1. CS252: Systems Programming Ninghui Li Based on Slides by Prof. Gustavo Rodriguez-Rivera Topic 12: Thread-safe Data Structures, Semaphores

2. Pthread Overview Pthreads: POSIX threads Mutual exclusion and synchronization tools that we cover Mutex locks Read/write locks Semaphores (not part of pthreads, but part of POSIX standards) Condition variables: Suspend the execution of a thread until some pre-defined condition occurs

3. Pthread Mutex Revisited int pthread_mutex_init (pthread_mutex_t *mutex, const pthread_mutexattr_t *mutexattr); Inside a pthread_mutexattr_t structure, one can specify 3 types of mutex PTHREAD_MUTEX_NORMAL PTHREAD_MUTEX_RECURSIVE PTHREAD_MUTEX_ERRORCHECK

4. There are multiple types of Mutex Locks Types of mutex depend on behavior in the following 2 cases A: a thread that holds lock calls lock again B: a thread that does not hold lock calls unlock Recursive lock: A succeeds (locking n times requires unlocking n times); B returns error pthread_mutexattr_init(&Attr); pthread_mutexattr_settype(&Attr, PTHREAD_MUTEX_RECURSIVE); pthread_mutex_init(&Mutex, &Attr); Error checking lock: returns error on A,B Normal (fast) lock: deadlock on A; undefined on B Implementation does not need to remember which thread currently holds mutex

5. Which Type to Use It is recommended to use Recursive in production systems when available. When one has high confidence and full control of code, then using normal (fast) is fine i.e., when one is certain that A and B cannot occur

6. Behavior When Lock is Unavailable Blocked until the lock is available. Behavior of mutex lock Yield CPU and try to obtain lock when scheduled, return when lock is available Seems to be undesirable, since thread is off CPU, might as well wait until lock is available Busy-waiting when lock is unavailable. Behavior of SpinLock; don’t use on a single CPU Return “unable to obtain lock” immediately To get this behavior in pthreads, use trylock E.g., pthread_mutex_trylock()

7. Threads and Fork What happens to the threads in a process when a thread in a process calls fork()? Modern UNIX use the pthread_create semantics that only copies the calling thread. In Solaris, threads created using thr_create() are duplicated by fork() Threads created using pthread_create are not duplicated (except the thread calling fork()). In Solaris, system call fork1() copies only the calling thread to the child process.

8. Thread Safe and Race Condition Data structures and functions that are able to handle multiple threads are called “Thread Safe” or “Multi- Threaded (MT), or “Concurrent”. A Thread Unsafe function or data structure is one that when executed by multiple threads can result in logical errors. A bug related to having multiple threads modifying a data structure simultaneously is called a “Race Condition”. Race Conditions are difficult to debug because they are often difficult to reproduce.

9. A Thread Unsafe List Class #include struct ListEntry { int _val; ListEntry *_next; }; class List{ ListEntry *_head; public: List(); void insert(int val); int remove(); } List::List(){ _head = NULL; } List::insert(int val){ ListEntry *e = new ListEntry; e->_val = val; a) e->_next = _head; b) _head = e; }

10. A Thread Unsafe List Class int List::remove(){ ListEntry *tmp; c) tmp = _head; if(tmp == NULL) { return -1; } d) _head=tmp->_next; int val=tmp->_val; delete tmp; return val; }

11. Race Conditions in List We can have the following race condition: Assume T1 calls remove() and T2 calls insert(). Initially 1_head2 NULL

12. Race Conditions in List 2. T2 insert(5) 1_head2 5 2. T2: a) e2->next=_head NULL 1. T1 remove() 1_head2 tmp1 1. T1: c) tmp=_head NULL tmp1 3. T2 insert(5) 1_head2 5 3. T2: b) _head = e2 NULLtmp1 4. T1 remove() 1 _head 2 5 4. T1: d)_head=tmp->_next; Node 5 is lost!!! tmp1NULL ctxswitch E2

13. Race Conditions in List Now find a race condition involving two insert. Now find a race condition involving two remove. Initially 1_head2 NULL

14. An Thread Safe List Class #include struct ListEntry { int _val; ListEntry *_next; }; class MTList{ ListEntry *_head; pthread_mutex_t _mutex; public: MTList(); void insert(int val); int remove(); } MTList::MTList(){ _head = NULL; pthread_mutex_init( &_mutex, NULL ); } MTList::insert(int val){ ListEntry *e = new ListEntry; e->_val = val; pthread_mutex_lock(&_mutex); a) e->_next = _head; b)_head = e; pthread_mutex_unlock(&mutex); }

15. A Thread Safe List int MTList::remove(){ ListEntry *tmp; pthread_mutex_lock(&_mutex); c) tmp = _head; if(tmp == NULL) { pthread_mutex_unlock(&_mutex); return -1; } d) _head=tmp->_next; pthread_mutex_unlock(&mutex); int val=tmp->_val; delete tmp; return val; }

16. Clicker Question 1 Which of the following memory section is not shared across multiple threads in one process? A. The stack section B. The heap section C. The data section D. The text section E. None of the above

17. Clicker Question 2 Which of the following is not an advantage of using multiple threads compared with using multiple processes? A. Creation a new thread is faster. B. Context switch from one thread to another is faster. C. Using multiple threads is more robust. D. Communicating between multiple threads is easier and faster. E. None of the above.

18. Clicker Question 3 Consider the following code from the C programming question in midterm; we want to make it safe when multiple threads may call enqueue: 1 void enqueue (… *q, char *v) { 2 struct node *nd = malloc(…); 3 nd->value = strdup(v); 4 nd->next = NULL; 5 if (q->tail == NULL) { 6 q->tail = nd; 7 q->head = nd; 8 } else { 9 q->tail->next = nd; 10 q->tail = nd; 11 } 12 mutex_unlock(&(q->mutex)); 13 } Suppose we want to add mutex_lock(..) as late as possible in the code, which of the following is the latest while still being correct? A. Before line 2 B. Before line 3 C. Before line 4 D. Before line 5 E. Before line 6 & 9

19. Clicker Question 4 Consider the following code from the C programming question in midterm; we want to make it safe when multiple threads may call enqueue: 1 char *dequeue (struct queue *q) { 2 mutex_lock(&(q->mutex)); 3 if (q->head == NULL) { 4 return NULL; } 5 if (q->tail == q->head) { 6 q->tail = NULL; } 7 char *s = q->head->value; 8 struct node *nd = q->head; 9 q->head = q->head->next; 10 free(nd); 11 return s; 12 } Where should we add mutex_unlock(…); A. Before line 10 B. Before line 11 C. Before line 4 & 10 D. Before line 5 & 11 E. None of the above

20. An Additional Requirement in the List Class The MT List implementation described before returns -1 if the list is empty. Suppose that we would like an implementation where the thread calling remove() waits if the List is empty. This behavior is naturally implemented using semaphores.

21. Semaphores A semaphore is initialized with an initial counter that is greater or equal to 0. Conceptually indicating # of available resources A sem_wait call decreases the counter, and block the thread if the value is negative. A sem_post call increases the counter, and unblock one waiting thread

22. Semaphore Calls Declaration: #include sem_t sem; Initialization: sem_init (sem_t *sem, int pshared, unsigned int value); Decrement Semaphore: sem_wait ( sem_t *sem); Increment Semaphore sem_post (sem_t *sem); Man pages man sem_wait

23. Semaphore Calls Semantics Pseudocode: sem_init(sem_t *sem, counter){ sem -> count = counter; } sem_wait(sem_t *sem){ sem -> count--; if(sem ->count < 0){ wait(); }

24. Semaphore Calls Semantics sem_post(sem_t *sem){ sem ->count++; if(there is a thread waiting){ wake up the thread that has been waiting the longest. } // one out and can let one in } Note: The mutex lock calls are omitted in the pseudocode for simplicity.

25. Semaphores vs. Mutex Semaphore can be initialized to any positive integer, and mutex is binary Binary semaphore vs. Mutex With mutex, only the thread holding the lock is supposed to unlock With semaphore, any thread can call sem_post to wake up a blocking thread Semaphores are a signaling mechanism; not specifically for mutual exclusion One can use a binary semaphore to achieve the effect of mutex, if one is careful to ensure that sem_post is only called by a thread who calls sem_wait first

26. Use of Semaphore Counter Mutex Lock Case: initial counter == 1 Can achieve effect of Mutex Lock, if one calls sem_post only after sem_wait N Resources Case: initial counter is n > 1 Control access to a fixed number n of resources. Example: Access to 5 printers. 5 computers can use them. 6 th computer will need to wait. Wait for an Event Case: initial counter == 0 Synchronization. Wait for an event. A thread calling sem_wait will block until another threads sends an event by calling sem_post.

27. Example Semaphore count=1 (Mutex Lock Case) Assume sem_t sem; sem_init(&sem, 1); T1 T2 sem_wait(&sem) sem->count--(==0) Does not wait.. ctxswitch sem_wait(&sem) sem->count--(==-1) if (sem->count < 0) wait (ctxswitch).. sem_post(&sem) sem->count++(==0) wakeup T2 continue

28. Example Semaphore count=3 (N Resources Case) Assume sem_t sem; sem_init(&sem, 3); (3 printers) T1 T2 T3 sem_wait(&sem) sem->count--(==2) Does not wait print.. sem_wait(&sem) sem->count--(==1) Does not wait print.. sem_wait(&sem) sem->count--(==0) Does not wait print

29. Example Semaphore count=3 (N Resources Case) T4 T5 T1 sem_wait(&sem) sem->count--(==-1) wait sem_wait(&sem) sem->count--(==-2) Wait Finished printing sem_post(&sem) sem->count++(==-1) Wakeup T4 print

30. Example Semaphore count=0 Wait for an Event Case Assume sem_t sem; sem_init(&sem, 0); T1 T2 // wait for event sem_wait(&sem) sem->count--(==-1) wait //Send event to t1 sem_post(&sem) sem->count++(==0) Wakeup T1.. T1 continues

31. A Synchronized List Class We want to implement a List class where remove() will block if the list is empty. To implement this class, we will use a semaphore “_emptySem” that will be initialized with a counter of 0. Remove() will call sem_wait(&_emptySem) and it will block until insert() calls sem_post(&emptySem). The counter in semaphore will be equivalent to the number of items in the list.

32. A Synchronized List Class SyncList.h #include struct ListEntry { int _val; ListEntry *_next; }; class SyncList{ ListEntry *_head; pthread_mutex_t _mutex; sem_t _emptySem; public: SyncList(); void insert(int val); int remove(); }; SynchList.cc SyncList:: SyncList(){ _ _head = NULL; pthread_mutex_init( &_mutex, NULL ); sem_init(&_emptySem,0, 0); } SyncList ::insert(int val){ ListEntry *e = new ListEntry; e->_val = val; pthread_mutex_lock(&_mutex); a)e->_next = _head; b)_head = e; pthread_mutex_unlock(&_mutex); sem_post(&_emptySem); } Can one switch the two lines?

33. A Synchronized List int SyncList ::remove(){ ListEntry *tmp; // Wait until list is not empty sem_wait(&_emptySem); pthread_mutex_lock(&_mutex); c)tmp = _head; d)head=tmp->_next; pthread_mutex_unlock(&mutex); int val=tmp->_val; delete tmp; return val; } Can one switch the two lines?

34. Example: Removing Before Inserting T1 T2 remove() sem_wait(&_emptySem) (count==-1) wait insert(5) pthread_mutex_lock() a) b) pthread_mutex_unlock() sem_post(&_emptySem) wakeup T1 T1 continues pthread_mutex_lock() c) d) pthread_mutex_unlock()

35. Example: Inserting Before Removing T1 T2 insert(7) pthread_mutex_lock() a) b) pthread_mutex_unlock() sem_post(&_emptySem)(count==1) Starts running remove() sem_wait(_emptySem); continue (count==0) pthread_mutex_lock() c) d) pthread_mutex_unlock()

36. Notes on Synchronized List Class We need the mutex lock to enforce atomicity in the critical sections a) b) and c) d). The semaphore is not enough to enforce atomicity.

37. Notes on Synchronized List Class int MTList::remove(){ ListEntry *tmp; sem_wait(&_emptySem); pthread_mutex_lock(&_mutex); c)tmp = _head; d)head=tmp->_next; pthread_mutex_unlock(&mutex); int val=tmp->_val; delete tmp; return val; } N (N= items in list) >N 1

38. Notes on Synchronized List Class The sem_wait() call has to be done outside the mutex_lock/unlock section. Otherwise we can get a deadlock. Example: pthread_mutex_lock(&_mutex); sem_wait(&_empty); c)tmp = _head; d)head=tmp->_next; pthread_mutex_unlock(&mutex);

39. Notes on Synchronized List Class T1 T2 remove() mutex_lock sem_wait(&_empty) wait for sem_post from T2 insert(5) pthread_mutex_lock() wait for mutex_unlock in T1 Deadlock!!!!

40. Review Questions How do Recursive Mutex locks differ from regular Mutex locks? Why one may prefer to use a mutex lock that is not recursive? How to implement recursive mutex locks (part of Lab 4)? When a process with multiple threads call fork(), what threads are created in child process, under pthread semantics?

41. Review Questions What is a race condition? (When given simple codes, should be able to come up with race condition scenario.) What happens when calling sem_wait(), sem_post? (Should be able to produce pseudo-code.) Different usage of semaphore when initiating it with different values. What are the key difference between binary semaphore and mutex lock? How to implement a synchronized list? Why we need both mutex and semaphore?