_loader.h"

sysmo

cyber/sysmo/sysmo.cc
SysMo::Instance(); ==> 创建系统管理器，用于检测处理器processor状态
#include "cyber/scheduler/scheduler_factory.h"

scheduler

cyber/scheduler/scheduler_factory.h
Scheduler* Instance()
new SchedulerChoreography();
new SchedulerClassic();

cyber/scheduler/policy/classic_context.h cyber/scheduler/policy/choreography_context.h
cyber/scheduler/policy/scheduler_classic.h cyber/scheduler/policy/scheduler_choreography.h
class SchedulerClassic : public Scheduler {
class SchedulerChoreography : public Scheduler {
cyber/scheduler/scheduler.h
#include "cyber/croutine/croutine.h"
#include "cyber/croutine/routine_factory.h"
class Scheduler {

cyber/scheduler/processor.h
class Processor {

cyber/scheduler/processor_context.h
class ProcessorContext {

task

cyber/task/task.h
#include "cyber/task/task_manager.h"

cyber/task/task_manager.h
#include "cyber/scheduler/scheduler_factory.h"
class TaskManager {

croutine

cyber/croutine
cyber/croutine/croutine.h
class CRoutine {

cyber/croutine/routine_factory.h
#include "cyber/data/data_visitor.h"
RoutineFactory 协程通过工厂模式方法创建，里面包含一个回调函数和一个dv（数据访问器）DataVisitor

cyber/croutine/detail/routine_context.h