1. Chapter 5: CPU Scheduling

2. Chapter 5: CPU Scheduling
Basic Concepts
Scheduling Criteria
Scheduling Algorithms
Thread Scheduling
Multiple-Processor Scheduling
Real-Time CPU Scheduling
Operating Systems Examples
Algorithm Evaluation

3. Objectives
To introduce CPU scheduling, which is the basis for multiprogrammed operating systems
To describe various CPU-scheduling algorithms
To discuss evaluation criteria for selecting a CPU-scheduling algorithm for a particular system
To examine the scheduling algorithms of several operating systems

4. Heterogeneous Multiprocessing
Heterogeneous Multiprocessing (HMP) - systems designed using cores that run the same instruction set, yet vary in terms of their clock speed and power management, including the ability to adjust the power consumption of a core to the point of idling the core
Better manages power consumption by assigning tasks to certain cores based upon the specific demands of the task
ARM processors that support this type of architecture is known as big.LITTLE where higher-performance big cores are combined with energy efficient LITTLE cores.
Big cores consume greater energy and therefore should only be used for short periods of time
Likewise, little cores use less energy and can therefore be used for longer periods
CPU scheduler can assign tasks not requiring high performance, but that run for longer periods, (such as background tasks) to little cores
Interactive applications which require more processing power, but may run for shorter durations, can be assigned to big cores

5. Real-Time CPU Scheduling
Can present obvious challenges
Soft real-time systems – no guarantee as to when critical real-time process will be scheduled
They guarantee only that the process will be given preference over noncritical processes
Hard real-time systems – task must be serviced by its deadline
For hard real-time systems, interrupt latency must be bounded to meet the strict requirements of these systems
Two types of latencies affect performance
Interrupt Latency - time from arrival of interrupt to start of routine that services interrupt
Dispatch Latency - time for scheduler to take current process off CPU and switch to another

6. Real-Time CPU Scheduling (Cont.)
Real-time operating systems require that interrupts be disabled for only very short periods of time
Conflict phase of dispatch latency has two components:
Preemption of any process running in kernel mode
Release by low-priority process of resources needed by high-priority processes

7. Priority-based Scheduling
For real-time scheduling, scheduler must support preemptive, priority-based scheduling
This only guarantees soft real-time functionality
For hard real-time must also provide ability to meet deadlines
Processes have new characteristics: periodic ones require CPU at constant intervals
Has processing time t, deadline d, period p
0 ≤ t ≤ d ≤ p
Rate of periodic task is 1/p

8. Virtualization and Scheduling
Virtualization software schedules multiple guests onto CPU(s)
Each guest doing its own scheduling
Not knowing it doesn’t own the CPUs
Can result in poor response time
Can effect time-of-day clocks in guests
Can undo good scheduling algorithm efforts of guests

9. Rate Montonic Scheduling
A priority is assigned based on the inverse of its period
Shorter periods = higher priority;
Longer periods = lower priority
P1 is assigned a higher priority than P2.
Example: Let period for P1 is 50, and for P2 is 100
The processing times are t1 = 20 for P1 and t2 = 35 for P2
The deadline for each process requires that it complete its CPU burst by the start of its next period
P1 has higher priority than P2
CPU utilization of a process Pi as the ratio of its burst to its period—ti/pi
CPU utilization of P1 is 20/50 = 0.40 and P2 is 35/100 = 0.35, for a total CPU utilization of 75 percent

10. Missed Deadlines with Rate Monotonic Scheduling
Rate-monotonic scheduling is considered optimal in that if a set of processes cannot be scheduled by this algorithm, it cannot be scheduled by any other algorithm that assigns static priorities
A set of processes that cannot be scheduled using the rate-monotonic algorithm
Example: P1 has a period of p1 = 50 and a CPU burst of t1 = 25. P2 has a period of p2 = 80 and t2 = 35
The total CPU utilization of the two processes is (25/50) + (35/80) = 0.94
Despite being optimal, rate-monotonic scheduling has a limitation: CPU utilization is bounded, and it is not always possible to maximize CPU resources fully

11. Earliest Deadline First Scheduling (EDF)
Priorities are assigned according to deadlines: the earlier the deadline, the higher the priority; the later the deadline, the lower the priority
Priorities may have to be adjusted to reflect the deadline of the newly runnable process
Example: P1 has a period of p1 = 50 and a CPU burst of t1 = 25. P2 has a period of p2 = 80 and t2 = 35
Since deadline p1 < p2, initially P1 has higher priority than P2
At t = 50, P1 does not pre-empt P2 as P2 has higher priority as deadline for P2 is 80, whereas deadline for P1 is 100

12. Proportional Share Scheduling
T shares are allocated among all processes in the system
An application receives N shares of time, where N < T
This ensures each application will receive N / T of the total processor time
Example: T = 100 shares is to be divided among three processes, A, B, and C. A is assigned 50 shares, B is assigned 15 shares, and C is assigned 20 shares
Total allocated shares = 85
If a new process D requested 30 shares, the admission controller would deny D entry into the system

13. POSIX Real-Time Scheduling
The POSIX.1b standard
API provides functions for managing real-time threads
Defines two scheduling classes for real-time threads:
SCHED_FIFO - threads are scheduled using a FCFS strategy with a FIFO queue. There is no time-slicing for threads of equal priority
SCHED_RR - similar to SCHED_FIFO except time-slicing occurs for threads of equal priority
Defines two functions for getting and setting scheduling policy:
pthread_attr_getsched_policy(pthread_attr_t *attr, int *policy)
pthread_attr_setsched_policy(pthread_attr_t *attr, int policy)

14. POSIX Real-Time Scheduling API
#include <pthread.h>
#include <stdio.h>
#define NUM_THREADS 5
int main(int argc, char *argv[]) {
int i, policy; pthread_t_tid[NUM_THREADS];
pthread_attr_t attr;
/* get the default attributes */
pthread_attr_init(&attr);
/* get the current scheduling policy */ if (pthread_attr_getschedpolicy(&attr, &policy) != 0)
fprintf(stderr, "Unable to get policy.\n");
else {
if (policy == SCHED_OTHER) printf("SCHED_OTHER\n");
else if (policy == SCHED_RR) printf("SCHED_RR\n");
else if (policy == SCHED_FIFO) printf("SCHED_FIFO\n"); }

15. POSIX Real-Time Scheduling API (Cont.)
/* set the scheduling policy - FIFO, RR, or OTHER */ if (pthread_attr_setschedpolicy(&attr, SCHED_FIFO) != 0)
fprintf(stderr, "Unable to set policy.\n");
/* create the threads */ for (i = 0; i < NUM_THREADS; i++)
pthread_create(&tid[i],&attr,runner,NULL);
/* now join on each thread */ for (i = 0; i < NUM_THREADS; i++)
pthread_join(tid[i], NULL); }
/* Each thread will begin control in this function */
void *runner(void *param) {
/* do some work ... */
pthread_exit(0);

16. Operating System Examples
Linux scheduling
Windows scheduling
Solaris scheduling

17. Linux Scheduling Through Version 2.5
Prior to kernel version 2.5, ran variation of standard UNIX scheduling algorithm
Did not adequately support SMP systems
Version 2.5 moved to constant order O(1) scheduling time
ran in constant time regardless of the number of tasks in the system
increased support for SMP systems, including processor affinity and load balancing between processorsPreemptive, priority based
Two priority ranges: time-sharing and real-time
Higher priority gets larger q
Task run-able as long as time left in time slice (active)
If no time left (expired), not run-able until all other tasks use their slices
All run-able tasks tracked in per-CPU runqueue data structure
Two priority arrays (active, expired)
Tasks indexed by priority
When no more active, arrays are exchanged
Worked well, but poor response times for interactive processes

18. Linux Scheduling in Version 2.6.23 +
Completely Fair Scheduler (CFS)
Scheduling classes
Each class has specific priority
Scheduler picks highest priority task in highest priority scheduling class
2 scheduling classes included in standard Linux kernels, others can be added
Default scheduling class using CFS scheduling
real-time scheduling class
Rather than associating a relative priority value with the length of a time quantum, the CFS scheduler assigns a proportion of CPU processing time to each task
This proportion is based on nice value, which ranges from -20 to +19, lower value is higher relative priority
Tasks with lower nice values receive a higher proportion of CPU processing time, default nice value is 0
Instead of discrete time slices, proportion of CPU time allocated from value of target latency – interval of time during which task should run at least once
Target latency can increase if number of active tasks increases beyond a threshold

19. Linux Scheduling in Version 2.6.23 +
Priorities not assigned directly
CFS scheduler maintains per task virtual run time in variable vruntime
Associated with decay factor based on priority of task – lower priority is higher decay rate
For tasks at normal priority (nice value 0), virtual run time identical to actual run time
If a task with default priority runs for 200 milliseconds, its vruntime = 200 milliseconds
If a lower-priority task runs for 200 milliseconds, its vruntime > 200 milliseconds
If a higher-priority task runs for 200 milliseconds, its vruntime < 200 milliseconds
To decide next task to run, scheduler picks task with lowest vruntime value
a higher-priority task that becomes available to run can preempt a lower-priority task

20. CFS Performance

21. Linux Scheduling (Cont.)
Real-time scheduling according to POSIX.1b
Any task scheduled using either the SCHED_FIFO or the SCHED_RR real-time policy runs at a higher priority than normal (non-real-time) tasks
Real-time tasks have static priorities within the range of 0 to 99, and normal tasks are assigned priorities from 100 to 139
Real-time plus normal ranges map into global priority scheme, lower value indicates higher relative priority
Normal tasks assigned priorities based on nice values where values of -20 maps to global priority 100, nice value of +19 maps to priority 139

22. Load Balancing by CFS Scheduler
Load of each thread is a combination of the thread's priority and its average rate of CPU utilization
A thread that has a high priority, and mostly I/O-bound, requires little CPU usage, has a generally low load, similar to the load of a low-priority thread that has high CPU utilization.
The load of a queue is the sum of the loads of all threads in the queue, and balancing is simply ensuring that all queues have approximately the same load.
Migrating a thread may result in a memory access penalty
A scheduling domain is a set of CPU cores that can be balanced against one another

23. Windows Scheduling Windows uses priority-based preemptive scheduling
Highest-priority thread runs next
Dispatcher - The portion of the Windows kernel that handles scheduling
Thread runs until (1) blocks, e.g. I/O (2) uses time slice, (3) preempted by higher-priority thread (4) terminates
Real-time threads can preempt non-real-time
32-level priority scheme
Variable class, threads with priorities 1-15, real-time class priorities 16-31
Priority 0 is memory-management thread
Queue for each priority
If no run-able thread, runs idle thread

24. Windows Priority Classes
Win32 API identifies several priority classes to which a process can belong
REALTIME_PRIORITY_CLASS, HIGH_PRIORITY_CLASS, ABOVE_NORMAL_PRIORITY_CLASS,NORMAL_PRIORITY_CLASS, BELOW_NORMAL_PRIORITY_CLASS, IDLE_PRIORITY_CLASS
All are variable except REALTIME
The priority class of a process can be altered with the SetPriorityClass() function in the Windows API
A thread within a given priority class has a relative priority
TIME_CRITICAL, HIGHEST, ABOVE_NORMAL, NORMAL, BELOW_NORMAL, LOWEST, IDLE
Priority class and relative priority combine to give numeric priority
Base priority is NORMAL within the class
If quantum expires, priority lowered, but never below base

25. Windows Priorities
The base priorities for each priority class are as follows:
REALTIME_PRIORITY_CLASS—24
HIGH_PRIORITY_CLASS—13
ABOVE_NORMAL_PRIORITY_CLASS—10
NORMAL_PRIORITY_CLASS—8
BELOW_NORMAL_PRIORITY_CLASS—6
IDLE_PRIORITY_CLASS—4

26. Windows Priority Classes (Cont.)
Windows has a special scheduling rule for processes in the NORMAL_PRIORITY_CLASS
Windows distinguishes between the foreground process that is currently selected on the screen and the background processes
When a process moves into the foreground, Windows increases the scheduling quantum by 3 giving 3x longer to run before preemption by time-sharing process
Windows 7 added user-mode scheduling (UMS)
Applications create and manage threads independent of kernel
For large number of threads, much more efficient
UMS is not intended to be used directly by the programmer, the schedulers come from programming language libraries that build on top of UMS
Microsoft provides Concurrency Runtime (ConcRT), a concurrent programming framework for C++ designed for task-based parallelism on multicore processors.
ConcRT provides a user-mode scheduler together with facilities for decomposing programs into tasks, which can then be scheduled on the available processing cores

27. Solaris Priority-based scheduling Six classes available
Time sharing (default) (TS)
Interactive (IA)
Real time (RT)
System (SYS)
Fair Share (FSS)
Fixed priority (FP)
Given thread can be in one class at a time
Each class has different priority and different scheduling algorithm
Time sharing class dynamically alters priorities and assigns time slices of different lengths using a multi-level feedback queue
Loadable table configurable by sysadmin

28. Solaris Dispatch Table
Simplified dispatch table for scheduling time-sharing and interactive threads
Priority: higher number is higher priority
Time Quantum: The time quantum for the associated priority
Time Quantum Expired: The new priority of a thread that has used its entire time quantum without blocking, CPU-bound threads
Return from sleep: The priority of a thread that is returning from sleeping (such as from waiting for I/O)
Threads in the real-time class are given the highest priority
system class runs kernel threads, e.g. scheduler and paging daemon

29. Solaris Scheduling
The fixed-priority and fair-share classes were introduced with Solaris 9, uses one-to-one model
Threads in the fixed-priority class have the same priority range as those in the time-sharing class; their priorities are not dynamically adjusted.
The fair-share class uses CPU shares instead of priorities to make scheduling decisions.
CPU shares indicate entitlement to available CPU resources and are allocated to a set of processes, known as a project.
class-specific priorities are converted into global priorities, and the thread with the highest global priority is run by the scheduler
The selected thread runs on the CPU until it (1) blocks, (2) uses its time slice, or (3) is preempted by a higher-priority thread
Multiple threads with the same priority run using RR
ten threads for servicing interrupts, not in any class

30. Algorithm Evaluation How to select CPU-scheduling algorithm for an OS?
Determine criteria, then evaluate algorithms
Deterministic modeling
Type of analytic evaluation
Takes a particular predetermined workload and defines the performance of each algorithm for that workload
Consider 5 processes arriving at time 0, in the order given:
Consider the FCFS, SJF, and RR (quantum = 10 milliseconds) scheduling algorithms for this set of processes

31. Deterministic Evaluation
For each algorithm, calculate minimum average waiting time
Simple and fast, but requires exact numbers for input, applies only to those inputs
FCS, average waiting time = ( )/5 = 28 ms
Non-preemptive SFJ, average waiting time = ( )/5 =13ms
RR, average waiting time = ( )/5 = 23ms:

32. Queueing Models
Describes the arrival of processes, and CPU and I/O bursts probabilistically
Commonly exponential, and described by mean
Computes average throughput, utilization, waiting time, etc
Computer system described as network of servers, each with queue of waiting processes
Knowing arrival rates and service rates
Computes utilization, average queue length, average wait time, etc
This area of study is called queueing-network analysis

33. Little’s Formula n = average queue length
W = average waiting time in queue
λ = average arrival rate into queue
Little’s law – in steady state, processes leaving queue must equal processes arriving, thus: n = λ x W
Valid for any scheduling algorithm and arrival distribution
For example, if on average 7 processes arrive per second, and normally 14 processes in queue, then average wait time per process = 2 seconds
Limitations:
the classes of algorithms and distributions that can be handled are fairly limited
The mathematics of complicated algorithms and distributions can be difficult to work with
queueing models are often only approximations of real systems, and
the accuracy of the computed results may be questionable

34. Simulations Simulations more accurate
Programming a model of a computer system
The simulator has a variable representing a clock
As this variable's value is increased, the simulator modifies the system state to reflect the activities of the devices, the processes, and the scheduler
Gather statistics indicating algorithm performance
Data to drive simulation gathered via
Random number generator programmed to generate processes, CPU burst times, arrivals, departures, according to probability distributions
Distributions defined mathematically (uniform, exponential, Poisson) or empirically
For empirically defined distribution, measurements of the actual system under study are taken

35. Evaluation of CPU Schedulers by Simulation
A distribution-driven simulation may be inaccurate
Trace tapes record sequences of real events in real systems
Trace files provide an excellent way to compare two algorithms on exactly the same set of real inputs
Simulations can be expensive in terms of computing time

36. Implementation Even simulations have limited accuracy
Just implement new scheduler and test in real systems
High cost, high risk
Environments vary
Approach 1: Most flexible schedulers that can be altered by system managers or users so that they can be tuned for a specific application or set of applications
Different scheduling needs for graphics, web server, file server
Solaris provides the dispadmin command to allow the system administrator to modify the parameters of the scheduling classes
Approach 2: APIs to modify priorities of process or thread
The Java, POSIX, and Windows APIs provide such functions
Disadvantage: performance-tuning a system or application most often does not result in improved performance in more general situations

37. End of Chapter 5