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Raft logic fixes & more tests

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This commit is contained in:
Pavel Kirienko
2015-05-08 18:43:27 +03:00
parent 1d7e83bd71
commit e48fa77d85
3 changed files with 101 additions and 68 deletions
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libuavcan/src/protocol/uc_dynamic_node_id_allocation_server.cpp
+50 -50
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@@ -42,7 +42,7 @@ const char* IDynamicNodeIDAllocationServerEventTracer::getEventName(uint16_t cod
"InvalidClusterSizeReceived",
"RaftCoreInited",
"RaftStateSwitch",
"RaftModeSwitch",
"RaftActiveSwitch",
"RaftNewLogEntry",
"RaftRequestIgnored",
"RaftVoteRequestReceived",
@@ -939,13 +939,14 @@ void RaftCore::updateFollower()
if (active_mode_ && isActivityTimedOut())
{
switchState(ServerStateCandidate);
setActiveMode(true);
registerActivity();
}
}
void RaftCore::updateCandidate()
{
UAVCAN_ASSERT(active_mode_);
if (num_votes_received_in_this_campaign_ > 0)
{
const bool won = num_votes_received_in_this_campaign_ >= cluster_.getQuorumSize();
@@ -953,7 +954,6 @@ void RaftCore::updateCandidate()
UAVCAN_TRACE("dynamic_node_id_server_impl::RaftCore", "Election complete, won: %d", int(won));
switchState(won ? ServerStateLeader : ServerStateFollower); // Start over or become leader
setActiveMode(true);
}
else
{
@@ -1002,52 +1002,55 @@ void RaftCore::updateCandidate()
void RaftCore::updateLeader()
{
propagateCommitIndex();
// Leader simply emits one AppendEntry at every update, iterating over all available servers
if (next_server_index_ >= cluster_.getClusterSize())
if (active_mode_ || (next_server_index_ > 0))
{
next_server_index_ = 0;
}
const NodeID node_id = cluster_.getRemoteServerNodeIDAtIndex(next_server_index_);
UAVCAN_ASSERT(node_id.isUnicast());
const NodeID node_id = cluster_.getRemoteServerNodeIDAtIndex(next_server_index_);
UAVCAN_ASSERT(node_id.isUnicast());
AppendEntries::Request req;
req.term = persistent_state_.getCurrentTerm();
req.leader_commit = commit_index_;
req.prev_log_index = Log::Index(cluster_.getServerNextIndex(node_id) - 1U);
const Entry* const entry = persistent_state_.getLog().getEntryAtIndex(req.prev_log_index);
if (entry == NULL)
{
UAVCAN_ASSERT(0);
handlePersistentStateUpdateError(-ErrLogic);
return;
}
req.prev_log_term = entry->term;
for (Log::Index index = cluster_.getServerNextIndex(node_id);
index <= persistent_state_.getLog().getLastIndex();
index++)
{
req.entries.push_back(*persistent_state_.getLog().getEntryAtIndex(index));
if (req.entries.size() == req.entries.capacity())
next_server_index_++;
if (next_server_index_ >= cluster_.getNumKnownServers())
{
break;
next_server_index_ = 0;
}
AppendEntries::Request req;
req.term = persistent_state_.getCurrentTerm();
req.leader_commit = commit_index_;
req.prev_log_index = Log::Index(cluster_.getServerNextIndex(node_id) - 1U);
const Entry* const entry = persistent_state_.getLog().getEntryAtIndex(req.prev_log_index);
if (entry == NULL)
{
UAVCAN_ASSERT(0);
handlePersistentStateUpdateError(-ErrLogic);
return;
}
req.prev_log_term = entry->term;
for (Log::Index index = cluster_.getServerNextIndex(node_id);
index <= persistent_state_.getLog().getLastIndex();
index++)
{
req.entries.push_back(*persistent_state_.getLog().getEntryAtIndex(index));
if (req.entries.size() == req.entries.capacity())
{
break;
}
}
pending_append_entries_fields_.num_entries = req.entries.size();
pending_append_entries_fields_.prev_log_index = req.prev_log_index;
const int res = append_entries_client_.call(node_id, req);
if (res < 0)
{
trace(TraceRaftAppendEntriesCallFailure, res);
}
}
pending_append_entries_fields_.num_entries = req.entries.size();
pending_append_entries_fields_.prev_log_index = req.prev_log_index;
const int res = append_entries_client_.call(node_id, req);
if (res < 0)
{
trace(TraceRaftAppendEntriesCallFailure, res);
}
propagateCommitIndex();
}
void RaftCore::switchState(const ServerState new_state)
@@ -1077,9 +1080,9 @@ void RaftCore::setActiveMode(const bool new_active)
{
if (active_mode_ != new_active)
{
UAVCAN_TRACE("dynamic_node_id_server_impl::RaftCore", "Mode switch: %d --> %d",
UAVCAN_TRACE("dynamic_node_id_server_impl::RaftCore", "Active switch: %d --> %d",
int(active_mode_), int(new_active));
trace(TraceRaftModeSwitch, new_active);
trace(TraceRaftActiveSwitch, new_active);
active_mode_ = new_active;
}
@@ -1119,10 +1122,8 @@ void RaftCore::propagateCommitIndex()
}
}
if (commit_index_fully_replicated && cluster_.isClusterDiscovered())
{
setActiveMode(false); // Commit index is the same on all nodes, enabling passive mode
}
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
}
else
{
@@ -1348,7 +1349,6 @@ void RaftCore::handleRequestVoteRequest(const ReceivedDataStructure<RequestVote:
}
switchState(ServerStateFollower);
setActiveMode(false);
if (!response.isResponseEnabled())
{