[BUG] sched: O(n) ready-to-run insertion increases interrupt latency
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还没有人认领这个 Issue。
评估
- 难度
- 4/5
- 预计耗时
- 3-5 天
- 新手友好度
- 48/100
- Issue 类型
- 缺陷
- 描述清晰度
- 基本清楚
- 活跃度
- 活跃
- 技术栈
- c, embedded-iot
调研方向
Read sched/sched/sched.h and sched/sched/sched_addreadytorun.c to trace the ready-list insertion path, then inspect sched/semaphore/sem_post.c for the critical-section caller. Start by reproducing the supplied ready-list benchmark on esp32-devkitc:readylist or sim:readylist. Done means preserving FIFO order among equal priorities while reducing insertion work and verifying the reported scan count and interrupt cost across the listed ready-task counts.
由索引模型根据 Issue 内容生成。
描述
Description / Steps to reproduce the issue
Description
Inserting a task into g_readytorun is a linear walk done with interrupts disabled. Each ready task at or above the new task's priority adds a fixed cost to the critical section. On an ESP32 at 240 MHz, a sem_post() from the timer interrupt took 324 cycles with no other ready tasks and 3460 cycles (14.4 µs) with 224 ready tasks at the same priority. The interrupt latency of the system therefore depends on how many tasks are ready, not only on the code that runs in interrupt handlers.
Root cause
nxsched_add_prioritized() walks the list from the head while sched_priority <= next->sched_priority. It is called from nxsched_add_readytorun(), which callers such as nxsem_post_slow() must call inside enter_critical_section(), because the list is shared with interrupt handlers. The <= keeps FIFO order among equal priorities, so the walk passes every ready task of equal or higher priority. The same path runs for a sem_post() from a thread and for a priority change.
Reproduction
Measurement code:
- nuttx: https://github.com/felomousa/nuttx/tree/readylist-measure
- nuttx-apps: https://github.com/felomousa/nuttx-apps/tree/readylist-measure
./tools/configure.sh esp32-devkitc:readylist # or sim:readylist
make -j && make flash ESPTOOL_PORT=<port> ESPTOOL_BINDIR=./
nsh> readylist -n 224 -s 56 -i 200 -c -w 210 # baseline: woken task above every ready task
nsh> readylist -n 224 -s 32 -i 200 -c # worst case: ready tasks at the woken task's priority
The app keeps N tasks ready, wakes a task from a watchdog callback in the timer interrupt, and reports the cycles spent in sem_post(). With CONFIG_SCHED_READYLIST_STATS it also reports the number of list entries passed.
Benchmark results
ESP32-D0WD-V3 (rev 3.1), single core, 240 MHz, CCOUNT cycle counter. 200 wake-ups for each row. Ready tasks at the woken task's priority:
| N ready tasks | Entries passed | Cycles in sem_post() |
|---|---|---|
| 0 | 1 | 324 |
| 32 | 33 | 772 |
| 64 | 65 | 1220 |
| 128 | 129 | 2116 |
| 192 | 193 | 3012 |
| 224 | 225 | 3460 |
- In this configuration, each entry cost 14.0 cycles (58 ns). The minimum, median and maximum were the same in every row.
- The entries-passed count matched a full scan of the list on every wake-up.
sim:readylistgave the same counts. - Ready tasks below the woken task's priority, blocked tasks, and a woken task above every ready task did not change the cost: 324 cycles at every N up to 224.
We used Claude (Anthropic) to help trace the code and write the measurement tools; all measurements are from an ESP32-WROOM-32E
On which OS does this issue occur?
[OS: Mac]
What is the version of your OS?
macOS 27.2 (Darwin 27.2.0), arm64
NuttX Version
master
Issue Architecture
[Arch: xtensa], [Arch: simulator]
Issue Area
[Area: Kernel]
Host information
make host_info (esp32-devkitc:readylist, ESP32-WROOM-32E connected)
NuttX configuration options:
CONFIG_HOST_MACOS=y
CONFIG_APPS_DIR="../apps"
CONFIG_BASE_DEFCONFIG="esp32-devkitc:readylist"
CONFIG_BUILD_FLAT=y
CONFIG_INTELHEX_BINARY=y
CONFIG_OUTPUT_STRIP_PATHS=y
CONFIG_ARCH_HAVE_STDARG_H=y
CONFIG_ARCH_HAVE_SETJMP=y
CONFIG_ARCH_NONE_DEBUG_H=y
CONFIG_FORTIFY_SOURCE=0
CONFIG_NDEBUG=y
CONFIG_DEBUG_ALERT=y
CONFIG_SCHED_DUMP_TASKS=y
CONFIG_SCHED_DUMP_STACK=y
CONFIG_ARCH_HAVE_STACKCHECK=y
CONFIG_STACK_USAGE_WARNING=0
CONFIG_ARCH_HAVE_CUSTOMOPT=y
CONFIG_DEBUG_FULLOPT=y
CONFIG_LTO_NONE=y
CONFIG_DEBUG_OPT_UNUSED_SECTIONS=y
CONFIG_DEBUG_LINK_MAP=y
CONFIG_ARCH_XTENSA=y
CONFIG_ARCH="xtensa"
CONFIG_ARCH_CHIP="esp32"
CONFIG_ESPRESSIF_CHIP_SERIES="esp32"
CONFIG_ESPRESSIF_NUM_CPUS=2
CONFIG_ESPRESSIF_LOG_LEVEL_NONE=y
CONFIG_ESPRESSIF_LOG_LEVEL=0
CONFIG_ESPRESSIF_SIMPLE_BOOT=y
CONFIG_ESPRESSIF_FLASH_MODE_DIO=y
CONFIG_ESPRESSIF_FLASH_FREQ_40M=y
CONFIG_ESPRESSIF_FLASH_FREQ="40m"
CONFIG_ARCH_CHIP_ESP32=y
CONFIG_ARCH_FAMILY_LX6=y
CONFIG_XTENSA_CP_INITSET=0x0001
CONFIG_XTENSA_TOOLCHAIN_ESP=y
CONFIG_ARCH_CHIP_ESP32WROVER=y
CONFIG_ESP32_DUAL_CPU=y
CONFIG_ESP32_FLASH_4M=y
CONFIG_ESP32_FLASH_DETECT=y
CONFIG_ESP32_PSRAM_8M=y
CONFIG_ESP32_ESP32DXWDXX=y
CONFIG_ESP32_DEFAULT_CPU_FREQ_240=y
CONFIG_ESP32_DEFAULT_CPU_FREQ_MHZ=240
CONFIG_ESP32_XTAL_40MZ=y
CONFIG_ESP_PHY_IRQSTATE_FLAGS_NUMBER=3
CONFIG_ESP32_UART=y
CONFIG_ESP32_RTC=y
CONFIG_ESP32_UART0=y
CONFIG_ESP32_BT_RESERVE_DRAM=0
CONFIG_ESP32_TRACEMEM_RESERVE_DRAM=0
CONFIG_ESP32_ULP_COPROC_RESERVE_MEM=0
CONFIG_ESP32_UART0_TXPIN=1
CONFIG_ESP32_UART0_RXPIN=3
CONFIG_ESP32_UART_RXFIFO_FULL_THRHD=112
CONFIG_ESP32_FLASH_MODE_DIO=y
CONFIG_ESP32_FLASH_FREQ_40M=y
CONFIG_ESP32_RTC_CLK_SRC_INT_RC=y
CONFIG_ARCH_TOOLCHAIN_GNU=y
CONFIG_ARCH_VECNOTIRQ=y
CONFIG_ARCH_HAVE_TEXT_HEAP=y
CONFIG_ARCH_HAVE_MULTICPU=y
CONFIG_ARCH_HAVE_VFORK=y
CONFIG_ARCH_HAVE_FPU=y
CONFIG_ARCH_HAVE_MPU=y
CONFIG_ARCH_HAVE_RESET=y
CONFIG_ARCH_HAVE_THREAD_LOCAL=y
CONFIG_ARCH_HAVE_SYSCALL_HOOKS=y
CONFIG_ARCH_HAVE_BACKTRACE=y
CONFIG_ARCH_HAVE_DEBUG=y
CONFIG_ARCH_HAVE_PERF_EVENTS=y
CONFIG_ARCH_PERF_EVENTS=y
CONFIG_ARCH_HAVE_BOOTLOADER=y
CONFIG_ARCH_HAVE_CPUINFO=y
CONFIG_ARCH_CPUINFO_FREQ_KHZ=0
CONFIG_ARCH_HAVE_TCBINFO=y
CONFIG_ARCH_FPU=y
CONFIG_NCPUS=1
CONFIG_ARCH_STACKDUMP=y
CONFIG_ARCH_STACKDUMP_MAX_LENGTH=0
CONFIG_ARCH_MINIMAL_VECTORTABLE=y
CONFIG_ARCH_MINIMAL_VECTORTABLE_DYNAMIC=y
CONFIG_ARCH_IRQ_TO_NDX=y
CONFIG_ARCH_NUSER_INTERRUPTS=2
CONFIG_BOARD_LOOPSPERMSEC=16717
CONFIG_ARCH_HAVE_INTERRUPTSTACK=y
CONFIG_ARCH_INTERRUPTSTACK=0
CONFIG_BOOT_RUNFROMFLASH=y
CONFIG_RAM_START=0x20000000
CONFIG_RAM_SIZE=114688
CONFIG_FLASH_START=0x0
CONFIG_FLASH_SIZE=0
CONFIG_ARCH_BOARD_ESP32_DEVKITC=y
CONFIG_ARCH_BOARD="esp32-devkitc"
CONFIG_ARCH_HAVE_LEDS=y
CONFIG_ARCH_HAVE_BUTTONS=y
CONFIG_ARCH_BOARD_COMMON=y
CONFIG_BOARD_CRASHDUMP_NONE=y
CONFIG_BOARDCTL=y
CONFIG_BOARDCTL_MKRD=y
CONFIG_BOARD_MEMORY_RANGE=""
CONFIG_DISABLE_OS_API=y
CONFIG_USEC_PER_TICK=10000
CONFIG_TIMER_ADJUST_USEC=0
CONFIG_START_YEAR=2011
CONFIG_START_MONTH=12
CONFIG_START_DAY=6
CONFIG_PREALLOC_TIMERS=4
CONFIG_IRQ_NWORKS=8
CONFIG_IRQ_WORK_SECTION=""
CONFIG_IRQ_WORK_STACKSIZE=2048
CONFIG_INIT_ENTRY=y
CONFIG_INIT_ARGS=""
CONFIG_INIT_STACKSIZE=3072
CONFIG_INIT_PRIORITY=100
CONFIG_INIT_ENTRYPOINT="nsh_main"
CONFIG_INIT_ENTRYNAME="nsh_main"
CONFIG_RR_INTERVAL=200
CONFIG_TASK_NAME_SIZE=31
CONFIG_SCHED_WAITPID=y
CONFIG_PTHREAD_MUTEX_BOTH=y
CONFIG_PTHREAD_MUTEX_DEFAULT_UNSAFE=y
CONFIG_PTHREAD_MUTEX_DEFAULT_PRIO_NONE=y
CONFIG_SCHED_IRQMONITOR=y
CONFIG_SCHED_READYLIST_STATS=y
CONFIG_SCHED_CPULOAD_NONE=y
CONFIG_SCHED_CPULOAD_TICKSPERSEC=100
CONFIG_SCHED_PROFILE_TICKSPERSEC=1000
CONFIG_SCHED_STACK_RECORD=0
CONFIG_DEV_CONSOLE=y
CONFIG_NFILE_DESCRIPTORS_PER_BLOCK=8
CONFIG_FILE_STREAM=y
CONFIG_BOARD_LATE_INITIALIZE=y
CONFIG_BOARD_INITTHREAD_STACKSIZE=2048
CONFIG_BOARD_INITTHREAD_PRIORITY=240
CONFIG_ENABLE_ALL_SIGNALS=y
CONFIG_SIG_PREALLOC_IRQ_ACTIONS=8
CONFIG_SIG_PREALLOC_ACTIONS=4
CONFIG_SIG_ALLOC_ACTIONS=1
CONFIG_PREALLOC_MQ_MSGS=8
CONFIG_PREALLOC_MQ_IRQ_MSGS=8
CONFIG_MQ_MAXMSGSIZE=32
CONFIG_DEFAULT_TASK_STACKSIZE=2048
CONFIG_IDLETHREAD_STACKSIZE=3072
CONFIG_PTHREAD_STACK_MIN=256
CONFIG_PTHREAD_STACK_DEFAULT=2048
CONFIG_PTHREAD_GUARDSIZE_DEFAULT=0
CONFIG_PID_INITIAL_COUNT=16
CONFIG_ARCH_HAVE_I2CRESET=y
CONFIG_DEV_NULL=y
CONFIG_DEV_ZERO=y
CONFIG_DEV_OPTEE_NONE=y
CONFIG_DRVR_MKRD=y
CONFIG_ARCH_HAVE_SERIAL_TERMIOS=y
CONFIG_SERIAL=y
CONFIG_SERIAL_CONSOLE=y
CONFIG_MCU_SERIAL=y
CONFIG_STANDARD_SERIAL=y
CONFIG_SERIAL_NPOLLWAITERS=4
CONFIG_SERIAL_TXBULK=y
CONFIG_UART0_SERIAL_CONSOLE=y
CONFIG_UART0_SERIALDRIVER=y
CONFIG_UART0_RXBUFSIZE=256
CONFIG_UART0_TXBUFSIZE=256
CONFIG_UART0_BAUD=115200
CONFIG_UART0_BITS=8
CONFIG_UART0_PARITY=0
CONFIG_UART0_2STOP=0
CONFIG_SYSLOG=y
CONFIG_SYSLOG_DEFAULT_MASK=0xff
CONFIG_SYSLOG_CRLF=y
CONFIG_SYSLOG_MAX_CHANNELS=1
CONFIG_SYSLOG_BUFFER=y
CONFIG_SYSLOG_BUFSIZE=64
CONFIG_SYSLOG_DEVPATH="/dev/ttyS1"
CONFIG_SYSLOG_DEFAULT=y
CONFIG_FS_NEPOLL_DESCRIPTORS=8
CONFIG_FS_LOCK_BUCKET_SIZE=0
CONFIG_SENDFILE_BUFSIZE=512
CONFIG_FS_BACKTRACE=0
CONFIG_FS_AIO_LISTIO_MAX=256
CONFIG_FS_MQUEUE_VFS_PATH="/var/mqueue"
CONFIG_FS_MQUEUE_NPOLLWAITERS=4
CONFIG_FS_ANONMAP=y
CONFIG_FS_PROCFS=y
CONFIG_NXFONTS_PACKEDMSFIRST=y
CONFIG_MM_DEFAULT_MANAGER=y
CONFIG_MM_DEFAULT_ALIGNMENT=8
CONFIG_MM_NODE_GUARDSIZE=0
CONFIG_MM_REGIONS=3
CONFIG_MM_MAP_COUNT_MAX=1024
CONFIG_MM_BACKTRACE=-1
CONFIG_MM_FREE_DELAYCOUNT_MAX=0
CONFIG_MM_HEAP_BIGGEST_COUNT=30
CONFIG_MM_HEAP_MEMPOOL_THRESHOLD=-1
CONFIG_BINFMT_ELF_RELOCATABLE=y
CONFIG_STDIO_BUFFER_SIZE=64
CONFIG_STDIO_LINEBUFFER=y
CONFIG_NUNGET_CHARS=2
CONFIG_LIBC_FLOATINGPOINT=y
CONFIG_LIBC_ATOMIC_TOOLCHAIN=y
CONFIG_ARCH_LOWPUTC=y
CONFIG_LIBC_ARCH_MEMCHR=y
CONFIG_LIBC_ARCH_MEMCPY=y
CONFIG_LIBC_ARCH_MEMCMP=y
CONFIG_LIBC_ARCH_MEMMOVE=y
CONFIG_LIBC_ARCH_MEMSET=y
CONFIG_LIBC_ARCH_STRCHR=y
CONFIG_LIBC_ARCH_STRCMP=y
CONFIG_LIBC_ARCH_STRCPY=y
CONFIG_LIBC_ARCH_STRLCPY=y
CONFIG_LIBC_ARCH_STRNCPY=y
CONFIG_LIBC_ARCH_STRLEN=y
CONFIG_LIBC_ARCH_STRNLEN=y
CONFIG_LIBC_PREVENT_STRING_KERNEL=y
CONFIG_LIBC_PREVENT_MEMCHR_KERNEL=y
CONFIG_LIBC_PREVENT_MEMCMP_KERNEL=y
CONFIG_LIBC_PREVENT_MEMCPY_KERNEL=y
CONFIG_LIBC_PREVENT_MEMMOVE_KERNEL=y
CONFIG_LIBC_PREVENT_MEMSET_KERNEL=y
CONFIG_LIBC_PREVENT_STRCAT_KERNEL=y
CONFIG_LIBC_PREVENT_STRCASECMP_KERNEL=y
CONFIG_LIBC_PREVENT_STRCHR_KERNEL=y
CONFIG_LIBC_PREVENT_STRCHRNUL_KERNEL=y
CONFIG_LIBC_PREVENT_STRCMP_KERNEL=y
CONFIG_LIBC_PREVENT_STRCPY_KERNEL=y
CONFIG_LIBC_PREVENT_STRLCAT_KERNEL=y
CONFIG_LIBC_PREVENT_STRLEN_KERNEL=y
CONFIG_LIBC_PREVENT_STRLCPY_KERNEL=y
CONFIG_LIBC_PREVENT_STRNCASECMP_KERNEL=y
CONFIG_LIBC_PREVENT_STRNCAT_KERNEL=y
CONFIG_LIBC_PREVENT_STRNLEN_KERNEL=y
CONFIG_LIBC_PREVENT_STRNCMP_KERNEL=y
CONFIG_LIBC_PREVENT_STRNCPY_KERNEL=y
CONFIG_LIBC_PREVENT_STRRCHR_KERNEL=y
CONFIG_LIBC_HOMEDIR="/"
CONFIG_LIBC_TMPDIR="/tmp"
CONFIG_LIBC_MAX_TMPFILE=32
CONFIG_LIBC_MAX_EXITFUNS=0
CONFIG_POSIX_SPAWN_DEFAULT_STACKSIZE=2048
CONFIG_LIBC_HOSTNAME=""
CONFIG_LIBC_OPEN_MAX=256
CONFIG_NAME_MAX=32
CONFIG_PATH_MAX=256
CONFIG_LINE_MAX=64
CONFIG_LIBC_STRERROR_ERRNUM=y
CONFIG_LIBC_STRSIGNAL=y
CONFIG_LIBC_STRFTIME_C_STANDARD_FORMATS=y
CONFIG_LIBC_STRFTIME_POSIX_FORMATS=y
CONFIG_LIBC_STRFTIME_NONSTANDARD_FORMATS=y
CONFIG_TLS_NELEM=0
CONFIG_TLS_TASK_NELEM=0
CONFIG_TLS_NCLEANUP=0
CONFIG_LIBC_GAISTRERROR_ERRNUM=y
CONFIG_LIBC_FTOK_VFS_PATH="/var/ftok"
CONFIG_LIBC_MEMFD_ERROR=y
CONFIG_LIBC_TEMPBUFFER=y
CONFIG_LIBC_MAX_TEMPBUFFER=2
CONFIG_LIBC_TEMPBUFFER_MALLOC=y
CONFIG_LIBC_MUTEX_BACKTRACE=0
CONFIG_BUILTIN=y
CONFIG_APP_REGISTRY=y
CONFIG_STREAM_OUT_BUFFER_SIZE=64
CONFIG_STREAM_HEXDUMP_BUFFER_SIZE=128
CONFIG_STREAM_BASE64_BUFFER_SIZE=128
CONFIG_LIBC_INLINE_QUEUE=y
CONFIG_LIBM_TOOLCHAIN=y
CONFIG_HAVE_CXX=y
CONFIG_HAVE_CXXINITIALIZE=y
CONFIG_LIBCXXNONE=y
CONFIG_LIBMINIABI=y
CONFIG_CXX_STANDARD="gnu++17"
CONFIG_CXX_NO_LOCALIZATION=y
CONFIG_BUILTIN_TOOLCHAIN=y
CONFIG_COVERAGE_NONE=y
CONFIG_COVERAGE_DEFAULT_PREFIX_STRIP="0"
CONFIG_COVERAGE_DEFAULT_PREFIX="/data"
CONFIG_PROFILE_NONE=y
CONFIG_NSH_LIBRARY=y
CONFIG_NSH_PROMPT_STRING="nsh> "
CONFIG_NSH_PROMPT_MAX=32
CONFIG_NSH_PROMPT_ENV="PS1"
CONFIG_NSH_PROMPT_SUFFIX="> "
CONFIG_NSH_READLINE=y
CONFIG_NSH_MAXARGUMENTS=12
CONFIG_NSH_NESTDEPTH=3
CONFIG_NSH_ALIAS=y
CONFIG_NSH_ALIAS_MAX_AMOUNT=1
CONFIG_NSH_BUILTIN_APPS=y
CONFIG_NSH_DISABLE_DATE=y
CONFIG_NSH_DISABLE_LOSMART=y
CONFIG_NSH_DISABLE_LOMTD=y
CONFIG_NSH_DISABLE_MB=y
CONFIG_NSH_DISABLE_MH=y
CONFIG_NSH_DISABLE_MW=y
CONFIG_NSH_DISABLE_TIMEDATECTL=y
CONFIG_NSH_CODECS_BUFSIZE=128
CONFIG_NSH_PROC_MOUNTPOINT="/proc"
CONFIG_NSH_FILEIOSIZE=512
CONFIG_NSH_SYSINITSCRIPT="init.d/rc.sysinit"
CONFIG_NSH_INITSCRIPT="init.d/rcS"
CONFIG_NSH_SCRIPT_REDIRECT_PATH=""
CONFIG_NSH_CONSOLE=y
CONFIG_SYSTEM_DD=y
CONFIG_SYSTEM_DD_PROGNAME="dd"
CONFIG_SYSTEM_DD_PRIORITY=100
CONFIG_SYSTEM_DD_STACKSIZE=2048
CONFIG_SYSTEM_DD_STATS=y
CONFIG_SYSTEM_NSH=y
CONFIG_SYSTEM_NSH_PRIORITY=100
CONFIG_SYSTEM_NSH_STACKSIZE=2048
CONFIG_SYSTEM_NSH_PROGNAME="nsh"
CONFIG_SYSTEM_READLINE=y
CONFIG_READLINE_HAVE_EXTMATCH=y
CONFIG_READLINE_ECHO=y
CONFIG_READLINE_EDIT=y
CONFIG_TESTING_READYLIST=y
CONFIG_TESTING_READYLIST_PRIORITY=100
CONFIG_TESTING_READYLIST_STACKSIZE=2048
CONFIG_TESTING_READYLIST_FILLER_STACKSIZE=1024
Host system OS:
macOS 27.2 Darwin <host> 27.2.0 Darwin Kernel Version 27.2.0: Wed Oct 14 23:48:16 PDT 2026; root:xnu-13432.41.4~25/RELEASE_ARM64_T8112 arm64 arm
Host system PATH:
/Users/felomousa/nuttxspace/.venv/bin
/Users/felomousa/nuttxspace/toolchains/xtensa-esp-elf/bin
/opt/homebrew/bin
/usr/bin
/bin
Espressif specific information:
Toolchain version:
esp32: Bootloader image not found
esp32s2: Bootloader image not found
esp32s3: Bootloader image not found
esp32c2: Bootloader image not found
esp32c3: Bootloader image not found
esp32c6: Bootloader image not found
esp32h2: Bootloader image not found
Toolchain version:
clang: Apple clang version 17.0.0 (clang-1700.0.13.5)
gcc: Apple clang version 17.0.0 (clang-1700.0.13.5)
xtensa-esp32-elf-gcc: xtensa-esp-elf-gcc (crosstool-NG esp-14.2.0_20241119) 14.2.0
xtensa-esp32s2-elf-gcc: xtensa-esp-elf-gcc (crosstool-NG esp-14.2.0_20241119) 14.2.0
xtensa-esp32s3-elf-gcc: xtensa-esp-elf-gcc (crosstool-NG esp-14.2.0_20241119) 14.2.0
riscv-none-elf-gcc: Not found
riscv32-esp-elf-gcc: Not found
riscv64-unknown-elf-gcc: Not found
Esptool version:
5.6.0
HAL version:
Not found
CHIP ID:
Not found
Flash ID:
Manufacturer: 5e
Device: 4016
Security information:
Not found
Flash status:
Not found
MAC address:
<hidden>
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