COT 4600 Operating Systems Fall 2009 Dan C

COT 4600 Operating Systems Fall 2009 Dan C. Marinescu Office: HEC 439 B Office hours: Tu-Th 3: 00 -4: 00 PM

Lecture 25 n Attention: project phase 4 and HW 6 – due Tuesday November 24 ¨ n Final exam – Thursday December 10 4 -6: 50 PM Last time: Multi-level memories ¨ Memory characterization ¨ Multilevel memories management using virtual memory ¨ Adding multi-level memory management to virtual memory ¨ n Today: ¨ n Scheduling Next Time: ¨ Network properties (Chapter 7) - available online from the publisher of the textbook 2

Scheduling n n The process of allocating resource e. g. , CPU cycles, to threads/processes. Distinguish Policies ¨ Mechanisms to implement policies ¨ n Scheduling problems have evolved in time: Early on: emphasis on CPU scheduling ¨ Now: more interest in transaction processing and I/O optimization ¨ n Scheduling decisions are made at different levels of abstraction and it is not always easy to mediate.

Example: an overloaded transaction processing system n n Incoming transaction are queued in a buffer which may fill up; The interrupt handler is constantly invoked as dropped requests are reissued; The transaction processing thread has no chance to empty the buffer; Solution: when the buffer is full disable the interrupts caused by incoming transactions and allow the transaction processing thread to run.

Scheduling objectives n n n Performance metrics: ¨ CPU Utilization Fraction of time CPU does useful work over total time ¨ Throughput Number of jobs finished per unit of time ¨ Turnaround time Time spent by a job in the system ¨ Response time Time to get the results ¨ Waiting time Time waiting to start processing All these are random variables we are interested in averages!! The objectives - system managers (M) and users (U): ¨ Maximize CPU utilization M ¨ Maximize throughput M ¨ Minimize turnaround time U ¨ Minimize waiting time U ¨ Minimize response time U

CPU burst n CPU burst the time required by the thread/process to execute

Scheduling policies n n First-Come First-Serve (FCFS) Shortest Job First (SJF) Round Robin (RR) Preemptive/non-preemptive scheduling

First-Come, First-Served (FCFS) n Thread Burst Time P 1 24 P 2 3 P 3 3 Processes arrive in the order: P 1 P 2 P 3 Gantt Chart for the schedule: P 1 0 n n n P 2 24 P 3 27 Waiting time for P 1 = 0; P 2 = 24; P 3 = 27 Average waiting time: (0 + 24 + 27)/3 = 17 Convoy effect short process behind long process 30

FCFS Scheduling (Cont’d. ) n n Now threads arrive in the order: P 2 P 3 P 1 Gantt chart: P 2 0 n n n P 3 3 P 1 6 Waiting time for P 1 = 6; P 2 = 0; P 3 = 3 Average waiting time: (6 + 0 + 3)/3 = 3 Much better!! 30

Shortest-Job-First (SJF) n n n Use the length of the next CPU burst to schedule thread/process with the shortest time. SJF is optimal minimum average waiting time for a given set of threads/processes Two schemes: ¨ Non-preemptive the thread/process cannot be preempted until completes its CPU burst ¨ Preemptive if a new thread/process arrives with CPU burst length less than remaining time of current executing process, preempt. known as Shortest-Remaining-Time-First (SRTF)

Example of non-preemptive SJF Thread n P 1 P 2 P 3 P 4 SJF (non-preemptive) Arrival Time Burst Time 0. 0 2. 0 4. 0 5. 0 7 4 1 4 P 1 0 n 3 P 3 7 P 2 8 Average waiting time = (0 + 6 + 3 + 7)/4 P 4 12 =4 16

Example of Shortest-Remaining-Time-First (SRTF) (Preemptive SJF) Thread n Burst Time P 1 0. 0 P 2 2. 0 P 3 4. 0 P 4 5. 0 Shortest-Remaining-Time-First P 1 0 n Arrival Time P 2 2 P 3 4 7 4 1 4 P 2 5 P 4 7 Average waiting time = (9 + 1 + 0 +2)/4 = 3 P 1 11 16

Round Robin (RR) n n n Each process gets a small unit of CPU time (time quantum), usually 10 -100 milliseconds. After this time has elapsed, the thread/process is preempted and added to the end of the ready queue. If there are n threads/processes in the ready queue and the time quantum is q, then each thread/process gets 1/n of the CPU time in chunks of at most q time units at once. No thread/process waits more than (n-1)q time units. Performance ¨ q large FIFO ¨ q small q must be large with respect to context switch, otherwise overhead is too high

RR with time slice q = 20 Thread P 1 P 2 P 3 P 4 P 1 0 P 2 20 37 P 3 Burst Time 53 17 68 24 P 4 57 P 1 77 P 3 P 4 P 1 P 3 97 117 121 134 154 162 Typically, higher average turnaround than SJF, but better response

Time slice (quantum) and context switch time

Turnaround time function of time quantum

Job Arrival time Work Start time Finish time Wait time Time in system till start A 0 3 0 3 B 1 5 3 3+5=8 3– 1=2 8– 1=7 C 3 2 8 8 + 2 = 10 8– 3=5 10 – 3 = 7 A 0 3 0 3 B 1 5 5 5 + 5 = 10 4 10 – 1 = 9 C 3 2 3 3+2=5 0 5– 3=2 A 0 3 0 6– 0=6 B 1 5 1 10 1– 1=0 10 – 1 = 9 C 3 2 5 8 5– 3=2 8– 3=5

Scheduling policy Average waiting time till the job started Average time in system FCFS 7/3 17/3 SJF 4/3 14/3 RR 3/3 20/3

Priority scheduling n n n Each thread/process has a priority and the one with the highest priority (smallest integer highest priority) is scheduled next. ¨ Preemptive ¨ Non-preemptive SJF is a priority scheduling where priority is the predicted next CPU burst time Problem Starvation – low priority threads/processes may never execute Solution to starvation Aging – as time progresses increase the priority of the thread/process Priority my be computed dynamically

Priority inversion n n n A lower priority thread/process prevents a higher priority one from running. T 3 has the highest priority, T 1 has the lowest priority; T 1 and T 3 share a lock. T 1 acquires the lock, then it is suspended when T 3 starts. Eventually T 3 requests the lock and it is suspended waiting for T 1 to release the lock. T 2 has higher priority than T 1 and runs; neither T 3 nor T 1 can run; T 1 due to its low priority, T 3 because it needs the lock help by T 1. Allow a low priority thread holding a lock to run with the higher priority of the thread which requests the lock

Estimating the length of next CPU burst n Done using the length of previous CPU bursts, using exponential averaging

Exponential averaging n n =0 ¨ n+1 = n ¨ Recent history does not count =1 ¨ n+1 = tn ¨ Only the actual last CPU burst counts If we expand the formula, we get: n+1 = tn+(1 - ) tn -1 + … +(1 - )j tn -j + … +(1 - )n +1 0 Since both and (1 - ) are less than or equal to 1, each successive term has less weight than its predecessor

Predicting the length of the next CPU burst

Multilevel queue n n Ready queue is partitioned into separate queues each with its own scheduling algorithm : ¨ foreground (interactive) RR ¨ background (batch) FCFS Scheduling between the queues ¨ Fixed priority scheduling - (i. e. , serve all from foreground then from background). Possibility of starvation. ¨ Time slice – each queue gets a certain amount of CPU time which it can schedule amongst its processes; i. e. , n 80% to foreground in RR n 20% to background in FCFS

Multilevel Queue Scheduling

Multilevel feedback queue n n A process can move between the various queues; aging can be implemented this way Multilevel-feedback-queue scheduler characterized by: ¨ number of queues ¨ scheduling algorithms for each queue ¨ strategy when to upgrade/demote a process ¨ strategy to decide the queue a process will enter when it needs service

Example of a multilevel feedback queue exam n n Three queues: ¨ Q 0 – RR with time quantum 8 milliseconds ¨ Q 1 – RR time quantum 16 milliseconds ¨ Q 2 – FCFS Scheduling ¨ A new job enters queue Q 0 which is served FCFS. When it gains CPU, job receives 8 milliseconds. If it does not finish in 8 milliseconds, job is moved to queue Q 1. ¨ At Q 1 job is again served FCFS and receives 16 additional milliseconds. If it still does not complete, it is preempted and moved to queue Q 2.

Multilevel Feedback Queues

Unix scheduler n n n The higher the number quantifying the priority the lower the actual process priority. Priority = (recent CPU usage)/2 + base Recent CPU usage how often the process has used the CPU since the last time priorities were calculated. Does this strategy raises or lowers the priority of a CPU-bound processes? Example: ¨ base = 60 ¨ Recent CPU usage: P 1 =40, P 2 =18, P 3 = 10

Comparison of scheduling algorithms Round Robin FCFS MFQ Multi-Level Feedback Queue SFJ Shortest Job First SRJN Shortest Remaining Job Next Throughput May be low is quantum is too small Not emphasized May be low is quantum is too small High Response time Shortest average response time if quantum chosen correctly May be poor Good for I/O bound but poor for CPUbound processes Good for short processes But maybe poor for longer processes

IO-bound Robin FCFS MFQ Multi-Level Feedback Queue SFJ Shortest Job First SRJN Shortest Remaining Job Next No distinction between CPU-bound and IO-bound Gets a high priority if CPUbound processes are present No distinction between CPU-bound and IO-bound Infinite Does not postponem occur ent Does not occur May occur for CPU bound processes May occur for processes with long estimated running times

Overhead CPUbound Robin FCFS MFQ Multi-Level Feedback Queue SFJ Shortest Job First SRJN Shortest Remaining Job Next Low The lowest Can be high Complex data structures and processing routines Can be high Routine to find the shortest job for each reschedule Can be high Routine to find the minimum remaining time for each reschedule No distinction between CPU-bound and IO-bound Gets a low priority if IObound processes are present No distinction between CPU-bound and IO-bound

Terminology for scheduling algorithms n A scheduling problems is defined by ¨ ¨ ¨ n : The machine environment A set of side constrains and characteristics The optimality criterion Machine environments: ¨ ¨ ¨ 1 One-machine. P Parallel identical machines Q Parallel machines of different speeds R Parallel unrelated machines O Open shop. m specialized machines; a job requires a number of operations each demanding processing by a specific machine F Floor shop

One-machine environment n n n n n jobs 1, 2, …. n. pj amount of time required by job j. rj the release time of job j, the time when job j is available for processing. wj the weight of job j. dj due time of job j; time job j should be completed. A schedule S specifies for each job j which pj units of time are used to process the job. CSj the completion time of job j under schedule S. The makespan of S is: CSmax = max CSj The average completion time is

One-machine environment (cont’d) Average weighted completion time: n Optimality criteria minimize: n ¨ the makespan CSmax ¨ the average completion time : ¨ The average weighted completion time: the lateness of job j n maximum lateness of any job under schedule S. Another optimality criteria, minimize maximum lateness. n

Priority rules for one machine environment n Theorem: scheduling jobs according to SPT – shortest processing time is optimal for n Theorem: scheduling jobs in non-decreasing order of is optimal for

Real-time schedulers n Soft versus hard real-time systems A control system of a nuclear power plant hard deadlines ¨ A music system soft deadlines ¨ n Time to extinction time until it makes sense to begin the action

Earliest deadline first (EDF) n n n Dynamic scheduling algorithm for real-time OS. When a scheduling event occurs (task finishes, new task released, etc. ) the priority queue will be searched for the process closest to its deadline. This process will then be scheduled for execution next. EDF is an optimal scheduling preemptive algorithm for uniprocessors, in the following sense: if a collection of independent jobs, each characterized by an arrival time, an execution requirement, and a deadline, can be scheduled (by any algorithm) such that all the jobs complete by their deadlines, the EDF will schedule this collection of jobs such that they all complete by their deadlines. 38

Schedulability test for Earliest Deadline First Execution Time Process Period P 1 1 8 P 2 2 5 P 3 4 10 In this case U = 1/8 +2/5 + 4/10 = 0. 925 = 92. 5% It has been proved that the problem of deciding if it is possible to schedule a set of periodic processes is NP-hard if the periodic processes use semaphores to enforce mutual exclusion. 39