example_sched_choreography.conf

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scheduler_conf {
    policy: "choreography"
    process_level_cpuset: "0-7,16-23"  # all threads in the process are on the cpuset
    threads: [
        {
            name: "lidar"
            cpuset: "1"
            policy: "SCHED_RR" # policy: SCHED_OTHER,SCHED_RR,SCHED_FIFO
            prio: 10
        }, {
            name: "shm"
            cpuset: "2"
            policy: "SCHED_FIFO"
            prio: 10
        }
    ]
    choreography_conf {
        choreography_processor_num: 8
        choreography_affinity: "range"
        choreography_cpuset: "0-7"
        choreography_processor_policy: "SCHED_FIFO" # policy: SCHED_OTHER,SCHED_RR,SCHED_FIFO
        choreography_processor_prio: 10
 
        pool_processor_num: 8
        pool_affinity: "range"
        pool_cpuset: "16-23"
        pool_processor_policy: "SCHED_OTHER"
        pool_processor_prio: 0
 
        tasks: [
            {
                name: "A"
                processor: 0
                prio: 1
            },
            {
                name: "B"
                processor: 0
                prio: 2
            },
            {
                name: "C"
                processor: 1
                prio: 1
            },
            {
                name: "D"
                processor: 1
                prio: 2
            },
            {
                name: "E"
            }
        ]
    }
}