1. CMSC 421 Spring 2004 Section 0202 Part II: Process Management Chapter 6 CPU Scheduling

2. Silberschatz, Galvin and Gagne  2002 6.2 Operating System Concepts Contents Basic Concepts Scheduling Criteria Scheduling Algorithms Multiple-Processor Scheduling Real-Time Scheduling Algorithm Evaluation

3. Silberschatz, Galvin and Gagne  2002 6.3 Operating System Concepts Basic Concepts Maximum CPU utilization obtained with multiprogramming CPU–I/O Burst Cycle – Process execution consists of a cycle of CPU execution and I/O wait. CPU burst distribution is mostly exponential

4. Silberschatz, Galvin and Gagne  2002 6.4 Operating System Concepts Histogram of CPU-burst Times

5. Silberschatz, Galvin and Gagne  2002 6.5 Operating System Concepts CPU Scheduler Also referred to as “Short Term Scheduler” before.. Selects from among the processes in memory that are ready to execute, and allocates the CPU to one of them. CPU scheduling decisions may take place when a process: 1.Switches from running to waiting state. 2.Switches from running to ready state. 3.Switches from waiting to ready. 4.Terminates. Scheduling only under 1 and 4 is nonpreemptive. All other scheduling is preemptive.

6. Silberschatz, Galvin and Gagne  2002 6.6 Operating System Concepts Preemptive Scheduling  Data Consistency Problem  Kernel Data Structures need to be managed carefully  Code affected by interrupts must be guarded from simultaneous use

7. Silberschatz, Galvin and Gagne  2002 6.7 Operating System Concepts Dispatcher Dispatcher module gives control of the CPU to the process selected by the short-term scheduler; this involves:  switching context  switching to user mode  jumping to the proper location in the user program to restart that program Dispatch latency – time it takes for the dispatcher to stop one process and start another running.

8. Silberschatz, Galvin and Gagne  2002 6.8 Operating System Concepts Scheduling Criteria CPU utilization – keep the CPU as busy as possible Throughput – # of processes that complete their execution per time unit Turnaround time – amount of time to execute a particular process  Time the process ends – time the process enters the system Waiting time – amount of time a process has been waiting in the ready queue Response time – amount of time it takes from when a request was submitted until the first response is produced  not the time taken to output the first response

9. Silberschatz, Galvin and Gagne  2002 6.9 Operating System Concepts Optimization Criteria Max CPU utilization Max throughput Min turnaround time Min waiting time Min response time Other optimizations  Minimize variance in response time  Minimize the maximum response time Each process typically consists of 100 of CPU/IO bursts  We consider 1 CPU burst/process in the description of the algorithms

10. Silberschatz, Galvin and Gagne  2002 6.10 Operating System Concepts First-Come, First-Served (FCFS) Scheduling ProcessBurst Time P 1 24 P 2 3 P 3 3 Suppose that the processes arrive in the order: P 1, P 2, P 3 The Gantt Chart for the schedule is: Waiting time for P 1 = 0; P 2 = 24; P 3 = 27 Average waiting time: (0 + 24 + 27)/3 = 17 P1P1 P2P2 P3P3 2427300

11. Silberschatz, Galvin and Gagne  2002 6.11 Operating System Concepts FCFS Scheduling (Cont.) Suppose that the processes arrive in the order P 2, P 3, P 1. The Gantt chart for the schedule is: Waiting time for P 1 = 6; P 2 = 0 ; P 3 = 3 Average waiting time: (6 + 0 + 3)/3 = 3 Much better than previous case P1P1 P3P3 P2P2 63300

12. Silberschatz, Galvin and Gagne  2002 6.12 Operating System Concepts FCFS (Cont.) Convoy Effect  Shorter processes (with smaller CPU bursts) waiting behind a longer CPU-bound process FCFS in non-preemptive  CPU is held by the currently executing process UNTIL  An I/O request comes  Process terminates

13. Silberschatz, Galvin and Gagne  2002 6.13 Operating System Concepts Shortest-Job-First (SJF) Scheduling Associate with each process the length of its next CPU burst. Use these lengths to schedule the process with the shortest CPU burst. Two schemes:  nonpreemptive – once CPU given to the process it cannot be preempted until completes its CPU burst.  preemptive – if a new process arrives with CPU burst length less than remaining time of current executing process, preempt the executing process. This scheme is know as the Shortest-Remaining-Time-First (SRTF).

14. Silberschatz, Galvin and Gagne  2002 6.14 Operating System Concepts SJF (Cont.) SJF is optimal – gives minimum average waiting time for a given set of processes. SJF could lead to starving processes  Process waits for CPU while other processes with shorter bursts get priority

15. Silberschatz, Galvin and Gagne  2002 6.15 Operating System Concepts ProcessArrival TimeBurst Time P 1 0.07 P 2 2.04 P 3 4.01 P 4 5.04 SJF (non-preemptive) Average waiting time = (0 + 6 + 3 + 7)/4 = 4 Example of Non-Preemptive SJF P1P1 P3P3 P2P2 73160 P4P4 812

16. Silberschatz, Galvin and Gagne  2002 6.16 Operating System Concepts Example of Preemptive SJF ProcessArrival TimeBurst Time P 1 0.07 P 2 2.04 P 3 4.01 P 4 5.04 SJF (preemptive) Average waiting time = (9 + 1 + 0 +2)/4 = 3 P1P1 P3P3 P2P2 42 11 0 P4P4 57 P2P2 P1P1 16

17. Silberschatz, Galvin and Gagne  2002 6.17 Operating System Concepts Determining Length of Next CPU Burst Can only estimate the length. Can be done by using the length of previous CPU bursts, using exponential averaging.

18. Silberschatz, Galvin and Gagne  2002 6.18 Operating System Concepts Prediction of the Length of the Next CPU Burst alpha=1/2

19. Silberschatz, Galvin and Gagne  2002 6.19 Operating System Concepts Examples of Exponential Averaging  =0   n+1 =  n  Recent history does not count.  =1   n+1 = t n  Only the actual last CPU burst counts. If we expand the formula, we get:  n+1 =  t n +(1 -  )  t n -1 + … +(1 -  ) j  t n -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.

20. Silberschatz, Galvin and Gagne  2002 6.20 Operating System Concepts Priority Scheduling A priority number (integer) is associated with each process The CPU is allocated to the process with the highest priority (smallest integer  highest priority).  Preemptive  nonpreemptive SJF is a priority scheduling where priority is the predicted next CPU burst time. Problem  Starvation – low priority processes may never execute. Solution  Aging – as time progresses increase the priority of the process.

21. Silberschatz, Galvin and Gagne  2002 6.21 Operating System Concepts Round Robin (RR) Each process gets a small unit of CPU time (time quantum or slice), usually 10-100 milliseconds. After this time slice has elapsed, the process is preempted and added to the end of the ready queue. If there are n processes in the ready queue and the time quantum is q, then each process gets 1/n of the CPU time in chunks of at most q time units at once.  No process waits more than (n-1)q time units. When deciding on the time slice need to consider the overhead due to the dispatcher Performance characteristics  q large  FIFO  q small  q must be large with respect to context switch, otherwise overhead is too high (processor sharing)

22. Silberschatz, Galvin and Gagne  2002 6.22 Operating System Concepts Example of RR with Time Quantum = 20 ProcessBurst Time P 1 53 P 2 17 P 3 68 P 4 24 The Gantt chart is: Typically, higher average turnaround than SJF, but better response. P1P1 P2P2 P3P3 P4P4 P1P1 P3P3 P4P4 P1P1 P3P3 P3P3 02037577797117121134154162

23. Silberschatz, Galvin and Gagne  2002 6.23 Operating System Concepts Time Quantum and Context Switch Time

24. Silberschatz, Galvin and Gagne  2002 6.24 Operating System Concepts Turnaround Time Varies With The Time Quantum Draw the Gantt chart for this

25. Silberschatz, Galvin and Gagne  2002 6.25 Operating System Concepts Multilevel Queue Scheduling Ready queue is partitioned into separate queues  foreground (interactive)  background (batch) Each queue has its own scheduling algorithm  foreground – RR  background – FCFS

26. Silberschatz, Galvin and Gagne  2002 6.26 Operating System Concepts Multilevel Queue Scheduling

27. Silberschatz, Galvin and Gagne  2002 6.27 Operating System Concepts Multilevel Queue Scheduling (cont.) Scheduling must be done between the queues.  Fixed priority scheduling  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., 80% to foreground in RR, 20% to background in FCFS

28. Silberschatz, Galvin and Gagne  2002 6.28 Operating System Concepts Multilevel Feedback Queue Scheduling A process can move between the various queues  Processes with lesser CPU burst could be moved to higher priority queues and vice versa Multilevel-feedback-queue scheduler is defined by the following parameters  number of queues  scheduling algorithms for each queue  method used to determine when to promote a process  method used to determine when to demote a process  method used to determine which queue a process will enter when that process needs service

29. Silberschatz, Galvin and Gagne  2002 6.29 Operating System Concepts Multilevel Feedback Queues

30. Silberschatz, Galvin and Gagne  2002 6.30 Operating System Concepts Example of Multilevel Feedback Queue Three queues  Q 0 – time quantum 8 milliseconds  Q 1 – 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.

31. Silberschatz, Galvin and Gagne  2002 6.31 Operating System Concepts Multiple-Processor Scheduling CPU scheduling is more complex when multiple CPUs are available. Homogeneous processors  All processors are identical within the multiprocessor system Load sharing  Idle processors share the load of busy processors  Maintain a single ready queue shared among all the processors Symmetric multiprocessing  Each processor schedules a process autonomously from the shared ready queue Asymmetric multiprocessing  only one processor accesses the system data structures, alleviating the need for data sharing.  Could lead to I/O bottleneck on one processor

32. Silberschatz, Galvin and Gagne  2002 6.32 Operating System Concepts Real-Time Scheduling Hard real-time systems  When it is required to complete a critical task within a guaranteed amount of time  Resource reservation Soft real-time systems  No strict guarantee on the amount of time  When it is required that critical processes receive priority over less fortunate ones. For soft real-time scheduling  System must have priority scheduling  The dispatch latency must be small  Problem caused by the fact that many OSs wait for a context switch until either a system call completes or an I/O blocks

33. Silberschatz, Galvin and Gagne  2002 6.33 Operating System Concepts How to minimize dispatch latency Introduce preemption points within the kernel  Where it is safe to preempt a system call by a higher priority process  Trouble is only few such points can be practically added Make the entire kernel preemptive  All kernel data structures must be protected using synchronization mechanisms  Need to ensure that it is safe for a higher priority process to access shared kernel data structures  Complex method that is widely used What happens when a high priority process waits for lower priority processes to finish using a shared kernel data structure (priority inversion)?  Priority inheritance

34. Silberschatz, Galvin and Gagne  2002 6.34 Operating System Concepts Dispatch Latency

35. Silberschatz, Galvin and Gagne  2002 6.35 Operating System Concepts Evaluation of Scheduling Algorithms Deterministic modeling  take a particular predetermined workload and determine the performance of each algorithm for that workload Queueing Models  Use mathematical formulas to analyze the performance of algorithms under some (simple and possible unrealistic) workloads Simulation Models  Use probabilistic models of workloads  Use workloads captured in a running system (traces) Implementation

36. Silberschatz, Galvin and Gagne  2002 6.36 Operating System Concepts Queueing Models Little’s Law  Valid under steady state  Number of processes leaving the queue=number of processes arriving  N=number of processes in queue  Lamda=avg. arrival rate  W= average wait time for a process in the queue  Little’s law states that  N=Lamda*W

37. Silberschatz, Galvin and Gagne  2002 6.37 Operating System Concepts Evaluation of CPU Schedulers by Simulation

38. Silberschatz, Galvin and Gagne  2002 6.38 Operating System Concepts Solaris 2 Scheduling

39. Silberschatz, Galvin and Gagne  2002 6.39 Operating System Concepts Windows 2000 Priorities