fix: vastly improve development responsiveness and startup time

There are two changes that contribute to this improvement:

1. Reduce most task reschedule timers to 1s.
2. Decrease runner/controller heartbeats to 1s.
3. Clear all transient database rows that slow down restarts - leases,
   runner/controller locks, etc.

Fixes #1010
Fixes #1381

backend/controller/controller.go

@@ -69,6 +69,7 @@ type Config struct {
 	ConsoleURL                   *url.URL            `help:"The public URL of the console (for CORS)." env:"FTL_CONTROLLER_CONSOLE_URL"`
 	ContentTime                  time.Time           `help:"Time to use for console resource timestamps." default:"${timestamp=1970-01-01T00:00:00Z}"`
 	RunnerTimeout                time.Duration       `help:"Runner heartbeat timeout." default:"10s"`
+	ControllerTimeout            time.Duration       `help:"Controller heartbeat timeout." default:"10s"`
 	DeploymentReservationTimeout time.Duration       `help:"Deployment reservation timeout." default:"120s"`
 	ArtefactChunkSize            int                 `help:"Size of each chunk streamed to the client." default:"1048576"`
 	CommonConfig
@@ -177,6 +178,14 @@ func New(ctx context.Context, db *dal.DAL, config Config, runnerScaling scaling.
 		key = model.NewControllerKey(config.Bind.Hostname(), config.Bind.Port())
 	}
 	config.SetDefaults()
+
+	// Override some defaults during development mode.
+	_, devel := runnerScaling.(*localscaling.LocalScaling)
+	if devel {
+		config.RunnerTimeout = time.Second * 5
+		config.ControllerTimeout = time.Second * 5
+	}
+
 	svc := &Service{
 		tasks:                   scheduledtask.New(ctx, key, db),
 		dal:                     db,
@@ -194,37 +203,44 @@ func New(ctx context.Context, db *dal.DAL, config Config, runnerScaling scaling.
 	svc.controllerListListeners = append(svc.controllerListListeners, cronSvc)
 
 	// Use min, max backoff if we are running in production, otherwise use
-	// (1s, 1s) or develBackoff if available.
-	maybeDevelBackoff := func(min, max time.Duration, develBackoff ...backoff.Backoff) backoff.Backoff {
+	// (1s, 1s) (or develBackoff). Will also wrap the job such that it its next
+	// runtime is capped at 1s.
+	maybeDevelTask := func(job scheduledtask.Job, maxNext, minDelay, maxDelay time.Duration, develBackoff ...backoff.Backoff) (backoff.Backoff, scheduledtask.Job) {
 		if len(develBackoff) > 1 {
 			panic("too many devel backoffs")
 		}
-		if _, devel := runnerScaling.(*localscaling.LocalScaling); devel {
+		if devel {
+			chain := job
+			job = func(ctx context.Context) (time.Duration, error) {
+				next, err := chain(ctx)
+				// Cap at 1s in development mode.
+				return min(next, maxNext), err
+			}
 			if len(develBackoff) == 1 {
-				return develBackoff[0]
+				return develBackoff[0], job
 			}
-			return backoff.Backoff{Min: time.Second, Max: time.Second}
+			return backoff.Backoff{Min: time.Second, Max: time.Second}, job
 		}
-		return makeBackoff(min, max)
+		return makeBackoff(minDelay, maxDelay), job
 	}
 
 	// Parallel tasks.
-	svc.tasks.Parallel(maybeDevelBackoff(time.Second, time.Second*5), svc.syncRoutes)
-	svc.tasks.Parallel(maybeDevelBackoff(time.Second*3, time.Second*5), svc.heartbeatController)
-	svc.tasks.Parallel(maybeDevelBackoff(time.Second*5, time.Second*5), svc.updateControllersList)
-	svc.tasks.Parallel(maybeDevelBackoff(time.Second*5, time.Second*10), svc.executeAsyncCalls)
+	svc.tasks.Parallel(maybeDevelTask(svc.syncRoutes, time.Second, time.Second, time.Second*5))
+	svc.tasks.Parallel(maybeDevelTask(svc.heartbeatController, time.Second, time.Second*3, time.Second*5))
+	svc.tasks.Parallel(maybeDevelTask(svc.updateControllersList, time.Second, time.Second*5, time.Second*5))
+	svc.tasks.Parallel(maybeDevelTask(svc.executeAsyncCalls, time.Second, time.Second*5, time.Second*10))
 
 	// This should be a singleton task, but because this is the task that
 	// actually expires the leases used to run singleton tasks, it must be
 	// parallel.
-	svc.tasks.Parallel(maybeDevelBackoff(time.Second, time.Second*5), svc.expireStaleLeases)
+	svc.tasks.Parallel(maybeDevelTask(svc.expireStaleLeases, time.Second*2, time.Second, time.Second*5))
 
 	// Singleton tasks use leases to only run on a single controller.
-	svc.tasks.Singleton(maybeDevelBackoff(time.Second*20, time.Second*20), svc.reapStaleControllers)
-	svc.tasks.Singleton(maybeDevelBackoff(time.Second, time.Second*10), svc.reapStaleRunners)
-	svc.tasks.Singleton(maybeDevelBackoff(time.Second, time.Second*20), svc.releaseExpiredReservations)
-	svc.tasks.Singleton(maybeDevelBackoff(time.Second, time.Second*5), svc.reconcileDeployments)
-	svc.tasks.Singleton(maybeDevelBackoff(time.Second, time.Second*5), svc.reconcileRunners)
+	svc.tasks.Singleton(maybeDevelTask(svc.reapStaleControllers, time.Second*2, time.Second*20, time.Second*20))
+	svc.tasks.Singleton(maybeDevelTask(svc.reapStaleRunners, time.Second*2, time.Second, time.Second*10))
+	svc.tasks.Singleton(maybeDevelTask(svc.releaseExpiredReservations, time.Second*2, time.Second, time.Second*20))
+	svc.tasks.Singleton(maybeDevelTask(svc.reconcileDeployments, time.Second*2, time.Second, time.Second*5))
+	svc.tasks.Singleton(maybeDevelTask(svc.reconcileRunners, time.Second*2, time.Second, time.Second*5))
 	return svc, nil
 }
 
@@ -1089,7 +1105,7 @@ func (s *Service) executeAsyncCalls(ctx context.Context) (time.Duration, error)
 	}
 	switch call.Origin {
 	case dal.AsyncCallOriginFSM:
-		return time.Second * 2, s.onAsyncFSMCallCompletion(ctx, call, resp.Msg)
+		return time.Millisecond * 100, s.onAsyncFSMCallCompletion(ctx, call, resp.Msg)
 
 	default:
 		panic(fmt.Sprintf("unexpected async call origin: %s", call.Origin))
@@ -1166,7 +1182,7 @@ func (s *Service) reserveRunner(ctx context.Context, reconcile model.Deployment)
 // Periodically remove stale (ie. have not heartbeat recently) controllers from the database.
 func (s *Service) reapStaleControllers(ctx context.Context) (time.Duration, error) {
 	logger := log.FromContext(ctx)
-	count, err := s.dal.KillStaleControllers(context.Background(), s.config.RunnerTimeout)
+	count, err := s.dal.KillStaleControllers(context.Background(), s.config.ControllerTimeout)
 	if err != nil {
 		return 0, fmt.Errorf("failed to delete stale controllers: %w", err)
 	} else if count > 0 {

backend/controller/dal/async_calls.go

@@ -13,30 +13,6 @@ import (
 	"github.com/TBD54566975/ftl/backend/schema"
 )
 
-// SendFSMEvent sends an event to an executing instance of an FSM.
-//
-// If the instance doesn't exist a new one will be created.
-//
-// [name] is the name of the state machine to execute, [executionKey] is the
-// unique identifier for this execution of the FSM.
-//
-// Returns ErrConflict if the state machine is already executing.
-//
-// Note: this does not actually call the FSM, it just enqueues an async call for
-// future execution.
-//
-// Note: no validation of the FSM is performed.
-func (d *DAL) SendFSMEvent(ctx context.Context, name, executionKey, destinationState string, verb schema.Ref, request json.RawMessage) error {
-	_, err := d.db.SendFSMEvent(ctx, sql.SendFSMEventParams{
-		Key:     executionKey,
-		Name:    name,
-		State:   destinationState,
-		Verb:    verb,
-		Request: request,
-	})
-	return translatePGError(err)
-}
-
 // AsyncCallOrigin represents the kind of originator of the async call.
 type AsyncCallOrigin sql.AsyncCallOrigin
 

backend/controller/dal/fsm.go

@@ -0,0 +1,33 @@
+package dal
+
+import (
+	"context"
+	"encoding/json"
+
+	"github.com/TBD54566975/ftl/backend/controller/sql"
+	"github.com/TBD54566975/ftl/backend/schema"
+)
+
+// SendFSMEvent sends an event to an executing instance of an FSM.
+//
+// If the instance doesn't exist a new one will be created.
+//
+// [name] is the name of the state machine to execute, [executionKey] is the
+// unique identifier for this execution of the FSM.
+//
+// Returns ErrConflict if the state machine is already executing.
+//
+// Note: this does not actually call the FSM, it just enqueues an async call for
+// future execution.
+//
+// Note: no validation of the FSM is performed.
+func (d *DAL) SendFSMEvent(ctx context.Context, name, executionKey, destinationState string, verb schema.Ref, request json.RawMessage) error {
+	_, err := d.db.SendFSMEvent(ctx, sql.SendFSMEventParams{
+		Key:     executionKey,
+		Name:    name,
+		State:   destinationState,
+		Verb:    verb,
+		Request: request,
+	})
+	return translatePGError(err)
+}

backend/controller/scaling/localscaling/local_scaling.go

@@ -8,6 +8,7 @@ import (
 	"os"
 	"path/filepath"
 	"sync"
+	"time"
 
 	"github.com/alecthomas/kong"
 
@@ -95,6 +96,8 @@ func (l *LocalScaling) SetReplicas(ctx context.Context, replicas int, idleRunner
 		}); err != nil {
 			return err
 		}
+		config.HeartbeatPeriod = time.Second
+		config.HeartbeatJitter = time.Millisecond * 100
 
 		runnerCtx := log.ContextWithLogger(ctx, logger.Scope(simpleName))
 

backend/controller/sql/databasetesting/devel.go

@@ -46,9 +46,9 @@ func CreateForDevel(ctx context.Context, dsn string, recreate bool) (*pgxpool.Po
 	if recreate {
 		// Terminate any dangling connections.
 		_, err = conn.Exec(ctx, `
-		SELECT pid, pg_terminate_backend(pid)
-		FROM pg_stat_activity
-		WHERE datname = $1 AND pid <> pg_backend_pid()`,
+			SELECT pid, pg_terminate_backend(pid)
+			FROM pg_stat_activity
+			WHERE datname = $1 AND pid <> pg_backend_pid()`,
 			config.Database)
 		if err != nil {
 			return nil, err
@@ -72,5 +72,33 @@ func CreateForDevel(ctx context.Context, dsn string, recreate bool) (*pgxpool.Po
 	if err != nil {
 		return nil, err
 	}
+	// Reset transient state in the database to a clean state for development purposes.
+	// This includes things like resetting the state of async calls, leases,
+	// controller/runner registration, etc. but not anything more.
+	if !recreate {
+		_, err = realConn.Exec(ctx, `
+			WITH deleted AS (
+				DELETE FROM async_calls
+				RETURNING 1
+			), deleted_fsm_executions AS (
+				DELETE FROM fsm_executions
+				RETURNING 1
+			), deleted_leases AS (
+				DELETE FROM leases
+				RETURNING 1
+			), deleted_controllers AS (
+				DELETE FROM controller
+				RETURNING 1
+			), deleted_runners AS (
+				DELETE FROM runners
+				RETURNING 1
+			)
+			SELECT COUNT(*)
+		`)
+		if err != nil {
+			return nil, err
+		}
+	}
+
 	return realConn, nil
 }

backend/controller/sql/queries.sql

@@ -497,6 +497,7 @@ WITH async_call AS (
   FROM async_calls
   WHERE state = 'pending'
   LIMIT 1
+  FOR UPDATE SKIP LOCKED
 ), lease AS (
   INSERT INTO leases (idempotency_key, key, expires_at)
   VALUES (gen_random_uuid(), '/system/async_call/' || (SELECT id FROM async_call), (NOW() AT TIME ZONE 'utc') + @ttl::interval)