From 9cee7cdf66c273a48a9bea78f2c9cd076df3ae46 Mon Sep 17 00:00:00 2001 From: Joshua Zhang Date: Thu, 4 Jul 2024 02:57:12 +0000 Subject: [PATCH] Trace validation test 1. Improve etcdraft spec to provide hooks for model-checking and trace validation. 2. Add new sample application based on raft and capable of injecting various faults. 3. Add new test to generate random traces (with faults) and run trace validation on them. 4. Fix some issues in etcdraft spec. Signed-off-by: Joshua Zhang --- Makefile | 4 + bootstrap.go | 2 + go.mod | 2 + go.sum | 6 + raft.go | 4 +- rafttest/cluster.go | 307 ++ rafttest/fault.go | 90 + rafttest/message_queue.go | 376 ++ rafttest/network.go | 133 +- rafttest/network_test.go | 90 +- rafttest/node.go | 89 +- rafttest/node_bench_test.go | 1 + rafttest/node_test.go | 3 + rafttest/trace_logger.go | 47 + rafttest/trace_validation_test.go | 208 ++ rawnode.go | 2 + scripts/test.sh | 19 + state_trace.go | 14 + state_trace_nop.go | 4 + tla/MCetcdraft.cfg | 33 +- tla/MCetcdraft.tla | 140 +- tla/README.md | 11 + tla/Traceetcdraft.cfg | 9 +- tla/Traceetcdraft.tla | 481 ++- tla/etcdraft.tla | 381 ++- tla/etcdraft2.tla | 1035 ++++++ tla/example.ndjson | 5274 +++-------------------------- tla/validate-model.sh | 15 +- tla/validate.sh | 48 +- 29 files changed, 3283 insertions(+), 5545 deletions(-) create mode 100644 rafttest/cluster.go create mode 100644 rafttest/fault.go create mode 100644 rafttest/message_queue.go create mode 100644 rafttest/trace_logger.go create mode 100644 rafttest/trace_validation_test.go create mode 100644 tla/etcdraft2.tla diff --git a/Makefile b/Makefile index 3ae9d6a3..6c86e743 100644 --- a/Makefile +++ b/Makefile @@ -23,6 +23,10 @@ verify-mod-tidy: verify-genproto: PASSES="genproto" ./scripts/test.sh +.PHONY: trace-validation +trace-validation: + PASSES="trace-validation" ./scripts/test.sh + .PHONY: test test: PASSES="unit" ./scripts/test.sh $(GO_TEST_FLAGS) diff --git a/bootstrap.go b/bootstrap.go index 2a61aa23..ef9b0532 100644 --- a/bootstrap.go +++ b/bootstrap.go @@ -76,5 +76,7 @@ func (rn *RawNode) Bootstrap(peers []Peer) error { for _, peer := range peers { rn.raft.applyConfChange(pb.ConfChange{NodeID: peer.ID, Type: pb.ConfChangeAddNode}.AsV2()) } + + traceBootstrap(rn.raft) return nil } diff --git a/go.mod b/go.mod index 777ffe1f..01cf8912 100644 --- a/go.mod +++ b/go.mod @@ -9,12 +9,14 @@ require ( github.com/gogo/protobuf v1.3.2 github.com/golang/protobuf v1.5.4 github.com/stretchr/testify v1.9.0 + go.uber.org/zap v1.27.0 ) require ( github.com/davecgh/go-spew v1.1.1 // indirect github.com/google/go-cmp v0.5.8 // indirect github.com/pmezard/go-difflib v1.0.0 // indirect + go.uber.org/multierr v1.10.0 // indirect google.golang.org/protobuf v1.33.0 // indirect gopkg.in/yaml.v3 v3.0.1 // indirect ) diff --git a/go.sum b/go.sum index 4ea1bc98..e363c4d2 100644 --- a/go.sum +++ b/go.sum @@ -16,6 +16,12 @@ github.com/stretchr/testify v1.9.0 h1:HtqpIVDClZ4nwg75+f6Lvsy/wHu+3BoSGCbBAcpTsT github.com/stretchr/testify v1.9.0/go.mod h1:r2ic/lqez/lEtzL7wO/rwa5dbSLXVDPFyf8C91i36aY= github.com/yuin/goldmark v1.1.27/go.mod h1:3hX8gzYuyVAZsxl0MRgGTJEmQBFcNTphYh9decYSb74= github.com/yuin/goldmark v1.2.1/go.mod h1:3hX8gzYuyVAZsxl0MRgGTJEmQBFcNTphYh9decYSb74= +go.uber.org/goleak v1.3.0 h1:2K3zAYmnTNqV73imy9J1T3WC+gmCePx2hEGkimedGto= +go.uber.org/goleak v1.3.0/go.mod h1:CoHD4mav9JJNrW/WLlf7HGZPjdw8EucARQHekz1X6bE= +go.uber.org/multierr v1.10.0 h1:S0h4aNzvfcFsC3dRF1jLoaov7oRaKqRGC/pUEJ2yvPQ= +go.uber.org/multierr v1.10.0/go.mod h1:20+QtiLqy0Nd6FdQB9TLXag12DsQkrbs3htMFfDN80Y= +go.uber.org/zap v1.27.0 h1:aJMhYGrd5QSmlpLMr2MftRKl7t8J8PTZPA732ud/XR8= +go.uber.org/zap v1.27.0/go.mod h1:GB2qFLM7cTU87MWRP2mPIjqfIDnGu+VIO4V/SdhGo2E= golang.org/x/crypto v0.0.0-20190308221718-c2843e01d9a2/go.mod h1:djNgcEr1/C05ACkg1iLfiJU5Ep61QUkGW8qpdssI0+w= golang.org/x/crypto v0.0.0-20191011191535-87dc89f01550/go.mod h1:yigFU9vqHzYiE8UmvKecakEJjdnWj3jj499lnFckfCI= golang.org/x/crypto v0.0.0-20200622213623-75b288015ac9/go.mod h1:LzIPMQfyMNhhGPhUkYOs5KpL4U8rLKemX1yGLhDgUto= diff --git a/raft.go b/raft.go index 8ba456e0..4b626599 100644 --- a/raft.go +++ b/raft.go @@ -1963,6 +1963,8 @@ func (r *raft) applyConfChange(cc pb.ConfChangeV2) pb.ConfState { panic(err) } + traceConfChangeEvent(cfg, r) + return r.switchToConfig(cfg, trk) } @@ -1973,8 +1975,6 @@ func (r *raft) applyConfChange(cc pb.ConfChangeV2) pb.ConfState { // // The inputs usually result from restoring a ConfState or applying a ConfChange. func (r *raft) switchToConfig(cfg tracker.Config, trk tracker.ProgressMap) pb.ConfState { - traceConfChangeEvent(cfg, r) - r.trk.Config = cfg r.trk.Progress = trk diff --git a/rafttest/cluster.go b/rafttest/cluster.go new file mode 100644 index 00000000..3b7accb6 --- /dev/null +++ b/rafttest/cluster.go @@ -0,0 +1,307 @@ +// Copyright 2024 The etcd Authors +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +package rafttest + +import ( + "context" + "fmt" + "time" + + "go.etcd.io/raft/v3" + "go.etcd.io/raft/v3/raftpb" +) + +//nolint:golint,unused // TODO: remove the nolint directive when new tests leverage this. For now it is only used in trace validation. +type clusterConfig struct { + size int + traceLogger raft.TraceLogger + tickInterval time.Duration +} + +//nolint:golint,unused // TODO: remove the nolint directive when new tests leverage this. For now it is only used in trace validation. +type endpoint struct { + index int + node *node +} + +//nolint:golint,unused // TODO: remove the nolint directive when new tests leverage this. For now it is only used in trace validation. +type getEndpoint struct { + i int + c chan endpoint +} + +//nolint:golint,unused // TODO: remove the nolint directive when new tests leverage this. For now it is only used in trace validation. +type cluster struct { + nodes map[uint64]*node + network *raftNetwork + + stopc chan struct{} + removec chan uint64 + addc chan uint64 + getc chan getEndpoint + faultc chan func(*cluster) + + traceLogger raft.TraceLogger + tickInterval time.Duration +} + +//nolint:golint,unused // TODO: remove the nolint directive when new tests leverage this. For now it is only used in trace validation. +func newCluster(c clusterConfig) *cluster { + tickInterval := c.tickInterval + if tickInterval == 0 { + tickInterval = 100 * time.Millisecond + } + ids := make([]uint64, c.size) + peers := make([]raft.Peer, c.size) + for i := 0; i < c.size; i++ { + peers[i].ID = uint64(i + 1) + ids[i] = peers[i].ID + } + network := newRaftNetwork(ids...) + nodes := make(map[uint64]*node, c.size) + for i := 0; i < c.size; i++ { + nodes[uint64(i+1)] = startNodeWithConfig(nodeConfig{ + id: uint64(i + 1), + peers: peers, + iface: network.nodeNetwork(uint64(i + 1)), + traceLogger: c.traceLogger, + tickInterval: tickInterval, + }) + } + + cl := &cluster{ + nodes: nodes, + network: network, + stopc: make(chan struct{}), + removec: make(chan uint64), + addc: make(chan uint64), + getc: make(chan getEndpoint), + faultc: make(chan func(*cluster)), + traceLogger: c.traceLogger, + tickInterval: tickInterval, + } + + cl.waitLeader() + + go cl.mgmtLoop() + + return cl +} + +//nolint:golint,unused // TODO: remove the nolint directive when new tests leverage this. For now it is only used in trace validation. +func (cl *cluster) mgmtLoop() { + peers := []raft.Peer{} + for _, n := range cl.nodes { + peers = append(peers, raft.Peer{ID: n.id, Context: []byte{}}) + } + for { + select { + case id := <-cl.addc: + cl.network.changeFace(id, true) + peers = append(peers, raft.Peer{ID: id, Context: []byte{}}) + node := startNodeWithConfig(nodeConfig{ + id: id, + peers: nil, + iface: cl.network.nodeNetwork(id), + traceLogger: cl.traceLogger, + tickInterval: cl.tickInterval, + }) + cl.nodes[id] = node + case id := <-cl.removec: + cl.network.changeFace(id, false) + cl.nodes[id].stop() + delete(cl.nodes, id) + for i, p := range peers { + if p.ID == id { + peers = append(peers[:i], peers[i+1:]...) + break + } + } + case gn := <-cl.getc: + nPeers := len(peers) + found := false + for off := 0; off < nPeers; off = off + 1 { + i := (gn.i + off) % nPeers + nid := peers[i].ID + n := cl.nodes[nid] + if n != nil && n.Node != nil { + gn.c <- endpoint{index: i, node: n} + found = true + break + } + } + if !found { + // all nodes are removed + gn.c <- endpoint{index: 0, node: nil} + } + case <-cl.stopc: + for _, n := range cl.nodes { + n.stop() + } + cl.network.stop() + close(cl.stopc) + return + case f := <-cl.faultc: + cl.network.clearFault() + for _, n := range cl.nodes { + if n.stopped { + n.restart() + } + } + f(cl) + } + } +} + +//nolint:golint,unused // TODO: remove the nolint directive when new tests leverage this. For now it is only used in trace validation. +func (cl *cluster) stop() { + cl.stopc <- struct{}{} + <-cl.stopc +} + +//nolint:golint,unused // TODO: remove the nolint directive when new tests leverage this. For now it is only used in trace validation. +func (cl *cluster) removeNode(id uint64) { + cl.removec <- id +} + +//nolint:golint,unused // TODO: remove the nolint directive when new tests leverage this. For now it is only used in trace validation. +func (cl *cluster) addNode(id uint64) { + cl.addc <- id +} + +//nolint:golint,unused // TODO: remove the nolint directive when new tests leverage this. For now it is only used in trace validation. +func (cl *cluster) newClient() *client { + return &client{cluster: cl, epc: make(chan endpoint)} +} + +//nolint:golint,unused // TODO: remove the nolint directive when new tests leverage this. For now it is only used in trace validation. +func (cl *cluster) waitLeader() uint64 { + var l map[uint64]struct{} + var lindex uint64 + + for { + l = make(map[uint64]struct{}) + + for i, n := range cl.nodes { + lead := n.Status().SoftState.Lead + if lead != 0 { + l[lead] = struct{}{} + if n.id == lead { + lindex = i + } + } + } + + if len(l) == 1 { + return lindex + } + } +} + +//nolint:golint,unused // TODO: remove the nolint directive when new tests leverage this. For now it is only used in trace validation. +type client struct { + cluster *cluster + epi int + epc chan endpoint +} + +//nolint:golint,unused // TODO: remove the nolint directive when new tests leverage this. For now it is only used in trace validation. +func (cl *client) propose(ctx context.Context, data []byte) error { + ep := cl.getEndpoint() + if ep == nil { + return fmt.Errorf("all nodes down") + } + return ep.Propose(ctx, data) +} + +//nolint:golint,unused // TODO: remove the nolint directive when new tests leverage this. For now it is only used in trace validation. +func (cl *client) addNode(ctx context.Context, n uint64) error { + change := raftpb.ConfChangeSingle{ + Type: raftpb.ConfChangeAddNode, + NodeID: n, + } + cc := raftpb.ConfChangeV2{ + Transition: 0, + Changes: []raftpb.ConfChangeSingle{change}, + Context: []byte{}, + } + + ep := cl.getEndpoint() + if err := ep.ProposeConfChange(ctx, cc); err != nil { + return err + } + + toc := time.After(cl.cluster.tickInterval * 50) + for { + select { + case <-toc: + return fmt.Errorf("addNode timeout") + default: + } + st := ep.Status() + if _, exist := st.Config.Voters[0][n]; exist { + break + } + } + cl.cluster.addNode(n) + return nil +} + +//nolint:golint,unused // TODO: remove the nolint directive when new tests leverage this. For now it is only used in trace validation. +func (cl *client) removeNode(ctx context.Context, n uint64) error { + change := raftpb.ConfChangeSingle{ + Type: raftpb.ConfChangeRemoveNode, + NodeID: n, + } + cc := raftpb.ConfChangeV2{ + Transition: 0, + Changes: []raftpb.ConfChangeSingle{change}, + Context: []byte{}, + } + + ep := cl.getEndpoint() + if err := ep.ProposeConfChange(ctx, cc); err != nil { + return err + } + + toc := time.After(cl.cluster.tickInterval * 50) + for { + select { + case <-toc: + return fmt.Errorf("removeNode timeout") + default: + } + st := ep.Status() + if _, exist := st.Config.Voters[0][n]; !exist { + break + } + } + + cl.cluster.removeNode(n) + return nil +} + +//nolint:golint,unused // TODO: remove the nolint directive when new tests leverage this. For now it is only used in trace validation. +func (cl *client) getEndpoint() *node { + // round robin + ge := getEndpoint{ + i: cl.epi + 1, + c: cl.epc, + } + cl.cluster.getc <- ge + ep := <-ge.c + cl.epi = ep.index + return ep.node +} diff --git a/rafttest/fault.go b/rafttest/fault.go new file mode 100644 index 00000000..c20051a7 --- /dev/null +++ b/rafttest/fault.go @@ -0,0 +1,90 @@ +// Copyright 2024 The etcd Authors +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +package rafttest + +import "math/rand" + +//nolint:golint,unused // TODO: remove the nolint directive when new tests leverage this. For now it is only used in trace validation. +func pickRandomNode(c *cluster) *node { + k := rand.Intn(len(c.nodes)) + for _, n := range c.nodes { + if k == 0 { + return n + } + k-- + } + + return nil +} + +//nolint:golint,unused // TODO: remove the nolint directive when new tests leverage this. For now it is only used in trace validation. +func getNodeIDs(c *cluster) []uint64 { + ids := []uint64{} + for i := range c.nodes { + ids = append(ids, i) + } + return ids +} + +//nolint:golint,unused // TODO: remove the nolint directive when new tests leverage this. For now it is only used in trace validation. +func makeDelayFault(d delay, dual bool) func(c *cluster) { + return func(c *cluster) { + from := pickRandomNode(c).id + to := pickRandomNode(c).id + c.network.delay(from, to, d) + if dual { + c.network.delay(to, from, d) + } + } +} + +//nolint:golint,unused // TODO: remove the nolint directive when new tests leverage this. For now it is only used in trace validation. +func makeDropFault(p float64, dual bool) func(c *cluster) { + return func(c *cluster) { + from := pickRandomNode(c).id + to := pickRandomNode(c).id + c.network.drop(from, to, p) + if dual { + c.network.drop(to, from, p) + } + } +} + +//nolint:golint,unused // TODO: remove the nolint directive when new tests leverage this. For now it is only used in trace validation. +func makeNetworkPartition() func(c *cluster) { + return func(c *cluster) { + ids := getNodeIDs(c) + perm := rand.Perm(len(ids)) + k := rand.Intn(len(ids) - 1) + for _, i := range perm[:k+1] { + for _, j := range perm[k+1:] { + c.network.drop(ids[i], ids[j], 1) + c.network.drop(ids[j], ids[i], 1) + } + } + } +} + +//nolint:golint,unused // TODO: remove the nolint directive when new tests leverage this. For now it is only used in trace validation. +func makeNodesDown() func(c *cluster) { + return func(c *cluster) { + ids := getNodeIDs(c) + perm := rand.Perm(len(ids)) + n := rand.Intn(len(ids)/2 + 1) + for _, i := range perm[:n] { + c.nodes[ids[i]].stop() + } + } +} diff --git a/rafttest/message_queue.go b/rafttest/message_queue.go new file mode 100644 index 00000000..2b006381 --- /dev/null +++ b/rafttest/message_queue.go @@ -0,0 +1,376 @@ +// Copyright 2024 The etcd Authors +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +package rafttest + +import ( + "container/heap" + "math/rand" + "sync" + "time" + + "go.etcd.io/raft/v3/raftpb" +) + +type msgItem struct { + at time.Time + m raftpb.Message + index uint64 +} + +// priority queue that sort items by their at time. +type msgPriorityQueue []*msgItem + +func (pq msgPriorityQueue) Len() int { return len(pq) } + +func (pq msgPriorityQueue) Less(i, j int) bool { + return pq[i].at.Before(pq[j].at) +} + +func (pq msgPriorityQueue) Swap(i, j int) { + pq[i], pq[j] = pq[j], pq[i] +} + +func (pq *msgPriorityQueue) Push(x any) { + item := x.(*msgItem) + *pq = append(*pq, item) +} + +func (pq *msgPriorityQueue) Pop() any { + old := *pq + n := len(old) + item := old[n-1] + old[n-1] = nil // avoid memory leak + *pq = old[0 : n-1] + return item +} + +type receiver struct { + c chan raftpb.Message + stopc chan struct{} + pending sync.WaitGroup +} + +func newReceiver() *receiver { + return &receiver{ + c: make(chan raftpb.Message), + stopc: make(chan struct{}), + pending: sync.WaitGroup{}, + } +} + +func (r *receiver) receive(m raftpb.Message) { + r.pending.Add(1) + go func() { + select { + case r.c <- m: + case <-r.stopc: + } + r.pending.Done() + }() +} + +func (r *receiver) stop() { + close(r.stopc) + // wait all pending send goroutines + r.pending.Wait() + close(r.c) +} + +type delayConf struct { + from uint64 + to uint64 + delay delay +} + +type dropConf struct { + from uint64 + to uint64 + p float64 +} + +type faceConf struct { + id uint64 + add bool +} + +type conn struct { + from, to uint64 +} + +// messageQueue buffers messages in network in a priority queue. +// each message is associated with a time when the +// message shall be transmitted over the network. +type messageQueue struct { + rand *rand.Rand + q msgPriorityQueue + sendc chan raftpb.Message + recvc map[uint64]*receiver + recvcLock sync.RWMutex + stopc chan struct{} + delay map[conn]delay + drop map[conn]float64 + ci uint64 + + delayc chan delayConf + dropc chan dropConf + clearc chan struct{} + facec chan faceConf +} + +func newMessageQueue() *messageQueue { + mq := &messageQueue{ + rand: rand.New(rand.NewSource(1)), + q: make(msgPriorityQueue, 0), + sendc: make(chan raftpb.Message), + recvc: map[uint64]*receiver{}, + recvcLock: sync.RWMutex{}, + stopc: nil, + delay: make(map[conn]delay), + drop: make(map[conn]float64), + delayc: make(chan delayConf), + dropc: make(chan dropConf), + clearc: make(chan struct{}), + facec: make(chan faceConf), + ci: 0, + } + + mq.start() + + return mq +} + +func (mq *messageQueue) start() { + mq.stopc = make(chan struct{}) + go mq.msgLoop() +} +func (mq *messageQueue) stop() { + mq.removeAll() + close(mq.stopc) +} + +func (mq *messageQueue) setDelay(from, to uint64, d delay) { + mq.delayc <- delayConf{ + delay: d, + from: from, + to: to, + } +} + +func (mq *messageQueue) setDrop(from, to uint64, p float64) { + mq.dropc <- dropConf{ + p: p, + from: from, + to: to, + } +} + +//nolint:golint,unused // TODO: remove the nolint directive when new tests leverage this. For now it is only used in trace validation. +func (mq *messageQueue) clearFault() { + mq.clearc <- struct{}{} +} + +func (mq *messageQueue) push(di *msgItem) { + heap.Push(&mq.q, di) +} + +func (mq *messageQueue) pop() *msgItem { + return heap.Pop(&mq.q).(*msgItem) +} + +func (mq *messageQueue) peek() *msgItem { + n := mq.q.Len() + if n <= 0 { + return nil + } + + return mq.q[n-1] +} + +func (mq *messageQueue) popUntil(t time.Time) []*msgItem { + result := []*msgItem{} + + for { + if top := mq.peek(); top != nil && top.at.Before(t) { + result = append(result, mq.pop()) + } else { + break + } + } + + return result +} + +func (mq *messageQueue) send(m raftpb.Message) { + mq.sendc <- m +} + +func (mq *messageQueue) recvFrom(from uint64) chan raftpb.Message { + r := mq.getReceiver(from) + if r != nil { + return r.c + } + + return nil +} + +func (mq *messageQueue) changeFace(id uint64, add bool) { + mq.facec <- faceConf{ + id: id, + add: add, + } +} + +func (mq *messageQueue) getReceiver(id uint64) *receiver { + mq.recvcLock.RLock() + defer mq.recvcLock.RUnlock() + + if r, ok := mq.recvc[id]; ok { + return r + } + + return nil +} + +func (mq *messageQueue) getReceiverIDs() []uint64 { + mq.recvcLock.RLock() + defer mq.recvcLock.RUnlock() + + ids := []uint64{} + for id := range mq.recvc { + ids = append(ids, id) + } + + return ids +} + +func (mq *messageQueue) addReceiver(id uint64, r *receiver) *receiver { + mq.recvcLock.Lock() + defer mq.recvcLock.Unlock() + + old := mq.recvc[id] + mq.recvc[id] = r + return old +} + +func (mq *messageQueue) removeReceiver(id uint64) *receiver { + mq.recvcLock.Lock() + defer mq.recvcLock.Unlock() + + if r, ok := mq.recvc[id]; ok { + delete(mq.recvc, id) + return r + } + + return nil +} + +func (mq *messageQueue) removeAll() { + ids := mq.getReceiverIDs() + + for _, id := range ids { + mq.changeFace(id, false) + } +} + +func (mq *messageQueue) msgLoop() { + timer := time.NewTimer(time.Minute) + var notifyc <-chan time.Time + var lastIndex uint64 + for { + + first := mq.peek() + if first != nil { + if lastIndex != first.index { + lastIndex = first.index + // reset timer + timer.Stop() + select { + case <-timer.C: + default: + } + duration := time.Until(first.at) + timer.Reset(duration) + notifyc = timer.C + } + } else { + notifyc = nil + } + + select { + case m := <-mq.sendc: + if drop, exists := mq.drop[conn{m.From, m.To}]; exists && mq.rand.Float64() < drop { + continue + } + var rd int64 + var nonBlockingDelay bool + if delay, exists := mq.delay[conn{m.From, m.To}]; exists && mq.rand.Float64() < delay.rate { + rd = mq.rand.Int63n(int64(delay.d)) + nonBlockingDelay = !delay.block + } + // use marshal/unmarshal to copy message to avoid data race. + b, err := m.Marshal() + if err != nil { + panic(err) + } + var cm raftpb.Message + err = cm.Unmarshal(b) + if err != nil { + panic(err) + } + if nonBlockingDelay { + mq.push(&msgItem{ + at: time.Now().Add(time.Duration(rd)), + m: cm, + index: mq.ci, + }) + } else { + time.Sleep(time.Duration(rd)) + mq.push(&msgItem{ + at: time.Now(), + m: cm, + index: mq.ci, + }) + } + + mq.ci++ + + case <-notifyc: + items := mq.popUntil(time.Now()) + for _, di := range items { + if r := mq.getReceiver(di.m.To); r != nil { + r.receive(di.m) + } + } + case delayConf := <-mq.delayc: + mq.delay[conn{delayConf.from, delayConf.to}] = delayConf.delay + case dropConf := <-mq.dropc: + mq.drop[conn{dropConf.from, dropConf.to}] = dropConf.p + case <-mq.clearc: + mq.delay = map[conn]delay{} + mq.drop = map[conn]float64{} + case faceConf := <-mq.facec: + if faceConf.add { + mq.addReceiver(faceConf.id, newReceiver()) + } else { + if r := mq.removeReceiver(faceConf.id); r != nil { + r.stop() + } + } + case <-mq.stopc: + timer.Stop() + return + } + } +} diff --git a/rafttest/network.go b/rafttest/network.go index eebae6d9..c6188654 100644 --- a/rafttest/network.go +++ b/rafttest/network.go @@ -15,7 +15,6 @@ package rafttest import ( - "math/rand" "sync" "time" @@ -31,135 +30,97 @@ type iface interface { } type raftNetwork struct { - rand *rand.Rand - mu sync.Mutex - disconnected map[uint64]bool - dropmap map[conn]float64 - delaymap map[conn]delay - recvQueues map[uint64]chan raftpb.Message -} - -type conn struct { - from, to uint64 + mq *messageQueue } type delay struct { - d time.Duration - rate float64 + d time.Duration + rate float64 + block bool } func newRaftNetwork(nodes ...uint64) *raftNetwork { pn := &raftNetwork{ - rand: rand.New(rand.NewSource(1)), - recvQueues: make(map[uint64]chan raftpb.Message), - dropmap: make(map[conn]float64), - delaymap: make(map[conn]delay), - disconnected: make(map[uint64]bool), + mq: newMessageQueue(), } for _, n := range nodes { - pn.recvQueues[n] = make(chan raftpb.Message, 1024) + pn.mq.changeFace(n, true) } return pn } func (rn *raftNetwork) nodeNetwork(id uint64) iface { - return &nodeNetwork{id: id, raftNetwork: rn} + return &nodeNetwork{ + lock: sync.RWMutex{}, + id: id, + raftNetwork: rn, + connected: true} } func (rn *raftNetwork) send(m raftpb.Message) { - rn.mu.Lock() - to := rn.recvQueues[m.To] - if rn.disconnected[m.To] { - to = nil - } - drop := rn.dropmap[conn{m.From, m.To}] - dl := rn.delaymap[conn{m.From, m.To}] - rn.mu.Unlock() - - if to == nil { - return - } - if drop != 0 && rn.rand.Float64() < drop { - return - } - // TODO: shall we dl without blocking the send call? - if dl.d != 0 && rn.rand.Float64() < dl.rate { - rd := rn.rand.Int63n(int64(dl.d)) - time.Sleep(time.Duration(rd)) - } - - // use marshal/unmarshal to copy message to avoid data race. - b, err := m.Marshal() - if err != nil { - panic(err) - } - - var cm raftpb.Message - err = cm.Unmarshal(b) - if err != nil { - panic(err) - } - - select { - case to <- cm: - default: - // drop messages when the receiver queue is full. - } + rn.mq.send(m) } func (rn *raftNetwork) recvFrom(from uint64) chan raftpb.Message { - rn.mu.Lock() - fromc := rn.recvQueues[from] - if rn.disconnected[from] { - fromc = nil - } - rn.mu.Unlock() - - return fromc + return rn.mq.recvFrom(from) } func (rn *raftNetwork) drop(from, to uint64, rate float64) { - rn.mu.Lock() - defer rn.mu.Unlock() - rn.dropmap[conn{from, to}] = rate + rn.mq.setDrop(from, to, rate) } -func (rn *raftNetwork) delay(from, to uint64, d time.Duration, rate float64) { - rn.mu.Lock() - defer rn.mu.Unlock() - rn.delaymap[conn{from, to}] = delay{d, rate} +func (rn *raftNetwork) delay(from, to uint64, d delay) { + rn.mq.setDelay(from, to, d) } -func (rn *raftNetwork) disconnect(id uint64) { - rn.mu.Lock() - defer rn.mu.Unlock() - rn.disconnected[id] = true +//nolint:golint,unused // TODO: remove the nolint directive when new tests leverage this. For now it is only used in trace validation. +func (rn *raftNetwork) clearFault() { + rn.mq.clearFault() } -func (rn *raftNetwork) connect(id uint64) { - rn.mu.Lock() - defer rn.mu.Unlock() - rn.disconnected[id] = false +//nolint:golint,unused // TODO: remove the nolint directive when new tests leverage this. For now it is only used in trace validation. +func (rn *raftNetwork) changeFace(id uint64, add bool) { + rn.mq.changeFace(id, add) +} + +func (rn *raftNetwork) stop() { + rn.mq.stop() } type nodeNetwork struct { - id uint64 + lock sync.RWMutex + id uint64 + connected bool *raftNetwork } func (nt *nodeNetwork) connect() { - nt.raftNetwork.connect(nt.id) + nt.lock.Lock() + defer nt.lock.Unlock() + + nt.connected = true } func (nt *nodeNetwork) disconnect() { - nt.raftNetwork.disconnect(nt.id) + nt.lock.Lock() + defer nt.lock.Unlock() + nt.connected = false } func (nt *nodeNetwork) send(m raftpb.Message) { - nt.raftNetwork.send(m) + nt.lock.RLock() + defer nt.lock.RUnlock() + if nt.connected { + nt.raftNetwork.send(m) + } } func (nt *nodeNetwork) recv() chan raftpb.Message { - return nt.recvFrom(nt.id) + nt.lock.RLock() + defer nt.lock.RUnlock() + if nt.connected { + return nt.recvFrom(nt.id) + } + return nil } diff --git a/rafttest/network_test.go b/rafttest/network_test.go index e1859a99..566825ac 100644 --- a/rafttest/network_test.go +++ b/rafttest/network_test.go @@ -15,6 +15,7 @@ package rafttest import ( + "sort" "testing" "time" @@ -28,21 +29,25 @@ func TestNetworkDrop(t *testing.T) { sent := 1000 droprate := 0.1 nt := newRaftNetwork(1, 2) + nt.drop(1, 2, droprate) - for i := 0; i < sent; i++ { - nt.send(raftpb.Message{From: 1, To: 2}) - } + + go func() { + for i := 0; i < sent; i++ { + nt.send(raftpb.Message{From: 1, To: 2}) + } + + time.Sleep(time.Millisecond * 10) + nt.stop() + }() c := nt.recvFrom(2) received := 0 - done := false - for !done { - select { - case <-c: + ok := true + for ok { + if _, ok = <-c; ok { received++ - default: - done = true } } @@ -53,19 +58,70 @@ func TestNetworkDrop(t *testing.T) { func TestNetworkDelay(t *testing.T) { sent := 1000 - delay := time.Millisecond + d := time.Millisecond delayrate := 0.1 nt := newRaftNetwork(1, 2) - nt.delay(1, 2, delay, delayrate) - var total time.Duration - for i := 0; i < sent; i++ { - s := time.Now() - nt.send(raftpb.Message{From: 1, To: 2}) - total += time.Since(s) + nt.delay(1, 2, delay{d, delayrate, true}) + + go func() { + for i := 0; i < sent; i++ { + nt.send(raftpb.Message{From: 1, To: 2}) + } + + time.Sleep(time.Millisecond * 10) + nt.stop() + }() + + c := nt.recvFrom(2) + s := time.Now() + + ok := true + for ok { + _, ok = <-c } - w := time.Duration(float64(sent)*delayrate/2) * delay + total := time.Since(s) + + w := time.Duration(float64(sent)*delayrate/2) * d // there is some overhead in the send call since it generates random numbers. assert.GreaterOrEqual(t, total, w) } + +func TestMessageReordering(t *testing.T) { + n := 1000 + d := time.Millisecond * 100 + delayrate := 0.1 + nt := newRaftNetwork(1, 2) + + nt.delay(1, 2, delay{d, delayrate, false}) + + sent := []int{} + go func() { + for i := 0; i < n; i++ { + nt.send(raftpb.Message{From: 1, To: 2, Index: uint64(i)}) + sent = append(sent, i) + } + + // wait some time to send all messages. + // Ideally we only see at most d delay with some extra time on internal loop. + time.Sleep(d + time.Millisecond*10) + nt.stop() + }() + + c := nt.recvFrom(2) + + received := []int{} + ok := true + var m raftpb.Message + for ok { + if m, ok = <-c; ok { + received = append(received, int(m.Index)) + } + } + + assert.NotEqual(t, sent, received, "received messages shall be reordered") + + sort.Ints(received) + assert.Equal(t, sent, received, "all messages shall be received") +} diff --git a/rafttest/node.go b/rafttest/node.go index b32408b6..6f6f775f 100644 --- a/rafttest/node.go +++ b/rafttest/node.go @@ -25,6 +25,14 @@ import ( "go.etcd.io/raft/v3/raftpb" ) +type nodeConfig struct { + id uint64 + peers []raft.Peer + iface iface + traceLogger raft.TraceLogger + tickInterval time.Duration +} + type node struct { raft.Node id uint64 @@ -37,35 +45,64 @@ type node struct { mu sync.Mutex // guards state state raftpb.HardState + + applyc chan []raftpb.Entry + applied uint64 + + traceLogger raft.TraceLogger + stopped bool + tickInterval time.Duration } func startNode(id uint64, peers []raft.Peer, iface iface) *node { + return startNodeWithConfig(nodeConfig{ + id: id, + peers: peers, + iface: iface, + }) +} + +func startNodeWithConfig(nc nodeConfig) *node { st := raft.NewMemoryStorage() c := &raft.Config{ - ID: id, + ID: nc.id, ElectionTick: 10, HeartbeatTick: 1, Storage: st, MaxSizePerMsg: 1024 * 1024, MaxInflightMsgs: 256, MaxUncommittedEntriesSize: 1 << 30, + TraceLogger: nc.traceLogger, + } + var rn raft.Node + if len(nc.peers) == 0 { + rn = raft.RestartNode(c) + } else { + rn = raft.StartNode(c, nc.peers) } - rn := raft.StartNode(c, peers) n := &node{ - Node: rn, - id: id, - storage: st, - iface: iface, - pausec: make(chan bool), + Node: rn, + id: nc.id, + storage: st, + iface: nc.iface, + pausec: make(chan bool), + applyc: make(chan []raftpb.Entry), + applied: 0, + traceLogger: nc.traceLogger, + tickInterval: nc.tickInterval, } n.start() return n } func (n *node) start() { + n.applied = n.Node.Status().Commit n.stopc = make(chan struct{}) - ticker := time.NewTicker(5 * time.Millisecond).C - + tickInterval := n.tickInterval + if tickInterval == 0 { + tickInterval = 5 * time.Millisecond + } + ticker := time.NewTicker(tickInterval).C go func() { for { select { @@ -81,6 +118,28 @@ func (n *node) start() { n.storage.Append(rd.Entries) time.Sleep(time.Millisecond) + for _, e := range rd.CommittedEntries { + if e.Index <= n.applied { + continue + } + switch e.Type { + case raftpb.EntryConfChange: + var cc raftpb.ConfChange + if err := cc.Unmarshal(e.Data); err != nil { + panic(err) + } + n.ApplyConfChange(cc) + n.applied++ + case raftpb.EntryConfChangeV2: + var cc raftpb.ConfChangeV2 + if err := cc.Unmarshal(e.Data); err != nil { + panic(err) + } + n.ApplyConfChange(cc) + n.applied++ + } + } + // simulate async send, more like real world... for _, m := range rd.Messages { mlocal := m @@ -114,6 +173,7 @@ func (n *node) start() { } } }() + n.stopped = false } // stop stops the node. stop a stopped node might panic. @@ -121,9 +181,18 @@ func (n *node) start() { // All stable MUST be unchanged. func (n *node) stop() { n.iface.disconnect() + select { + case _, ok := <-n.stopc: + if !ok { + // stop a stopped node + return + } + default: + } n.stopc <- struct{}{} // wait for the shutdown <-n.stopc + n.stopped = true } // restart restarts the node. restart a started node @@ -139,6 +208,8 @@ func (n *node) restart() { MaxSizePerMsg: 1024 * 1024, MaxInflightMsgs: 256, MaxUncommittedEntriesSize: 1 << 30, + TraceLogger: n.traceLogger, + Applied: n.applied, } n.Node = raft.RestartNode(c) n.start() diff --git a/rafttest/node_bench_test.go b/rafttest/node_bench_test.go index 128084f7..60d0c94d 100644 --- a/rafttest/node_bench_test.go +++ b/rafttest/node_bench_test.go @@ -25,6 +25,7 @@ import ( func BenchmarkProposal3Nodes(b *testing.B) { peers := []raft.Peer{{ID: 1, Context: nil}, {ID: 2, Context: nil}, {ID: 3, Context: nil}} nt := newRaftNetwork(1, 2, 3) + defer nt.stop() nodes := make([]*node, 0) diff --git a/rafttest/node_test.go b/rafttest/node_test.go index 60b10411..cedab61e 100644 --- a/rafttest/node_test.go +++ b/rafttest/node_test.go @@ -27,6 +27,7 @@ import ( func TestBasicProgress(t *testing.T) { peers := []raft.Peer{{ID: 1, Context: nil}, {ID: 2, Context: nil}, {ID: 3, Context: nil}, {ID: 4, Context: nil}, {ID: 5, Context: nil}} nt := newRaftNetwork(1, 2, 3, 4, 5) + defer nt.stop() nodes := make([]*node, 0) @@ -51,6 +52,7 @@ func TestBasicProgress(t *testing.T) { func TestRestart(t *testing.T) { peers := []raft.Peer{{ID: 1, Context: nil}, {ID: 2, Context: nil}, {ID: 3, Context: nil}, {ID: 4, Context: nil}, {ID: 5, Context: nil}} nt := newRaftNetwork(1, 2, 3, 4, 5) + defer nt.stop() nodes := make([]*node, 0) @@ -89,6 +91,7 @@ func TestRestart(t *testing.T) { func TestPause(t *testing.T) { peers := []raft.Peer{{ID: 1, Context: nil}, {ID: 2, Context: nil}, {ID: 3, Context: nil}, {ID: 4, Context: nil}, {ID: 5, Context: nil}} nt := newRaftNetwork(1, 2, 3, 4, 5) + defer nt.stop() nodes := make([]*node, 0) diff --git a/rafttest/trace_logger.go b/rafttest/trace_logger.go new file mode 100644 index 00000000..7aca7399 --- /dev/null +++ b/rafttest/trace_logger.go @@ -0,0 +1,47 @@ +// Copyright 2024 The etcd Authors +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +//go:build with_tla + +package rafttest + +import ( + "go.uber.org/zap" + + "go.etcd.io/raft/v3" +) + +type traceLogger struct { + lg *zap.Logger +} + +func newTraceLogger(path string) *traceLogger { + cfg := zap.NewProductionConfig() + cfg.OutputPaths = []string{path} + cfg.Level = zap.NewAtomicLevelAt(zap.DebugLevel) + cfg.Sampling = nil + + lg, _ := cfg.Build() + return &traceLogger{ + lg: lg, + } +} + +func (t *traceLogger) TraceEvent(ev *raft.TracingEvent) { + t.lg.Debug("trace", zap.String("tag", "trace"), zap.Any("event", ev)) +} + +func (t *traceLogger) flush() { + t.lg.Sync() +} diff --git a/rafttest/trace_validation_test.go b/rafttest/trace_validation_test.go new file mode 100644 index 00000000..191e7ee2 --- /dev/null +++ b/rafttest/trace_validation_test.go @@ -0,0 +1,208 @@ +// Copyright 2024 The etcd Authors +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +//go:build with_tla + +package rafttest + +import ( + "context" + "errors" + "fmt" + "math/rand" + "os" + "os/exec" + "path/filepath" + "regexp" + "runtime" + "strconv" + "strings" + "testing" + "time" + + "go.etcd.io/raft/v3" +) + +type Fault int + +const ( + None Fault = iota + Delay + NonBlockingDelay + Drop + NetworkPartition + NodeDown + FaultCount +) + +const ( + MaxDelayInMilliseconds int = 50 // 50ms as one election timeout +) + +var testNameCleanRegex = regexp.MustCompile(`[^a-zA-Z0-9 \-_]+`) + +func makeRandomFaults(n int) []func(*cluster) { + var applier func(*cluster) + appliers := []func(*cluster){} + r := rand.New(rand.NewSource(1)) + for i := 0; i < n; i++ { + f := Fault(r.Intn(int(FaultCount))) + switch f { + case Delay, NonBlockingDelay: + p := r.Float64() + d := time.Millisecond * time.Duration(r.Intn(MaxDelayInMilliseconds)) + dual := r.Float32() < 0.5 + applier = makeDelayFault(delay{d: d, rate: p, block: f == Delay}, dual) + case Drop: + p := r.Float64() + dual := r.Float32() < 0.5 + applier = makeDropFault(p, dual) + case NetworkPartition: + applier = makeNetworkPartition() + case NodeDown: + applier = makeNodesDown() + default: + continue + } + + appliers = append(appliers, applier) + } + + return appliers +} + +func runWithRandomFaults(clusterSize int, tl raft.TraceLogger, pReconf float64, durationInET int, faultIntervalInET int) { + const tickInterval = 20 * time.Millisecond + cluster := newCluster(clusterConfig{ + size: clusterSize, + traceLogger: tl, + tickInterval: tickInterval, + }) + + faults := makeRandomFaults(durationInET / faultIntervalInET) + fi := 0 + + faults[0](cluster) + timer := time.NewTimer(time.Duration(faultIntervalInET*10) * cluster.tickInterval) + + nextID := uint64(clusterSize) + 1 + + client := cluster.newClient() + stopc := make(chan struct{}) + go func() { + defer close(stopc) + removes := 0 + for { + select { + case <-stopc: + timer.Stop() + return + case <-timer.C: + fi++ + faults[fi%len(faults)](cluster) + default: + } + + if rand.Float64() < pReconf { + if rand.Float64() < 0.5 { + client.addNode(context.TODO(), nextID) + nextID++ + } else if removes < clusterSize-1 { + id := client.getEndpoint().id + client.removeNode(context.TODO(), id) + removes++ + } + } else { + ctx, cancel := context.WithTimeout(context.TODO(), time.Millisecond*100) + defer cancel() + client.propose(ctx, []byte("data")) + } + time.Sleep(tickInterval * 5) + } + }() + + time.Sleep(time.Duration(durationInET*10) * cluster.tickInterval) + stopc <- struct{}{} + <-stopc + + cluster.stop() +} + +func TestTraceValidationWithRandomFaults(t *testing.T) { + // working dir + workDir := os.Getenv("WORKING_DIR") + if workDir == "" { + tmp, err := os.MkdirTemp("", "TestTraceValidationWithRandomFaults-") + if err != nil { + t.Fatalf("failed to create working directory") + } + workDir = tmp + } + + t.Logf("Trace validation with random faults. Working directory: %s", workDir) + + // parallel + nCPU := runtime.NumCPU() + parallel := nCPU * 2 / 3 + if str := os.Getenv("PARALLEL"); str != "" { + n, err := strconv.Atoi(str) + if err != nil { + t.Fatalf("failed to parse PARALLEL. PARALLEL: %s, Error: %s", str, err.Error()) + } + if n > nCPU { + n = nCPU + } + parallel = n + } + + // trace count + rounds := parallel + if str := os.Getenv("TRACE_COUNT"); str != "" { + n, err := strconv.Atoi(str) + if err != nil { + t.Fatalf("failed to parse TRACE_COUNT. TRACE_COUNT: %s, Error: %s", str, err.Error()) + } + rounds = n + } + + // Create cluster and run with random faults + for i := 0; i < rounds; i++ { + filename := fmt.Sprintf("%s-%d.ndjson", testNameCleanRegex.ReplaceAllString(t.Name(), ""), i) + logPath := filepath.Join(workDir, filename) + if err := os.Remove(logPath); err != nil && !errors.Is(err, os.ErrNotExist) { + t.Fatalf("failed to clean up old log %s. Error: %s", logPath, err.Error()) + } + tl := newTraceLogger(logPath) + // run for 10 election timeouts, with fault interval of 2 election timeouts + runWithRandomFaults(3, tl, 0.02, 10, 2) + tl.flush() + } + + // validate collected traces + arguments := []string{ + "-p", + fmt.Sprintf("%d", parallel), + "-c", + "../tla/Traceetcdraft.cfg", + "-s", + "../tla/Traceetcdraft.tla", + "-w", + workDir, + fmt.Sprintf("%s/*.ndjson", workDir), + } + cmd := fmt.Sprintf("../tla/validate.sh %s", strings.Join(arguments, " ")) + if output, err := exec.Command("/bin/bash", "-c", cmd).Output(); err != nil { + t.Errorf("trace validation failed. Output: %s", output) + } +} diff --git a/rawnode.go b/rawnode.go index a4da2ae2..992384be 100644 --- a/rawnode.go +++ b/rawnode.go @@ -491,6 +491,8 @@ func (rn *RawNode) Advance(_ Ready) { rn.stepsOnAdvance[i] = pb.Message{} } rn.stepsOnAdvance = rn.stepsOnAdvance[:0] + + traceAdvance(rn.raft) } // Status returns the current status of the given group. This allocates, see diff --git a/scripts/test.sh b/scripts/test.sh index b8ea371b..8c76bdd8 100755 --- a/scripts/test.sh +++ b/scripts/test.sh @@ -119,6 +119,25 @@ function mod_tidy_pass { mod_tidy_for_module } +################# TLA+ TRACE VALIDATION ######################################## + +function trace-validation_pass { + if ! type -p java > /dev/null 2>&1; then + echo "java is not installed" + return 255 + fi + + if ! type -p xargs > /dev/null 2>&1; then + echo "xargs is not installed" + return 255 + fi + + if [ -z "${WORKING_DIR}" ]; then + WORKING_DIR=$(mktemp -d) + fi + GOLANG_TEST_SHORT=true WORKING_DIR=${WORKING_DIR} go test -race -short -timeout="${TIMEOUT:-30m}" -tags with_tla -run ^TestTraceValidationWithRandomFaults$ go.etcd.io/raft/v3/rafttest +} + ################# REGULAR TESTS ################################################ # run_unit_tests [pkgs] runs unit tests for a current module and givesn set of [pkgs] diff --git a/state_trace.go b/state_trace.go index 8712dc6a..65bb6510 100644 --- a/state_trace.go +++ b/state_trace.go @@ -30,6 +30,7 @@ type stateMachineEventType int const ( rsmInitState stateMachineEventType = iota + rsmBootstrap rsmBecomeCandidate rsmBecomeFollower rsmBecomeLeader @@ -38,6 +39,7 @@ const ( rsmChangeConf rsmApplyConfChange rsmReady + rsmAdvance rsmSendAppendEntriesRequest rsmReceiveAppendEntriesRequest rsmSendAppendEntriesResponse @@ -53,6 +55,7 @@ const ( func (e stateMachineEventType) String() string { return []string{ "InitState", + "Bootstrap", "BecomeCandidate", "BecomeFollower", "BecomeLeader", @@ -61,6 +64,7 @@ func (e stateMachineEventType) String() string { "ChangeConf", "ApplyConfChange", "Ready", + "Advance", "SendAppendEntriesRequest", "ReceiveAppendEntriesRequest", "SendAppendEntriesResponse", @@ -86,6 +90,7 @@ type TracingEvent struct { State TracingState `json:"state"` Role string `json:"role"` LogSize uint64 `json:"log"` + Applied uint64 `json:"applied"` Conf [2][]string `json:"conf"` Message *TracingMessage `json:"msg,omitempty"` ConfChange *TracingConfChange `json:"cc,omitempty"` @@ -173,6 +178,7 @@ func traceEvent(evt stateMachineEventType, r *raft, m *raftpb.Message, prop map[ NodeID: strconv.FormatUint(r.id, 10), State: makeTracingState(r), LogSize: r.raftLog.lastIndex(), + Applied: r.raftLog.applied, Conf: [2][]string{formatConf(r.trk.Voters[0].Slice()), formatConf(r.trk.Voters[1].Slice())}, Role: r.state.String(), Message: makeTracingMessage(m), @@ -206,10 +212,18 @@ func traceInitState(r *raft) { traceNodeEvent(rsmInitState, r) } +func traceBootstrap(r *raft) { + traceNodeEvent(rsmBootstrap, r) +} + func traceReady(r *raft) { traceNodeEvent(rsmReady, r) } +func traceAdvance(r *raft) { + traceNodeEvent(rsmAdvance, r) +} + func traceCommit(r *raft) { traceNodeEvent(rsmCommit, r) } diff --git a/state_trace_nop.go b/state_trace_nop.go index cdeb99b0..8da56630 100644 --- a/state_trace_nop.go +++ b/state_trace_nop.go @@ -29,8 +29,12 @@ type TracingEvent struct{} func traceInitState(*raft) {} +func traceBootstrap(*raft) {} + func traceReady(*raft) {} +func traceAdvance(*raft) {} + func traceCommit(*raft) {} func traceReplicate(*raft, ...raftpb.Entry) {} diff --git a/tla/MCetcdraft.cfg b/tla/MCetcdraft.cfg index 31ad9584..369e7472 100644 --- a/tla/MCetcdraft.cfg +++ b/tla/MCetcdraft.cfg @@ -12,33 +12,31 @@ \* See the License for the specific language governing permissions and \* limitations under the License. \* -SPECIFICATION mc_etcdSpec +SPECIFICATION MCSpec CONSTANTS - s1 = 1 - s2 = 2 - s3 = 3 - s4 = 4 - s5 = 5 + s1 = s1 + s2 = s2 + s3 = s3 + s4 = s4 + s5 = s5 InitServer = {s1, s2, s3} Server = {s1, s2, s3, s4} ReconfigurationLimit = 2 - MaxTermLimit = 10 - RequestLimit = 5 - - Timeout <- MCTimeout - Send <- MCSend - ClientRequest <- MCClientRequest - AddNewServer <- MCAddNewServer - DeleteServer <- MCDeleteServer - AddLearner <- MCAddLearner - + MaxTermLimit = 3 + RequestLimit = 3 + MaxRestart = 2 + MaxStepDownToFollower = 1 + InitServerVars <- etcdInitServerVars InitLogVars <- etcdInitLogVars InitConfigVars <- etcdInitConfigVars + IsEnabled <- MCIsEnabled + PostAction <- MCPostAction + Nil = 0 ValueEntry = "ValueEntry" @@ -65,5 +63,4 @@ INVARIANTS LogMatchingInv QuorumLogInv MoreUpToDateCorrectInv - LeaderCompletenessInv - CommittedIsDurableInv \ No newline at end of file + LeaderCompletenessInv \ No newline at end of file diff --git a/tla/MCetcdraft.tla b/tla/MCetcdraft.tla index 5302c2bc..8836b676 100644 --- a/tla/MCetcdraft.tla +++ b/tla/MCetcdraft.tla @@ -16,18 +16,38 @@ EXTENDS etcdraft +CONSTANTS s1,s2,s3,s4,s5 + CONSTANT ReconfigurationLimit ASSUME ReconfigurationLimit \in Nat CONSTANT MaxTermLimit ASSUME MaxTermLimit \in Nat +CONSTANT MaxRestart +ASSUME MaxRestart \in Nat + \* Limit on client requests CONSTANT RequestLimit ASSUME RequestLimit \in Nat +CONSTANT MaxStepDownToFollower +ASSUME MaxStepDownToFollower \in Nat + etcd == INSTANCE etcdraft +VARIABLE restartCount +VARIABLE stepDownCount +constaintVars == <> + +mcVars == << vars, constaintVars >> + +ChangeOneVar(_vars, index, op(_)) == + IF op(index) THEN + UNCHANGED RemoveAt(_vars, index) + ELSE + UNCHANGED _vars + \* Application uses Node (instead of RawNode) will have multiple ConfigEntry entries appended to log in bootstrapping. BootstrapLog == LET prevConf(y) == IF Len(y) = 0 THEN {} ELSE y[Len(y)].value.newconf @@ -42,79 +62,75 @@ etcdInitServerVars == /\ currentTerm = [i \in Server |-> IF i \in InitServer TH /\ votedFor = [i \in Server |-> Nil] etcdInitLogVars == /\ log = [i \in Server |-> IF i \in InitServer THEN BootstrapLog ELSE <<>>] /\ commitIndex = [i \in Server |-> IF i \in InitServer THEN Cardinality(InitServer) ELSE 0] + /\ applied = [i \in Server |-> 0] etcdInitConfigVars == /\ config = [i \in Server |-> [ jointConfig |-> IF i \in InitServer THEN <> ELSE <<{}, {}>>, learners |-> {}]] - /\ reconfigCount = 0 \* the bootstrap configuraitons are not counted + /\ appliedConfChange = [i \in Server |-> Len(BootstrapLog)] \* This file controls the constants as seen below. \* In addition to basic settings of how many nodes are to be model checked, \* the model allows to place additional limitations on the state space of the program. -\* Limit the # of reconfigurations to ReconfigurationLimit -MCAddNewServer(i, j) == - /\ reconfigCount < ReconfigurationLimit - /\ etcd!AddNewServer(i, j) -MCDeleteServer(i, j) == - /\ reconfigCount < ReconfigurationLimit - /\ etcd!DeleteServer(i, j) -MCAddLearner(i, j) == - /\ reconfigCount < ReconfigurationLimit - /\ etcd!AddLearner(i, j) - -\* Limit the terms that can be reached. Needs to be set to at least 3 to -\* evaluate all relevant states. If set to only 2, the candidate_quorum -\* constraint below is too restrictive. -MCTimeout(i) == - \* Limit the term of each server to reduce state space - /\ currentTerm[i] < MaxTermLimit - \* Limit max number of simultaneous candidates - \* We made several restrictions to the state space of Raft. However since we - \* made these restrictions, Deadlocks can occur at places that Raft would in - \* real-world deployments handle graciously. - \* One example of this is if a Quorum of nodes becomes Candidate but can not - \* timeout anymore since we constrained the terms. Then, an artificial Deadlock - \* is reached. We solve this below. If TermLimit is set to any number >2, this is - \* not an issue since breadth-first search will make sure that a similar - \* situation is simulated at term==1 which results in a term increase to 2. - /\ Cardinality({ s \in GetConfig(i) : state[s] = Candidate}) < 1 - /\ etcd!Timeout(i) - -\* Limit number of requests (new entries) that can be made -MCClientRequest(i, v) == - \* Allocation-free variant of Len(SelectSeq(log[i], LAMBDA e: e.contentType = TypeEntry)) < RequestLimit - /\ FoldSeq(LAMBDA e, count: IF e.type = ValueEntry THEN count + 1 ELSE count, 0, log[i]) < RequestLimit - /\ etcd!ClientRequest(i, v) - -\* Limit how many identical append entries messages each node can send to another -\* Limit number of duplicate messages sent to the same server -MCSend(msg) == - \* One AppendEntriesRequest per node-pair at a time: - \* a) No AppendEntries request from i to j. - /\ ~ \E n \in DOMAIN messages \union DOMAIN pendingMessages: - /\ n.mdest = msg.mdest - /\ n.msource = msg.msource - /\ n.mterm = msg.mterm - /\ n.mtype = AppendEntriesRequest - /\ msg.mtype = AppendEntriesRequest - \* b) No (corresponding) AppendEntries response from j to i. - /\ ~ \E n \in DOMAIN messages \union DOMAIN pendingMessages: - /\ n.mdest = msg.msource - /\ n.msource = msg.mdest - /\ n.mterm = msg.mterm - /\ n.mtype = AppendEntriesResponse - /\ msg.mtype = AppendEntriesRequest - /\ etcd!Send(msg) - -mc_etcdSpec == - /\ Init - /\ [][NextDynamic]_vars - +\* Check the # of reconfigurations and return true if it is lower than ReconfigurationLimit +UnderReconfigLimit == + LET leaders == {i \in Server : state[i] = Leader} + IN + \E i \in leaders : + /\ \A j \in leaders \ {i} : Len(log[i]) >= Len(log[j]) + /\ ReconfigurationLimit > FoldSeq(LAMBDA x, y: IF x.type = ConfigEntry THEN 1 ELSE 0, -Cardinality(InitServer), log[i]) + +MCIsEnabled(action, args) == + CASE action \in { "AddNewServer", "DeleteServer", "AddLearner" } -> UnderReconfigLimit + [] action = "Restart" -> restartCount < MaxRestart + [] action = "Timeout" -> + \* Limit the term of each server to reduce state space + /\ currentTerm[args[1]] < MaxTermLimit + \* Limit max number of simultaneous candidates + \* We made several restrictions to the state space of Raft. However since we + \* made these restrictions, Deadlocks can occur at places that Raft would in + \* real-world deployments handle graciously. + \* One example of this is if a Quorum of nodes becomes Candidate but can not + \* timeout anymore since we constrained the terms. Then, an artificial Deadlock + \* is reached. We solve this below. If TermLimit is set to any number >2, this is + \* not an issue since breadth-first search will make sure that a similar + \* situation is simulated at term==1 which results in a term increase to 2. + /\ Cardinality({ s \in GetConfig(args[1]) : state[s] = Candidate}) < 1 + [] action = "ClientRequest" -> + \* Allocation-free variant of Len(SelectSeq(log[i], LAMBDA e: e.contentType = TypeEntry)) < RequestLimit + FoldSeq(LAMBDA e, count: IF e.type = ValueEntry THEN count + 1 ELSE count, 0, log[args[1]]) < RequestLimit + [] action = "Ready" -> + \* If there is no new message and no state change, we can skip Advance to reduce state spece + \* to be explored + LET rd == ReadyData(args[1]) + IN + \/ rd.msgs /= EmptyBag + \/ DurableStateFromReady(rd) /= durableState[args[1]] + [] action = "StepDownToFollower" -> stepDownCount < MaxStepDownToFollower + [] OTHER -> etcd!IsEnabled(action, args) + +MCPostAction(action, args) == + CASE action = "Restart" -> + /\ restartCount' = restartCount + 1 + /\ UNCHANGED <> + [] action = "StepDownToFollower" -> + /\ stepDownCount' = stepDownCount + 1 + /\ UNCHANGED <> + [] OTHER -> UNCHANGED <> \* Symmetry set over possible servers. May dangerous and is only enabled \* via the Symmetry option in cfg file. Symmetry == Permutations(Server) \* Include all variables in the view, which is similar to defining no view. -View == << vars >> +View == mcVars ----- +InitConstraintVars == + /\ restartCount = 0 + /\ stepDownCount = 0 + +MCInit == + /\ Init + /\ InitConstraintVars + +MCSpec == MCInit /\ [][Next]_mcVars +---- =================================== \ No newline at end of file diff --git a/tla/README.md b/tla/README.md index a29c4877..a4f6aa52 100644 --- a/tla/README.md +++ b/tla/README.md @@ -83,6 +83,17 @@ By default validate.sh uses all CPU cores to validate the traces. You can also s Validating all traces in a file may take a long time. You can specify `MAX_TRACE` environment variable to limit the validation only on top `MAX_TRACE` traces in each file. +## Trace Validation Test +A special unit test TestTraceValidationWithRandomFaults is used to perform trace validation on traces from mock clusters running with random faults injected. You can use the command below to run the test. +```console +make trace-validation +``` + +By default, the trace validation test utilizes 2/3 of the available CPU cores on your system. It generates an equal number of trace sets within a temporary folder, which serves as the working directory. To customize these settings, you can leverage the following environment variables: +* `WORKING_DIR`: This variable allows you to specify a custom working directory for the generated trace sets. +* `TRACE_COUNT`: This variable lets you define the desired number of trace sets to be generated. +* `PARALLEL`: This variable enables you to control the maximum number of trace validation jobs that run concurrently. This can be helpful for reducing system pressure by limiting CPU usage or for faster execution by utilizing more cores. + ## Known Issues 1. **Partially persisted log**. etcdraft assumes atomic persisiting of states in Read action. This, however, may not apply in real-world application. For example, etcd may persist a prefix log when it crashes in the middle of saving data to disks. diff --git a/tla/Traceetcdraft.cfg b/tla/Traceetcdraft.cfg index 36e6c8aa..a5eb6aa8 100644 --- a/tla/Traceetcdraft.cfg +++ b/tla/Traceetcdraft.cfg @@ -31,9 +31,6 @@ VIEW PROPERTIES TraceMatched -PROPERTIES - etcdSpec - \* Checking for deadlocks during trace validation is disabled, as it may lead to false \* counterexamples. A trace specification defines a set of traces, where at least one \* trace is expected to match the log file in terms of variable values and length. @@ -64,6 +61,9 @@ CONSTANTS InitServer <- TraceInitServer Server <- TraceServer + IsEnabled <- TraceIsEnabled + PostAction <- TracePostAction + INVARIANTS LogInv MoreThanOneLeaderInv @@ -71,5 +71,4 @@ INVARIANTS LogMatchingInv QuorumLogInv MoreUpToDateCorrectInv - LeaderCompletenessInv - CommittedIsDurableInv \ No newline at end of file + LeaderCompletenessInv \ No newline at end of file diff --git a/tla/Traceetcdraft.tla b/tla/Traceetcdraft.tla index 6a32fd86..119431b1 100644 --- a/tla/Traceetcdraft.tla +++ b/tla/Traceetcdraft.tla @@ -45,7 +45,7 @@ OriginTraceLog == SelectSeq(ndJsonDeserialize(JsonFile), LAMBDA l: "tag" \in DOMAIN l /\ l.tag = "trace") TraceLog == - TLCEval(IF "MAX_TRACE" \in DOMAIN IOEnv THEN SubSeq(OriginTraceLog, 1, atoi(IOEnv.MAX_TRACE)) ELSE OriginTraceLog) + TLCEval(IF "MAX_TRACE" \in DOMAIN IOEnv THEN SubSeq(OriginTraceLog, 1, Min({Len(OriginTraceLog), atoi(IOEnv.MAX_TRACE)})) ELSE OriginTraceLog) TraceServer == TLCEval(FoldSeq( LAMBDA x, y: y \cup IF /\ x.event.name = "ChangeConf" @@ -54,40 +54,33 @@ TraceServer == TLCEval(FoldSeq( THEN {x.event.nid, x.event.prop.cc.changes[1].nid} ELSE {x.event.nid}, {}, TraceLog)) - -BootstrapLogIndicesForServer(i) == - LET - FirstBootstrapLogIndex == SelectInSeq(TraceLog, LAMBDA x: x.event.nid = i /\ x.event.name \in {"InitState", "BecomeFollower", "ApplyConfChange"}) - FirstNonBootstrapLogIndex == SelectInSeq(TraceLog, LAMBDA x: x.event.nid = i /\ x.event.name \notin {"InitState", "BecomeFollower", "ApplyConfChange"}) - LastBootstrapLogIndexUpperBound == IF FirstNonBootstrapLogIndex = 0 THEN Len(TraceLog) ELSE FirstNonBootstrapLogIndex-1 - IN - { k \in FirstBootstrapLogIndex..LastBootstrapLogIndexUpperBound: TraceLog[k].event.nid = i } - -BootstrapLogIndices == UNION { BootstrapLogIndicesForServer(i): i \in Server } - -LastBootstrapLog == [ i \in Server |-> TraceLog[Max(BootstrapLogIndicesForServer(i))] ] - -BootstrappedConfig(i) == - IF LastBootstrapLog[i].event.name = "ApplyConfChange" THEN - ToSet(LastBootstrapLog[i].event.prop.cc.newconf) - ELSE - ToSet(LastBootstrapLog[i].event.conf[1]) -TraceInitServer == BootstrappedConfig(TraceLog[1].event.nid) +BootstrapIndex == [ i \in Server |-> SelectInSeq(TraceLog, LAMBDA x: x.event.nid = i /\ x.event.name = "Bootstrap") ] +TraceInitServer == { i \in Server : BootstrapIndex[i] > 0 } ASSUME TraceInitServer \subseteq TraceServer - -TraceInitServerVars == /\ currentTerm = [i \in Server |-> LastBootstrapLog[i].event.state.term] - /\ state = [i \in Server |-> LastBootstrapLog[i].event.role] - /\ votedFor = [i \in Server |-> LastBootstrapLog[i].event.state.vote] -TraceInitLogVars == /\ log = [i \in Server |-> [j \in 1..LastBootstrapLog[i].event.log |-> [ term |-> 1, type |-> "ConfigEntry", value |-> [newconf |-> BootstrappedConfig(i), learners |-> {}]]]] - /\ commitIndex = [i \in Server |-> LastBootstrapLog[i].event.state.commit] +BootstrapEntries(i) == FoldSeq( + LAMBDA x, y: Append(y, [ term |-> 1, + type |-> "ConfigEntry", + value |-> [ newconf |-> ToSet(TraceLog[x].event.prop.cc.newconf), learners |-> {}] ]), + <<>>, + SetToSortSeq({j \in DOMAIN TraceLog : /\ j < BootstrapIndex[i] + /\ TraceLog[j].event.nid = i + /\ TraceLog[j].event.name = "ApplyConfChange"}, <) ) + +TraceInitServerVars == /\ currentTerm = [i \in Server |-> IF i \in InitServer THEN 1 ELSE 0] + /\ state = [i \in Server |-> Follower] + /\ votedFor = [i \in Server |-> Nil] +TraceInitLogVars == /\ log = [i \in Server |-> BootstrapEntries(i)] + /\ commitIndex = [i \in Server |-> Len(log[i])] + /\ applied = [i \in Server |-> 0] TraceInitConfigVars == - /\ config = [i \in Server |-> [ jointConfig |-> <>, learners |-> {}] ] - /\ reconfigCount = 0 + /\ config = [i \in Server |-> [ jointConfig |-> <>, learners |-> {}] ] + /\ appliedConfChange = [i \in Server |-> Len(log[i])] ------------------------------------------------------------------------------------- -ConfFromLog(l) == << ToSet(l.event.conf[1]), ToSet(l.event.conf[2]) >> +ConfFromTrace(l) == << ToSet(l.event.conf[1]), ToSet(l.event.conf[2]) >> +NewConfFromTrace(l) == << ToSet(l.event.prop.cc.newconf), {} >> OneMoreMessage(msg) == \/ msg \notin DOMAIN pendingMessages /\ msg \in DOMAIN pendingMessages' /\ pendingMessages'[msg] = 1 @@ -99,31 +92,22 @@ OneLessMessage(msg) == ------------------------------------------------------------------------------------- -VARIABLE l -logline == TraceLog[l] -VARIABLE pl +\* In some state, we will restrict the state exploration to only follow the actions in +\* constrainedBehavior. This is to reduce state space to be explored. +VARIABLE constrainedBehavior +Ready_PersistState_SendMessages_Behavior(i) == + << + << "Ready", <> >>, + << "PersistState", <> >>, + << "SendMessages", <> >> + >> -TraceInit == - /\ l = 1 - /\ pl = 0 - /\ logline = TraceLog[l] - /\ Init +VARIABLE l -StepToNextTrace == - /\ l' = l+1 - /\ pl' = l - /\ l % (Len(TraceLog) \div 100) = 0 => PrintT(<< "Progress %:", (l * 100) \div Len(TraceLog)>>) - /\ l' > Len(TraceLog) => PrintT(<< "Progress %:", 100>>) - -StepToNextTraceIfMessageIsProcessed(msg) == - IF OneLessMessage(msg) - THEN StepToNextTrace - ELSE - /\ pl' = l - /\ UNCHANGED <> +mcVars == <> -------------------------------------------------------------------------------------- +logline == TraceLog[l] LoglineIsEvent(e) == /\ l <= Len(TraceLog) @@ -187,116 +171,7 @@ LoglineIsRequestVoteResponse(m) == /\ m.mterm = logline.event.msg.term /\ m.mvoteGranted = ~logline.event.msg.reject -ValidatePreStates(i) == - \* only validate upon first visit of the logline - pl = l - 1 => /\ currentTerm[i] = logline.event.state.term - /\ state[i] = logline.event.role - /\ votedFor[i] = logline.event.state.vote - /\ Len(log[i]) = logline.event.log - /\ commitIndex[i] = logline.event.state.commit - /\ config[i].jointConfig = ConfFromLog(logline) - -ValidatePostStates(i) == - /\ currentTerm'[i] = logline.event.state.term - /\ state'[i] = logline.event.role - /\ votedFor'[i] = logline.event.state.vote - /\ Len(log'[i]) = logline.event.log - /\ commitIndex'[i] = logline.event.state.commit - /\ config'[i].jointConfig = ConfFromLog(logline) - -\* perform RequestVote transition if logline indicates so -ValidateAfterRequestVote(i, j) == - /\ ValidatePostStates(i) - /\ \E m \in DOMAIN pendingMessages': - /\ \/ LoglineIsRequestVoteRequest(m) - \/ /\ LoglineIsRequestVoteResponse(m) - /\ m.msource = m.mdest - /\ OneMoreMessage(m) - -RequestVoteIfLogged(i, j) == - /\ \/ LoglineIsMessageEvent("SendRequestVoteRequest", i, j) - \* etcd candidate sends MsgVoteResp to itself upon compain starting - \/ /\ LoglineIsMessageEvent("SendRequestVoteResponse", i, j) - /\ i = j - /\ RequestVote(i, j) - /\ ValidateAfterRequestVote(i, j) - -\* perform BecomeLeader transition if logline indicates so -ValidateAfterBecomeLeader(i) == - /\ ValidatePostStates(i) - /\ logline.event.role = "StateLeader" - /\ state'[i] = Leader - -BecomeLeaderIfLogged(i) == - /\ LoglineIsNodeEvent("BecomeLeader", i) - /\ BecomeLeader(i) - /\ ValidateAfterBecomeLeader(i) - -\* perform ClientRequest transition if logline indicates so -ClientRequestIfLogged(i, v) == - /\ LoglineIsNodeEvent("Replicate", i) - /\ ClientRequest(i, v) - -\* perform AdvanceCommitIndex transition if logline indicates so -ValidateAfterAdvanceCommitIndex(i) == - /\ ValidatePostStates(i) - /\ logline.event.role = "StateLeader" - /\ state[i] = Leader - -AdvanceCommitIndexIfLogged(i) == - /\ LoglineIsNodeEvent("Commit", i) - /\ AdvanceCommitIndex(i) - /\ ValidateAfterAdvanceCommitIndex(i) - -\* perform AppendEntries transition if logline indicates so -ValidateAfterAppendEntries(i, j) == - /\ ValidatePostStates(i) - /\ \E msg \in DOMAIN pendingMessages': - /\ LoglineIsAppendEntriesRequest(msg) - /\ OneMoreMessage(msg) - -ValidateAfterHeartbeat(i, j) == - /\ ValidatePostStates(i) - /\ \E msg \in DOMAIN pendingMessages': - /\ LoglineIsAppendEntriesRequest(msg) - /\ OneMoreMessage(msg) - -ValidateAfterAppendEntriesToSelf(i) == - /\ ValidatePostStates(i) - /\ \E msg \in DOMAIN pendingMessages': - /\ LoglineIsAppendEntriesResponse(msg) - /\ msg.msource = msg.mdest - \* There is now one more message of this type. - /\ OneMoreMessage(msg) - -AppendEntriesIfLogged(i, j, range) == - /\ LoglineIsMessageEvent("SendAppendEntriesRequest", i, j) - /\ logline.event.msg.type = "MsgApp" - /\ range[1] = logline.event.msg.index + 1 - /\ range[2] = range[1] + logline.event.msg.entries - /\ AppendEntries(i, j, range) - /\ ValidateAfterAppendEntries(i, j) - -HeartbeatIfLogged(i, j) == - /\ LoglineIsMessageEvent("SendAppendEntriesRequest", i, j) - /\ logline.event.msg.type = "MsgHeartbeat" - /\ Heartbeat(i, j) - /\ ValidateAfterAppendEntries(i, j) - -SendSnapshotIfLogged(i, j, index) == - /\ LoglineIsMessageEvent("SendAppendEntriesRequest", i, j) - /\ logline.event.msg.type = "MsgSnap" - /\ index = logline.event.msg.entries - /\ SendSnapshot(i, j, index) - /\ ValidateAfterAppendEntries(i, j) - -AppendEntriesToSelfIfLogged(i) == - /\ LoglineIsMessageEvent("SendAppendEntriesResponse", i, i) - /\ AppendEntriesToSelf(i) - /\ ValidateAfterAppendEntriesToSelf(i) - ReceiveMessageTraceNames == { "ReceiveAppendEntriesRequest", "ReceiveAppendEntriesResponse", "ReceiveRequestVoteRequest", "ReceiveRequestVoteResponse", "ReceiveSnapshot" } -\* perform Receive transition if logline indicates so LoglineIsReceivedMessage(m) == \/ /\ LoglineIsEvent("ReceiveAppendEntriesRequest") /\ LoglineIsAppendEntriesRequest(m) @@ -309,142 +184,191 @@ LoglineIsReceivedMessage(m) == \/ /\ LoglineIsEvent("ReceiveSnapshot") /\ LoglineIsAppendEntriesRequest(m) -ReceiveIfLogged(m) == - /\ LoglineIsReceivedMessage(m) - /\ ValidatePreStates(m.mdest) - /\ Receive(m) - -\* perform Timeout transition if logline indicates so -ValidateAfterTimeout(i) == - /\ logline.event.role = "StateCandidate" - /\ logline.event.nid = i - /\ state'[i] = Candidate - /\ currentTerm'[i] = logline.event.state.term - -TimeoutIfLogged(i) == - /\ LoglineIsNodeEvent("BecomeCandidate", i) - /\ Timeout(i) - /\ ValidateAfterTimeout(i) +LoglineIsBecomeFollowerInUpdateTermOrReturnToFollower == + /\ LoglineIsEvent("BecomeFollower") + /\ LET + k == SelectLastInSubSeq(TraceLog, 1, l-1, LAMBDA x: x.event.nid = logline.event.nid) + IN + /\ k > 0 + /\ \/ /\ TraceLog[k].event.name \in ReceiveMessageTraceNames + /\ TraceLog[k].event.state.term < TraceLog[k].event.msg.term + /\ TraceLog[k].event.msg.term = logline.event.state.term + \/ /\ TraceLog[k].event.name = "ReceiveAppendEntriesRequest" + /\ TraceLog[k].event.state.term = TraceLog[k].event.msg.term + /\ TraceLog[k].event.msg.term = logline.event.state.term + /\ TraceLog[k].event.role = Candidate -\* perform AddNewServer transition if logline indicates so -AddNewServerIfLogged(i, j) == +TraceIsRequestVote(i, j) == + \/ LoglineIsMessageEvent("SendRequestVoteRequest", i, j) + \* etcd candidate sends MsgVoteResp to itself upon compain starting + \/ /\ LoglineIsMessageEvent("SendRequestVoteResponse", i, j) + /\ i = j +TraceIsBecomeLeader(i) == LoglineIsNodeEvent("BecomeLeader", i) +TraceIsClientRequest(i, v) == LoglineIsNodeEvent("Replicate", i) +TraceIsAdvanceCommitIndex(i) == LoglineIsNodeEvent("Commit", i) +TraceIsAppendEntries(i, j, range) == + /\ LoglineIsMessageEvent("SendAppendEntriesRequest", i, j) + /\ logline.event.msg.type = "MsgApp" + /\ range[1] = logline.event.msg.index + 1 + /\ range[2] = range[1] + logline.event.msg.entries +TraceIsHeartbeat(i, j) == + /\ LoglineIsMessageEvent("SendAppendEntriesRequest", i, j) + /\ logline.event.msg.type = "MsgHeartbeat" +TraceIsSendSnapshot(i, j, index) == + /\ LoglineIsMessageEvent("SendAppendEntriesRequest", i, j) + /\ logline.event.msg.type = "MsgSnap" + /\ index = logline.event.msg.entries +TraceIsAppendEntriesToSelf(i) == LoglineIsMessageEvent("SendAppendEntriesResponse", i, i) +TraceIsTimeout(i) == LoglineIsNodeEvent("BecomeCandidate", i) +TraceIsAddNewServer(i, j) == /\ LoglineIsNodeEvent("ChangeConf", i) /\ Len(logline.event.prop.cc.changes) = 1 /\ logline.event.prop.cc.changes[1].action = "AddNewServer" /\ logline.event.prop.cc.changes[1].nid = j - /\ AddNewServer(i, j) - -\* perform AddLearner transition if logline indicates so -AddLearnerIfLogged(i, j) == +TraceIsAddLearner(i, j) == /\ LoglineIsNodeEvent("ChangeConf", i) /\ Len(logline.event.prop.cc.changes) = 1 /\ logline.event.prop.cc.changes[1].action = "AddLearner" /\ logline.event.prop.cc.changes[1].nid = j - /\ AddLearner(i, j) - -\* perform DeleteServer transition if logline indicates so -DeleteServerIfLogged(i, j) == +TraceIsDeleteServer(i, j) == /\ LoglineIsNodeEvent("ChangeConf", i) /\ Len(logline.event.prop.cc.changes) = 1 /\ logline.event.prop.cc.changes[1].action = "RemoveServer" /\ logline.event.prop.cc.changes[1].nid = j - /\ DeleteServer(i, j) - -ApplySimpleConfChangeIfLogged(i) == - /\ LoglineIsNodeEvent("ApplyConfChange", i) - /\ ApplySimpleConfChange(i) +TraceIsApplyConfChange(i) == LoglineIsNodeEvent("ApplyConfChange", i) +TraceIsRestart(i) == LoglineIsNodeEvent("InitState", i) +TraceIsStepDownToFollower(i) == + /\ LoglineIsNodeEvent("BecomeFollower", i) + /\ \lnot LoglineIsBecomeFollowerInUpdateTermOrReturnToFollower +TraceIsReceive(m) == LoglineIsReceivedMessage(m) -ReadyIfLogged(i) == - /\ LoglineIsNodeEvent("Ready", i) - /\ Ready(i) +\* We don't trace for PersistState and SendMessages. Though they can be in any place +\* in ready phase, we can eliminate the nondeterministic by forcing the behavior sequence +\* as Ready->PersistState->SendMessages->...->Advance. Note that the sequence +\* is not necessary same as the implementation because we always end up with same state after +\* Advance no matter when PersistState and SendMessages are performed. +\* +\* For each Ready trace, we will walk 3 steps in the state machine: +\* Ready -> PersistState -> SendMessages +\* Trace location variable l will be unchanged until SendMessages action is done. +TraceIsReady(i) == LoglineIsNodeEvent("Ready", i) +TraceIsAdvance(i) == LoglineIsNodeEvent("Advance", i) +TraceIsUnused == + \/ /\ l < Len(TraceLog) + /\ l <= BootstrapIndex[logline.event.nid] + \/ /\ LoglineIsEvent("SendAppendEntriesResponse") + /\ logline.event.msg.from # logline.event.msg.to + \/ /\ LoglineIsEvent("SendRequestVoteResponse") + /\ logline.event.msg.from # logline.event.msg.to + \/ LoglineIsBecomeFollowerInUpdateTermOrReturnToFollower + \/ LoglineIsEvent("ReduceNextIndex") \* shall not be necessary when this is removed from raft + +TraceIsEnabled(action, args) == + IF TraceIsUnused THEN + action = "Unused" + ELSE IF constrainedBehavior /= <<>> THEN + <> = constrainedBehavior[1] + ELSE + CASE action = "RequestVote" -> TraceIsRequestVote(args[1], args[2]) + [] action = "BecomeLeader" -> TraceIsBecomeLeader(args[1]) + [] action = "ClientRequest" -> TraceIsClientRequest(args[1], args[2]) + [] action = "AdvanceCommitIndex" -> TraceIsAdvanceCommitIndex(args[1]) + [] action = "AppendEntries" -> TraceIsAppendEntries(args[1], args[2], args[3]) + [] action = "Heartbeat" -> TraceIsHeartbeat(args[1], args[2]) + [] action = "SendSnapshot" -> TraceIsSendSnapshot(args[1], args[2], args[3]) + [] action = "AppendEntriesToSelf" -> TraceIsAppendEntriesToSelf(args[1]) + [] action = "Timeout" -> TraceIsTimeout(args[1]) + [] action = "AddNewServer" -> TraceIsAddNewServer(args[1], args[2]) + [] action = "AddLearner" -> TraceIsAddLearner(args[1], args[2]) + [] action = "DeleteServer" -> TraceIsDeleteServer(args[1], args[2]) + [] action = "ApplyConfChange" -> TraceIsApplyConfChange(args[1]) + [] action = "Ready" -> TraceIsReady(args[1]) + [] action = "PersistState" -> TRUE + [] action = "SendMessages" -> TRUE + [] action = "Advance" -> TraceIsAdvance(args[1]) + [] action = "Restart" -> TraceIsRestart(args[1]) + [] action = "StepDownToFollower" -> TraceIsStepDownToFollower(args[1]) + [] action = "Receive" -> TraceIsReceive(args[1]) + [] action = "DuplicateMessage" -> FALSE + [] action = "DropMessage" -> FALSE + [] action = "Unused" -> TRUE + +SpecActionsToInspectState == { + "RequestVote", + "BecomeLeader", + "AdvanceCommitIndex", + "AppendEntries", + "Heartbeat", + "SendSnapshot", + "AppendEntriesToSelf", + "Timeout", + "Restart", + "StepDownToFollower", + "Ready", + "Advance", + "ApplyConfChange" +} +ValidateTraceState(action, args) == + LET i == logline.event.nid + IN action \in SpecActionsToInspectState => + /\ currentTerm'[i] = logline.event.state.term + /\ votedFor'[i] = logline.event.state.vote + /\ commitIndex'[i] = logline.event.state.commit + /\ state'[i] = logline.event.role + /\ Len(log'[i]) = logline.event.log + /\ applied'[i] = logline.event.applied + /\ IF action = "ApplyConfChange" THEN + /\ config[i].jointConfig = ConfFromTrace(logline) + /\ config'[i].jointConfig = NewConfFromTrace(logline) + ELSE + config'[i].jointConfig = ConfFromTrace(logline) + +NextConstrainedBehavior(action, args) == + IF constrainedBehavior /= <<>> /\ <> = constrainedBehavior[1] THEN + constrainedBehavior' = Tail(constrainedBehavior) + ELSE IF constrainedBehavior = <<>> /\ action = "Ready" THEN + constrainedBehavior' = Ready_PersistState_SendMessages_Behavior(args[1]) + ELSE + UNCHANGED <> -RestartIfLogged(i) == - /\ LoglineIsNodeEvent("InitState", i) - /\ Restart(i) - /\ ValidatePostStates(i) +AdvanceTrace == + /\ l' = l+1 + /\ l % (Len(TraceLog) \div 100) = 0 => PrintT(<< "Progress %:", (l * 100) \div Len(TraceLog) >>) + /\ l' > Len(TraceLog) => PrintT(<< "Progress %:", 100>>) -LoglineIsBecomeFollowerInUpdateTermOrReturnToFollower == - /\ LoglineIsEvent("BecomeFollower") - /\ LET - k == SelectLastInSubSeq(TraceLog, 1, l-1, LAMBDA x: x.event.nid = logline.event.nid) - IN - /\ k > 0 - /\ \/ /\ TraceLog[k].event.name \in ReceiveMessageTraceNames - /\ TraceLog[k].event.state.term < TraceLog[k].event.msg.term - /\ TraceLog[k].event.msg.term = logline.event.state.term - \/ /\ TraceLog[k].event.name = "ReceiveAppendEntriesRequest" - /\ TraceLog[k].event.state.term = TraceLog[k].event.msg.term - /\ TraceLog[k].event.msg.term = logline.event.state.term - /\ TraceLog[k].event.role = Candidate +StepTrace(action, args) == + CASE action = "Receive" -> + IF OneLessMessage(args[1]) THEN + AdvanceTrace + ELSE + UNCHANGED <> + \* Trace log shall keep logline unchanged in Ready and PersistState, and step + \* to the next line after SendMessages action is done. + [] action \in {"Ready", "PersistState"} -> UNCHANGED <> + [] OTHER -> AdvanceTrace -StepDownToFollowerIfLogged(i) == - /\ LoglineIsNodeEvent("BecomeFollower", i) - /\ \lnot LoglineIsBecomeFollowerInUpdateTermOrReturnToFollower - /\ StepDownToFollower(i) - /\ ValidatePostStates(i) - -\* skip unused logs -SkipUnusedLogline == - /\ \/ /\ LoglineIsEvent("SendAppendEntriesResponse") - /\ logline.event.msg.from # logline.event.msg.to - \/ /\ LoglineIsEvent("SendRequestVoteResponse") - /\ logline.event.msg.from # logline.event.msg.to - \/ LoglineIsBecomeFollowerInUpdateTermOrReturnToFollower - \/ LoglineIsEvent("ReduceNextIndex") \* shall not be necessary when this is removed from raft - /\ UNCHANGED <> +TracePostAction(action, args) == + /\ ValidateTraceState(action, args) + /\ NextConstrainedBehavior(action, args) + /\ StepTrace(action, args) + +------------------------------------------------- + +TraceInit == + /\ l = 1 + /\ constrainedBehavior = <<>> + /\ Init -TraceNextNonReceiveActions == - /\ \/ /\ LoglineIsEvents({"SendRequestVoteRequest", "SendRequestVoteResponse"}) - /\ \E i,j \in Server : RequestVoteIfLogged(i, j) - \/ /\ LoglineIsEvent("BecomeLeader") - /\ \E i \in Server : BecomeLeaderIfLogged(i) - \/ /\ LoglineIsEvent("Replicate") - /\ \E i \in Server : ClientRequestIfLogged(i, 0) - \/ /\ LoglineIsEvent("Commit") - /\ \E i \in Server : AdvanceCommitIndexIfLogged(i) - \/ /\ LoglineIsEvent("SendAppendEntriesRequest") /\ logline.event.msg.type = "MsgApp" - /\ \E i,j \in Server : \E b,e \in matchIndex[i][j]+1..Len(log[i])+1 : AppendEntriesIfLogged(i, j, <>) - \/ /\ LoglineIsEvent("SendAppendEntriesResponse") - /\ \E i \in Server : AppendEntriesToSelfIfLogged(i) - \/ /\ LoglineIsEvent("SendAppendEntriesRequest") - /\ \E i,j \in Server : HeartbeatIfLogged(i, j) /\ logline.event.msg.type = "MsgHeartbeat" - \/ /\ LoglineIsEvent("SendAppendEntriesRequest") /\ logline.event.msg.type = "MsgSnap" - /\ \E i,j \in Server : \E index \in 1..commitIndex[i] : SendSnapshotIfLogged(i, j, index) - \/ /\ LoglineIsEvent("BecomeCandidate") - /\ \E i \in Server : TimeoutIfLogged(i) - \/ /\ LoglineIsEvent("ChangeConf") - /\ \E i,j \in Server: AddNewServerIfLogged(i, j) - \/ /\ LoglineIsEvent("ChangeConf") - /\ \E i,j \in Server: AddLearnerIfLogged(i, j) - \/ /\ LoglineIsEvent("ChangeConf") - /\ \E i,j \in Server: DeleteServerIfLogged(i, j) - \/ /\ LoglineIsEvent("ApplyConfChange") - /\ \E i \in Server: ApplySimpleConfChangeIfLogged(i) - \/ /\ LoglineIsEvent("Ready") - /\ \E i \in Server: ReadyIfLogged(i) - \/ /\ LoglineIsEvent("InitState") - /\ \E i \in Server: RestartIfLogged(i) - \/ /\ LoglineIsEvent("BecomeFollower") - /\ \E i \in Server: StepDownToFollowerIfLogged(i) - \/ SkipUnusedLogline - /\ StepToNextTrace - -TraceNextReceiveActions == - /\ LoglineIsEvents(ReceiveMessageTraceNames) - /\ \E m \in DOMAIN messages : - /\ ReceiveIfLogged(m) - /\ StepToNextTraceIfMessageIsProcessed(m) +SkipUnusedAction == SpecAction("Unused", <<>>, LAMBDA act: + /\ l <= Len(TraceLog) + /\ UNCHANGED <> +) TraceNext == - \/ /\ l \in BootstrapLogIndices - /\ UNCHANGED <> - /\ StepToNextTrace - \/ /\ l \notin BootstrapLogIndices - /\ \/ TraceNextNonReceiveActions - \/ TraceNextReceiveActions - -TraceSpec == - TraceInit /\ [][TraceNext]_<> + \/ Next + \/ SkipUnusedAction + +TraceSpec == TraceInit /\ [][TraceNext]_mcVars ------------------------------------------------------------------------------------- @@ -454,7 +378,7 @@ TraceView == \* appears the second time in the trace. Put differently, TraceView causes TLC to \* consider s_i and s_j , where i and j are the positions of s in the trace, \* to be different states. - <> + mcVars ------------------------------------------------------------------------------------- @@ -468,10 +392,7 @@ TraceMatched == \* If the queue is empty after generating all successors of the current state, \* and l is less than the length of the trace, then TLC failed to validate the trace. \* - [](l <= Len(TraceLog) => [](TLCGet("queue") = 1 \/ l > Len(TraceLog))) - -etcd == INSTANCE etcdraft -etcdSpec == etcd!Init /\ [][etcd!NextDynamic]_etcd!vars + [](l <= Len(TraceLog) => [](TLCGet("queue") > 0 \/ l > Len(TraceLog))) ================================================================================== diff --git a/tla/etcdraft.tla b/tla/etcdraft.tla index 78284745..3b7bdb21 100644 --- a/tla/etcdraft.tla +++ b/tla/etcdraft.tla @@ -103,7 +103,9 @@ VARIABLE VARIABLE \* @type: Int -> Int; commitIndex -logVars == <> +VARIABLE + applied +logVars == <> \* The following variables are used only on candidates: \* The set of servers from which the candidate has received a RequestVote @@ -133,18 +135,21 @@ leaderVars == <> VARIABLE config VARIABLE - reconfigCount + appliedConfChange -configVars == <> +configVars == <> VARIABLE durableState +VARIABLE + ready +readyVars == <> \* End of per server variables. ---- \* All variables; used for stuttering (asserting state hasn't changed). -vars == <> +vars == <> ---- @@ -174,18 +179,12 @@ SendDirect(m) == \* All pending messages sent from node i PendingMessages(i) == - FoldBag(LAMBDA x, y: IF y.msource = i THEN BagAdd(x,y) ELSE x, EmptyBag, pendingMessages) + [ m \in { mm \in DOMAIN pendingMessages : mm.msource = i } |-> pendingMessages[m] ] \* Remove all messages in pendingMessages that were sent from node i ClearPendingMessages(i) == pendingMessages (-) PendingMessages(i) -\* Move all messages which was sent from node i in pendingMessages to messages -SendPendingMessages(i) == - LET msgs == PendingMessages(i) - IN /\ messages' = msgs (+) messages - /\ pendingMessages' = pendingMessages (-) msgs - \* Remove a message from the bag of messages. Used when a server is done DiscardDirect(m) == messages' = WithoutMessage(m, messages) @@ -217,24 +216,18 @@ IsJointConfig(i) == GetLearners(i) == config[i].learners +ConfFromLog(i, k) == + [jointConfig |-> << log[i][k].value.newconf, {} >>, learners |-> log[i][k].value.learners] + \* Apply conf change log entry to configuration ApplyConfigUpdate(i, k) == - [config EXCEPT ![i]= [jointConfig |-> << log[i][k].value.newconf, {} >>, learners |-> log[i][k].value.learners]] + config' = [config EXCEPT ![i]= ConfFromLog(i, k)] CommitTo(i, c) == commitIndex' = [commitIndex EXCEPT ![i] = Max({@, c})] CurrentLeaders == {i \in Server : state[i] = Leader} -PersistState(i) == - durableState' = [durableState EXCEPT ![i] = [ - currentTerm |-> currentTerm[i], - votedFor |-> votedFor[i], - log |-> Len(log[i]), - commitIndex |-> commitIndex[i], - config |-> config[i] - ]] - ---- \* Define initial values for all variables InitMessageVars == /\ messages = EmptyBag @@ -248,16 +241,22 @@ InitLeaderVars == /\ matchIndex = [i \in Server |-> [j \in Server |-> 0]] /\ pendingConfChangeIndex = [i \in Server |-> 0] InitLogVars == /\ log = [i \in Server |-> <<>>] /\ commitIndex = [i \in Server |-> 0] + /\ applied = [i \in Server |-> 0] InitConfigVars == /\ config = [i \in Server |-> [ jointConfig |-> <>, learners |-> {}]] - /\ reconfigCount = 0 -InitDurableState == - durableState = [ i \in Server |-> [ - currentTerm |-> currentTerm[i], - votedFor |-> votedFor[i], - log |-> Len(log[i]), - commitIndex |-> commitIndex[i], - config |-> config[i] - ]] + /\ appliedConfChange = [i \in Server |-> 0] + +InReadyPhase(i) == ready[i] /= <<>> + +InitReadyVars == + /\ durableState = [ i \in Server |-> [ + currentTerm |-> currentTerm[i], + votedFor |-> votedFor[i], + log |-> Len(log[i]), + applied |-> 0, + commitIndex |-> commitIndex[i], + config |-> config[i] + ]] + /\ ready = [i \in Server |-> <<>>] Init == /\ InitMessageVars /\ InitServerVars @@ -265,15 +264,48 @@ Init == /\ InitMessageVars /\ InitLeaderVars /\ InitLogVars /\ InitConfigVars - /\ InitDurableState + /\ InitReadyVars ---- \* Define state transitions +SpecActions == { + "RequestVote", + "BecomeLeader", + "ClientRequest", + "AdvanceCommitIndex", + "AppendEntries", + "AppendEntriesToSelf", + "Heartbeat", + "SendSnapshot", + "Receive", + "Timeout", + "StepDownToFollower", + "Ready", + "PersistState", + "ApplyConfChange", + "SendMessages", + "Advance", + "Restart", + "DuplicateMessage", + "DropMessage", + "AddNewServer", + "AddLearner", + "DeleteServer" +} + +IsEnabled(action, args) == action \in SpecActions +PostAction(action, args) == TRUE + +SpecAction(action, args, op(_)) == + /\ IsEnabled(action, args) + /\ op(action) + /\ PostAction(action, args) + \* Server i restarts from stable storage. \* It loses everything but its currentTerm, commitIndex, votedFor, log, and config in durable state. \* @type: Int => Bool; -Restart(i) == +Restart(i) == SpecAction("Restart", <>, LAMBDA act: /\ state' = [state EXCEPT ![i] = Follower] /\ votesResponded' = [votesResponded EXCEPT ![i] = {}] /\ votesGranted' = [votesGranted EXCEPT ![i] = {}] @@ -282,25 +314,32 @@ Restart(i) == /\ pendingMessages' = ClearPendingMessages(i) /\ currentTerm' = [currentTerm EXCEPT ![i] = durableState[i].currentTerm] /\ commitIndex' = [commitIndex EXCEPT ![i] = durableState[i].commitIndex] + /\ applied' = [applied EXCEPT ![i] = durableState[i].applied] /\ votedFor' = [votedFor EXCEPT ![i] = durableState[i].votedFor] /\ log' = [log EXCEPT ![i] = SubSeq(@, 1, durableState[i].log)] /\ config' = [config EXCEPT ![i] = durableState[i].config] - /\ UNCHANGED <> + /\ ready' = [ready EXCEPT ![i] = <<>>] + /\ appliedConfChange' = [appliedConfChange EXCEPT ![i] = durableState[i].applied] + /\ UNCHANGED <> +) \* Server i times out and starts a new election. \* @type: Int => Bool; -Timeout(i) == /\ state[i] \in {Follower, Candidate} - /\ i \in GetConfig(i) - /\ state' = [state EXCEPT ![i] = Candidate] - /\ currentTerm' = [currentTerm EXCEPT ![i] = currentTerm[i] + 1] - /\ votedFor' = [votedFor EXCEPT ![i] = i] - /\ votesResponded' = [votesResponded EXCEPT ![i] = {}] - /\ votesGranted' = [votesGranted EXCEPT ![i] = {}] - /\ UNCHANGED <> +Timeout(i) == SpecAction("Timeout", <>, LAMBDA act: + /\ ~InReadyPhase(i) + /\ state[i] \in {Follower, Candidate} + /\ i \in GetConfig(i) + /\ state' = [state EXCEPT ![i] = Candidate] + /\ currentTerm' = [currentTerm EXCEPT ![i] = currentTerm[i] + 1] + /\ votedFor' = [votedFor EXCEPT ![i] = i] + /\ votesResponded' = [votesResponded EXCEPT ![i] = {}] + /\ votesGranted' = [votesGranted EXCEPT ![i] = {}] + /\ UNCHANGED <> +) \* Candidate i sends j a RequestVote request. \* @type: (Int, Int) => Bool; -RequestVote(i, j) == +RequestVote(i, j) == SpecAction("RequestVote", <>, LAMBDA act: /\ state[i] = Candidate /\ j \in ((GetConfig(i) \union GetLearners(i)) \ votesResponded[i]) /\ IF i # j @@ -315,7 +354,8 @@ RequestVote(i, j) == mvoteGranted |-> TRUE, msource |-> i, mdest |-> i]) - /\ UNCHANGED <> + /\ UNCHANGED <> +) \* Leader i sends j an AppendEntries request containing entries in [b,e) range. \* N.B. range is right open @@ -346,10 +386,10 @@ AppendEntriesInRangeToPeer(subtype, i, j, range) == mcommitIndex |-> commit, msource |-> i, mdest |-> j]) - /\ UNCHANGED <> + /\ UNCHANGED <> \* etcd leader sends MsgAppResp to itself immediately after appending log entry -AppendEntriesToSelf(i) == +AppendEntriesToSelf(i) == SpecAction("AppendEntriesToSelf", <>, LAMBDA act: /\ state[i] = Leader /\ Send([mtype |-> AppendEntriesResponse, msubtype |-> "app", @@ -358,27 +398,33 @@ AppendEntriesToSelf(i) == mmatchIndex |-> Len(log[i]), msource |-> i, mdest |-> i]) - /\ UNCHANGED <> + /\ UNCHANGED <> +) -AppendEntries(i, j, range) == +AppendEntries(i, j, range) == SpecAction("AppendEntries", <>, LAMBDA act: AppendEntriesInRangeToPeer("app", i, j, range) +) -Heartbeat(i, j) == +Heartbeat(i, j) == SpecAction("Heartbeat", <>, LAMBDA act: \* heartbeat is equivalent to an append-entry request with 0 entry index 1 AppendEntriesInRangeToPeer("heartbeat", i, j, <<1,1>>) +) -SendSnapshot(i, j, index) == +SendSnapshot(i, j, index) == SpecAction("SendSnapshot", <>, LAMBDA act: AppendEntriesInRangeToPeer("snapshot", i, j, <<1,index+1>>) +) \* Candidate i transitions to leader. \* @type: Int => Bool; -BecomeLeader(i) == +BecomeLeader(i) == SpecAction("BecomeLeader", <>, LAMBDA act: + /\ ~InReadyPhase(i) /\ state[i] = Candidate /\ votesGranted[i] \in Quorum(GetConfig(i)) /\ state' = [state EXCEPT ![i] = Leader] /\ matchIndex' = [matchIndex EXCEPT ![i] = [j \in Server |-> IF j = i THEN Len(log[i]) ELSE 0]] - /\ UNCHANGED <> + /\ UNCHANGED <> +) Replicate(i, v, t) == /\ t \in {ValueEntry, ConfigEntry} @@ -391,16 +437,17 @@ Replicate(i, v, t) == \* Leader i receives a client request to add v to the log. \* @type: (Int, Int) => Bool; -ClientRequest(i, v) == +ClientRequest(i, v) == SpecAction("ClientRequest", <>, LAMBDA act: /\ Replicate(i, [val |-> v], ValueEntry) - /\ UNCHANGED <> + /\ UNCHANGED <> +) \* Leader i advances its commitIndex. \* This is done as a separate step from handling AppendEntries responses, \* in part to minimize atomic regions, and in part so that leaders of \* single-server clusters are able to mark entries committed. \* @type: Int => Bool; -AdvanceCommitIndex(i) == +AdvanceCommitIndex(i) == SpecAction("AdvanceCommitIndex", <>, LAMBDA act: /\ state[i] = Leader /\ LET \* The set of servers that agree up through index. Agree(index) == {k \in GetConfig(i) : matchIndex[i][k] >= index} @@ -419,11 +466,11 @@ AdvanceCommitIndex(i) == commitIndex[i] IN /\ CommitTo(i, newCommitIndex) - /\ UNCHANGED <> - + /\ UNCHANGED <> +) \* Leader i adds a new server j or promote learner j -AddNewServer(i, j) == +AddNewServer(i, j) == SpecAction("AddNewServer", <>, LAMBDA act: /\ state[i] = Leader /\ j \notin GetConfig(i) /\ ~IsJointConfig(i) @@ -433,10 +480,11 @@ AddNewServer(i, j) == ELSE /\ Replicate(i, <<>>, ValueEntry) /\ UNCHANGED <> - /\ UNCHANGED <> + /\ UNCHANGED <> +) \* Leader i adds a leaner j to the cluster. -AddLearner(i, j) == +AddLearner(i, j) == SpecAction("AddLearner", <>, LAMBDA act: /\ state[i] = Leader /\ j \notin GetConfig(i) \union GetLearners(i) /\ ~IsJointConfig(i) @@ -446,10 +494,11 @@ AddLearner(i, j) == ELSE /\ Replicate(i, <<>>, ValueEntry) /\ UNCHANGED <> - /\ UNCHANGED <> + /\ UNCHANGED <> +) \* Leader i removes a server j (possibly itself) from the cluster. -DeleteServer(i, j) == +DeleteServer(i, j) == SpecAction("DeleteServer", <>, LAMBDA act: /\ state[i] = Leader /\ j \in GetConfig(i) \union GetLearners(i) /\ ~IsJointConfig(i) @@ -459,25 +508,83 @@ DeleteServer(i, j) == ELSE /\ Replicate(i, <<>>, ValueEntry) /\ UNCHANGED <> - /\ UNCHANGED <> + /\ UNCHANGED <> +) -ApplySimpleConfChange(i) == +ReadyData(i) == + [ + msgs |-> PendingMessages(i), + lastEntry |-> Len(log[i]), + currentTerm |-> currentTerm[i], + votedFor |-> votedFor[i], + commitIndex |-> commitIndex[i], + applied |-> applied[i], + config |-> config[i] + ] + +Ready(i) == SpecAction("Ready", <>, LAMBDA act: + /\ ~InReadyPhase(i) + /\ ready' = [ready EXCEPT ![i] = ReadyData(i)] + /\ pendingMessages' = pendingMessages (-) ready'[i].msgs + /\ UNCHANGED <> +) + +DurableStateFromReady(rd) == + [ + currentTerm |-> rd.currentTerm, + votedFor |-> rd.votedFor, + log |-> rd.lastEntry, + commitIndex |-> rd.commitIndex, + config |-> rd.config, + applied |-> rd.applied + ] +PersistState(i) == SpecAction("PersistState", <>, LAMBDA act: + /\ InReadyPhase(i) + /\ durableState[i] /= DurableStateFromReady(ready[i]) + /\ durableState' = [durableState EXCEPT ![i] = DurableStateFromReady(ready[i])] + /\ UNCHANGED <> +) + +UnappliedConfChange(i) == + SelectInSubSeq(log[i], Max({applied[i], appliedConfChange[i]})+1, ready[i].commitIndex, LAMBDA x: x.type = ConfigEntry) + +HasUnappliedConfChange(i) == + LET k == UnappliedConfChange(i) + IN + /\ k > 0 + /\ config[i] /= ConfFromLog(i, k) + +ApplyConfChange(i) == SpecAction("ApplyConfChange", <>, LAMBDA act: + /\ InReadyPhase(i) /\ ~IsJointConfig(i) - /\ LET k == SelectLastInSubSeq(log[i], 1, commitIndex[i], LAMBDA x: x.type = ConfigEntry) + /\ LET k == UnappliedConfChange(i) IN /\ k > 0 - /\ k <= commitIndex[i] - /\ config' = ApplyConfigUpdate(i, k) + /\ ApplyConfigUpdate(i, k) + /\ appliedConfChange' = [appliedConfChange EXCEPT ![i] = k] /\ IF state[i] = Leader /\ pendingConfChangeIndex[i] >= k THEN - /\ reconfigCount' = reconfigCount + 1 - /\ pendingConfChangeIndex' = [pendingConfChangeIndex EXCEPT ![i] = 0] - ELSE UNCHANGED <> - /\ UNCHANGED <> - -Ready(i) == - /\ PersistState(i) - /\ SendPendingMessages(i) - /\ UNCHANGED <> + pendingConfChangeIndex' = [pendingConfChangeIndex EXCEPT ![i] = 0] + ELSE + UNCHANGED <> + /\ UNCHANGED <> +) + +SendMessages(i) == SpecAction("SendMessages", <>, LAMBDA act: + /\ InReadyPhase(i) + /\ ready[i].msgs /= EmptyBag + /\ messages' = ready[i].msgs (+) messages + /\ ready' = [ready EXCEPT ![i]["msgs"] = EmptyBag] + /\ UNCHANGED <> +) + +Advance(i) == SpecAction("Advance", <>, LAMBDA act: + /\ InReadyPhase(i) + /\ ready[i].msgs = EmptyBag \* all pending messages in ready are sent out + /\ ~HasUnappliedConfChange(i) \* all committed conf change entries in ready are applied + /\ ready' = [ready EXCEPT ![i] = <<>>] + /\ applied' = [applied EXCEPT ![i] = ready[i].commitIndex] + /\ UNCHANGED <> +) BecomeFollowerOfTerm(i, t) == /\ currentTerm' = [currentTerm EXCEPT ![i] = t] @@ -487,10 +594,10 @@ BecomeFollowerOfTerm(i, t) == ELSE UNCHANGED <> -StepDownToFollower(i) == - /\ state[i] \in {Leader, Candidate} +StepDownToFollower(i) == SpecAction("StepDownToFollower", <>, LAMBDA act: /\ BecomeFollowerOfTerm(i, currentTerm[i]) - /\ UNCHANGED <> + /\ UNCHANGED <> +) ---- \* Message handlers @@ -515,7 +622,7 @@ HandleRequestVoteRequest(i, j, m) == msource |-> i, mdest |-> j], m) - /\ UNCHANGED <> + /\ UNCHANGED <> \* Server i receives a RequestVote response from server j with \* m.mterm = currentTerm[i]. @@ -532,7 +639,7 @@ HandleRequestVoteResponse(i, j, m) == \/ /\ ~m.mvoteGranted /\ UNCHANGED <> /\ Discard(m) - /\ UNCHANGED <> + /\ UNCHANGED <> \* @type: (Int, Int, AEREQT, Bool) => Bool; RejectAppendEntriesRequest(i, j, m, logOk) == @@ -548,14 +655,14 @@ RejectAppendEntriesRequest(i, j, m, logOk) == msource |-> i, mdest |-> j], m) - /\ UNCHANGED <> + /\ UNCHANGED <> \* @type: (Int, MSG) => Bool; ReturnToFollowerState(i, m) == /\ m.mterm = currentTerm[i] /\ state[i] = Candidate /\ state' = [state EXCEPT ![i] = Follower] - /\ UNCHANGED <> + /\ UNCHANGED <> HasNoConflict(i, index, ents) == /\ index <= Len(log[i]) + 1 @@ -581,7 +688,7 @@ AppendEntriesAlreadyDone(i, j, index, m) == msource |-> i, mdest |-> j], m) - /\ UNCHANGED <> + /\ UNCHANGED <> \* @type: (Int, Int, AEREQT) => Bool; ConflictAppendEntriesRequest(i, index, m) == @@ -589,7 +696,7 @@ ConflictAppendEntriesRequest(i, index, m) == /\ index > commitIndex[i] /\ ~HasNoConflict(i, index, m.mentries) /\ log' = [log EXCEPT ![i] = SubSeq(@, 1, Len(@) - 1)] - /\ UNCHANGED <> + /\ UNCHANGED <> \* @type: (Int, AEREQT) => Bool; NoConflictAppendEntriesRequest(i, index, m) == @@ -597,7 +704,7 @@ NoConflictAppendEntriesRequest(i, index, m) == /\ index > commitIndex[i] /\ HasNoConflict(i, index, m.mentries) /\ log' = [log EXCEPT ![i] = @ \o SubSeq(m.mentries, Len(@)-index+2, Len(m.mentries))] - /\ UNCHANGED <> + /\ UNCHANGED <> \* @type: (Int, Int, Bool, AEREQT) => Bool; AcceptAppendEntriesRequest(i, j, logOk, m) == @@ -625,7 +732,7 @@ HandleAppendEntriesRequest(i, j, m) == /\ \/ RejectAppendEntriesRequest(i, j, m, logOk) \/ ReturnToFollowerState(i, m) \/ AcceptAppendEntriesRequest(i, j, logOk, m) - /\ UNCHANGED <> + /\ UNCHANGED <> \* Server i receives an AppendEntries response from server j with \* m.mterm = currentTerm[i]. @@ -638,7 +745,7 @@ HandleAppendEntriesResponse(i, j, m) == \/ /\ \lnot m.msuccess \* not successful /\ UNCHANGED <> /\ Discard(m) - /\ UNCHANGED <> + /\ UNCHANGED <> \* Any RPC with a newer term causes the recipient to advance its term first. \* @type: (Int, Int, MSG) => Bool; @@ -646,34 +753,37 @@ UpdateTerm(i, j, m) == /\ m.mterm > currentTerm[i] /\ BecomeFollowerOfTerm(i, m.mterm) \* messages is unchanged so m can be processed further. - /\ UNCHANGED <> + /\ UNCHANGED <> \* Responses with stale terms are ignored. \* @type: (Int, Int, MSG) => Bool; DropStaleResponse(i, j, m) == /\ m.mterm < currentTerm[i] /\ Discard(m) - /\ UNCHANGED <> + /\ UNCHANGED <> \* Receive a message. ReceiveDirect(m) == LET i == m.mdest j == m.msource - IN \* Any RPC with a newer term causes the recipient to advance - \* its term first. Responses with stale terms are ignored. - \/ UpdateTerm(i, j, m) - \/ /\ m.mtype = RequestVoteRequest - /\ HandleRequestVoteRequest(i, j, m) - \/ /\ m.mtype = RequestVoteResponse - /\ \/ DropStaleResponse(i, j, m) - \/ HandleRequestVoteResponse(i, j, m) - \/ /\ m.mtype = AppendEntriesRequest - /\ HandleAppendEntriesRequest(i, j, m) - \/ /\ m.mtype = AppendEntriesResponse - /\ \/ DropStaleResponse(i, j, m) - \/ HandleAppendEntriesResponse(i, j, m) - -Receive(m) == ReceiveDirect(m) + IN + \* Any RPC with a newer term causes the recipient to advance + \* its term first. Responses with stale terms are ignored. + \/ UpdateTerm(i, j, m) + \/ /\ m.mtype = RequestVoteRequest + /\ HandleRequestVoteRequest(i, j, m) + \/ /\ m.mtype = RequestVoteResponse + /\ \/ DropStaleResponse(i, j, m) + \/ HandleRequestVoteResponse(i, j, m) + \/ /\ m.mtype = AppendEntriesRequest + /\ HandleAppendEntriesRequest(i, j, m) + \/ /\ m.mtype = AppendEntriesResponse + /\ \/ DropStaleResponse(i, j, m) + \/ HandleAppendEntriesResponse(i, j, m) + +Receive(m) == SpecAction("Receive", <>, LAMBDA act: + ReceiveDirect(m) +) NextRequestVoteRequest == \E m \in DOMAIN messages : m.mtype = RequestVoteRequest /\ Receive(m) NextRequestVoteResponse == \E m \in DOMAIN messages : m.mtype = RequestVoteResponse /\ Receive(m) @@ -686,43 +796,49 @@ NextAppendEntriesResponse == \E m \in DOMAIN messages : m.mtype = AppendEntriesR \* The network duplicates a message \* @type: MSG => Bool; -DuplicateMessage(m) == +DuplicateMessage(m) == SpecAction("DuplicateMessage", <>, LAMBDA act: /\ m \in DOMAIN messages /\ messages' = WithMessage(m, messages) - /\ UNCHANGED <> + /\ UNCHANGED <> +) \* The network drops a message \* @type: MSG => Bool; -DropMessage(m) == +DropMessage(m) == SpecAction("DropMessage", <>, LAMBDA act: \* Do not drop loopback messages \* /\ m.msource /= m.mdest /\ Discard(m) - /\ UNCHANGED <> + /\ UNCHANGED <> +) ---- \* Defines how the variables may transition. -NextAsync == +Next == \/ \E i,j \in Server : RequestVote(i, j) \/ \E i \in Server : BecomeLeader(i) \/ \E i \in Server: ClientRequest(i, 0) \/ \E i \in Server : AdvanceCommitIndex(i) - \/ \E i,j \in Server : \E b,e \in matchIndex[i][j]+1..Len(log[i])+1 : AppendEntries(i, j, <>) + \/ \E i,j \in Server : + \E b \in matchIndex[i][j]+1..Len(log[i])+1 : + \E e \in b..Len(log[i])+1 : + AppendEntries(i, j, <>) \/ \E i \in Server : AppendEntriesToSelf(i) \/ \E i,j \in Server : Heartbeat(i, j) \/ \E i,j \in Server : \E index \in 1..commitIndex[i] : SendSnapshot(i, j, index) - \/ \E m \in DOMAIN messages : Receive(m) + \*\/ \E m \in DOMAIN messages : Receive(m) + \/ NextRequestVoteRequest + \/ NextRequestVoteResponse + \/ NextAppendEntriesRequest + \/ NextAppendEntriesResponse \/ \E i \in Server : Timeout(i) - \/ \E i \in Server : Ready(i) \/ \E i \in Server : StepDownToFollower(i) - -NextCrash == \E i \in Server : Restart(i) - -NextAsyncCrash == - \/ NextAsync - \/ NextCrash - -NextUnreliable == + \/ \E i \in Server : Ready(i) + \/ \E i \in Server : PersistState(i) + \/ \E i \in Server : ApplyConfChange(i) + \/ \E i \in Server : SendMessages(i) + \/ \E i \in Server : Advance(i) + \/ \E i \in Server : Restart(i) \* Only duplicate once \/ \E m \in DOMAIN messages : /\ messages[m] = 1 @@ -731,19 +847,9 @@ NextUnreliable == \/ \E m \in DOMAIN messages : /\ messages[m] = 1 /\ DropMessage(m) - -\* Most pessimistic network model -Next == \/ NextAsync - \/ NextCrash - \/ NextUnreliable - -\* Membership changes -NextDynamic == - \/ Next \/ \E i, j \in Server : AddNewServer(i, j) \/ \E i, j \in Server : AddLearner(i, j) \/ \E i, j \in Server : DeleteServer(i, j) - \/ \E i \in Server : ApplySimpleConfChange(i) \* The specification must start with the initial state and transition according \* to Next. @@ -836,10 +942,11 @@ LogMatchingInv == \* All committed entries are contained in the log \* of at least one server in every quorum QuorumLogInv == - \A i \in Server : - \A S \in Quorum(GetConfig(i)) : - \E j \in S : - IsPrefix(Committed(i), log[j]) + \A i \in Server : + ~InReadyPhase(i) => + \A S \in Quorum(GetConfig(i)) : + \E j \in S : + IsPrefix(Committed(i), log[j]) \* The "up-to-date" check performed by servers \* before issuing a vote implies that i receives @@ -867,12 +974,6 @@ LeaderCompletenessInv == currentTerm[l] > entry.term => \* have the entry at the same log position log[l][idx] = entry - -\* Any entry committed by leader shall be persisted already -CommittedIsDurableInv == - \A i \in Server : - state[i] = Leader => commitIndex[i] <= durableState[i].log - ----- diff --git a/tla/etcdraft2.tla b/tla/etcdraft2.tla new file mode 100644 index 00000000..4e16da8f --- /dev/null +++ b/tla/etcdraft2.tla @@ -0,0 +1,1035 @@ +--------------------------------- MODULE etcdraft2 --------------------------------- +\* Copyright 2024 The etcd Authors +\* +\* Licensed under the Apache License, Version 2.0 (the "License"); +\* you may not use this file except in compliance with the License. +\* You may obtain a copy of the License at +\* +\* http://www.apache.org/licenses/LICENSE-2.0 +\* +\* Unless required by applicable law or agreed to in writing, software +\* distributed under the License is distributed on an "AS IS" BASIS, +\* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +\* See the License for the specific language governing permissions and +\* limitations under the License. +\* +\* +\* This is the formal specification for the Raft consensus algorithm. +\* +\* Copyright 2014 Diego Ongaro, 2015 Brandon Amos and Huanchen Zhang, +\* 2016 Daniel Ricketts, 2021 George Pîrlea and Darius Foo. +\* +\* This work is licensed under the Creative Commons Attribution-4.0 +\* International License https://creativecommons.org/licenses/by/4.0/ + +EXTENDS Naturals, Integers, Bags, FiniteSets, Sequences, SequencesExt, FiniteSetsExt, BagsExt, TLC + +\* The initial and global set of server IDs. +CONSTANTS InitServer, Server + +\* Log metadata to distinguish values from configuration changes. +CONSTANT ValueEntry, ConfigEntry + +\* Server states. +CONSTANTS + \* @type: Str; + Follower, + \* @type: Str; + Candidate, + \* @type: Str; + Leader + +\* A reserved value. +CONSTANTS + \* @type: Int; + Nil + +\* Message types: +CONSTANTS + \* @type: Str; + RequestVoteRequest, + \* @type: Str; + RequestVoteResponse, + \* @type: Str; + AppendEntriesRequest, + \* @type: Str; + AppendEntriesResponse + + +---- +\* Global variables + +\* A bag of records representing requests and responses sent from one server +\* to another. We differentiate between the message types to support Apalache. +VARIABLE + \* @typeAlias: ENTRY = [term: Int, value: Int]; + \* @typeAlias: LOGT = Seq(ENTRY); + \* @typeAlias: RVREQT = [mtype: Str, mterm: Int, mlastLogTerm: Int, mlastLogIndex: Int, msource: Int, mdest: Int]; + \* @typeAlias: RVRESPT = [mtype: Str, mterm: Int, mvoteGranted: Bool, msource: Int, mdest: Int ]; + \* @typeAlias: AEREQT = [mtype: Str, mterm: Int, mprevLogIndex: Int, mprevLogTerm: Int, mentries: LOGT, mcommitIndex: Int, msource: Int, mdest: Int ]; + \* @typeAlias: AERESPT = [mtype: Str, mterm: Int, msuccess: Bool, mmatchIndex: Int, msource: Int, mdest: Int ]; + \* @typeAlias: MSG = [ wrapped: Bool, mtype: Str, mterm: Int, msource: Int, mdest: Int, RVReq: RVREQT, RVResp: RVRESPT, AEReq: AEREQT, AEResp: AERESPT ]; + \* @type: MSG -> Int; + messages +VARIABLE + pendingMessages +messageVars == <> + +---- +\* The following variables are all per server (functions with domain Server). + +\* The server's term number. +VARIABLE + \* @type: Int -> Int; + currentTerm +\* The server's state (Follower, Candidate, or Leader). +VARIABLE + \* @type: Int -> Str; + state +\* The candidate the server voted for in its current term, or +\* Nil if it hasn't voted for any. +VARIABLE + \* @type: Int -> Int; + votedFor +serverVars == <> + +\* A Sequence of log entries. The index into this sequence is the index of the +\* log entry. Unfortunately, the Sequence module defines Head(s) as the entry +\* with index 1, so be careful not to use that! +VARIABLE + \* @type: Int -> [ entries: LOGT, len: Int ]; + log +\* The index of the latest entry in the log the state machine may apply. +VARIABLE + \* @type: Int -> Int; + commitIndex +\* The index of the latest applied entry. In this spec we only apply records for +\* configuration changes. +VARIABLE + applied +logVars == <> + +\* The following variables are used only on candidates: +\* The set of servers from which the candidate has received a RequestVote +\* response in its currentTerm. +VARIABLE + \* @type: Int -> Set(Int); + votesResponded +\* The set of servers from which the candidate has received a vote in its +\* currentTerm. +VARIABLE + \* @type: Int -> Set(Int); + votesGranted +\* @type: Seq(Int -> Set(Int)); +candidateVars == <> + +\* The following variables are used only on leaders: +\* The latest entry that each follower has acknowledged is the same as the +\* leader's. This is used to calculate commitIndex on the leader. +VARIABLE + \* @type: Int -> (Int -> Int); + matchIndex +VARIABLE + pendingConfChangeIndex +leaderVars == <> + +\* @type: Int -> [jointConfig: Seq(Set(int)), learners: Set(int)] +VARIABLE + config +VARIABLE + reconfigCount + +configVars == <> + +VARIABLE + durableState +VARIABLE + ready +readyVars == <> + +\* End of per server variables. +---- + +\* All variables; used for stuttering (asserting state hasn't changed). +vars == <> + +Vars == vars + + +---- +\* Helpers + +\* The set of all quorums. This just calculates simple majorities, but the only +\* important property is that every quorum overlaps with every other. +Quorum(c) == {i \in SUBSET(c) : Cardinality(i) * 2 > Cardinality(c)} + +\* The term of the last entry in a log, or 0 if the log is empty. +\* @type: LOGT => Int; +LastTerm(xlog) == IF xlog = <<>> THEN 0 ELSE xlog[Len(xlog)].term + +\* Helper for Send and Reply. Given a message m and bag of messages, return a +\* new bag of messages with one more m in it. +\* @type: (MSG, MSG -> Int) => MSG -> Int; +WithMessage(m, msgs) == msgs (+) SetToBag({m}) + +\* Helper for Discard and Reply. Given a message m and bag of messages, return +\* a new bag of messages with one less m in it. +\* @type: (MSG, MSG -> Int) => MSG -> Int; +WithoutMessage(m, msgs) == msgs (-) SetToBag({m}) + +\* Add a message to the bag of pendingMessages. +SendDirect(m) == + pendingMessages' = WithMessage(m, pendingMessages) + +\* All pending messages sent from node i +PendingMessages(i) == + [ m \in { mm \in DOMAIN pendingMessages : mm.msource = i } |-> pendingMessages[m] ] + +\* Remove all messages in pendingMessages that were sent from node i +ClearPendingMessages(i) == + pendingMessages (-) PendingMessages(i) + +\* Move all messages which was sent from node i in pendingMessages to messages +SendPendingMessagesInReady(i) == + LET msgs == ready[i].msgs + IN /\ messages' = msgs (+) messages + /\ pendingMessages' = pendingMessages (-) msgs + +\* Remove a message from the bag of messages. Used when a server is done +DiscardDirect(m) == + messages' = WithoutMessage(m, messages) + +\* Combination of Send and Discard +ReplyDirect(response, request) == + /\ pendingMessages' = WithMessage(response, pendingMessages) + /\ messages' = WithoutMessage(request, messages) + +\* Default: change when needed + Send(m) == SendDirect(m) + Reply(response, request) == ReplyDirect(response, request) + Discard(m) == DiscardDirect(m) + +MaxOrZero(s) == IF s = {} THEN 0 ELSE Max(s) + +GetJointConfig(i) == + config[i].jointConfig + +GetConfig(i) == + GetJointConfig(i)[1] + +GetOutgoingConfig(i) == + GetJointConfig(i)[2] + +IsJointConfig(i) == + /\ GetJointConfig(i)[2] # {} + +GetLearners(i) == + config[i].learners + +\* Apply conf change log entry to configuration +ApplyConfigUpdate(i, k) == + config' = [config EXCEPT ![i]= [jointConfig |-> << log[i][k].value.newconf, {} >>, learners |-> log[i][k].value.learners]] + +CommitTo(i, c) == + commitIndex' = [commitIndex EXCEPT ![i] = Max({@, c})] + +CurrentLeaders == {i \in Server : state[i] = Leader} + +---- +\* Define initial values for all variables +InitMessageVars == /\ messages = EmptyBag + /\ pendingMessages = EmptyBag +InitServerVars == /\ currentTerm = [i \in Server |-> 0] + /\ state = [i \in Server |-> Follower] + /\ votedFor = [i \in Server |-> Nil] +InitCandidateVars == /\ votesResponded = [i \in Server |-> {}] + /\ votesGranted = [i \in Server |-> {}] +InitLeaderVars == /\ matchIndex = [i \in Server |-> [j \in Server |-> 0]] + /\ pendingConfChangeIndex = [i \in Server |-> 0] +InitLogVars == /\ log = [i \in Server |-> <<>>] + /\ commitIndex = [i \in Server |-> 0] + /\ applied = [i \in Server |-> 0] +InitConfigVars == /\ config = [i \in Server |-> [ jointConfig |-> <>, learners |-> {}]] + /\ reconfigCount = 0 + +InReadyPhase(i) == ready[i] /= <<>> + +InitReadyVars == + /\ durableState = [ i \in Server |-> [ + currentTerm |-> currentTerm[i], + votedFor |-> votedFor[i], + log |-> Len(log[i]), + applied |-> 0, + commitIndex |-> commitIndex[i], + config |-> config[i] + ]] + /\ ready = [i \in Server |-> <<>>] + +Init == /\ InitMessageVars + /\ InitServerVars + /\ InitCandidateVars + /\ InitLeaderVars + /\ InitLogVars + /\ InitConfigVars + /\ InitReadyVars + +---- +\* Define state transitions + +Transitions == { + "RequestVote", + "BecomeLeader", + "ClientRequest", + "AdvanceCommitIndex", + "AppendEntries", + "AppendEntriesToSelf", + "Heartbeat", + "SendSnapshot", + "Receive", + "Timeout", + "StepDownToFollower", + "Ready", + "PersistState", + "ApplyConfChange", + "SendMessages", + "Advance", + "Restart", + "DuplicateMessage", + "DropMessage", + "AddNewServer", + "AddLearner", + "DeleteServer" +} + +IsEnabled(action, args) == action \in Transitions + +\* Server i restarts from stable storage. +\* It loses everything but its currentTerm, commitIndex, votedFor, log, and config in durable state. +\* @type: Int => Bool; +Restart(i) == + /\ IsEnabled("Restart", <>) + /\ state' = [state EXCEPT ![i] = Follower] + /\ votesResponded' = [votesResponded EXCEPT ![i] = {}] + /\ votesGranted' = [votesGranted EXCEPT ![i] = {}] + /\ matchIndex' = [matchIndex EXCEPT ![i] = [j \in Server |-> 0]] + /\ pendingConfChangeIndex' = [pendingConfChangeIndex EXCEPT ![i] = 0] + /\ pendingMessages' = ClearPendingMessages(i) + /\ currentTerm' = [currentTerm EXCEPT ![i] = durableState[i].currentTerm] + /\ commitIndex' = [commitIndex EXCEPT ![i] = durableState[i].commitIndex] + /\ applied' = [applied EXCEPT ![i] = durableState[i].applied] + /\ votedFor' = [votedFor EXCEPT ![i] = durableState[i].votedFor] + /\ log' = [log EXCEPT ![i] = SubSeq(@, 1, durableState[i].log)] + /\ config' = [config EXCEPT ![i] = durableState[i].config] + /\ ready' = [ready EXCEPT ![i] = <<>>] + /\ UNCHANGED <> + +\* Server i times out and starts a new election. +\* @type: Int => Bool; +Timeout(i) == /\ IsEnabled("Timeout", <>) + /\ ~InReadyPhase(i) + /\ state[i] \in {Follower, Candidate} + /\ i \in GetConfig(i) + /\ state' = [state EXCEPT ![i] = Candidate] + /\ currentTerm' = [currentTerm EXCEPT ![i] = currentTerm[i] + 1] + /\ votedFor' = [votedFor EXCEPT ![i] = i] + /\ votesResponded' = [votesResponded EXCEPT ![i] = {}] + /\ votesGranted' = [votesGranted EXCEPT ![i] = {}] + /\ UNCHANGED <> + +\* Candidate i sends j a RequestVote request. +\* @type: (Int, Int) => Bool; +RequestVote(i, j) == + /\ IsEnabled("RequestVote", <>) + /\ state[i] = Candidate + /\ j \in ((GetConfig(i) \union GetLearners(i)) \ votesResponded[i]) + /\ IF i # j + THEN Send([mtype |-> RequestVoteRequest, + mterm |-> currentTerm[i], + mlastLogTerm |-> LastTerm(log[i]), + mlastLogIndex |-> Len(log[i]), + msource |-> i, + mdest |-> j]) + ELSE Send([mtype |-> RequestVoteResponse, + mterm |-> currentTerm[i], + mvoteGranted |-> TRUE, + msource |-> i, + mdest |-> i]) + /\ UNCHANGED <> + +\* Leader i sends j an AppendEntries request containing entries in [b,e) range. +\* N.B. range is right open +\* @type: (Int, Int, <>, Int) => Bool; +AppendEntriesInRangeToPeer(subtype, i, j, range) == + /\ i /= j + /\ range[1] <= range[2] + /\ state[i] = Leader + /\ j \in GetConfig(i) \union GetLearners(i) + /\ LET + prevLogIndex == range[1] - 1 + \* The following upper bound on prevLogIndex is unnecessary + \* but makes verification substantially simpler. + prevLogTerm == IF prevLogIndex > 0 /\ prevLogIndex <= Len(log[i]) THEN + log[i][prevLogIndex].term + ELSE + 0 + \* Send the entries + lastEntry == Min({Len(log[i]), range[2]-1}) + entries == SubSeq(log[i], range[1], lastEntry) + commit == IF subtype = "heartbeat" THEN Min({commitIndex[i], matchIndex[i][j]}) ELSE Min({commitIndex[i], lastEntry}) + IN /\ Send( [mtype |-> AppendEntriesRequest, + msubtype |-> subtype, + mterm |-> currentTerm[i], + mprevLogIndex |-> prevLogIndex, + mprevLogTerm |-> prevLogTerm, + mentries |-> entries, + mcommitIndex |-> commit, + msource |-> i, + mdest |-> j]) + /\ UNCHANGED <> + +\* etcd leader sends MsgAppResp to itself immediately after appending log entry +AppendEntriesToSelf(i) == + /\ IsEnabled("AppendEntriesToSelf", <>) + /\ state[i] = Leader + /\ Send([mtype |-> AppendEntriesResponse, + msubtype |-> "app", + mterm |-> currentTerm[i], + msuccess |-> TRUE, + mmatchIndex |-> Len(log[i]), + msource |-> i, + mdest |-> i]) + /\ UNCHANGED <> + +AppendEntries(i, j, range) == + /\ IsEnabled("AppendEntries", <>) + /\ AppendEntriesInRangeToPeer("app", i, j, range) + +Heartbeat(i, j) == + /\ IsEnabled("Heartbeat", <>) + \* heartbeat is equivalent to an append-entry request with 0 entry index 1 + /\ AppendEntriesInRangeToPeer("heartbeat", i, j, <<1,1>>) + +SendSnapshot(i, j, index) == + /\ IsEnabled("SendSnapshot", <>) + /\ AppendEntriesInRangeToPeer("snapshot", i, j, <<1,index+1>>) + +\* Candidate i transitions to leader. +\* @type: Int => Bool; +BecomeLeader(i) == + /\ IsEnabled("BecomeLeader", <>) + /\ ~InReadyPhase(i) + /\ state[i] = Candidate + /\ votesGranted[i] \in Quorum(GetConfig(i)) + /\ state' = [state EXCEPT ![i] = Leader] + /\ matchIndex' = [matchIndex EXCEPT ![i] = + [j \in Server |-> IF j = i THEN Len(log[i]) ELSE 0]] + /\ UNCHANGED <> + +Replicate(i, v, t) == + /\ t \in {ValueEntry, ConfigEntry} + /\ state[i] = Leader + /\ LET entry == [term |-> currentTerm[i], + type |-> t, + value |-> v] + newLog == Append(log[i], entry) + IN /\ log' = [log EXCEPT ![i] = newLog] + +\* Leader i receives a client request to add v to the log. +\* @type: (Int, Int) => Bool; +ClientRequest(i, v) == + /\ IsEnabled("ClientRequest", <>) + /\ Replicate(i, [val |-> v], ValueEntry) + /\ UNCHANGED <> + +\* Leader i advances its commitIndex. +\* This is done as a separate step from handling AppendEntries responses, +\* in part to minimize atomic regions, and in part so that leaders of +\* single-server clusters are able to mark entries committed. +\* @type: Int => Bool; +AdvanceCommitIndex(i) == + /\ IsEnabled("AdvanceCommitIndex", <>) + /\ state[i] = Leader + /\ LET \* The set of servers that agree up through index. + Agree(index) == {k \in GetConfig(i) : matchIndex[i][k] >= index} + logSize == Len(log[i]) + \* logSize == MaxLogLength + \* The maximum indexes for which a quorum agrees + agreeIndexes == {index \in 1..logSize : + Agree(index) \in Quorum(GetConfig(i))} + \* New value for commitIndex'[i] + newCommitIndex == + IF /\ agreeIndexes /= {} + /\ log[i][Max(agreeIndexes)].term = currentTerm[i] + THEN + Max(agreeIndexes) + ELSE + commitIndex[i] + IN + /\ CommitTo(i, newCommitIndex) + /\ UNCHANGED <> + + +\* Leader i adds a new server j or promote learner j +AddNewServer(i, j) == + /\ IsEnabled("AddNewServer", <>) + /\ state[i] = Leader + /\ j \notin GetConfig(i) + /\ ~IsJointConfig(i) + /\ IF pendingConfChangeIndex[i] = 0 THEN + /\ Replicate(i, [newconf |-> GetConfig(i) \union {j}, learners |-> GetLearners(i)], ConfigEntry) + /\ pendingConfChangeIndex' = [pendingConfChangeIndex EXCEPT ![i]=Len(log'[i])] + ELSE + /\ Replicate(i, <<>>, ValueEntry) + /\ UNCHANGED <> + /\ UNCHANGED <> + +\* Leader i adds a leaner j to the cluster. +AddLearner(i, j) == + /\ IsEnabled("AddLearner", <>) + /\ state[i] = Leader + /\ j \notin GetConfig(i) \union GetLearners(i) + /\ ~IsJointConfig(i) + /\ IF pendingConfChangeIndex[i] = 0 THEN + /\ Replicate(i, [newconf |-> GetConfig(i), learners |-> GetLearners(i) \union {j}], ConfigEntry) + /\ pendingConfChangeIndex' = [pendingConfChangeIndex EXCEPT ![i]=Len(log'[i])] + ELSE + /\ Replicate(i, <<>>, ValueEntry) + /\ UNCHANGED <> + /\ UNCHANGED <> + +\* Leader i removes a server j (possibly itself) from the cluster. +DeleteServer(i, j) == + /\ IsEnabled("DeleteServer", <>) + /\ state[i] = Leader + /\ j \in GetConfig(i) \union GetLearners(i) + /\ ~IsJointConfig(i) + /\ IF pendingConfChangeIndex[i] = 0 THEN + /\ Replicate(i, [newconf |-> GetConfig(i) \ {j}, learners |-> GetLearners(i) \ {j}], ConfigEntry) + /\ pendingConfChangeIndex' = [pendingConfChangeIndex EXCEPT ![i]=Len(log'[i])] + ELSE + /\ Replicate(i, <<>>, ValueEntry) + /\ UNCHANGED <> + /\ UNCHANGED <> + +Ready(i) == + /\ IsEnabled("Ready", <>) + /\ ~InReadyPhase(i) + /\ ready' = [ready EXCEPT ![i] = [ + msgs |-> PendingMessages(i), + lastEntry |-> Len(log[i]), + currentTerm |-> currentTerm[i], + votedFor |-> votedFor[i], + commitIndex |-> commitIndex[i], + applied |-> applied[i], + config |-> config[i]]] + /\ UNCHANGED <> + +PersistState(i) == + /\ IsEnabled("PersistState", <>) + /\ InReadyPhase(i) + /\ durableState' = [durableState EXCEPT ![i] = [ + currentTerm |-> ready[i].currentTerm, + votedFor |-> ready[i].votedFor, + log |-> ready[i].lastEntry, + commitIndex |-> ready[i].commitIndex, + config |-> ready[i].config, + applied |-> ready[i].applied + ]] + /\ UNCHANGED <> + +HasUnappliedConfChange(i) == + SelectLastInSubSeq(log[i], applied[i]+1, ready[i].commitIndex, LAMBDA x: x.type = ConfigEntry) > 0 + +ApplyConfChange(i) == + /\ IsEnabled("ApplyConfChange", <>) + /\ InReadyPhase(i) + /\ ~IsJointConfig(i) + /\ LET k == SelectInSubSeq(log[i], applied[i]+1, ready[i].commitIndex, LAMBDA x: x.type = ConfigEntry) + IN + /\ k > 0 + /\ ApplyConfigUpdate(i, k) + /\ applied' = [applied EXCEPT ![i] = k] + /\ IF state[i] = Leader /\ pendingConfChangeIndex[i] >= k THEN + /\ reconfigCount' = reconfigCount + 1 + /\ pendingConfChangeIndex' = [pendingConfChangeIndex EXCEPT ![i] = 0] + ELSE UNCHANGED <> + /\ UNCHANGED <> + +Debug == + \E m \in DOMAIN pendingMessages: m.mtype = "RequestVoteResponse" /\ m.msource /= m.mdest + +SendMessages(i) == + /\ IsEnabled("SendMessages", <>) + /\ InReadyPhase(i) + /\ SendPendingMessagesInReady(i) + /\ ready' = [ready EXCEPT ![i]["msgs"] = EmptyBag] + /\ UNCHANGED <> + +Advance(i) == + /\ IsEnabled("Advance", <>) + /\ InReadyPhase(i) + /\ ready[i].msgs = EmptyBag \* all pending messages in ready are sent out + /\ ~HasUnappliedConfChange(i) \* all committed conf change entries in ready are applied + /\ ready' = [ready EXCEPT ![i] = <<>>] + /\ applied' = [applied EXCEPT ![i] = ready[i].commitIndex] + /\ UNCHANGED <> + +BecomeFollowerOfTerm(i, t) == + /\ currentTerm' = [currentTerm EXCEPT ![i] = t] + /\ state' = [state EXCEPT ![i] = Follower] + /\ IF currentTerm[i] # t THEN + votedFor' = [votedFor EXCEPT ![i] = Nil] + ELSE + UNCHANGED <> + +StepDownToFollower(i) == + /\ IsEnabled("StepDownToFollower", <>) + /\ BecomeFollowerOfTerm(i, currentTerm[i]) + /\ UNCHANGED <> + +---- +\* Message handlers +\* i = recipient, j = sender, m = message + +\* Server i receives a RequestVote request from server j with +\* m.mterm <= currentTerm[i]. +\* @type: (Int, Int, RVREQT) => Bool; +HandleRequestVoteRequest(i, j, m) == + LET logOk == \/ m.mlastLogTerm > LastTerm(log[i]) + \/ /\ m.mlastLogTerm = LastTerm(log[i]) + /\ m.mlastLogIndex >= Len(log[i]) + grant == /\ m.mterm = currentTerm[i] + /\ logOk + /\ votedFor[i] \in {Nil, j} + IN /\ m.mterm <= currentTerm[i] + /\ \/ grant /\ votedFor' = [votedFor EXCEPT ![i] = j] + \/ ~grant /\ UNCHANGED votedFor + /\ Reply([mtype |-> RequestVoteResponse, + mterm |-> currentTerm[i], + mvoteGranted |-> grant, + msource |-> i, + mdest |-> j], + m) + /\ UNCHANGED <> + +\* Server i receives a RequestVote response from server j with +\* m.mterm = currentTerm[i]. +\* @type: (Int, Int, RVRESPT) => Bool; +HandleRequestVoteResponse(i, j, m) == + \* This tallies votes even when the current state is not Candidate, but + \* they won't be looked at, so it doesn't matter. + /\ m.mterm = currentTerm[i] + /\ votesResponded' = [votesResponded EXCEPT ![i] = + votesResponded[i] \cup {j}] + /\ \/ /\ m.mvoteGranted + /\ votesGranted' = [votesGranted EXCEPT ![i] = + votesGranted[i] \cup {j}] + \/ /\ ~m.mvoteGranted + /\ UNCHANGED <> + /\ Discard(m) + /\ UNCHANGED <> + +\* @type: (Int, Int, AEREQT, Bool) => Bool; +RejectAppendEntriesRequest(i, j, m, logOk) == + /\ \/ m.mterm < currentTerm[i] + \/ /\ m.mterm = currentTerm[i] + /\ state[i] = Follower + /\ \lnot logOk + /\ Reply([mtype |-> AppendEntriesResponse, + msubtype |-> "app", + mterm |-> currentTerm[i], + msuccess |-> FALSE, + mmatchIndex |-> 0, + msource |-> i, + mdest |-> j], + m) + /\ UNCHANGED <> + +\* @type: (Int, MSG) => Bool; +ReturnToFollowerState(i, m) == + /\ m.mterm = currentTerm[i] + /\ state[i] = Candidate + /\ state' = [state EXCEPT ![i] = Follower] + /\ UNCHANGED <> + +HasNoConflict(i, index, ents) == + /\ index <= Len(log[i]) + 1 + /\ \A k \in 1..Len(ents): index + k - 1 <= Len(log[i]) => log[i][index+k-1].term = ents[k].term + +\* @type: (Int, Int, Int, AEREQT) => Bool; +AppendEntriesAlreadyDone(i, j, index, m) == + /\ \/ index <= commitIndex[i] + \/ /\ index > commitIndex[i] + /\ \/ m.mentries = << >> + \/ /\ m.mentries /= << >> + /\ m.mprevLogIndex + Len(m.mentries) <= Len(log[i]) + /\ HasNoConflict(i, index, m.mentries) + /\ IF index <= commitIndex[i] THEN + IF m.msubtype = "heartbeat" THEN CommitTo(i, m.mcommitIndex) ELSE UNCHANGED commitIndex + ELSE + CommitTo(i, Min({m.mcommitIndex, m.mprevLogIndex+Len(m.mentries)})) + /\ Reply([ mtype |-> AppendEntriesResponse, + msubtype |-> m.msubtype, + mterm |-> currentTerm[i], + msuccess |-> TRUE, + mmatchIndex |-> IF m.msubtype = "heartbeat" \/ index > commitIndex[i] THEN m.mprevLogIndex+Len(m.mentries) ELSE commitIndex[i], + msource |-> i, + mdest |-> j], + m) + /\ UNCHANGED <> + +\* @type: (Int, Int, AEREQT) => Bool; +ConflictAppendEntriesRequest(i, index, m) == + /\ m.mentries /= << >> + /\ index > commitIndex[i] + /\ ~HasNoConflict(i, index, m.mentries) + /\ log' = [log EXCEPT ![i] = SubSeq(@, 1, Len(@) - 1)] + /\ UNCHANGED <> + +\* @type: (Int, AEREQT) => Bool; +NoConflictAppendEntriesRequest(i, index, m) == + /\ m.mentries /= << >> + /\ index > commitIndex[i] + /\ HasNoConflict(i, index, m.mentries) + /\ log' = [log EXCEPT ![i] = @ \o SubSeq(m.mentries, Len(@)-index+2, Len(m.mentries))] + /\ UNCHANGED <> + +\* @type: (Int, Int, Bool, AEREQT) => Bool; +AcceptAppendEntriesRequest(i, j, logOk, m) == + \* accept request + /\ m.mterm = currentTerm[i] + /\ state[i] = Follower + /\ logOk + /\ LET index == m.mprevLogIndex + 1 + IN \/ AppendEntriesAlreadyDone(i, j, index, m) + \/ ConflictAppendEntriesRequest(i, index, m) + \/ NoConflictAppendEntriesRequest(i, index, m) + +\* Server i receives an AppendEntries request from server j with +\* m.mterm <= currentTerm[i]. This just handles m.entries of length 0 or 1, but +\* implementations could safely accept more by treating them the same as +\* multiple independent requests of 1 entry. +\* @type: (Int, Int, AEREQT) => Bool; +HandleAppendEntriesRequest(i, j, m) == + LET logOk == \/ m.mprevLogIndex = 0 + \/ /\ m.mprevLogIndex > 0 + /\ m.mprevLogIndex <= Len(log[i]) + /\ m.mprevLogTerm = log[i][m.mprevLogIndex].term + IN + /\ m.mterm <= currentTerm[i] + /\ \/ RejectAppendEntriesRequest(i, j, m, logOk) + \/ ReturnToFollowerState(i, m) + \/ AcceptAppendEntriesRequest(i, j, logOk, m) + /\ UNCHANGED <> + +\* Server i receives an AppendEntries response from server j with +\* m.mterm = currentTerm[i]. +\* @type: (Int, Int, AERESPT) => Bool; +HandleAppendEntriesResponse(i, j, m) == + /\ m.mterm = currentTerm[i] + /\ \/ /\ m.msuccess \* successful + /\ matchIndex' = [matchIndex EXCEPT ![i][j] = Max({@, m.mmatchIndex})] + /\ UNCHANGED <> + \/ /\ \lnot m.msuccess \* not successful + /\ UNCHANGED <> + /\ Discard(m) + /\ UNCHANGED <> + +\* Any RPC with a newer term causes the recipient to advance its term first. +\* @type: (Int, Int, MSG) => Bool; +UpdateTerm(i, j, m) == + /\ m.mterm > currentTerm[i] + /\ BecomeFollowerOfTerm(i, m.mterm) + \* messages is unchanged so m can be processed further. + /\ UNCHANGED <> + +\* Responses with stale terms are ignored. +\* @type: (Int, Int, MSG) => Bool; +DropStaleResponse(i, j, m) == + /\ m.mterm < currentTerm[i] + /\ Discard(m) + /\ UNCHANGED <> + +\* Receive a message. +ReceiveDirect(m) == + LET i == m.mdest + j == m.msource + IN + \* Any RPC with a newer term causes the recipient to advance + \* its term first. Responses with stale terms are ignored. + \/ UpdateTerm(i, j, m) + \/ /\ m.mtype = RequestVoteRequest + /\ HandleRequestVoteRequest(i, j, m) + \/ /\ m.mtype = RequestVoteResponse + /\ \/ DropStaleResponse(i, j, m) + \/ HandleRequestVoteResponse(i, j, m) + \/ /\ m.mtype = AppendEntriesRequest + /\ HandleAppendEntriesRequest(i, j, m) + \/ /\ m.mtype = AppendEntriesResponse + /\ \/ DropStaleResponse(i, j, m) + \/ HandleAppendEntriesResponse(i, j, m) + +Receive(m) == + /\ IsEnabled("Receive", <>) + /\ ReceiveDirect(m) + +NextRequestVoteRequest == \E m \in DOMAIN messages : m.mtype = RequestVoteRequest /\ Receive(m) +NextRequestVoteResponse == \E m \in DOMAIN messages : m.mtype = RequestVoteResponse /\ Receive(m) +NextAppendEntriesRequest == \E m \in DOMAIN messages : m.mtype = AppendEntriesRequest /\ Receive(m) +NextAppendEntriesResponse == \E m \in DOMAIN messages : m.mtype = AppendEntriesResponse /\ Receive(m) + +\* End of message handlers. +---- +\* Network state transitions + +\* The network duplicates a message +\* @type: MSG => Bool; +DuplicateMessage(m) == + /\ IsEnabled("DuplicateMessage", <>) + /\ m \in DOMAIN messages + /\ messages' = WithMessage(m, messages) + /\ UNCHANGED <> + +\* The network drops a message +\* @type: MSG => Bool; +DropMessage(m) == + /\ IsEnabled("DropMessage", <>) + \* Do not drop loopback messages + \* /\ m.msource /= m.mdest + /\ Discard(m) + /\ UNCHANGED <> + +---- + +\* Defines how the variables may transition. +NextAsync == + \/ \E i,j \in Server : RequestVote(i, j) + \/ \E i \in Server : BecomeLeader(i) + \/ \E i \in Server: ClientRequest(i, 0) + \/ \E i \in Server : AdvanceCommitIndex(i) + \/ \E i,j \in Server : \E b,e \in matchIndex[i][j]+1..Len(log[i])+1 : AppendEntries(i, j, <>) + \/ \E i \in Server : AppendEntriesToSelf(i) + \/ \E i,j \in Server : Heartbeat(i, j) + \/ \E i,j \in Server : \E index \in 1..commitIndex[i] : SendSnapshot(i, j, index) + \/ \E m \in DOMAIN messages : Receive(m) + \/ \E i \in Server : Timeout(i) + \/ \E i \in Server : StepDownToFollower(i) + \/ \E i \in Server : Ready(i) + \/ \E i \in Server : PersistState(i) + \/ \E i \in Server : ApplyConfChange(i) + \/ \E i \in Server : SendMessages(i) + \/ \E i \in Server : Advance(i) + +NextCrash == \E i \in Server : Restart(i) + +NextAsyncCrash == + \/ NextAsync + \/ NextCrash + +NextUnreliable == + \* Only duplicate once + \/ \E m \in DOMAIN messages : + /\ messages[m] = 1 + /\ DuplicateMessage(m) + \* Only drop if it makes a difference + \/ \E m \in DOMAIN messages : + /\ messages[m] = 1 + /\ DropMessage(m) + +\* Most pessimistic network model +Next == \/ NextAsync + \/ NextCrash + \/ NextUnreliable + +\* Membership changes +NextDynamic == + \/ Next + \/ \E i, j \in Server : AddNewServer(i, j) + \/ \E i, j \in Server : AddLearner(i, j) + \/ \E i, j \in Server : DeleteServer(i, j) + +\* The specification must start with the initial state and transition according +\* to Next. +Spec == Init /\ [][Next]_Vars + +(***************************************************************************) +(* The main safety properties are below *) +(***************************************************************************) +---- + +ASSUME DistinctRoles == /\ Leader /= Candidate + /\ Candidate /= Follower + /\ Follower /= Leader + +ASSUME DistinctMessageTypes == /\ RequestVoteRequest /= AppendEntriesRequest + /\ RequestVoteRequest /= RequestVoteResponse + /\ RequestVoteRequest /= AppendEntriesResponse + /\ AppendEntriesRequest /= RequestVoteResponse + /\ AppendEntriesRequest /= AppendEntriesResponse + /\ RequestVoteResponse /= AppendEntriesResponse + +---- +\* Correctness invariants + +\* The prefix of the log of server i that has been committed +Committed(i) == SubSeq(log[i],1,commitIndex[i]) + +\* The current term of any server is at least the term +\* of any message sent by that server +\* @type: MSG => Bool; +MessageTermsLtCurrentTerm(m) == + m.mterm <= currentTerm[m.msource] + +\* Committed log entries should never conflict between servers +LogInv == + \A i, j \in Server : + \/ IsPrefix(Committed(i),Committed(j)) + \/ IsPrefix(Committed(j),Committed(i)) + +\* Note that LogInv checks for safety violations across space +\* This is a key safety invariant and should always be checked +THEOREM Spec => []LogInv + +\* There should not be more than one leader per term at the same time +\* Note that this does not rule out multiple leaders in the same term at different times +MoreThanOneLeaderInv == + \A i,j \in Server : + (/\ currentTerm[i] = currentTerm[j] + /\ state[i] = Leader + /\ state[j] = Leader) + => i = j + +\* A leader always has the greatest index for its current term +ElectionSafetyInv == + \A i \in Server : + state[i] = Leader => + \A j \in Server : + MaxOrZero({n \in DOMAIN log[i] : log[i][n].term = currentTerm[i]}) >= + MaxOrZero({n \in DOMAIN log[j] : log[j][n].term = currentTerm[i]}) + +\* Every (index, term) pair determines a log prefix +LogMatchingInv == + \A i, j \in Server : + \A n \in (1..Len(log[i])) \cap (1..Len(log[j])) : + log[i][n].term = log[j][n].term => + SubSeq(log[i],1,n) = SubSeq(log[j],1,n) + +\* When two candidates competes in a campaign, if a follower voted to +\* a candidate that did not win in the end, the follower's votedFor will +\* not reset nor change to the winner (the other candidate) because its +\* term remains same. This will violate this invariant. +\* +\* This invariant can be false because a server's votedFor is not reset +\* for messages with same term. Refer to the case below. +\* 1. This is a 3 node cluster with nodes A, B, and C. Let's assume they are all followers with same term 1 and log at beginning. +\* 2. Now B and C starts compaign and both become candidates of term 2. +\* 3. B requests vote to A and A grant it. Now A is a term 2 follower whose votedFor is B. +\* 4. A's response to B is lost. +\* 5. C requests vote to B and B grant it. Now B is a term 2 follower whose votedFor is C. +\* 6. C becomes leader of term 2. +\* 7. C replicates logs to A but not B. +\* 8. A's votedFor is not changed because the incoming messages has same term (see UpdateTerm and ReturnToFollowerState) +\* 9. Now the commited log in A will exceed B's log. The invariant is violated. +\* VotesGrantedInv == +\* \A i, j \in Server : +\* \* if i has voted for j +\* votedFor[i] = j => +\* IsPrefix(Committed(i), log[j]) + +\* All committed entries are contained in the log +\* of at least one server in every quorum +QuorumLogInv == + \A i \in Server : + ~InReadyPhase(i) => + \A S \in Quorum(GetConfig(i)) : + \E j \in S : + IsPrefix(Committed(i), log[j]) + +\* The "up-to-date" check performed by servers +\* before issuing a vote implies that i receives +\* a vote from j only if i has all of j's committed +\* entries +MoreUpToDateCorrectInv == + \A i, j \in Server : + (\/ LastTerm(log[i]) > LastTerm(log[j]) + \/ /\ LastTerm(log[i]) = LastTerm(log[j]) + /\ Len(log[i]) >= Len(log[j])) => + IsPrefix(Committed(j), log[i]) + +\* If a log entry is committed in a given term, then that +\* entry will be present in the logs of the leaders +\* for all higher-numbered terms +\* See: https://github.com/uwplse/verdi-raft/blob/master/raft/LeaderCompletenessInterface.v +LeaderCompletenessInv == + \A i \in Server : + LET committed == Committed(i) IN + \A idx \in 1..Len(committed) : + LET entry == log[i][idx] IN + \* if the entry is committed + \A l \in CurrentLeaders : + \* all leaders with higher-number terms + currentTerm[l] > entry.term => + \* have the entry at the same log position + log[l][idx] = entry + +\* Any entry committed by leader shall be persisted already +CommittedIsDurableInv == + \A i \in Server : + state[i] = Leader => commitIndex[i] <= durableState[i].log + +\* Applied entry must be committed +AppliedIsCommittedInv == + \A i \in Server : + applied[i] <= commitIndex[i] + +----- + + +=============================================================================== + + + +\* Changelog: +\* +\* 2023-11-23: +\* - Replace configuration actions by those in etcd implementation. +\* - Refactor spec structure to decouple core spec and model checker spec for +\* better readness and future update +\* - Remove unused actions and properties, e.g. wrapper +\* +\* 2021-04-??: +\* - Abandoned Apalache due to slowness and went back to TLC. There are remains +\* of the Apalache-specific annotations and message wrapping/unwrapping, but +\* those are not actually used. The annotations are no longer up-to-date. +\* +\* 2021-04-09: +\* - Added type annotations for Apalache symbolic model checker. As part of +\* this change, the message format was changed to a tagged union. +\* +\* 2016-09-09: +\* - Daniel Ricketts added the major safety invariants and proved them in +\* TLAPS. +\* +\* 2015-05-10: +\* - Add cluster membership changes as described in Section 4 of +\* Diego Ongaro. Consensus: Bridging theory and practice. +\* PhD thesis, Stanford University, 2014. +\* This introduces: InitServer, ValueEntry, ConfigEntry, CatchupRequest, +\* CatchupResponse, CheckOldConfig, GetMaxConfigIndex, +\* GetConfig (parameterized), AddNewServer, DeleteServer, +\* HandleCatchupRequest, HandleCatchupResponse, +\* HandleCheckOldConfig +\* +\* +\* 2014-12-02: +\* - Fix AppendEntries to only send one entry at a time, as originally +\* intended. Since SubSeq is inclusive, the upper bound of the range should +\* have been nextIndex, not nextIndex + 1. Thanks to Igor Kovalenko for +\* reporting the issue. +\* - Change matchIndex' to matchIndex (without the apostrophe) in +\* AdvanceCommitIndex. This apostrophe was not intentional and perhaps +\* confusing, though it makes no practical difference (matchIndex' equals +\* matchIndex). Thanks to Hugues Evrard for reporting the issue. +\* +\* 2014-07-06: +\* - Version from PhD dissertation diff --git a/tla/example.ndjson b/tla/example.ndjson index 3fbd7e2c..84075aa9 100644 --- a/tla/example.ndjson +++ b/tla/example.ndjson @@ -1,4888 +1,386 @@ -{"level":"debug","ts":1712329729.6024537,"caller":"rafttest/trace_logger.go:42","msg":"trace","tag":"trace","event":{"name":"InitState","nid":"1","state":{"term":0,"vote":"0","commit":0},"role":"StateFollower","log":0,"conf":[[],[]]}} -{"level":"debug","ts":1712329729.6026523,"caller":"rafttest/trace_logger.go:42","msg":"trace","tag":"trace","event":{"name":"ApplyConfChange","nid":"1","state":{"term":0,"vote":"0","commit":0},"role":"StateFollower","log":0,"conf":[[],[]],"prop":{"cc":{}}}} -{"level":"debug","ts":1712329729.6027615,"caller":"rafttest/trace_logger.go:42","msg":"trace","tag":"trace","event":{"name":"BecomeFollower","nid":"1","state":{"term":0,"vote":"0","commit":0},"role":"StateFollower","log":0,"conf":[[],[]]}} 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2c0fd7d1..04817e08 100755 --- a/tla/validate-model.sh +++ b/tla/validate-model.sh @@ -3,8 +3,8 @@ WORKDIR="$(mktemp -d)" TOOLDIR="${WORKDIR}/tool" STATEDIR="${WORKDIR}/state" -FAILFAST=false PARALLEL=$(nproc) +SIMULATE=false function show_usage { echo "usage: validate-model.sh -s -c ">&2 @@ -22,16 +22,23 @@ function validate { local config=${2} local tooldir=${3} local statedir=${4} + local sim=${5:-false} set -o pipefail - java -XX:+UseParallelGC -cp ${tooldir}/tla2tools.jar:${tooldir}/CommunityModules-deps.jar tlc2.TLC -config "${config}" "${spec}" -lncheck final -metadir "${statedir}" -fpmem 0.9 + if [ "$sim" ]; then + java -XX:+UseParallelGC -cp ${tooldir}/tla2tools.jar:${tooldir}/CommunityModules-deps.jar tlc2.TLC -config "${config}" "${spec}" -lncheck final -metadir "${statedir}" -fpmem 0.9 + else + java -XX:+UseParallelGC -cp ${tooldir}/tla2tools.jar:${tooldir}/CommunityModules-deps.jar tlc2.TLC -config "${config}" "${spec}" -lncheck final -metadir "${statedir}" -fpmem 0.9 -simulate + fi + } -while getopts :hs:c:p: flag +while getopts :hms:c: flag do case "${flag}" in s) SPEC=${OPTARG};; c) CONFIG=${OPTARG};; + m) SIMULATE=true;; h|*) show_usage; exit 1;; esac done @@ -47,5 +54,5 @@ echo "config: ${CONFIG}" install_tlaplus -validate $SPEC $CONFIG $TOOLDIR $STATEDIR +validate $SPEC $CONFIG $TOOLDIR $STATEDIR $SIMULATE diff --git a/tla/validate.sh b/tla/validate.sh index 9de02548..650e7ff9 100755 --- a/tla/validate.sh +++ b/tla/validate.sh @@ -1,25 +1,15 @@ #!/usr/bin/env bash -WORKDIR="$(mktemp -d)" -TOOLDIR="${WORKDIR}/tool" -STATEDIR="${WORKDIR}/state" -WORKDIR="$(mktemp -d)" -TOOLDIR="${WORKDIR}/tool" -STATEDIR="${WORKDIR}/state" -FAILFAST=false -PARALLEL=$(nproc) - function show_usage { - echo "usage: validate.sh [-p ] -s -c ">&2 + echo "usage: validate.sh [-p ] [-w ] -s -c ">&2 } function install_tlaplus { echo -n "Downloading TLA+ tools ... " - wget -qN https://nightly.tlapl.us/dist/tla2tools.jar -P ${TOOLDIR} - wget -qN https://github.com/tlaplus/CommunityModules/releases/latest/download/CommunityModules-deps.jar -P ${TOOLDIR} + wget -qN https://nightly.tlapl.us/dist/tla2tools.jar -P ${WORKDIR}/tool + wget -qN https://github.com/tlaplus/CommunityModules/releases/latest/download/CommunityModules-deps.jar -P ${WORKDIR}/tool echo "done." } -PARALLEL=$(nproc) function preprocess_log { local trace=${1} @@ -51,21 +41,13 @@ function validate { local trace=${2} local spec=${3} local config=${4} - local tooldir=${5} - local statedir=${6} - local name=$(basename $trace .ndjson) - local id=${1} - local trace=${2} - local spec=${3} - local config=${4} - local tooldir=${5} - local statedir=${6} - local name=$(basename $trace .ndjson) + local workdir=${5} + local log="${workdir}/$(basename $trace .ndjson).log" preprocess_log $trace set -o pipefail - env JSON="${trace}" java -XX:+UseParallelGC -cp ${tooldir}/tla2tools.jar:${tooldir}/CommunityModules-deps.jar tlc2.TLC -config "${config}" "${spec}" -lncheck final -metadir "${statedir}" -fpmem 0.9 | sed -nuE "s/<<\"Progress %:\", ([0-9]+)>>$/${id} \1/p" + env JSON="${trace}" java -XX:+UseParallelGC -Dtlc2.tool.impl.Tool.cdot=true -cp ${workdir}/tool/tla2tools.jar:${workdir}/tool/CommunityModules-deps.jar tlc2.TLC -config "${config}" "${spec}" -lncheck final -metadir "${workdir}/states" -fpmem 0.8 | tee ${log} | sed -nuE "s/<<\"Progress %:\", ([0-9]+)>>$/${id} \1/p" if [ "$?" -ne 0 ]; then echo ${id} -1 @@ -110,14 +92,15 @@ function show_progress { fi } -while getopts :hs:c:p: flag +PARALLEL=$(nproc) + +while getopts :hs:c:p:w: flag do case "${flag}" in s) SPEC=${OPTARG};; c) CONFIG=${OPTARG};; p) PARALLEL=${OPTARG};; - h|*) show_usage; exit 1;; - p) PARALLEL=${OPTARG};; + w) WORKDIR=${OPTARG};; h|*) show_usage; exit 1;; esac done @@ -134,16 +117,13 @@ then exit 1 fi -echo "spec: ${SPEC}" -echo "config: ${CONFIG}" -if [ ! "$SPEC" ] || [ ! "$CONFIG" ] || [ ! "$trace_files" ] -then - show_usage - exit 1 +if [ ! "${WORKDIR}" ]; then + WORKDIR=$(mktemp -d) fi echo "spec: ${SPEC}" echo "config: ${CONFIG}" +echo "working dir: ${WORKDIR}" install_tlaplus @@ -174,7 +154,7 @@ done < \ progress[$i]=0 echo $i ${trace_files[$i]} done | \ -xargs -I{} -P ${PARALLEL} bash -c 'validate $@' _ {} $SPEC $CONFIG $TOOLDIR $STATEDIR) +xargs -I{} -P ${PARALLEL} bash -c 'validate $@' _ {} $SPEC $CONFIG $WORKDIR) passed=0