sched/rt: Fix PI handling vs. sched_setscheduler()

Andrea Parri reported:

> I found that the following scenario (with CONFIG_RT_GROUP_SCHED=y) is not
> handled correctly:
>
>     T1 (prio = 20)
>        lock(rtmutex);
>
>     T2 (prio = 20)
>        blocks on rtmutex  (rt_nr_boosted = 0 on T1's rq)
>
>     T1 (prio = 20)
>        sys_set_scheduler(prio = 0)
>           [new_effective_prio == oldprio]
>           T1 prio = 20    (rt_nr_boosted = 0 on T1's rq)
>
> The last step is incorrect as T1 is now boosted (c.f., rt_se_boosted());
> in particular, if we continue with
>
>    T1 (prio = 20)
>       unlock(rtmutex)
>          wakeup(T2)
>          adjust_prio(T1)
>             [prio != rt_mutex_getprio(T1)]
>	    dequeue(T1)
>	       rt_nr_boosted = (unsigned long)(-1)
>	       ...
>             T1 prio = 0
>
> then we end up leaving rt_nr_boosted in an "inconsistent" state.
>
> The simple program attached could reproduce the previous scenario; note
> that, as a consequence of the presence of this state, the "assertion"
>
>     WARN_ON(!rt_nr_running && rt_nr_boosted)
>
> from dec_rt_group() may trigger.

So normally we dequeue/enqueue tasks in sched_setscheduler(), which
would ensure the accounting stays correct. However in the early PI path
we fail to do so.

So this was introduced at around v3.14, by:

  c365c292d059 ("sched: Consider pi boosting in setscheduler()")

which fixed another problem exactly because that dequeue/enqueue, joy.

Fix this by teaching rt about DEQUEUE_SAVE/ENQUEUE_RESTORE and have it
preserve runqueue location with that option. This requires decoupling
the on_rt_rq() state from being on the list.

In order to allow for explicit movement during the SAVE/RESTORE,
introduce {DE,EN}QUEUE_MOVE. We still must use SAVE/RESTORE in these
cases to preserve other invariants.

Respecting the SAVE/RESTORE flags also has the (nice) side-effect that
things like sys_nice()/sys_sched_setaffinity() also do not reorder
FIFO tasks (whereas they used to before this patch).

Reported-by: Andrea Parri <parri.andrea@gmail.com>
Tested-by: Andrea Parri <parri.andrea@gmail.com>
Signed-off-by: Peter Zijlstra (Intel) <peterz@infradead.org>
Cc: Juri Lelli <juri.lelli@arm.com>
Cc: Linus Torvalds <torvalds@linux-foundation.org>
Cc: Mike Galbraith <efault@gmx.de>
Cc: Peter Zijlstra <peterz@infradead.org>
Cc: Steven Rostedt <rostedt@goodmis.org>
Cc: Thomas Gleixner <tglx@linutronix.de>
Signed-off-by: Ingo Molnar <mingo@kernel.org>

include/linux/sched.h

@@ -1293,6 +1293,8 @@ struct sched_rt_entity {
 	unsigned long timeout;
 	unsigned long watchdog_stamp;
 	unsigned int time_slice;
+	unsigned short on_rq;
+	unsigned short on_list;
 
 	struct sched_rt_entity *back;
 #ifdef CONFIG_RT_GROUP_SCHED

kernel/sched/core.c

@@ -2221,6 +2221,10 @@ static void __sched_fork(unsigned long clone_flags, struct task_struct *p)
 	__dl_clear_params(p);
 
 	INIT_LIST_HEAD(&p->rt.run_list);
+	p->rt.timeout		= 0;
+	p->rt.time_slice	= sched_rr_timeslice;
+	p->rt.on_rq		= 0;
+	p->rt.on_list		= 0;
 
 #ifdef CONFIG_PREEMPT_NOTIFIERS
 	INIT_HLIST_HEAD(&p->preempt_notifiers);
@@ -3531,7 +3535,7 @@ EXPORT_SYMBOL(default_wake_function);
  */
 void rt_mutex_setprio(struct task_struct *p, int prio)
 {
-	int oldprio, queued, running, enqueue_flag = ENQUEUE_RESTORE;
+	int oldprio, queued, running, queue_flag = DEQUEUE_SAVE | DEQUEUE_MOVE;
 	struct rq *rq;
 	const struct sched_class *prev_class;
 
@@ -3559,11 +3563,15 @@ void rt_mutex_setprio(struct task_struct *p, int prio)
 
 	trace_sched_pi_setprio(p, prio);
 	oldprio = p->prio;
+
+	if (oldprio == prio)
+		queue_flag &= ~DEQUEUE_MOVE;
+
 	prev_class = p->sched_class;
 	queued = task_on_rq_queued(p);
 	running = task_current(rq, p);
 	if (queued)
-		dequeue_task(rq, p, DEQUEUE_SAVE);
+		dequeue_task(rq, p, queue_flag);
 	if (running)
 		put_prev_task(rq, p);
 
@@ -3581,7 +3589,7 @@ void rt_mutex_setprio(struct task_struct *p, int prio)
 		if (!dl_prio(p->normal_prio) ||
 		    (pi_task && dl_entity_preempt(&pi_task->dl, &p->dl))) {
 			p->dl.dl_boosted = 1;
-			enqueue_flag |= ENQUEUE_REPLENISH;
+			queue_flag |= ENQUEUE_REPLENISH;
 		} else
 			p->dl.dl_boosted = 0;
 		p->sched_class = &dl_sched_class;
@@ -3589,7 +3597,7 @@ void rt_mutex_setprio(struct task_struct *p, int prio)
 		if (dl_prio(oldprio))
 			p->dl.dl_boosted = 0;
 		if (oldprio < prio)
-			enqueue_flag |= ENQUEUE_HEAD;
+			queue_flag |= ENQUEUE_HEAD;
 		p->sched_class = &rt_sched_class;
 	} else {
 		if (dl_prio(oldprio))
@@ -3604,7 +3612,7 @@ void rt_mutex_setprio(struct task_struct *p, int prio)
 	if (running)
 		p->sched_class->set_curr_task(rq);
 	if (queued)
-		enqueue_task(rq, p, enqueue_flag);
+		enqueue_task(rq, p, queue_flag);
 
 	check_class_changed(rq, p, prev_class, oldprio);
 out_unlock:
@@ -3960,6 +3968,7 @@ static int __sched_setscheduler(struct task_struct *p,
 	const struct sched_class *prev_class;
 	struct rq *rq;
 	int reset_on_fork;
+	int queue_flags = DEQUEUE_SAVE | DEQUEUE_MOVE;
 
 	/* may grab non-irq protected spin_locks */
 	BUG_ON(in_interrupt());
@@ -4142,17 +4151,14 @@ change:
 		 * itself.
 		 */
 		new_effective_prio = rt_mutex_get_effective_prio(p, newprio);
-		if (new_effective_prio == oldprio) {
-			__setscheduler_params(p, attr);
-			task_rq_unlock(rq, p, &flags);
-			return 0;
-		}
+		if (new_effective_prio == oldprio)
+			queue_flags &= ~DEQUEUE_MOVE;
 	}
 
 	queued = task_on_rq_queued(p);
 	running = task_current(rq, p);
 	if (queued)
-		dequeue_task(rq, p, DEQUEUE_SAVE);
+		dequeue_task(rq, p, queue_flags);
 	if (running)
 		put_prev_task(rq, p);
 
@@ -4162,15 +4168,14 @@ change:
 	if (running)
 		p->sched_class->set_curr_task(rq);
 	if (queued) {
-		int enqueue_flags = ENQUEUE_RESTORE;
 		/*
 		 * We enqueue to tail when the priority of a task is
 		 * increased (user space view).
 		 */
-		if (oldprio <= p->prio)
-			enqueue_flags |= ENQUEUE_HEAD;
+		if (oldprio < p->prio)
+			queue_flags |= ENQUEUE_HEAD;
 
-		enqueue_task(rq, p, enqueue_flags);
+		enqueue_task(rq, p, queue_flags);
 	}
 
 	check_class_changed(rq, p, prev_class, oldprio);
@@ -7958,7 +7963,7 @@ void sched_move_task(struct task_struct *tsk)
 	queued = task_on_rq_queued(tsk);
 
 	if (queued)
-		dequeue_task(rq, tsk, DEQUEUE_SAVE);
+		dequeue_task(rq, tsk, DEQUEUE_SAVE | DEQUEUE_MOVE);
 	if (unlikely(running))
 		put_prev_task(rq, tsk);
 
@@ -7982,7 +7987,7 @@ void sched_move_task(struct task_struct *tsk)
 	if (unlikely(running))
 		tsk->sched_class->set_curr_task(rq);
 	if (queued)
-		enqueue_task(rq, tsk, ENQUEUE_RESTORE);
+		enqueue_task(rq, tsk, ENQUEUE_RESTORE | ENQUEUE_MOVE);
 
 	task_rq_unlock(rq, tsk, &flags);
 }

kernel/sched/rt.c

@@ -436,7 +436,7 @@ static void dequeue_top_rt_rq(struct rt_rq *rt_rq);
 
 static inline int on_rt_rq(struct sched_rt_entity *rt_se)
 {
-	return !list_empty(&rt_se->run_list);
+	return rt_se->on_rq;
 }
 
 #ifdef CONFIG_RT_GROUP_SCHED
@@ -482,8 +482,8 @@ static inline struct rt_rq *group_rt_rq(struct sched_rt_entity *rt_se)
 	return rt_se->my_q;
 }
 
-static void enqueue_rt_entity(struct sched_rt_entity *rt_se, bool head);
-static void dequeue_rt_entity(struct sched_rt_entity *rt_se);
+static void enqueue_rt_entity(struct sched_rt_entity *rt_se, unsigned int flags);
+static void dequeue_rt_entity(struct sched_rt_entity *rt_se, unsigned int flags);
 
 static void sched_rt_rq_enqueue(struct rt_rq *rt_rq)
 {
@@ -499,7 +499,7 @@ static void sched_rt_rq_enqueue(struct rt_rq *rt_rq)
 		if (!rt_se)
 			enqueue_top_rt_rq(rt_rq);
 		else if (!on_rt_rq(rt_se))
-			enqueue_rt_entity(rt_se, false);
+			enqueue_rt_entity(rt_se, 0);
 
 		if (rt_rq->highest_prio.curr < curr->prio)
 			resched_curr(rq);
@@ -516,7 +516,7 @@ static void sched_rt_rq_dequeue(struct rt_rq *rt_rq)
 	if (!rt_se)
 		dequeue_top_rt_rq(rt_rq);
 	else if (on_rt_rq(rt_se))
-		dequeue_rt_entity(rt_se);
+		dequeue_rt_entity(rt_se, 0);
 }
 
 static inline int rt_rq_throttled(struct rt_rq *rt_rq)
@@ -1166,7 +1166,30 @@ void dec_rt_tasks(struct sched_rt_entity *rt_se, struct rt_rq *rt_rq)
 	dec_rt_group(rt_se, rt_rq);
 }
 
-static void __enqueue_rt_entity(struct sched_rt_entity *rt_se, bool head)
+/*
+ * Change rt_se->run_list location unless SAVE && !MOVE
+ *
+ * assumes ENQUEUE/DEQUEUE flags match
+ */
+static inline bool move_entity(unsigned int flags)
+{
+	if ((flags & (DEQUEUE_SAVE | DEQUEUE_MOVE)) == DEQUEUE_SAVE)
+		return false;
+
+	return true;
+}
+
+static void __delist_rt_entity(struct sched_rt_entity *rt_se, struct rt_prio_array *array)
+{
+	list_del_init(&rt_se->run_list);
+
+	if (list_empty(array->queue + rt_se_prio(rt_se)))
+		__clear_bit(rt_se_prio(rt_se), array->bitmap);
+
+	rt_se->on_list = 0;
+}
+
+static void __enqueue_rt_entity(struct sched_rt_entity *rt_se, unsigned int flags)
 {
 	struct rt_rq *rt_rq = rt_rq_of_se(rt_se);
 	struct rt_prio_array *array = &rt_rq->active;
@@ -1179,26 +1202,37 @@ static void __enqueue_rt_entity(struct sched_rt_entity *rt_se, bool head)
 	 * get throttled and the current group doesn't have any other
 	 * active members.
 	 */
-	if (group_rq && (rt_rq_throttled(group_rq) || !group_rq->rt_nr_running))
+	if (group_rq && (rt_rq_throttled(group_rq) || !group_rq->rt_nr_running)) {
+		if (rt_se->on_list)
+			__delist_rt_entity(rt_se, array);
 		return;
+	}
 
-	if (head)
-		list_add(&rt_se->run_list, queue);
-	else
-		list_add_tail(&rt_se->run_list, queue);
-	__set_bit(rt_se_prio(rt_se), array->bitmap);
+	if (move_entity(flags)) {
+		WARN_ON_ONCE(rt_se->on_list);
+		if (flags & ENQUEUE_HEAD)
+			list_add(&rt_se->run_list, queue);
+		else
+			list_add_tail(&rt_se->run_list, queue);
+
+		__set_bit(rt_se_prio(rt_se), array->bitmap);
+		rt_se->on_list = 1;
+	}
+	rt_se->on_rq = 1;
 
 	inc_rt_tasks(rt_se, rt_rq);
 }
 
-static void __dequeue_rt_entity(struct sched_rt_entity *rt_se)
+static void __dequeue_rt_entity(struct sched_rt_entity *rt_se, unsigned int flags)
 {
 	struct rt_rq *rt_rq = rt_rq_of_se(rt_se);
 	struct rt_prio_array *array = &rt_rq->active;
 
-	list_del_init(&rt_se->run_list);
-	if (list_empty(array->queue + rt_se_prio(rt_se)))
-		__clear_bit(rt_se_prio(rt_se), array->bitmap);
+	if (move_entity(flags)) {
+		WARN_ON_ONCE(!rt_se->on_list);
+		__delist_rt_entity(rt_se, array);
+	}
+	rt_se->on_rq = 0;
 
 	dec_rt_tasks(rt_se, rt_rq);
 }
@@ -1207,7 +1241,7 @@ static void __dequeue_rt_entity(struct sched_rt_entity *rt_se)
  * Because the prio of an upper entry depends on the lower
  * entries, we must remove entries top - down.
  */
-static void dequeue_rt_stack(struct sched_rt_entity *rt_se)
+static void dequeue_rt_stack(struct sched_rt_entity *rt_se, unsigned int flags)
 {
 	struct sched_rt_entity *back = NULL;
 
@@ -1220,31 +1254,31 @@ static void dequeue_rt_stack(struct sched_rt_entity *rt_se)
 
 	for (rt_se = back; rt_se; rt_se = rt_se->back) {
 		if (on_rt_rq(rt_se))
-			__dequeue_rt_entity(rt_se);
+			__dequeue_rt_entity(rt_se, flags);
 	}
 }
 
-static void enqueue_rt_entity(struct sched_rt_entity *rt_se, bool head)
+static void enqueue_rt_entity(struct sched_rt_entity *rt_se, unsigned int flags)
 {
 	struct rq *rq = rq_of_rt_se(rt_se);
 
-	dequeue_rt_stack(rt_se);
+	dequeue_rt_stack(rt_se, flags);
 	for_each_sched_rt_entity(rt_se)
-		__enqueue_rt_entity(rt_se, head);
+		__enqueue_rt_entity(rt_se, flags);
 	enqueue_top_rt_rq(&rq->rt);
 }
 
-static void dequeue_rt_entity(struct sched_rt_entity *rt_se)
+static void dequeue_rt_entity(struct sched_rt_entity *rt_se, unsigned int flags)
 {
 	struct rq *rq = rq_of_rt_se(rt_se);
 
-	dequeue_rt_stack(rt_se);
+	dequeue_rt_stack(rt_se, flags);
 
 	for_each_sched_rt_entity(rt_se) {
 		struct rt_rq *rt_rq = group_rt_rq(rt_se);
 
 		if (rt_rq && rt_rq->rt_nr_running)
-			__enqueue_rt_entity(rt_se, false);
+			__enqueue_rt_entity(rt_se, flags);
 	}
 	enqueue_top_rt_rq(&rq->rt);
 }
@@ -1260,7 +1294,7 @@ enqueue_task_rt(struct rq *rq, struct task_struct *p, int flags)
 	if (flags & ENQUEUE_WAKEUP)
 		rt_se->timeout = 0;
 
-	enqueue_rt_entity(rt_se, flags & ENQUEUE_HEAD);
+	enqueue_rt_entity(rt_se, flags);
 
 	if (!task_current(rq, p) && p->nr_cpus_allowed > 1)
 		enqueue_pushable_task(rq, p);
@@ -1271,7 +1305,7 @@ static void dequeue_task_rt(struct rq *rq, struct task_struct *p, int flags)
 	struct sched_rt_entity *rt_se = &p->rt;
 
 	update_curr_rt(rq);
-	dequeue_rt_entity(rt_se);
+	dequeue_rt_entity(rt_se, flags);
 
 	dequeue_pushable_task(rq, p);
 }

kernel/sched/sched.h

@@ -1130,18 +1130,40 @@ static inline void finish_lock_switch(struct rq *rq, struct task_struct *prev)
 extern const int sched_prio_to_weight[40];
 extern const u32 sched_prio_to_wmult[40];
 
+/*
+ * {de,en}queue flags:
+ *
+ * DEQUEUE_SLEEP  - task is no longer runnable
+ * ENQUEUE_WAKEUP - task just became runnable
+ *
+ * SAVE/RESTORE - an otherwise spurious dequeue/enqueue, done to ensure tasks
+ *                are in a known state which allows modification. Such pairs
+ *                should preserve as much state as possible.
+ *
+ * MOVE - paired with SAVE/RESTORE, explicitly does not preserve the location
+ *        in the runqueue.
+ *
+ * ENQUEUE_HEAD      - place at front of runqueue (tail if not specified)
+ * ENQUEUE_REPLENISH - CBS (replenish runtime and postpone deadline)
+ * ENQUEUE_WAKING    - sched_class::task_waking was called
+ *
+ */
+
+#define DEQUEUE_SLEEP		0x01
+#define DEQUEUE_SAVE		0x02 /* matches ENQUEUE_RESTORE */
+#define DEQUEUE_MOVE		0x04 /* matches ENQUEUE_MOVE */
+
 #define ENQUEUE_WAKEUP		0x01
-#define ENQUEUE_HEAD		0x02
+#define ENQUEUE_RESTORE		0x02
+#define ENQUEUE_MOVE		0x04
+
+#define ENQUEUE_HEAD		0x08
+#define ENQUEUE_REPLENISH	0x10
 #ifdef CONFIG_SMP
-#define ENQUEUE_WAKING		0x04	/* sched_class::task_waking was called */
+#define ENQUEUE_WAKING		0x20
 #else
 #define ENQUEUE_WAKING		0x00
 #endif
-#define ENQUEUE_REPLENISH	0x08
-#define ENQUEUE_RESTORE	0x10
-
-#define DEQUEUE_SLEEP		0x01
-#define DEQUEUE_SAVE		0x02
 
 #define RETRY_TASK		((void *)-1UL)