linux-toradex.git/kernel/sched, branch v4.4.114

sched/deadline: Use the revised wakeup rule for suspending constrained dl tasks

2018-01-31T11:06:07+00:00

commit 3effcb4247e74a51f5d8b775a1ee4abf87cc089a upstream.

We have been facing some problems with self-suspending constrained
deadline tasks. The main reason is that the original CBS was not
designed for such sort of tasks.

One problem reported by Xunlei Pang takes place when a task
suspends, and then is awakened before the deadline, but so close
to the deadline that its remaining runtime can cause the task
to have an absolute density higher than allowed. In such situation,
the original CBS assumes that the task is facing an early activation,
and so it replenishes the task and set another deadline, one deadline
in the future. This rule works fine for implicit deadline tasks.
Moreover, it allows the system to adapt the period of a task in which
the external event source suffered from a clock drift.

However, this opens the window for bandwidth leakage for constrained
deadline tasks. For instance, a task with the following parameters:

  runtime   = 5 ms
  deadline  = 7 ms
  [density] = 5 / 7 = 0.71
  period    = 1000 ms

If the task runs for 1 ms, and then suspends for another 1ms,
it will be awakened with the following parameters:

  remaining runtime = 4
  laxity = 5

presenting a absolute density of 4 / 5 = 0.80.

In this case, the original CBS would assume the task had an early
wakeup. Then, CBS will reset the runtime, and the absolute deadline will
be postponed by one relative deadline, allowing the task to run.

The problem is that, if the task runs this pattern forever, it will keep
receiving bandwidth, being able to run 1ms every 2ms. Following this
behavior, the task would be able to run 500 ms in 1 sec. Thus running
more than the 5 ms / 1 sec the admission control allowed it to run.

Trying to address the self-suspending case, Luca Abeni, Giuseppe
Lipari, and Juri Lelli [1] revisited the CBS in order to deal with
self-suspending tasks. In the new approach, rather than
replenishing/postponing the absolute deadline, the revised wakeup rule
adjusts the remaining runtime, reducing it to fit into the allowed
density.

A revised version of the idea is:

At a given time t, the maximum absolute density of a task cannot be
higher than its relative density, that is:

  runtime / (deadline - t) <= dl_runtime / dl_deadline

Knowing the laxity of a task (deadline - t), it is possible to move
it to the other side of the equality, thus enabling to define max
remaining runtime a task can use within the absolute deadline, without
over-running the allowed density:

  runtime = (dl_runtime / dl_deadline) * (deadline - t)

For instance, in our previous example, the task could still run:

  runtime = ( 5 / 7 ) * 5
  runtime = 3.57 ms

Without causing damage for other deadline tasks. It is note worthy
that the laxity cannot be negative because that would cause a negative
runtime. Thus, this patch depends on the patch:

  df8eac8cafce ("sched/deadline: Throttle a constrained deadline task activated after the deadline")

Which throttles a constrained deadline task activated after the
deadline.

Finally, it is also possible to use the revised wakeup rule for
all other tasks, but that would require some more discussions
about pros and cons.

[The main difference from the original commit is that
 the BW_SHIFT define was not present yet. As BW_SHIFT was
 introduced in a new feature, I just used the value (20),
 likewise we used to use before the #define.
 Other changes were required because of comments. - bistrot]

Reported-by: Xunlei Pang 
Signed-off-by: Daniel Bristot de Oliveira 
[peterz: replaced dl_is_constrained with dl_is_implicit]
Signed-off-by: Peter Zijlstra (Intel) 
Cc: Juri Lelli 
Cc: Linus Torvalds 
Cc: Luca Abeni 
Cc: Mike Galbraith 
Cc: Peter Zijlstra 
Cc: Romulo Silva de Oliveira 
Cc: Steven Rostedt 
Cc: Thomas Gleixner 
Cc: Tommaso Cucinotta 
Link: http://lkml.kernel.org/r/5c800ab3a74a168a84ee5f3f84d12a02e11383be.1495803804.git.bristot@redhat.com
Signed-off-by: Ingo Molnar 
Signed-off-by: Daniel Bristot de Oliveira 
Signed-off-by: Greg Kroah-Hartman

sched/deadline: Zero out positive runtime after throttling constrained tasks

2018-01-23T18:50:15+00:00

commit ae83b56a56f8d9643dedbee86b457fa1c5d42f59 upstream.

When a contrained task is throttled by dl_check_constrained_dl(),
it may carry the remaining positive runtime, as a result when
dl_task_timer() fires and calls replenish_dl_entity(), it will
not be replenished correctly due to the positive dl_se->runtime.

This patch assigns its runtime to 0 if positive after throttling.

Signed-off-by: Xunlei Pang 
Signed-off-by: Peter Zijlstra (Intel) 
Acked-by: Daniel Bristot de Oliveira 
Cc: Juri Lelli 
Cc: Linus Torvalds 
Cc: Luca Abeni 
Cc: Mike Galbraith 
Cc: Peter Zijlstra 
Cc: Steven Rostedt 
Cc: Thomas Gleixner 
Fixes: df8eac8cafce ("sched/deadline: Throttle a constrained deadline task activated after the deadline)
Link: http://lkml.kernel.org/r/1494421417-27550-1-git-send-email-xlpang@redhat.com
Signed-off-by: Ingo Molnar 
Cc: Ben Hutchings 
Signed-off-by: Greg Kroah-Hartman

sched/core: Idle_task_exit() shouldn't use switch_mm_irqs_off()

2017-12-25T13:22:09+00:00

commit 252d2a4117bc181b287eeddf848863788da733ae upstream.

idle_task_exit() can be called with IRQs on x86 on and therefore
should use switch_mm(), not switch_mm_irqs_off().

This doesn't seem to cause any problems right now, but it will
confuse my upcoming TLB flush changes.  Nonetheless, I think it
should be backported because it's trivial.  There won't be any
meaningful performance impact because idle_task_exit() is only
used when offlining a CPU.

Signed-off-by: Andy Lutomirski 
Cc: Borislav Petkov 
Cc: Linus Torvalds 
Cc: Peter Zijlstra 
Cc: Thomas Gleixner 
Cc: stable@vger.kernel.org
Fixes: f98db6013c55 ("sched/core: Add switch_mm_irqs_off() and use it in the scheduler")
Link: http://lkml.kernel.org/r/ca3d1a9fa93a0b49f5a8ff729eda3640fb6abdf9.1497034141.git.luto@kernel.org
Signed-off-by: Ingo Molnar 
Signed-off-by: Greg Kroah-Hartman

sched/core: Add switch_mm_irqs_off() and use it in the scheduler

2017-12-25T13:22:09+00:00

commit f98db6013c557c216da5038d9c52045be55cd039 upstream.

By default, this is the same thing as switch_mm().

x86 will override it as an optimization.

Signed-off-by: Andy Lutomirski 
Reviewed-by: Borislav Petkov 
Cc: Borislav Petkov 
Cc: Linus Torvalds 
Cc: Peter Zijlstra 
Cc: Thomas Gleixner 
Link: http://lkml.kernel.org/r/df401df47bdd6be3e389c6f1e3f5310d70e81b2c.1461688545.git.luto@kernel.org
Signed-off-by: Ingo Molnar 
Signed-off-by: Greg Kroah-Hartman

sched/deadline: Use deadline instead of period when calculating overflow

2017-12-20T09:04:55+00:00

[ Upstream commit 2317d5f1c34913bac5971d93d69fb6c31bb74670 ]

I was testing Daniel's changes with his test case, and tweaked it a
little. Instead of having the runtime equal to the deadline, I
increased the deadline ten fold.

Daniel's test case had:

	attr.sched_runtime  = 2 * 1000 * 1000;		/* 2 ms */
	attr.sched_deadline = 2 * 1000 * 1000;		/* 2 ms */
	attr.sched_period   = 2 * 1000 * 1000 * 1000;	/* 2 s */

To make it more interesting, I changed it to:

	attr.sched_runtime  =  2 * 1000 * 1000;		/* 2 ms */
	attr.sched_deadline = 20 * 1000 * 1000;		/* 20 ms */
	attr.sched_period   =  2 * 1000 * 1000 * 1000;	/* 2 s */

The results were rather surprising. The behavior that Daniel's patch
was fixing came back. The task started using much more than .1% of the
CPU. More like 20%.

Looking into this I found that it was due to the dl_entity_overflow()
constantly returning true. That's because it uses the relative period
against relative runtime vs the absolute deadline against absolute
runtime.

  runtime / (deadline - t) > dl_runtime / dl_period

There's even a comment mentioning this, and saying that when relative
deadline equals relative period, that the equation is the same as using
deadline instead of period. That comment is backwards! What we really
want is:

  runtime / (deadline - t) > dl_runtime / dl_deadline

We care about if the runtime can make its deadline, not its period. And
then we can say "when the deadline equals the period, the equation is
the same as using dl_period instead of dl_deadline".

After correcting this, now when the task gets enqueued, it can throttle
correctly, and Daniel's fix to the throttling of sleeping deadline
tasks works even when the runtime and deadline are not the same.

Signed-off-by: Steven Rostedt (VMware) 
Signed-off-by: Peter Zijlstra (Intel) 
Reviewed-by: Daniel Bristot de Oliveira 
Cc: Juri Lelli 
Cc: Linus Torvalds 
Cc: Luca Abeni 
Cc: Mike Galbraith 
Cc: Peter Zijlstra 
Cc: Romulo Silva de Oliveira 
Cc: Steven Rostedt 
Cc: Thomas Gleixner 
Cc: Tommaso Cucinotta 
Link: http://lkml.kernel.org/r/02135a27f1ae3fe5fd032568a5a2f370e190e8d7.1488392936.git.bristot@redhat.com
Signed-off-by: Ingo Molnar 
Signed-off-by: Sasha Levin 
Signed-off-by: Greg Kroah-Hartman

sched/deadline: Throttle a constrained deadline task activated after the deadline

2017-12-20T09:04:55+00:00

[ Upstream commit df8eac8cafce7d086be3bd5cf5a838fa37594dfb ]

During the activation, CBS checks if it can reuse the current task's
runtime and period. If the deadline of the task is in the past, CBS
cannot use the runtime, and so it replenishes the task. This rule
works fine for implicit deadline tasks (deadline == period), and the
CBS was designed for implicit deadline tasks. However, a task with
constrained deadline (deadine < period) might be awakened after the
deadline, but before the next period. In this case, replenishing the
task would allow it to run for runtime / deadline. As in this case
deadline < period, CBS enables a task to run for more than the
runtime / period. In a very loaded system, this can cause a domino
effect, making other tasks miss their deadlines.

To avoid this problem, in the activation of a constrained deadline
task after the deadline but before the next period, throttle the
task and set the replenishing timer to the begin of the next period,
unless it is boosted.

Reproducer:

 --------------- %< ---------------
  int main (int argc, char **argv)
  {
	int ret;
	int flags = 0;
	unsigned long l = 0;
	struct timespec ts;
	struct sched_attr attr;

	memset(&attr, 0, sizeof(attr));
	attr.size = sizeof(attr);

	attr.sched_policy   = SCHED_DEADLINE;
	attr.sched_runtime  = 2 * 1000 * 1000;		/* 2 ms */
	attr.sched_deadline = 2 * 1000 * 1000;		/* 2 ms */
	attr.sched_period   = 2 * 1000 * 1000 * 1000;	/* 2 s */

	ts.tv_sec = 0;
	ts.tv_nsec = 2000 * 1000;			/* 2 ms */

	ret = sched_setattr(0, &attr, flags);

	if (ret < 0) {
		perror("sched_setattr");
		exit(-1);
	}

	for(;;) {
		/* XXX: you may need to adjust the loop */
		for (l = 0; l < 150000; l++);
		/*
		 * The ideia is to go to sleep right before the deadline
		 * and then wake up before the next period to receive
		 * a new replenishment.
		 */
		nanosleep(&ts, NULL);
	}

	exit(0);
  }
  --------------- >% ---------------

On my box, this reproducer uses almost 50% of the CPU time, which is
obviously wrong for a task with 2/2000 reservation.

Signed-off-by: Daniel Bristot de Oliveira 
Signed-off-by: Peter Zijlstra (Intel) 
Cc: Juri Lelli 
Cc: Linus Torvalds 
Cc: Luca Abeni 
Cc: Mike Galbraith 
Cc: Peter Zijlstra 
Cc: Romulo Silva de Oliveira 
Cc: Steven Rostedt 
Cc: Thomas Gleixner 
Cc: Tommaso Cucinotta 
Link: http://lkml.kernel.org/r/edf58354e01db46bf42df8d2dd32418833f68c89.1488392936.git.bristot@redhat.com
Signed-off-by: Ingo Molnar 
Signed-off-by: Sasha Levin 
Signed-off-by: Greg Kroah-Hartman

sched/deadline: Make sure the replenishment timer fires in the next period

2017-12-20T09:04:55+00:00

[ Upstream commit 5ac69d37784b237707a7b15d199cdb6c6fdb6780 ]

Currently, the replenishment timer is set to fire at the deadline
of a task. Although that works for implicit deadline tasks because the
deadline is equals to the begin of the next period, that is not correct
for constrained deadline tasks (deadline < period).

For instance:

f.c:
 --------------- %< ---------------
int main (void)
{
	for(;;);
}
 --------------- >% ---------------

  # gcc -o f f.c

  # trace-cmd record -e sched:sched_switch                              \
				   -e syscalls:sys_exit_sched_setattr   \
   chrt -d --sched-runtime  490000000					\
           --sched-deadline 500000000					\
	   --sched-period  1000000000 0 ./f

  # trace-cmd report | grep "{pid of ./f}"

After setting parameters, the task is replenished and continue running
until being throttled:

         f-11295 [003] 13322.113776: sys_exit_sched_setattr: 0x0

The task is throttled after running 492318 ms, as expected:

         f-11295 [003] 13322.606094: sched_switch:   f:11295 [-1] R ==> watchdog/3:32 [0]

But then, the task is replenished 500719 ms after the first
replenishment:

    -0     [003] 13322.614495: sched_switch:   swapper/3:0 [120] R ==> f:11295 [-1]

Running for 490277 ms:

         f-11295 [003] 13323.104772: sched_switch:   f:11295 [-1] R ==>  swapper/3:0 [120]

Hence, in the first period, the task runs 2 * runtime, and that is a bug.

During the first replenishment, the next deadline is set one period away.
So the runtime / period starts to be respected. However, as the second
replenishment took place in the wrong instant, the next replenishment
will also be held in a wrong instant of time. Rather than occurring in
the nth period away from the first activation, it is taking place
in the (nth period - relative deadline).

Signed-off-by: Daniel Bristot de Oliveira 
Signed-off-by: Peter Zijlstra (Intel) 
Reviewed-by: Luca Abeni 
Reviewed-by: Steven Rostedt (VMware) 
Reviewed-by: Juri Lelli 
Cc: Linus Torvalds 
Cc: Mike Galbraith 
Cc: Peter Zijlstra 
Cc: Romulo Silva de Oliveira 
Cc: Steven Rostedt 
Cc: Thomas Gleixner 
Cc: Tommaso Cucinotta 
Link: http://lkml.kernel.org/r/ac50d89887c25285b47465638354b63362f8adff.1488392936.git.bristot@redhat.com
Signed-off-by: Ingo Molnar 
Signed-off-by: Sasha Levin 
Signed-off-by: Greg Kroah-Hartman

sched/rt: Do not pull from current CPU if only one CPU to pull

2017-12-20T09:04:52+00:00

commit f73c52a5bcd1710994e53fbccc378c42b97a06b6 upstream.

Daniel Wagner reported a crash on the BeagleBone Black SoC.

This is a single CPU architecture, and does not have a functional
arch_send_call_function_single_ipi() implementation which can crash
the kernel if that is called.

As it only has one CPU, it shouldn't be called, but if the kernel is
compiled for SMP, the push/pull RT scheduling logic now calls it for
irq_work if the one CPU is overloaded, it can use that function to call
itself and crash the kernel.

Ideally, we should disable the SCHED_FEAT(RT_PUSH_IPI) if the system
only has a single CPU. But SCHED_FEAT is a constant if sched debugging
is turned off. Another fix can also be used, and this should also help
with normal SMP machines. That is, do not initiate the pull code if
there's only one RT overloaded CPU, and that CPU happens to be the
current CPU that is scheduling in a lower priority task.

Even on a system with many CPUs, if there's many RT tasks waiting to
run on a single CPU, and that CPU schedules in another RT task of lower
priority, it will initiate the PULL logic in case there's a higher
priority RT task on another CPU that is waiting to run. But if there is
no other CPU with waiting RT tasks, it will initiate the RT pull logic
on itself (as it still has RT tasks waiting to run). This is a wasted
effort.

Not only does this help with SMP code where the current CPU is the only
one with RT overloaded tasks, it should also solve the issue that
Daniel encountered, because it will prevent the PULL logic from
executing, as there's only one CPU on the system, and the check added
here will cause it to exit the RT pull code.

Reported-by: Daniel Wagner 
Signed-off-by: Steven Rostedt (VMware) 
Acked-by: Peter Zijlstra 
Cc: Linus Torvalds 
Cc: Sebastian Andrzej Siewior 
Cc: Thomas Gleixner 
Cc: linux-rt-users 
Fixes: 4bdced5c9 ("sched/rt: Simplify the IPI based RT balancing logic")
Link: http://lkml.kernel.org/r/20171202130454.4cbbfe8d@vmware.local.home
Signed-off-by: Ingo Molnar 
Signed-off-by: Greg Kroah-Hartman

sched/rt: Simplify the IPI based RT balancing logic

2017-11-30T08:37:25+00:00

commit 4bdced5c9a2922521e325896a7bbbf0132c94e56 upstream.

When a CPU lowers its priority (schedules out a high priority task for a
lower priority one), a check is made to see if any other CPU has overloaded
RT tasks (more than one). It checks the rto_mask to determine this and if so
it will request to pull one of those tasks to itself if the non running RT
task is of higher priority than the new priority of the next task to run on
the current CPU.

When we deal with large number of CPUs, the original pull logic suffered
from large lock contention on a single CPU run queue, which caused a huge
latency across all CPUs. This was caused by only having one CPU having
overloaded RT tasks and a bunch of other CPUs lowering their priority. To
solve this issue, commit:

  b6366f048e0c ("sched/rt: Use IPI to trigger RT task push migration instead of pulling")

changed the way to request a pull. Instead of grabbing the lock of the
overloaded CPU's runqueue, it simply sent an IPI to that CPU to do the work.

Although the IPI logic worked very well in removing the large latency build
up, it still could suffer from a large number of IPIs being sent to a single
CPU. On a 80 CPU box, I measured over 200us of processing IPIs. Worse yet,
when I tested this on a 120 CPU box, with a stress test that had lots of
RT tasks scheduling on all CPUs, it actually triggered the hard lockup
detector! One CPU had so many IPIs sent to it, and due to the restart
mechanism that is triggered when the source run queue has a priority status
change, the CPU spent minutes! processing the IPIs.

Thinking about this further, I realized there's no reason for each run queue
to send its own IPI. As all CPUs with overloaded tasks must be scanned
regardless if there's one or many CPUs lowering their priority, because
there's no current way to find the CPU with the highest priority task that
can schedule to one of these CPUs, there really only needs to be one IPI
being sent around at a time.

This greatly simplifies the code!

The new approach is to have each root domain have its own irq work, as the
rto_mask is per root domain. The root domain has the following fields
attached to it:

  rto_push_work	 - the irq work to process each CPU set in rto_mask
  rto_lock	 - the lock to protect some of the other rto fields
  rto_loop_start - an atomic that keeps contention down on rto_lock
		    the first CPU scheduling in a lower priority task
		    is the one to kick off the process.
  rto_loop_next	 - an atomic that gets incremented for each CPU that
		    schedules in a lower priority task.
  rto_loop	 - a variable protected by rto_lock that is used to
		    compare against rto_loop_next
  rto_cpu	 - The cpu to send the next IPI to, also protected by
		    the rto_lock.

When a CPU schedules in a lower priority task and wants to make sure
overloaded CPUs know about it. It increments the rto_loop_next. Then it
atomically sets rto_loop_start with a cmpxchg. If the old value is not "0",
then it is done, as another CPU is kicking off the IPI loop. If the old
value is "0", then it will take the rto_lock to synchronize with a possible
IPI being sent around to the overloaded CPUs.

If rto_cpu is greater than or equal to nr_cpu_ids, then there's either no
IPI being sent around, or one is about to finish. Then rto_cpu is set to the
first CPU in rto_mask and an IPI is sent to that CPU. If there's no CPUs set
in rto_mask, then there's nothing to be done.

When the CPU receives the IPI, it will first try to push any RT tasks that is
queued on the CPU but can't run because a higher priority RT task is
currently running on that CPU.

Then it takes the rto_lock and looks for the next CPU in the rto_mask. If it
finds one, it simply sends an IPI to that CPU and the process continues.

If there's no more CPUs in the rto_mask, then rto_loop is compared with
rto_loop_next. If they match, everything is done and the process is over. If
they do not match, then a CPU scheduled in a lower priority task as the IPI
was being passed around, and the process needs to start again. The first CPU
in rto_mask is sent the IPI.

This change removes this duplication of work in the IPI logic, and greatly
lowers the latency caused by the IPIs. This removed the lockup happening on
the 120 CPU machine. It also simplifies the code tremendously. What else
could anyone ask for?

Thanks to Peter Zijlstra for simplifying the rto_loop_start atomic logic and
supplying me with the rto_start_trylock() and rto_start_unlock() helper
functions.

Signed-off-by: Steven Rostedt (VMware) 
Signed-off-by: Peter Zijlstra (Intel) 
Cc: Clark Williams 
Cc: Daniel Bristot de Oliveira 
Cc: John Kacur 
Cc: Linus Torvalds 
Cc: Mike Galbraith 
Cc: Peter Zijlstra 
Cc: Scott Wood 
Cc: Thomas Gleixner 
Link: http://lkml.kernel.org/r/20170424114732.1aac6dc4@gandalf.local.home
Signed-off-by: Ingo Molnar 
Signed-off-by: Greg Kroah-Hartman

sched: Make resched_cpu() unconditional

2017-11-30T08:37:19+00:00

commit 7c2102e56a3f7d85b5d8f33efbd7aecc1f36fdd8 upstream.

The current implementation of synchronize_sched_expedited() incorrectly
assumes that resched_cpu() is unconditional, which it is not.  This means
that synchronize_sched_expedited() can hang when resched_cpu()'s trylock
fails as follows (analysis by Neeraj Upadhyay):

o	CPU1 is waiting for expedited wait to complete:

	sync_rcu_exp_select_cpus
	     rdp->exp_dynticks_snap & 0x1   // returns 1 for CPU5
	     IPI sent to CPU5

	synchronize_sched_expedited_wait
		 ret = swait_event_timeout(rsp->expedited_wq,
					   sync_rcu_preempt_exp_done(rnp_root),
					   jiffies_stall);

	expmask = 0x20, CPU 5 in idle path (in cpuidle_enter())

o	CPU5 handles IPI and fails to acquire rq lock.

	Handles IPI
	     sync_sched_exp_handler
		 resched_cpu
		     returns while failing to try lock acquire rq->lock
		 need_resched is not set

o	CPU5 calls  rcu_idle_enter() and as need_resched is not set, goes to
	idle (schedule() is not called).

o	CPU 1 reports RCU stall.

Given that resched_cpu() is now used only by RCU, this commit fixes the
assumption by making resched_cpu() unconditional.

Reported-by: Neeraj Upadhyay 
Suggested-by: Neeraj Upadhyay 
Signed-off-by: Paul E. McKenney 
Acked-by: Steven Rostedt (VMware) 
Acked-by: Peter Zijlstra (Intel) 
Signed-off-by: Greg Kroah-Hartman