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The most important way to achieve higher performance in computer systems isthrough heterogeneous computing, i.e., by adopting hardware platformscontaining more than one type of processor, such as CPUs, GPUs, and FPGAs.Several types of algorithms can be executed significantly faster on aheterogeneous platform. However, migrating CPU-executable software to othertypes of execution platforms poses a number of challenges to softwareengineering. Significant efforts are required in such type of migration,particularly for re-architecting and re-implementing the software. Further,optimizing it in terms of performance and other runtime properties can be verychallenging, making the process complex, expensive, and error-prone. Therefore,a systematic approach based on explicit and justified architectural decisionsis needed for a successful refactoring process from a homogeneous to aheterogeneous platform. In this paper, we propose a decision framework thatsupports engineers when refactoring software systems to accommodateheterogeneous platforms. It includes the assessment of important factors inorder to minimize the risk of recurrent problems in the process. Through a setof questions, practitioners are able to formulate answers that will help inmaking appropriate architectural decisions to accommodate heterogeneousplatforms. The contents of the framework have been developed and evolved basedon discussions with architects and developers in the automotive domain.

Refactoring Software in the Automotive Domain for Execution on Heterogeneous Platforms