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// Copyright 2019 The Marl Authors.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// https://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include "osfiber.h" // Must come first. See osfiber_ucontext.h.
#include "marl/scheduler.h"
#include "marl/debug.h"
#include "marl/thread.h"
#include "marl/trace.h"
#if defined(_WIN32)
#include <intrin.h> // __nop()
#endif
// Enable to trace scheduler events.
#define ENABLE_TRACE_EVENTS 0
// Enable to print verbose debug logging.
#define ENABLE_DEBUG_LOGGING 0
#if ENABLE_TRACE_EVENTS
#define TRACE(...) MARL_SCOPED_EVENT(__VA_ARGS__)
#else
#define TRACE(...)
#endif
#if ENABLE_DEBUG_LOGGING
#define DBG_LOG(msg, ...) \
printf("%.3x " msg "\n", (int)threadID() & 0xfff, __VA_ARGS__)
#else
#define DBG_LOG(msg, ...)
#endif
#define ASSERT_FIBER_STATE(FIBER, STATE) \
MARL_ASSERT(FIBER->state == STATE, \
"fiber %d was in state %s, but expected %s", (int)FIBER->id, \
Fiber::toString(FIBER->state), Fiber::toString(STATE))
namespace {
#if ENABLE_DEBUG_LOGGING
// threadID() returns a uint64_t representing the currently executing thread.
// threadID() is only intended to be used for debugging purposes.
inline uint64_t threadID() {
auto id = std::this_thread::get_id();
return std::hash<std::thread::id>()(id);
}
#endif
inline void nop() {
#if defined(_WIN32)
__nop();
#else
__asm__ __volatile__("nop");
#endif
}
inline marl::Scheduler::Config setConfigDefaults(
const marl::Scheduler::Config& cfgIn) {
marl::Scheduler::Config cfg{cfgIn};
if (cfg.workerThread.count > 0 && !cfg.workerThread.affinityPolicy) {
cfg.workerThread.affinityPolicy = marl::Thread::Affinity::Policy::anyOf(
marl::Thread::Affinity::all(cfg.allocator), cfg.allocator);
}
return cfg;
}
} // anonymous namespace
namespace marl {
////////////////////////////////////////////////////////////////////////////////
// Scheduler
////////////////////////////////////////////////////////////////////////////////
MARL_INSTANTIATE_THREAD_LOCAL(Scheduler*, Scheduler::bound, nullptr);
Scheduler* Scheduler::get() {
return bound;
}
void Scheduler::setBound(Scheduler* scheduler) {
bound = scheduler;
}
void Scheduler::bind() {
MARL_ASSERT(get() == nullptr, "Scheduler already bound");
setBound(this);
{
marl::lock lock(singleThreadedWorkers.mutex);
auto worker = cfg.allocator->make_unique<Worker>(
this, Worker::Mode::SingleThreaded, -1);
worker->start();
auto tid = std::this_thread::get_id();
singleThreadedWorkers.byTid.emplace(tid, std::move(worker));
}
}
void Scheduler::unbind() {
MARL_ASSERT(get() != nullptr, "No scheduler bound");
auto worker = Worker::getCurrent();
worker->stop();
{
marl::lock lock(get()->singleThreadedWorkers.mutex);
auto tid = std::this_thread::get_id();
auto& workers = get()->singleThreadedWorkers.byTid;
auto it = workers.find(tid);
MARL_ASSERT(it != workers.end(), "singleThreadedWorker not found");
MARL_ASSERT(it->second.get() == worker, "worker is not bound?");
workers.erase(it);
if (workers.empty()) {
get()->singleThreadedWorkers.unbind.notify_one();
}
}
setBound(nullptr);
}
Scheduler::Scheduler(const Config& config)
: cfg(setConfigDefaults(config)),
workerThreads{},
singleThreadedWorkers(config.allocator) {
for (size_t i = 0; i < spinningWorkers.size(); i++) {
spinningWorkers[i] = -1;
}
for (int i = 0; i < cfg.workerThread.count; i++) {
workerThreads[i] =
cfg.allocator->create<Worker>(this, Worker::Mode::MultiThreaded, i);
}
for (int i = 0; i < cfg.workerThread.count; i++) {
workerThreads[i]->start();
}
}
Scheduler::~Scheduler() {
{
// Wait until all the single threaded workers have been unbound.
marl::lock lock(singleThreadedWorkers.mutex);
lock.wait(singleThreadedWorkers.unbind,
[this]() REQUIRES(singleThreadedWorkers.mutex) {
return singleThreadedWorkers.byTid.empty();
});
}
// Release all worker threads.
// This will wait for all in-flight tasks to complete before returning.
for (int i = cfg.workerThread.count - 1; i >= 0; i--) {
workerThreads[i]->stop();
}
for (int i = cfg.workerThread.count - 1; i >= 0; i--) {
cfg.allocator->destroy(workerThreads[i]);
}
}
void Scheduler::enqueue(Task&& task) {
if (task.is(Task::Flags::SameThread)) {
Worker::getCurrent()->enqueue(std::move(task));
return;
}
if (cfg.workerThread.count > 0) {
while (true) {
// Prioritize workers that have recently started spinning.
auto i = --nextSpinningWorkerIdx % spinningWorkers.size();
auto idx = spinningWorkers[i].exchange(-1);
if (idx < 0) {
// If a spinning worker couldn't be found, round-robin the
// workers.
idx = nextEnqueueIndex++ % cfg.workerThread.count;
}
auto worker = workerThreads[idx];
if (worker->tryLock()) {
worker->enqueueAndUnlock(std::move(task));
return;
}
}
} else {
if (auto worker = Worker::getCurrent()) {
worker->enqueue(std::move(task));
} else {
MARL_FATAL(
"singleThreadedWorker not found. Did you forget to call "
"marl::Scheduler::bind()?");
}
}
}
const Scheduler::Config& Scheduler::config() const {
return cfg;
}
bool Scheduler::stealWork(Worker* thief, uint64_t from, Task& out) {
if (cfg.workerThread.count > 0) {
auto thread = workerThreads[from % cfg.workerThread.count];
if (thread != thief) {
if (thread->steal(out)) {
return true;
}
}
}
return false;
}
void Scheduler::onBeginSpinning(int workerId) {
auto idx = nextSpinningWorkerIdx++ % spinningWorkers.size();
spinningWorkers[idx] = workerId;
}
////////////////////////////////////////////////////////////////////////////////
// Scheduler::Config
////////////////////////////////////////////////////////////////////////////////
Scheduler::Config Scheduler::Config::allCores() {
return Config().setWorkerThreadCount(Thread::numLogicalCPUs());
}
////////////////////////////////////////////////////////////////////////////////
// Scheduler::Fiber
////////////////////////////////////////////////////////////////////////////////
Scheduler::Fiber::Fiber(Allocator::unique_ptr<OSFiber>&& impl, uint32_t id)
: id(id), impl(std::move(impl)), worker(Worker::getCurrent()) {
MARL_ASSERT(worker != nullptr, "No Scheduler::Worker bound");
}
Scheduler::Fiber* Scheduler::Fiber::current() {
auto worker = Worker::getCurrent();
return worker != nullptr ? worker->getCurrentFiber() : nullptr;
}
void Scheduler::Fiber::notify() {
worker->enqueue(this);
}
void Scheduler::Fiber::wait(marl::lock& lock, const Predicate& pred) {
MARL_ASSERT(worker == Worker::getCurrent(),
"Scheduler::Fiber::wait() must only be called on the currently "
"executing fiber");
worker->wait(lock, nullptr, pred);
}
void Scheduler::Fiber::switchTo(Fiber* to) {
MARL_ASSERT(worker == Worker::getCurrent(),
"Scheduler::Fiber::switchTo() must only be called on the "
"currently executing fiber");
if (to != this) {
impl->switchTo(to->impl.get());
}
}
Allocator::unique_ptr<Scheduler::Fiber> Scheduler::Fiber::create(
Allocator* allocator,
uint32_t id,
size_t stackSize,
const std::function<void()>& func) {
return allocator->make_unique<Fiber>(
OSFiber::createFiber(allocator, stackSize, func), id);
}
Allocator::unique_ptr<Scheduler::Fiber>
Scheduler::Fiber::createFromCurrentThread(Allocator* allocator, uint32_t id) {
return allocator->make_unique<Fiber>(
OSFiber::createFiberFromCurrentThread(allocator), id);
}
const char* Scheduler::Fiber::toString(State state) {
switch (state) {
case State::Idle:
return "Idle";
case State::Yielded:
return "Yielded";
case State::Queued:
return "Queued";
case State::Running:
return "Running";
case State::Waiting:
return "Waiting";
}
MARL_ASSERT(false, "bad fiber state");
return "<unknown>";
}
////////////////////////////////////////////////////////////////////////////////
// Scheduler::WaitingFibers
////////////////////////////////////////////////////////////////////////////////
Scheduler::WaitingFibers::WaitingFibers(Allocator* allocator)
: timeouts(allocator), fibers(allocator) {}
Scheduler::WaitingFibers::operator bool() const {
return !fibers.empty();
}
Scheduler::Fiber* Scheduler::WaitingFibers::take(const TimePoint& timeout) {
if (!*this) {
return nullptr;
}
auto it = timeouts.begin();
if (timeout < it->timepoint) {
return nullptr;
}
auto fiber = it->fiber;
timeouts.erase(it);
auto deleted = fibers.erase(fiber) != 0;
(void)deleted;
MARL_ASSERT(deleted, "WaitingFibers::take() maps out of sync");
return fiber;
}
Scheduler::TimePoint Scheduler::WaitingFibers::next() const {
MARL_ASSERT(*this,
"WaitingFibers::next() called when there' no waiting fibers");
return timeouts.begin()->timepoint;
}
void Scheduler::WaitingFibers::add(const TimePoint& timeout, Fiber* fiber) {
timeouts.emplace(Timeout{timeout, fiber});
bool added = fibers.emplace(fiber, timeout).second;
(void)added;
MARL_ASSERT(added, "WaitingFibers::add() fiber already waiting");
}
void Scheduler::WaitingFibers::erase(Fiber* fiber) {
auto it = fibers.find(fiber);
if (it != fibers.end()) {
auto timeout = it->second;
auto erased = timeouts.erase(Timeout{timeout, fiber}) != 0;
(void)erased;
MARL_ASSERT(erased, "WaitingFibers::erase() maps out of sync");
fibers.erase(it);
}
}
bool Scheduler::WaitingFibers::contains(Fiber* fiber) const {
return fibers.count(fiber) != 0;
}
bool Scheduler::WaitingFibers::Timeout::operator<(const Timeout& o) const {
if (timepoint != o.timepoint) {
return timepoint < o.timepoint;
}
return fiber < o.fiber;
}
////////////////////////////////////////////////////////////////////////////////
// Scheduler::Worker
////////////////////////////////////////////////////////////////////////////////
MARL_INSTANTIATE_THREAD_LOCAL(Scheduler::Worker*,
Scheduler::Worker::current,
nullptr);
Scheduler::Worker::Worker(Scheduler* scheduler, Mode mode, uint32_t id)
: id(id),
mode(mode),
scheduler(scheduler),
work(scheduler->cfg.allocator),
idleFibers(scheduler->cfg.allocator) {}
void Scheduler::Worker::start() {
switch (mode) {
case Mode::MultiThreaded: {
auto allocator = scheduler->cfg.allocator;
auto& affinityPolicy = scheduler->cfg.workerThread.affinityPolicy;
auto affinity = affinityPolicy->get(id, allocator);
thread = Thread(std::move(affinity), [=] {
Thread::setName("Thread<%.2d>", int(id));
if (auto const& initFunc = scheduler->cfg.workerThread.initializer) {
initFunc(id);
}
Scheduler::setBound(scheduler);
Worker::current = this;
mainFiber = Fiber::createFromCurrentThread(scheduler->cfg.allocator, 0);
currentFiber = mainFiber.get();
{
marl::lock lock(work.mutex);
run();
}
mainFiber.reset();
Worker::current = nullptr;
});
break;
}
case Mode::SingleThreaded: {
Worker::current = this;
mainFiber = Fiber::createFromCurrentThread(scheduler->cfg.allocator, 0);
currentFiber = mainFiber.get();
break;
}
default:
MARL_ASSERT(false, "Unknown mode: %d", int(mode));
}
}
void Scheduler::Worker::stop() {
switch (mode) {
case Mode::MultiThreaded: {
enqueue(Task([this] { shutdown = true; }, Task::Flags::SameThread));
thread.join();
break;
}
case Mode::SingleThreaded: {
marl::lock lock(work.mutex);
shutdown = true;
runUntilShutdown();
Worker::current = nullptr;
break;
}
default:
MARL_ASSERT(false, "Unknown mode: %d", int(mode));
}
}
bool Scheduler::Worker::wait(const TimePoint* timeout) {
DBG_LOG("%d: WAIT(%d)", (int)id, (int)currentFiber->id);
{
marl::lock lock(work.mutex);
suspend(timeout);
}
return timeout == nullptr || std::chrono::system_clock::now() < *timeout;
}
bool Scheduler::Worker::wait(lock& waitLock,
const TimePoint* timeout,
const Predicate& pred) {
DBG_LOG("%d: WAIT(%d)", (int)id, (int)currentFiber->id);
while (!pred()) {
// Lock the work mutex to call suspend().
work.mutex.lock();
// Unlock the wait mutex with the work mutex lock held.
// Order is important here as we need to ensure that the fiber is not
// enqueued (via Fiber::notify()) between the waitLock.unlock() and fiber
// switch, otherwise the Fiber::notify() call may be ignored and the fiber
// is never woken.
waitLock.unlock_no_tsa();
// suspend the fiber.
suspend(timeout);
// Fiber resumed. We don't need the work mutex locked any more.
work.mutex.unlock();
// Re-lock to either return due to timeout, or call pred().
waitLock.lock_no_tsa();
// Check timeout.
if (timeout != nullptr && std::chrono::system_clock::now() >= *timeout) {
return false;
}
// Spurious wake up. Spin again.
}
return true;
}
void Scheduler::Worker::suspend(
const std::chrono::system_clock::time_point* timeout) {
// Current fiber is yielding as it is blocked.
if (timeout != nullptr) {
changeFiberState(currentFiber, Fiber::State::Running,
Fiber::State::Waiting);
work.waiting.add(*timeout, currentFiber);
} else {
changeFiberState(currentFiber, Fiber::State::Running,
Fiber::State::Yielded);
}
// First wait until there's something else this worker can do.
waitForWork();
work.numBlockedFibers++;
if (!work.fibers.empty()) {
// There's another fiber that has become unblocked, resume that.
work.num--;
auto to = containers::take(work.fibers);
ASSERT_FIBER_STATE(to, Fiber::State::Queued);
switchToFiber(to);
} else if (!idleFibers.empty()) {
// There's an old fiber we can reuse, resume that.
auto to = containers::take(idleFibers);
ASSERT_FIBER_STATE(to, Fiber::State::Idle);
switchToFiber(to);
} else {
// Tasks to process and no existing fibers to resume.
// Spawn a new fiber.
switchToFiber(createWorkerFiber());
}
work.numBlockedFibers--;
setFiberState(currentFiber, Fiber::State::Running);
}
bool Scheduler::Worker::tryLock() {
return work.mutex.try_lock();
}
void Scheduler::Worker::enqueue(Fiber* fiber) {
bool notify = false;
{
marl::lock lock(work.mutex);
DBG_LOG("%d: ENQUEUE(%d %s)", (int)id, (int)fiber->id,
Fiber::toString(fiber->state));
switch (fiber->state) {
case Fiber::State::Running:
case Fiber::State::Queued:
return; // Nothing to do here - task is already queued or running.
case Fiber::State::Waiting:
work.waiting.erase(fiber);
break;
case Fiber::State::Idle:
case Fiber::State::Yielded:
break;
}
notify = work.notifyAdded;
work.fibers.push_back(fiber);
MARL_ASSERT(!work.waiting.contains(fiber),
"fiber is unexpectedly in the waiting list");
setFiberState(fiber, Fiber::State::Queued);
work.num++;
}
if (notify) {
work.added.notify_one();
}
}
void Scheduler::Worker::enqueue(Task&& task) {
work.mutex.lock();
enqueueAndUnlock(std::move(task));
}
void Scheduler::Worker::enqueueAndUnlock(Task&& task) {
auto notify = work.notifyAdded;
work.tasks.push_back(std::move(task));
work.num++;
work.mutex.unlock();
if (notify) {
work.added.notify_one();
}
}
bool Scheduler::Worker::steal(Task& out) {
if (work.num.load() == 0) {
return false;
}
if (!work.mutex.try_lock()) {
return false;
}
if (work.tasks.empty() || work.tasks.front().is(Task::Flags::SameThread)) {
work.mutex.unlock();
return false;
}
work.num--;
out = containers::take(work.tasks);
work.mutex.unlock();
return true;
}
void Scheduler::Worker::run() {
if (mode == Mode::MultiThreaded) {
MARL_NAME_THREAD("Thread<%.2d> Fiber<%.2d>", int(id), Fiber::current()->id);
// This is the entry point for a multi-threaded worker.
// Start with a regular condition-variable wait for work. This avoids
// starting the thread with a spinForWork().
work.wait([this]() REQUIRES(work.mutex) {
return work.num > 0 || work.waiting || shutdown;
});
}
ASSERT_FIBER_STATE(currentFiber, Fiber::State::Running);
runUntilShutdown();
switchToFiber(mainFiber.get());
}
void Scheduler::Worker::runUntilShutdown() {
while (!shutdown || work.num > 0 || work.numBlockedFibers > 0U) {
waitForWork();
runUntilIdle();
}
}
void Scheduler::Worker::waitForWork() {
MARL_ASSERT(work.num == work.fibers.size() + work.tasks.size(),
"work.num out of sync");
if (work.num > 0) {
return;
}
if (mode == Mode::MultiThreaded) {
scheduler->onBeginSpinning(id);
work.mutex.unlock();
spinForWork();
work.mutex.lock();
}
work.wait([this]() REQUIRES(work.mutex) {
return work.num > 0 || (shutdown && work.numBlockedFibers == 0U);
});
if (work.waiting) {
enqueueFiberTimeouts();
}
}
void Scheduler::Worker::enqueueFiberTimeouts() {
auto now = std::chrono::system_clock::now();
while (auto fiber = work.waiting.take(now)) {
changeFiberState(fiber, Fiber::State::Waiting, Fiber::State::Queued);
DBG_LOG("%d: TIMEOUT(%d)", (int)id, (int)fiber->id);
work.fibers.push_back(fiber);
work.num++;
}
}
void Scheduler::Worker::changeFiberState(Fiber* fiber,
Fiber::State from,
Fiber::State to) const {
(void)from; // Unusued parameter when ENABLE_DEBUG_LOGGING is disabled.
DBG_LOG("%d: CHANGE_FIBER_STATE(%d %s -> %s)", (int)id, (int)fiber->id,
Fiber::toString(from), Fiber::toString(to));
ASSERT_FIBER_STATE(fiber, from);
fiber->state = to;
}
void Scheduler::Worker::setFiberState(Fiber* fiber, Fiber::State to) const {
DBG_LOG("%d: SET_FIBER_STATE(%d %s -> %s)", (int)id, (int)fiber->id,
Fiber::toString(fiber->state), Fiber::toString(to));
fiber->state = to;
}
void Scheduler::Worker::spinForWork() {
TRACE("SPIN");
Task stolen;
constexpr auto duration = std::chrono::milliseconds(1);
auto start = std::chrono::high_resolution_clock::now();
while (std::chrono::high_resolution_clock::now() - start < duration) {
for (int i = 0; i < 256; i++) // Empirically picked magic number!
{
// clang-format off
nop(); nop(); nop(); nop(); nop(); nop(); nop(); nop();
nop(); nop(); nop(); nop(); nop(); nop(); nop(); nop();
nop(); nop(); nop(); nop(); nop(); nop(); nop(); nop();
nop(); nop(); nop(); nop(); nop(); nop(); nop(); nop();
// clang-format on
if (work.num > 0) {
return;
}
}
if (scheduler->stealWork(this, rng(), stolen)) {
marl::lock lock(work.mutex);
work.tasks.emplace_back(std::move(stolen));
work.num++;
return;
}
std::this_thread::yield();
}
}
void Scheduler::Worker::runUntilIdle() {
ASSERT_FIBER_STATE(currentFiber, Fiber::State::Running);
MARL_ASSERT(work.num == work.fibers.size() + work.tasks.size(),
"work.num out of sync");
while (!work.fibers.empty() || !work.tasks.empty()) {
// Note: we cannot take and store on the stack more than a single fiber
// or task at a time, as the Fiber may yield and these items may get
// held on suspended fiber stack.
while (!work.fibers.empty()) {
work.num--;
auto fiber = containers::take(work.fibers);
// Sanity checks,
MARL_ASSERT(idleFibers.count(fiber) == 0, "dequeued fiber is idle");
MARL_ASSERT(fiber != currentFiber, "dequeued fiber is currently running");
ASSERT_FIBER_STATE(fiber, Fiber::State::Queued);
changeFiberState(currentFiber, Fiber::State::Running, Fiber::State::Idle);
auto added = idleFibers.emplace(currentFiber).second;
(void)added;
MARL_ASSERT(added, "fiber already idle");
switchToFiber(fiber);
changeFiberState(currentFiber, Fiber::State::Idle, Fiber::State::Running);
}
if (!work.tasks.empty()) {
work.num--;
auto task = containers::take(work.tasks);
work.mutex.unlock();
// Run the task.
task();
// std::function<> can carry arguments with complex destructors.
// Ensure these are destructed outside of the lock.
task = Task();
work.mutex.lock();
}
}
}
Scheduler::Fiber* Scheduler::Worker::createWorkerFiber() {
auto fiberId = static_cast<uint32_t>(workerFibers.size() + 1);
DBG_LOG("%d: CREATE(%d)", (int)id, (int)fiberId);
auto fiber = Fiber::create(scheduler->cfg.allocator, fiberId,
scheduler->cfg.fiberStackSize,
[&]() REQUIRES(work.mutex) { run(); });
auto ptr = fiber.get();
workerFibers.emplace_back(std::move(fiber));
return ptr;
}
void Scheduler::Worker::switchToFiber(Fiber* to) {
DBG_LOG("%d: SWITCH(%d -> %d)", (int)id, (int)currentFiber->id, (int)to->id);
MARL_ASSERT(to == mainFiber.get() || idleFibers.count(to) == 0,
"switching to idle fiber");
auto from = currentFiber;
currentFiber = to;
from->switchTo(to);
}
////////////////////////////////////////////////////////////////////////////////
// Scheduler::Worker::Work
////////////////////////////////////////////////////////////////////////////////
Scheduler::Worker::Work::Work(Allocator* allocator)
: tasks(allocator), fibers(allocator), waiting(allocator) {}
template <typename F>
void Scheduler::Worker::Work::wait(F&& f) {
notifyAdded = true;
if (waiting) {
mutex.wait_until_locked(added, waiting.next(), f);
} else {
mutex.wait_locked(added, f);
}
notifyAdded = false;
}
////////////////////////////////////////////////////////////////////////////////
// Scheduler::Worker::Work
////////////////////////////////////////////////////////////////////////////////
Scheduler::SingleThreadedWorkers::SingleThreadedWorkers(Allocator* allocator)
: byTid(allocator) {}
} // namespace marl