Elements of Computing Systems, Nisan & Schocken, MIT Press www.idc.ac.il/tecs

(1)

Operating Systems

Elements of Computing Systems, Nisan & Schocken, MIT Press www.idc.ac.il/tecs

www.nand2tetris.org

Building a Modern Computer From First Principles

(2)

Elements of Computing Systems, Nisan & Schocken, MIT Press, www.nand2tetris.org, Chapter 12: Operating System slide 2

Where we are at:

Assembler Chapter 6

H.L. Language

&

Operating Sys.

abstract interface

Compiler

Chapters 10 - 11

VM Translator

Chapters 7 - 8

Computer Architecture

Chapters 4 - 5

Gate Logic

Chapters 1 - 3

Electrical

Engineering

Physics Virtual

Machine

abstract interface

Software hierarchy

Assembly Language

abstract interface

Hardware hierarchy

Machine Language

abstract interface

Hardware Platform

abstract interface

Chips &

Logic Gates

abstract interface

Human Thought

Abstract design

Chapters 9, 12

(3)

Operating system

A software layer to

 manage resources

 provide an abstract interface to application developers

Applications OS

Hardware

(4)

Typical OS functions

Language extensions / standard library

 Mathematical operations (abs, sqrt, ...)

 Abstract data types (String, Date, ...)

 Output functions

(printChar, printString ...)

 Input functions

(readChar, readLine ...)

 Graphics functions

(drawPixel, drawCircle, ...)

 And more ...

System-oriented services

 Memory management (objects, arrays, ...)

 I/O device drivers

 Mass storage

 File system

 Multi-tasking

 UI management (shell / windows)

 Security

 Communications

 And more ...

(5)

Jack revisited

/ Computes the average of a sequence of integers. */**

class Main {

function void main() { var Array a;

var int length;

var int i, sum;

let length = Keyboard.readInt(”How many numbers? ”);

let a = Array.new(length); // Constructs the array let i = 0;

while (i < length) {

let a[i] = Keyboard.readInt(”Enter the next number: ”);

let sum = sum + a[i];

let i = i + 1;

}

do Output.printString(”The average is: ”);

do Output.printInt(sum / length);

do Output.println();

return;

}

(6)

Jack revisited

/ Computes the average of a sequence of integers. */**

class Main {

function void main() { var Array a;

var int length;

var int i, sum;

let length = Keyboard.readInt(”How many numbers? ”);

let a = Array.new(length); // Constructs the array let i = 0;

while (i < length) {

let a[i] = Keyboard.readInt(”Enter the next number: ”);

let sum = sum + a[i];

let i = i + 1;

}

do Output.printString(”The average is: ”);

do Output.printInt(sum / length);

do Output.println();

return;

}

(7)

The Jack OS

 Math : Provides basic mathematical operations;

 String : Implements the String type and related operations;

 Array : Implements the Array type and related operations;

 Output : Handles text output to the screen;

 Screen : Handles graphic output to the screen;

 Keyboard : Handles user input from the keyboard;

 Memory : Handles memory operations;

 Sys : Provides some execution-related services.

(8)

class Math {

function void init() function int abs(int x)

function int multiply(int x, int y) function int divide(int x, int y) function int min(int x, int y) function int max(int x, int y) function int sqrt(int x)

}

Jack OS API

(9)

Class String {

constructor String new(int maxLength) method void dispose()

method int length()

method char charAt(int j)

method void setCharAt(int j, char c) method String appendChar(char c)

method void eraseLastChar() method int intValue()

method void setInt(int j) function char backSpace() function char doubleQuote() function char newLine()

}

Jack OS API

(10)

Class Array {

function Array new(int size) method void dispose()

}

class Memory {

function int peek(int address)

function void poke(int address, int value) function Array alloc(int size)

function void deAlloc(Array o) }

Jack OS API

(11)

class Output {

function void moveCursor(int i, int j) function void printChar(char c)

function void printString(String s) function void printInt(int i)

function void println() function void backSpace() }

Class Screen {

function void clearScreen()

function void setColor(boolean b)

function void drawPixel(int x, int y)

function void drawLine(int x1, int y1, int x2, int y2)

function void drawRectangle(int x1, int y1, int x2, int y2) function void drawCircle(int x, int y, int r)

Jack OS API

(12)

Class Keyboard {

function char keyPressed() function char readChar()

function String readLine(String message) function int readInt(String message)

}

Class Sys {

function void halt():

function void error(int errorCode) function void wait(int duration) }

Jack OS API

(13)

A typical OS:

 Is modular and scalable

 Empowers programmers (language extensions)

 Empowers users (file system, GUI, ...)

 Closes gaps between software and hardware

 Runs in “protected mode”

 Typically written in some high level language

 Typically grows gradually, assuming more and more functions

 Must be efficient.

(14)

Efficiency

We have to implement various operations on n-bit binary numbers (n = 16, 32, 64, ...).

For example, consider multiplication

 Naïve algorithm: to multiply x*y: { for i = 1 ... y do sum = sum + x } Run-time is proportional to y

In a 64-bit system, y can be as large as 2 ^64.

Multiplications can take years to complete

 Algorithms that operate on n-bit inputs can be either:

 Naïve: run-time is proportional to the value of the n-bit inputs

 Good: run-time is proportional to n, the input’s size.

(15)

 Run-time: proportional to n

 Can be implemented in SW or HW

 Division: similar idea.

Example I: multiplication

(16)

Division

 Run-time: proportional to n instead of y

(17)

Example II: square root

The square root function has two convenient properties:

 It’s inverse function is computed easily

 Monotonically increasing

Functions that have these two properties can be computed by binary search:

Number of loop iterations is bounded by n/2, thus the run-time is O(n).

(18)

Complexity

(19)

Complexity

(20)

Donald Knuth 高德納

 Born in 1938

 Author of “The Art of Computer Programming”

《美國科學家》（

American Scientist

）雜誌曾將該書與愛因斯坦的《相對論》、狄拉克的《量子力學》、理查

_∙

費曼的《量子電動力學》等書並列為

20

世紀最重要的

₁₂

本物理科學類專論書之一。

 Creator of Tex and metafont

 Turing Award, 1974

 $2.56 check

(21)

Math operations (in the Jack OS)

class Math {

function void init() function int abs(int x)

function int multiply(int x, int y) function int divide(int x, int y) function int min(int x, int y) function int max(int x, int y) function int sqrt(int x)

}



class Math { class String {

class Array { class Output {

class Screen { class Memory {

class Keyboard { class Sys {

function (…)

… }

The remaining functions are simple to implement.

(22)

String processing ⁽ in the Jack OS)

Class String {

constructor String new(int maxLength) method void dispose()

method int length()

method char charAt(int j)

method void setCharAt(int j, char c) method String appendChar(char c)

method void eraseLastChar() method int intValue()

method void setInt(int j) function char backSpace() function char doubleQuote() function char newLine()

}

function (…)

… }

(23)

Single digit ASCII conversions

 asciiCode(digit) == digit + 48

 digit(asciiCode) == asciiCode - 48

(24)

 SingleDigit–to-character conversions: done

 Number–to-string conversions:

Converting a number to a string

(25)

 SingleDigit–to-character conversions: done

 Number–to-string conversions:

Converting a number to a string

(26)

Memory management ⁽ in the Jack OS )

class Memory {

function int peek(int address)

function void poke(int address, int value) function Array alloc(int size)

function void deAlloc(Array o) }

function (…)

… }

(27)

 The data structure that this algorithm manages is a single pointer: free.

Memory management (naive)

 When a program constructs (destructs) an object, the OS has to allocate (de-allocate) a RAM block on the heap:

 alloc(size): returns a reference to a free RAM block of size size

 deAlloc(object): recycles the RAM block that object refers to

(28)

Memory management (improved)

(29)

Peek and poke

class Memory {

function int peek(int address)

function void poke(int address, int value) function Array alloc(int size)

function void deAlloc(Array o) }

 Implementation: based on our ability to exploit exotic casting in Jack:

(30)

Graphics primitives ⁽ in the Jack OS )

Class Screen {

function void clearScreen()

function void setColor(boolean b)

function void drawPixel(int x, int y)

function void drawLine(int x1, int y1, int x2, int y2)

function void drawRectangle(int x1, int y1,int x2, int y2) function void drawCircle(int x, int y, int r)

}

function (…)

… }

(31)

Memory-mapped screen

0 1

255 . . .

. . .

0 1 2 3 4 5 6 7 511

0011000000000000 0000000000000000

0000000000000000 0

1

31 . . .

row 0

0001110000000000 0000000000000000

0000000000000000 32

33

63 . .

. row 1

0100100000000000 0000000000000000

0000000000000000 8129

8130

8160

. . .

row 255

. . . . . .

. . . .

. .

refresh several times each second

mapBase

Memory Screen

(32)

Pixel drawing

 Implementation: using poke(address,value)

screen memory map program

application physical

screen refresh

mechanism screen

driver

part of the operating system

part of the

hardware

(33)

Image representation: bitmap versus vector graphics

 Bitmap file: 00100, 01010,01010,10001,11111,10001,00000, . . .

 Vector graphics file: drawLine(2,0,0,5), drawLine(2,0,4,5), drawLine(1,4,3,4)

Pros and cons of each method.

(0,0)

vector bitmap

pixel

(34)

Vector graphics: basic operations

drawPixel(x,y)

drawCircle(x,y,r)

drawLine(x1,y1,x2,y2)

drawRectangle(x1,y1,x2,y2)

1 2 3 4 5 6 7 8 9

0 1 2 3 4 5 6 7 8 9 10 11 12 13 0

drawLine(0,3,0,11)

drawRectangle(1,3,5,9) drawLine(1,12,2,12) drawLine(3,10,3,11) drawLine(6,4,6,9) drawLine(7,0,7,12) drawLine(8,1,8,12)

(Primitive operation)

drawTriangle(x1,y1,x2,y2,x3,y3) etc. (a few more similar operations)

1 2 3 . . .

0 1 2 3 . . . 0

Screen =

grid of pixels

(35)

How to draw a line?

drawLine(x1,y1,x2,y2)

 Basic idea: drawLine is implemented through a sequence of drawPixel operations

 Challenge 1: which pixels should be drawn ?

 Challenge 2: how to draw the line fast ?

 Simplifying assumption: the line that we are asked to draw goes

north-east.

(36)

Line Drawing

 Given: drawLine(x1,y1,x2,y2)

 Notation: x=x1, y=y1, dx=x2-x1, dy=y2-y1

 Using the new notation:

We are asked to draw a line between (x,y) and (x+dx,y+dy)

set (a,b) = (0,0)

while there is more work to do drawPixel(x+a,y+b)

decide if you want to go right, or up if you decide to go right, set a=a+1;

if you decide to go up, set b=b+1

set (a,b) = (0,0)

while (a ≤ dx) and (b ≤ dy) drawPixel(x+a,y+b)

decide if you want to go right, or up if you decide to go right, set a=a+1;

if you decide to go up, set b=b+1

(37)

Line Drawing algorithm

drawLine(x,y,x+dx,y+dy) set (a,b) = (0,0)

while (a ≤ dx) and (b ≤ dy) drawPixel(x+a,y+b)

decide if you want to go right, or up if you decide to go right, set a=a+1;

if you decide to go up, set b=b+1

drawLine(x,y,x+dx,y+dy) set (a,b) = (0,0)

while (a ≤ dx) and (b ≤ dy) drawPixel(x+a,y+b)

if b/a > dy/dx set a=a+1

else set b=b+1

costy

(38)

Line Drawing algorithm, optimized

b/a > dy/dx is the same as ady < bdx Define diff = ady – bdx

Let’s take a close look at this diff:

1. b/a > dy/dx is the same as diff < 0

2. When we set (a,b)=(0,0), diff = 0

3. When we set a=a+1, diff goes up by dy

4. When we set b=b+1, diff goes down by dx drawLine(x,y,x+dx,y+dy)

set (a,b) = (0,0)

while (a ≤ dx) and (b ≤ dy) drawPixel(x+a,y+b)

if b/a > dy/dx set a=a+1 else set b=b+1

drawLine(x,y,x+dx,y+dy) set (a,b) = (0,0), diff = 0 while (a ≤ dx) and (b ≤ dy)

drawPixel(x+a,y+b)

if diff < 0 set a=a+1, diff = diff + dx else set b=b+1, diff = diff - dy

Motivation

 When you draw polygons, e.g. in animation or video, you need to draw millions of lines

 Therefore, drawLine must be ultra fast

 Division is a very slow operation

 Addition is ultra fast (hardware based)

(39)

Circle drawing

The screen

origin (0,0)

is at the top

left.

(40)

 To do vector graphics (e.g. display a PPT file), you have to draw polygons

 To draw polygons, you need to draw lines

 To draw lines, you need to divide

 Division can be

re-expressed as multiplication

 Multiplication can be reduced to addition

 Addition is easy.

To sum up (vector graphics)…

(41)

Ivan Sutherland

 Born in 1938

 PhD dissertation on Sketchpad (3D demo), 1963 one of the most influential computer programs ever written. This work was seminal in Human-Computer Interaction, Graphics and Graphical User Interfaces (GUIs), Computer Aided Design (CAD), and

contraint/object-oriented programming.

TX-2 computer (built circa 1958) on which the software ran was built from discrete transistors (not integrated circuits -it was room-sized) and contained just 64K of 36-bit words (~272k bytes).

 PhD advisor: Claude Shannon

 Father of computer graphics

 Turing Award, 1988

(42)

Character output primitives ⁽ in the Jack OS )

class Output {

function void moveCursor(int i, int j) function void printChar(char c)

function void printString(String s) function void printInt(int i)

function void println() function void backSpace() }

function (…)

… }

(43)

Character output

 Given display: a physical screen, say 256 rows by 512 columns

 We can allocate an 11 by 8 grid for each character

 Hence, our output package should manage a 23 lines by 64 characters screen

 Font: each displayable character must have an agreed-upon bitmap

 In addition, we have to manage a “cursor”.

(44)

class Output {

static Array charMaps;

function void initMap() {

let charMaps = Array.new(127);

// Assign a bitmap for each character

do Output.create(32,0,0,0,0,0,0,0,0,0,0,0); // space do Output.create(33,12,30,30,30,12,12,0,12,12,0,0); // !

do Output.create(34,54,54,20,0,0,0,0,0,0,0,0); // “ do Output.create(35,0,18,18,63,18,18,63,18,18,0,0); // # ...

do Output.create(48,12,30,51,51,51,51,51,30,12,0,0); // 0 do Output.create(49,12,14,15,12,12,12,12,12,63,0,0); // 1 do Output.create(50,30,51,48,24,12,6,3,51,63,0,0); // 2 . . .

do Output.create(65,0,0,0,0,0,0,0,0,0,0,0); // A **

TO BE FILLED **

do Output.create(66,31,51,51,51,31,51,51,51,31,0,0); // B do Output.create(67,28,54,35,3,3,3,35,54,28,0,0); // C . . .

return;

}

Font implementation ⁽ in the Jack OS )

(45)

Font implementation ⁽ in the Jack OS )

// Creates a character map array

function void create(int index, int a, int b, int c, int d, int e, int f, int g, int h, int i, int j, int k) { var Array map;

let map = Array.new(11);

let charMaps[index] = map;

let map[0] = a;

let map[1] = b;

let map[2] = c;

...

let map[10] = k;

return;

}

(46)

Keyboard primitives ⁽ in the Jack OS )

Class Keyboard {

function char keyPressed() function char readChar()

function String readLine(String message) function int readInt(String message) }

function (…)

… }

(47)

Keyboard input

 If the RAM address of the keyboard’s memory map is known, the above logic can be implemented using a peek function

 Problem I: the elapsed time between a “key press” and key release”

events is unpredictable

 Problem II: when pressing a key, the user should get some visible

feedback (cursor, echo, ...).

(48)

A historic moment remembered

… Wozniak began writing the software that would get the microprocessor to display images on the screen. After a couple of month he was ready to test it. “I typed a few keys on the keyboard and I was shocked!

The letters were displayed on the screen.”

It was Sunday, June 29, 1975, a milestone for the personal computer. “It was the first time in history,” Wozniak later said,

“anyone had typed a character on a

keyboard and seen it show up on their own computer’s screen right in front of them”

(Steve Jobs, by Walter Isaacson, 2012)

(49)

Keyboard input ^(cont.)

(50)

Keyboard input ^(cont.)

(51)

Jack OS recap

class Math {

function void init() function int abs(int x)

Class String { Class Array {

function Array new(int size) method void dispose()

}

class Output {

Class Screen {

class Memory {

function int peek(int address) Class Keyboard {

Class Sys {

function void halt():

function void error(int errorCode) function void wait(int duration) }

Project 12:

Build it.

 Implementation: just like GNU Unix and Linux were built:

 Start with an existing system,

and gradually replace it with a new system,

one library at a time.

(52)

Perspective

 What we presented can be described as a:

 mini OS

 Standard library

 Many classical OS functions are missing

 No separation between user mode and OS mode

 Some algorithms (e.g. multiplication and division) are standard

 Other algorithms (e.g. line- and circle-drawing) can be accelerated with special hardware

 And, by the way, we’ve just finished building the computer.

(53)

Operating system

A software layer to

 manage resources

 provide an abstract interface to application developers

Applications OS

Hardware

(54)

Operating system

 An OS mediates programs’ access to hardware resources

 Computation (CPU)

 Volatile storage (memory) and persistent storage (disk, etc.)

 Network communications (TCP/IP stacks, ethernet cards, etc.)

 Input/output devices (keyboard, display, sound card, etc.)

 The OS abstracts hardware into logical resources and well-defined interfaces to those resources

 processes (CPU, memory)

 files (disk)

 sockets (network)

(55)

OS as a resource manager

(56)

A detailed view of OS

Slide by Tom Anderson

(57)

OS History

(58)

Increasing software complexity

(59)

Computer Performance Over Time

(60)

OS Challenges

 Performance

 Latency/response time

 How long does an operation take to complete?

 Throughput

 How many operations can be done per unit of time?

 Overhead

 How much extra work is done by the OS?

 Fairness

 How equal is the performance received by different users?

 Predictability

 How consistent is the performance over time?

Slide by Tom Anderson

(61)

Booting

 The bootstrap program and other basic input/output functions are contained in a special ROM, called BIOS (basic input/output system)

 A program stored in ROM is called firmware.

(62)

Process switching

(63)

Process and context switching

 When to switch?

 Call system service

 Interrupts (e.g. time slice)

 Switch to which process?

 Scheduling: first-com- first-serve, shortest job first, round robin …

 What to store/restore?

 Basically registers

 Competition to resource

 Semaphore

 Critical section

(64)

64 Memory management

(65)

Segmentation hardware

 Each process has its own segment table managed by OS.

(66)

Paging hardware

(67)

Paging example

(68)

Virtual memory

 The page could locate on the disk

=> virtual memory

(69)

Root directory

bin cse

faculty grads

ls ps cp csh

Hierarchical file systems

elm sbrandt kag amer4

stuff

classes research

stuff

(70)

Storage

1956 IBM RAMDAC computer included the IBM Model 350 disk storage system (5M)

Hard Disk

Solid State Disk

(71)

數位電子與數位電路 (二上)

數位系統與實驗(二下) 計算機結構(三上)

自動機與形式語言(三上) 作業系統(二下)

Compiler

The tour map

Assembler Chapter 6

H.L. Language

&

Operating Sys.

abstract interface

Compiler

Chapters 10 - 11

VM Translator

Chapters 7 - 8

Computer Architecture

Chapters 4 - 5

Gate Logic

Chapters 1 - 3

Electrical

Engineering

Physics Virtual

Machine

abstract interface

Software hierarchy

Assembly Language

abstract interface

Hardware hierarchy

Machine Language

abstract interface

Hardware Platform

abstract interface

Chips &

Logic Gates

abstract interface

Human Thought

Abstract design

Chapters 9, 12

Course overview:

Building this world, from the ground up

資料結構與演算法(一下)，演算法設計與分析(二上) 系統程式設計(二上) ，計算機網路(三上)

線性代數 (二上)，機率 (二上)

Elements of Computing Systems, Nisan & Schocken, MIT Press www.idc.ac.il/tecs

Operating Systems