blkcg: implement blk-iocost

This patchset implements IO cost model based work-conserving
proportional controller.

While io.latency provides the capability to comprehensively prioritize
and protect IOs depending on the cgroups, its protection is binary -
the lowest latency target cgroup which is suffering is protected at
the cost of all others.  In many use cases including stacking multiple
workload containers in a single system, it's necessary to distribute
IO capacity with better granularity.

One challenge of controlling IO resources is the lack of trivially
observable cost metric.  The most common metrics - bandwidth and iops
- can be off by orders of magnitude depending on the device type and
IO pattern.  However, the cost isn't a complete mystery.  Given
several key attributes, we can make fairly reliable predictions on how
expensive a given stream of IOs would be, at least compared to other
IO patterns.

The function which determines the cost of a given IO is the IO cost
model for the device.  This controller distributes IO capacity based
on the costs estimated by such model.  The more accurate the cost
model the better but the controller adapts based on IO completion
latency and as long as the relative costs across differents IO
patterns are consistent and sensible, it'll adapt to the actual
performance of the device.

Currently, the only implemented cost model is a simple linear one with
a few sets of default parameters for different classes of device.
This covers most common devices reasonably well.  All the
infrastructure to tune and add different cost models is already in
place and a later patch will also allow using bpf progs for cost
models.

Please see the top comment in blk-iocost.c and documentation for
more details.

v2: Rebased on top of RQ_ALLOC_TIME changes and folded in Rik's fix
    for a divide-by-zero bug in current_hweight() triggered by zero
    inuse_sum.

Signed-off-by: Tejun Heo <tj@kernel.org>
Cc: Andy Newell <newella@fb.com>
Cc: Josef Bacik <jbacik@fb.com>
Cc: Rik van Riel <riel@surriel.com>
Signed-off-by: Jens Axboe <axboe@kernel.dk>

Documentation/admin-guide/cgroup-v2.rst

@@ -1435,6 +1435,100 @@ IO Interface Files
 	  8:16 rbytes=1459200 wbytes=314773504 rios=192 wios=353 dbytes=0 dios=0
 	  8:0 rbytes=90430464 wbytes=299008000 rios=8950 wios=1252 dbytes=50331648 dios=3021
 
+  io.cost.qos
+	A read-write nested-keyed file with exists only on the root
+	cgroup.
+
+	This file configures the Quality of Service of the IO cost
+	model based controller (CONFIG_BLK_CGROUP_IOCOST) which
+	currently implements "io.weight" proportional control.  Lines
+	are keyed by $MAJ:$MIN device numbers and not ordered.  The
+	line for a given device is populated on the first write for
+	the device on "io.cost.qos" or "io.cost.model".  The following
+	nested keys are defined.
+
+	  ======	=====================================
+	  enable	Weight-based control enable
+	  ctrl		"auto" or "user"
+	  rpct		Read latency percentile    [0, 100]
+	  rlat		Read latency threshold
+	  wpct		Write latency percentile   [0, 100]
+	  wlat		Write latency threshold
+	  min		Minimum scaling percentage [1, 10000]
+	  max		Maximum scaling percentage [1, 10000]
+	  ======	=====================================
+
+	The controller is disabled by default and can be enabled by
+	setting "enable" to 1.  "rpct" and "wpct" parameters default
+	to zero and the controller uses internal device saturation
+	state to adjust the overall IO rate between "min" and "max".
+
+	When a better control quality is needed, latency QoS
+	parameters can be configured.  For example::
+
+	  8:16 enable=1 ctrl=auto rpct=95.00 rlat=75000 wpct=95.00 wlat=150000 min=50.00 max=150.0
+
+	shows that on sdb, the controller is enabled, will consider
+	the device saturated if the 95th percentile of read completion
+	latencies is above 75ms or write 150ms, and adjust the overall
+	IO issue rate between 50% and 150% accordingly.
+
+	The lower the saturation point, the better the latency QoS at
+	the cost of aggregate bandwidth.  The narrower the allowed
+	adjustment range between "min" and "max", the more conformant
+	to the cost model the IO behavior.  Note that the IO issue
+	base rate may be far off from 100% and setting "min" and "max"
+	blindly can lead to a significant loss of device capacity or
+	control quality.  "min" and "max" are useful for regulating
+	devices which show wide temporary behavior changes - e.g. a
+	ssd which accepts writes at the line speed for a while and
+	then completely stalls for multiple seconds.
+
+	When "ctrl" is "auto", the parameters are controlled by the
+	kernel and may change automatically.  Setting "ctrl" to "user"
+	or setting any of the percentile and latency parameters puts
+	it into "user" mode and disables the automatic changes.  The
+	automatic mode can be restored by setting "ctrl" to "auto".
+
+  io.cost.model
+	A read-write nested-keyed file with exists only on the root
+	cgroup.
+
+	This file configures the cost model of the IO cost model based
+	controller (CONFIG_BLK_CGROUP_IOCOST) which currently
+	implements "io.weight" proportional control.  Lines are keyed
+	by $MAJ:$MIN device numbers and not ordered.  The line for a
+	given device is populated on the first write for the device on
+	"io.cost.qos" or "io.cost.model".  The following nested keys
+	are defined.
+
+	  =====		================================
+	  ctrl		"auto" or "user"
+	  model		The cost model in use - "linear"
+	  =====		================================
+
+	When "ctrl" is "auto", the kernel may change all parameters
+	dynamically.  When "ctrl" is set to "user" or any other
+	parameters are written to, "ctrl" become "user" and the
+	automatic changes are disabled.
+
+	When "model" is "linear", the following model parameters are
+	defined.
+
+	  =============	========================================
+	  [r|w]bps	The maximum sequential IO throughput
+	  [r|w]seqiops	The maximum 4k sequential IOs per second
+	  [r|w]randiops	The maximum 4k random IOs per second
+	  =============	========================================
+
+	From the above, the builtin linear model determines the base
+	costs of a sequential and random IO and the cost coefficient
+	for the IO size.  While simple, this model can cover most
+	common device classes acceptably.
+
+	The IO cost model isn't expected to be accurate in absolute
+	sense and is scaled to the device behavior dynamically.
+
   io.weight
 	A read-write flat-keyed file which exists on non-root cgroups.
 	The default is "default 100".

block/Kconfig

@@ -135,6 +135,16 @@ config BLK_CGROUP_IOLATENCY
 
 	Note, this is an experimental interface and could be changed someday.
 
+config BLK_CGROUP_IOCOST
+	bool "Enable support for cost model based cgroup IO controller"
+	depends on BLK_CGROUP=y
+	select BLK_RQ_ALLOC_TIME
+	---help---
+	Enabling this option enables the .weight interface for cost
+	model based proportional IO control.  The IO controller
+	distributes IO capacity between different groups based on
+	their share of the overall weight distribution.
+
 config BLK_WBT_MQ
 	bool "Multiqueue writeback throttling"
 	default y

block/Makefile

@@ -18,6 +18,7 @@ obj-$(CONFIG_BLK_DEV_BSGLIB)	+= bsg-lib.o
 obj-$(CONFIG_BLK_CGROUP)	+= blk-cgroup.o
 obj-$(CONFIG_BLK_DEV_THROTTLING)	+= blk-throttle.o
 obj-$(CONFIG_BLK_CGROUP_IOLATENCY)	+= blk-iolatency.o
+obj-$(CONFIG_BLK_CGROUP_IOCOST)	+= blk-iocost.o
 obj-$(CONFIG_MQ_IOSCHED_DEADLINE)	+= mq-deadline.o
 obj-$(CONFIG_MQ_IOSCHED_KYBER)	+= kyber-iosched.o
 bfq-y				:= bfq-iosched.o bfq-wf2q.o bfq-cgroup.o