This paper proposes the extension of task-based programming models with recurrent workloads concepts. The proposal introduces new clauses in the OmpSs task directive to efficiently model recurrent workloads. The clauses define the task period and/or the number of task body repetitions. Despite the new clauses are suitable for any device, their support has been implemented using the capabilities of FPGA devices in embedded systems. These heterogeneous systems are common in industrial applications that usually develop recurrent workloads. The evaluation shows a huge gap in the applications' programmability, saving lines of code, and increasing the code readability. Besides, it shows the efficient management of recurrent tasks when performed in FPGA devices, which can support one order of magnitude finer tasks. All these improvements perfectly suit the needs of cyber-physical heterogeneous systems, which are frequently used in industrial environments to run recurrent workloads.

This work is partially supported by the European Union H2020 Research and Innovation Action (project 801051), by the Spanish Government (projects SEV-2015-0493 and PID2019-107255GB, grant BES-2016-078046), and by the Generalitat de Catalunya (contracts 2017-SGR-1414 and 2017-SGR-1328).

Peer Reviewed