[PATCH] smp: Add Deterministic Priority SMP Scheduler
Joel Sherrill
joel.sherrill at OARcorp.com
Mon Aug 19 15:19:21 UTC 2013
Still needs an addition to the Configuring a System chapter.
Thanks for providing more details in the comments.
On 8/19/2013 10:12 AM, Sebastian Huber wrote:
> ---
> cpukit/sapi/include/confdefs.h | 24 ++-
> cpukit/score/Makefile.am | 2 +
> .../include/rtems/score/schedulerpriorityimpl.h | 17 ++
> .../include/rtems/score/schedulerprioritysmp.h | 94 +++++++++
> cpukit/score/preinstall.am | 4 +
> cpukit/score/src/schedulerprioritysmp.c | 217 ++++++++++++++++++++
> cpukit/score/src/schedulerpriorityupdate.c | 10 +-
> .../smptests/smpmigration01/smpmigration01.scn | 24 +-
> 8 files changed, 370 insertions(+), 22 deletions(-)
> create mode 100644 cpukit/score/include/rtems/score/schedulerprioritysmp.h
> create mode 100644 cpukit/score/src/schedulerprioritysmp.c
>
> diff --git a/cpukit/sapi/include/confdefs.h b/cpukit/sapi/include/confdefs.h
> index 31d28ac..dc4fb5e 100644
> --- a/cpukit/sapi/include/confdefs.h
> +++ b/cpukit/sapi/include/confdefs.h
> @@ -606,6 +606,7 @@ const rtems_libio_helper rtems_fs_init_helper =
> * scheduling policy to use. The supported configurations are:
> * CONFIGURE_SCHEDULER_USER - user provided scheduler
> * CONFIGURE_SCHEDULER_PRIORITY - Deterministic Priority Scheduler
> + * CONFIGURE_SCHEDULER_PRIORITY_SMP - Deterministic Priority SMP Scheduler
> * CONFIGURE_SCHEDULER_SIMPLE - Light-weight Priority Scheduler
> * CONFIGURE_SCHEDULER_SIMPLE_SMP - Simple SMP Priority Scheduler
> * CONFIGURE_SCHEDULER_EDF - EDF Scheduler
> @@ -629,12 +630,13 @@ const rtems_libio_helper rtems_fs_init_helper =
> /* If no scheduler is specified, the priority scheduler is default. */
> #if !defined(CONFIGURE_SCHEDULER_USER) && \
> !defined(CONFIGURE_SCHEDULER_PRIORITY) && \
> + !defined(CONFIGURE_SCHEDULER_PRIORITY_SMP) && \
> !defined(CONFIGURE_SCHEDULER_SIMPLE) && \
> !defined(CONFIGURE_SCHEDULER_SIMPLE_SMP) && \
> !defined(CONFIGURE_SCHEDULER_EDF) && \
> !defined(CONFIGURE_SCHEDULER_CBS)
> #if defined(RTEMS_SMP) && defined(CONFIGURE_SMP_APPLICATION)
> - #define CONFIGURE_SCHEDULER_SIMPLE_SMP
> + #define CONFIGURE_SCHEDULER_PRIORITY_SMP
> #else
> #define CONFIGURE_SCHEDULER_PRIORITY
> #endif
> @@ -659,6 +661,26 @@ const rtems_libio_helper rtems_fs_init_helper =
> #endif
>
> /*
> + * If the Deterministic Priority SMP Scheduler is selected, then configure for
> + * it.
> + */
> +#if defined(CONFIGURE_SCHEDULER_PRIORITY_SMP)
> + #include <rtems/score/schedulerprioritysmp.h>
> + #define CONFIGURE_SCHEDULER_ENTRY_POINTS SCHEDULER_PRIORITY_SMP_ENTRY_POINTS
> +
> + /**
> + * This defines the memory used by the priority scheduler.
> + */
> + #define CONFIGURE_MEMORY_FOR_SCHEDULER ( \
> + _Configure_From_workspace( \
> + sizeof(Scheduler_SMP_Control) + \
> + ((CONFIGURE_MAXIMUM_PRIORITY) * sizeof(Chain_Control)) ) \
> + )
> + #define CONFIGURE_MEMORY_PER_TASK_FOR_SCHEDULER ( \
> + _Configure_From_workspace(sizeof(Scheduler_priority_Per_thread)) )
> +#endif
> +
> +/*
> * If the Simple Priority Scheduler is selected, then configure for it.
> */
> #if defined(CONFIGURE_SCHEDULER_SIMPLE)
> diff --git a/cpukit/score/Makefile.am b/cpukit/score/Makefile.am
> index c5af9c7..c9d2d47 100644
> --- a/cpukit/score/Makefile.am
> +++ b/cpukit/score/Makefile.am
> @@ -53,6 +53,7 @@ include_rtems_score_HEADERS += include/rtems/score/scheduleredf.h
> include_rtems_score_HEADERS += include/rtems/score/scheduleredfimpl.h
> include_rtems_score_HEADERS += include/rtems/score/schedulerpriority.h
> include_rtems_score_HEADERS += include/rtems/score/schedulerpriorityimpl.h
> +include_rtems_score_HEADERS += include/rtems/score/schedulerprioritysmp.h
> include_rtems_score_HEADERS += include/rtems/score/schedulersimple.h
> include_rtems_score_HEADERS += include/rtems/score/schedulersimpleimpl.h
> include_rtems_score_HEADERS += include/rtems/score/schedulersmp.h
> @@ -119,6 +120,7 @@ libscore_a_SOURCES += src/mpci.c src/objectmp.c src/threadmp.c
> endif
>
> if HAS_SMP
> +libscore_a_SOURCES += src/schedulerprioritysmp.c
> libscore_a_SOURCES += src/schedulersimplesmp.c
> libscore_a_SOURCES += src/schedulersmpstartidle.c
> libscore_a_SOURCES += src/smp.c
> diff --git a/cpukit/score/include/rtems/score/schedulerpriorityimpl.h b/cpukit/score/include/rtems/score/schedulerpriorityimpl.h
> index 9f45f21..1c85150 100644
> --- a/cpukit/score/include/rtems/score/schedulerpriorityimpl.h
> +++ b/cpukit/score/include/rtems/score/schedulerpriorityimpl.h
> @@ -186,6 +186,23 @@ RTEMS_INLINE_ROUTINE void _Scheduler_priority_Schedule_body(
> _Scheduler_Update_heir( heir, force_dispatch );
> }
>
> +RTEMS_INLINE_ROUTINE void _Scheduler_priority_Update_body(
> + Thread_Control *thread,
> + Chain_Control *ready_queues
> +)
> +{
> + Scheduler_priority_Per_thread *sched_info_of_thread =
> + _Scheduler_priority_Get_scheduler_info( thread );
> +
> + sched_info_of_thread->ready_chain =
> + &ready_queues[ thread->current_priority ];
> +
> + _Priority_bit_map_Initialize_information(
> + &sched_info_of_thread->Priority_map,
> + thread->current_priority
> + );
> +}
> +
> /**
> * @brief Priority comparison.
> *
> diff --git a/cpukit/score/include/rtems/score/schedulerprioritysmp.h b/cpukit/score/include/rtems/score/schedulerprioritysmp.h
> new file mode 100644
> index 0000000..6eaf9fa
> --- /dev/null
> +++ b/cpukit/score/include/rtems/score/schedulerprioritysmp.h
> @@ -0,0 +1,94 @@
> +/**
> + * @file
> + *
> + * @ingroup ScoreSchedulerPrioritySMP
> + *
> + * @brief Deterministic Priority SMP Scheduler API
> + */
> +
> +/*
> + * Copyright (c) 2013 embedded brains GmbH. All rights reserved.
> + *
> + * embedded brains GmbH
> + * Dornierstr. 4
> + * 82178 Puchheim
> + * Germany
> + * <rtems at embedded-brains.de>
> + *
> + * The license and distribution terms for this file may be
> + * found in the file LICENSE in this distribution or at
> + * http://www.rtems.com/license/LICENSE.
> + */
> +
> +#ifndef _RTEMS_SCORE_SCHEDULERPRIORITYSMP_H
> +#define _RTEMS_SCORE_SCHEDULERPRIORITYSMP_H
> +
> +#include <rtems/score/scheduler.h>
> +#include <rtems/score/schedulerpriority.h>
> +#include <rtems/score/schedulersmp.h>
> +
> +#ifdef __cplusplus
> +extern "C" {
> +#endif /* __cplusplus */
> +
> +/**
> + * @defgroup ScoreSchedulerPrioritySMP Deterministic Priority SMP Scheduler
> + *
> + * @ingroup ScoreScheduler
> + *
> + * This is an implementation of the global job-level fixed priority scheduler
> + * (G-JLFP). It uses one ready chain per priority to ensure constant time
> + * insert operations. The scheduled chain uses linear insert operations and
> + * has at most processor count entries. Since the processor and priority count
> + * are constants all scheduler operations complete in a bounded execution time.
> + *
> + * The thread preempt mode will be ignored.
> + *
> + * @{
> + */
> +
> +/**
> + * @brief Entry points for the Simple SMP Scheduler.
> + */
> +#define SCHEDULER_PRIORITY_SMP_ENTRY_POINTS \
> + { \
> + _Scheduler_priority_SMP_Initialize, \
> + _Scheduler_priority_SMP_Schedule, \
> + _Scheduler_priority_SMP_Yield, \
> + _Scheduler_priority_SMP_Block, \
> + _Scheduler_priority_SMP_Enqueue_fifo, \
> + _Scheduler_priority_Allocate, \
> + _Scheduler_priority_Free, \
> + _Scheduler_priority_SMP_Update, \
> + _Scheduler_priority_SMP_Enqueue_fifo, \
> + _Scheduler_priority_SMP_Enqueue_lifo, \
> + _Scheduler_priority_SMP_Extract, \
> + _Scheduler_priority_Priority_compare, \
> + _Scheduler_default_Release_job, \
> + _Scheduler_default_Tick, \
> + _Scheduler_SMP_Start_idle \
> + }
> +
> +void _Scheduler_priority_SMP_Initialize( void );
> +
> +void _Scheduler_priority_SMP_Schedule( Thread_Control *thread );
> +
> +void _Scheduler_priority_SMP_Block( Thread_Control *thread );
> +
> +void _Scheduler_priority_SMP_Update( Thread_Control *thread );
> +
> +void _Scheduler_priority_SMP_Enqueue_fifo( Thread_Control *thread );
> +
> +void _Scheduler_priority_SMP_Enqueue_lifo( Thread_Control *thread );
> +
> +void _Scheduler_priority_SMP_Extract( Thread_Control *thread );
> +
> +void _Scheduler_priority_SMP_Yield( Thread_Control *thread );
> +
> +/** @} */
> +
> +#ifdef __cplusplus
> +}
> +#endif /* __cplusplus */
> +
> +#endif /* _RTEMS_SCORE_SCHEDULERPRIORITYSMP_H */
> diff --git a/cpukit/score/preinstall.am b/cpukit/score/preinstall.am
> index 4e645f4..79a18b5 100644
> --- a/cpukit/score/preinstall.am
> +++ b/cpukit/score/preinstall.am
> @@ -195,6 +195,10 @@ $(PROJECT_INCLUDE)/rtems/score/schedulerpriorityimpl.h: include/rtems/score/sche
> $(INSTALL_DATA) $< $(PROJECT_INCLUDE)/rtems/score/schedulerpriorityimpl.h
> PREINSTALL_FILES += $(PROJECT_INCLUDE)/rtems/score/schedulerpriorityimpl.h
>
> +$(PROJECT_INCLUDE)/rtems/score/schedulerprioritysmp.h: include/rtems/score/schedulerprioritysmp.h $(PROJECT_INCLUDE)/rtems/score/$(dirstamp)
> + $(INSTALL_DATA) $< $(PROJECT_INCLUDE)/rtems/score/schedulerprioritysmp.h
> +PREINSTALL_FILES += $(PROJECT_INCLUDE)/rtems/score/schedulerprioritysmp.h
> +
> $(PROJECT_INCLUDE)/rtems/score/schedulersimple.h: include/rtems/score/schedulersimple.h $(PROJECT_INCLUDE)/rtems/score/$(dirstamp)
> $(INSTALL_DATA) $< $(PROJECT_INCLUDE)/rtems/score/schedulersimple.h
> PREINSTALL_FILES += $(PROJECT_INCLUDE)/rtems/score/schedulersimple.h
> diff --git a/cpukit/score/src/schedulerprioritysmp.c b/cpukit/score/src/schedulerprioritysmp.c
> new file mode 100644
> index 0000000..4a868cd
> --- /dev/null
> +++ b/cpukit/score/src/schedulerprioritysmp.c
> @@ -0,0 +1,217 @@
> +/**
> + * @file
> + *
> + * @brief Deterministic Priority SMP Scheduler Implementation
> + *
> + * @ingroup ScoreSchedulerSMP
> + */
> +
> +/*
> + * Copyright (c) 2013 embedded brains GmbH. All rights reserved.
> + *
> + * embedded brains GmbH
> + * Dornierstr. 4
> + * 82178 Puchheim
> + * Germany
> + * <rtems at embedded-brains.de>
> + *
> + * The license and distribution terms for this file may be
> + * found in the file LICENSE in this distribution or at
> + * http://www.rtems.com/license/LICENSE.
> + */
> +
> +#if HAVE_CONFIG_H
> + #include "config.h"
> +#endif
> +
> +#include <rtems/score/schedulerprioritysmp.h>
> +#include <rtems/score/schedulerpriorityimpl.h>
> +#include <rtems/score/schedulersmpimpl.h>
> +#include <rtems/score/wkspace.h>
> +
> +static Scheduler_SMP_Control *_Scheduler_priority_SMP_Instance( void )
> +{
> + return _Scheduler.information;
> +}
> +
> +void _Scheduler_priority_SMP_Initialize( void )
> +{
> + Scheduler_SMP_Control *self = _Workspace_Allocate_or_fatal_error(
> + sizeof( *self ) + PRIORITY_MAXIMUM * sizeof( Chain_Control )
> + );
> +
> + _Chain_Initialize_empty( &self->scheduled );
> + _Scheduler_priority_Ready_queue_initialize( &self->ready[ 0 ] );
> +
> + _Scheduler.information = self;
> +}
> +
> +void _Scheduler_priority_SMP_Update( Thread_Control *thread )
> +{
> + Scheduler_SMP_Control *self = _Scheduler_priority_SMP_Instance();
> +
> + _Scheduler_priority_Update_body( thread, &self->ready[ 0 ] );
> +}
> +
> +static Thread_Control *_Scheduler_priority_SMP_Get_highest_ready(
> + Scheduler_SMP_Control *self
> +)
> +{
> + Thread_Control *highest_ready = NULL;
> +
> + if ( !_Priority_bit_map_Is_empty() ) {
> + highest_ready = _Scheduler_priority_Ready_queue_first( &self->ready[ 0 ] );
> + }
> +
> + return highest_ready;
> +}
> +
> +static void _Scheduler_priority_SMP_Move_from_scheduled_to_ready(
> + Scheduler_SMP_Control *self,
> + Thread_Control *scheduled_to_ready
> +)
> +{
> + _Chain_Extract_unprotected( &scheduled_to_ready->Object.Node );
> + _Scheduler_priority_Ready_queue_enqueue_first( scheduled_to_ready );
> +}
> +
> +static void _Scheduler_priority_SMP_Move_from_ready_to_scheduled(
> + Scheduler_SMP_Control *self,
> + Thread_Control *ready_to_scheduled
> +)
> +{
> + _Scheduler_priority_Ready_queue_extract( ready_to_scheduled );
> + _Scheduler_simple_Insert_priority_fifo(
> + &self->scheduled,
> + ready_to_scheduled
> + );
> +}
> +
> +static void _Scheduler_priority_SMP_Insert_ready_lifo(
> + Scheduler_SMP_Control *self,
> + Thread_Control *thread
> +)
> +{
> + _Scheduler_priority_Ready_queue_enqueue( thread );
> +}
> +
> +static void _Scheduler_priority_SMP_Insert_ready_fifo(
> + Scheduler_SMP_Control *self,
> + Thread_Control *thread
> +)
> +{
> + _Scheduler_priority_Ready_queue_enqueue_first( thread );
> +}
> +
> +static void _Scheduler_priority_SMP_Do_extract(
> + Scheduler_SMP_Control *self,
> + Thread_Control *thread
> +)
> +{
> + bool is_scheduled = thread->is_scheduled;
> +
> + ( void ) self;
> +
> + thread->is_in_the_air = is_scheduled;
> + thread->is_scheduled = false;
> +
> + if ( is_scheduled ) {
> + _Chain_Extract_unprotected( &thread->Object.Node );
> + } else {
> + _Scheduler_priority_Ready_queue_extract( thread );
> + }
> +}
> +
> +void _Scheduler_priority_SMP_Block( Thread_Control *thread )
> +{
> + Scheduler_SMP_Control *self = _Scheduler_SMP_Instance();
> +
> + _Scheduler_SMP_Block(
> + self,
> + thread,
> + _Scheduler_priority_SMP_Do_extract,
> + _Scheduler_priority_SMP_Get_highest_ready,
> + _Scheduler_priority_SMP_Move_from_ready_to_scheduled
> + );
> +}
> +
> +static void _Scheduler_priority_SMP_Enqueue_ordered(
> + Scheduler_SMP_Control *self,
> + Thread_Control *thread,
> + Chain_Node_order order,
> + Scheduler_SMP_Insert insert_ready,
> + Scheduler_SMP_Insert insert_scheduled
> +)
> +{
> + _Scheduler_SMP_Enqueue_ordered(
> + self,
> + thread,
> + order,
> + _Scheduler_priority_SMP_Get_highest_ready,
> + insert_ready,
> + insert_scheduled,
> + _Scheduler_priority_SMP_Move_from_ready_to_scheduled,
> + _Scheduler_priority_SMP_Move_from_scheduled_to_ready
> + );
> +}
> +
> +void _Scheduler_priority_SMP_Enqueue_lifo( Thread_Control *thread )
> +{
> + Scheduler_SMP_Control *self = _Scheduler_SMP_Instance();
> +
> + _Scheduler_priority_SMP_Enqueue_ordered(
> + self,
> + thread,
> + _Scheduler_simple_Insert_priority_lifo_order,
> + _Scheduler_priority_SMP_Insert_ready_lifo,
> + _Scheduler_SMP_Insert_scheduled_lifo
> + );
> +}
> +
> +void _Scheduler_priority_SMP_Enqueue_fifo( Thread_Control *thread )
> +{
> + Scheduler_SMP_Control *self = _Scheduler_SMP_Instance();
> +
> + _Scheduler_priority_SMP_Enqueue_ordered(
> + self,
> + thread,
> + _Scheduler_simple_Insert_priority_fifo_order,
> + _Scheduler_priority_SMP_Insert_ready_fifo,
> + _Scheduler_SMP_Insert_scheduled_fifo
> + );
> +}
> +
> +void _Scheduler_priority_SMP_Extract( Thread_Control *thread )
> +{
> + Scheduler_SMP_Control *self = _Scheduler_SMP_Instance();
> +
> + _Scheduler_SMP_Extract(
> + self,
> + thread,
> + _Scheduler_priority_SMP_Do_extract
> + );
> +}
> +
> +void _Scheduler_priority_SMP_Yield( Thread_Control *thread )
> +{
> + ISR_Level level;
> +
> + _ISR_Disable( level );
> +
> + _Scheduler_priority_SMP_Extract( thread );
> + _Scheduler_priority_SMP_Enqueue_fifo( thread );
> +
> + _ISR_Enable( level );
> +}
> +
> +void _Scheduler_priority_SMP_Schedule( Thread_Control *thread )
> +{
> + Scheduler_SMP_Control *self = _Scheduler_SMP_Instance();
> +
> + _Scheduler_SMP_Schedule(
> + self,
> + thread,
> + _Scheduler_priority_SMP_Get_highest_ready,
> + _Scheduler_priority_SMP_Move_from_ready_to_scheduled
> + );
> +}
> diff --git a/cpukit/score/src/schedulerpriorityupdate.c b/cpukit/score/src/schedulerpriorityupdate.c
> index de3f026..062b369 100644
> --- a/cpukit/score/src/schedulerpriorityupdate.c
> +++ b/cpukit/score/src/schedulerpriorityupdate.c
> @@ -25,15 +25,7 @@ void _Scheduler_priority_Update(
> Thread_Control *the_thread
> )
> {
> - Scheduler_priority_Per_thread *sched_info_of_thread =
> - _Scheduler_priority_Get_scheduler_info( the_thread );
> Chain_Control *ready_queues = _Scheduler_priority_Get_ready_queues();
>
> - sched_info_of_thread->ready_chain =
> - &ready_queues[ the_thread->current_priority ];
> -
> - _Priority_bit_map_Initialize_information(
> - &sched_info_of_thread->Priority_map,
> - the_thread->current_priority
> - );
> + _Scheduler_priority_Update_body( the_thread, ready_queues );
> }
> diff --git a/testsuites/smptests/smpmigration01/smpmigration01.scn b/testsuites/smptests/smpmigration01/smpmigration01.scn
> index c5a2106..b2b56ff 100644
> --- a/testsuites/smptests/smpmigration01/smpmigration01.scn
> +++ b/testsuites/smptests/smpmigration01/smpmigration01.scn
> @@ -1,17 +1,17 @@
> *** TEST SMPMIGRATION 1 ***
> runner 0
> - cpu 0 tokens 530399
> - cpu 0 cycles 10077490
> - cpu 1 tokens 530399
> - cpu 1 cycles 10071429
> + cpu 0 tokens 453284
> + cpu 0 cycles 14955317
> + cpu 1 tokens 453283
> + cpu 1 cycles 14978390
> runner 1
> - cpu 0 tokens 530399
> - cpu 0 cycles 5978212
> - cpu 1 tokens 530399
> - cpu 1 cycles 7951897
> + cpu 0 tokens 453283
> + cpu 0 cycles 21302793
> + cpu 1 tokens 453283
> + cpu 1 cycles 21318817
> runner 2
> - cpu 0 tokens 530399
> - cpu 0 cycles 10070929
> - cpu 1 tokens 530398
> - cpu 1 cycles 10106437
> + cpu 0 tokens 453283
> + cpu 0 cycles 19973312
> + cpu 1 tokens 453283
> + cpu 1 cycles 21315227
> *** END OF TEST SMPMIGRATION 1 ***
> --
> 1.7.7
>
> _______________________________________________
> rtems-devel mailing list
> rtems-devel at rtems.org
> http://www.rtems.org/mailman/listinfo/rtems-devel
--
Joel Sherrill, Ph.D. Director of Research & Development
joel.sherrill at OARcorp.com On-Line Applications Research
Ask me about RTEMS: a free RTOS Huntsville AL 35805
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