用函数接口替代发布订阅，让机器人系统任务依赖自动生效
Work-in-Progress: Function-as-Subtask API Replacing Publish/Subscribe for OS-Native DAG Scheduling
- 用函数输入输出定义任务依赖，杜绝错误执行顺序
- 在实验内核中实现，确保任务图语义完全一致
- 适合做实时机器人系统开发的工程师参考
实时调度中的有向无环图（DAG）任务模型主要应用于机器人操作系统2（ROS 2）。然而，ROS 2的发布/订阅接口无法强制执行DAG的前序约束：回调可能在执行中途发布数据，多输入回调也允许开发者自行选择话题匹配策略。因此，维持DAG语义依赖于编程约定；一旦违反，整个模型即失效。本文提出函数即子任务（FasS）API，将每个子任务表达为一个函数，其参数和返回值分别对应任务的输入与输出边。通过最小化描述自由度，使DAG语义在接口层面得到保障，而非依赖程序员自律。我们基于Rust实验内核实现了原生支持DAG的调度器，并评估了其语义保真度；同时提出了将FasS应用于Linux sched_ext的设计指南。
原文摘要 · Abstract (English)
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.
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