source: src/libcfa/concurrency/kernel.c @ 8499c707

//                              -*- Mode: CFA -*-
//
// Cforall Version 1.0.0 Copyright (C) 2016 University of Waterloo
//
// The contents of this file are covered under the licence agreement in the
// file "LICENCE" distributed with Cforall.
//
// kernel.c --
//
// Author           : Thierry Delisle
// Created On       : Tue Jan 17 12:27:26 2017
// Last Modified By : Thierry Delisle
// Last Modified On : --
// Update Count     : 0
//

#include "libhdr.h"

//C Includes
#include <stddef.h>
extern "C" {
#include <stdio.h>
#include <fenv.h>
#include <sys/resource.h>
#include <signal.h>
#include <unistd.h>
}

//CFA Includes
#include "kernel_private.h"
#include "preemption.h"
#include "startup.h"

//Private includes
#define __CFA_INVOKE_PRIVATE__
#include "invoke.h"

//Start and stop routine for the kernel, declared first to make sure they run first
void kernel_startup(void)  __attribute__(( constructor( STARTUP_PRIORITY_KERNEL ) ));
void kernel_shutdown(void) __attribute__(( destructor ( STARTUP_PRIORITY_KERNEL ) ));

//-----------------------------------------------------------------------------
// Kernel storage
#define KERNEL_STORAGE(T,X) static char X##Storage[sizeof(T)]

KERNEL_STORAGE(processorCtx_t, systemProcessorCtx);
KERNEL_STORAGE(cluster, systemCluster);
KERNEL_STORAGE(system_proc_t, systemProcessor);
KERNEL_STORAGE(thread_desc, mainThread);
KERNEL_STORAGE(machine_context_t, mainThreadCtx);

cluster * systemCluster;
system_proc_t * systemProcessor;
thread_desc * mainThread;

//-----------------------------------------------------------------------------
// Global state

volatile thread_local processor * this_processor;
volatile thread_local coroutine_desc * this_coroutine;
volatile thread_local thread_desc * this_thread;
volatile thread_local bool preemption_in_progress = 0;
volatile thread_local unsigned short disable_preempt_count = 1;

//-----------------------------------------------------------------------------
// Main thread construction
struct current_stack_info_t {
        machine_context_t ctx;
        unsigned int size;              // size of stack
        void *base;                             // base of stack
        void *storage;                  // pointer to stack
        void *limit;                    // stack grows towards stack limit
        void *context;                  // address of cfa_context_t
        void *top;                              // address of top of storage
};

void ?{}( current_stack_info_t & this ) {
        CtxGet( this.ctx );
        this.base = this.ctx.FP;
        this.storage = this.ctx.SP;

        rlimit r;
        getrlimit( RLIMIT_STACK, &r);
        this.size = r.rlim_cur;

        this.limit = (void *)(((intptr_t)this.base) - this.size);
        this.context = &mainThreadCtxStorage;
        this.top = this.base;
}

void ?{}( coStack_t & this, current_stack_info_t * info) {
        this.size = info->size;
        this.storage = info->storage;
        this.limit = info->limit;
        this.base = info->base;
        this.context = info->context;
        this.top = info->top;
        this.userStack = true;
}

void ?{}( coroutine_desc & this, current_stack_info_t * info) {
        (this.stack){ info };
        this.name = "Main Thread";
        this.errno_ = 0;
        this.state = Start;
}

void ?{}( thread_desc & this, current_stack_info_t * info) {
        (this.cor){ info };
}

//-----------------------------------------------------------------------------
// Processor coroutine
void ?{}(processorCtx_t & this, processor * proc) {
        (this.__cor){ "Processor" };
        this.proc = proc;
        proc->runner = &this;
}

void ?{}(processorCtx_t & this, processor * proc, current_stack_info_t * info) {
        (this.__cor){ info };
        this.proc = proc;
        proc->runner = &this;
}

void ?{}(processor & this) {
        this{ systemCluster };
}

void ?{}(processor & this, cluster * cltr) {
        this.cltr = cltr;
        (this.terminated){ 0 };
        this.is_terminated = false;
        this.preemption_alarm = NULL;
        this.preemption = default_preemption();
        this.pending_preemption = false;

        start( &this );
}

void ?{}(processor & this, cluster * cltr, processorCtx_t * runner) {
        this.cltr = cltr;
        (this.terminated){ 0 };
        this.is_terminated = false;
        this.preemption_alarm = NULL;
        this.preemption = default_preemption();
        this.pending_preemption = false;
        this.kernel_thread = pthread_self();

        this.runner = runner;
        LIB_DEBUG_PRINT_SAFE("Kernel : constructing system processor context %p\n", runner);
        (*runner){ &this };
}

LIB_DEBUG_DO( bool validate( alarm_list_t * this ); )

void ?{}(system_proc_t & this, cluster * cltr, processorCtx_t * runner) {
        (this.alarms){};
        (this.alarm_lock){};
        this.pending_alarm = false;

        (this.proc){ cltr, runner };

        verify( validate( &this.alarms ) );
}

void ^?{}(processor & this) {
        if( ! this.is_terminated ) {
                LIB_DEBUG_PRINT_SAFE("Kernel : core %p signaling termination\n", &this);
                this.is_terminated = true;
                P( &this.terminated );
                pthread_join( this.kernel_thread, NULL );
        }
}

void ?{}(cluster & this) {
        ( this.ready_queue ){};
        ( this.lock ){};
}

void ^?{}(cluster & this) {

}

//=============================================================================================
// Kernel Scheduling logic
//=============================================================================================
//Main of the processor contexts
void main(processorCtx_t * runner) {
        processor * this = runner->proc;

        LIB_DEBUG_PRINT_SAFE("Kernel : core %p starting\n", this);

        {
                // Setup preemption data
                preemption_scope scope = { this };

                LIB_DEBUG_PRINT_SAFE("Kernel : core %p started\n", this);

                thread_desc * readyThread = NULL;
                for( unsigned int spin_count = 0; ! this->is_terminated; spin_count++ )
                {
                        readyThread = nextThread( this->cltr );

                        if(readyThread)
                        {
                                verify( disable_preempt_count > 0 );

                                runThread(this, readyThread);

                                verify( disable_preempt_count > 0 );

                                //Some actions need to be taken from the kernel
                                finishRunning(this);

                                spin_count = 0;
                        }
                        else
                        {
                                spin(this, &spin_count);
                        }
                }

                LIB_DEBUG_PRINT_SAFE("Kernel : core %p stopping\n", this);
        }

        V( &this->terminated );

        LIB_DEBUG_PRINT_SAFE("Kernel : core %p terminated\n", this);
}

// runThread runs a thread by context switching
// from the processor coroutine to the target thread
void runThread(processor * this, thread_desc * dst) {
        coroutine_desc * proc_cor = get_coroutine(this->runner);
        coroutine_desc * thrd_cor = get_coroutine(dst);

        //Reset the terminating actions here
        this->finish.action_code = No_Action;

        //Update global state
        this_thread = dst;

        // Context Switch to the thread
        ThreadCtxSwitch(proc_cor, thrd_cor);
        // when ThreadCtxSwitch returns we are back in the processor coroutine
}

// Once a thread has finished running, some of
// its final actions must be executed from the kernel
void finishRunning(processor * this) {
        if( this->finish.action_code == Release ) {
                unlock( this->finish.lock );
        }
        else if( this->finish.action_code == Schedule ) {
                ScheduleThread( this->finish.thrd );
        }
        else if( this->finish.action_code == Release_Schedule ) {
                unlock( this->finish.lock );
                ScheduleThread( this->finish.thrd );
        }
        else if( this->finish.action_code == Release_Multi ) {
                for(int i = 0; i < this->finish.lock_count; i++) {
                        unlock( this->finish.locks[i] );
                }
        }
        else if( this->finish.action_code == Release_Multi_Schedule ) {
                for(int i = 0; i < this->finish.lock_count; i++) {
                        unlock( this->finish.locks[i] );
                }
                for(int i = 0; i < this->finish.thrd_count; i++) {
                        ScheduleThread( this->finish.thrds[i] );
                }
        }
        else {
                assert(this->finish.action_code == No_Action);
        }
}

// Handles spinning logic
// TODO : find some strategy to put cores to sleep after some time
void spin(processor * this, unsigned int * spin_count) {
        (*spin_count)++;
}

// Context invoker for processors
// This is the entry point for processors (kernel threads)
// It effectively constructs a coroutine by stealing the pthread stack
void * CtxInvokeProcessor(void * arg) {
        processor * proc = (processor *) arg;
        this_processor = proc;
        this_coroutine = NULL;
        this_thread = NULL;
        disable_preempt_count = 1;
        // SKULLDUGGERY: We want to create a context for the processor coroutine
        // which is needed for the 2-step context switch. However, there is no reason
        // to waste the perfectly valid stack create by pthread.
        current_stack_info_t info;
        machine_context_t ctx;
        info.context = &ctx;
        processorCtx_t proc_cor_storage = { proc, &info };

        LIB_DEBUG_PRINT_SAFE("Coroutine : created stack %p\n", proc_cor_storage.__cor.stack.base);

        //Set global state
        this_coroutine = &proc->runner->__cor;
        this_thread = NULL;

        //We now have a proper context from which to schedule threads
        LIB_DEBUG_PRINT_SAFE("Kernel : core %p created (%p, %p)\n", proc, proc->runner, &ctx);

        // SKULLDUGGERY: Since the coroutine doesn't have its own stack, we can't
        // resume it to start it like it normally would, it will just context switch
        // back to here. Instead directly call the main since we already are on the
        // appropriate stack.
        proc_cor_storage.__cor.state = Active;
        main( &proc_cor_storage );
        proc_cor_storage.__cor.state = Halted;

        // Main routine of the core returned, the core is now fully terminated
        LIB_DEBUG_PRINT_SAFE("Kernel : core %p main ended (%p)\n", proc, proc->runner);

        return NULL;
}

void start(processor * this) {
        LIB_DEBUG_PRINT_SAFE("Kernel : Starting core %p\n", this);

        pthread_create( &this->kernel_thread, NULL, CtxInvokeProcessor, (void*)this );

        LIB_DEBUG_PRINT_SAFE("Kernel : core %p started\n", this);
}

//-----------------------------------------------------------------------------
// Scheduler routines
void ScheduleThread( thread_desc * thrd ) {
        // if( !thrd ) return;
        assert( thrd );
        assert( thrd->cor.state != Halted );

        verify( disable_preempt_count > 0 );

        verifyf( thrd->next == NULL, "Expected null got %p", thrd->next );

        lock( &systemProcessor->proc.cltr->lock DEBUG_CTX2 );
        append( &systemProcessor->proc.cltr->ready_queue, thrd );
        unlock( &systemProcessor->proc.cltr->lock );

        verify( disable_preempt_count > 0 );
}

thread_desc * nextThread(cluster * this) {
        verify( disable_preempt_count > 0 );
        lock( &this->lock DEBUG_CTX2 );
        thread_desc * head = pop_head( &this->ready_queue );
        unlock( &this->lock );
        verify( disable_preempt_count > 0 );
        return head;
}

void BlockInternal() {
        disable_interrupts();
        verify( disable_preempt_count > 0 );
        suspend();
        verify( disable_preempt_count > 0 );
        enable_interrupts( DEBUG_CTX );
}

void BlockInternal( spinlock * lock ) {
        disable_interrupts();
        this_processor->finish.action_code = Release;
        this_processor->finish.lock = lock;

        verify( disable_preempt_count > 0 );
        suspend();
        verify( disable_preempt_count > 0 );

        enable_interrupts( DEBUG_CTX );
}

void BlockInternal( thread_desc * thrd ) {
        disable_interrupts();
        assert( thrd->cor.state != Halted );
        this_processor->finish.action_code = Schedule;
        this_processor->finish.thrd = thrd;

        verify( disable_preempt_count > 0 );
        suspend();
        verify( disable_preempt_count > 0 );

        enable_interrupts( DEBUG_CTX );
}

void BlockInternal( spinlock * lock, thread_desc * thrd ) {
        disable_interrupts();
        this_processor->finish.action_code = Release_Schedule;
        this_processor->finish.lock = lock;
        this_processor->finish.thrd = thrd;

        verify( disable_preempt_count > 0 );
        suspend();
        verify( disable_preempt_count > 0 );

        enable_interrupts( DEBUG_CTX );
}

void BlockInternal(spinlock ** locks, unsigned short count) {
        disable_interrupts();
        this_processor->finish.action_code = Release_Multi;
        this_processor->finish.locks = locks;
        this_processor->finish.lock_count = count;

        verify( disable_preempt_count > 0 );
        suspend();
        verify( disable_preempt_count > 0 );

        enable_interrupts( DEBUG_CTX );
}

void BlockInternal(spinlock ** locks, unsigned short lock_count, thread_desc ** thrds, unsigned short thrd_count) {
        disable_interrupts();
        this_processor->finish.action_code = Release_Multi_Schedule;
        this_processor->finish.locks = locks;
        this_processor->finish.lock_count = lock_count;
        this_processor->finish.thrds = thrds;
        this_processor->finish.thrd_count = thrd_count;

        verify( disable_preempt_count > 0 );
        suspend();
        verify( disable_preempt_count > 0 );

        enable_interrupts( DEBUG_CTX );
}

void LeaveThread(spinlock * lock, thread_desc * thrd) {
        verify( disable_preempt_count > 0 );
        this_processor->finish.action_code = thrd ? Release_Schedule : Release;
        this_processor->finish.lock = lock;
        this_processor->finish.thrd = thrd;

        suspend();
}

//=============================================================================================
// Kernel Setup logic
//=============================================================================================
//-----------------------------------------------------------------------------
// Kernel boot procedures
void kernel_startup(void) {
        LIB_DEBUG_PRINT_SAFE("Kernel : Starting\n");

        // Start by initializing the main thread
        // SKULLDUGGERY: the mainThread steals the process main thread
        // which will then be scheduled by the systemProcessor normally
        mainThread = (thread_desc *)&mainThreadStorage;
        current_stack_info_t info;
        mainThread{ &info };

        LIB_DEBUG_PRINT_SAFE("Kernel : Main thread ready\n");

        // Initialize the system cluster
        systemCluster = (cluster *)&systemClusterStorage;
        systemCluster{};

        LIB_DEBUG_PRINT_SAFE("Kernel : System cluster ready\n");

        // Initialize the system processor and the system processor ctx
        // (the coroutine that contains the processing control flow)
        systemProcessor = (system_proc_t *)&systemProcessorStorage;
        (*systemProcessor){ systemCluster, (processorCtx_t *)&systemProcessorCtxStorage };

        // Add the main thread to the ready queue
        // once resume is called on systemProcessor->runner the mainThread needs to be scheduled like any normal thread
        ScheduleThread(mainThread);

        //initialize the global state variables
        this_processor = &systemProcessor->proc;
        this_thread = mainThread;
        this_coroutine = &mainThread->cor;
        disable_preempt_count = 1;

        // Enable preemption
        kernel_start_preemption();

        // SKULLDUGGERY: Force a context switch to the system processor to set the main thread's context to the current UNIX
        // context. Hence, the main thread does not begin through CtxInvokeThread, like all other threads. The trick here is that
        // mainThread is on the ready queue when this call is made.
        resume( systemProcessor->proc.runner );



        // THE SYSTEM IS NOW COMPLETELY RUNNING
        LIB_DEBUG_PRINT_SAFE("Kernel : Started\n--------------------------------------------------\n\n");

        enable_interrupts( DEBUG_CTX );
}

void kernel_shutdown(void) {
        LIB_DEBUG_PRINT_SAFE("\n--------------------------------------------------\nKernel : Shutting down\n");

        disable_interrupts();

        // SKULLDUGGERY: Notify the systemProcessor it needs to terminates.
        // When its coroutine terminates, it return control to the mainThread
        // which is currently here
        systemProcessor->proc.is_terminated = true;
        suspend();

        // THE SYSTEM IS NOW COMPLETELY STOPPED

        // Disable preemption
        kernel_stop_preemption();

        // Destroy the system processor and its context in reverse order of construction
        // These were manually constructed so we need manually destroy them
        ^(systemProcessor->proc.runner){};
        ^(systemProcessor){};

        // Final step, destroy the main thread since it is no longer needed
        // Since we provided a stack to this taxk it will not destroy anything
        ^(mainThread){};

        LIB_DEBUG_PRINT_SAFE("Kernel : Shutdown complete\n");
}

static spinlock kernel_abort_lock;
static spinlock kernel_debug_lock;
static bool kernel_abort_called = false;

void * kernel_abort    (void) __attribute__ ((__nothrow__)) {
        // abort cannot be recursively entered by the same or different processors because all signal handlers return when
        // the globalAbort flag is true.
        lock( &kernel_abort_lock DEBUG_CTX2 );

        // first task to abort ?
        if ( !kernel_abort_called ) {                   // not first task to abort ?
                kernel_abort_called = true;
                unlock( &kernel_abort_lock );
        }
        else {
                unlock( &kernel_abort_lock );

                sigset_t mask;
                sigemptyset( &mask );
                sigaddset( &mask, SIGALRM );                    // block SIGALRM signals
                sigaddset( &mask, SIGUSR1 );                    // block SIGUSR1 signals
                sigsuspend( &mask );                            // block the processor to prevent further damage during abort
                _exit( EXIT_FAILURE );                          // if processor unblocks before it is killed, terminate it
        }

        return this_thread;
}

void kernel_abort_msg( void * kernel_data, char * abort_text, int abort_text_size ) {
        thread_desc * thrd = kernel_data;

        int len = snprintf( abort_text, abort_text_size, "Error occurred while executing task %.256s (%p)", thrd->cor.name, thrd );
        __lib_debug_write( STDERR_FILENO, abort_text, len );

        if ( thrd != this_coroutine ) {
                len = snprintf( abort_text, abort_text_size, " in coroutine %.256s (%p).\n", this_coroutine->name, this_coroutine );
                __lib_debug_write( STDERR_FILENO, abort_text, len );
        }
        else {
                __lib_debug_write( STDERR_FILENO, ".\n", 2 );
        }
}

extern "C" {
        void __lib_debug_acquire() {
                lock( &kernel_debug_lock DEBUG_CTX2 );
        }

        void __lib_debug_release() {
                unlock( &kernel_debug_lock );
        }
}

//=============================================================================================
// Kernel Utilities
//=============================================================================================
//-----------------------------------------------------------------------------
// Locks
void ?{}( spinlock & this ) {
        this.lock = 0;
}
void ^?{}( spinlock & this ) {

}

bool try_lock( spinlock * this DEBUG_CTX_PARAM2 ) {
        return this->lock == 0 && __sync_lock_test_and_set_4( &this->lock, 1 ) == 0;
}

void lock( spinlock * this DEBUG_CTX_PARAM2 ) {
        for ( unsigned int i = 1;; i += 1 ) {
                if ( this->lock == 0 && __sync_lock_test_and_set_4( &this->lock, 1 ) == 0 ) { break; }
        }
        LIB_DEBUG_DO(
                this->prev_name = caller;
                this->prev_thrd = this_thread;
        )
}

void lock_yield( spinlock * this DEBUG_CTX_PARAM2 ) {
        for ( unsigned int i = 1;; i += 1 ) {
                if ( this->lock == 0 && __sync_lock_test_and_set_4( &this->lock, 1 ) == 0 ) { break; }
                yield();
        }
        LIB_DEBUG_DO(
                this->prev_name = caller;
                this->prev_thrd = this_thread;
        )
}


void unlock( spinlock * this ) {
        __sync_lock_release_4( &this->lock );
}

void  ?{}( semaphore & this, int count = 1 ) {
        (this.lock){};
        this.count = count;
        (this.waiting){};
}
void ^?{}(semaphore & this) {}

void P(semaphore * this) {
        lock( &this->lock DEBUG_CTX2 );
        this->count -= 1;
        if ( this->count < 0 ) {
                // queue current task
                append( &this->waiting, (thread_desc *)this_thread );

                // atomically release spin lock and block
                BlockInternal( &this->lock );
        }
        else {
            unlock( &this->lock );
        }
}

void V(semaphore * this) {
        thread_desc * thrd = NULL;
        lock( &this->lock DEBUG_CTX2 );
        this->count += 1;
        if ( this->count <= 0 ) {
                // remove task at head of waiting list
                thrd = pop_head( &this->waiting );
        }

        unlock( &this->lock );

        // make new owner
        WakeThread( thrd );
}

//-----------------------------------------------------------------------------
// Queues
void ?{}( __thread_queue_t & this ) {
        this.head = NULL;
        this.tail = &this.head;
}

void append( __thread_queue_t * this, thread_desc * t ) {
        verify(this->tail != NULL);
        *this->tail = t;
        this->tail = &t->next;
}

thread_desc * pop_head( __thread_queue_t * this ) {
        thread_desc * head = this->head;
        if( head ) {
                this->head = head->next;
                if( !head->next ) {
                        this->tail = &this->head;
                }
                head->next = NULL;
        }
        return head;
}

void ?{}( __condition_stack_t & this ) {
        this.top = NULL;
}

void push( __condition_stack_t * this, __condition_criterion_t * t ) {
        verify( !t->next );
        t->next = this->top;
        this->top = t;
}

__condition_criterion_t * pop( __condition_stack_t * this ) {
        __condition_criterion_t * top = this->top;
        if( top ) {
                this->top = top->next;
                top->next = NULL;
        }
        return top;
}
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