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ApolloAuto / apollo

An open autonomous driving platform
Apache License 2.0
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Real-time code in apollo #5812

Open hadiTab opened 5 years ago

hadiTab commented 5 years ago

I've only seen one instance of code that runs under PREEMPT_RT. It is in the CAN bus driver (here).

This seems to be only used for CAN bus communications. Is this the only instance of real-time in Apollo? I understand that real-time CAN bus communication is important but I'm not sure how much of an effect it will have if none of the decisions being made in the planner are based on real-time information.

Is the purpose of the Apollo Kernel, which from my understanding is a Linux kernel with the PREEMPT_RT patch and a few additional drivers and bug fixes, only for the implementation in CanSender or are there plans for more applications in future development?

Thanks!

hadiTab commented 5 years ago

@Capri2014 , @quning78 , @jinghaomiao , can any of you answer this? Thanks.