runtime: disable stack rescanning by default

runtime: disable stack rescanning by default

With the hybrid barrier in place, we can now disable stack rescanning
by default. This commit adds a "gcrescanstacks" GODEBUG variable that
is off by default but can be set to re-enable STW stack rescanning.
The plan is to leave this off but available in Go 1.8 for debugging
and as a fallback.

With this change, worst-case mark termination time at GOMAXPROCS=12
*not* including time spent stopping the world (which is still
unbounded) is reliably under 100 µs, with a 95%ile around 50 µs in
every benchmark I tried (the go1 benchmarks, the x/benchmarks garbage
benchmark, and the gcbench activegs and rpc benchmarks). Including
time spent stopping the world usually adds about 20 µs to total STW
time at GOMAXPROCS=12, but I've seen it add around 150 µs in these
benchmarks when a goroutine takes time to reach a safe point (see
issue #10958) or when stopping the world races with goroutine
switches. At GOMAXPROCS=1, where this isn't an issue, worst case STW
is typically 30 µs.

The go-gcbench activegs benchmark is designed to stress large numbers
of dirty stacks. This commit reduces 95%ile STW time for 500k dirty
stacks by nearly three orders of magnitude, from 150ms to 195µs.

This has little effect on the throughput of the go1 benchmarks or the
x/benchmarks benchmarks.

name         old time/op  new time/op  delta
XGarbage-12  2.31ms ± 0%  2.32ms ± 1%  +0.28%  (p=0.001 n=17+16)
XJSON-12     12.4ms ± 0%  12.4ms ± 0%  +0.41%  (p=0.000 n=18+18)
XHTTP-12     11.8µs ± 0%  11.8µs ± 1%    ~     (p=0.492 n=20+18)

It reduces the tail latency of the x/benchmarks HTTP benchmark:

name      old p50-time  new p50-time  delta
XHTTP-12    489µs ± 0%    491µs ± 1%  +0.54%  (p=0.000 n=20+18)

name      old p95-time  new p95-time  delta
XHTTP-12    957µs ± 1%    960µs ± 1%  +0.28%  (p=0.002 n=20+17)

name      old p99-time  new p99-time  delta
XHTTP-12   1.76ms ± 1%   1.64ms ± 1%  -7.20%  (p=0.000 n=20+18)

Comparing to the beginning of the hybrid barrier implementation
("runtime: parallelize STW mcache flushing") shows that the hybrid
barrier trades a small performance impact for much better STW latency,
as expected. The magnitude of the performance impact is generally
small:

name                      old time/op    new time/op    delta
BinaryTree17-12              2.37s ± 1%     2.42s ± 1%  +2.04%  (p=0.000 n=19+18)
Fannkuch11-12                2.84s ± 0%     2.72s ± 0%  -4.00%  (p=0.000 n=19+19)
FmtFprintfEmpty-12          44.2ns ± 1%    45.2ns ± 1%  +2.20%  (p=0.000 n=17+19)
FmtFprintfString-12          130ns ± 1%     134ns ± 0%  +2.94%  (p=0.000 n=18+16)
FmtFprintfInt-12             114ns ± 1%     117ns ± 0%  +3.01%  (p=0.000 n=19+15)
FmtFprintfIntInt-12          176ns ± 1%     182ns ± 0%  +3.17%  (p=0.000 n=20+15)
FmtFprintfPrefixedInt-12     186ns ± 1%     187ns ± 1%  +1.04%  (p=0.000 n=20+19)
FmtFprintfFloat-12           251ns ± 1%     250ns ± 1%  -0.74%  (p=0.000 n=17+18)
FmtManyArgs-12               746ns ± 1%     761ns ± 0%  +2.08%  (p=0.000 n=19+20)
GobDecode-12                6.57ms ± 1%    6.65ms ± 1%  +1.11%  (p=0.000 n=19+20)
GobEncode-12                5.59ms ± 1%    5.65ms ± 0%  +1.08%  (p=0.000 n=17+17)
Gzip-12                      223ms ± 1%     223ms ± 1%  -0.31%  (p=0.006 n=20+20)
Gunzip-12                   38.0ms ± 0%    37.9ms ± 1%  -0.25%  (p=0.009 n=19+20)
HTTPClientServer-12         77.5µs ± 1%    78.9µs ± 2%  +1.89%  (p=0.000 n=20+20)
JSONEncode-12               14.7ms ± 1%    14.9ms ± 0%  +0.75%  (p=0.000 n=20+20)
JSONDecode-12               53.0ms ± 1%    55.9ms ± 1%  +5.54%  (p=0.000 n=19+19)
Mandelbrot200-12            3.81ms ± 0%    3.81ms ± 1%  +0.20%  (p=0.023 n=17+19)
GoParse-12                  3.17ms ± 1%    3.18ms ± 1%    ~     (p=0.057 n=20+19)
RegexpMatchEasy0_32-12      71.7ns ± 1%    70.4ns ± 1%  -1.77%  (p=0.000 n=19+20)
RegexpMatchEasy0_1K-12       946ns ± 0%     946ns ± 0%    ~     (p=0.405 n=18+18)
RegexpMatchEasy1_32-12      67.2ns ± 2%    67.3ns ± 2%    ~     (p=0.732 n=20+20)
RegexpMatchEasy1_1K-12       374ns ± 1%     378ns ± 1%  +1.14%  (p=0.000 n=18+19)
RegexpMatchMedium_32-12      107ns ± 1%     107ns ± 1%    ~     (p=0.259 n=18+20)
RegexpMatchMedium_1K-12     34.2µs ± 1%    34.5µs ± 1%  +1.03%  (p=0.000 n=18+18)
RegexpMatchHard_32-12       1.77µs ± 1%    1.79µs ± 1%  +0.73%  (p=0.000 n=19+18)
RegexpMatchHard_1K-12       53.6µs ± 1%    54.2µs ± 1%  +1.10%  (p=0.000 n=19+19)
Template-12                 61.5ms ± 1%    63.9ms ± 0%  +3.96%  (p=0.000 n=18+18)
TimeParse-12                 303ns ± 1%     300ns ± 1%  -1.08%  (p=0.000 n=19+20)
TimeFormat-12                318ns ± 1%     320ns ± 0%  +0.79%  (p=0.000 n=19+19)
Revcomp-12 (*)               509ms ± 3%     504ms ± 0%    ~     (p=0.967 n=7+12)
[Geo mean]                  54.3µs         54.8µs       +0.88%

(*) Revcomp is highly non-linear, so I only took samples with 2
iterations.

name         old time/op  new time/op  delta
XGarbage-12  2.25ms ± 0%  2.32ms ± 1%  +2.74%  (p=0.000 n=16+16)
XJSON-12     11.6ms ± 0%  12.4ms ± 0%  +6.81%  (p=0.000 n=18+18)
XHTTP-12     11.6µs ± 1%  11.8µs ± 1%  +1.62%  (p=0.000 n=17+18)

Updates #17503.

Updates #17099, since you can't have a rescan list bug if there's no
rescan list. I'm not marking it as fixed, since gcrescanstacks can
still be set to re-enable the rescan lists.

Change-Id: I6e926b4c2dbd4cd56721869d4f817bdbb330b851
Reviewed-on: https://go-review.googlesource.com/31766
Reviewed-by: Rick Hudson <rlh@golang.org>