Work-in-Progress: Function-as-Subtask API Replacing Publish/Subscribe for OS-Native DAG Scheduling
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arXiv
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| Main Authors: | , , , , , |
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| Format: | Preprint |
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2025
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| _version_ | 1866909898360487936 |
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| author | Ishikawa-Aso, Takahiro Yano, Atsushi Kobayashi, Yutaro Jin, Takumi Takano, Yuuki Kato, Shinpei |
| author_facet | Ishikawa-Aso, Takahiro Yano, Atsushi Kobayashi, Yutaro Jin, Takumi Takano, Yuuki Kato, Shinpei |
| contents | 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 DAG-native scheduler using FasS on a Rust-based experimental kernel and evaluate its semantic fidelity, and we outline design guidelines for applying FasS to Linux Linux sched_ext. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2511_08297 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Work-in-Progress: Function-as-Subtask API Replacing Publish/Subscribe for OS-Native DAG Scheduling Ishikawa-Aso, Takahiro Yano, Atsushi Kobayashi, Yutaro Jin, Takumi Takano, Yuuki Kato, Shinpei Operating Systems Robotics C.3; D.4.7 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 DAG-native scheduler using FasS on a Rust-based experimental kernel and evaluate its semantic fidelity, and we outline design guidelines for applying FasS to Linux Linux sched_ext. |
| title | Work-in-Progress: Function-as-Subtask API Replacing Publish/Subscribe for OS-Native DAG Scheduling |
| topic | Operating Systems Robotics C.3; D.4.7 |
| url | https://arxiv.org/abs/2511.08297 |