runtime: make stack re-scan O(# dirty stacks)

Currently the stack re-scan during mark termination is O(# stacks)
because we enqueue a root marking job for every goroutine. It takes
~34ns to process this root marking job for a valid (clean) stack, so
at around 300k goroutines we exceed the 10ms pause goal. A non-trivial
portion of this time is spent simply taking the cache miss to check
the gcscanvalid flag, so simply optimizing the path that handles clean
stacks can only improve this so much.

Fix this by keeping an explicit list of goroutines with dirty stacks
that need to be rescanned. When a goroutine first transitions to
running after a stack scan and marks its stack dirty, it adds itself
to this list. We enqueue root marking jobs only for the goroutines in
this list, so this improves stack re-scanning asymptotically by
completely eliminating time spent on clean goroutines.

This reduces mark termination time for 500k idle goroutines from 15ms
to 238µs. Overall performance effect is negligible.

name \ 95%ile-time/markTerm     old           new         delta
IdleGs/gs:500000/gomaxprocs:12  15000µs ± 0%  238µs ± 5%  -98.41% (p=0.000 n=10+10)

name              old time/op  new time/op  delta
XBenchGarbage-12  2.30ms ± 3%  2.29ms ± 1%  -0.43%  (p=0.049 n=17+18)

name                      old time/op    new time/op    delta
BinaryTree17-12              2.57s ± 3%     2.59s ± 2%    ~     (p=0.141 n=19+20)
Fannkuch11-12                2.09s ± 0%     2.10s ± 1%  +0.53%  (p=0.000 n=19+19)
FmtFprintfEmpty-12          45.3ns ± 3%    45.2ns ± 2%    ~     (p=0.845 n=20+20)
FmtFprintfString-12          129ns ± 0%     127ns ± 0%  -1.55%  (p=0.000 n=16+16)
FmtFprintfInt-12             123ns ± 0%     119ns ± 1%  -3.24%  (p=0.000 n=19+19)
FmtFprintfIntInt-12          195ns ± 1%     189ns ± 1%  -3.11%  (p=0.000 n=17+17)
FmtFprintfPrefixedInt-12     193ns ± 1%     187ns ± 1%  -3.06%  (p=0.000 n=19+19)
FmtFprintfFloat-12           254ns ± 0%     255ns ± 1%  +0.35%  (p=0.001 n=14+17)
FmtManyArgs-12               781ns ± 0%     770ns ± 0%  -1.48%  (p=0.000 n=16+19)
GobDecode-12                7.00ms ± 1%    6.98ms ± 1%    ~     (p=0.563 n=19+19)
GobEncode-12                5.91ms ± 1%    5.92ms ± 0%    ~     (p=0.118 n=19+18)
Gzip-12                      219ms ± 1%     215ms ± 1%  -1.81%  (p=0.000 n=18+18)
Gunzip-12                   37.2ms ± 0%    37.4ms ± 0%  +0.45%  (p=0.000 n=17+19)
HTTPClientServer-12         76.9µs ± 3%    77.5µs ± 2%  +0.81%  (p=0.030 n=20+19)
JSONEncode-12               15.0ms ± 0%    14.8ms ± 1%  -0.88%  (p=0.001 n=15+19)
JSONDecode-12               50.6ms ± 0%    53.2ms ± 2%  +5.07%  (p=0.000 n=17+19)
Mandelbrot200-12            4.05ms ± 0%    4.05ms ± 1%    ~     (p=0.581 n=16+17)
GoParse-12                  3.34ms ± 1%    3.30ms ± 1%  -1.21%  (p=0.000 n=15+20)
RegexpMatchEasy0_32-12      69.6ns ± 1%    69.8ns ± 2%    ~     (p=0.566 n=19+19)
RegexpMatchEasy0_1K-12       238ns ± 1%     236ns ± 0%  -0.91%  (p=0.000 n=17+13)
RegexpMatchEasy1_32-12      69.8ns ± 1%    70.0ns ± 1%  +0.23%  (p=0.026 n=17+16)
RegexpMatchEasy1_1K-12       371ns ± 1%     363ns ± 1%  -2.07%  (p=0.000 n=19+19)
RegexpMatchMedium_32-12      107ns ± 2%     106ns ± 1%  -0.51%  (p=0.031 n=18+20)
RegexpMatchMedium_1K-12     33.0µs ± 0%    32.9µs ± 0%  -0.30%  (p=0.004 n=16+16)
RegexpMatchHard_32-12       1.70µs ± 0%    1.70µs ± 0%  +0.45%  (p=0.000 n=16+17)
RegexpMatchHard_1K-12       51.1µs ± 2%    51.4µs ± 1%  +0.53%  (p=0.000 n=17+19)
Revcomp-12                   378ms ± 1%     385ms ± 1%  +1.92%  (p=0.000 n=19+18)
Template-12                 64.3ms ± 2%    65.0ms ± 2%  +1.09%  (p=0.001 n=19+19)
TimeParse-12                 315ns ± 1%     317ns ± 2%    ~     (p=0.108 n=18+20)
TimeFormat-12                360ns ± 1%     337ns ± 0%  -6.30%  (p=0.000 n=18+13)
[Geo mean]                  51.8µs         51.6µs       -0.48%

Change-Id: Icf8994671476840e3998236e15407a505d4c760c
Reviewed-on: https://go-review.googlesource.com/20700


Reviewed-by: Rick Hudson <rlh@golang.org>
Run-TryBot: Austin Clements <austin@google.com>
TryBot-Result: Gobot Gobot <gobot@golang.org>