Linux内核设计与实现：进程调度

进程调度是确保进程能够有效运行的内核子系统

多任务

多任务操作系统是 并发地交互执行多个进程的操作系统；可分为 抢占式任务和非抢占式任务。

抢占式：

每个进程的可运行的时间是预设好的，叫作时间片；每当进程的时间片走完，进程会被强制挂起，这个动作叫作 抢占，这个是由操作系统的调度程序来决定的，这样可以避免其他进程独占系统资源；

非抢占式：

除非进程主动停止，否则会一直运行下去，而进程主动挂起的动作叫让步，优点是给进程足够的时间处理任务，缺点是时间无法预计，并且有可能因为长时间占用系统资源造成系统崩溃；

策略：（进程分为 I/O消耗型 和 处理器消耗型）

1. I/O消耗型：此类进程大部分时间用来提交 I/O请求或者是等待 I/O请求，经常处于可运行状态， 但是由于经常处理大量的 I/O请求，会导致程序容易阻塞；（不需要太长的时间片）
2. 处理器消耗型： 除非被抢占，否则大部分时间都被用在执行代码上，没有太多的I/O请求；（时间片越长越好）

也有既是I/O消耗型，也是处理器消耗型的进程。

进程优先级：

一般是优先级高的进程比低的先运行，若是相同的优先级，则按照轮转的方式进行调度。
若是优先级高且时间片长，则先运行；

Linux有两种优先级：

1. nice值：值越大，优先级越低；
2. 实时优先级：值越大，优先级越高；

时间片：

时间片表明程序在被抢占前持续运行的时间；

一个进程是否要立刻运行，取决于进程优先级和时间片；

Linux调度算法

1. 调度器类： 以模块方式提供，允许不同类型可以有针对性的选择调度算法，每个调度器都有优先级。

<kernek/sched/core.c>

struct sched_class {
	const struct sched_class *next;

#ifdef CONFIG_UCLAMP_TASK
	int uclamp_enabled;
#endif

	void (*enqueue_task) (struct rq *rq, struct task_struct *p, int flags);
	void (*dequeue_task) (struct rq *rq, struct task_struct *p, int flags);
	void (*yield_task)   (struct rq *rq);
	bool (*yield_to_task)(struct rq *rq, struct task_struct *p, bool preempt);

	void (*check_preempt_curr)(struct rq *rq, struct task_struct *p, int flags);

	/*
	 * Both @prev and @rf are optional and may be NULL, in which case the
	 * caller must already have invoked put_prev_task(rq, prev, rf).
	 *
	 * Otherwise it is the responsibility of the pick_next_task() to call
	 * put_prev_task() on the @prev task or something equivalent, IFF it
	 * returns a next task.
	 *
	 * In that case (@rf != NULL) it may return RETRY_TASK when it finds a
	 * higher prio class has runnable tasks.
	 */
	struct task_struct * (*pick_next_task)(struct rq *rq,
					       struct task_struct *prev,
					       struct rq_flags *rf);
	void (*put_prev_task)(struct rq *rq, struct task_struct *p);
	void (*set_next_task)(struct rq *rq, struct task_struct *p, bool first);

#ifdef CONFIG_SMP
	int (*balance)(struct rq *rq, struct task_struct *prev, struct rq_flags *rf);
	int  (*select_task_rq)(struct task_struct *p, int task_cpu, int sd_flag, int flags);
	void (*migrate_task_rq)(struct task_struct *p, int new_cpu);

	void (*task_woken)(struct rq *this_rq, struct task_struct *task);

	void (*set_cpus_allowed)(struct task_struct *p,
				 const struct cpumask *newmask);

	void (*rq_online)(struct rq *rq);
	void (*rq_offline)(struct rq *rq);
#endif

	void (*task_tick)(struct rq *rq, struct task_struct *p, int queued);
	void (*task_fork)(struct task_struct *p);
	void (*task_dead)(struct task_struct *p);

	/*
	 * The switched_from() call is allowed to drop rq->lock, therefore we
	 * cannot assume the switched_from/switched_to pair is serliazed by
	 * rq->lock. They are however serialized by p->pi_lock.
	 */
	void (*switched_from)(struct rq *this_rq, struct task_struct *task);
	void (*switched_to)  (struct rq *this_rq, struct task_struct *task);
	void (*prio_changed) (struct rq *this_rq, struct task_struct *task,
			      int oldprio);

	unsigned int (*get_rr_interval)(struct rq *rq,
					struct task_struct *task);

	void (*update_curr)(struct rq *rq);

#define TASK_SET_GROUP		0
#define TASK_MOVE_GROUP		1

#ifdef CONFIG_FAIR_GROUP_SCHED
	void (*task_change_group)(struct task_struct *p, int type);
#endif
};

CFS：公平调度算法

在多任务情况下趋近于完美的多任务算法，但是并不是完美的公平，降低了调度带来的不公平性。

nice值和时间片的分配通过CFS算法来平衡，例如nice值分别为10和15的两个进程，时间片的
分配为15ms 和 5ms。而觉得这个分配的不是nice的绝对值，而是其相对值和比例。

在进程优先级相同的情况下，如果进程过多甚至趋近于无限，则每个进程获得的处理器使用比和时间比都将趋近于0，这样就毫无意义（考虑到还有切换进程带来的开销代价），所以CFS算法设置了时间片最小粒度，每个进程最少也会分配到1ms的时间片。

调度实现：

调度实现由四个部分组成：

1. 时间记账
2. 进程选择
3. 调度器入口
4. 睡眠和唤醒

其相关代码在<kernel/fair.c>中

1.时间记账

所有调度器都会对进程的时间片进行记账，每当系统时钟的节拍发生时，时间片都会减少一个周期，当时间片耗尽时，就会被其他进程抢占。        

CFS使用调度器的实体结构

struct sched_entity {
	/* For load-balancing: */
	struct load_weight		load;
	unsigned long			runnable_weight;
	struct rb_node			run_node;
	struct list_head		group_node;
	unsigned int			on_rq;

	u64				exec_start;
	u64				sum_exec_runtime;
	u64				vruntime;		//存放进程的虚拟允许时间：经过了所有可运行进程总数的标准化，和节拍不再相关，因为是ns为单位
	u64				prev_sum_exec_runtime;

	u64				nr_migrations;

	struct sched_statistics		statistics;

#ifdef CONFIG_FAIR_GROUP_SCHED
	int				depth;
	struct sched_entity		*parent;
	/* rq on which this entity is (to be) queued: */
	struct cfs_rq			*cfs_rq;
	/* rq "owned" by this entity/group: */
	struct cfs_rq			*my_q;
#endif

#ifdef CONFIG_SMP
	/*
	 * Per entity load average tracking.
	 *
	 * Put into separate cache line so it does not
	 * collide with read-mostly values above.
	 */
	struct sched_avg		avg;
#endif
};

该结构体嵌在task_struct 内；
记账功能：

static void update_curr(struct cfs_rq *cfs_rq)
{
	struct sched_entity *curr = cfs_rq->curr;
	u64 now = rq_clock_task(rq_of(cfs_rq));
	u64 delta_exec;		//当前进程允许的时间，然后再传给__update_curr()，然后再根据当前进程运行总数对时间进行加权

	if (unlikely(!curr))
		return;
	/*
		获得从最后一次修改负载后当前任务所占用的运行时间*/

	delta_exec = now - curr->exec_start;
	if (unlikely((s64)delta_exec <= 0))
		return;

	curr->exec_start = now;

	schedstat_set(curr->statistics.exec_max,
		      max(delta_exec, curr->statistics.exec_max));

	curr->sum_exec_runtime += delta_exec;
	schedstat_add(cfs_rq->exec_clock, delta_exec);

	curr->vruntime += calc_delta_fair(delta_exec, curr);
	update_min_vruntime(cfs_rq);

	if (entity_is_task(curr)) {
		struct task_struct *curtask = task_of(curr);

		trace_sched_stat_runtime(curtask, delta_exec, curr->vruntime);
		cgroup_account_cputime(curtask, delta_exec);
		account_group_exec_runtime(curtask, delta_exec);
	}

	account_cfs_rq_runtime(cfs_rq, delta_exec);
}

2.进程选择（太长，暂时不写）

当CFS选择下一个运行进程时，他会挑选一个具有最小vruntime的进程。（使用红黑树来组织进程队列，沿着根节点往左子树找，可以找到最小vruntime的进程）

static struct sched_entity *__pick_next_entity(struct sched_entity *se)
{
	struct rb_node *next = rb_next(&se->run_node);

	if (!next)
		return NULL;

	return rb_entry(next, struct sched_entity, run_node);
}

添加进程至CFS:

static void
enqueue_entity(struct cfs_rq *cfs_rq, struct sched_entity *se, int flags)
{
	bool renorm = !(flags & ENQUEUE_WAKEUP) || (flags & ENQUEUE_MIGRATED);
	bool curr = cfs_rq->curr == se;

	/*
	 * If we're the current task, we must renormalise before calling
	 * update_curr().
	 */
	if (renorm && curr)
		se->vruntime += cfs_rq->min_vruntime;
	// 更新当前任务的运行时统计数据
	update_curr(cfs_rq);

	/*
	 * Otherwise, renormalise after, such that we're placed at the current
	 * moment in time, instead of some random moment in the past. Being
	 * placed in the past could significantly boost this task to the
	 * fairness detriment of existing tasks.
	 */
	if (renorm && !curr)
		se->vruntime += cfs_rq->min_vruntime;

	/*
	 * When enqueuing a sched_entity, we must:
	 *   - Update loads to have both entity and cfs_rq synced with now.
	 *   - Add its load to cfs_rq->runnable_avg
	 *   - For group_entity, update its weight to reflect the new share of
	 *     its group cfs_rq
	 *   - Add its new weight to cfs_rq->load.weight
	 */
	update_load_avg(cfs_rq, se, UPDATE_TG | DO_ATTACH);
	update_cfs_group(se);
	enqueue_runnable_load_avg(cfs_rq, se);
	account_entity_enqueue(cfs_rq, se);

	if (flags & ENQUEUE_WAKEUP)
		place_entity(cfs_rq, se, 0);

	check_schedstat_required();
	update_stats_enqueue(cfs_rq, se, flags);
	check_spread(cfs_rq, se);
	if (!curr)
		__enqueue_entity(cfs_rq, se);
	se->on_rq = 1;

	/*
	 * When bandwidth control is enabled, cfs might have been removed
	 * because of a parent been throttled but cfs->nr_running > 1. Try to
	 * add it unconditionnally.
	 */
	if (cfs_rq->nr_running == 1 || cfs_bandwidth_used())
		list_add_leaf_cfs_rq(cfs_rq);

	if (cfs_rq->nr_running == 1)
		check_enqueue_throttle(cfs_rq);
}

/*
 * Enqueue an entity into the rb-tree:
 */
static void __enqueue_entity(struct cfs_rq *cfs_rq, struct sched_entity *se)
{
	struct rb_node **link = &cfs_rq->tasks_timeline.rb_root.rb_node;
	struct rb_node *parent = NULL;
	struct sched_entity *entry;
	bool leftmost = true;

	/*
	 * Find the right place in the rbtree:
	 */
	while (*link) {
		parent = *link;
		entry = rb_entry(parent, struct sched_entity, run_node);
		/*
		 * We dont care about collisions. Nodes with
		 * the same key stay together.
		 */
		if (entity_before(se, entry)) {
			link = &parent->rb_left;
		} else {
			link = &parent->rb_right;
			leftmost = false;
		}
	}

	rb_link_node(&se->run_node, parent, link);
	rb_insert_color_cached(&se->run_node,
			       &cfs_rq->tasks_timeline, leftmost);
}

删除进程：

static void dequeue_entity(struct cfs_rq *cfs_rq, struct sched_entity *se, int flags)
{
	/*
	 * Update run-time statistics of the 'current'.
	 */
	update_curr(cfs_rq);

	/*
	 * When dequeuing a sched_entity, we must:
	 *   - Update loads to have both entity and cfs_rq synced with now.
	 *   - Subtract its load from the cfs_rq->runnable_avg.
	 *   - Subtract its previous weight from cfs_rq->load.weight.
	 *   - For group entity, update its weight to reflect the new share
	 *     of its group cfs_rq.
	 */
	update_load_avg(cfs_rq, se, UPDATE_TG);
	dequeue_runnable_load_avg(cfs_rq, se);

	update_stats_dequeue(cfs_rq, se, flags);

	clear_buddies(cfs_rq, se);

	if (se != cfs_rq->curr)
		__dequeue_entity(cfs_rq, se);
	se->on_rq = 0;
	account_entity_dequeue(cfs_rq, se);

	/*
	 * Normalize after update_curr(); which will also have moved
	 * min_vruntime if @se is the one holding it back. But before doing
	 * update_min_vruntime() again, which will discount @se's position and
	 * can move min_vruntime forward still more.
	 */
	if (!(flags & DEQUEUE_SLEEP))
		se->vruntime -= cfs_rq->min_vruntime;

	/* return excess runtime on last dequeue */
	return_cfs_rq_runtime(cfs_rq);

	update_cfs_group(se);

	/*
	 * Now advance min_vruntime if @se was the entity holding it back,
	 * except when: DEQUEUE_SAVE && !DEQUEUE_MOVE, in this case we'll be
	 * put back on, and if we advance min_vruntime, we'll be placed back
	 * further than we started -- ie. we'll be penalized.
	 */
	if ((flags & (DEQUEUE_SAVE | DEQUEUE_MOVE)) != DEQUEUE_SAVE)
		update_min_vruntime(cfs_rq);
}

static void __dequeue_entity(struct cfs_rq *cfs_rq, struct sched_entity *se)
{
	rb_erase_cached(&se->run_node, &cfs_rq->tasks_timeline);
}

3.调度器入口

进程调度入口函数是schedule()，（找到最高优先级的调度列）

/*
 * Pick up the highest-prio task:
 */
static inline struct task_struct *
pick_next_task(struct rq *rq, struct task_struct *prev, struct rq_flags *rf)
{
	const struct sched_class *class;
	struct task_struct *p;

	/*
	 * Optimization: we know that if all tasks are in the fair class we can
	 * call that function directly, but only if the @prev task wasn't of a
	 * higher scheduling class, because otherwise those loose the
	 * opportunity to pull in more work from other CPUs.
	 */
	if (likely((prev->sched_class == &idle_sched_class ||
		    prev->sched_class == &fair_sched_class) &&
		   rq->nr_running == rq->cfs.h_nr_running)) {

		p = fair_sched_class.pick_next_task(rq, prev, rf);
		if (unlikely(p == RETRY_TASK))
			goto restart;

		/* Assumes fair_sched_class->next == idle_sched_class */
		if (unlikely(!p))
			p = idle_sched_class.pick_next_task(rq, prev, rf);

		return p;
	}

4.睡眠和唤醒

休眠的进程处于一个不可执行的状态
进程把自己标记成休眠状态，从可执行红黑树中移除，放入等待队列，然后调用schedule()选择和执行其他进程，唤醒的过程则相反。
休眠有两种状态：TASK_INTERRUPTABLE 和 TASK_UNINTERRUPTABLE,前者会忽略信号量，后者遇到信号量会被提前唤醒。

抢占和上下文切换

上下文切换：从一个可执行进程切换到另外一个可执行进程。函数为context_switch()

static __always_inline struct rq *
context_switch(struct rq *rq, struct task_struct *prev,
	       struct task_struct *next, struct rq_flags *rf)
{
	prepare_task_switch(rq, prev, next);

	/*
	 * For paravirt, this is coupled with an exit in switch_to to
	 * combine the page table reload and the switch backend into
	 * one hypercall.
	 */
	arch_start_context_switch(prev);

	/*
	 * kernel -> kernel   lazy + transfer active
	 *   user -> kernel   lazy + mmgrab() active
	 *
	 * kernel ->   user   switch + mmdrop() active
	 *   user ->   user   switch
	 */
	if (!next->mm) {                                // to kernel
		enter_lazy_tlb(prev->active_mm, next);

		next->active_mm = prev->active_mm;
		if (prev->mm)                           // from user
			mmgrab(prev->active_mm);
		else
			prev->active_mm = NULL;
	} else {                                        // to user
		membarrier_switch_mm(rq, prev->active_mm, next->mm);
		/*
		 * sys_membarrier() requires an smp_mb() between setting
		 * rq->curr / membarrier_switch_mm() and returning to userspace.
		 *
		 * The below provides this either through switch_mm(), or in
		 * case 'prev->active_mm == next->mm' through
		 * finish_task_switch()'s mmdrop().
		 */
		switch_mm_irqs_off(prev->active_mm, next->mm, next);	//负责将虚拟内存从上一个进程映射到新的进程中

		if (!prev->mm) {                        // from kernel
			/* will mmdrop() in finish_task_switch(). */
			rq->prev_mm = prev->active_mm;
			prev->active_mm = NULL;
		}
	}

	rq->clock_update_flags &= ~(RQCF_ACT_SKIP|RQCF_REQ_SKIP);

	prepare_lock_switch(rq, next, rf);

	/* Here we just switch the register state and the stack. */
	switch_to(prev, next, prev);	//将上一个进程的处理器状态切换到新进程的处理器状态
	barrier();

	return finish_task_switch(prev);
}

与调度相关的系统调用