Message-Id: <20221130082313.3241517-30-tj@kernel.org>
Date:   Tue, 29 Nov 2022 22:23:11 -1000
From:   Tejun Heo <tj@...nel.org>
To:     torvalds@...ux-foundation.org, mingo@...hat.com,
        peterz@...radead.org, juri.lelli@...hat.com,
        vincent.guittot@...aro.org, dietmar.eggemann@....com,
        rostedt@...dmis.org, bsegall@...gle.com, mgorman@...e.de,
        bristot@...hat.com, vschneid@...hat.com, ast@...nel.org,
        daniel@...earbox.net, andrii@...nel.org, martin.lau@...nel.org,
        joshdon@...gle.com, brho@...gle.com, pjt@...gle.com,
        derkling@...gle.com, haoluo@...gle.com, dvernet@...a.com,
        dschatzberg@...a.com, dskarlat@...cmu.edu, riel@...riel.com
Cc:     linux-kernel@...r.kernel.org, bpf@...r.kernel.org,
        kernel-team@...a.com, Tejun Heo <tj@...nel.org>
Subject: [PATCH 29/31] sched_ext: Add a basic, userland vruntime scheduler

From: David Vernet <dvernet@...a.com>

This patch adds a new scx_example_userland BPF scheduler that implements a
fairly unsophisticated sorted-list vruntime scheduler in userland to
demonstrate how most scheduling decisions can be delegated to userland. The
scheduler doesn't implement load balancing, and treats all tasks as part of
a single domain.

Signed-off-by: David Vernet <dvernet@...a.com>
Reviewed-by: Tejun Heo <tj@...nel.org>
Signed-off-by: Tejun Heo <tj@...nel.org>
---
 tools/sched_ext/.gitignore                    |   1 +
 tools/sched_ext/Makefile                      |  10 +-
 tools/sched_ext/scx_example_userland.bpf.c    | 265 ++++++++++++
 tools/sched_ext/scx_example_userland.c        | 403 ++++++++++++++++++
 tools/sched_ext/scx_example_userland_common.h |  19 +
 5 files changed, 696 insertions(+), 2 deletions(-)
 create mode 100644 tools/sched_ext/scx_example_userland.bpf.c
 create mode 100644 tools/sched_ext/scx_example_userland.c
 create mode 100644 tools/sched_ext/scx_example_userland_common.h

diff --git a/tools/sched_ext/.gitignore b/tools/sched_ext/.gitignore
index ebc34dcf925b..75a536dfebfc 100644
--- a/tools/sched_ext/.gitignore
+++ b/tools/sched_ext/.gitignore
@@ -2,6 +2,7 @@ scx_example_dummy
 scx_example_qmap
 scx_example_central
 scx_example_pair
+scx_example_userland
 *.skel.h
 *.subskel.h
 /tools/
diff --git a/tools/sched_ext/Makefile b/tools/sched_ext/Makefile
index 45ab39139afc..563b54333ab1 100644
--- a/tools/sched_ext/Makefile
+++ b/tools/sched_ext/Makefile
@@ -114,7 +114,8 @@ BPF_CFLAGS = -g -D__TARGET_ARCH_$(SRCARCH)					\
 	     -Wno-compare-distinct-pointer-types				\
 	     -O2 -mcpu=v3
 
-all: scx_example_dummy scx_example_qmap scx_example_central scx_example_pair
+all: scx_example_dummy scx_example_qmap scx_example_central scx_example_pair	\
+     scx_example_userland
 
 # sort removes libbpf duplicates when not cross-building
 MAKE_DIRS := $(sort $(BUILD_DIR)/libbpf $(HOST_BUILD_DIR)/libbpf		\
@@ -181,11 +182,16 @@ scx_example_pair: scx_example_pair.c scx_example_pair.skel.h user_exit_info.h
 	$(CC) $(CFLAGS) -c $< -o $@.o
 	$(CC) -o $@ $@.o $(HOST_BPFOBJ) $(LDFLAGS)
 
+scx_example_userland: scx_example_userland.c scx_example_userland.skel.h	\
+		      scx_example_userland_common.h user_exit_info.h
+	$(CC) $(CFLAGS) -c $< -o $@.o
+	$(CC) -o $@ $@.o $(HOST_BPFOBJ) $(LDFLAGS)
+
 clean:
 	rm -rf $(SCRATCH_DIR) $(HOST_SCRATCH_DIR)
 	rm -f *.o *.bpf.o *.skel.h *.subskel.h
 	rm -f scx_example_dummy scx_example_qmap scx_example_central		\
-	      scx_example_pair
+	      scx_example_pair scx_example_userland
 
 .PHONY: all clean
 
diff --git a/tools/sched_ext/scx_example_userland.bpf.c b/tools/sched_ext/scx_example_userland.bpf.c
new file mode 100644
index 000000000000..b0af532b4db0
--- /dev/null
+++ b/tools/sched_ext/scx_example_userland.bpf.c
@@ -0,0 +1,265 @@
+/* SPDX-License-Identifier: GPL-2.0 */
+/*
+ * A minimal userland scheduler.
+ *
+ * In terms of scheduling, this provides two different types of behaviors:
+ * 1. A global FIFO scheduling order for _any_ tasks that have CPU affinity.
+ *    All such tasks are direct-dispatched from the kernel, and are never
+ *    enqueued in user space.
+ * 2. A primitive vruntime scheduler that is implemented in user space, for all
+ *    other tasks.
+ *
+ * Some parts of this example user space scheduler could be implemented more
+ * efficiently using more complex and sophisticated data structures. For
+ * example, rather than using BPF_MAP_TYPE_QUEUE's,
+ * BPF_MAP_TYPE_{USER_}RINGBUF's could be used for exchanging messages between
+ * user space and kernel space. Similarly, we use a simple vruntime-sorted list
+ * in user space, but an rbtree could be used instead.
+ *
+ * Copyright (c) 2022 Meta Platforms, Inc. and affiliates.
+ * Copyright (c) 2022 Tejun Heo <tj@...nel.org>
+ * Copyright (c) 2022 David Vernet <dvernet@...a.com>
+ */
+#include <string.h>
+#include "scx_common.bpf.h"
+#include "scx_example_userland_common.h"
+
+char _license[] SEC("license") = "GPL";
+
+const volatile bool switch_all;
+const volatile u32 num_possible_cpus;
+const volatile s32 usersched_pid;
+
+/* Stats that are printed by user space. */
+u64 nr_failed_enqueues, nr_kernel_enqueues, nr_user_enqueues;
+
+struct user_exit_info uei;
+
+/*
+ * Whether the user space scheduler needs to be scheduled due to a task being
+ * enqueued in user space.
+ */
+static bool usersched_needed;
+
+/*
+ * The map containing tasks that are enqueued in user space from the kernel.
+ *
+ * This map is drained by the user space scheduler.
+ */
+struct {
+	__uint(type, BPF_MAP_TYPE_QUEUE);
+	__uint(max_entries, USERLAND_MAX_TASKS);
+	__type(value, struct scx_userland_enqueued_task);
+} enqueued SEC(".maps");
+
+/*
+ * The map containing tasks that are dispatched to the kernel from user space.
+ *
+ * Drained by the kernel in userland_dispatch().
+ */
+struct {
+	__uint(type, BPF_MAP_TYPE_QUEUE);
+	__uint(max_entries, USERLAND_MAX_TASKS);
+	__type(value, s32);
+} dispatched SEC(".maps");
+
+/* Per-task scheduling context */
+struct task_ctx {
+	bool force_local; /* Dispatch directly to local DSQ */
+};
+
+/* Map that contains task-local storage. */
+struct {
+	__uint(type, BPF_MAP_TYPE_TASK_STORAGE);
+	__uint(map_flags, BPF_F_NO_PREALLOC);
+	__type(key, int);
+	__type(value, struct task_ctx);
+} task_ctx_stor SEC(".maps");
+
+static bool is_usersched_task(const struct task_struct *p)
+{
+	return p->pid == usersched_pid;
+}
+
+static bool keep_in_kernel(const struct task_struct *p)
+{
+	return p->nr_cpus_allowed < num_possible_cpus;
+}
+
+static struct task_struct *usersched_task(void)
+{
+	struct task_struct *p;
+
+	p = scx_bpf_find_task_by_pid(usersched_pid);
+	/*
+	 * Should never happen -- the usersched task should always be managed
+	 * by sched_ext.
+	 */
+	if (!p)
+		scx_bpf_error("Failed to find usersched task %d", usersched_pid);
+
+	/*
+	 * While p should never be NULL, have logic to return current so the
+	 * caller doesn't have to bother with checking for NULL.
+	 */
+	return p ?: bpf_get_current_task_btf();
+}
+
+s32 BPF_STRUCT_OPS(userland_select_cpu, struct task_struct *p,
+		   s32 prev_cpu, u64 wake_flags)
+{
+	if (keep_in_kernel(p)) {
+		s32 cpu;
+		struct task_ctx *tctx;
+
+		tctx = bpf_task_storage_get(&task_ctx_stor, p, 0, 0);
+		if (!tctx) {
+			scx_bpf_error("Failed to look up task-local storage for %s", p->comm);
+			return -ESRCH;
+		}
+
+		if (p->nr_cpus_allowed == 1 ||
+		    scx_bpf_test_and_clear_cpu_idle(prev_cpu)) {
+			tctx->force_local = true;
+			return prev_cpu;
+		}
+
+		cpu = scx_bpf_pick_idle_cpu(p->cpus_ptr);
+		if (cpu >= 0) {
+			tctx->force_local = true;
+			return cpu;
+		}
+	}
+
+	return prev_cpu;
+}
+
+static void dispatch_user_scheduler(void)
+{
+	usersched_needed = false;
+	scx_bpf_dispatch(usersched_task(), SCX_DSQ_GLOBAL, SCX_SLICE_DFL, 0);
+}
+
+static void enqueue_task_in_user_space(struct task_struct *p, u64 enq_flags)
+{
+	struct scx_userland_enqueued_task task;
+
+	memset(&task, 0, sizeof(task));
+	task.pid = p->pid;
+	task.sum_exec_runtime = p->se.sum_exec_runtime;
+	task.weight = p->scx.weight;
+
+	if (bpf_map_push_elem(&enqueued, &task, 0)) {
+		/*
+		 * If we fail to enqueue the task in user space, put it
+		 * directly on the global DSQ.
+		 */
+		__sync_fetch_and_add(&nr_failed_enqueues, 1);
+		scx_bpf_dispatch(p, SCX_DSQ_GLOBAL, SCX_SLICE_DFL, enq_flags);
+	} else {
+		__sync_fetch_and_add(&nr_user_enqueues, 1);
+		usersched_needed = true;
+	}
+}
+
+void BPF_STRUCT_OPS(userland_enqueue, struct task_struct *p, u64 enq_flags)
+{
+	if (keep_in_kernel(p)) {
+		u64 dsq_id = SCX_DSQ_GLOBAL;
+		struct task_ctx *tctx;
+
+		tctx = bpf_task_storage_get(&task_ctx_stor, p, 0, 0);
+		if (!tctx) {
+			scx_bpf_error("Failed to lookup task ctx for %s", p->comm);
+			return;
+		}
+
+		if (tctx->force_local)
+			dsq_id = SCX_DSQ_LOCAL;
+		tctx->force_local = false;
+		scx_bpf_dispatch(p, dsq_id, SCX_SLICE_DFL, enq_flags);
+		__sync_fetch_and_add(&nr_kernel_enqueues, 1);
+		return;
+	} else if (!is_usersched_task(p)) {
+		enqueue_task_in_user_space(p, enq_flags);
+	}
+}
+
+static int drain_dispatch_q_loopfn(u32 idx, void *data)
+{
+	s32 cpu = *(s32 *)data;
+	s32 pid;
+	struct task_struct *p;
+
+	if (bpf_map_pop_elem(&dispatched, &pid))
+		return 1;
+
+	/*
+	 * The task could have exited by the time we get around to dispatching
+	 * it. Treat this as a normal occurrence, and simply move onto the next
+	 * iteration.
+	 */
+	p = scx_bpf_find_task_by_pid(pid);
+	if (!p)
+		return 0;
+
+	scx_bpf_dispatch(p, SCX_DSQ_GLOBAL, SCX_SLICE_DFL, 0);
+	return 0;
+}
+
+void BPF_STRUCT_OPS(userland_dispatch, s32 cpu, struct task_struct *prev)
+{
+	if (usersched_needed)
+		dispatch_user_scheduler();
+
+	/* XXX: Use an iterator when it's available. */
+	bpf_loop(4096, drain_dispatch_q_loopfn, &cpu, 0);
+}
+
+s32 BPF_STRUCT_OPS(userland_prep_enable, struct task_struct *p,
+		   struct scx_enable_args *args)
+{
+	if (bpf_task_storage_get(&task_ctx_stor, p, 0,
+				 BPF_LOCAL_STORAGE_GET_F_CREATE))
+		return 0;
+	else
+		return -ENOMEM;
+}
+
+s32 BPF_STRUCT_OPS(userland_init)
+{
+	int ret;
+
+	if (num_possible_cpus == 0) {
+		scx_bpf_error("User scheduler # CPUs uninitialized (%d)",
+			      num_possible_cpus);
+		return -EINVAL;
+	}
+
+	if (usersched_pid <= 0) {
+		scx_bpf_error("User scheduler pid uninitialized (%d)",
+			      usersched_pid);
+		return -EINVAL;
+	}
+
+	if (switch_all)
+		scx_bpf_switch_all();
+	return 0;
+}
+
+void BPF_STRUCT_OPS(userland_exit, struct scx_exit_info *ei)
+{
+	uei_record(&uei, ei);
+}
+
+SEC(".struct_ops")
+struct sched_ext_ops userland_ops = {
+	.select_cpu		= (void *)userland_select_cpu,
+	.enqueue		= (void *)userland_enqueue,
+	.dispatch		= (void *)userland_dispatch,
+	.prep_enable		= (void *)userland_prep_enable,
+	.init			= (void *)userland_init,
+	.exit			= (void *)userland_exit,
+	.timeout_ms		= 3000,
+	.name			= "userland",
+};
diff --git a/tools/sched_ext/scx_example_userland.c b/tools/sched_ext/scx_example_userland.c
new file mode 100644
index 000000000000..4ddd257b9e42
--- /dev/null
+++ b/tools/sched_ext/scx_example_userland.c
@@ -0,0 +1,403 @@
+/* SPDX-License-Identifier: GPL-2.0 */
+/*
+ * A demo sched_ext user space scheduler which provides vruntime semantics
+ * using a simple ordered-list implementation.
+ *
+ * Each CPU in the system resides in a single, global domain. This precludes
+ * the need to do any load balancing between domains. The scheduler could
+ * easily be extended to support multiple domains, with load balancing
+ * happening in user space.
+ *
+ * Any task which has any CPU affinity is scheduled entirely in BPF. This
+ * program only schedules tasks which may run on any CPU.
+ *
+ * Copyright (c) 2022 Meta Platforms, Inc. and affiliates.
+ * Copyright (c) 2022 Tejun Heo <tj@...nel.org>
+ * Copyright (c) 2022 David Vernet <dvernet@...a.com>
+ */
+#define _GNU_SOURCE
+#include <stdio.h>
+#include <unistd.h>
+#include <sched.h>
+#include <signal.h>
+#include <assert.h>
+#include <libgen.h>
+#include <pthread.h>
+#include <bpf/bpf.h>
+#include <sys/mman.h>
+#include <sys/queue.h>
+#include <sys/syscall.h>
+
+#include "user_exit_info.h"
+#include "scx_example_userland_common.h"
+#include "scx_example_userland.skel.h"
+
+const char help_fmt[] =
+"A minimal userland sched_ext scheduler.\n"
+"\n"
+"See the top-level comment in .bpf.c for more details.\n"
+"\n"
+"Usage: %s [-a]\n"
+"\n"
+"  -a            Switch all tasks\n"
+"  -b            The number of tasks to batch when dispatching.\n"
+"                Defaults to 8\n"
+"  -h            Display this help and exit\n";
+
+/* Defined in UAPI */
+#define SCHED_EXT 7
+
+/* Number of tasks to batch when dispatching to user space. */
+static __u32 batch_size = 8;
+
+static volatile int exit_req;
+static int enqueued_fd, dispatched_fd;
+
+static struct scx_example_userland *skel;
+static struct bpf_link *ops_link;
+
+/* Stats collected in user space. */
+static __u64 nr_vruntime_enqueues, nr_vruntime_dispatches;
+
+/* The data structure containing tasks that are enqueued in user space. */
+struct enqueued_task {
+	LIST_ENTRY(enqueued_task) entries;
+	__u64 sum_exec_runtime;
+	double vruntime;
+};
+
+/*
+ * Use a vruntime-sorted list to store tasks. This could easily be extended to
+ * a more optimal data structure, such as an rbtree as is done in CFS. We
+ * currently elect to use a sorted list to simplify the example for
+ * illustrative purposes.
+ */
+LIST_HEAD(listhead, enqueued_task);
+
+/*
+ * A vruntime-sorted list of tasks. The head of the list contains the task with
+ * the lowest vruntime. That is, the task that has the "highest" claim to be
+ * scheduled.
+ */
+static struct listhead vruntime_head = LIST_HEAD_INITIALIZER(vruntime_head);
+
+/*
+ * The statically allocated array of tasks. We use a statically allocated list
+ * here to avoid having to allocate on the enqueue path, which could cause a
+ * deadlock. A more substantive user space scheduler could e.g. provide a hook
+ * for newly enabled tasks that are passed to the scheduler from the
+ * .prep_enable() callback to allows the scheduler to allocate on safe paths.
+ */
+struct enqueued_task tasks[USERLAND_MAX_TASKS];
+
+static double min_vruntime;
+
+static void sigint_handler(int userland)
+{
+	exit_req = 1;
+}
+
+static __u32 task_pid(const struct enqueued_task *task)
+{
+	return ((uintptr_t)task - (uintptr_t)tasks) / sizeof(*task);
+}
+
+static int dispatch_task(s32 pid)
+{
+	int err;
+
+	err = bpf_map_update_elem(dispatched_fd, NULL, &pid, 0);
+	if (err) {
+		fprintf(stderr, "Failed to dispatch task %d\n", pid);
+		exit_req = 1;
+	} else {
+		nr_vruntime_dispatches++;
+	}
+
+	return err;
+}
+
+static struct enqueued_task *get_enqueued_task(__s32 pid)
+{
+	if (pid >= USERLAND_MAX_TASKS)
+		return NULL;
+
+	return &tasks[pid];
+}
+
+static double calc_vruntime_delta(__u64 weight, __u64 delta)
+{
+	double weight_f = (double)weight / 100.0;
+	double delta_f = (double)delta;
+
+	return delta_f / weight_f;
+}
+
+static void update_enqueued(struct enqueued_task *enqueued, const struct scx_userland_enqueued_task *bpf_task)
+{
+	__u64 delta;
+
+	delta = bpf_task->sum_exec_runtime - enqueued->sum_exec_runtime;
+
+	enqueued->vruntime += calc_vruntime_delta(bpf_task->weight, delta);
+	if (min_vruntime > enqueued->vruntime)
+		enqueued->vruntime = min_vruntime;
+	enqueued->sum_exec_runtime = bpf_task->sum_exec_runtime;
+}
+
+static int vruntime_enqueue(const struct scx_userland_enqueued_task *bpf_task)
+{
+	struct enqueued_task *curr, *enqueued, *prev;
+
+	curr = get_enqueued_task(bpf_task->pid);
+	if (!curr)
+		return ENOENT;
+
+	update_enqueued(curr, bpf_task);
+	nr_vruntime_enqueues++;
+
+	/*
+	 * Enqueue the task in a vruntime-sorted list. A more optimal data
+	 * structure such as an rbtree could easily be used as well. We elect
+	 * to use a list here simply because it's less code, and thus the
+	 * example is less convoluted and better serves to illustrate what a
+	 * user space scheduler could look like.
+	 */
+
+	if (LIST_EMPTY(&vruntime_head)) {
+		LIST_INSERT_HEAD(&vruntime_head, curr, entries);
+		return 0;
+	}
+
+	LIST_FOREACH(enqueued, &vruntime_head, entries) {
+		if (curr->vruntime <= enqueued->vruntime) {
+			LIST_INSERT_BEFORE(enqueued, curr, entries);
+			return 0;
+		}
+		prev = enqueued;
+	}
+
+	LIST_INSERT_AFTER(prev, curr, entries);
+
+	return 0;
+}
+
+static void drain_enqueued_map(void)
+{
+	while (1) {
+		struct scx_userland_enqueued_task task;
+		int err;
+
+		if (bpf_map_lookup_and_delete_elem(enqueued_fd, NULL, &task))
+			return;
+
+		err = vruntime_enqueue(&task);
+		if (err) {
+			fprintf(stderr, "Failed to enqueue task %d: %s\n",
+				task.pid, strerror(err));
+			exit_req = 1;
+			return;
+		}
+	}
+}
+
+static void dispatch_batch(void)
+{
+	__u32 i;
+
+	for (i = 0; i < batch_size; i++) {
+		struct enqueued_task *task;
+		int err;
+		__s32 pid;
+
+		task = LIST_FIRST(&vruntime_head);
+		if (!task)
+			return;
+
+		min_vruntime = task->vruntime;
+		pid = task_pid(task);
+		LIST_REMOVE(task, entries);
+		err = dispatch_task(pid);
+		if (err) {
+			fprintf(stderr, "Failed to dispatch task %d in %u\n",
+				pid, i);
+			return;
+		}
+	}
+}
+
+static void *run_stats_printer(void *arg)
+{
+	while (!exit_req) {
+		__u64 nr_failed_enqueues, nr_kernel_enqueues, nr_user_enqueues, total;
+
+		nr_failed_enqueues = skel->bss->nr_failed_enqueues;
+		nr_kernel_enqueues = skel->bss->nr_kernel_enqueues;
+		nr_user_enqueues = skel->bss->nr_user_enqueues;
+		total = nr_failed_enqueues + nr_kernel_enqueues + nr_user_enqueues;
+
+		printf("o-----------------------o\n");
+		printf("| BPF ENQUEUES          |\n");
+		printf("|-----------------------|\n");
+		printf("|  kern:     %10llu |\n", nr_kernel_enqueues);
+		printf("|  user:     %10llu |\n", nr_user_enqueues);
+		printf("|  failed:   %10llu |\n", nr_failed_enqueues);
+		printf("|  -------------------- |\n");
+		printf("|  total:    %10llu |\n", total);
+		printf("|                       |\n");
+		printf("|-----------------------|\n");
+		printf("| VRUNTIME / USER       |\n");
+		printf("|-----------------------|\n");
+		printf("|  enq:      %10llu |\n", nr_vruntime_enqueues);
+		printf("|  disp:     %10llu |\n", nr_vruntime_dispatches);
+		printf("o-----------------------o\n");
+		printf("\n\n");
+		sleep(1);
+	}
+
+	return NULL;
+}
+
+static int spawn_stats_thread(void)
+{
+	pthread_t stats_printer;
+
+	return pthread_create(&stats_printer, NULL, run_stats_printer, NULL);
+}
+
+static int bootstrap(int argc, char **argv)
+{
+	int err;
+	__u32 opt;
+	struct sched_param sched_param = {
+		.sched_priority = sched_get_priority_max(SCHED_EXT),
+	};
+	bool switch_all = false;
+
+	signal(SIGINT, sigint_handler);
+	signal(SIGTERM, sigint_handler);
+	libbpf_set_strict_mode(LIBBPF_STRICT_ALL);
+
+	/*
+	 * Enforce that the user scheduler task is managed by sched_ext. The
+	 * task eagerly drains the list of enqueued tasks in its main work
+	 * loop, and then yields the CPU. The BPF scheduler only schedules the
+	 * user space scheduler task when at least one other task in the system
+	 * needs to be scheduled.
+	 */
+	err = syscall(__NR_sched_setscheduler, getpid(), SCHED_EXT, &sched_param);
+	if (err) {
+		fprintf(stderr, "Failed to set scheduler to SCHED_EXT: %s\n", strerror(err));
+		return err;
+	}
+
+	while ((opt = getopt(argc, argv, "ahb:")) != -1) {
+		switch (opt) {
+		case 'a':
+			switch_all = true;
+			break;
+		case 'b':
+			batch_size = strtoul(optarg, NULL, 0);
+			break;
+		default:
+			fprintf(stderr, help_fmt, basename(argv[0]));
+			exit(opt != 'h');
+		}
+	}
+
+	/*
+	 * It's not always safe to allocate in a user space scheduler, as an
+	 * enqueued task could hold a lock that we require in order to be able
+	 * to allocate.
+	 */
+	err = mlockall(MCL_CURRENT | MCL_FUTURE);
+	if (err) {
+		fprintf(stderr, "Failed to prefault and lock address space: %s\n",
+			strerror(err));
+		return err;
+	}
+
+	skel = scx_example_userland__open();
+	if (!skel) {
+		fprintf(stderr, "Failed to open scheduler: %s\n", strerror(errno));
+		return errno;
+	}
+	skel->rodata->num_possible_cpus = libbpf_num_possible_cpus();
+	assert(skel->rodata->num_possible_cpus > 0);
+	skel->rodata->usersched_pid = getpid();
+	assert(skel->rodata->usersched_pid > 0);
+	skel->rodata->switch_all = switch_all;
+
+	err = scx_example_userland__load(skel);
+	if (err) {
+		fprintf(stderr, "Failed to load scheduler: %s\n", strerror(err));
+		goto destroy_skel;
+	}
+
+	enqueued_fd = bpf_map__fd(skel->maps.enqueued);
+	dispatched_fd = bpf_map__fd(skel->maps.dispatched);
+	assert(enqueued_fd > 0);
+	assert(dispatched_fd > 0);
+
+	err = spawn_stats_thread();
+	if (err) {
+		fprintf(stderr, "Failed to spawn stats thread: %s\n", strerror(err));
+		goto destroy_skel;
+	}
+
+	ops_link = bpf_map__attach_struct_ops(skel->maps.userland_ops);
+	if (!ops_link) {
+		fprintf(stderr, "Failed to attach struct ops: %s\n", strerror(errno));
+		err = errno;
+		goto destroy_skel;
+	}
+
+	return 0;
+
+destroy_skel:
+	scx_example_userland__destroy(skel);
+	exit_req = 1;
+	return err;
+}
+
+static void sched_main_loop(void)
+{
+	while (!exit_req) {
+		/*
+		 * Perform the following work in the main user space scheduler
+		 * loop:
+		 *
+		 * 1. Drain all tasks from the enqueued map, and enqueue them
+		 *    to the vruntime sorted list.
+		 *
+		 * 2. Dispatch a batch of tasks from the vruntime sorted list
+		 *    down to the kernel.
+		 *
+		 * 3. Yield the CPU back to the system. The BPF scheduler will
+		 *    reschedule the user space scheduler once another task has
+		 *    been enqueued to user space.
+		 */
+		drain_enqueued_map();
+		dispatch_batch();
+		sched_yield();
+	}
+}
+
+int main(int argc, char **argv)
+{
+	int err;
+
+	err = bootstrap(argc, argv);
+	if (err) {
+		fprintf(stderr, "Failed to bootstrap scheduler: %s\n", strerror(err));
+		return err;
+	}
+
+	sched_main_loop();
+
+	exit_req = 1;
+	bpf_link__destroy(ops_link);
+	uei_print(&skel->bss->uei);
+	scx_example_userland__destroy(skel);
+	return 0;
+}
diff --git a/tools/sched_ext/scx_example_userland_common.h b/tools/sched_ext/scx_example_userland_common.h
new file mode 100644
index 000000000000..639c6809c5ff
--- /dev/null
+++ b/tools/sched_ext/scx_example_userland_common.h
@@ -0,0 +1,19 @@
+// SPDX-License-Identifier: GPL-2.0
+/* Copyright (c) 2022 Meta, Inc */
+
+#ifndef __SCX_USERLAND_COMMON_H
+#define __SCX_USERLAND_COMMON_H
+
+#define USERLAND_MAX_TASKS 8192
+
+/*
+ * An instance of a task that has been enqueued by the kernel for consumption
+ * by a user space global scheduler thread.
+ */
+struct scx_userland_enqueued_task {
+	__s32 pid;
+	u64 sum_exec_runtime;
+	u64 weight;
+};
+
+#endif  // __SCX_USERLAND_COMMON_H
-- 
2.38.1

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