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fix(swingset): use "dirt" to schedule vat reap/bringOutYourDead
`dispatch.bringOutYourDead()`, aka "reap", triggers garbage collection inside a vat, and gives it a chance to drop imported c-list vrefs that are no longer referenced by anything inside the vat. Previously, each vat has a configurable parameter named `reapInterval`, which defaults to a kernel-wide `defaultReapInterval` (but can be set separately for each vat). This defaults to 1, mainly for unit testing, but real applications set it to something like 200. This caused BOYD to happen once every 200 deliveries, plus an extra BOYD just before we save an XS heap-state snapshot. This commit switches to a "dirt"-based BOYD scheduler, wherein we consider the vat to get more and more dirty as it does work, and eventually it reaches a `reapDirtThreshold` that triggers the BOYD (which resets the dirt counter). We continue to track `dirt.deliveries` as before, with the same defaults. But we add a new `dirt.gcKrefs` counter, which is incremented by the krefs we submit to the vat in GC deliveries. For example, calling `dispatch.dropImports([kref1, kref2])` would increase `dirt.gcKrefs` by two. The `reapDirtThreshold.gcKrefs` limit defaults to 20. For normal use patterns, this will trigger a BOYD after ten krefs have been dropped and retired. We choose this value to allow the #8928 slow vat termination process to trigger BOYD frequently enough to keep the BOYD cranks small: since these will be happening constantly (in the "background"), we don't want them to take more than 500ms or so. Given the current size of the large vats that #8928 seeks to terminate, 10 krefs seems like a reasonable limit. And of course we don't want to perform too many BOYDs, so `gcKrefs: 20` is about the smallest threshold we'd want to use. External APIs continue to accept `reapInterval`, and now also accept `reapGCKrefs`. * kernel config record * takes `config.defaultReapInterval` and `defaultReapGCKrefs` * takes `vat.NAME.creationOptions.reapInterval` and `.reapGCKrefs` * `controller.changeKernelOptions()` still takes `defaultReapInterval` but now also accepts `defaultReapGCKrefs` The APIs available to userspace code (through `vatAdminSvc`) are unchanged (partially due to upgrade/backwards-compatibility limitations), and continue to only support setting `reapInterval`. Internally, this just modifies `reapDirtThreshold.deliveries`. * `E(vatAdminSvc).createVat(bcap, { reapInterval })` * `E(adminNode).upgrade(bcap, { reapInterval })` * `E(adminNode).changeOptions({ reapInterval })` Internally, the kernel-wide state records `defaultReapDirtThreshold` instead of `defaultReapInterval`, and each vat records `.reapDirtThreshold` in their `vNN.options` key instead of `vNN.reapInterval`. The current dirt level is recorded in `vNN.reapDirt`. The kernel will automatically upgrade both the kernel-wide and the per-vat state upon the first reboot with the new kernel code. The old `reapCountdown` value is used to initialize the vat's `reapDirt.deliveries` counter, so the upgrade shouldn't disrupt the existing schedule. Vats which used `reapInterval = 'never'` (eg comms) will get a `reapDirtThreshold` of all 'never' values, so they continue to inhibit BOYD. Otherwise, all vats get a `threshold.gcKrefs` of 20. We do not track dirt when the corresponding threshold is 'never', to avoid incrementing the comms dirt counters forever. This design leaves room for adding `.computrons` to the dirt record, as well as tracking a separate `snapshotDirt` counter (to trigger XS heap snapshots, ala #6786). We add `reapDirtThreshold.computrons`, but do not yet expose an API to set it. Future work includes: * upgrade vat-vat-admin to let userspace set `reapDirtThreshold` New tests were added to exercise the upgrade process, and other tests were updated to match the new internal initialization pattern. We now reset the dirt counter upon any BOYD, so this also happens to help with #8665 (doing a `reapAllVats()` resets the delivery counters, so future BOYDs will be delayed, which is what we want). But we should still change `controller.reapAllVats()` to avoid BOYDs on vats which haven't received any deliveries. closes #8980
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