[ported from 2008.3] Core LITMUS^RT infrastructure

Port 2008.3 Core LITMUS^RT infrastructure to Linux 2.6.32

litmus_sched_class implements 4 new methods:

- prio_changed:
  void

- switched_to:
  void

- get_rr_interval:
  return infinity (i.e., 0)

- select_task_rq:
  return current cpu

1 files changed, 654 insertions, 0 deletions

diff --git a/litmus/litmus.c b/litmus/litmus.c
new file mode 100644
index 000000000000..eb0d17e298d7
--- /dev/null
+++ b/litmus/litmus.c
@@ -0,0 +1,654 @@
+/* litmus.c -- Implementation of the LITMUS syscalls, the LITMUS intialization code,
+ *             and the procfs interface..
+ */
+#include <asm/uaccess.h>
+#include <linux/uaccess.h>
+#include <linux/sysrq.h>
+
+#include <linux/module.h>
+#include <linux/proc_fs.h>
+#include <linux/slab.h>
+
+#include <litmus/litmus.h>
+#include <linux/sched.h>
+#include <litmus/sched_plugin.h>
+
+#include <litmus/heap.h>
+
+#include <litmus/trace.h>
+
+/* Number of RT tasks that exist in the system */
+atomic_t rt_task_count          = ATOMIC_INIT(0);
+static DEFINE_SPINLOCK(task_transition_lock);
+
+/* Give log messages sequential IDs. */
+atomic_t __log_seq_no = ATOMIC_INIT(0);
+
+/* current master CPU for handling timer IRQs */
+atomic_t release_master_cpu = ATOMIC_INIT(NO_CPU);
+
+static struct kmem_cache * heap_node_cache;
+
+struct heap_node* heap_node_alloc(int gfp_flags)
+{
+        return kmem_cache_alloc(heap_node_cache, gfp_flags);
+}
+
+void heap_node_free(struct heap_node* hn)
+{
+        kmem_cache_free(heap_node_cache, hn);
+}
+
+/*
+ * sys_set_task_rt_param
+ * @pid: Pid of the task which scheduling parameters must be changed
+ * @param: New real-time extension parameters such as the execution cost and
+ *         period
+ * Syscall for manipulating with task rt extension params
+ * Returns EFAULT  if param is NULL.
+ *         ESRCH   if pid is not corrsponding
+ *                 to a valid task.
+ *         EINVAL  if either period or execution cost is <=0
+ *         EPERM   if pid is a real-time task
+ *         0       if success
+ *
+ * Only non-real-time tasks may be configured with this system call
+ * to avoid races with the scheduler. In practice, this means that a
+ * task's parameters must be set _before_ calling sys_prepare_rt_task()
+ *
+ * find_task_by_vpid() assumes that we are in the same namespace of the
+ * target.
+ */
+asmlinkage long sys_set_rt_task_param(pid_t pid, struct rt_task __user * param)
+{
+        struct rt_task tp;
+        struct task_struct *target;
+        int retval = -EINVAL;
+
+        printk("Setting up rt task parameters for process %d.\n", pid);
+
+        if (pid < 0 || param == 0) {
+                goto out;
+        }
+        if (copy_from_user(&tp, param, sizeof(tp))) {
+                retval = -EFAULT;
+                goto out;
+        }
+
+        /* Task search and manipulation must be protected */
+        read_lock_irq(&tasklist_lock);
+        if (!(target = find_task_by_vpid(pid))) {
+                retval = -ESRCH;
+                goto out_unlock;
+        }
+
+        if (is_realtime(target)) {
+                /* The task is already a real-time task.
+                 * We cannot not allow parameter changes at this point.
+                 */
+                retval = -EBUSY;
+                goto out_unlock;
+        }
+
+        if (tp.exec_cost <= 0)
+                goto out_unlock;
+        if (tp.period <= 0)
+                goto out_unlock;
+        if (!cpu_online(tp.cpu))
+                goto out_unlock;
+        if (tp.period < tp.exec_cost)
+        {
+                printk(KERN_INFO "litmus: real-time task %d rejected "
+                       "because wcet > period\n", pid);
+                goto out_unlock;
+        }
+
+        target->rt_param.task_params = tp;
+
+        retval = 0;
+      out_unlock:
+        read_unlock_irq(&tasklist_lock);
+      out:
+        return retval;
+}
+
+/*
+ * Getter of task's RT params
+ *   returns EINVAL if param or pid is NULL
+ *   returns ESRCH  if pid does not correspond to a valid task
+ *   returns EFAULT if copying of parameters has failed.
+ *
+ *   find_task_by_vpid() assumes that we are in the same namespace of the
+ *   target.
+ */
+asmlinkage long sys_get_rt_task_param(pid_t pid, struct rt_task __user * param)
+{
+        int retval = -EINVAL;
+        struct task_struct *source;
+        struct rt_task lp;
+        if (param == 0 || pid < 0)
+                goto out;
+        read_lock(&tasklist_lock);
+        if (!(source = find_task_by_vpid(pid))) {
+                retval = -ESRCH;
+                goto out_unlock;
+        }
+        lp = source->rt_param.task_params;
+        read_unlock(&tasklist_lock);
+        /* Do copying outside the lock */
+        retval =
+            copy_to_user(param, &lp, sizeof(lp)) ? -EFAULT : 0;
+        return retval;
+      out_unlock:
+        read_unlock(&tasklist_lock);
+      out:
+        return retval;
+
+}
+
+/*
+ *      This is the crucial function for periodic task implementation,
+ *      It checks if a task is periodic, checks if such kind of sleep
+ *      is permitted and calls plugin-specific sleep, which puts the
+ *      task into a wait array.
+ *      returns 0 on successful wakeup
+ *      returns EPERM if current conditions do not permit such sleep
+ *      returns EINVAL if current task is not able to go to sleep
+ */
+asmlinkage long sys_complete_job(void)
+{
+        int retval = -EPERM;
+        if (!is_realtime(current)) {
+                retval = -EINVAL;
+                goto out;
+        }
+        /* Task with negative or zero period cannot sleep */
+        if (get_rt_period(current) <= 0) {
+                retval = -EINVAL;
+                goto out;
+        }
+        /* The plugin has to put the task into an
+         * appropriate queue and call schedule
+         */
+        retval = litmus->complete_job();
+      out:
+        return retval;
+}
+
+/*      This is an "improved" version of sys_complete_job that
+ *      addresses the problem of unintentionally missing a job after
+ *      an overrun.
+ *
+ *      returns 0 on successful wakeup
+ *      returns EPERM if current conditions do not permit such sleep
+ *      returns EINVAL if current task is not able to go to sleep
+ */
+asmlinkage long sys_wait_for_job_release(unsigned int job)
+{
+        int retval = -EPERM;
+        if (!is_realtime(current)) {
+                retval = -EINVAL;
+                goto out;
+        }
+
+        /* Task with negative or zero period cannot sleep */
+        if (get_rt_period(current) <= 0) {
+                retval = -EINVAL;
+                goto out;
+        }
+
+        retval = 0;
+
+        /* first wait until we have "reached" the desired job
+         *
+         * This implementation has at least two problems:
+         *
+         * 1) It doesn't gracefully handle the wrap around of
+         *    job_no. Since LITMUS is a prototype, this is not much
+         *    of a problem right now.
+         *
+         * 2) It is theoretically racy if a job release occurs
+         *    between checking job_no and calling sleep_next_period().
+         *    A proper solution would requiring adding another callback
+         *    in the plugin structure and testing the condition with
+         *    interrupts disabled.
+         *
+         * FIXME: At least problem 2 should be taken care of eventually.
+         */
+        while (!retval && job > current->rt_param.job_params.job_no)
+                /* If the last job overran then job <= job_no and we
+                 * don't send the task to sleep.
+                 */
+                retval = litmus->complete_job();
+      out:
+        return retval;
+}
+
+/*      This is a helper syscall to query the current job sequence number.
+ *
+ *      returns 0 on successful query
+ *      returns EPERM if task is not a real-time task.
+ *      returns EFAULT if &job is not a valid pointer.
+ */
+asmlinkage long sys_query_job_no(unsigned int __user *job)
+{
+        int retval = -EPERM;
+        if (is_realtime(current))
+                retval = put_user(current->rt_param.job_params.job_no, job);
+
+        return retval;
+}
+
+/* sys_null_call() is only used for determining raw system call
+ * overheads (kernel entry, kernel exit). It has no useful side effects.
+ * If ts is non-NULL, then the current Feather-Trace time is recorded.
+ */
+asmlinkage long sys_null_call(cycles_t __user *ts)
+{
+        long ret = 0;
+        cycles_t now;
+
+        if (ts) {
+                now = get_cycles();
+                ret = put_user(now, ts);
+        }
+
+        return ret;
+}
+
+/* p is a real-time task. Re-init its state as a best-effort task. */
+static void reinit_litmus_state(struct task_struct* p, int restore)
+{
+        struct rt_task  user_config = {};
+        __user short   *np_flag     = NULL;
+
+        if (restore) {
+                /* Safe user-space provided configuration data. */
+                user_config = p->rt_param.task_params;
+                np_flag     = p->rt_param.np_flag;
+        }
+
+        /* We probably should not be inheriting any task's priority
+         * at this point in time.
+         */
+        WARN_ON(p->rt_param.inh_task);
+
+        /* We need to restore the priority of the task. */
+//      __setscheduler(p, p->rt_param.old_policy, p->rt_param.old_prio);
+
+        /* Cleanup everything else. */
+        memset(&p->rt_param, 0, sizeof(user_config));
+
+        /* Restore preserved fields. */
+        if (restore) {
+                p->rt_param.task_params = user_config;
+                p->rt_param.np_flag      = np_flag;
+        }
+}
+
+long litmus_admit_task(struct task_struct* tsk)
+{
+        long retval = 0;
+        unsigned long flags;
+
+        BUG_ON(is_realtime(tsk));
+
+        if (get_rt_period(tsk) == 0 ||
+            get_exec_cost(tsk) > get_rt_period(tsk)) {
+                TRACE_TASK(tsk, "litmus admit: invalid task parameters "
+                           "(%lu, %lu)\n",
+                       get_exec_cost(tsk), get_rt_period(tsk));
+                return -EINVAL;
+        }
+
+        if (!cpu_online(get_partition(tsk)))
+        {
+                TRACE_TASK(tsk, "litmus admit: cpu %d is not online\n",
+                           get_partition(tsk));
+                return -EINVAL;
+        }
+
+        INIT_LIST_HEAD(&tsk_rt(tsk)->list);
+
+        /* avoid scheduler plugin changing underneath us */
+        spin_lock_irqsave(&task_transition_lock, flags);
+
+        /* allocate heap node for this task */
+        tsk_rt(tsk)->heap_node    = heap_node_alloc(GFP_ATOMIC);
+        if (!tsk_rt(tsk)->heap_node ||
+            !tsk_rt(tsk)->rel_heap) {
+                printk(KERN_WARNING "litmus: no more heap node memory!?\n");
+                retval = -ENOMEM;
+                heap_node_free(tsk_rt(tsk)->heap_node);
+        } else
+                heap_node_init(&tsk_rt(tsk)->heap_node, tsk);
+
+        if (!retval)
+                retval = litmus->admit_task(tsk);
+
+        if (!retval) {
+                sched_trace_task_name(tsk);
+                sched_trace_task_param(tsk);
+                atomic_inc(&rt_task_count);
+        }
+
+        spin_unlock_irqrestore(&task_transition_lock, flags);
+
+        return retval;
+}
+
+void litmus_exit_task(struct task_struct* tsk)
+{
+        if (is_realtime(tsk)) {
+                sched_trace_task_completion(tsk, 1);
+                litmus->task_exit(tsk);
+                BUG_ON(heap_node_in_heap(tsk_rt(tsk)->heap_node));
+                heap_node_free(tsk_rt(tsk)->heap_node);
+                atomic_dec(&rt_task_count);
+                reinit_litmus_state(tsk, 1);
+        }
+}
+
+/* Switching a plugin in use is tricky.
+ * We must watch out that no real-time tasks exists
+ * (and that none is created in parallel) and that the plugin is not
+ * currently in use on any processor (in theory).
+ *
+ * For now, we don't enforce the second part since it is unlikely to cause
+ * any trouble by itself as long as we don't unload modules.
+ */
+int switch_sched_plugin(struct sched_plugin* plugin)
+{
+        unsigned long flags;
+        int ret = 0;
+
+        BUG_ON(!plugin);
+
+        /* stop task transitions */
+        spin_lock_irqsave(&task_transition_lock, flags);
+
+        /* don't switch if there are active real-time tasks */
+        if (atomic_read(&rt_task_count) == 0) {
+                ret = litmus->deactivate_plugin();
+                if (0 != ret)
+                        goto out;
+                ret = plugin->activate_plugin();
+                if (0 != ret) {
+                        printk(KERN_INFO "Can't activate %s (%d).\n",
+                               plugin->plugin_name, ret);
+                        plugin = &linux_sched_plugin;
+                }
+                printk(KERN_INFO "Switching to LITMUS^RT plugin %s.\n", plugin->plugin_name);
+                litmus = plugin;
+        } else
+                ret = -EBUSY;
+out:
+        spin_unlock_irqrestore(&task_transition_lock, flags);
+        return ret;
+}
+
+/* Called upon fork.
+ * p is the newly forked task.
+ */
+void litmus_fork(struct task_struct* p)
+{
+        if (is_realtime(p))
+                /* clean out any litmus related state, don't preserve anything*/
+                reinit_litmus_state(p, 0);
+}
+
+/* Called upon execve().
+ * current is doing the exec.
+ * Don't let address space specific stuff leak.
+ */
+void litmus_exec(void)
+{
+        struct task_struct* p = current;
+
+        if (is_realtime(p)) {
+                WARN_ON(p->rt_param.inh_task);
+                p->rt_param.np_flag = NULL;
+        }
+}
+
+void exit_litmus(struct task_struct *dead_tsk)
+{
+        if (is_realtime(dead_tsk))
+                litmus_exit_task(dead_tsk);
+}
+
+
+#ifdef CONFIG_MAGIC_SYSRQ
+int sys_kill(int pid, int sig);
+
+static void sysrq_handle_kill_rt_tasks(int key, struct tty_struct *tty)
+{
+        struct task_struct *t;
+        read_lock(&tasklist_lock);
+        for_each_process(t) {
+                if (is_realtime(t)) {
+                        sys_kill(t->pid, SIGKILL);
+                }
+        }
+        read_unlock(&tasklist_lock);
+}
+
+static struct sysrq_key_op sysrq_kill_rt_tasks_op = {
+        .handler        = sysrq_handle_kill_rt_tasks,
+        .help_msg       = "quit-rt-tasks(X)",
+        .action_msg     = "sent SIGKILL to all LITMUS^RT real-time tasks",
+};
+
+
+#endif
+
+
+static int proc_read_stats(char *page, char **start,
+                           off_t off, int count,
+                           int *eof, void *data)
+{
+        int len;
+
+        len = snprintf(page, PAGE_SIZE,
+                       "real-time tasks   = %d\n"
+                       "ready for release = %d\n",
+                       atomic_read(&rt_task_count),
+                       0);
+        return len;
+}
+
+static int proc_read_plugins(char *page, char **start,
+                           off_t off, int count,
+                           int *eof, void *data)
+{
+        int len;
+
+        len = print_sched_plugins(page, PAGE_SIZE);
+        return len;
+}
+
+static int proc_read_curr(char *page, char **start,
+                          off_t off, int count,
+                          int *eof, void *data)
+{
+        int len;
+
+        len = snprintf(page, PAGE_SIZE, "%s\n", litmus->plugin_name);
+        return len;
+}
+
+static int proc_write_curr(struct file *file,
+                           const char *buffer,
+                           unsigned long count,
+                           void *data)
+{
+        int len, ret;
+        char name[65];
+        struct sched_plugin* found;
+
+        if(count > 64)
+                len = 64;
+        else
+                len = count;
+
+        if(copy_from_user(name, buffer, len))
+                return -EFAULT;
+
+        name[len] = '\0';
+        /* chomp name */
+        if (len > 1 && name[len - 1] == '\n')
+                name[len - 1] = '\0';
+
+        found = find_sched_plugin(name);
+
+        if (found) {
+                ret = switch_sched_plugin(found);
+                if (ret != 0)
+                        printk(KERN_INFO "Could not switch plugin: %d\n", ret);
+        } else
+                printk(KERN_INFO "Plugin '%s' is unknown.\n", name);
+
+        return len;
+}
+
+
+static int proc_read_release_master(char *page, char **start,
+                                    off_t off, int count,
+                                    int *eof, void *data)
+{
+        int len, master;
+        master = atomic_read(&release_master_cpu);
+        if (master == NO_CPU)
+                len = snprintf(page, PAGE_SIZE, "NO_CPU\n");
+        else
+                len = snprintf(page, PAGE_SIZE, "%d\n", master);
+        return len;
+}
+
+static int proc_write_release_master(struct file *file,
+                                     const char *buffer,
+                                     unsigned long count,
+                                     void *data)
+{
+        int cpu, err, online = 0;
+        char msg[64];
+
+        if (count > 63)
+                return -EINVAL;
+
+        if (copy_from_user(msg, buffer, count))
+                return -EFAULT;
+
+        /* terminate */
+        msg[count] = '\0';
+        /* chomp */
+        if (count > 1 && msg[count - 1] == '\n')
+                msg[count - 1] = '\0';
+
+        if (strcmp(msg, "NO_CPU") == 0) {
+                atomic_set(&release_master_cpu, NO_CPU);
+                return count;
+        } else {
+                err = sscanf(msg, "%d", &cpu);
+                if (err == 1 && cpu >= 0 && (online = cpu_online(cpu))) {
+                        atomic_set(&release_master_cpu, cpu);
+                        return count;
+                } else {
+                        TRACE("invalid release master: '%s' "
+                              "(err:%d cpu:%d online:%d)\n",
+                              msg, err, cpu, online);
+                        return -EINVAL;
+                }
+        }
+}
+
+static struct proc_dir_entry *litmus_dir = NULL,
+        *curr_file = NULL,
+        *stat_file = NULL,
+        *plugs_file = NULL,
+        *release_master_file = NULL;
+
+static int __init init_litmus_proc(void)
+{
+        litmus_dir = proc_mkdir("litmus", NULL);
+        if (!litmus_dir) {
+                printk(KERN_ERR "Could not allocate LITMUS^RT procfs entry.\n");
+                return -ENOMEM;
+        }
+
+        curr_file = create_proc_entry("active_plugin",
+                                      0644, litmus_dir);
+        if (!curr_file) {
+                printk(KERN_ERR "Could not allocate active_plugin "
+                       "procfs entry.\n");
+                return -ENOMEM;
+        }
+        curr_file->read_proc  = proc_read_curr;
+        curr_file->write_proc = proc_write_curr;
+
+        release_master_file = create_proc_entry("release_master",
+                                                0644, litmus_dir);
+        if (!release_master_file) {
+                printk(KERN_ERR "Could not allocate release_master "
+                       "procfs entry.\n");
+                return -ENOMEM;
+        }
+        release_master_file->read_proc = proc_read_release_master;
+        release_master_file->write_proc  = proc_write_release_master;
+
+        stat_file = create_proc_read_entry("stats", 0444, litmus_dir,
+                                           proc_read_stats, NULL);
+
+        plugs_file = create_proc_read_entry("plugins", 0444, litmus_dir,
+                                           proc_read_plugins, NULL);
+
+        return 0;
+}
+
+static void exit_litmus_proc(void)
+{
+        if (plugs_file)
+                remove_proc_entry("plugins", litmus_dir);
+        if (stat_file)
+                remove_proc_entry("stats", litmus_dir);
+        if (curr_file)
+                remove_proc_entry("active_plugin", litmus_dir);
+        if (litmus_dir)
+                remove_proc_entry("litmus", NULL);
+}
+
+extern struct sched_plugin linux_sched_plugin;
+
+static int __init _init_litmus(void)
+{
+        /*      Common initializers,
+         *      mode change lock is used to enforce single mode change
+         *      operation.
+         */
+        printk("Starting LITMUS^RT kernel\n");
+
+        register_sched_plugin(&linux_sched_plugin);
+
+        heap_node_cache    = KMEM_CACHE(heap_node, SLAB_PANIC);
+
+#ifdef CONFIG_MAGIC_SYSRQ
+        /* offer some debugging help */
+        if (!register_sysrq_key('x', &sysrq_kill_rt_tasks_op))
+                printk("Registered kill rt tasks magic sysrq.\n");
+        else
+                printk("Could not register kill rt tasks magic sysrq.\n");
+#endif
+
+        init_litmus_proc();
+
+        return 0;
+}
+
+static void _exit_litmus(void)
+{
+        exit_litmus_proc();
+        kmem_cache_destroy(heap_node_cache);
+}
+
+module_init(_init_litmus);
+module_exit(_exit_litmus);