fixed memory leak and added debugging utilities

2025-11-14 21:18:51 +01:00
1 parent 5bff3ca929
commit fab4d2810e
@@ -356,6 +356,15 @@ dependencies = [
 "generic-array",
 ]

+[[package]]
+name = "block2"
+version = "0.6.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "cdeb9d870516001442e364c5220d3574d2da8dc765554b4a617230d33fa58ef5"
+dependencies = [
+ "objc2",
+]
+
 [[package]]
 name = "blocking"
 version = "1.6.1"
@@ -654,6 +663,17 @@ dependencies = [
 "typenum",
 ]

+[[package]]
+name = "ctrlc"
+version = "3.5.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "73736a89c4aff73035ba2ed2e565061954da00d4970fc9ac25dcc85a2a20d790"
+dependencies = [
+ "dispatch2",
+ "nix 0.30.1",
+ "windows-sys 0.61.2",
+]
+
 [[package]]
 name = "data-encoding"
 version = "2.9.0"
@@ -712,6 +732,22 @@ dependencies = [
 "syn 2.0.105",
 ]

+[[package]]
+name = "dhat"
+version = "0.3.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "98cd11d84628e233de0ce467de10b8633f4ddaecafadefc86e13b84b8739b827"
+dependencies = [
+ "backtrace",
+ "lazy_static",
+ "mintex",
+ "parking_lot",
+ "rustc-hash",
+ "serde",
+ "serde_json",
+ "thousands",
+]
+
 [[package]]
 name = "digest"
 version = "0.10.7"
@@ -722,6 +758,18 @@ dependencies = [
 "crypto-common",
 ]

+[[package]]
+name = "dispatch2"
+version = "0.3.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "89a09f22a6c6069a18470eb92d2298acf25463f14256d24778e1230d789a2aec"
+dependencies = [
+ "bitflags 2.9.0",
+ "block2",
+ "libc",
+ "objc2",
+]
+
 [[package]]
 name = "document-features"
 version = "0.2.11"
@@ -1532,6 +1580,15 @@ version = "0.4.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "b4ce301924b7887e9d637144fdade93f9dfff9b60981d4ac161db09720d39aa5"

+[[package]]
+name = "lock_api"
+version = "0.4.14"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "224399e74b87b5f3557511d98dff8b14089b3dadafcab6bb93eab67d3aace965"
+dependencies = [
+ "scopeguard",
+]
+
 [[package]]
 name = "log"
 version = "0.4.27"
@@ -1636,6 +1693,12 @@ dependencies = [
 "adler2",
 ]

+[[package]]
+name = "mintex"
+version = "0.1.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c505b3e17ed6b70a7ed2e67fbb2c560ee327353556120d6e72f5232b6880d536"
+
 [[package]]
 name = "mio"
 version = "1.0.3"
@@ -1688,6 +1751,18 @@ dependencies = [
 "memoffset 0.9.1",
 ]

+[[package]]
+name = "nix"
+version = "0.30.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "74523f3a35e05aba87a1d978330aef40f67b0304ac79c1c00b294c9830543db6"
+dependencies = [
+ "bitflags 2.9.0",
+ "cfg-if",
+ "cfg_aliases",
+ "libc",
+]
+
 [[package]]
 name = "no-std-net"
 version = "0.6.0"
@@ -1722,6 +1797,21 @@ dependencies = [
 "libc",
 ]

+[[package]]
+name = "objc2"
+version = "0.6.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b7c2599ce0ec54857b29ce62166b0ed9b4f6f1a70ccc9a71165b6154caca8c05"
+dependencies = [
+ "objc2-encode",
+]
+
+[[package]]
+name = "objc2-encode"
+version = "4.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ef25abbcd74fb2609453eb695bd2f860d389e457f67dc17cafc8b8cbc89d0c33"
+
 [[package]]
 name = "object"
 version = "0.36.7"
@@ -1749,6 +1839,29 @@ version = "2.2.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "f38d5652c16fde515bb1ecef450ab0f6a219d619a7274976324d5e377f7dceba"

+[[package]]
+name = "parking_lot"
+version = "0.12.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "93857453250e3077bd71ff98b6a65ea6621a19bb0f559a85248955ac12c45a1a"
+dependencies = [
+ "lock_api",
+ "parking_lot_core",
+]
+
+[[package]]
+name = "parking_lot_core"
+version = "0.9.12"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2621685985a2ebf1c516881c026032ac7deafcda1a2c9b7850dc81e3dfcb64c1"
+dependencies = [
+ "cfg-if",
+ "libc",
+ "redox_syscall",
+ "smallvec",
+ "windows-link 0.2.1",
+]
+
 [[package]]
 name = "paste"
 version = "1.0.15"
@@ -2010,6 +2123,15 @@ dependencies = [
 "getrandom",
 ]

+[[package]]
+name = "redox_syscall"
+version = "0.5.18"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ed2bf2547551a7053d6fdfafda3f938979645c44812fbfcda098faae3f1a362d"
+dependencies = [
+ "bitflags 2.9.0",
+]
+
 [[package]]
 name = "regex"
 version = "1.11.3"
@@ -2076,6 +2198,12 @@ version = "0.1.24"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "719b953e2095829ee67db738b3bfa9fa368c94900df327b3f07fe6e794d2fe1f"

+[[package]]
+name = "rustc-hash"
+version = "1.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "08d43f7aa6b08d49f382cde6a7982047c3426db949b1424bc4b7ec9ae12c6ce2"
+
 [[package]]
 name = "rustix"
 version = "0.38.44"
@@ -2219,6 +2347,8 @@ dependencies = [
 "axum",
 "bitvec",
 "control_core",
+ "ctrlc",
+ "dhat",
 "ethercat_hal",
 "ethercrab",
 "futures",
@@ -2238,6 +2368,7 @@ dependencies = [
 "tracing-journald",
 "tracing-subscriber",
 "units",
+ "utils",
 ]

 [[package]]
@@ -2515,6 +2646,12 @@ dependencies = [
 "syn 2.0.105",
 ]

+[[package]]
+name = "thousands"
+version = "0.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3bf63baf9f5039dadc247375c29eb13706706cfde997d0330d05aa63a77d8820"
+
 [[package]]
 name = "thread_local"
 version = "1.1.8"
@@ -2879,6 +3016,14 @@ version = "0.7.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "09cc8ee72d2a9becf2f2febe0205bbed8fc6615b7cb429ad062dc7b7ddd036a9"

+[[package]]
+name = "utils"
+version = "0.1.0"
+dependencies = [
+ "backtrace",
+ "dhat",
+]
+
 [[package]]
 name = "valuable"
 version = "0.1.1"
@@ -8,6 +8,7 @@ members = [
    #"ethercat-eeprom-dump",
    "control-core-derive",
    "units",
+    "utils",
 ]
 exclude = []
 resolver = "2"
@@ -353,7 +353,6 @@ const useSocketioStore = create<SocketioStore>()((set, get) => ({
              namespaceId.machine_identification_unique.serial,
          );
        //console.log(machineExists);
-        socket.connect();
        if (machineExists && !socket.connected) {
          socket.connect();
          clearInterval(intervalId); // stop polling
@@ -46,5 +46,8 @@ io-uring = []
 development-build = []


+
+
+
 [package.metadata.cargo-machete]
 ignored =  ["tonic"]
@@ -43,8 +43,12 @@ tracing-subscriber = { version = "0.3.20", features = [
    "chrono",
    "registry",
 ] }
+utils = { version = "0.1.0", path="../utils" }
 tonic = { version = "0.13.1", optional = true }
 spin_sleep = "1.3.3"
+dhat = { version = "0.3.3", optional = true }
+ctrlc = { version = "3.3", optional = true }
+

 [dev-dependencies]
 approx = "0.5.1"
@@ -58,7 +62,11 @@ tracing-journald = ["dep:tracing-journald"]
 mock-machine = []
 memory-locking = []
 io-uring = []
-development-build = []
+development-build = ["ctrlc"]
+heap-profile = ["dhat"]
+
+
+

 [profile.release]
 codegen-units = 1
@@ -105,7 +105,7 @@ pub fn start_loop_thread(
                    }
                }

-                if let Err(e) = smol::block_on(loop_once(&mut rt_loop_inputs)) {
+                if let Err(e) = loop_once(&mut rt_loop_inputs) {
                    tracing::error!(
                        "Loop failed\n {:?} \n Last Loop Took: {:?}",
                        e,
@@ -237,7 +237,7 @@ pub fn execute_machines(machines: &mut Vec<Box<dyn Machine>>) {
 }

 // No more logging in loop_once
-pub async fn loop_once<'maindevice>(inputs: &mut RtLoopInputs<'_>) -> Result<(), anyhow::Error> {
+pub fn loop_once<'maindevice>(inputs: &mut RtLoopInputs<'_>) -> Result<(), anyhow::Error> {
    let loop_once_start = std::time::Instant::now();
    if inputs.ethercat_setup.is_some() && inputs.ethercat_perf_metrics.is_some() {
        inputs
@@ -278,7 +278,7 @@ pub async fn loop_once<'maindevice>(inputs: &mut RtLoopInputs<'_>) -> Result<(),
        // We do this, so that when no rt relevant code runs the cpu doesnt spin at 100% for no reason
        let loop_duration = loop_once_start.elapsed();
        if inputs.cycle_target > loop_once_start.elapsed() {
-            smol::Timer::after(inputs.cycle_target - loop_duration).await;
+            smol::block_on(smol::Timer::after(inputs.cycle_target - loop_duration));
        }
    }

@@ -38,6 +38,7 @@ use smol::{
 use socketio::{main_namespace::machines_event::MachineObj, queue::start_socketio_queue};
 use socketioxide::extract::SocketRef;
 use std::{collections::HashMap, sync::Arc, time::Duration};
+
 pub mod app_state;
 pub mod ethercat;
 pub mod logging;
@@ -265,11 +266,38 @@ async fn handle_async_requests(recv: Receiver<AsyncThreadMessage>, shared_state:
    }
 }

+#[cfg(feature = "development-build")]
+use std::sync::atomic::{AtomicBool, Ordering};
+
+#[cfg(feature = "development-build")]
+fn setup_ctrlc_handler() -> Arc<AtomicBool> {
+    let running = Arc::new(AtomicBool::new(true));
+    let r = running.clone();
+
+    ctrlc::set_handler(move || {
+        eprintln!("Ctrl-C pressed, shutting down...");
+        r.store(false, Ordering::SeqCst);
+    })
+    .expect("Error setting Ctrl-C handler");
+
+    running
+}
+
+#[cfg(feature = "heap-profile")]
+#[global_allocator]
+static ALLOC: dhat::Alloc = dhat::Alloc;
+
 fn main() {
    logging::init_tracing();
    tracing::info!("Tracing initialized successfully");
    init_panic_handling();

+    #[cfg(feature = "heap-profile")]
+    let _profiler = dhat::Profiler::new_heap();
+
+    #[cfg(feature = "development-build")]
+    let running = setup_ctrlc_handler();
+
    const CYCLE_TARGET_TIME: Duration = Duration::from_micros(300);

    // for the "hot thread"
@@ -297,6 +325,11 @@ fn main() {

    smol::block_on(async {
        loop {
+            #[cfg(feature = "development-build")]
+            if !running.load(Ordering::SeqCst) {
+                tracing::info!("Shutdown signal received, exiting main loop.");
+                break;
+            }
            // lets the async runtime decide which future to run next
            select! {
                res = ethercat_fut => {
@@ -0,0 +1,11 @@
+[package]
+name = "utils"
+version = "0.1.0"
+edition = "2021"
+
+[dependencies]
+backtrace = "0.3"
+dhat = "0.3.3"
+
+[features]
+heap-profile = []
@@ -0,0 +1,3 @@
+#[cfg(feature = "heap-profile")]
+#[global_allocator]
+static ALLOC: dhat::Alloc = dhat::Alloc;