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Fix a deadlock between the crawler and dialer, and other hangs (#1950)
* Stop ignoring inbound message errors and handshake timeouts To avoid hangs, Zebra needs to maintain the following invariants in the handshake and heartbeat code: - each handshake should run in a separate spawned task (not yet implemented) - every message, error, timeout, and shutdown must update the peer address state - every await that depends on the network must have a timeout Once the Connection is created, it should handle timeouts. But we need to handle timeouts during handshake setup. * Avoid hangs by adding a timeout to the candidate set update Also increase the fanout from 1 to 2, to increase address diversity. But only return permanent errors from `CandidateSet::update`, because the crawler task exits if `update` returns an error. Also log Peers response errors in the CandidateSet. * Use the select macro in the crawler to reduce hangs The `select` function is biased towards its first argument, risking starvation. As a side-benefit, this change also makes the code a lot easier to read and maintain. * Split CrawlerAction::Demand into separate actions This refactor makes the code a bit easier to read, at the cost of sometimes blocking the crawler on `candidates.next()`. That's ok, because `next` only has a short (< 100 ms) delay. And we're just about to spawn a separate task for each handshake. * Spawn a separate task for each handshake This change avoids deadlocks by letting each handshake make progress independently. * Move the dial task into a separate function This refactor improves readability. * Fix buggy future::select function usage And document the correctness of the new code.
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