Real-Time Linux Kernel Scheduler

The -rt patchset, or just -rt, adds real-time scheduling capabilities to the Linux kernel.
Important -rt Patchset Scheduler Data Structures and Concepts

The main per-CPU runqueue data structure struct rq, holds a structure struct rt_rq that encapsulates information about the real-time tasks placed on the per-CPU runqueue, as shown in Listing 1.

Real-time tasks have a priority in the range of 0–99. These tasks are organized on a runqueue in a priority-indexed array active, of type struct rt_prio_array. An rt_prio_array consists of an array of subqueues. There is one subqueue per priority level. Each subqueue contains the runnable real-time tasks at the corresponding priority level. There is also a bitmask corresponding to the array that is used to determine effectively the highest-priority task on the runqueue.

rt_nr_running and rt_nr_uninterruptible are counts of the number of runnable real-time tasks and the number of tasks in the TASK_UNINTERRUPTIBLE state, respectively.

rt_nr_migratory indicates the number of tasks on the runqueue that can be migrated to other runqueues. Some real-time tasks are bound to a specific CPU, such as the kernel thread softirq-timer. It is quite possible that a number of such affined threads wake up on a CPU at the same time. For example, the softirq-timer thread might cause the softirq-sched kernel thread to become active, resulting in two real-time tasks becoming runnable. This causes the runqueue to be overloaded with real-time tasks. When overloaded, the real-time scheduler normally will cause other CPUs to pull tasks. These tasks, however, cannot be pulled by another CPU because of their CPU affinity. The other CPUs cannot determine this without the overhead of locking several data structures. This can be avoided by maintaining a count of the number of tasks on the runqueue that can be migrated to other CPUs. When a task is added to a runqueue, the hamming weight of the task->cpus_allowed mask is looked at (cached in task->rt.nr_cpus_allowed). If the value is greater than one, the rt_nr_migratory field of the runqueue is incremented by one. The overloaded field is set when a runqueue contains more than one real-time task and at least one of them can be migrated to another runqueue. It is updated whenever a real-time task is enqueued on a runqueue.

The highest_prio field indicates the priority of the highest-priority task queued on the runqueue. This may or may not be the priority of the task currently executing on the runqueue (the highest-priority task could have just been enqueued on the runqueue and is pending a schedule). This variable is updated whenever a task is enqueued on a runqueue. The value of the highest_prio is used when scanning every runqueue to find the lowest-priority runqueue for pushing a task. If the highest_prio of the target runqueue is smaller than the task to be pushed, the task is pushed to that runqueue.

Figure 1 shows the values of the above data structures in an example scenario.

Figure 1. Example Runqueues

Root Domain

As mentioned before, because the real-time scheduler requires several global, or system-wide, resources for making scheduling decisions, scalability bottlenecks appear as the number of CPUs increase (due to increased contention for the locks protecting these resources). For instance, in order to find out if the system is overloaded with real-time tasks—that is, has more runnable real-time tasks than the number of CPUs—it needs to look at the state of all the runqueues. In earlier versions, a global rt_overload variable was used to track the status of all the runqueues on a system. This variable would then be used by the scheduler on every call to the schedule() routine, thus leading to huge contention.

Recently, several enhancements were made to the scheduler to reduce the contention for such variables to improve scalability. The concept of root domains was introduced by Gregory Haskins for this purpose. cpusets provide a mechanism to partition CPUs into a subset that is used by a process or a group of processes. Several cpusets could overlap. A cpuset is called exclusive if no other cpuset contains overlapping CPUs. Each exclusive cpuset defines an isolated domain (called a root domain) of CPUs partitioned from other cpusets or CPUs. Information pertaining to every root domain is stored in struct root_domain, as shown in Listing 2. These root domains are used to narrow the scope of the global variables to per-domain variables. Whenever an exclusive cpuset is created, a new root domain object is created with information from the member CPUs. By default, a single high-level root domain is created with all CPUs as members. With the rescoping of the rt_overload variable, the cache-line bouncing would affect only the members of a particular domain and not the entire system. All real-time scheduling decisions are made only within the scope of a root domain.


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