重写调度模块 (#679)

## PR：重写调度模块
--- 
### 完成的部分
- 实现cfs调度策略
- 搭建框架，后续功能可以迭代开发
- 目前能跑，未测试性能

### 需要后续接力的部分
- 实现组内调度（task_group）
- 实现跨核负载均衡（pelt算法）
- 接入sysfs，实现参数动态调节（sched_stat等）
- nice值以及priority等参数的设置及调优

kernel/src/time/clocksource.rs

@@ -15,7 +15,7 @@ use system_error::SystemError;
 use unified_init::macros::unified_init;
 
 use crate::{
-    arch::{sched::sched, CurrentIrqArch},
+    arch::CurrentIrqArch,
     exception::InterruptArch,
     init::initcall::INITCALL_LATE,
     kdebug, kinfo,
@@ -24,6 +24,7 @@ use crate::{
         kthread::{KernelThreadClosure, KernelThreadMechanism},
         ProcessControlBlock, ProcessManager,
     },
+    sched::{schedule, SchedMode},
 };
 
 use super::{
@@ -823,7 +824,7 @@ pub fn clocksource_watchdog_kthread() -> i32 {
         let irq_guard = unsafe { CurrentIrqArch::save_and_disable_irq() };
         ProcessManager::mark_sleep(true).expect("clocksource_watchdog_kthread:mark sleep failed");
         drop(irq_guard);
-        sched();
+        schedule(SchedMode::SM_NONE);
     }
     return 0;
 }

kernel/src/time/jiffies.rs

@@ -18,6 +18,7 @@ lazy_static! {
 pub const JIFFIES_SHIFT: u32 = 8;
 pub const LATCH: u32 = (CLOCK_TICK_RATE + (HZ as u32) / 2) / HZ as u32;
 pub const ACTHZ: u32 = sh_div(CLOCK_TICK_RATE, LATCH, 8);
+pub const TICK_NESC: u32 = (NSEC_PER_SEC + (HZ as u32) / 2) / HZ as u32;
 //TODO 编写测试，保证始终跳动间隔与现实一致（两种时钟源进行对拍）
 pub const NSEC_PER_JIFFY: u32 = (((NSEC_PER_SEC as u64) << 8) / ACTHZ as u64) as u32;
 pub const fn sh_div(nom: u32, den: u32, lsh: u32) -> u32 {

kernel/src/time/sleep.rs

@@ -4,10 +4,11 @@ use alloc::{boxed::Box, sync::Arc};
 use system_error::SystemError;
 
 use crate::{
-    arch::{sched::sched, CurrentIrqArch, CurrentTimeArch},
+    arch::{CurrentIrqArch, CurrentTimeArch},
     exception::InterruptArch,
     include::bindings::bindings::useconds_t,
     process::ProcessManager,
+    sched::{schedule, SchedMode},
     time::timekeeping::getnstimeofday,
 };
 
@@ -53,7 +54,7 @@ pub fn nanosleep(sleep_time: TimeSpec) -> Result<TimeSpec, SystemError> {
     timer.activate();
 
     drop(irq_guard);
-    sched();
+    schedule(SchedMode::SM_NONE);
 
     let end_time = getnstimeofday();
     // 返回正确的剩余时间

kernel/src/time/timer.rs

@@ -12,7 +12,7 @@ use alloc::{
 use system_error::SystemError;
 
 use crate::{
-    arch::{sched::sched, CurrentIrqArch},
+    arch::CurrentIrqArch,
     exception::{
         softirq::{softirq_vectors, SoftirqNumber, SoftirqVec},
         InterruptArch,
@@ -20,6 +20,7 @@ use crate::{
     kerror, kinfo,
     libs::spinlock::{SpinLock, SpinLockGuard},
     process::{ProcessControlBlock, ProcessManager},
+    sched::{schedule, SchedMode},
 };
 
 use super::{jiffies::NSEC_PER_JIFFY, timekeeping::update_wall_time};
@@ -258,7 +259,7 @@ pub fn schedule_timeout(mut timeout: i64) -> Result<i64, SystemError> {
         let irq_guard = unsafe { CurrentIrqArch::save_and_disable_irq() };
         ProcessManager::mark_sleep(true).ok();
         drop(irq_guard);
-        sched();
+        schedule(SchedMode::SM_PREEMPT);
         return Ok(MAX_TIMEOUT);
     } else if timeout < 0 {
         kerror!("timeout can't less than 0");
@@ -277,7 +278,7 @@ pub fn schedule_timeout(mut timeout: i64) -> Result<i64, SystemError> {
 
         drop(irq_guard);
 
-        sched();
+        schedule(SchedMode::SM_PREEMPT);
         let time_remaining: i64 = timeout - TIMER_JIFFIES.load(Ordering::SeqCst) as i64;
         if time_remaining >= 0 {
             // 被提前唤醒，返回剩余时间