clean up a bit, start some documentation

README.md

@@ -0,0 +1,10 @@
+This contains two packages:
+ - `simple_timer` contains timing related functions, and a wrapper for calling some kernel scheduling functions
+ - `priority_executor` contains the modified executor and some nodes to test it
+
+In `priority_executor`:
+ - `priority_executor.cpp` subclasses `rclcpp::Executor` to allow for additional customization
+ - `priority_memory_strategy.hpp` is a modified version of `rclcpp`s `allocator_memory_strategy.hpp` that selects callbacks based on either the earliest deadline, or a relative priority. Executor polls this for ready callbacks. 
+ - `test_nodes.cpp` adds timer-based publishing nodes and dummy worker nodes that can be arranged in chains. It uses `dummy_workload.hpp` to generate a workload.
+ - `f1tenth_test.cpp` sets up a chain of nodes similar to [https://intra.ece.ucr.edu/~hyoseung/pdf/rtas21_picas.pdf](https://intra.ece.ucr.edu/~hyoseung/pdf/rtas21_picas.pdf)
+

src/priority_executor/src/f1tenth_test.cpp

@@ -266,7 +266,8 @@ int main(int argc, char **argv)
   rclcpp::shutdown();
 
   std::ofstream output_file;
-  std::string suffix = "_rtis_alloc";
+  // useful if testing different variations
+  std::string suffix = "";
   if (schedule_type == DEADLINE)
   {
     output_file.open("experiments/results/f1tenth_full" + std::to_string(NUM_EXECUTORS) + "c" + suffix + ".txt");

src/priority_executor/src/primes_workload.cpp

@@ -1,4 +1,5 @@
 #include "priority_executor/primes_workload.hpp"
+#include <iostream>
 ktimeunit nth_prime_silly(int n, double millis)
 {
   // struct tms this_thread_times;
@@ -23,6 +24,10 @@ ktimeunit nth_prime_silly(int n, double millis)
     {
       sum += j;
     }
+    if (cum_time - start_cpu_time > millis)
+    {
+      std::cout << "Warning: Time limit exceeded" << std::endl;
+    }
   }
   return get_thread_time(&currTime) - start_cpu_time;
 }