From nobody Fri Dec 19 19:19:18 2025 Received: from galois.linutronix.de (Galois.linutronix.de [193.142.43.55]) (using TLSv1.2 with cipher ECDHE-RSA-AES256-GCM-SHA384 (256/256 bits)) (No client certificate requested) by smtp.subspace.kernel.org (Postfix) with ESMTPS id C82B52741DF; Mon, 19 May 2025 10:28:03 +0000 (UTC) Authentication-Results: smtp.subspace.kernel.org; arc=none smtp.client-ip=193.142.43.55 ARC-Seal: i=1; a=rsa-sha256; d=subspace.kernel.org; s=arc-20240116; t=1747650486; cv=none; b=Z1WWI+Dz23PJQ5S9EeHdJNJHLIg4z7c9oG26AKA4ftcAypGxEBVTR60q3hMl0IMAJkCCu8IhU6QQL1ArGa33+UIWZjmdrm2Yv4BAFxWd6xltifatiiwkUOSHyJwcGJPC0rmiiP6NM9Yb2A1xQEl4s4cvJRB/NfFMgB8TXZYS8LM= ARC-Message-Signature: i=1; a=rsa-sha256; d=subspace.kernel.org; s=arc-20240116; t=1747650486; c=relaxed/simple; bh=Iw07wFt0+gQYOcEanYE2hryxh819INzn0JbhVVIGwJM=; h=From:To:Cc:Subject:Date:Message-Id:In-Reply-To:References: MIME-Version; b=sQZ1G+OBpQ8PbereiD71XkPAbZMXPMoDGnqexFOMdw+iaVulVkFM9m2lbz8nb31qA5q9KRi//whkQRJBQSfb1igv4V5KoUcfFMyo8AKrGOryWUqyf8/0EdKAED0XN1PpSuiLk+XIGMvQT+cS8Yy6s0NCe55CucKckjttIzBR+ls= ARC-Authentication-Results: i=1; smtp.subspace.kernel.org; dmarc=pass (p=none dis=none) header.from=linutronix.de; spf=pass smtp.mailfrom=linutronix.de; dkim=pass (2048-bit key) header.d=linutronix.de header.i=@linutronix.de header.b=Jsrq8KXL; dkim=permerror (0-bit key) header.d=linutronix.de header.i=@linutronix.de header.b=tWDm0wC3; arc=none smtp.client-ip=193.142.43.55 Authentication-Results: smtp.subspace.kernel.org; dmarc=pass (p=none dis=none) header.from=linutronix.de Authentication-Results: smtp.subspace.kernel.org; spf=pass smtp.mailfrom=linutronix.de Authentication-Results: smtp.subspace.kernel.org; dkim=pass (2048-bit key) header.d=linutronix.de header.i=@linutronix.de header.b="Jsrq8KXL"; dkim=permerror (0-bit key) header.d=linutronix.de header.i=@linutronix.de header.b="tWDm0wC3" From: Nam Cao DKIM-Signature: v=1; a=rsa-sha256; c=relaxed/relaxed; d=linutronix.de; s=2020; t=1747650482; h=from:from:reply-to:subject:subject:date:date:message-id:message-id: to:to:cc:cc:mime-version:mime-version: content-transfer-encoding:content-transfer-encoding: in-reply-to:in-reply-to:references:references; bh=iXCyrOTzBm4Kc/gaphbbedDVfX2Yv/YjdhR7XjDB+pI=; b=Jsrq8KXLqYxdDQaHnEFCdBlnJDO6Z0pPbf2iRnjt6p0Wlu/vmsls9NFe96+2d/MGAQKAI0 ttV7KqeYl+MkY+/nWsK59VRyi2qeVNpQ6GWbfOm8/cOmqL/H2XGIvuTxkDuuqfsqXYxyZz n6hQMtGYIhChh1yc93TYssoEiuzrm+biFsvy8Mwi/HnveoXTGr0vNjoWEcmLdQ3RMbdshL FaHV9PqW8koU41uKjXkEkNXb3E4pMTAptWgT3lT7NmrjzPo97j/+fcMR+VcWlJTYKTIJS3 rQk2m7WiOLNYJ3cWnKkQJ0tUAlbIw7ny3xfjuPMqU0MhovPBx5AvQXEh22XPSw== DKIM-Signature: v=1; a=ed25519-sha256; c=relaxed/relaxed; d=linutronix.de; s=2020e; t=1747650482; h=from:from:reply-to:subject:subject:date:date:message-id:message-id: to:to:cc:cc:mime-version:mime-version: content-transfer-encoding:content-transfer-encoding: in-reply-to:in-reply-to:references:references; bh=iXCyrOTzBm4Kc/gaphbbedDVfX2Yv/YjdhR7XjDB+pI=; b=tWDm0wC3SIjsCQwnX+PHZF1FTluNcBgavW7tGBUr/AJNUY/FZBBJBV8iFZ3lmHq3xf/jBt itR4DaWzv/vF1FDw== To: Steven Rostedt , Gabriele Monaco , linux-trace-kernel@vger.kernel.org, linux-kernel@vger.kernel.org Cc: john.ogness@linutronix.de, Nam Cao Subject: [PATCH v9 21/22] rv: Add documentation for rtapp monitor Date: Mon, 19 May 2025 12:27:39 +0200 Message-Id: <7bcb1f8a6e60eb5d0f8167b453e1b917f67b354c.1747649899.git.namcao@linutronix.de> In-Reply-To: References: Precedence: bulk X-Mailing-List: linux-kernel@vger.kernel.org List-Id: List-Subscribe: List-Unsubscribe: MIME-Version: 1.0 Content-Transfer-Encoding: quoted-printable Content-Type: text/plain; charset="utf-8" Add documentation describing the rtapp monitor. Reviewed-by: Gabriele Monaco Signed-off-by: Nam Cao --- Documentation/trace/rv/index.rst | 1 + Documentation/trace/rv/monitor_rtapp.rst | 116 +++++++++++++++++++++++ 2 files changed, 117 insertions(+) create mode 100644 Documentation/trace/rv/monitor_rtapp.rst diff --git a/Documentation/trace/rv/index.rst b/Documentation/trace/rv/inde= x.rst index 2a27f6bc9429..a2812ac5cfeb 100644 --- a/Documentation/trace/rv/index.rst +++ b/Documentation/trace/rv/index.rst @@ -14,3 +14,4 @@ Runtime Verification monitor_wip.rst monitor_wwnr.rst monitor_sched.rst + monitor_rtapp.rst diff --git a/Documentation/trace/rv/monitor_rtapp.rst b/Documentation/trace= /rv/monitor_rtapp.rst new file mode 100644 index 000000000000..fb0ca0bf33a1 --- /dev/null +++ b/Documentation/trace/rv/monitor_rtapp.rst @@ -0,0 +1,116 @@ +Real-time application monitors +=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D= =3D=3D=3D=3D=3D=3D + +- Name: rtapp +- Type: container for multiple monitors +- Author: Nam Cao + +Description +----------- + +Real-time applications may have design flaws such that they experience une= xpected latency and fail +to meet their time requirements. Often, these flaws follow a few patterns: + + - Page faults: A real-time thread may access memory that does not have a= mapped physical backing + or must first be copied (such as for copy-on-write). Thus a page fault= is raised and the kernel + must first perform the expensive action. This causes significant delay= s to the real-time thread + - Priority inversion: A real-time thread blocks waiting for a lower-prio= rity thread. This causes + the real-time thread to effectively take on the scheduling priority of= the lower-priority + thread. For example, the real-time thread needs to access a shared res= ource that is protected by + a non-pi-mutex, but the mutex is currently owned by a non-real-time th= read. + +The `rtapp` monitor detects these patterns. It aids developers to identify= reasons for unexpected +latency with real-time applications. It is a container of multiple sub-mon= itors described in the +following sections. + +Monitor pagefault ++++++++++++++++++ + +The `pagefault` monitor reports real-time tasks raising page faults. Its s= pecification is:: + + RULE =3D always (RT imply not PAGEFAULT) + +To fix warnings reported by this monitor, `mlockall()` or `mlock()` can be= used to ensure physical +backing for memory. + +This monitor may have false negatives because the pages used by the real-t= ime threads may just +happen to be directly available during testing. To minimize this, the syst= em can be put under memory +pressure (e.g. invoking the OOM killer using a program that does `ptr =3D = malloc(SIZE_OF_RAM); +memset(ptr, 0, SIZE_OF_RAM);`) so that the kernel executes aggressive stra= tegies to recycle as much +physical memory as possible. + +Monitor sleep ++++++++++++++ + +The `sleep` monitor reports real-time threads sleeping in a manner that ma= y cause undesirable +latency. Real-time applications should only put a real-time thread to slee= p for one of the following +reasons: + + - Cyclic work: real-time thread sleeps waiting for the next cycle. For t= his case, only the + `clock_nanosleep` syscall should be used with `TIMER_ABSTIME` (to avoi= d time drift) and + `CLOCK_MONOTONIC` (to avoid the clock being changed). No other method = is safe for real-time. For + example, threads waiting for timerfd can be woken by softirq which pro= vides no real-time + guarantee. + - Real-time thread waiting for something to happen (e.g. another thread = releasing shared + resources, or a completion signal from another thread). In this case, = only futexes + (FUTEX_LOCK_PI, FUTEX_LOCK_PI2 or one of FUTEX_WAIT_*) should be used.= Applications usually do + not use futexes directly, but use PI mutexes and PI condition variable= s which are built on top + of futexes. Be aware that the C library might not implement conditiona= l variables as safe for + real-time. As an alternative, the librtpi library exists to provide a = conditional variable + implementation that is correct for real-time applications in Linux. + +Beside the reason for sleeping, the eventual waker should also be real-tim= e-safe. Namely, one of: + + - An equal-or-higher-priority thread + - Hard interrupt handler + - Non-maskable interrupt handler + +This monitor's warning usually means one of the following: + + - Real-time thread is blocked by a non-real-time thread (e.g. due to con= tention on a mutex without + priority inheritance). This is priority inversion. + - Time-critical work waits for something which is not safe for real-time= (e.g. timerfd). + - The work executed by the real-time thread does not need to run at real= -time priority at all. + This is not a problem for the real-time thread itself, but it is poten= tially taking the CPU away + from other important real-time work. + +Application developers may purposely choose to have their real-time applic= ation sleep in a way that +is not safe for real-time. It is debatable whether that is a problem. Appl= ication developers must +analyze the warnings to make a proper assessment. + +The monitor's specification is:: + + RULE =3D always ((RT and SLEEP) imply (RT_FRIENDLY_SLEEP or ALLOWLIST)) + + RT_FRIENDLY_SLEEP =3D (RT_VALID_SLEEP_REASON or KERNEL_THREAD) + and ((not WAKE) until RT_FRIENDLY_WAKE) + + RT_VALID_SLEEP_REASON =3D FUTEX_WAIT + or RT_FRIENDLY_NANOSLEEP + + RT_FRIENDLY_NANOSLEEP =3D CLOCK_NANOSLEEP + and NANOSLEEP_TIMER_ABSTIME + and NANOSLEEP_CLOCK_MONOTONIC + + RT_FRIENDLY_WAKE =3D WOKEN_BY_EQUAL_OR_HIGHER_PRIO + or WOKEN_BY_HARDIRQ + or WOKEN_BY_NMI + or KTHREAD_SHOULD_STOP + + ALLOWLIST =3D BLOCK_ON_RT_MUTEX + or FUTEX_LOCK_PI + or TASK_IS_RCU + or TASK_IS_MIGRATION + +Beside the scenarios described above, this specification also handle some = special cases: + + - `KERNEL_THREAD`: kernel tasks do not have any pattern that can be reco= gnized as valid real-time + sleeping reasons. Therefore sleeping reason is not checked for kernel = tasks. + - `KTHREAD_SHOULD_STOP`: a non-real-time thread may stop a real-time ker= nel thread by waking it + and waiting for it to exit (`kthread_stop()`). This wakeup is safe for= real-time. + - `ALLOWLIST`: to handle known false positives with the kernel. + - `BLOCK_ON_RT_MUTEX` is included in the allowlist due to its implementa= tion. In the release path + of rt_mutex, a boosted task is de-boosted before waking the rt_mutex's= waiter. Consequently, the + monitor may see a real-time-unsafe wakeup (e.g. non-real-time task wak= ing real-time task). This + is actually real-time-safe because preemption is disabled for the dura= tion. + - `FUTEX_LOCK_PI` is included in the allowlist for the same reason as `B= LOCK_ON_RT_MUTEX`. --=20 2.39.5