Task Scheduler

[Sens99]

Traditional asynchronous tasks are implemented using OS Thread, which is scheduled by the OS Kernel. The user space cannot control the kernel order and execution periodicity of these tasks, and the real-time performance of unmanned vehicle computing tasks cannot be guaranteed。

But How can I judge whether the real-time performance of tasks is guaranteed after using the task scheduling module of CyberRT?
What indicators are needed for comparison?
What methods are needed to achieve the output of these indicators?

THX