/* StarPU --- Runtime system for heterogeneous multicore architectures.
*
* Copyright (C) 2013 Inria
* Copyright (C) 2014,2016-2017 CNRS
* Copyright (C) 2014,2017 Université de Bordeaux
* Copyright (C) 2013 Simon Archipoff
*
* StarPU is free software; you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License as published by
* the Free Software Foundation; either version 2.1 of the License, or (at
* your option) any later version.
*
* StarPU is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
*
* See the GNU Lesser General Public License in COPYING.LGPL for more details.
*/
/*! \page ModularizedScheduler Modularized Schedulers
\section Introduction
StarPU's Modularized Schedulers are made of individual Scheduling Components
Modularizedly assembled as a Scheduling Tree. Each Scheduling Component has an
unique purpose, such as prioritizing tasks or mapping tasks over resources.
A typical Scheduling Tree is shown below.
<pre>
|
starpu_push_task |
|
v
Fifo_Component
| ^
| |
v |
Eager_Component
| ^
| |
v |
--------><--------------><--------
| ^ | ^
| | | |
v | v |
Fifo_Component Fifo_Component
| ^ | ^
| | | |
v | v |
Worker_Component Worker_Component
</pre>
When a task is pushed by StarPU in a Modularized Scheduler, the task moves from
a Scheduling Component to an other, following the hierarchy of the
Scheduling Tree, and is stored in one of the Scheduling Components of the
strategy.
When a worker wants to pop a task from the Modularized Scheduler, the
corresponding Worker Component of the Scheduling Tree tries to pull a task from
its parents, following the hierarchy, and gives it to the worker if it succeded
to get one.
\section UsingModularizedSchedulers Using Modularized Schedulers
\subsection ExistingModularizedSchedulers Existing Modularized Schedulers
StarPU is currently shipped with the following pre-defined Modularized
Schedulers :
- Eager-based Schedulers (with/without prefetching) : \n
Naive scheduler, which tries to map a task on the first available resource
it finds.
- Prio-based Schedulers (with/without prefetching) : \n
Similar to Eager-Based Schedulers. Can handle tasks which have a defined
priority and schedule them accordingly.
- Random-based Schedulers (with/without prefetching) : \n
Selects randomly a resource to be mapped on for each task.
- HEFT Scheduler : \n
Heterogeneous Earliest Finish Time Scheduler.
This scheduler needs that every task submitted to StarPU have a
defined performance model (\ref PerformanceModelCalibration)
to work efficiently, but can handle tasks without a performance
model.
To use one of these schedulers, one can set the environment variable \ref STARPU_SCHED.
All modularized schedulers are named following the RE <c>tree-*</c>
\subsection ExampleTreeEagerPrefetchingStrategy An Example : The Tree-Eager-Prefetching Strategy
<pre>
|
starpu_push_task |
|
v
Fifo_Component
| ^
Push | | Can_Push
v |
Eager_Component
| ^
| |
v |
--------><-------------------><---------
| ^ | ^
Push | | Can_Push Push | | Can_Push
v | v |
Fifo_Component Fifo_Component
| ^ | ^
Pull | | Can_Pull Pull | | Can_Pull
v | v |
Worker_Component Worker_Component
</pre>
\subsection Interface
Each Scheduling Component must follow the following pre-defined Interface
to be able to interact with other Scheduling Components.
- Push (Caller_Component, Child_Component, Task) \n
The calling Scheduling Component transfers a task to its
Child Component. When the Push function returns, the task no longer
belongs to the calling Component. The Modularized Schedulers'
model relies on this function to perform prefetching.
See starpu_sched_component::push_task for more details
- Pull (Caller_Component, Parent_Component) -> Task \n
The calling Scheduling Component requests a task from
its Parent Component. When the Pull function ends, the returned
task belongs to the calling Component.
See starpu_sched_component::pull_task for more details
- Can_Push (Caller_Component, Parent_Component) \n
The calling Scheduling Component notifies its Parent Component that
it is ready to accept new tasks.
See starpu_sched_component::can_push for more details
- Can_Pull (Caller_Component, Child_Component) \n
The calling Scheduling Component notifies its Child Component
that it is ready to give new tasks.
See starpu_sched_component::can_pull for more details
\section BuildAModularizedScheduler Building a Modularized Scheduler
\subsection PreImplementedComponents Pre-implemented Components
StarPU is currently shipped with the following four Scheduling Components :
- Flow-control Components : Fifo, Prio \n
Components which store tasks. They can also prioritize them if
they have a defined priority. It is possible to define a threshold
for those Components following two criterias : the number of tasks
stored in the Component, or the sum of the expected length of all
tasks stored in the Component.
- Resource-Mapping Components : Mct, Heft, Eager, Random, Work-Stealing \n
"Core" of the Scheduling Strategy, those Components are the
ones who make scheduling choices.
- Worker Components : Worker \n
Each Worker Component modelize a concrete worker.
- Special-Purpose Components : Perfmodel_Select, Best_Implementation \n
Components dedicated to original purposes. The Perfmodel_Select
Component decides which Resource-Mapping Component should be used to
schedule a task. The Best_Implementation Component chooses which
implementation of a task should be used on the choosen resource.
\subsection ProgressionAndValidationRules Progression And Validation Rules
Some rules must be followed to ensure the correctness of a Modularized
Scheduler :
- At least one Flow-control Component without threshold per Worker Component
is needed in a Modularized Scheduler, to store incoming tasks from StarPU
and to give tasks to Worker Components who asks for it. It is possible to
use one Flow-control Component per Worker Component, or one for all Worker
Components, depending on how the Scheduling Tree is defined.
- At least one Resource-Mapping Component is needed in a Modularized
Scheduler. Resource-Mapping Components are the only ones who can make
scheduling choices, and so the only ones who can have several child.
\subsection ImplementAModularizedScheduler Implementing a Modularized Scheduler
The following code shows how the Tree-Eager-Prefetching Scheduler
shown in Section \ref ExampleTreeEagerPrefetchingStrategy is implemented :
\code{.c}
#define _STARPU_SCHED_NTASKS_THRESHOLD_DEFAULT 2
#define _STARPU_SCHED_EXP_LEN_THRESHOLD_DEFAULT 1000000000.0
static void initialize_eager_prefetching_center_policy(unsigned sched_ctx_id)
{
unsigned ntasks_threshold = _STARPU_SCHED_NTASKS_THRESHOLD_DEFAULT;
double exp_len_threshold = _STARPU_SCHED_EXP_LEN_THRESHOLD_DEFAULT;
[...]
starpu_sched_ctx_create_worker_collection
(sched_ctx_id, STARPU_WORKER_LIST);
/* Create the Scheduling Tree */
struct starpu_sched_tree * t =
starpu_sched_tree_create(sched_ctx_id);
/* The Root Component is a Flow-control Fifo Component */
t->root = starpu_sched_component_fifo_create(NULL);
/* The Resource-mapping Component of the strategy is an Eager Component
*/
struct starpu_sched_component * eager_component =
starpu_sched_component_eager_create(NULL);
/* Create links between Components : the Eager Component is the child
* of the Root Component */
t->root->add_child
(t->root, eager_component);
eager_component->add_father
(eager_component, t->root);
/* A task threshold is set for the Flow-control Components which will
* be connected to Worker Components. By doing so, this Modularized
* Scheduler will be able to perform some prefetching on the resources
*/
struct starpu_sched_component_fifo_data fifo_data =
{
.ntasks_threshold = ntasks_threshold,
.exp_len_threshold = exp_len_threshold,
};
unsigned i;
for(i = 0;
i < starpu_worker_get_count() +
starpu_combined_worker_get_count();
i++)
{
/* Each Worker Component has a Flow-control Fifo Component as
* father */
struct starpu_sched_component * worker_component =
starpu_sched_component_worker_new(i);
struct starpu_sched_component * fifo_component =
starpu_sched_component_fifo_create(&fifo_data);
fifo_component->add_child
(fifo_component, worker_component);
worker_component->add_father
(worker_component, fifo_component);
/* Each Flow-control Fifo Component associated to a Worker
* Component is linked to the Eager Component as one of its
* children */
eager_component->add_child
(eager_component, fifo_component);
fifo_component->add_father
(fifo_component, eager_component);
}
starpu_sched_tree_update_workers(t);
starpu_sched_ctx_set_policy_data
(sched_ctx_id, (void*)t);
}
/* Properly destroy the Scheduling Tree and all its Components */
static void deinitialize_eager_prefetching_center_policy(unsigned sched_ctx_id)
{
struct starpu_sched_tree * tree =
(struct starpu_sched_tree*)starpu_sched_ctx_get_policy_data(sched_ctx_id);
starpu_sched_tree_destroy(tree);
starpu_sched_ctx_delete_worker_collection
(sched_ctx_id);
}
/* Initializing the starpu_sched_policy struct associated to the Modularized
* Scheduler : only the init_sched and deinit_sched needs to be defined to
* implement a Modularized Scheduler */
struct starpu_sched_policy _starpu_sched_tree_eager_prefetching_policy =
{
.init_sched = initialize_eager_prefetching_center_policy,
.deinit_sched = deinitialize_eager_prefetching_center_policy,
.add_workers = starpu_sched_tree_add_workers,
.remove_workers = starpu_sched_tree_remove_workers,
.push_task = starpu_sched_tree_push_task,
.pop_task = starpu_sched_tree_pop_task,
.pre_exec_hook = starpu_sched_component_worker_pre_exec_hook,
.post_exec_hook = starpu_sched_component_worker_post_exec_hook,
.pop_every_task = NULL,
.policy_name = "tree-eager-prefetching",
.policy_description = "eager with prefetching tree policy"
};
\endcode
\section WriteASchedulingComponent Writing a Scheduling Component
\subsection GenericSchedulingComponent Generic Scheduling Component
Each Scheduling Component is instantiated from a Generic Scheduling Component,
which implements a generic version of the Interface. The generic implementation
of Pull, Can_Pull and Can_Push functions are recursive calls to their parents
(respectively to their children). However, as a Generic Scheduling Component do
not know how much children it will have when it will be instantiated, it does
not implement the Push function.
\subsection InstantiationRedefineInterface Instantiation : Redefining the Interface
A Scheduling Component must implement all the functions of the Interface. It is
so necessary to implement a Push function to instantiate a Scheduling Component.
The implemented Push function is the "fingerprint" of a Scheduling Component.
Depending on how functionalities or properties the programmer wants to give
to the Scheduling Component he is implementing, it is possible to reimplement
all the functions of the Interface. For example, a Flow-control Component
reimplements the Pull and the Can_Push functions of the Interface, allowing him
to catch the generic recursive calls of these functions. The Pull function of
a Flow-control Component can, for example, pop a task from the local storage
queue of the Component, and give it to the calling Component which asks for it.
\subsection DetailedProgressionAndValidationRules Detailed Progression and Validation Rules
- A Reservoir is a Scheduling Component which redefines a Push and a Pull
function, in order to store tasks into it. A Reservoir delimit Scheduling
Areas in the Scheduling Tree.
- A Pump is the engine source of the Scheduler : it pushes/pulls tasks
to/from a Scheduling Component to an other. Native Pumps of a Scheduling
Tree are located at the root of the Tree (incoming Push calls from StarPU),
and at the leafs of the Tree (Pop calls coming from StarPU Workers).
Pre-implemented Scheduling Components currently shipped with Pumps are
Flow-Control Components and the Resource-Mapping Component Heft, within
their defined Can_Push functions.
- A correct Scheduling Tree requires a Pump per Scheduling Area and per
Execution Flow.
The Tree-Eager-Prefetching Scheduler shown in Section
\ref ExampleTreeEagerPrefetchingStrategy follows the previous assumptions :
<pre>
starpu_push_task
<b>Pump</b>
|
Area 1 |
|
v
-----------------------Fifo_Component-----------------------------
<b>Pump</b>
| ^
Push | | Can_Push
v |
Area 2 Eager_Component
| ^
| |
v |
--------><-------------------><---------
| ^ | ^
Push | | Can_Push Push | | Can_Push
v | v |
-----Fifo_Component-----------------------Fifo_Component----------
| ^ | ^
Pull | | Can_Pull Pull | | Can_Pull
Area 3 v | v |
<b>Pump</b> <b>Pump</b>
Worker_Component Worker_Component
</pre>
*/