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[23.118.52.46]) by smtp.gmail.com with ESMTPSA id b3sm9293714pfi.179.2021.08.01.13.06.24 (version=TLS1_3 cipher=TLS_AES_256_GCM_SHA384 bits=256/256); Sun, 01 Aug 2021 13:06:25 -0700 (PDT) From: Peter Oskolkov X-Google-Original-From: Peter Oskolkov To: Peter Zijlstra , Ingo Molnar , Thomas Gleixner , linux-kernel@vger.kernel.org, linux-api@vger.kernel.org Cc: Paul Turner , Ben Segall , Peter Oskolkov , Peter Oskolkov , Andrei Vagin , Jann Horn , Thierry Delisle Subject: [PATCH 3/4 v0.4] sched/umcg: add Documentation/userspace-api/umcg.rst Date: Sun, 1 Aug 2021 13:06:16 -0700 Message-Id: <20210801200617.623745-4-posk@google.com> X-Mailer: git-send-email 2.25.1 In-Reply-To: <20210801200617.623745-1-posk@google.com> References: <20210801200617.623745-1-posk@google.com> MIME-Version: 1.0 Content-Transfer-Encoding: 8bit Precedence: bulk List-ID: X-Mailing-List: linux-kernel@vger.kernel.org Document User Managed Concurrency Groups syscalls, data structures, state transitions, etc. Signed-off-by: Peter Oskolkov --- Documentation/userspace-api/umcg.rst | 532 +++++++++++++++++++++++++++ 1 file changed, 532 insertions(+) create mode 100644 Documentation/userspace-api/umcg.rst diff --git a/Documentation/userspace-api/umcg.rst b/Documentation/userspace-api/umcg.rst new file mode 100644 index 000000000000..680bf336bfdc --- /dev/null +++ b/Documentation/userspace-api/umcg.rst @@ -0,0 +1,532 @@ +.. SPDX-License-Identifier: GPL-2.0 + +===================================== +UMCG Userspace API +===================================== + +User Managed Concurrency Groups (UMCG) is an M:N threading +subsystem/toolkit that lets user space application developers +implement in-process user space schedulers. + +.. contents:: :local: + +Why? Heterogeneous in-process workloads +======================================= +Linux kernel's CFS scheduler is designed for the "common" use case, +with efficiency/throughput in mind. Work isolation and workloads of +different "urgency" are addressed by tools such as cgroups, CPU +affinity, priorities, etc., which are difficult or impossible to +efficiently use in-process. + +For example, a single DBMS process may receive tens of thousands +requests per second; some of these requests may have strong response +latency requirements as they serve live user requests (e.g. login +authentication); some of these requests may not care much about +latency but must be served within a certain time period (e.g. an +hourly aggregate usage report); some of these requests are to be +served only on a best-effort basis and can be NACKed under high load +(e.g. an exploratory research/hypothesis testing workload). + +Beyond different work item latency/throughput requirements as outlined +above, the DBMS may need to provide certain guarantees to different +users; for example, user A may "reserve" 1 CPU for their +high-priority/low latency requests, 2 CPUs for mid-level throughput +workloads, and be allowed to send as many best-effort requests as +possible, which may or may not be served, depending on the DBMS load. +Besides, the best-effort work, started when the load was low, may need +to be delayed if suddenly a large amount of higher-priority work +arrives. With hundreds or thousands of users like this, it is very +difficult to guarantee the application's responsiveness using standard +Linux tools while maintaining high CPU utilization. + +Gaming is another use case: some in-process work must be completed +before a certain deadline dictated by frame rendering schedule, while +other work items can be delayed; some work may need to be +cancelled/discarded because the deadline has passed; etc. + +User Managed Concurrency Groups is an M:N threading toolkit that +allows constructing user space schedulers designed to efficiently +manage heterogeneous in-process workloads described above while +maintaining high CPU utilization (95%+). + +Requirements +============ +One relatively established way to design high-efficiency, low-latency +systems is to split all work into small on-cpu work items, with +asynchronous I/O and continuations, all executed on a thread pool with +the number of threads not exceeding the number of available CPUs. +Although this approach works, it is quite difficult to develop and +maintain such a system, as, for example, small continuations are +difficult to piece together when debugging. Besides, such asynchronous +callback-based systems tend to be somewhat cache-inefficient, as +continuations can get scheduled on any CPU regardless of cache +locality. + +M:N threading and cooperative user space scheduling enables controlled +CPU usage (minimal OS preemption), synchronous coding style, and +better cache locality. + +Specifically: + +- a variable/fluctuating number M of "application" threads should be + "scheduled over" a relatively fixed number N of "kernel" threads, + where N is less than or equal to the number of CPUs available; +- only those application threads that are attached to kernel threads + are scheduled "on CPU"; +- application threads should be able to cooperatively yield to each other; +- when an application thread blocks in kernel (e.g. in I/O), this + becomes a scheduling event ("block") that the userspace scheduler + should be able to efficiently detect, and reassign a waiting + application thread to the freeded "kernel" thread; +- when a blocked application thread wakes (e.g. its I/O operation + completes), this even ("wake") should also be detectable by the + userspace scheduler, which should be able to either quickly dispatch + the newly woken thread to an idle "kernel" thread or, if all "kernel" + threads are busy, put it in the waiting queue; +- in addition to the above, it would be extremely useful for a + separate in-process "watchdog" facility to be able to monitor the + state of each of the M+N threads, and to intervene in case of runaway + workloads (interrupt/preempt). + + +UMCG kernel API +=============== +Based on the requrements above, UMCG *kernel* API is build around +the following ideas: + +- *UMCG server*: a task/thread representing "kernel threads", or CPUs + from the requirements above; +- *UMCG worker*: a task/thread representing "application threads", to + be scheduled over servers; +- UMCG *task state*: (NONE), RUNNING, BLOCKED, IDLE: states a UMCG + task (a server or a worker) can be in; +- UMCG task *state flag*: LOCKED, PREEMPTED: additional state flags + that can be ORed with the task state to communicate additional information + to the kernel; +- ``struct umcg_task``: a per-task userspace set of data fields, usually + residing in the TLS, that fully reflects the current task's UMCG + state and controls the way the kernel manages the task; +- ``sys_umcg_ctl()``: a syscall used to register the current task/thread + as a server or a worker, or to unregister a UMCG task; +- ``sys_umcg_wait()``: a syscall used to put the current task to + sleep and/or wake another task, pontentially context-switching + between the two tasks on-CPU synchronously. + + +Servers +======= + +When a task/thread is registered as a server, it is in RUNNING +state and behaves like any other normal task/thread. In addition, +servers can interact with other UMCG tasks via sys_umcg_wait(): + +- servers can voluntarily suspend their execution (wait), becoming IDLE; +- servers can wake other IDLE servers; +- servers can context-switch between each other. + +Note that if a server blocks in the kernel *not* via sys_umcg_wait(), +it still retains its RUNNING state. + +Also note that servers can be used for fast on-CPU context switching +across process boundaries; server-worker interactions assume they +belong to the same mm. + +See the next section on how servers interact with workers. + +Workers +======= + +A worker cannot be RUNNING without having a server associated +with it, so when a task is first registered as a worker, it enters +the IDLE state. + +- a worker becomes RUNNING when a server calls sys_umcg_wait to + context-switch into it; the server goes IDLE, and the worker becomes + RUNNING in its place; +- when a running worker blocks in the kernel, it becomes BLOCKED, + its associated server becomes RUNNING and the server's + sys_umcg_wait() call from the bullet above returns; this transition + is sometimes called "block detection"; +- when the syscall on which a BLOCKED worker completes, the worker + becomes IDLE and is added to the list of idle workers; if there + is an idle server waiting, the kernel wakes it; this transition + is sometimes called "wake detection"; +- running workers can voluntarily suspend their execution (wait), + becoming IDLE; their associated servers are woken; +- a RUNNING worker can context-switch with an IDLE worker; the server + of the switched-out worker is transferred to the switched-in worker; +- any UMCG task can "wake" an IDLE worker via sys_umcg_wait(); unless + this is a server running the worker as described in the first bullet + in this list, the worker remain IDLE but is added to the idle workers + list; this "wake" operation exists for completeness, to make sure + wait/wake/context-switch operations are available for all UMCG tasks; +- the userspace can preempt a RUNNING worker by marking it + ``RUNNING|PREEMPTED`` and sending a signal to it; the userspace should + have installed a NOP signal handler for the signal; the kernel will + then transition the worker into ``IDLE|PREEMPTED`` state and wake + its associated server. + +UMCG task states +================ + +Important: all state transitions described below involve at least +two steps: the change of the state field in ``struct umcg_task``, +for example ``RUNNING`` to ``IDLE``, and the corresponding change in +``struct task_struct`` state, for example a transition between the task +running on CPU and being descheduled and removed from the kernel runqueue. +The key principle of UMCG API design is that the party initiating +the state transition modifies the state variable. + +For example, a task going ``IDLE`` first changes its state from ``RUNNING`` +to ``IDLE`` in the userpace and then calls ``sys_umcg_wait()``, which +completes the transition. + +Note on documentation: in ``include/uapi/linux/umcg.h``, task states +have the form ``UMCG_TASK_RUNNING``, ``UMCG_TASK_BLOCKED``, etc. In +this document these are usually referred to simply ``RUNNING`` and +``BLOCKED``, unless it creates ambiguity. Task state flags, e.g. +``UMCG_TF_PREEMPTED``, are treated similarly. + +UMCG task states reflect the view from the userspace, rather than from +the kernel. There are three fundamental task states: + +- ``RUNNING``: indicates that the task is schedulable by the kernel; applies + to both servers and workers; +- ``IDLE``: indicates that the task is *not* schedulable by the kernel + (see ``umcg_idle_loop()`` in ``kernel/sched/umcg.c``); applies to + both servers and workers; +- ``BLOCKED``: indicates that the worker is blocked in the kernel; + does not apply to servers. + +In addition to the three states above, two state flags help with +state transitions: + +- ``LOCKED``: the userspace is preparing the worker for a state transition + and "locks" the worker until the worker is ready for the kernel to + act on the state transition; used similarly to preempt_disable or + irq_disable in the kernel; applies only to workers in ``RUNNING`` or + ``IDLE`` state; ``RUNNING|LOCKED`` means "this worker is about to + become ``RUNNING``, while ``IDLE|LOCKED`` means "this worker is about + to become ``IDLE`` or unregister; +- ``PREEMPTED``: the userspace indicates it wants the worker to be + preempted; there are no situations when both ``LOCKED`` and ``PREEMPTED`` + flags are set at the same time. + +struct umcg_task +================ + +From ``include/uapi/linux/umcg.h``: + +.. code-block:: C + + struct umcg_task { + uint32_t state; /* r/w */ + uint32_t next_tid; /* r */ + uint64_t idle_workers_ptr; /* r/w */ + uint64_t idle_server_tid_ptr; /* r* */ + }; + +Each UMCG task is identified by ``struct umcg_task``, which is provided +to the kernel when the task is registered via ``sys_umcg_ctl()``. + +- ``uint32_t state``: the current state of the task this struct identifies, + as described in the previous section. Readable/writable by both the kernel + and the userspace. + + - bits 0 - 7: task state (RUNNING, IDLE, BLOCKED); + - bits 8 - 15: state flags (LOCKED, PREEMPTED); + - bits 16 - 23: reserved; must be zeroes; + - bits 24 - 31: for userspace use. + +- ``uint32_t next_tid``: contains the TID of the task to context-switch-into + in ``sys_umcg_wait()``; can be zero; writable by the userspace, readable + by the kernel; if this is a RUNNING worker, this field contains + the TID of the server that should be woken when this worker blocks; + see ``sys_umcg_wait()`` for more details; +- ``uint64_t idle_workers_ptr``: this field forms a single-linked list + of idle workers: all RUNNING workers have this field set to point + to the head of the list (a pointer variable in the userspace). + + When a worker's blocking operation in the kernel completes, the kernel + changes the worker's state from ``BLOCKED`` to ``IDLE`` and adds the worker + to the top of the list of idle workers using this logic: + + .. code-block:: C + + /* kernel side */ + u64 *head = (u64 *)(worker->idle_workers_ptr); /* get the head pointer */ + u64 *first = (u64 *)*head; /* get the first element */ + + /* make the worker's ptr point to the first element */ + worker->idle_workers_ptr = first; + + /* make the head pointer point to this worker */ + if (cmpxchg(head, &first, &worker->idle_workers_ptr)) + /* success */ + else + /* retry, with exponential back-off */ + + + In the userspace the list is cleared atomically using this logic: + + .. code-block:: C + + /* userspace side */ + uint64_t *idle_workers = (uint64_t *)*head; + + /* move the list from the global head to the local idle_workers */ + if (cmpxchg(&head, &idle_workers, NULL)) + /* success: process idle_workers */ + else + /* retry */ + + The userspace re-points workers' idle_workers_ptr to the list head + variable before the worker is allowed to become RUNNING again. + +- ``uint64_t idle_server_tid_ptr``: points to a pointer variable in the + userspace that points to an idle server, i.e. a server in IDLE state waiting + in sys_umcg_wait(); read-only; workers must have this field set; not used + in servers. + + When a worker's blocking operation in the kernel completes, the kernel + changes the worker's state from ``BLOCKED`` to ``IDLE``, adds the worker + to the list of idle workers, and checks whether + ``*idle_server_tid_ptr`` is not zero. If not, the kernel tries to cmpxchg() + it with zero; if cmpxchg() succeeds, the kernel will then wake the server. + See `State transitions`_ below for more details. + +sys_umcg_ctl() +============== + +``int sys_umcg_ctl(uint32_t flags, struct umcg_task *self)`` is used to +register or unregister the current task as a worker or server. Flags +can be one of the following: + +- ``UMCG_CTL_REGISTER``: register a server; +- ``UMCG_CTL_REGISTER | UMCG_CTL_WORKER``: register a worker; +- ``UMCG_CTL_UNREGISTER``: unregister the current server or worker. + +When registering a task, ``self`` must point to ``struct umcg_task`` +describing this server or worker; the pointer must remain valid until +the task is unregistered. + +When registering a server, ``self->state`` must be ``RUNNING``; all other +fields in ``self`` must be zeroes. + +When registering a worker, ``self->state`` must be ``IDLE``; +``self->idle_server_tid_ptr`` and ``self->idle_workers_ptr`` must be +valid pointers as described in `struct umcg_task`_; ``self->next_tid`` must +be zero. + +When unregistering a task, ``self`` must be ``NULL``. + +sys_umcg_wait() +=============== + +``int sys_umcg_wait(uint32_t flags, uint64_t abs_timeout)`` operates +on registered UMCG servers and workers: ``struct umcg_task *self`` provided +to ``sys_umcg_ctl()`` when registering the current task is consulted +in addition to ``flags`` and ``abs_timeout`` parameters. + +The function can be used to perform one of the three operations: + +- wait: if ``self->next_tid`` is zero, ``sys_umcg_wait()`` puts the current + server or worker to sleep; +- wake: if ``self->next_tid`` is not zero, and ``flags & UMCG_WAIT_WAKE_ONLY``, + the task identified by ``next_tid`` is woken (must be in ``IDLE`` state); +- context switch: if ``self->next_tid`` is not zero, and + ``!(flags & UMCG_WAIT_WAKE_ONLY)``, the current task is put to sleep and + the next task is woken, synchronously switching between the tasks on the + current CPU on the fast path. + +Flags can be zero or a combination of the following values: + +- ``UMCG_WAIT_WAKE_ONLY``: wake the next task, don't put the current task + to sleep; +- ``UMCG_WAIT_WF_CURRENT_CPU``: wake the next task on the curent CPU; + this flag has an effect only if ``UMCG_WAIT_WAKE_ONLY`` is set: context + switching is always attempted to happen on the curent CPU. + +The section below provides more details on how servers and workers interact +via ``sys_umcg_wait()``, during worker block/wake events, and during +worker preemption. + +State transitions +================= + +As mentioned above, the key principle of UMCG state transitions is that +**the party initiating the state transition modifies the state of affected +tasks**. + +Below, "``TASK:STATE``" indicates a task T, where T can be either W for +worker or S for server, in state S, where S can be one of the three states, +potentially ORed with a state flag. Each individual state transition +is an atomic operation (cmpxchg) unless indicated otherwise. Also note +that **the order of state transitions is important and is part of the +contract between the userspace and the kernel. The kernel is free +to kill the task (SIGSEGV) if the contract is broken.** + +Some worker state transitions below include adding ``LOCKED`` flag to +worker state. This is done to indicate to the kernel that the worker +is transitioning state and should not participate in the block/wake +detection routines, which can happen due to interrupts/pagefaults/signals. + +``IDLE|LOCKED`` means that a running worker is preparing to sleep, so +interrupts should not lead to server wakeup; ``RUNNING|LOCKED`` means that +an idle worker is going to be "scheduled to run", but may not yet have its +server set up properly. + +Key state transitions: + +- server to worker context switch ("schedule a worker to run"): + ``S:RUNNING+W:IDLE => S:IDLE+W:RUNNING``: + + - in the userspace, in the context of the server S running: + + - ``S:RUNNING => S:IDLE`` (mark self as idle) + - ``W:IDLE => W:RUNNING|LOCKED`` (mark the worker as running) + - ``W.next_tid := S.tid; S.next_tid := W.tid`` + (link the server with the worker) + - ``W:RUNNING|LOCKED => W:RUNNING`` (unlock the worker) + - ``S: sys_umcg_wait()`` (make the syscall) + + - the kernel context switches from the server to the worker; the server + sleeps until it becomes ``RUNNING`` during one of the transitions below; + +- worker to server context switch (worker "yields"): + ``S:IDLE+W:RUNNING => S:RUNNING+W:IDLE``: + + - in the userspace, in the context of the worker W running (note that + a running worker has its ``next_tid`` set to point to its server): + + - ``W:RUNNING => W:IDLE|LOCKED`` (mark self as idle) + - ``S:IDLE => S:RUNNING`` (mark the server as running) + - ``W: sys_umcg_wait()`` (make the syscall) + + - the kernel removes the ``LOCKED`` flag from the worker's state and + context switches from the worker to the server; the worker + sleeps until it becomes ``RUNNING``; + +- worker to worker context switch: + ``W1:RUNNING+W2:IDLE => W1:IDLE+W2:RUNNING``: + + - in the userspace, in the context of W1 running: + + - ``W2:IDLE => W2:RUNNING|LOCKED`` (mark W2 as running) + - ``W1:RUNNING => W1:IDLE|LOCKED`` (mark self as idle) + - ``W2.next_tid := W1.next_tid; S.next_tid := W2.next_tid`` + (transfer the server W1 => W2) + - ``W1:next_tid := W2.tid`` (indicate that W1 should + context-switch into W2) + - ``W2:RUNNING|LOCKED => W2:RUNNING`` (unlock W2) + - ``W1: sys_umcg_wait()`` (make the syscall) + + - same as above, the kernel removes the ``LOCKED`` flag from the W1's state + and context switches to next_tid; + +- worker wakeup: ``W:IDLE => W:RUNNING``: + + - in the userspace, a server S can wake a worker W without "running" it: + + - ``S:next_tid :=W.tid`` + - ``W:next_tid := 0`` + - ``W:IDLE => W:RUNNING`` + - ``sys_umcg_wait(UMCG_WAIT_WAKE_ONLY)`` (make the syscall) + + - the kernel will wake the worker W; as the worker does not have a server + assigned, "wake detection" will happen, the worker will be immediately + marked as ``IDLE`` and added to idle workers list; an idle server, if any, + will be woken (see 'wake detection' below); + - Note: if needed, it is possible for a worker to wake another worker: + the waker marks itself "IDLE|LOCKED", points its next_tid to the wakee, + makes the syscall, restores its server in next_tid, marks itself + as ``RUNNING``. + +- block detection: worker blocks in the kernel: ``S:IDLE+W:RUNNING => S:RUNNING+W:BLOCKED``: + + - when a worker blocks in the kernel in ``RUNNING`` state (not ``LOCKED``), + before descheduling the task from the CPU the kernel performs these + operations: + + - ``W:RUNNING => W:BLOCKED`` + - ``S := W.next_tid`` + - ``S:IDLE => S:RUNNING`` + - ``try_to_wake_up(S)`` + + - if any of the first three operations above fail, the worker is killed via + ``SIGSEGV``. Note that ``ttwu(S)`` is not required to succeed, as the + server may still be transitioning to sleep in ``sys_umcg_wait()``; before + actually putting the server to sleep its UMCG state is checked and, if + it is ``RUNNING``, sys_umcg_wait() returns to the userspace; + - if the worker has its ``LOCKED`` flag set, block detection does not trigger, + as the worker is assumed to be in the userspace scheduling code. + +- wake detection: worker wakes in the kernel: ``W:BLOCKED => W:IDLE``: + + - all workers' returns to the userspace are intercepted: + + - ``start:`` (a label) + - if ``W:RUNNING & W.next_tid != 0``: let the worker exit to the userspace, + as this is a ``RUNNING`` worker with a server; + - ``W:* => W:IDLE`` (previously blocked or woken without servers workers + are not allowed to return to the userspace); + - the worker is appended to ``W.idle_workers_ptr`` idle workers list; + - ``S := *W.idle_server_tid_ptr; if (S != 0) S:IDLE => S.RUNNING; ttwu(S)`` + - ``idle_loop(W)``: this is the same idle loop that ``sys_umcg_wait()`` + uses: it breaks only when the worker becomes ``RUNNING``; when the + idle loop exits, it is assumed that the userspace has properly + removed the worker from the idle workers list before marking it + ``RUNNING``; + - ``goto start;`` (repeat from the beginning). + + - the logic above is a bit more complicated in the presence of ``LOCKED`` or + ``PREEMPTED`` flags, but the main invariants stay the same: + + - only ``RUNNING`` workers with servers assigned are allowed to run + in the userspace (unless ``LOCKED``); + - newly ``IDLE`` workers are added to the idle workers list; any + user-initiated state change assumes the userspace properly removed + the worker from the list; + - as with wake detection, any "breach of contract" by the userspace + will result in the task termination via ``SIGSEGV``. + +- worker preemption: ``S:IDLE+W:RUNNING => S:RUNNING+W:IDLE|PREEMPTED``: + + - when the userspace wants to preempt a ``RUNNING`` worker, it changes + it state, atomically, ``RUNNING => RUNNING|PREEMPTED`` and sends a signal + to the worker via ``tgkill()``; the signal handler, previously set up + by the userspace, can be a NOP (note that only ``RUNNING`` workers can be + preempted); + - if the worker, at the moment the signal arrived, continued to be running + on-CPU in the userspace, the "wake detection" code will be triggered that, + in addition to what was described above, will check if the worker is in + ``RUNNING|PREEMPTED`` state: + + - ``W:RUNNING|PREEMPTED => W:IDLE|PREEMPTED`` + - ``S := W.next_tid`` + - ``S:IDLE => S:RUNNING`` + - ``try_to_wakeup(S)`` + + - if the signal arrives after the worker blocks in the kernel, the "block + detection" happened as described above, with the following change: + + - ``W:RUNNING|PREEMPTED => W:BLOCKED|PREEMPTED`` + - ``S := W.next_tid`` + - ``S:IDLE => S:RUNNING`` + - ``try_to_wake_up(S)`` + + - in any case, the worker's server is woken, with its attached worker + (``S.next_tid``) either in ``BLOCKED|PREEMPTED`` or ``IDLE|PREEMPTED`` + state. + +Server-only use cases +===================== + +Some workloads/applications may benefit from fast and synchronous on-CPU +user-initiated context switches without the need for full userspace +scheduling (block/wake detection). These applications can use "standalone" +UMCG servers to wait/wake/context-switch, including across process boundaries. + +These "worker-less" operations involve trivial ``RUNNING`` <==> ``IDLE`` +state changes, not discussed here for brevity. + -- 2.25.1