Work-in-Progress: Function-as-Subtask API Replacing Publish/Subscribe for OS-Native DAG Scheduling

Le résumé fourni par la source

The Directed Acyclic Graph (DAG) task model for real-time scheduling finds its primary practical target in Robot Operating System 2 (ROS 2). However, ROS 2's publish/subscribe API leaves DAG precedence constraints unenforced: a callback may publish mid-execution, and multi-input callbacks let developers choose topic-matching policies. Thus preserving DAG semantics relies on conventions; once violated, the model collapses. We propose the Function-as-Subtask (FasS) API, which expresses each subtask as a function whose arguments/return values are the subtask's incoming/outgoing edges. By minimizing description freedom, DAG semantics is guaranteed at the API rather than by programmer discipline. We implement a DAGnative scheduler using FasS on a Rust-based experimental kernel and evaluate its semantic fidelity, and we outline design guidelines for applying FasS to Linux sched_ext.

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