.\" Hey Emacs! This file is -*- nroff -*- source. .\" .\" Copyright (C) Tom Bjorkholm, Markus Kuhn & David A. Wheeler 1996-1999 .\" .\" This is free documentation; you can redistribute it and/or .\" modify it under the terms of the GNU General Public License as .\" published by the Free Software Foundation; either version 2 of .\" the License, or (at your option) any later version. .\" .\" The GNU General Public License's references to "object code" .\" and "executables" are to be interpreted as the output of any .\" document formatting or typesetting system, including .\" intermediate and printed output. .\" .\" This manual 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 General Public License for more details. .\" .\" You should have received a copy of the GNU General Public .\" License along with this manual; if not, write to the Free .\" Software Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111, .\" USA. .\" .\" 1996-04-01 Tom Bjorkholm .\" First version written .\" 1996-04-10 Markus Kuhn .\" revision .\" 1999-08-18 David A. Wheeler added Note. .\" Modified, 25 Jun 2002, Michael Kerrisk .\" Corrected description of queue placement by sched_setparam() and .\" sched_setscheduler() .\" A couple of grammar clean-ups .\" Modified 2004-05-27 by Michael Kerrisk .\" .TH SETSCHEDULER 2 2004-05-27 "Linux 2.6.6" "Linux Programmer's Manual" .SH NAME sched_setscheduler, sched_getscheduler \- set and get scheduling algorithm/parameters .SH SYNOPSIS .B #include .sp .BI "int sched_setscheduler(pid_t " pid ", int " policy , .BI "const struct sched_param *" p ); .sp .BI "int sched_getscheduler(pid_t " pid ); .sp .nf .ta 4n \fBstruct sched_param { ... int \fIsched_priority\fB; ... }; .ta .fi .SH DESCRIPTION .B sched_setscheduler sets both the scheduling policy and the associated parameters for the process identified by \fIpid\fP. If \fIpid\fP equals zero, the scheduler of the calling process will be set. The interpretation of the parameter \fIp\fP depends on the selected policy. Currently, the following three scheduling policies are supported under Linux: .IR SCHED_FIFO , .IR SCHED_RR , and .IR SCHED_OTHER ; their respective semantics are described below. .B sched_getscheduler queries the scheduling policy currently applied to the process identified by \fIpid\fP. If \fIpid\fP equals zero, the policy of the calling process will be retrieved. .SS Scheduling Policies The scheduler is the kernel part that decides which runnable process will be executed by the CPU next. The Linux scheduler offers three different scheduling policies, one for normal processes and two for real-time applications. A static priority value \fIsched_priority\fP is assigned to each process and this value can be changed only via system calls. Conceptually, the scheduler maintains a list of runnable processes for each possible \fIsched_priority\fP value, and \fIsched_priority\fP can have a value in the range 0 to 99. In order to determine the process that runs next, the Linux scheduler looks for the non-empty list with the highest static priority and takes the process at the head of this list. The scheduling policy determines for each process, where it will be inserted into the list of processes with equal static priority and how it will move inside this list. \fISCHED_OTHER\fP is the default universal time-sharing scheduler policy used by most processes, \fISCHED_FIFO\fP and \fISCHED_RR\fP are intended for special time-critical applications that need precise control over the way in which runnable processes are selected for execution. Processes scheduled with \fISCHED_OTHER\fP must be assigned the static priority 0, processes scheduled under \fISCHED_FIFO\fP or \fISCHED_RR\fP can have a static priority in the range 1 to 99. Only processes with superuser privileges can get a static priority higher than 0 and can therefore be scheduled under \fISCHED_FIFO\fP or \fISCHED_RR\fP. The system calls \fBsched_get_priority_min\fP and \fBsched_get_priority_max\fP can be used to find out the valid priority range for a scheduling policy in a portable way on all POSIX.1b conforming systems. All scheduling is preemptive: If a process with a higher static priority gets ready to run, the current process will be preempted and returned into its wait list. The scheduling policy only determines the ordering within the list of runnable processes with equal static priority. .SS SCHED_FIFO: First In-First Out scheduling \fISCHED_FIFO\fP can only be used with static priorities higher than 0, which means that when a \fISCHED_FIFO\fP processes becomes runnable, it will always preempt immediately any currently running normal \fISCHED_OTHER\fP process. \fISCHED_FIFO\fP is a simple scheduling algorithm without time slicing. For processes scheduled under the \fISCHED_FIFO\fP policy, the following rules are applied: A \fISCHED_FIFO\fP process that has been preempted by another process of higher priority will stay at the head of the list for its priority and will resume execution as soon as all processes of higher priority are blocked again. When a \fISCHED_FIFO\fP process becomes runnable, it will be inserted at the end of the list for its priority. A call to \fBsched_setscheduler\fP or \fBsched_setparam\fP will put the \fISCHED_FIFO\fP (or \fISCHED_RR\fP) process identified by \fIpid\fP at the start of the list if it was runnable. As a consequence, it may preempt the currently running process if it has the same priority. (POSIX 1003.1 specifies that the process should go to the end of the list.) .\" In 2.2.x and 2.4.x, the process is placed at the front of the queue .\" In 2.0.x, the Right Thing happened: the process went to the back -- MTK A process calling \fBsched_yield\fP will be put at the end of the list. No other events will move a process scheduled under the \fISCHED_FIFO\fP policy in the wait list of runnable processes with equal static priority. A \fISCHED_FIFO\fP process runs until either it is blocked by an I/O request, it is preempted by a higher priority process, or it calls \fBsched_yield\fP. .SS SCHED_RR: Round Robin scheduling \fISCHED_RR\fP is a simple enhancement of \fISCHED_FIFO\fP. Everything described above for \fISCHED_FIFO\fP also applies to \fISCHED_RR\fP, except that each process is only allowed to run for a maximum time quantum. If a \fISCHED_RR\fP process has been running for a time period equal to or longer than the time quantum, it will be put at the end of the list for its priority. A \fISCHED_RR\fP process that has been preempted by a higher priority process and subsequently resumes execution as a running process will complete the unexpired portion of its round robin time quantum. The length of the time quantum can be retrieved by \fBsched_rr_get_interval\fP. .\" On Linux 2.4, the length of the RR interval is influenced .\" by the process nice value -- MTK .SS SCHED_OTHER: Default Linux time-sharing scheduling \fISCHED_OTHER\fP can only be used at static priority 0. \fISCHED_OTHER\fP is the standard Linux time-sharing scheduler that is intended for all processes that do not require special static priority real-time mechanisms. The process to run is chosen from the static priority 0 list based on a dynamic priority that is determined only inside this list. The dynamic priority is based on the nice level (set by the \fBnice\fP or \fBsetpriority\fP system call) and increased for each time quantum the process is ready to run, but denied to run by the scheduler. This ensures fair progress among all \fISCHED_OTHER\fP processes. .SS Response time A blocked high priority process waiting for the I/O has a certain response time before it is scheduled again. The device driver writer can greatly reduce this response time by using a "slow interrupt" interrupt handler. .\" as described in .\" .BR request_irq (9). .SS Miscellaneous Child processes inherit the scheduling algorithm and parameters across a .BR fork . Memory locking is usually needed for real-time processes to avoid paging delays, this can be done with .B mlock or .BR mlockall . As a non-blocking end-less loop in a process scheduled under \fISCHED_FIFO\fP or \fISCHED_RR\fP will block all processes with lower priority forever, a software developer should always keep available on the console a shell scheduled under a higher static priority than the tested application. This will allow an emergency kill of tested real-time applications that do not block or terminate as expected. As \fISCHED_FIFO\fP and \fISCHED_RR\fP processes can preempt other processes forever, only root processes are allowed to activate these policies under Linux. POSIX systems on which .B sched_setscheduler and .B sched_getscheduler are available define .I _POSIX_PRIORITY_SCHEDULING in . .SH "RETURN VALUE" On success, .BR sched_setscheduler returns zero. On success, .BR sched_getscheduler returns the policy for the process (a non-negative integer). On error, \-1 is returned, .I errno is set appropriately. .SH ERRORS .TP .B EINVAL The scheduling \fIpolicy\fP is not one of the recognized policies, or the parameter \fIp\fP does not make sense for the \fIpolicy\fP. .TP .B EPERM The calling process does not have appropriate privileges (Linux: does not have the .B CAP_SYS_NICE capability). Only privileged processes are allowed to activate the \fISCHED_FIFO\fP and \fISCHED_RR\fP policies. A process calling .BR sched_setscheduler needs an effective user ID equal to the user ID or effective user ID of the process identified by .IR pid , or it must be privileged. .TP .B ESRCH The process whose ID is \fIpid\fP could not be found. .SH "CONFORMING TO" POSIX.1b (formerly POSIX.4) .SH NOTE Standard Linux is a general-purpose operating system and can handle background processes, interactive applications, and soft real-time applications (applications that need to usually meet timing deadlines). This man page is directed at these kinds of applications. .PP Standard Linux is .I not designed to support hard real-time applications, that is, applications in which deadlines (often much shorter than a second) must be guaranteed or the system will fail catastrophically. Like all general-purpose operating systems, Linux is designed to maximize average case performance instead of worst case performance. Linux's worst case performance for interrupt handling is much poorer than its average case, its various kernel locks (such as for SMP) produce long maximum wait times, and many of its performance improvement techniques decrease average time by increasing worst-case time. For most situations, that's what you want, but if you truly are developing a hard real-time application, consider using hard real-time extensions to Linux such as RTLinux (http://www.rtlinux.org) or RTAI (http://www.rtai.org) or use a different operating system designed specifically for hard real-time applications. .SH "SEE ALSO" .BR getpriority (2), .BR mlock (2), .BR mlockall (2), .BR munlock (2), .BR munlockall (2), .BR nice (2), .BR sched_get_priority_max (2), .BR sched_get_priority_min (2), .BR sched_getaffinity (2), .BR sched_getparam (2), .BR sched_rr_get_interval (2), .BR sched_setaffinity (2), .BR sched_setparam (2), .BR sched_yield (2), .BR setpriority (2), .BR capabilities (7) .PP .I Programming for the real world \- POSIX.4 by Bill O. Gallmeister, O'Reilly & Associates, Inc., ISBN 1-56592-074-0 .br .I IEEE Std 1003.1b-1993 (POSIX.1b standard) .br .I ISO/IEC 9945-1:1996 \- This is the new 1996 revision of POSIX.1 which contains in one single standard POSIX.1(1990), POSIX.1b(1993), POSIX.1c(1995), and POSIX.1i(1995).