|SCHED(7)||Linux Programmer's Manual||SCHED(7)|
- Set a new nice value for the calling thread, and return the new nice value.
- Return the nice value of a thread, a process group, or the set of threads owned by a specified user.
- Set the nice value of a thread, a process group, or the set of threads owned by a specified user.
- Set the scheduling policy and parameters of a specified thread.
- Return the scheduling policy of a specified thread.
- Set the scheduling parameters of a specified thread.
- Fetch the scheduling parameters of a specified thread.
- Return the maximum priority available in a specified scheduling policy.
- Return the minimum priority available in a specified scheduling policy.
- Fetch the quantum used for threads that are scheduled under the "round-robin" scheduling policy.
- Cause the caller to relinquish the CPU, so that some other thread be executed.
- (Linux-specific) Set the CPU affinity of a specified thread.
- (Linux-specific) Get the CPU affinity of a specified thread.
- Set the scheduling policy and parameters of a specified thread. This (Linux-specific) system call provides a superset of the functionality of sched_setscheduler(2) and sched_setparam(2).
- Fetch the scheduling policy and parameters of a specified thread. This (Linux-specific) system call provides a superset of the functionality of sched_getscheduler(2) and sched_getparam(2).
- A running SCHED_FIFO thread that has been preempted by another thread of higher priority will stay at the head of the list for its priority and will resume execution as soon as all threads of higher priority are blocked again.
- When a blocked SCHED_FIFO thread becomes runnable, it will be inserted at the end of the list for its priority.
- If a call to sched_setscheduler(2), sched_setparam(2), sched_setattr(2), pthread_setschedparam(3), or pthread_setschedprio(3) changes the priority of the running or runnable SCHED_FIFO thread identified by pid the effect on the thread's position in the list depends on the direction of the change to threads priority:
- If the thread's priority is raised, it is placed at the end of the list for its new priority. As a consequence, it may preempt a currently running thread with the same priority.
- If the thread's priority is unchanged, its position in the run list is unchanged.
- If the thread's priority is lowered, it is placed at the front of the list for its new priority.
- According to POSIX.1-2008, changes to a thread's priority (or policy) using any mechanism other than pthread_setschedprio(3) should result in the thread being placed at the end of the list for its priority.
- A thread calling sched_yield(2) will be put at the end of the list.
arrival/wakeup absolute deadline | start time | | | | v v v -----x--------xooooooooooooooooo--------x--------x--- |<- comp. time ->| |<------- relative deadline ------>| |<-------------- period ------------------->|
When setting a SCHED_DEADLINE policy for a thread using sched_setattr(2), one can specify three parameters: Runtime, Deadline, and Period. These parameters do not necessarily correspond to the aforementioned terms: usual practice is to set Runtime to something bigger than the average computation time (or worst-case execution time for hard real-time tasks), Deadline to the relative deadline, and Period to the period of the task. Thus, for SCHED_DEADLINE scheduling, we have:
arrival/wakeup absolute deadline | start time | | | | v v v -----x--------xooooooooooooooooo--------x--------x--- |<-- Runtime ------->| |<----------- Deadline ----------->| |<-------------- Period ------------------->|
The three deadline-scheduling parameters correspond to the sched_runtime, sched_deadline, and sched_period fields of the sched_attr structure; see sched_setattr(2). These fields express values in nanoseconds. If sched_period is specified as 0, then it is made the same as sched_deadline. The kernel requires that:
sched_runtime <= sched_deadline <= sched_period In addition, under the current implementation, all of the parameter values must be at least 1024 (i.e., just over one microsecond, which is the resolution of the implementation), and less than 2^63. If any of these checks fails, sched_setattr(2) fails with the error EINVAL. The CBS guarantees non-interference between tasks, by throttling threads that attempt to over-run their specified Runtime. To ensure deadline scheduling guarantees, the kernel must prevent situations where the set of SCHED_DEADLINE threads is not feasible (schedulable) within the given constraints. The kernel thus performs an admittance test when setting or changing SCHED_DEADLINE policy and attributes. This admission test calculates whether the change is feasible; if it is not, sched_setattr(2) fails with the error EBUSY. For example, it is required (but not necessarily sufficient) for the total utilization to be less than or equal to the total number of CPUs available, where, since each thread can maximally run for Runtime per Period, that thread's utilization is its Runtime divided by its Period. In order to fulfill the guarantees that are made when a thread is admitted to the SCHED_DEADLINE policy, SCHED_DEADLINE threads are the highest priority (user controllable) threads in the system; if any SCHED_DEADLINE thread is runnable, it will preempt any thread scheduled under one of the other policies. A call to fork(2) by a thread scheduled under the SCHED_DEADLINE policy fails with the error EAGAIN, unless the thread has its reset-on-fork flag set (see below). A SCHED_DEADLINE thread that calls sched_yield(2) will yield the current job and wait for a new period to begin. nice(2), setpriority(2), or sched_setattr(2). According to POSIX.1, the nice value is a per-process attribute; that is, the threads in a process should share a nice value. However, on Linux, the nice value is a per-thread attribute: different threads in the same process may have different nice values. The range of the nice value varies across UNIX systems. On modern Linux, the range is -20 (high priority) to +19 (low priority). On some other systems, the range is -20..20. Very early Linux kernels (Before Linux 2.0) had the range -infinity..15. The degree to which the nice value affects the relative scheduling of SCHED_OTHER processes likewise varies across UNIX systems and across Linux kernel versions. With the advent of the CFS scheduler in kernel 2.6.23, Linux adopted an algorithm that causes relative differences in nice values to have a much stronger effect. In the current implementation, each unit of difference in the nice values of two processes results in a factor of 1.25 in the degree to which the scheduler favors the higher priority process. This causes very low nice values (+19) to truly provide little CPU to a process whenever there is any other higher priority load on the system, and makes high nice values (-20) deliver most of the CPU to applications that require it (e.g., some audio applications). On Linux, the RLIMIT_NICE resource limit can be used to define a limit to which an unprivileged process's nice value can be raised; see setrlimit(2) for details. For further details on the nice value, see the subsections on the autogroup feature and group scheduling, below. fork(2) do not inherit privileged scheduling policies. The reset-on-fork flag can be set by either:
- ORing the SCHED_RESET_ON_FORK flag into the policy argument when calling sched_setscheduler(2) (since Linux 2.6.32); or
- specifying the SCHED_FLAG_RESET_ON_FORK flag in attr.sched_flags when calling sched_setattr(2).
- If the calling thread has a scheduling policy of SCHED_FIFO or SCHED_RR, the policy is reset to SCHED_OTHER in child processes.
- If the calling process has a negative nice value, the nice value is reset to zero in child processes.
- If an unprivileged thread has a nonzero RLIMIT_RTPRIO soft limit, then it can change its scheduling policy and priority, subject to the restriction that the priority cannot be set to a value higher than the maximum of its current priority and its RLIMIT_RTPRIO soft limit.
- If the RLIMIT_RTPRIO soft limit is 0, then the only permitted changes are to lower the priority, or to switch to a non-real-time policy.
- Subject to the same rules, another unprivileged thread can also make these changes, as long as the effective user ID of the thread making the change matches the real or effective user ID of the target thread.
- Special rules apply for the SCHED_IDLE policy. In Linux kernels before 2.6.39, an unprivileged thread operating under this policy cannot change its policy, regardless of the value of its RLIMIT_RTPRIO resource limit. In Linux kernels since 2.6.39, an unprivileged thread can switch to either the SCHED_BATCH or the SCHED_OTHER policy so long as its nice value falls within the range permitted by its RLIMIT_NICE resource limit (see getrlimit(2)).
- This file specifies a scheduling period that is equivalent to 100% CPU bandwidth. The value in this file can range from 1 to INT_MAX, giving an operating range of 1 microsecond to around 35 minutes. The default value in this file is 1,000,000 (1 second).
- The value in this file specifies how much of the "period" time can be used by all real-time and deadline scheduled processes on the system. The value in this file can range from -1 to INT_MAX-1. Specifying -1 makes the runtime the same as the period; that is, no CPU time is set aside for non-real-time processes (which was the Linux behavior before kernel 2.6.25). The default value in this file is 950,000 (0.95 seconds), meaning that 5% of the CPU time is reserved for processes that don't run under a real-time or deadline scheduling policy.
$ cat /proc/1/autogroup /autogroup-1 nice 0
This file can also be used to modify the CPU bandwidth allocated to an autogroup. This is done by writing a number in the "nice" range to the file to set the autogroup's nice value. The allowed range is from +19 (low priority) to -20 (high priority). (Writing values outside of this range causes write(2) to fail with the error EINVAL.) The autogroup nice setting has the same meaning as the process nice value, but applies to distribution of CPU cycles to the autogroup as a whole, based on the relative nice values of other autogroups. For a process inside an autogroup, the CPU cycles that it receives will be a product of the autogroup's nice value (compared to other autogroups) and the process's nice value (compared to other processes in the same autogroup. The use of the cgroups(7) CPU controller to place processes in cgroups other than the root CPU cgroup overrides the effect of autogrouping. The autogroup feature groups only processes scheduled under non-real-time policies (SCHED_OTHER, SCHED_BATCH, and SCHED_IDLE). It does not group processes scheduled under real-time and deadline policies. Those processes are scheduled according to the rules described earlier.
- All of the threads in a CPU cgroup form a task group. The parent of this task group is the task group of the corresponding parent cgroup.
- If autogrouping is enabled, then all of the threads that are (implicitly) placed in an autogroup (i.e., the same session, as created by setsid(2)) form a task group. Each new autogroup is thus a separate task group. The root task group is the parent of all such autogroups.
- If autogrouping is enabled, then the root task group consists of all processes in the root CPU cgroup that were not otherwise implicitly placed into a new autogroup.
- If autogrouping is disabled, then the root task group consists of all processes in the root CPU cgroup.
- If group scheduling was disabled (i.e., the kernel was configured without CONFIG_FAIR_GROUP_SCHED), then all of the processes on the system are notionally placed in a single task group.
$ echo 10 > /proc/self/autogroup
and can be downloaded from http://www.kernel.org/pub/linux/kernel/projects/rt/ Without the patches and prior to their full inclusion into the mainline kernel, the kernel configuration offers only the three preemption classes CONFIG_PREEMPT_NONE, CONFIG_PREEMPT_VOLUNTARY, and CONFIG_PREEMPT_DESKTOP which respectively provide no, some, and considerable reduction of the worst-case scheduling latency. With the patches applied or after their full inclusion into the mainline kernel, the additional configuration item CONFIG_PREEMPT_RT becomes available. If this is selected, Linux is transformed into a regular real-time operating system. The FIFO and RR scheduling policies are then used to run a thread with true real-time priority and a minimum worst-case scheduling latency. cgroups(7) CPU controller can be used to limit the CPU consumption of groups of processes. Originally, Standard Linux was intended as a general-purpose operating system being able to handle background processes, interactive applications, and less demanding real-time applications (applications that need to usually meet timing deadlines). Although the Linux kernel 2.6 allowed for kernel preemption and the newly introduced O(1) scheduler ensures that the time needed to schedule is fixed and deterministic irrespective of the number of active tasks, true real-time computing was not possible up to kernel version 2.6.17. chrt(1), taskset(1), getpriority(2), mlock(2), mlockall(2), munlock(2), munlockall(2), nice(2), sched_get_priority_max(2), sched_get_priority_min(2), sched_getaffinity(2), sched_getparam(2), sched_getscheduler(2), sched_rr_get_interval(2), sched_setaffinity(2), sched_setparam(2), sched_setscheduler(2), sched_yield(2), setpriority(2), pthread_getaffinity_np(3), pthread_setaffinity_np(3), sched_getcpu(3), capabilities(7), cpuset(7) Programming for the real world - POSIX.4 by Bill O. Gallmeister, O'Reilly & Associates, Inc., ISBN 1-56592-074-0. The Linux kernel source files Documentation/scheduler/sched-deadline.txt, Documentation/scheduler/sched-rt-group.txt, Documentation/scheduler/sched-design-CFS.txt, and Documentation/scheduler/sched-nice-design.txt