runtime: map every goroutine to a new OS thread

This is not a scheduler in the runtime, instead every goroutine is
mapped to a single OS thread - meaning 1:1 scheduling.

While this may not perform well (or at all) for large numbers of
threads, it greatly simplifies many things in the runtime. For example,
blocking syscalls can be called directly instead of having to use epoll
or similar. Also, we don't need to do anything special to call C code -
the default stack is all we need.

src/internal/task/task_threads.go

@@ -0,0 +1,275 @@
+//go:build scheduler.threads
+
+package task
+
+import (
+	"sync/atomic"
+	"unsafe"
+)
+
+// If true, print verbose debug logs.
+const verbose = false
+
+// Scheduler-specific state.
+type state struct {
+	// Goroutine ID. The number here is not really significant and after a while
+	// it could wrap around. But it is useful for debugging.
+	id uintptr
+
+	// Thread ID, pthread_t or similar (typically implemented as a pointer).
+	thread threadID
+
+	// Highest address of the stack. It is stored when the goroutine starts, and
+	// is needed to be able to scan the stack.
+	stackTop uintptr
+
+	// Next task in the activeTasks queue.
+	QueueNext *Task
+
+	// Semaphore to pause/resume the thread atomically.
+	pauseSem Semaphore
+
+	// Semaphore used for stack scanning.
+	// We can't reuse pauseSem here since the thread might have been paused for
+	// other reasons (for example, because it was waiting on a channel).
+	gcSem Semaphore
+}
+
+// Goroutine counter, starting at 0 for the main goroutine.
+var goroutineID uintptr
+
+var mainTask Task
+
+// Queue of tasks (see QueueNext) that currently exist in the program.
+var activeTasks = &mainTask
+var activeTaskLock PMutex
+
+func OnSystemStack() bool {
+	runtimePanic("todo: task.OnSystemStack")
+	return false
+}
+
+// Initialize the main goroutine state. Must be called by the runtime on
+// startup, before starting any other goroutines.
+func Init(sp uintptr) {
+	mainTask.state.stackTop = sp
+	tinygo_task_init(&mainTask, &mainTask.state.thread)
+}
+
+// Return the task struct for the current thread.
+func Current() *Task {
+	t := (*Task)(tinygo_task_current())
+	if t == nil {
+		runtimePanic("unknown current task")
+	}
+	return t
+}
+
+// Pause pauses the current task, until it is resumed by another task.
+// It is possible that another task has called Resume() on the task before it
+// hits Pause(), in which case the task won't be paused but continues
+// immediately.
+func Pause() {
+	// Wait until resumed
+	t := Current()
+	if verbose {
+		println("*** pause:  ", t.state.id)
+	}
+	t.state.pauseSem.Wait()
+}
+
+// Resume the given task.
+// It is legal to resume a task before it gets paused, it means that the next
+// call to Pause() won't pause but will continue immediately. This happens in
+// practice sometimes in channel operations, where the Resume() might get called
+// between the channel unlock and the call to Pause().
+func (t *Task) Resume() {
+	if verbose {
+		println("*** resume: ", t.state.id)
+	}
+	// Increment the semaphore counter.
+	// If the task is currently paused in Wait(), it will resume.
+	// If the task is not yet paused, the next call to Wait() will continue
+	// immediately.
+	t.state.pauseSem.Post()
+}
+
+// Start a new OS thread.
+func start(fn uintptr, args unsafe.Pointer, stackSize uintptr) {
+	t := &Task{}
+	t.state.id = atomic.AddUintptr(&goroutineID, 1)
+	if verbose {
+		println("*** start:  ", t.state.id, "from", Current().state.id)
+	}
+
+	// Start the new thread, and add it to the list of threads.
+	// Do this with a lock so that only started threads are part of the queue
+	// and the stop-the-world GC won't see threads that haven't started yet or
+	// are not fully started yet.
+	activeTaskLock.Lock()
+	errCode := tinygo_task_start(fn, args, t, &t.state.thread, &t.state.stackTop)
+	if errCode != 0 {
+		runtimePanic("could not start thread")
+	}
+	t.state.QueueNext = activeTasks
+	activeTasks = t
+	activeTaskLock.Unlock()
+}
+
+//export tinygo_task_exited
+func taskExited(t *Task) {
+	if verbose {
+		println("*** exit:", t.state.id)
+	}
+
+	// Remove from the queue.
+	// TODO: this can be made more efficient by using a doubly linked list.
+	activeTaskLock.Lock()
+	found := false
+	for q := &activeTasks; *q != nil; q = &(*q).state.QueueNext {
+		if *q == t {
+			*q = t.state.QueueNext
+			found = true
+			break
+		}
+	}
+	activeTaskLock.Unlock()
+
+	// Sanity check.
+	if !found {
+		runtimePanic("taskExited failed")
+	}
+}
+
+// Futex to wait on until all tasks have finished scanning the stack.
+// This is basically a sync.WaitGroup.
+var scanDoneFutex Futex
+
+// GC scan phase. Because we need to stop the world while scanning, this kinda
+// needs to be done in the tasks package.
+//
+// After calling this function, GCResumeWorld needs to be called once to resume
+// all threads again.
+func GCStopWorldAndScan() {
+	current := Current()
+
+	// Don't allow new goroutines to be started while pausing/resuming threads
+	// in the stop-the-world phase.
+	activeTaskLock.Lock()
+
+	// Pause all other threads.
+	numOtherThreads := uint32(0)
+	for t := activeTasks; t != nil; t = t.state.QueueNext {
+		if t != current {
+			numOtherThreads++
+			tinygo_task_send_gc_signal(t.state.thread)
+		}
+	}
+
+	// Store the number of threads to wait for in the futex.
+	// This is the equivalent of doing an initial wg.Add(numOtherThreads).
+	scanDoneFutex.Store(numOtherThreads)
+
+	// Scan the current stack, and all current registers.
+	scanCurrentStack()
+
+	// Wake each paused thread for the first time so it will scan the stack.
+	for t := activeTasks; t != nil; t = t.state.QueueNext {
+		if t != current {
+			t.state.gcSem.Post()
+		}
+	}
+
+	// Wait until all threads have finished scanning their stack.
+	// This is the equivalent of wg.Wait()
+	for {
+		val := scanDoneFutex.Load()
+		if val == 0 {
+			break
+		}
+		scanDoneFutex.Wait(val)
+	}
+
+	// Scan all globals (implemented in the runtime).
+	gcScanGlobals()
+}
+
+// After the GC is done scanning, resume all other threads.
+//
+// This must only be called after a GCStopWorldAndScan call.
+func GCResumeWorld() {
+	current := Current()
+
+	// Wake each paused thread for the second time, so they will resume normal
+	// operation.
+	for t := activeTasks; t != nil; t = t.state.QueueNext {
+		if t != current {
+			t.state.gcSem.Post()
+		}
+	}
+
+	// Allow goroutines to start and exit again.
+	activeTaskLock.Unlock()
+}
+
+// Scan globals, implemented in the runtime package.
+func gcScanGlobals()
+
+var stackScanLock PMutex
+
+//export tinygo_task_gc_pause
+func tingyo_task_gc_pause() {
+	// Wait until we get the signal to start scanning the stack.
+	Current().state.gcSem.Wait()
+
+	// Scan the thread stack.
+	// Only scan a single thread stack at a time, because the GC marking phase
+	// doesn't support parallelism.
+	// TODO: it may be possible to call markRoots directly (without saving
+	// registers) since we are in a signal handler that already saved a bunch of
+	// registers. This is an optimization left for a future time.
+	stackScanLock.Lock()
+	scanCurrentStack()
+	stackScanLock.Unlock()
+
+	// Equivalent of wg.Done(): subtract one from the futex and if the result is
+	// 0 (meaning we were the last in the waitgroup), wake the waiting thread.
+	n := uint32(1)
+	if scanDoneFutex.Add(-n) == 0 {
+		scanDoneFutex.Wake()
+	}
+
+	// Wait until we get the signal we can resume normally (after the mark phase
+	// has finished).
+	Current().state.gcSem.Wait()
+}
+
+//go:export tinygo_scanCurrentStack
+func scanCurrentStack()
+
+// Return the highest address of the current stack.
+func StackTop() uintptr {
+	return Current().state.stackTop
+}
+
+//go:linkname runtimePanic runtime.runtimePanic
+func runtimePanic(msg string)
+
+// Using //go:linkname instead of //export so that we don't tell the compiler
+// that the 't' parameter won't escape (because it will).
+//
+//go:linkname tinygo_task_init tinygo_task_init
+func tinygo_task_init(t *Task, thread *threadID)
+
+// Here same as for tinygo_task_init.
+//
+//go:linkname tinygo_task_start tinygo_task_start
+func tinygo_task_start(fn uintptr, args unsafe.Pointer, t *Task, thread *threadID, stackTop *uintptr) int32
+
+// Pause the thread by sending it a signal.
+//
+//export tinygo_task_send_gc_signal
+func tinygo_task_send_gc_signal(threadID)
+
+//export tinygo_task_current
+func tinygo_task_current() unsafe.Pointer