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Copper: Task Lifecycle

Here is a quick illustration of a task lifecycle

Copper Task Lifecycle

The framework is designed to give as many chances as possible for the tasks to do its heavy lifting out of the critical path.

  • The time critical part will try to be scheduled as back to back as possible between tasks on the same thread (low latency / low jitter)
  • The best effort part will try be scheduled by packing them to minimize the interference with the critical path (high throughput / high jitter).

In the critical loop, no allocation should occur, messages are pre-allocated and reused.

Note on freeze / thow: A task internal state can be serialized to give the opportunity for the framework to "snapshot" the system, it would be at a low rate (ie. ~ a second). You can think of it a little bit as a "key frame" in a video. It is useful at replay to be able to jump into a state without having to replay all the previous messages.