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Fixed RaftCore. The logic is even more complicated.

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This commit is contained in:
Pavel Kirienko
2015-05-24 16:26:14 +03:00
parent 8729d6a2d6
commit 546be2b89b
1 changed files with 43 additions and 9 deletions
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libuavcan/include/uavcan/protocol/dynamic_node_id_server/distributed/raft_core.hpp
+43 -9
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@@ -64,13 +64,13 @@ public:
* - allocation activity detected
* - only if leader:
* - discovery activity detected
* - log is not fully replicated (this includes the case when the cluster is not fully discovered)
* - log is not fully replicated or there are uncommitted entries
*
* Deactivation:
* - switch to follower state
* - persistent state update error
* - only if leader:
* - all log entries are fully replicated
* - all log entries are fully replicated and committed
*/
class RaftCore : private TimerBase
{
@@ -373,25 +373,59 @@ private:
if (commit_index_ == persistent_state_.getLog().getLastIndex())
{
// All local entries are committed
bool commit_index_fully_replicated = true;
/*
* All local entries are committed.
* Deciding if it is safe to go into passive mode now.
*
* We can go into passive mode if the log is known to be fully replicated and all entries are committed.
* The high-level conditions above are guaranteed to be met if all of the following lower-level conditions
* are met:
* - All local entries are committed (already checked here).
* - Match index on all nodes equals local commit index.
* - Next index on all nodes is strictly greater than the local commit index.
*
* The following code checks if the last two conditions are met.
*/
bool match_index_equals_commit_index = true;
bool next_index_greater_than_commit_index = true;
for (uint8_t i = 0; i < cluster_.getNumKnownServers(); i++)
{
const Log::Index match_index = cluster_.getServerMatchIndex(cluster_.getRemoteServerNodeIDAtIndex(i));
const NodeID server_node_id = cluster_.getRemoteServerNodeIDAtIndex(i);
const Log::Index match_index = cluster_.getServerMatchIndex(server_node_id);
if (match_index != commit_index_)
{
commit_index_fully_replicated = false;
match_index_equals_commit_index = false;
break;
}
const Log::Index next_index = cluster_.getServerNextIndex(server_node_id);
if (next_index <= commit_index_)
{
next_index_greater_than_commit_index = false;
break;
}
}
const bool all_done = commit_index_fully_replicated && cluster_.isClusterDiscovered();
setActiveMode(!all_done); // Enable passive mode if commit index is the same on all nodes
/*
* Now we know whether the log is replicated and whether all entries are committed, so we can make
* the decision. Remember that since we ended up in this branch, it is already known that all local
* log entries are committed.
*/
const bool all_done =
match_index_equals_commit_index &&
next_index_greater_than_commit_index &&
cluster_.isClusterDiscovered();
setActiveMode(!all_done);
}
else
{
// Not all local entries are committed
/*
* Not all local entries are committed.
* Deciding if it is safe to increment commit index.
*/
setActiveMode(true);
uint8_t num_nodes_with_next_log_entry_available = 1; // Local node