path: root/xen/common/sched_arinc653.c

/******************************************************************************
 * sched_arinc653.c
 *
 * An ARINC653-compatible scheduling algorithm for use in Xen.
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to
 * deal in the Software without restriction, including without limitation the
 * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
 * sell copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in
 * all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
 * DEALINGS IN THE SOFTWARE.
 *
 * Copyright (c) 2010, DornerWorks, Ltd. <DornerWorks.com>
 */

#include <xen/config.h>
#include <xen/lib.h>
#include <xen/sched.h>
#include <xen/sched-if.h>
#include <xen/timer.h>
#include <xen/softirq.h>
#include <xen/time.h>
#include <xen/errno.h>
#include <xen/list.h>
#include <xen/guest_access.h>
#include <public/sysctl.h>

/**************************************************************************
 * Private Macros                                                         *
 **************************************************************************/

/** 
 * Retrieve the idle VCPU for a given physical CPU 
 */ 
#define IDLETASK(cpu)  (idle_vcpu[cpu])

/**
 * Return a pointer to the ARINC 653-specific scheduler data information
 * associated with the given VCPU (vc)
 */
#define AVCPU(vc) ((arinc653_vcpu_t *)(vc)->sched_priv)

/**
 * Return the global scheduler private data given the scheduler ops pointer
 */
#define SCHED_PRIV(s) ((a653sched_priv_t *)((s)->sched_data))

/**************************************************************************
 * Private Type Definitions                                               *
 **************************************************************************/

/**
 * The arinc653_vcpu_t structure holds ARINC 653-scheduler-specific
 * information for all non-idle VCPUs
 */
typedef struct arinc653_vcpu_s
{
    /* vc points to Xen's struct vcpu so we can get to it from an
     * arinc653_vcpu_t pointer. */
    struct vcpu *       vc;
    /* awake holds whether the VCPU has been woken with vcpu_wake() */
    bool_t              awake;
    /* list holds the linked list information for the list this VCPU
     * is stored in */
    struct list_head    list;
} arinc653_vcpu_t;

/**  
 * The sched_entry_t structure holds a single entry of the
 * ARINC 653 schedule.
 */
typedef struct sched_entry_s
{
    /* dom_handle holds the handle ("UUID") for the domain that this
     * schedule entry refers to. */
    xen_domain_handle_t dom_handle;
    /* vcpu_id holds the VCPU number for the VCPU that this schedule
     * entry refers to. */
    int                 vcpu_id;
    /* runtime holds the number of nanoseconds that the VCPU for this
     * schedule entry should be allowed to run per major frame. */
    s_time_t            runtime;
    /* vc holds a pointer to the Xen VCPU structure */
    struct vcpu *       vc;
} sched_entry_t;

/**
 * This structure defines data that is global to an instance of the scheduler
 */
typedef struct a653sched_priv_s
{
    /**
     * This array holds the active ARINC 653 schedule. 
     *  
     * When the system tries to start a new VCPU, this schedule is scanned
     * to look for a matching (handle, VCPU #) pair. If both the handle (UUID)
     * and VCPU number match, then the VCPU is allowed to run. Its run time
     * (per major frame) is given in the third entry of the schedule.
     */
    sched_entry_t schedule[ARINC653_MAX_DOMAINS_PER_SCHEDULE];

    /**
     * This variable holds the number of entries that are valid in
     * the arinc653_schedule table. 
     *  
     * This is not necessarily the same as the number of domains in the
     * schedule. A domain could be listed multiple times within the schedule,
     * or a domain with multiple VCPUs could have a different
     * schedule entry for each VCPU. 
     */
    int num_schedule_entries;

    /**
     * the major frame time for the ARINC 653 schedule.
     */
    s_time_t major_frame;

    /**
     * the time that the next major frame starts
     */
    s_time_t next_major_frame;

    /** 
     * pointers to all Xen VCPU structures for iterating through 
     */ 
    struct list_head vcpu_list;
} a653sched_priv_t;

/**************************************************************************
 * Helper functions                                                       *
 **************************************************************************/

/**
 * This function compares two domain handles.
 * 
 * @param h1        Pointer to handle 1
 * @param h2        Pointer to handle 2
 * 
 * @return          <ul>
 *                  <li> <0:  handle 1 is less than handle 2   
 *                  <li>  0:  handle 1 is equal to handle 2    
 *                  <li> >0:  handle 1 is greater than handle 2 
 *                  </ul>
 */
static int dom_handle_cmp(const xen_domain_handle_t h1,
                          const xen_domain_handle_t h2)
{
    return memcmp(h1, h2, sizeof(xen_domain_handle_t));
}

/**
 * This function searches the vcpu list to find a VCPU that matches
 * the domain handle and VCPU ID specified.
 * 
 * @param ops       Pointer to this instance of the scheduler structure
 * @param handle    Pointer to handler
 * @param vcpu_id   VCPU ID
 * 
 * @return          <ul>
 *                  <li> Pointer to the matching VCPU if one is found
 *                  <li> NULL otherwise
 *                  </ul>
 */
static struct vcpu *find_vcpu(
    const struct scheduler *ops,
    xen_domain_handle_t handle,
    int vcpu_id)
{
    arinc653_vcpu_t *avcpu;

    /* loop through the vcpu_list looking for the specified VCPU */
    list_for_each_entry ( avcpu, &SCHED_PRIV(ops)->vcpu_list, list )
        if ( (dom_handle_cmp(avcpu->vc->domain->handle, handle) == 0)
             && (vcpu_id == avcpu->vc->vcpu_id) )
            return avcpu->vc;

    return NULL;
}

/**
 * This function updates the pointer to the Xen VCPU structure for each entry
 * in the ARINC 653 schedule.
 * 
 * @param ops       Pointer to this instance of the scheduler structure
 * @return          <None>
 */
static void update_schedule_vcpus(const struct scheduler *ops)
{
    unsigned int i, n_entries = SCHED_PRIV(ops)->num_schedule_entries;

    for ( i = 0; i < n_entries; i++ )
        SCHED_PRIV(ops)->schedule[i].vc =
            find_vcpu(ops,
                      SCHED_PRIV(ops)->schedule[i].dom_handle,
                      SCHED_PRIV(ops)->schedule[i].vcpu_id);
}

/**
 * This function is called by the adjust_global scheduler hook to put
 * in place a new ARINC653 schedule.
 *
 * @param ops       Pointer to this instance of the scheduler structure
 * 
 * @return          <ul>
 *                  <li> 0 = success
 *                  <li> !0 = error
 *                  </ul>
 */
static int
arinc653_sched_set(
    const struct scheduler *ops,
    struct xen_sysctl_arinc653_schedule *schedule)
{
    a653sched_priv_t *sched_priv = SCHED_PRIV(ops);
    s_time_t total_runtime = 0;
    bool_t found_dom0 = 0;
    const static xen_domain_handle_t dom0_handle = {0};
    unsigned int i;

    /* Check for valid major frame and number of schedule entries. */
    if ( (schedule->major_frame <= 0)
         || (schedule->num_sched_entries < 1)
         || (schedule->num_sched_entries > ARINC653_MAX_DOMAINS_PER_SCHEDULE) )
        goto fail;

    for ( i = 0; i < schedule->num_sched_entries; i++ )
    {
        if ( dom_handle_cmp(schedule->sched_entries[i].dom_handle,
                            dom0_handle) == 0 )
            found_dom0 = 1;

        /* Check for a valid VCPU ID and run time. */
        if ( (schedule->sched_entries[i].vcpu_id >= MAX_VIRT_CPUS)
             || (schedule->sched_entries[i].runtime <= 0) )
            goto fail;

        /* Add this entry's run time to total run time. */
        total_runtime += schedule->sched_entries[i].runtime;
    }

    /* Error if the schedule doesn't contain a slot for domain 0. */
    if ( !found_dom0 )
        goto fail;

    /* 
     * Error if the major frame is not large enough to run all entries as
     * indicated by comparing the total run time to the major frame length.
     */ 
    if ( total_runtime > schedule->major_frame )
        goto fail;

    /* Copy the new schedule into place. */
    sched_priv->num_schedule_entries = schedule->num_sched_entries;
    sched_priv->major_frame = schedule->major_frame;
    for ( i = 0; i < schedule->num_sched_entries; i++ )
    {
        memcpy(sched_priv->schedule[i].dom_handle,
               schedule->sched_entries[i].dom_handle,
               sizeof(sched_priv->schedule[i].dom_handle));
        sched_priv->schedule[i].vcpu_id =
            schedule->sched_entries[i].vcpu_id;
        sched_priv->schedule[i].runtime =
            schedule->sched_entries[i].runtime;
    }
    update_schedule_vcpus(ops);

    /*
     * The newly-installed schedule takes effect immediately. We do not even 
     * wait for the current major frame to expire.
     *
     * Signal a new major frame to begin. The next major frame is set up by 
     * the do_schedule callback function when it is next invoked.
     */
    sched_priv->next_major_frame = NOW();

    return 0;

 fail:
    return -EINVAL;
}

/**
 * This function is called by the adjust_global scheduler hook to read the
 * current ARINC 653 schedule
 *
 * @param ops       Pointer to this instance of the scheduler structure
 * @return          <ul>
 *                  <li> 0 = success
 *                  <li> !0 = error
 *                  </ul>
 */
static int
arinc653_sched_get(
    const struct scheduler *ops,
    struct xen_sysctl_arinc653_schedule *schedule)
{
    a653sched_priv_t *sched_priv = SCHED_PRIV(ops);
    unsigned int i;

    schedule->num_sched_entries = sched_priv->num_schedule_entries;
    schedule->major_frame = sched_priv->major_frame;
    for ( i = 0; i < sched_priv->num_schedule_entries; i++ )
    {
        memcpy(schedule->sched_entries[i].dom_handle,
               sched_priv->schedule[i].dom_handle,
               sizeof(sched_priv->schedule[i].dom_handle));
        schedule->sched_entries[i].vcpu_id = sched_priv->schedule[i].vcpu_id;
        schedule->sched_entries[i].runtime = sched_priv->schedule[i].runtime;
    }

    return 0;
}

/**************************************************************************
 * Scheduler callback functions                                           *
 **************************************************************************/

/**
 * This function performs initialization for an instance of the scheduler.
 *
 * @param ops       Pointer to this instance of the scheduler structure
 *
 * @return          <ul>
 *                  <li> 0 = success
 *                  <li> !0 = error
 *                  </ul>
 */
static int
a653sched_init(struct scheduler *ops)
{
    a653sched_priv_t *prv;

    prv = xzalloc(a653sched_priv_t);
    if ( prv == NULL )
        return -ENOMEM;

    ops->sched_data = prv;

    prv->schedule[0].dom_handle[0] = '\0';
    prv->schedule[0].vcpu_id = 0;
    prv->schedule[0].runtime = MILLISECS(10);
    prv->schedule[0].vc = NULL;
    prv->num_schedule_entries = 1;
    prv->major_frame = MILLISECS(10);
    prv->next_major_frame = 0;
    INIT_LIST_HEAD(&prv->vcpu_list);

    return 0;
}

/**
 * This function performs deinitialization for an instance of the scheduler
 *
 * @param ops       Pointer to this instance of the scheduler structure
 */
static void
a653sched_deinit(const struct scheduler *ops)
{
    xfree(SCHED_PRIV(ops));
}

/**
 * This function allocates scheduler-specific data for a VCPU
 *
 * @param ops       Pointer to this instance of the scheduler structure
 *
 * @return          Pointer to the allocated data
 */
static void *
a653sched_alloc_vdata(const struct scheduler *ops, struct vcpu *vc, void *dd)
{
    /* 
     * Allocate memory for the ARINC 653-specific scheduler data information
     * associated with the given VCPU (vc). 
     */ 
    if ( (vc->sched_priv = xmalloc(arinc653_vcpu_t)) == NULL )
        return NULL;

    /*
     * Initialize our ARINC 653 scheduler-specific information for the VCPU.
     * The VCPU starts "asleep." When Xen is ready for the VCPU to run, it 
     * will call the vcpu_wake scheduler callback function and our scheduler 
     * will mark the VCPU awake.
     */
    AVCPU(vc)->vc = vc;
    AVCPU(vc)->awake = 0;
    if ( !is_idle_vcpu(vc) )
        list_add(&AVCPU(vc)->list, &SCHED_PRIV(ops)->vcpu_list);
    update_schedule_vcpus(ops);

    return AVCPU(vc);
}

/**
 * This function frees scheduler-specific VCPU data
 *
 * @param ops       Pointer to this instance of the scheduler structure
 */
static void
a653sched_free_vdata(const struct scheduler *ops, void *priv)
{
    arinc653_vcpu_t *av = priv;

    if (av == NULL)
        return;

    list_del(&av->list);
    xfree(av);
    update_schedule_vcpus(ops);
}

/**
 * This function allocates scheduler-specific data for a physical CPU
 *
 * We do not actually make use of any per-CPU data but the hypervisor expects
 * a non-NULL return value
 *
 * @param ops       Pointer to this instance of the scheduler structure
 *
 * @return          Pointer to the allocated data
 */
static void *
a653sched_alloc_pdata(const struct scheduler *ops, int cpu)
{
    /* return a non-NULL value to keep schedule.c happy */
    return SCHED_PRIV(ops);
}

/**
 * This function frees scheduler-specific data for a physical CPU
 *
 * @param ops       Pointer to this instance of the scheduler structure
 */
static void
a653sched_free_pdata(const struct scheduler *ops, void *pcpu, int cpu)
{
    /* nop */
}

/**
 * This function allocates scheduler-specific data for a domain
 *
 * We do not actually make use of any per-domain data but the hypervisor
 * expects a non-NULL return value
 *
 * @param ops       Pointer to this instance of the scheduler structure
 *
 * @return          Pointer to the allocated data
 */
static void *
a653sched_alloc_domdata(const struct scheduler *ops, struct domain *dom)
{
    /* return a non-NULL value to keep schedule.c happy */
    return SCHED_PRIV(ops);
}

/**
 * This function frees scheduler-specific data for a domain
 *
 * @param ops       Pointer to this instance of the scheduler structure
 */
static void
a653sched_free_domdata(const struct scheduler *ops, void *data)
{
    /* nop */
}

/**
 * Xen scheduler callback function to sleep a VCPU
 * 
 * @param ops       Pointer to this instance of the scheduler structure
 * @param vc        Pointer to the VCPU structure for the current domain
 */
static void
a653sched_vcpu_sleep(const struct scheduler *ops, struct vcpu *vc)
{
    if ( AVCPU(vc) != NULL )
        AVCPU(vc)->awake = 0;

    /*
     * If the VCPU being put to sleep is the same one that is currently
     * running, raise a softirq to invoke the scheduler to switch domains.
     */
    if ( per_cpu(schedule_data, vc->processor).curr == vc )
        cpu_raise_softirq(vc->processor, SCHEDULE_SOFTIRQ);
}

/**
 * Xen scheduler callback function to wake up a VCPU
 * 
 * @param ops       Pointer to this instance of the scheduler structure
 * @param vc        Pointer to the VCPU structure for the current domain
 */
static void
a653sched_vcpu_wake(const struct scheduler *ops, struct vcpu *vc)
{
    if ( AVCPU(vc) != NULL )
        AVCPU(vc)->awake = 1;

    cpu_raise_softirq(vc->processor, SCHEDULE_SOFTIRQ);
}

/**
 * Xen scheduler callback function to select a VCPU to run.
 * This is the main scheduler routine.
 * 
 * @param ops       Pointer to this instance of the scheduler structure
 * @param now       Current time
 * 
 * @return          Address of the VCPU structure scheduled to be run next
 *                  Amount of time to execute the returned VCPU
 *                  Flag for whether the VCPU was migrated
 */
static struct task_slice
a653sched_do_schedule(
    const struct scheduler *ops,
    s_time_t now,
    bool_t tasklet_work_scheduled)
{
    struct task_slice ret;                      /* hold the chosen domain */
    struct vcpu * new_task = NULL;
    static int sched_index = 0;
    static s_time_t next_switch_time;
    a653sched_priv_t *sched_priv = SCHED_PRIV(ops);

    if ( now >= sched_priv->next_major_frame )
    {
        /* time to enter a new major frame
         * the first time this function is called, this will be true */
        /* start with the first domain in the schedule */
        sched_index = 0;
        sched_priv->next_major_frame = now + sched_priv->major_frame;
        next_switch_time = now + sched_priv->schedule[0].runtime;
    }
    else
    {
        while ( (now >= next_switch_time)
                && (sched_index < sched_priv->num_schedule_entries) )
        {
            /* time to switch to the next domain in this major frame */
            sched_index++;
            next_switch_time += sched_priv->schedule[sched_index].runtime;
        }
    }

    /* 
     * If we exhausted the domains in the schedule and still have time left
     * in the major frame then switch next at the next major frame.
     */
    if ( sched_index >= sched_priv->num_schedule_entries )
        next_switch_time = sched_priv->next_major_frame;

    /*
     * If there are more domains to run in the current major frame, set 
     * new_task equal to the address of next domain's VCPU structure. 
     * Otherwise, set new_task equal to the address of the idle task's VCPU 
     * structure. 
     */
    new_task = (sched_index < sched_priv->num_schedule_entries)
        ? sched_priv->schedule[sched_index].vc
        : IDLETASK(0);

    /* Check to see if the new task can be run (awake & runnable). */
    if ( !((new_task != NULL)
           && (AVCPU(new_task) != NULL)
           && AVCPU(new_task)->awake
           && vcpu_runnable(new_task)) )
        new_task = IDLETASK(0);
    BUG_ON(new_task == NULL);

    /* 
     * Check to make sure we did not miss a major frame.
     * This is a good test for robust partitioning. 
     */ 
    BUG_ON(now >= sched_priv->next_major_frame);

    /* Tasklet work (which runs in idle VCPU context) overrides all else. */
    if ( tasklet_work_scheduled )
        new_task = IDLETASK(0);

    /*
     * Return the amount of time the next domain has to run and the address 
     * of the selected task's VCPU structure. 
     */
    ret.time = next_switch_time - now;
    ret.task = new_task;
    ret.migrated = 0;               /* we do not support migration */

    BUG_ON(ret.time <= 0);

    return ret;
}

/**
 * Xen scheduler callback function to select a CPU for the VCPU to run on
 * 
 * @param ops       Pointer to this instance of the scheduler structure
 * @param v         Pointer to the VCPU structure for the current domain
 * 
 * @return          Number of selected physical CPU
 */
static int
a653sched_pick_cpu(const struct scheduler *ops, struct vcpu *vc)
{
    /* this implementation only supports one physical CPU */
    return 0;
}

/**
 * Xen scheduler callback function to perform a global (not domain-specific)
 * adjustment. It is used by the ARINC 653 scheduler to put in place a new
 * ARINC 653 schedule or to retrieve the schedule currently in place.
 *
 * @param ops       Pointer to this instance of the scheduler structure
 * @param sc        Pointer to the scheduler operation specified by Domain 0
 */
static int
a653sched_adjust_global(const struct scheduler *ops,
                        struct xen_sysctl_scheduler_op *sc)
{
    xen_sysctl_arinc653_schedule_t local_sched;
    int rc = -EINVAL;

    switch ( sc->cmd )
    {
    case XEN_SYSCTL_SCHEDOP_putinfo:
        if ( copy_from_guest(&local_sched, sc->u.sched_arinc653.schedule, 1) )
        {
            rc = -EFAULT;
            break;
        }

        rc = arinc653_sched_set(ops, &local_sched);
        break;
    case XEN_SYSCTL_SCHEDOP_getinfo:
        rc = arinc653_sched_get(ops, &local_sched);
        if ( rc )
            break;

        if ( copy_to_guest(sc->u.sched_arinc653.schedule, &local_sched, 1) )
            rc = -EFAULT;
        break;
    }

    return rc;
}

/**
 * This structure defines our scheduler for Xen.
 * The entries tell Xen where to find our scheduler-specific
 * callback functions.
 * The symbol must be visible to the rest of Xen at link time.
 */
const struct scheduler sched_arinc653_def = {
    .name           = "ARINC 653 Scheduler",
    .opt_name       = "arinc653",
    .sched_id       = XEN_SCHEDULER_ARINC653,
    .sched_data     = NULL,

    .init           = a653sched_init,
    .deinit         = a653sched_deinit,

    .free_vdata     = a653sched_free_vdata,
    .alloc_vdata    = a653sched_alloc_vdata,

    .free_pdata     = a653sched_free_pdata,
    .alloc_pdata    = a653sched_alloc_pdata,

    .free_domdata   = a653sched_free_domdata,
    .alloc_domdata  = a653sched_alloc_domdata,

    .init_domain    = NULL,
    .destroy_domain = NULL,

    .insert_vcpu    = NULL,
    .remove_vcpu    = NULL,

    .sleep          = a653sched_vcpu_sleep,
    .wake           = a653sched_vcpu_wake,
    .yield          = NULL,
    .context_saved  = NULL,

    .do_schedule    = a653sched_do_schedule,

    .pick_cpu       = a653sched_pick_cpu,

    .adjust         = NULL,
    .adjust_global  = a653sched_adjust_global,

    .dump_settings  = NULL,
    .dump_cpu_state = NULL,

    .tick_suspend   = NULL,
    .tick_resume    = NULL,
};