Merge pull request 'Add a basic scheduler with threads' (#18) from threads into restart

Reviewed-on: #18

kernel/CMakeLists.txt

@@ -12,6 +12,8 @@ set(SOURCES
     src/boot/Init.cpp
     src/arch/Serial.cpp
     src/arch/Timer.cpp
+    src/thread/Thread.cpp
+    src/thread/Scheduler.cpp
 )
 
 if("${ARCH}" MATCHES "x86_64")
@@ -22,6 +24,7 @@ if("${ARCH}" MATCHES "x86_64")
         src/arch/x86_64/MMU.cpp
         src/arch/x86_64/CPU.cpp
         src/arch/x86_64/Timer.cpp
+        src/arch/x86_64/Thread.cpp
     )
 endif()
 

kernel/src/arch/CPU.h

@@ -13,11 +13,11 @@ namespace CPU
 
     [[noreturn]] void efficient_halt();
 
+    [[noreturn]] void idle_loop();
+
     void switch_kernel_stack(u64 top);
 
     void enable_interrupts();
     void disable_interrupts();
     void wait_for_interrupt();
-}
-
-extern "C" void kernel_yield();
+}

kernel/src/arch/Serial.cpp

@@ -1,6 +1,6 @@
 #include "arch/Serial.h"
-#include <luna/Result.h>
 #include <luna/Format.h>
+#include <luna/Result.h>
 #include <stdarg.h>
 
 namespace Serial

kernel/src/arch/Timer.cpp

@@ -58,6 +58,11 @@ namespace Timer
         timer_ticks++;
     }
 
+    usize raw_ticks()
+    {
+        return timer_ticks;
+    }
+
     usize ticks()
     {
         return ticks_ms() / 1000;
@@ -126,4 +131,10 @@ namespace Timer
         boot_timestamp = bootloader_time_to_unix(bootboot.datetime);
         arch_init();
     }
+}
+
+bool should_invoke_scheduler()
+{
+    // FIXME: Modulo is SLOW. We're calling this every tick.
+    return (timer_ticks % ARCH_TIMER_FREQ) == 0;
 }

kernel/src/arch/Timer.h

@@ -34,4 +34,6 @@ namespace Timer
 
     void arch_init();
     void init();
-}
+}
+
+bool should_invoke_scheduler();

kernel/src/arch/x86_64/CPU.asm

@@ -48,12 +48,7 @@ load_tr:
     ltr ax
     ret
 
-global switch_task
-switch_task:
-    cli
-.loop:    
-    hlt
-    jmp .loop
+extern switch_task
 
 global kernel_yield
 kernel_yield:

kernel/src/arch/x86_64/CPU.cpp

@@ -1,14 +1,15 @@
 #include "arch/CPU.h"
-#include "arch/x86_64/CPU.h"
 #include "Log.h"
 #include "arch/Timer.h"
+#include "arch/x86_64/CPU.h"
 #include "arch/x86_64/IO.h"
+#include "thread/Scheduler.h"
 #include <cpuid.h>
+#include <luna/Check.h>
+#include <luna/Result.h>
 #include <luna/String.h>
 #include <luna/SystemError.h>
 #include <luna/Types.h>
-#include <luna/Check.h>
-#include <luna/Result.h>
 
 extern "C" void enable_sse();
 extern "C" void enable_write_protect();
@@ -336,6 +337,7 @@ extern "C" void arch_interrupt_entry(Registers* regs)
     else if (regs->isr == 32)
     {
         Timer::tick();
+        if (should_invoke_scheduler()) Scheduler::invoke(regs);
         pic_eoi(regs);
     }
     else
@@ -430,8 +432,22 @@ namespace CPU
         goto loop;           // Safeguard: if we ever wake up, start our low-power rest again
     }
 
+    [[noreturn]] void idle_loop()
+    {
+        asm volatile("sti");
+    loop:
+        asm volatile("hlt");
+        goto loop;
+    }
+
     void switch_kernel_stack(u64 top)
     {
         task_state_segment.rsp[0] = top;
     }
+}
+
+// called by kernel_yield
+extern "C" void switch_task(Registers* regs)
+{
+    Scheduler::switch_task(regs);
 }

kernel/src/arch/x86_64/CPU.h

@@ -1,3 +1,4 @@
+#pragma once
 #include <luna/Types.h>
 
 struct Registers // Saved CPU registers for x86-64

kernel/src/arch/x86_64/MMU.cpp

@@ -1,8 +1,8 @@
 #include "arch/MMU.h"
 #include "memory/MemoryManager.h"
+#include <luna/Result.h>
 #include <luna/String.h>
 #include <luna/SystemError.h>
-#include <luna/Result.h>
 
 #pragma GCC push_options
 #pragma GCC diagnostic ignored "-Wconversion"

kernel/src/arch/x86_64/Thread.cpp

@@ -0,0 +1,50 @@
+#include "thread/Thread.h"
+#include <luna/String.h>
+
+bool is_in_kernel(Registers* regs)
+{
+    return regs->cs == 8;
+}
+
+void Thread::set_ip(u64 ip)
+{
+    regs.rip = ip;
+}
+
+u64 Thread::ip()
+{
+    return regs.rip;
+}
+
+void Thread::set_sp(u64 sp)
+{
+    regs.rsp = sp;
+}
+
+u64 Thread::sp()
+{
+    return regs.rsp;
+}
+
+void Thread::init_regs_kernel()
+{
+    memset(&regs, 0, sizeof(Registers));
+    regs.cs = 0x08;
+    regs.ss = 0x10;
+    regs.rflags = 1 << 9; // IF (Interrupt enable flag)
+}
+
+void Thread::set_arguments(u64 arg1, u64 arg2, u64 arg3, u64 arg4)
+{
+    regs.rdi = arg1;
+    regs.rsi = arg2;
+    regs.rdx = arg3;
+    regs.rcx = arg4;
+}
+
+void switch_context(Thread* old_thread, Thread* new_thread, Registers* regs)
+{
+    if (!old_thread->is_idle()) memcpy(&old_thread->regs, regs, sizeof(Registers));
+
+    memcpy(regs, &new_thread->regs, sizeof(Registers));
+}

kernel/src/boot/Init.cpp

@@ -4,8 +4,8 @@
 #include "boot/bootboot.h"
 #include "memory/MemoryManager.h"
 #include "video/Framebuffer.h"
-#include <luna/String.h>
 #include <luna/Result.h>
+#include <luna/String.h>
 
 extern const BOOTBOOT bootboot;
 

kernel/src/main.cpp

@@ -1,11 +1,27 @@
 #include "Log.h"
 #include "arch/CPU.h"
+#include "arch/Serial.h"
 #include "arch/Timer.h"
 #include "boot/Init.h"
 #include "config.h"
 #include "memory/MemoryManager.h"
-#include <luna/Units.h>
+#include "thread/Scheduler.h"
 #include <luna/Result.h>
+#include <luna/Units.h>
+
+void async_thread()
+{
+    while (true)
+    {
+        Thread* current = Scheduler::current();
+        kinfoln("Ticks: %lu, %lu user, %lu kernel, %lu idle", current->ticks, current->ticks_in_user,
+                current->ticks_in_kernel, Scheduler::idle()->ticks);
+
+        CPU::wait_for_interrupt();
+
+        kernel_sleep(1000);
+    }
+}
 
 Result<void> init()
 {
@@ -17,10 +33,6 @@ Result<void> init()
 
     Timer::init();
 
-    CPU::platform_finish_init();
-
-    CPU::enable_interrupts();
-
     char buffer[64];
     to_dynamic_unit(MemoryManager::total(), buffer, sizeof(buffer));
     kinfoln("Total memory:    %s", buffer);
@@ -31,6 +43,14 @@ Result<void> init()
     to_dynamic_unit(MemoryManager::reserved(), buffer, sizeof(buffer));
     kinfoln("Reserved memory: %s", buffer);
 
+    Scheduler::init();
+
+    TRY(Scheduler::new_kernel_thread(async_thread));
+
+    CPU::platform_finish_init();
+
+    CPU::enable_interrupts();
+
     return {};
 }
 
@@ -40,5 +60,5 @@ extern "C" [[noreturn]] void _start()
     Init::early_init();
     auto rc = init();
     if (rc.has_error()) kerrorln("Runtime error: %s", rc.error_string());
-    CPU::efficient_halt();
+    CPU::idle_loop();
 }

kernel/src/memory/Heap.cpp

@@ -178,7 +178,7 @@ Result<void*> kmalloc(usize size)
         heap.append(block);
     }
 
-    HeapBlock* block = heap.first().value();
+    HeapBlock* block = heap.expect_first();
     while (block)
     {
         // Trying to find a free block...
@@ -330,7 +330,7 @@ void dump_heap_usage()
     }
     usize alloc_total = 0;
     usize alloc_used = 0;
-    HeapBlock* block = heap.first().value();
+    HeapBlock* block = heap.expect_first();
     while (block)
     {
         if (is_block_free(block))

kernel/src/memory/KernelVM.cpp

@@ -21,6 +21,7 @@ namespace KernelVM
     void init()
     {
         g_kernelvm_bitmap.initialize(bitmap_memory, sizeof(bitmap_memory));
+        g_kernelvm_bitmap.clear(false);
     }
 
     Result<u64> alloc_one_page()
@@ -36,7 +37,7 @@ namespace KernelVM
         return err(ENOMEM);
     }
 
-    Result<u64> alloc_several_pages(usize count)
+    bool find_several_pages_impl(usize count, u64& start_index)
     {
         u64 first_free_index = 0;
         u64 free_contiguous_pages = 0;
@@ -56,12 +57,24 @@ namespace KernelVM
             // Found enough contiguous free pages!!
             if (free_contiguous_pages == count)
             {
-                g_used_vm += ARCH_PAGE_SIZE * count;
-                g_kernelvm_bitmap.clear_region(first_free_index, count, true);
-                return KERNEL_VM_RANGE_START + (first_free_index * ARCH_PAGE_SIZE);
+                start_index = first_free_index;
+                return true;
             }
         }
 
+        return false;
+    }
+
+    Result<u64> alloc_several_pages(const usize count)
+    {
+        u64 start_index;
+        if (find_several_pages_impl(count, start_index))
+        {
+            g_kernelvm_bitmap.clear_region(start_index, count, true);
+            g_used_vm += ARCH_PAGE_SIZE * count;
+            return KERNEL_VM_RANGE_START + (start_index * ARCH_PAGE_SIZE);
+        }
+
         return err(ENOMEM);
     }
 

kernel/src/thread/Scheduler.cpp

@@ -0,0 +1,170 @@
+#include "thread/Scheduler.h"
+#include "Log.h"
+#include "arch/CPU.h"
+#include "arch/MMU.h"
+#include "memory/KernelVM.h"
+#include "memory/MemoryManager.h"
+#include <luna/Stack.h>
+
+static Thread g_idle;
+static Thread* g_current = nullptr;
+
+static const usize TICKS_PER_TIMESLICE = 20;
+
+namespace Scheduler
+{
+    void init()
+    {
+        g_idle.id = 0;
+        g_idle.init_regs_kernel();
+        g_idle.set_ip((u64)CPU::idle_loop);
+        g_idle.state = ThreadState::Idle;
+
+        g_idle.ticks_left = 1;
+
+        // Map some stack for the idle task
+        u64 idle_stack_vm = KernelVM::alloc_one_page().release_value();
+        MemoryManager::alloc_at(idle_stack_vm, 1, MMU::NoExecute | MMU::ReadWrite).release_value();
+
+        Stack idle_stack{idle_stack_vm, ARCH_PAGE_SIZE};
+        g_idle.set_sp(idle_stack.top());
+
+        kinfoln("CREATED IDLE THREAD: id %lu with ip %lx and sp %lx", g_idle.id, g_idle.ip(), g_idle.sp());
+
+        g_current = &g_idle;
+    }
+
+    Thread* current()
+    {
+        return g_current;
+    }
+
+    Thread* idle()
+    {
+        return &g_idle;
+    }
+
+    Result<void> kernel_thread_alloc_stack_and_append_impl(Thread* thread)
+    {
+        // FIXME: We will leak the thread if VM allocation or alloc_at fail.
+        u64 thread_stack_vm = TRY(KernelVM::alloc_several_pages(4));
+        TRY(MemoryManager::alloc_at(thread_stack_vm, 4, MMU::NoExecute | MMU::ReadWrite));
+
+        Stack thread_stack{thread_stack_vm, ARCH_PAGE_SIZE * 4};
+        thread->set_sp(thread_stack.top());
+
+        g_threads.append(thread);
+
+        kinfoln("CREATED THREAD: id %lu with ip %lx and sp %lx", thread->id, thread->ip(), thread->sp());
+
+        return {};
+    }
+
+    Result<void> new_kernel_thread(u64 address)
+    {
+        Thread* thread = TRY(new_thread());
+        thread->init_regs_kernel();
+        thread->set_ip(address);
+
+        return kernel_thread_alloc_stack_and_append_impl(thread);
+    }
+
+    Result<void> new_kernel_thread(void (*func)(void))
+    {
+        Thread* thread = TRY(new_thread());
+        thread->init_regs_kernel();
+        thread->set_ip((u64)func);
+
+        return kernel_thread_alloc_stack_and_append_impl(thread);
+    }
+
+    Result<void> new_kernel_thread(void (*func)(void*), void* arg)
+    {
+        Thread* thread = TRY(new_thread());
+        thread->init_regs_kernel();
+        thread->set_ip((u64)func);
+        thread->set_arguments((u64)arg, 0, 0, 0);
+
+        return kernel_thread_alloc_stack_and_append_impl(thread);
+    }
+
+    Thread* pick_task()
+    {
+        Thread* old = g_current;
+        if (old->is_idle())
+        {
+            auto maybe_last = g_threads.last();
+            if (maybe_last.has_error()) // No threads!!
+                return &g_idle;
+            g_current = old = maybe_last.value();
+        }
+
+        bool has_found_thread = false;
+
+        do {
+            auto maybe_next = g_threads.next(g_current);
+            if (maybe_next.has_error()) g_current = g_threads.expect_first();
+            else
+                g_current = maybe_next.value();
+
+            if (g_current->state == ThreadState::Runnable)
+            {
+                has_found_thread = true;
+                break;
+            }
+        } while (g_current != old);
+
+        if (!has_found_thread) g_current = &g_idle;
+
+        return g_current;
+    }
+
+    void generic_switch_context(Thread* old_thread, Thread* new_thread, Registers* regs)
+    {
+        if (old_thread != new_thread) switch_context(old_thread, new_thread, regs);
+
+        if (new_thread->is_idle())
+        {
+            new_thread->ticks_left = 1; // The idle task only runs for 1 tick so we can check for new runnable tasks
+                                        // as fast as possible.
+        }
+        else
+            new_thread->ticks_left = TICKS_PER_TIMESLICE;
+    }
+
+    void switch_task(Registers* regs)
+    {
+        Thread* old_thread = g_current;
+        Thread* new_thread = pick_task();
+        generic_switch_context(old_thread, new_thread, regs);
+    }
+
+    void invoke(Registers* regs)
+    {
+        CPU::disable_interrupts();
+
+        g_current->ticks++;
+
+        if (is_in_kernel(regs)) g_current->ticks_in_kernel++;
+        else
+            g_current->ticks_in_user++;
+
+        g_current->ticks_left--;
+
+        g_threads.for_each([](Thread* thread) {
+            if (thread->state == ThreadState::Sleeping)
+            {
+                if (--thread->sleep_ticks_left == 0) thread->state = ThreadState::Runnable;
+            }
+        });
+
+        if (!g_current->ticks_left) switch_task(regs);
+    }
+}
+
+void kernel_sleep(u64 ms)
+{
+    g_current->sleep_ticks_left = ms;
+    g_current->state = ThreadState::Sleeping;
+    kernel_yield();
+}

kernel/src/thread/Scheduler.h

@@ -0,0 +1,23 @@
+#pragma once
+#include "thread/Thread.h"
+
+namespace Scheduler
+{
+    void init();
+
+    Thread* current();
+    Thread* idle();
+
+    Result<void> new_kernel_thread(u64 address);
+    Result<void> new_kernel_thread(void (*func)(void));
+    Result<void> new_kernel_thread(void (*func)(void*), void* arg);
+
+    Thread* pick_task();
+
+    void switch_task(Registers* regs);
+
+    void invoke(Registers* regs);
+}
+
+extern "C" void kernel_yield();
+void kernel_sleep(u64 ms);

kernel/src/thread/Thread.cpp

@@ -0,0 +1,15 @@
+#include "thread/Thread.h"
+#include <luna/Alloc.h>
+
+static u64 g_next_id = 1;
+
+DoublyLinkedList<Thread> g_threads;
+
+Result<Thread*> new_thread()
+{
+    Thread* thread = TRY(make<Thread>());
+
+    thread->id = g_next_id++;
+
+    return thread;
+}

kernel/src/thread/Thread.h

@@ -0,0 +1,59 @@
+#pragma once
+
+#include "arch/CPU.h"
+#include <luna/LinkedList.h>
+#include <luna/Result.h>
+
+#ifdef ARCH_X86_64
+#include "arch/x86_64/CPU.h"
+#else
+#error "Unknown architecture."
+#endif
+
+enum class ThreadState
+{
+    Idle,
+    Runnable,
+    Sleeping
+};
+
+struct Thread : public DoublyLinkedListNode<Thread>
+{
+    Registers regs;
+
+    u64 id;
+
+    u64 ticks = 0;
+    u64 ticks_in_user = 0;
+    u64 ticks_in_kernel = 0;
+
+    u64 ticks_left;
+    u64 sleep_ticks_left;
+
+    ThreadState state = ThreadState::Runnable;
+
+    bool is_idle()
+    {
+        return state == ThreadState::Idle;
+    }
+
+    void init_regs_kernel();
+    void init_regs_user();
+
+    void set_arguments(u64 arg1, u64 arg2, u64 arg3, u64 arg4);
+
+    void set_ip(u64 ip);
+    u64 ip();
+
+    void set_sp(u64 sp);
+    u64 sp();
+};
+
+void switch_context(Thread* old_thread, Thread* new_thread, Registers* regs);
+
+bool is_in_kernel(Registers* regs);
+
+Result<Thread*> new_thread();
+Result<Thread*> create_idle_thread();
+
+extern DoublyLinkedList<Thread> g_threads;

kernel/src/video/TextConsole.cpp

@@ -2,8 +2,8 @@
 #include "boot/bootboot.h"
 #include "video/Framebuffer.h"
 #include <luna/Format.h>
-#include <luna/String.h>
 #include <luna/Result.h>
+#include <luna/String.h>
 #include <stdarg.h>
 
 extern const BOOTBOOT bootboot;

luna/CMakeLists.txt

@@ -7,6 +7,7 @@ set(FREESTANDING_SOURCES
     src/Units.cpp
     src/SystemError.cpp
     src/Bitmap.cpp
+    src/Stack.cpp
 )
 
 set(SOURCES
@@ -41,4 +42,10 @@ target_compile_options(luna-freestanding PRIVATE -mno-red-zone)
 target_compile_options(luna-freestanding PRIVATE -mno-80387 -mno-mmx -mno-sse -mno-sse2)
 target_compile_definitions(luna-freestanding PUBLIC ARCH_X86_64)
 target_compile_definitions(luna PUBLIC ARCH_X86_64)
+endif()
+
+if(LUNA_DEBUG_SYMBOLS)
+    message(STATUS "Building Luna with debug symbols")
+    target_compile_options(luna PRIVATE -ggdb)
+    target_compile_options(luna-freestanding PRIVATE -ggdb)
 endif()

luna/include/luna/LinkedList.h

@@ -106,11 +106,21 @@ template <typename T> class DoublyLinkedList
         return nonnull_or_error((T*)m_start_node);
     }
 
+    T* expect_first()
+    {
+        return first().value();
+    }
+
     Result<T*> last()
     {
         return nonnull_or_error((T*)m_end_node);
     }
 
+    T* expect_last()
+    {
+        return last().value();
+    }
+
     Result<T*> next(T* item)
     {
         return nonnull_or_error((T*)extract_node(item)->get_next());

luna/include/luna/Stack.h

@@ -0,0 +1,23 @@
+#pragma once
+#include <luna/Types.h>
+
+struct Stack
+{
+    Stack(u64 base, usize bytes);
+
+    u64 bottom()
+    {
+        return m_base;
+    }
+
+    u64 top();
+
+    usize bytes()
+    {
+        return m_bytes;
+    }
+
+  private:
+    u64 m_base;
+    usize m_bytes;
+};

luna/src/Bitmap.cpp

@@ -62,11 +62,14 @@ void Bitmap::clear_region(usize start, usize bits, bool value)
     expect(initialized(), "Bitmap was never initialized");
     expect((start + bits) <= size(), "Bitmap clear out of range");
 
+    if (!bits) return;
+
     // Set individual bits while not on a byte boundary.
-    while ((start % 8) && bits--)
+    while ((start % 8) && bits)
     {
         set(start, value);
         start++;
+        bits--;
     }
 
     // Clear out the rest in bytes.

luna/src/Format.cpp

@@ -2,8 +2,8 @@
 #include <luna/Format.h>
 #include <luna/NumberParsing.h>
 #include <luna/Result.h>
-#include <stddef.h>
 #include <stdarg.h>
+#include <stddef.h>
 
 extern "C" usize strlen(const char*);
 

luna/src/Stack.cpp

@@ -0,0 +1,10 @@
+#include <luna/Stack.h>
+
+Stack::Stack(u64 base, usize bytes) : m_base(base), m_bytes(bytes)
+{
+}
+
+u64 Stack::top()
+{
+    return (m_base + m_bytes) - sizeof(void*);
+}

luna/src/Units.cpp

@@ -1,6 +1,6 @@
 #include <luna/Format.h>
-#include <luna/Units.h>
 #include <luna/Result.h>
+#include <luna/Units.h>
 
 Result<usize> to_dynamic_unit(usize value, char* buffer, usize max)
 {

tools/build-debug.sh

@@ -9,7 +9,7 @@ tools/setup.sh
 
 tools/full-clean.sh
 
-cmake -S . -B $BUILD_DIR -DMOON_DEBUG_SYMBOLS=ON -G "$CMAKE_GEN"
+cmake -S . -B $BUILD_DIR -DMOON_DEBUG_SYMBOLS=ON -DLUNA_DEBUG_SYMBOLS=ON -G "$CMAKE_GEN"
 cmake --build $BUILD_DIR
 cmake --install $BUILD_DIR