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RaftCore::checkInvariants()

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This commit is contained in:
Pavel Kirienko 2015-05-26 00:15:18 +03:00
parent 17c4b975ac
commit 258da95d12
1 changed files with 29 additions and 0 deletions
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29
libuavcan/include/uavcan/protocol/dynamic_node_id_server/distributed/raft_core.hpp
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@ -151,6 +151,28 @@ private:
INode& getNode() { return append_entries_srv_.getNode(); }
const INode& getNode() const { return append_entries_srv_.getNode(); }
void checkInvariants() const
{
// Commit index
UAVCAN_ASSERT(commit_index_ <= persistent_state_.getLog().getLastIndex());
// Term
UAVCAN_ASSERT(persistent_state_.getLog().getEntryAtIndex(persistent_state_.getLog().getLastIndex()) != NULL);
UAVCAN_ASSERT(persistent_state_.getLog().getEntryAtIndex(persistent_state_.getLog().getLastIndex())->term
<= persistent_state_.getCurrentTerm());
// Elections
UAVCAN_ASSERT(server_state_ != ServerStateCandidate || !request_vote_client_.hasPendingCalls() ||
persistent_state_.getVotedFor() == getNode().getNodeID());
UAVCAN_ASSERT(num_votes_received_in_this_campaign_ <= cluster_.getClusterSize());
// Transport
UAVCAN_ASSERT(server_state_ != ServerStateCandidate || !append_entries_client_.hasPendingCalls());
UAVCAN_ASSERT(server_state_ != ServerStateLeader || !request_vote_client_.hasPendingCalls());
UAVCAN_ASSERT(server_state_ != ServerStateFollower ||
(!append_entries_client_.hasPendingCalls() && !request_vote_client_.hasPendingCalls()));
}
void registerActivity() { last_activity_timestamp_ = getNode().getMonotonicTime(); }
bool isActivityTimedOut() const
@ -455,6 +477,8 @@ private:
void handleAppendEntriesRequest(const ReceivedDataStructure<AppendEntries::Request>& request,
ServiceResponseDataStructure<AppendEntries::Response>& response)
{
checkInvariants();
if (!cluster_.isKnownServer(request.getSrcNodeID()))
{
if (cluster_.isClusterDiscovered())
@ -585,6 +609,7 @@ private:
void handleAppendEntriesResponse(const ServiceCallResult<AppendEntries>& result)
{
UAVCAN_ASSERT(server_state_ == ServerStateLeader); // When state switches, all requests must be cancelled
checkInvariants();
if (!result.isSuccessful())
{
@ -627,6 +652,7 @@ private:
void handleRequestVoteRequest(const ReceivedDataStructure<RequestVote::Request>& request,
ServiceResponseDataStructure<RequestVote::Response>& response)
{
checkInvariants();
trace(TraceRaftVoteRequestReceived, request.getSrcNodeID().get());
if (!cluster_.isKnownServer(request.getSrcNodeID()))
@ -702,6 +728,7 @@ private:
void handleRequestVoteResponse(const ServiceCallResult<RequestVote>& result)
{
UAVCAN_ASSERT(server_state_ == ServerStateCandidate); // When state switches, all requests must be cancelled
checkInvariants();
if (!result.isSuccessful())
{
@ -733,6 +760,8 @@ private:
virtual void handleTimerEvent(const TimerEvent&)
{
checkInvariants();
if (cluster_.hadDiscoveryActivity() && isLeader())
{
setActiveMode(true);