Add support for pinning EventLoops
This can be used to help tune realtime performance.
Change-Id: I88031fe65d298b769742bb638a716d29fc965ffd
diff --git a/aos/events/event_loop.h b/aos/events/event_loop.h
index bc5a5ae..7634479 100644
--- a/aos/events/event_loop.h
+++ b/aos/events/event_loop.h
@@ -1,6 +1,8 @@
#ifndef AOS_EVENTS_EVENT_LOOP_H_
#define AOS_EVENTS_EVENT_LOOP_H_
+#include <sched.h>
+
#include <atomic>
#include <string>
#include <string_view>
@@ -404,6 +406,15 @@
internal::TimerTiming timing_;
};
+inline cpu_set_t MakeCpusetFromCpus(std::initializer_list<int> cpus) {
+ cpu_set_t result;
+ CPU_ZERO(&result);
+ for (int cpu : cpus) {
+ CPU_SET(cpu, &result);
+ }
+ return result;
+}
+
class EventLoop {
public:
EventLoop(const Configuration *configuration);
@@ -524,6 +535,10 @@
virtual void SetRuntimeRealtimePriority(int priority) = 0;
virtual int priority() const = 0;
+ // Sets the scheduler affinity to run the event loop with. This may only be
+ // called before Run().
+ virtual void SetRuntimeAffinity(const cpu_set_t &cpuset) = 0;
+
// Fetches new messages from the provided channel (path, type).
//
// Note: this channel must be a member of the exact configuration object this
diff --git a/aos/events/event_loop_param_test.cc b/aos/events/event_loop_param_test.cc
index f0fb3d3..fbcb62e 100644
--- a/aos/events/event_loop_param_test.cc
+++ b/aos/events/event_loop_param_test.cc
@@ -585,6 +585,17 @@
EXPECT_DEATH(Run(), "realtime");
}
+// Verify that SetRuntimeAffinity fails while running.
+TEST_P(AbstractEventLoopDeathTest, SetRuntimeAffinity) {
+ auto loop = MakePrimary();
+ // Confirm that runtime priority calls work when not running.
+ loop->SetRuntimeAffinity(MakeCpusetFromCpus({0}));
+
+ loop->OnRun([&]() { loop->SetRuntimeAffinity(MakeCpusetFromCpus({1})); });
+
+ EXPECT_DEATH(Run(), "Cannot set affinity while running");
+}
+
// Verify that registering a watcher and a sender for "/test" fails.
TEST_P(AbstractEventLoopDeathTest, WatcherAndSender) {
auto loop = Make();
diff --git a/aos/events/shm_event_loop.cc b/aos/events/shm_event_loop.cc
index b2ccca6..ce34ad1 100644
--- a/aos/events/shm_event_loop.cc
+++ b/aos/events/shm_event_loop.cc
@@ -811,6 +811,10 @@
}
aos::SetCurrentThreadName(name_.substr(0, 16));
+ const cpu_set_t default_affinity = DefaultAffinity();
+ if (!CPU_EQUAL(&affinity_, &default_affinity)) {
+ ::aos::SetCurrentThreadAffinity(affinity_);
+ }
// Now, all the callbacks are setup. Lock everything into memory and go RT.
if (priority_ != 0) {
::aos::InitRT();
@@ -880,6 +884,13 @@
priority_ = priority;
}
+void ShmEventLoop::SetRuntimeAffinity(const cpu_set_t &cpuset) {
+ if (is_running()) {
+ LOG(FATAL) << "Cannot set affinity while running.";
+ }
+ affinity_ = cpuset;
+}
+
void ShmEventLoop::set_name(const std::string_view name) {
name_ = std::string(name);
UpdateTimingReport();
diff --git a/aos/events/shm_event_loop.h b/aos/events/shm_event_loop.h
index d3f1295..15759f4 100644
--- a/aos/events/shm_event_loop.h
+++ b/aos/events/shm_event_loop.h
@@ -66,6 +66,7 @@
void OnRun(std::function<void()> on_run) override;
void SetRuntimeRealtimePriority(int priority) override;
+ void SetRuntimeAffinity(const cpu_set_t &cpuset) override;
void set_name(const std::string_view name) override;
const std::string_view name() const override { return name_; }
@@ -94,6 +95,14 @@
friend class internal::ShmSender;
friend class internal::ShmFetcher;
+ static cpu_set_t DefaultAffinity() {
+ cpu_set_t result;
+ for (int i = 0; i < CPU_SETSIZE; ++i) {
+ CPU_SET(i, &result);
+ }
+ return result;
+ }
+
void HandleEvent();
// Returns the TID of the event loop.
@@ -104,6 +113,7 @@
std::vector<std::function<void()>> on_run_;
int priority_ = 0;
+ cpu_set_t affinity_ = DefaultAffinity();
std::string name_;
const Node *const node_;
diff --git a/aos/events/simulated_event_loop.cc b/aos/events/simulated_event_loop.cc
index cf58b46..1241834 100644
--- a/aos/events/simulated_event_loop.cc
+++ b/aos/events/simulated_event_loop.cc
@@ -414,6 +414,10 @@
int priority() const override { return priority_; }
+ void SetRuntimeAffinity(const cpu_set_t & /*cpuset*/) override {
+ CHECK(!is_running()) << ": Cannot set affinity while running.";
+ }
+
void Setup() {
MaybeScheduleTimingReports();
if (!skip_logger_) {
diff --git a/aos/realtime.cc b/aos/realtime.cc
index 6668855..558417f 100644
--- a/aos/realtime.cc
+++ b/aos/realtime.cc
@@ -50,8 +50,7 @@
if (set_for_root == SetLimitForRoot::kYes || !am_root) {
struct rlimit64 rlim;
PCHECK(getrlimit64(resource, &rlim) == 0)
- << ": " << program_invocation_short_name << "-init: getrlimit64("
- << resource << ") failed";
+ << ": getting limit for " << resource;
if (allow_decrease == AllowSoftLimitDecrease::kYes) {
rlim.rlim_cur = soft;
@@ -61,9 +60,8 @@
rlim.rlim_max = ::std::max(rlim.rlim_max, soft);
PCHECK(setrlimit64(resource, &rlim) == 0)
- << ": " << program_invocation_short_name << "-init: setrlimit64("
- << resource << ", {cur=" << (uintmax_t)rlim.rlim_cur
- << ",max=" << (uintmax_t)rlim.rlim_max << "}) failed";
+ << ": changing limit for " << resource << " to " << rlim.rlim_cur
+ << " with max of " << rlim.rlim_max;
}
}
@@ -74,8 +72,7 @@
SetSoftRLimit(RLIMIT_MEMLOCK, RLIM_INFINITY, SetLimitForRoot::kNo);
WriteCoreDumps();
- PCHECK(mlockall(MCL_CURRENT | MCL_FUTURE) == 0)
- << ": " << program_invocation_short_name << "-init: mlockall failed";
+ PCHECK(mlockall(MCL_CURRENT | MCL_FUTURE) == 0);
// Don't give freed memory back to the OS.
CHECK_EQ(1, mallopt(M_TRIM_THRESHOLD, -1));
@@ -114,15 +111,19 @@
void UnsetCurrentThreadRealtimePriority() {
struct sched_param param;
param.sched_priority = 0;
- PCHECK(sched_setscheduler(0, SCHED_OTHER, ¶m) == 0)
- << ": sched_setscheduler(0, SCHED_OTHER, 0) failed";
+ PCHECK(sched_setscheduler(0, SCHED_OTHER, ¶m) == 0);
+}
+
+void SetCurrentThreadAffinity(const cpu_set_t &cpuset) {
+ PCHECK(sched_setaffinity(0, sizeof(cpuset), &cpuset) == 0);
}
void SetCurrentThreadName(const std::string_view name) {
CHECK_LE(name.size(), 16u) << ": thread name '" << name << "' too long";
VLOG(1) << "This thread is changing to '" << name << "'";
std::string string_name(name);
- PCHECK(prctl(PR_SET_NAME, string_name.c_str()) == 0);
+ PCHECK(prctl(PR_SET_NAME, string_name.c_str()) == 0)
+ << ": changing name to " << string_name;
if (&logging::internal::ReloadThreadName != nullptr) {
logging::internal::ReloadThreadName();
}
@@ -135,7 +136,7 @@
struct sched_param param;
param.sched_priority = priority;
PCHECK(sched_setscheduler(0, SCHED_FIFO, ¶m) == 0)
- << ": sched_setscheduler(0, SCHED_FIFO, " << priority << ") failed";
+ << ": changing to SCHED_FIFO with " << priority;
}
void WriteCoreDumps() {
diff --git a/aos/realtime.h b/aos/realtime.h
index 20df979..6e0a472 100644
--- a/aos/realtime.h
+++ b/aos/realtime.h
@@ -1,6 +1,7 @@
#ifndef AOS_REALTIME_H_
#define AOS_REALTIME_H_
+#include <sched.h>
#include <string_view>
namespace aos {
@@ -21,6 +22,9 @@
// Sets the current thread's realtime priority.
void SetCurrentThreadRealtimePriority(int priority);
+// Sets the current thread's scheduling affinity.
+void SetCurrentThreadAffinity(const cpu_set_t &cpuset);
+
// Sets up this process to write core dump files.
// This is called by Init*, but it's here for other files that want this
// behavior without calling Init*.