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Follower and candidate logic implemented

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This commit is contained in:
Pavel Kirienko
2015-05-08 13:30:55 +03:00
parent 1a640e6763
commit 6985c72dd3
3 changed files with 113 additions and 26 deletions
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libuavcan/include/uavcan/protocol/dynamic_node_id_allocation_server.hpp
+19 -7
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@@ -134,6 +134,7 @@ enum TraceEvent
TraceRaftVoteRequestReceived, // node ID of the client
TraceRaftVoteRequestSucceeded, // node ID of the server
// 20
TraceRaftVoteRequestInitiation, // node ID of the server
TraceRaftPersistStateUpdateError, // negative error code
TraceRaftCommitIndexUpdate, // new commit index value
TraceRaftNewerTermInResponse, // new term value
@@ -301,6 +302,10 @@ public:
*/
class ClusterManager : private TimerBase
{
public:
enum { MaxClusterSize = Discovery::FieldTypes::known_nodes::MaxSize };
private:
typedef MethodBinder<ClusterManager*,
void (ClusterManager::*)
(const ReceivedDataStructure<Discovery>&)>
@@ -320,8 +325,6 @@ class ClusterManager : private TimerBase
void resetIndices(const Log& log);
};
enum { MaxServers = Discovery::FieldTypes::known_nodes::MaxSize };
IDynamicNodeIDStorageBackend& storage_;
IDynamicNodeIDAllocationServerEventTracer& tracer_;
const Log& log_;
@@ -329,7 +332,7 @@ class ClusterManager : private TimerBase
Subscriber<Discovery, DiscoveryCallback> discovery_sub_;
mutable Publisher<Discovery> discovery_pub_;
Server servers_[MaxServers - 1]; ///< Minus one because the local server is not listed there.
Server servers_[MaxClusterSize - 1]; ///< Minus one because the local server is not listed there.
uint8_t cluster_size_;
uint8_t num_known_servers_;
@@ -504,8 +507,11 @@ class RaftCore : private TimerBase
*/
ServiceServer<AppendEntries, AppendEntriesCallback> append_entries_srv_;
ServiceClient<AppendEntries, AppendEntriesResponseCallback> append_entries_client_;
ServiceServer<RequestVote, RequestVoteCallback> request_vote_srv_;
ServiceClient<RequestVote, RequestVoteResponseCallback> request_vote_client_;
ServiceServer<RequestVote, RequestVoteCallback> request_vote_srv_;
enum { NumRequestVoteClients = ClusterManager::MaxClusterSize - 1 };
LazyConstructor<ServiceClient<RequestVote, RequestVoteResponseCallback> >
request_vote_clients_[NumRequestVoteClients];
void trace(TraceEvent event, int64_t argument) { tracer_.onEvent(event, argument); }
@@ -515,6 +521,8 @@ class RaftCore : private TimerBase
void registerActivity() { last_activity_timestamp_ = getNode().getMonotonicTime(); }
bool isActivityTimedOut() const;
void handlePersistentStateUpdateError(int error);
void updateFollower();
void updateCandidate();
void updateLeader();
@@ -559,8 +567,12 @@ public:
, append_entries_srv_(node)
, append_entries_client_(node)
, request_vote_srv_(node)
, request_vote_client_(node)
{ }
{
for (uint8_t i = 0; i < NumRequestVoteClients; i++)
{
request_vote_clients_[i].construct<INode&>(node);
}
}
/**
* Once started, the logic runs in the background until destructor is called.