DOCS-2254: Add debug endpoints documentation for viam-server (#4317)

Author: promptless[bot]

docs/manage/troubleshoot/troubleshoot.md

@@ -183,6 +183,27 @@ The process will dump a stack trace, visible in the `viam-server` logs, that sho
 Some issues are due to overall system health.
 To rule out machine health as the root cause of your issues, [add a machine telemetry sensor](/manage/troubleshoot/alert/#add-performance-sensor) and [capture machine telemetry data with the data management service](/manage/troubleshoot/alert/#configure-data-management).
 
+## Use `viam-server` debug endpoints
+
+You can use [`pprof`](https://pkg.go.dev/net/http/pprof) to:
+
+- diagnose performance bottlenecks
+- investigate memory leaks
+- understand resource usage patterns
+- troubleshoot high CPU or memory usage
+
+To enable the pprof endpoints, set `enable_web_profile` to `true` in your machine configuration:
+
+```json
+{
+  "components": [...],
+  "services": [...],
+  "enable_web_profile": true
+}
+```
+
+For more information on advanced debugging endpoints, see [Advanced debug endpoints](/operate/reference/viam-server/debug-endpoints/).
+
 ## Remote shell on the machine
 
 To remotely access your machine from your terminal:

docs/operate/reference/viam-server/debug-endpoints.md

@@ -0,0 +1,94 @@
+---
+title: "Debug Endpoints"
+linkTitle: "Debug Endpoints"
+weight: 130
+type: "docs"
+description: "Advanced debugging endpoints available in viam-server for troubleshooting and development."
+date: "2025-05-19"
+---
+
+The RDK (Robot Development Kit) that powers `viam-server` includes several debug endpoints that expose server internals.
+These endpoints can be helpful during development or when troubleshooting complex issues:
+
+- [`pprof`](#pprof)
+- [`graph`](#graph)
+
+## `pprof`
+
+Setting `enable_web_profile` to `true` in your machine configuration allows you to visualize runtime profiling data by opening a locally hosted webpage that displays profiling data.
+The pprof tool provides the following information about machine performance:
+
+- CPU usage
+- Memory allocation
+- Goroutine blocking
+- Execution tracing
+
+For more detailed information on using pprof, refer to the [Go pprof documentation](https://pkg.go.dev/net/http/pprof).
+
+### Configuration
+
+To enable the pprof endpoints, set `enable_web_profile` to `true` in your machine configuration:
+
+1. Navigate to the **CONFIGURE** tab of your machine in the Viam app
+1. Click on the **...** menu next to your machine part in the left-hand menu
+1. Select **Edit JSON**
+1. Add the `enable_web_profile` field at the root level of your configuration:
+
+```json
+{
+  "components": [...],
+  "services": [...],
+  "enable_web_profile": true
+}
+```
+
+{{< alert title="Caution" color="caution" >}}
+The debug endpoints expose internal details about your machine's configuration and runtime behavior.
+Only enable these endpoints in development environments.
+{{< /alert >}}
+
+### Available Endpoints
+
+Once enabled, you can access the pprof interface by navigating to `https://localhost:8080/debug/pprof/` in your browser.
+
+The following pprof routes are available:
+
+- `/debug/pprof/cmdline`: Command line arguments used to start the process
+- `/debug/pprof/profile`: CPU profile data (30-second sample by default)
+- `/debug/pprof/symbol`: Symbol lookup for program counters
+- `/debug/pprof/trace`: Execution trace data
+
+## `graph`
+
+The `/debug/graph` endpoint shows a graphical representation of the machine resources managed by the RDK.
+
+To access this endpoint, visit `https://localhost:8080/debug/graph` on the machine.
+
+### Layout Options
+
+To view different [layouts](https://graphviz.org/docs/layouts/), use the `layout` query parameter:
+
+The following example URL specifies the `circo` layout:
+
+```txt
+https://localhost:8080/debug/graph?layout=circo
+```
+
+Available layout options include:
+
+- `dot` (default): Hierarchical layout
+- `neato`: Spring model layout
+- `fdp`: Force-directed layout
+- `sfdp`: Multiscale version of fdp for large graphs
+- `circo`: Circular layout
+- `twopi`: Radial layout
+- `osage`: Array-based layout
+- `text`: raw [DOT](https://graphviz.org/doc/info/lang.html) text of the graph, for use with external tools
+
+## Next Steps
+
+{{< cards >}}
+{{% card link="/manage/troubleshoot/troubleshoot/" %}}
+{{% card link="/operate/reference/viam-server/manage-viam-server/" %}}
+{{% card link="/dev/tools/common-errors/" %}}
+{{< /cards >}}