heaphook

Replace all the dynamic heap allocation functions by LD_PRELOAD.

Build and Install

This library heaphook is prepared as a ament_cmake package.

$ mkdir -p /path/to/heaphook_ws && cd /path/to/heaphook_ws
$ mkdir src & git clone git@github.com:tier4/heaphook.git src
$ colcon build

The shared libraries that will be specified in LD_PRELOAD are generated under install/heaphook/lib. This path is added to LD_LIBRARY_PATH by the setup script.

$ source install/setup.bash

How to use

For now, We provide two kinds of the heaphook libraries. - libpreloaded_heaptrack.so: Records all the heap allocation/deallocation function calls and generate a log file for visualizing the history of heap consumption. - libpreloaded_tlsf.so: Replaces all the heap allocation/deallocation with TLSF (Tow-Level Segregated Fit) memory allocator.

A typical use case is to utilize libpreloaded_heaptrack to grasp the transition and maximum value of heap consumtion of the target process and to determine the initial allocated memory pool size for libpreloaded_tlsf. Of cource, it is also useful to utilize libpreloaded_heaptrack just to know the heap consumption of the target process.

libpreloaded_heaptrack

You can track the heap consumption of the specified process.

$ LD_PRELOAD=libpreloaded_heaptrack.so executable

A log file is generated under the current working directory in the format heaplog.{%pid}.log. You can visualize heap consumption transitions in PDF format based on the generated log file. The parser depends on progressbar python library, so install it before.

$ pip install progressbar
$ python3 heaplog_parser.py heaplog.{%pid}.log // Generates heaplog.{%pid}.pdf

libpreloaded_tlsf

You need to specify the initial allocaton size for the memory pool and the size of additional memory to be allocated when the initial memory pool size is not sufficient. The initial size of the memory pool should be set to a value with a margin greater than the peak heap usage of the target process. Extending the memory pool size during the runtime should be avoided, as it leads to overhead in the allocation functions.

$ LD_PRELOAD=libpreloaded_tlsf.so INITIAL_MEMPOOL_SIZE=1000000 ADDITIONAL_MEMPOOL_SIZE=1000000 executable

When the initial size of the memory pool is insufficient, it first allocates the additional size specified by ADDITIONAL_MEMPOOL_SIZE, and if it is still insufficient, it allocates double the value of the previous allocation until it is sufficient.

As an example, here is what happens when malloc(1000) is called when the existing memory pool is exhausted and ADDITIONAL_MEMPOOL_SIZE=100. 1. 100 bytes added to the memory pool (still not sufficient) 2. 200 bytes added to the memory pool (still not sufficient) 3. 400 bytes added to the memory pool (still not sufficient) 4. 800 bytes added to the memory pool (still not sufficient) 5. 1600 bytes added to the memory pool (finally sufficient)

The added memory pool areas are not contiguous with each other in the virual address space, so it is not necessarily enough even if the total size of the added memory pools exceeds the size of the memory allocation request.

Integrate with ROS2 launch

You can easily integrate heaphook with ROS2 launch systems. From the launch file, you can replace all heap allocations of the process corresponding to the targeted Node and ComposableNodeContainer.

<node pkg="..." exec="..." name="...">
  <env name="LD_PRELOAD" value="libpreloaded_heaptrack.so" />
</node>

<node pkg="..." exec="..." name="...">
  <env name="LD_PRELOAD" value="libpreloaded_tlsf.so />
  <env name="INITIAL_MEMPOOL_SIZE" value="100000000" />
  <env name="ADDITIONAL_MEMPOOL_SIZE" value="100000000" />
</node>

container = ComposableNodeContainer(
  ...,
  additional_env={"LD_PRELOAD": "libpreloaded_heaptrack.so"},
)

container = ComposableNodeContainer(
  ...,
  additional_env={
    "LD_PRELOAD": "libpreloaded_tlsf.so",
    "INITIAL_MEMPOOL_SIZE": "100000000", # 100MB
    "ADDITIONAL_MEMPOOL_SIZE": "100000000",
  },
)

How to add a new memory allocator

If you want to implement an allocator to replace the GLIBC memory allcator, you can easily do so by using this heaphook library.

The steps you will take are as follows.

1. Create source file

What you have to implement are * Include heaphook/heaphook.hpp header file. * Implement your own allocator class that inherits the abstract base class GlobalAllocator defined in heaphook/heaphook.hpp. * This base class has 5 virtual functions: do_alloc, do_dealloc, do_alloc_zeroed, do_realloc and do_get_block_size. * do_alloc_zeroed and do_realloc has default implementation, so you don't have to implement them. * For more information on the GlobalAllocagor API, see here. * Implement static member function named get_instance in GlobalAllocator. * The implementation of this static member function is almost a fixed form. It defines its own allocator as a static local variable and returns a reference to its instance. * See the following example for a concrete implementation.

The minimum implementation required is as follows.

#include "heaphook/heaphook.hpp"
using namespace heaphook;

class MyAllocator : public GlobalAllocator {
  void* do_alloc(size_t size, size_t align) override {
    ...
  }

  void do_dealloc(void* ptr) override {
    ...
  }

  size_t do_get_block_size(void * ptr) override {
    ...
  }
};

GlobalAllocator &GlobalAllocator::get_instance() {
  static MyAllocator allocator;
  return allocator;
}

Save the above implementation in src/my_allocator.cpp.

2. Edit CMakeLists.txt

To build the implemented allocator, you must edit CMakeLists.txt. You can use build_library cmake function to add build target.

build_library takes a library name as its first argument and a set of required source files as the second and subsequent arguments.

For example,

build_library(my_allocator
  src/my_allocator.cpp)

3. Build

Go to the top directory and execute the following command.

$ colcon build

If the build is successful, a file named lib<libname>.so should be created. You can use it as follows.

$ source install/setup.bash
$ LD_PRELOAD=libmy_allocator.so executable

heaphook API

This section describes the GlobalAllocator class, which is required when creating an allocator.

The GlobalAllocator class has 5 virtual member functions.

do_alloc

void *GlobalAllocator::do_alloc(size_t size, size_t align);

This function allocates a memory area that is larger than size byte and aligned with align and returns its address. When implementing this function, the following conditions can be assumed. (heaphook will filter out those that do not meet these conditions.) * size > 0 * align is either * 1, which means there are no alignment constraints. * a power of 2 and multiple of sizeof(void *), such as 8, 16, 32, ..., 4096, ...

If memory allocation fails due to various factors, nullptr should be returned.

This function hooks the GLIBC allocation functions malloc, posix_memalign, memalign, aligned_alloc, valloc and pvalloc.

do_dealloc

void GlobalAllocator::do_dealloc(void *ptr);

This function deallocates a memory area pointed to by ptr, which must have been allocated by other allocation functions do_alloc, do_alloc_zeroed or do_realloc. The following conditions can be assumed, * ptr is the value previously returned from these allocation functions. (If not, the program may be killed.) * ptr != nullptr

This function hooks the free function in GLIBC.

do_alloc_zeroed

void *GlobalAllocator::do_alloc_zeroed(size_t size);

This function allocates a memory area that is larger than size byte. The memory is set to zero. The following conditions can be assumed, * size > 0

If memory allocation fails due to various factors, nullptr should be returned.

This function hooks the calloc function in GLIBC.

A default implementation is provided that calls do_alloc and initializes the allocated memory area with zeros using memset.

do_realloc

void *GlobalAllocator::do_realloc(void *ptr, size_t new_size);

This function changes the size of the memory block pointed to by ptr to new_size bytes and return a pointer to the new memory area. The contents of the memory area must remain unchanged. When expanging the memory, the added memory does not need to be initialized. The following conditions can be assumed, * ptr is the value previously returned from these allocation functions. (If not, the program may be killed.) * ptr != nullptr * new_size > 0

If memory allocation fails due to various factors, nullptr should be returned.

This function hooks the realloc function in GLIBC.

A default implementation is provided that performs do_alloc(new_size, 1), copies contents, and then deallocates the original pointer using dealloc(ptr).

do_get_block_size

void *GlobalAllocator::do_get_block_size(void *ptr);

This function returns the size of the memory block pointed to by ptr. The following conditions can be assumed, * ptr is the value previously returned from these allocation functions. (If not, the program may be killed.) * ptr != nullptr

This function is called internally when calling the GLIBC's malloc_usable_size.

Trace function

heaphook has a trace function for debugging the allocator and analyzing its performance.

In the CMakeList.txt file, after declaring a new allocator building rule with build_library, you can specify target_compile_options(<libname> PRIVATE "-DTRACE") to build library that traces the allocator's behavior.

build_library(my_allocator ...)
target_compile_options(my_allocator PRIVATE "-DTRACE")

If configured in this way, the library will generate a log file named heaplog.<pid>.log in the current directory. You can visualize heap consumption transitions and performance of each GlobalAllocator member functions in png format based on the generated log file.

$ misc/heaptrace_analyzer.py heaplog.<pid>.log 

Test allocator

To test the new memory allocator, add the following statement in CMakeLists.txt. test_library(<target name> <sources>..) is a cmake function which builds a test program based on Google Test.

test_library(test_my_allocator
  src/original_allocator.cpp)

After describing the above, colcon build will create a test program in build/heaphook/test_my_allocator. The source of this test program is in the file test/test_allocator.cpp, so please refer to it if necessary.