diff --git a/node.go b/node.go index e2a261cd..f86f68dc 100644 --- a/node.go +++ b/node.go @@ -270,6 +270,7 @@ func setupNode(c *Config, peers []Peer) *node { // Peers must not be zero length; call RestartNode in that case. func StartNode(c *Config, peers []Peer) Node { n := setupNode(c, peers) + traceInitState(n.rn.raft) go n.run() return n } @@ -284,6 +285,7 @@ func RestartNode(c *Config) Node { panic(err) } n := newNode(rn) + traceInitState(n.rn.raft) go n.run() return &n } @@ -440,6 +442,8 @@ func (n *node) run() { rd = Ready{} } readyc = nil + + traceReady(r) case <-advancec: n.rn.Advance(rd) rd = Ready{} diff --git a/raft.go b/raft.go index 3357ae45..df3448fe 100644 --- a/raft.go +++ b/raft.go @@ -283,6 +283,9 @@ type Config struct { // This behavior will become unconditional in the future. See: // https://github.com/etcd-io/raft/issues/83 StepDownOnRemoval bool + + // raft state tracer + TraceLogger TraceLogger } func (c *Config) validate() error { @@ -427,6 +430,9 @@ type raft struct { // current term. Those will be handled as fast as first log is committed in // current term. pendingReadIndexMessages []pb.Message + + traceLogger TraceLogger + initStateTraced bool } func newRaft(c *Config) *raft { @@ -456,6 +462,8 @@ func newRaft(c *Config) *raft { disableProposalForwarding: c.DisableProposalForwarding, disableConfChangeValidation: c.DisableConfChangeValidation, stepDownOnRemoval: c.StepDownOnRemoval, + traceLogger: c.TraceLogger, + initStateTraced: false, } lastID := r.raftLog.lastEntryID() @@ -580,11 +588,13 @@ func (r *raft) send(m pb.Message) { // we err on the side of safety and omit a `&& !m.Reject` condition // above. r.msgsAfterAppend = append(r.msgsAfterAppend, m) + traceSendMessage(r, &m) } else { if m.To == r.id { r.logger.Panicf("message should not be self-addressed when sending %s", m.Type) } r.msgs = append(r.msgs, m) + traceSendMessage(r, &m) } } @@ -761,6 +771,8 @@ func (r *raft) appliedSnap(snap *pb.Snapshot) { // index changed (in which case the caller should call r.bcastAppend). This can // only be called in StateLeader. func (r *raft) maybeCommit() bool { + defer traceCommit(r) + return r.raftLog.maybeCommit(entryID{term: r.Term, index: r.trk.Committed()}) } @@ -800,6 +812,9 @@ func (r *raft) appendEntry(es ...pb.Entry) (accepted bool) { for i := range es { es[i].Term = r.Term es[i].Index = li + 1 + uint64(i) + if es[i].Type == pb.EntryNormal { + traceReplicate(r) + } } // Track the size of this uncommitted proposal. if !r.increaseUncommittedSize(es) { @@ -875,6 +890,8 @@ func (r *raft) becomeFollower(term uint64, lead uint64) { r.lead = lead r.state = StateFollower r.logger.Infof("%x became follower at term %d", r.id, r.Term) + + traceBecomeFollower(r) } func (r *raft) becomeCandidate() { @@ -888,6 +905,8 @@ func (r *raft) becomeCandidate() { r.Vote = r.id r.state = StateCandidate r.logger.Infof("%x became candidate at term %d", r.id, r.Term) + + traceBecomeCandidate(r) } func (r *raft) becomePreCandidate() { @@ -911,6 +930,7 @@ func (r *raft) becomeLeader() { if r.state == StateFollower { panic("invalid transition [follower -> leader]") } + r.step = stepLeader r.reset(r.Term) r.tick = r.tickHeartbeat @@ -933,6 +953,7 @@ func (r *raft) becomeLeader() { // could be expensive. r.pendingConfIndex = r.raftLog.lastIndex() + traceBecomeLeader(r) emptyEnt := pb.Entry{Data: nil} if !r.appendEntry(emptyEnt) { // This won't happen because we just called reset() above. @@ -1058,6 +1079,8 @@ func (r *raft) poll(id uint64, t pb.MessageType, v bool) (granted int, rejected } func (r *raft) Step(m pb.Message) error { + traceReceiveMessage(r, &m) + // Handle the message term, which may result in our stepping down to a follower. switch { case m.Term == 0: @@ -1306,6 +1329,7 @@ func stepLeader(r *raft, m pb.Message) error { m.Entries[i] = pb.Entry{Type: pb.EntryNormal} } else { r.pendingConfIndex = r.raftLog.lastIndex() + uint64(i) + 1 + traceChangeConfEvent(cc, r) } } } @@ -1947,6 +1971,8 @@ 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/state_trace.go b/state_trace.go new file mode 100644 index 00000000..c1bb0d10 --- /dev/null +++ b/state_trace.go @@ -0,0 +1,342 @@ +// 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 +// +build with_tla + +package raft + +import ( + "strconv" + "time" + + "go.etcd.io/raft/v3/raftpb" + "go.etcd.io/raft/v3/tracker" +) + +const EnableStateTrace = true + +type stateMachineEventType int + +const ( + rsmInitState stateMachineEventType = iota + rsmBecomeCandidate + rsmBecomeFollower + rsmBecomeLeader + rsmCommit + rsmReplicate + rsmChangeConf + rsmApplyConfChange + rsmReady + rsmSendAppendEntriesRequest + rsmReceiveAppendEntriesRequest + rsmSendAppendEntriesResponse + rsmReceiveAppendEntriesResponse + rsmSendRequestVoteRequest + rsmReceiveRequestVoteRequest + rsmSendRequestVoteResponse + rsmReceiveRequestVoteResponse + rsmSendSnapshot + rsmReceiveSnapshot +) + +func (e stateMachineEventType) String() string { + return []string{ + "InitState", + "BecomeCandidate", + "BecomeFollower", + "BecomeLeader", + "Commit", + "Replicate", + "ChangeConf", + "ApplyConfChange", + "Ready", + "SendAppendEntriesRequest", + "ReceiveAppendEntriesRequest", + "SendAppendEntriesResponse", + "ReceiveAppendEntriesResponse", + "SendRequestVoteRequest", + "ReceiveRequestVoteRequest", + "SendRequestVoteResponse", + "ReceiveRequestVoteResponse", + "SendSnapshot", + "ReceiveSnapshot", + }[e] +} + +const ( + ConfChangeAddNewServer string = "AddNewServer" + ConfChangeRemoveServer string = "RemoveServer" + ConfChangeAddLearner string = "AddLearner" +) + +type TracingEvent struct { + Name string `json:"name"` + NodeID string `json:"nid"` + State TracingState `json:"state"` + Role string `json:"role"` + LogSize uint64 `json:"log"` + Conf [2][]string `json:"conf"` + Message *TracingMessage `json:"msg,omitempty"` + ConfChange *TracingConfChange `json:"cc,omitempty"` + Properties map[string]any `json:"prop,omitempty"` +} + +type TracingState struct { + Term uint64 `json:"term"` + Vote string `json:"vote"` + Commit uint64 `json:"commit"` +} + +type TracingMessage struct { + Type string `json:"type"` + Term uint64 `json:"term"` + From string `json:"from"` + To string `json:"to"` + EntryLength int `json:"entries"` + LogTerm uint64 `json:"logTerm"` + Index uint64 `json:"index"` + Commit uint64 `json:"commit"` + Vote string `json:"vote"` + Reject bool `json:"reject"` + RejectHint uint64 `json:"rejectHint"` +} + +type SingleConfChange struct { + NodeID string `json:"nid"` + Action string `json:"action"` +} + +type TracingConfChange struct { + Changes []SingleConfChange `json:"changes,omitempty"` + NewConf []string `json:"newconf,omitempty"` +} + +func makeTracingState(r *raft) TracingState { + hs := r.hardState() + return TracingState{ + Term: hs.Term, + Vote: strconv.FormatUint(hs.Vote, 10), + Commit: hs.Commit, + } +} + +func makeTracingMessage(m *raftpb.Message) *TracingMessage { + if m == nil { + return nil + } + + logTerm := m.LogTerm + entries := len(m.Entries) + index := m.Index + if m.Type == raftpb.MsgSnap { + index = 0 + logTerm = 0 + entries = int(m.Snapshot.Metadata.Index) + } + return &TracingMessage{ + Type: m.Type.String(), + Term: m.Term, + From: strconv.FormatUint(m.From, 10), + To: strconv.FormatUint(m.To, 10), + EntryLength: entries, + LogTerm: logTerm, + Index: index, + Commit: m.Commit, + Vote: strconv.FormatUint(m.Vote, 10), + Reject: m.Reject, + RejectHint: m.RejectHint, + } +} + +type TraceLogger interface { + TraceEvent(*TracingEvent) +} + +func traceEvent(evt stateMachineEventType, r *raft, m *raftpb.Message, prop map[string]any) { + if r.traceLogger == nil { + return + } + + if !r.initStateTraced { + return + } + + r.traceLogger.TraceEvent(&TracingEvent{ + Name: evt.String(), + NodeID: strconv.FormatUint(r.id, 10), + State: makeTracingState(r), + LogSize: r.raftLog.lastIndex(), + Conf: [2][]string{formatConf(r.prs.Voters[0].Slice()), formatConf(r.prs.Voters[1].Slice())}, + Role: r.state.String(), + Message: makeTracingMessage(m), + Properties: prop, + }) +} + +func traceNodeEvent(evt stateMachineEventType, r *raft) { + traceEvent(evt, r, nil, nil) +} + +func formatConf(s []uint64) []string { + if s == nil { + return []string{} + } + + r := make([]string, len(s)) + for i, v := range s { + r[i] = strconv.FormatUint(v, 10) + } + return r +} + +// Use following helper functions to trace specific state and/or +// transition at corresponding code lines +func traceInitState(r *raft) { + if r.traceLogger == nil { + return + } + + r.initStateTraced = true + + traceNodeEvent(rsmInitState, r) +} + +func traceReady(r *raft) { + traceNodeEvent(rsmReady, r) +} + +func traceCommit(r *raft) { + traceNodeEvent(rsmCommit, r) +} + +func traceReplicate(r *raft) { + traceNodeEvent(rsmReplicate, r) +} + +func traceBecomeFollower(r *raft) { + traceNodeEvent(rsmBecomeFollower, r) +} + +func traceBecomeCandidate(r *raft) { + traceNodeEvent(rsmBecomeCandidate, r) +} + +func traceBecomeLeader(r *raft) { + traceNodeEvent(rsmBecomeLeader, r) +} + +func traceChangeConfEvent(cci raftpb.ConfChangeI, r *raft) { + cc2 := cci.AsV2() + cc := &TracingConfChange{ + Changes: []SingleConfChange{}, + NewConf: []string{}, + } + for _, c := range cc2.Changes { + switch c.Type { + case raftpb.ConfChangeAddNode: + cc.Changes = append(cc.Changes, SingleConfChange{ + NodeID: strconv.FormatUint(c.NodeID, 10), + Action: ConfChangeAddNewServer, + }) + case raftpb.ConfChangeRemoveNode: + cc.Changes = append(cc.Changes, SingleConfChange{ + NodeID: strconv.FormatUint(c.NodeID, 10), + Action: ConfChangeRemoveServer, + }) + case raftpb.ConfChangeAddLearnerNode: + cc.Changes = append(cc.Changes, SingleConfChange{ + NodeID: strconv.FormatUint(c.NodeID, 10), + Action: ConfChangeAddLearner, + }) + } + } + + if len(cc.Changes) == 0 { + return + } + + p := map[string]any{} + p["cc"] = cc + traceEvent(rsmChangeConf, r, nil, p) +} + +func traceConfChangeEvent(cfg tracker.Config, r *raft) { + if r.traceLogger == nil { + return + } + + cc := &TracingConfChange{ + Changes: []SingleConfChange{}, + NewConf: formatConf(cfg.Voters[0].Slice()), + } + + p := map[string]any{} + p["cc"] = cc + traceEvent(rsmApplyConfChange, r, nil, p) +} + +func traceSendMessage(r *raft, m *raftpb.Message) { + if r.traceLogger == nil { + return + } + + prop := map[string]any{} + + var evt stateMachineEventType + switch m.Type { + case raftpb.MsgApp: + evt = rsmSendAppendEntriesRequest + if p, exist := r.prs.Progress[m.From]; exist { + prop["match"] = p.Match + prop["next"] = p.Next + } + + case raftpb.MsgHeartbeat, raftpb.MsgSnap: + evt = rsmSendAppendEntriesRequest + case raftpb.MsgAppResp, raftpb.MsgHeartbeatResp: + evt = rsmSendAppendEntriesResponse + case raftpb.MsgVote: + evt = rsmSendRequestVoteRequest + case raftpb.MsgVoteResp: + evt = rsmSendRequestVoteResponse + default: + return + } + + traceEvent(evt, r, m, prop) +} + +func traceReceiveMessage(r *raft, m *raftpb.Message) { + if r.traceLogger == nil { + return + } + + var evt stateMachineEventType + switch m.Type { + case raftpb.MsgApp, raftpb.MsgHeartbeat, raftpb.MsgSnap: + evt = rsmReceiveAppendEntriesRequest + case raftpb.MsgAppResp, raftpb.MsgHeartbeatResp: + evt = rsmReceiveAppendEntriesResponse + case raftpb.MsgVote: + evt = rsmReceiveRequestVoteRequest + case raftpb.MsgVoteResp: + evt = rsmReceiveRequestVoteResponse + default: + return + } + + time.Sleep(time.Millisecond) // sleep 1ms to reduce time shift impact accross node + traceEvent(evt, r, m, nil) +} diff --git a/state_trace_nop.go b/state_trace_nop.go new file mode 100644 index 00000000..ece30be6 --- /dev/null +++ b/state_trace_nop.go @@ -0,0 +1,51 @@ +// 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 +// +build !with_tla + +package raft + +import ( + "go.etcd.io/raft/v3/raftpb" + "go.etcd.io/raft/v3/tracker" +) + +const EnableStateTrace = false + +type TraceLogger interface{} + +type TracingEvent struct{} + +func traceInitState(*raft) {} + +func traceReady(*raft) {} + +func traceCommit(*raft) {} + +func traceReplicate(*raft) {} + +func traceBecomeFollower(*raft) {} + +func traceBecomeCandidate(*raft) {} + +func traceBecomeLeader(*raft) {} + +func traceChangeConfEvent(raftpb.ConfChangeI, *raft) {} + +func traceConfChangeEvent(tracker.Config, *raft) {} + +func traceSendMessage(*raft, *raftpb.Message) {} + +func traceReceiveMessage(*raft, *raftpb.Message) {} diff --git a/tla/MCetcdraft.cfg b/tla/MCetcdraft.cfg new file mode 100644 index 00000000..6e213696 --- /dev/null +++ b/tla/MCetcdraft.cfg @@ -0,0 +1,65 @@ +\* 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. +\* +SPECIFICATION mc_spec + +CONSTANTS + s1 = 1 + s2 = 2 + s3 = 3 + s4 = 4 + s5 = 5 + + 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 + + Nil = 0 + + ValueEntry = "ValueEntry" + ConfigEntry = "ConfigEntry" + + Follower = "Follower" + Candidate = "Candidate" + Leader = "Leader" + RequestVoteRequest = "RequestVoteRequest" + RequestVoteResponse = "RequestVoteResponse" + AppendEntriesRequest = "AppendEntriesRequest" + AppendEntriesResponse = "AppendEntriesResponse" + +SYMMETRY Symmetry +VIEW View + +CHECK_DEADLOCK + FALSE + +INVARIANTS + LogInv + MoreThanOneLeaderInv + ElectionSafetyInv + LogMatchingInv + VotesGrantedInv + QuorumLogInv + MoreUpToDateCorrectInv + LeaderCompletenessInv \ No newline at end of file diff --git a/tla/MCetcdraft.tla b/tla/MCetcdraft.tla new file mode 100644 index 00000000..78c82eb7 --- /dev/null +++ b/tla/MCetcdraft.tla @@ -0,0 +1,103 @@ +---------- MODULE MCetcdraft ---------- +\* 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. +\* + +EXTENDS etcdraft + +CONSTANT ReconfigurationLimit +ASSUME ReconfigurationLimit \in Nat + +CONSTANT MaxTermLimit +ASSUME MaxTermLimit \in Nat + +\* Limit on client requests +CONSTANT RequestLimit +ASSUME RequestLimit \in Nat + +etcd == INSTANCE etcdraft + +\* 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_spec == + /\ Init + /\ [][NextDynamic]_vars + +\* 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 >> + +---- + +=================================== \ No newline at end of file diff --git a/tla/README.md b/tla/README.md new file mode 100644 index 00000000..25dfe642 --- /dev/null +++ b/tla/README.md @@ -0,0 +1,73 @@ +# TLA+ Specification and Trace Validation for Raft Library: A Comprehensive Guide + +This document presents comprehensive guidelines on how to create a TLA+ specification for the Raft library as implemented in `etcd-io/raft`. The distinctive behaviors of this library, such as reconfiguration, set it apart from the original Raft algorithm. A TLA+ specification serves dual purposes: it not only helps verify the correctness of the model but also facilitates model-based trace validation. + +## Checking the Model with TLA+ Specifications + +The TLA+ specifications can be verified using the TLC model checker. Here are a few methods: + +1. **TLA+ Toolbox**: This is an ideal tool for an in-depth study of the specification. For more information, refer to the [TLA+ Toolbox guideline](https://lamport.azurewebsites.net/tla/toolbox.html). + +2. **VSCode Plugin TLA+ Nightly**: This is a viable alternative to the TLA+ Toolbox, particularly for those accustomed to using VSCode. For more information, refer to the [VSCode Plugin TLA+ Nightly guideline](https://github.com/tlaplus/vscode-tlaplus/wiki). + +3. **CLI**: This is the best option for integration with existing test frameworks and automation. For more information, refer to the [CLI guideline](https://learntla.com/topics/cli.html). You can execute a typical command line to verify etcdraft.tla as shown below. Please ensure that tla2tools.jar and CommunityModules-deps.jar have been downloaded and are available in the current folder before proceeding. + + ```console + java -XX:+UseParallelGC -Dtlc2.tool.impl.Tool.cdot=true -cp tla2tools.jar:CommunityModules-deps.jar tlc2.TLC -workers auto MCetcdraft.tla -dumpTrace tla MCetcdraft.trace.tla -dumpTrace json MCetcdraft.json -lncheck final + ``` + +## TLA+ Model-Based Trace Validation + +The correctness of applications based on a consensus algorithm is ensured by two factors: the correctness of the algorithm itself, and the alignment of the implementation with the algorithm. + +The first factor, the correctness of the algorithm, is assured through model checking the specification. The second component, the alignment between the implementation and the algorithm, is fortified through trace validation, which serves to bridge the gap between the model and its implementation. + +To ensure the robustness of trace validation, we initially inject multiple trace log points at specific sections in the code where state transitions occur (for example, SendAppendEntries, BecomeLeader, etcd). The trace validation specification leverages these traces as a state space constraint, guiding the state machine to traverse in a manner identical to that of the service. + +If a trace suggests a state or transition that the state machine can't accommodate, it indicates a discrepancy between the model and its implementation. In cases where the model has already been verified by the TLC model checker, it's more likely that any issues arise from the implementation rather than the model. + +## Enabling and Running TLA+ Trace Validation + +To activate trace collection, build the application using the "with_tla" tag (`go build -tags=with_tla`). The `StartNode` and/or `RestartNode` should be invoked with `Config` and the `TraceLogger` property set to an instance of `TraceLogger` interface. This instance emits tracing events in the correct format. + +Here is any example trace logger using zap.Logger (sampling shall be disabled to ensure all traces are logged) + +```go +type TraceLogger interface { + TraceEvent(*TracingEvent) +} + +type MyTraceLogger struct{ + lg *zap.Logger +} + +func (t *MyTraceLogger) TraceEvent(e *TracingEvent) { + t.lg.Debug("trace", zap.String("tag", "trace"), zap.Any("event", ev)) +} + +``` + +To start a three-node cluster with trace logger +```go +storage := raft.NewMemoryStorage() + c := &raft.Config{ + ID: 0x01, + ElectionTick: 10, + HeartbeatTick: 1, + Storage: storage, + MaxSizePerMsg: 4096, + MaxInflightMsgs: 256, + TraceLogger: &MyTraceLogger{}, + } + // Set peer list to the other nodes in the cluster. + // Note that they need to be started separately as well. + n := raft.StartNode(c, []raft.Peer{{ID: 0x02}, {ID: 0x03}}) +``` +To preserve the causality of events across nodes, run all application instances on the same machine and store traces in the same file. This approach maintains the order of traces in all instances. + +With above example trace logger, validate.sh can be used to validate traces parallelly. +```console +./validate.sh -s ./Traceetcdraft.tla -c ./Traceetcdraft.cfg /tmp/ramdisk/*.ndjson +``` +**Note**： Trace validation can take very long time if a trace file contains too many log lines. Environment variable MAX_TRACE can be set to only investigate top N log lines in each trace file. + diff --git a/tla/Traceetcdraft.cfg b/tla/Traceetcdraft.cfg new file mode 100644 index 00000000..f7940d75 --- /dev/null +++ b/tla/Traceetcdraft.cfg @@ -0,0 +1,63 @@ +\* 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. +\* + +\* A trace specification defines a set of one or more traces, wherein the value of some +\* variables in each state aligns with the values specified on the corresponding line +\* of the log or trace file. Commonly, the log file might be incomplete, failing to +\* provide the value of all variables. In such instances, the omitted values are +\* determined non-deterministically, adhering to the high-level specification's parameters. +\* Furthermore, a trace may not be complete such that it only matches a prefix of the log. +SPECIFICATION + TraceSpec + +VIEW + TraceView + +\* TLA has only limited support for hyperproperties. The following property is a poorman's +\* hyperproperty that asserts that TLC generated *at least one* trace that fully matches the +\* log file. +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. +\* However, partial matches may occur where the trace cannot be extended to fully +\* correspond with the log file. In such cases, deadlock checking would report the first +\* of these traces. +CHECK_DEADLOCK + FALSE + +CONSTANTS + InitServer <- TraceInitServer + Server <- TraceServer + + \* InitDurableState <- TraceInitDurableState + + Nil = "0" + + ValueEntry = "ValueEntry" + ConfigEntry = "ConfigEntry" + + Follower = "StateFollower" + Candidate = "StateCandidate" + Leader = "StateLeader" + RequestVoteRequest = "RequestVoteRequest" + RequestVoteResponse = "RequestVoteResponse" + AppendEntriesRequest = "AppendEntriesRequest" + AppendEntriesResponse = "AppendEntriesResponse" diff --git a/tla/Traceetcdraft.tla b/tla/Traceetcdraft.tla new file mode 100644 index 00000000..d74ec938 --- /dev/null +++ b/tla/Traceetcdraft.tla @@ -0,0 +1,442 @@ +-------------------------------- MODULE Traceetcdraft ------------------------------- +\* 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. +\* + +EXTENDS etcdraft, Json, IOUtils, Sequences, TLC + +\* raft.pb.go enum MessageType +RaftMsgType == + "MsgApp" :> AppendEntriesRequest @@ "MsgAppResp" :> AppendEntriesResponse @@ + "MsgVote" :> RequestVoteRequest @@ "MsgVoteResp" :> RequestVoteResponse @@ + "MsgHeartbeat" :> AppendEntriesRequest @@ "MsgHeartbeatResp" :> AppendEntriesResponse @@ + "MsgSnap" :> AppendEntriesRequest + +RaftMsgSubtype == + "MsgHeartbeat" :> "heartbeat" @@ "MsgHeartbeatResp" :> "heartbeat" @@ + "MsgApp" :> "app" @@ "MsgAppResp" :> "app" @@ + "MsgSnap" :> "snapshot" + +------------------------------------------------------------------------------------- + +\* Trace validation has been designed for TLC running in default model-checking + \* mode, i.e., breadth-first search. +ASSUME TLCGet("config").mode = "bfs" + +JsonFile == + IF "JSON" \in DOMAIN IOEnv THEN IOEnv.JSON ELSE "./example.ndjson" + +OriginTraceLog == + \* Deserialize the System log as a sequence of records from the log file. + \* Run TLC with (assuming a suitable "tlc" shell alias): + \* $ JSON=../tests/raft_scenarios/4582.ndjson tlc -note Traceccfraft + \* Fall back to trace.ndjson if the JSON environment variable is not set. + 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) + +ASSUME PrintT(<< "Trace:", JsonFile, "Length:", Len(TraceLog)>>) + +TraceServer == TLCEval(FoldSeq( + LAMBDA x, y: y \cup IF /\ x.event.name = "ChangeConf" + /\ "changes" \in DOMAIN x.event.prop.cc + /\ x.event.prop.cc.changes[1].action \in {"AddNewServer", "AddLearner"} + THEN {x.event.nid, x.event.prop.cc.changes[1].nid} + ELSE {x.event.nid}, + {}, TraceLog)) +------------------------------------------------------------------------------------- +ConfFromLog(l) == << ToSet(l.event.conf[1]), ToSet(l.event.conf[2]) >> + +FirstInitStatesLog(i) == + LET initStatesLogOfNode == {k \in DOMAIN TraceLog: TraceLog[k].event.nid = i /\ TraceLog[k].event.name = "InitState"} + IN IF initStatesLogOfNode = {} THEN + [ + event |-> [ + state |-> [ + term |-> 0, + vote |-> "", + commit |-> 0 ], + role |-> "", + conf |-> << <<>>, <<>> >> ] + ] + ELSE TraceLog[Min(initStatesLogOfNode)] + +TraceInitServer == ToSet(TraceLog[1].event.conf[1]) +ASSUME TraceInitServer \subseteq TraceServer + +OneMoreMessage(msg) == + \/ msg \notin DOMAIN pendingMessages /\ msg \in DOMAIN pendingMessages' /\ pendingMessages'[msg] = 1 + \/ msg \in DOMAIN pendingMessages /\ pendingMessages'[msg] = pendingMessages[msg] + 1 + +OneLessMessage(msg) == + \/ msg \in DOMAIN messages /\ messages[msg] = 1 /\ msg \notin DOMAIN messages' + \/ msg \in DOMAIN messages /\ messages'[msg] = messages[msg] - 1 + +------------------------------------------------------------------------------------- + +VARIABLE l +logline == TraceLog[l] +VARIABLE pl + + +TraceInit == + /\ l = 1 + /\ pl = 0 + /\ logline = TraceLog[l] + /\ Init + +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 <> + +------------------------------------------------------------------------------------- + +LoglineIsEvent(e) == + /\ l <= Len(TraceLog) + /\ logline.event.name = e + +LoglineIsMessageEvent(e, i, j) == + /\ LoglineIsEvent(e) + /\ logline.event.msg.from = i + /\ logline.event.msg.to = j + +LoglineIsNodeEvent(e, i) == + /\ LoglineIsEvent(e) + /\ logline.event.nid = i + +LoglineIsAppendEntriesRequest(m) == + /\ m.mtype = AppendEntriesRequest + /\ m.mtype = RaftMsgType[logline.event.msg.type] + /\ m.msubtype = RaftMsgSubtype[logline.event.msg.type] + /\ m.mdest = logline.event.msg.to + /\ m.msource = logline.event.msg.from + /\ m.mterm = logline.event.msg.term + \* MsgSnap is equivalent to MsgApp except that it does not + \* have commit index. Snapshot message contains leader log prefix + \* up to a committed entry. That means the receiver can safely advance + \* its commit index at least to the last log entry in snapshot message. + \* Setting commit index in the MsgSnap message would become unnecessary. + \* So we can safely ignore checking this against the model. + /\ m.msubtype /= "snapshot" => m.mcommitIndex = logline.event.msg.commit + /\ m.msubtype /= "heartbeat" => /\ m.mprevLogTerm = logline.event.msg.logTerm + /\ m.mprevLogIndex = logline.event.msg.index + /\ Len(m.mentries) = logline.event.msg.entries + +LoglineIsAppendEntriesResponse(m) == + /\ m.mtype = AppendEntriesResponse + /\ m.mtype = RaftMsgType[logline.event.msg.type] + /\ m.msubtype = RaftMsgSubtype[logline.event.msg.type] + /\ m.mdest = logline.event.msg.to + /\ m.msource = logline.event.msg.from + /\ m.mterm = logline.event.msg.term + /\ m.msuccess = ~logline.event.msg.reject + /\ (\lnot logline.event.msg.reject /\ m.msubtype /= "heartbeat") => m.mmatchIndex = logline.event.msg.index + +LoglineIsRequestVoteRequest(m) == + /\ m.mtype = RequestVoteRequest + /\ m.mtype = RaftMsgType[logline.event.msg.type] + /\ m.mdest = logline.event.msg.to + /\ m.msource = logline.event.msg.from + /\ m.mterm = logline.event.msg.term + /\ m.mlastLogIndex = logline.event.msg.index + /\ m.mlastLogTerm = logline.event.msg.logTerm + +LoglineIsRequestVoteResponse(m) == + /\ m.mtype = RequestVoteResponse + /\ m.mtype = RaftMsgType[logline.event.msg.type] + /\ m.mdest = logline.event.msg.to + /\ m.msource = logline.event.msg.from + /\ 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) + \/ /\ LoglineIsEvent("ReceiveAppendEntriesResponse") + /\ LoglineIsAppendEntriesResponse(m) + \/ /\ LoglineIsEvent("ReceiveRequestVoteRequest") + /\ LoglineIsRequestVoteRequest(m) + \/ /\ LoglineIsEvent("ReceiveRequestVoteResponse") + /\ LoglineIsRequestVoteResponse(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) + +\* perform AddNewServer transition if logline indicates so +AddNewServerIfLogged(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) == + /\ 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) == + /\ 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) + +ReadyIfLogged(i) == + /\ LoglineIsNodeEvent("Ready", i) + /\ Ready(i) + +RestartIfLogged(i) == + /\ LoglineIsNodeEvent("InitState", i) + /\ Restart(i) + /\ ValidatePostStates(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 + +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 <> + +\* Next actions where each one +TraceNextNonReceiveActions == + /\ \/ \E i,j \in Server : RequestVoteIfLogged(i, j) + \/ \E i \in Server : BecomeLeaderIfLogged(i) + \/ \E i \in Server : ClientRequestIfLogged(i, 0) + \/ \E i \in Server : AdvanceCommitIndexIfLogged(i) + \/ \E i,j \in Server : \E b,e \in 1..Len(log[i])+1 : AppendEntriesIfLogged(i, j, <>) + \/ \E i \in Server : AppendEntriesToSelfIfLogged(i) + \/ \E i,j \in Server : HeartbeatIfLogged(i, j) + \/ \E i,j \in Server : \E index \in 1..commitIndex[i] : SendSnapshotIfLogged(i, j, index) + \/ \E i \in Server : TimeoutIfLogged(i) + \/ \E i,j \in Server: AddNewServerIfLogged(i, j) + \/ \E i,j \in Server: AddLearnerIfLogged(i, j) + \/ \E i,j \in Server: DeleteServerIfLogged(i, j) + \/ \E i \in Server: ApplySimpleConfChangeIfLogged(i) + \/ \E i \in Server: ReadyIfLogged(i) + \/ \E i \in Server: RestartIfLogged(i) + \/ \E i \in Server: StepDownToFollowerIfLogged(i) + \/ SkipUnusedLogline + /\ StepToNextTrace + +TraceNextReceiveActions == + \E m \in DOMAIN messages : + /\ ReceiveIfLogged(m) + /\ StepToNextTraceIfMessageIsProcessed(m) + +TraceNext == + \/ TraceNextNonReceiveActions + \/ TraceNextReceiveActions + + +TraceSpec == + TraceInit /\ [][TraceNext]_<> + +------------------------------------------------------------------------------------- + +TraceView == + \* A high-level state s can appear multiple times in a system trace. Including the + \* current level in TLC's view ensures that TLC will not stop model checking when s + \* 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. + <> + +------------------------------------------------------------------------------------- + +\* The property TraceMatched below will be violated if TLC runs with more than a single worker. +ASSUME TLCGet("config").worker = 1 + +TraceMatched == + \* We force TLC to check TraceMatched as a temporal property because TLC checks temporal + \* properties after generating all successor states of the current state, unlike + \* invariants that are checked after generating a successor state. + \* 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 + +================================================================================== + + diff --git a/tla/etcdraft.cfg b/tla/etcdraft.cfg new file mode 100644 index 00000000..9990e0ed --- /dev/null +++ b/tla/etcdraft.cfg @@ -0,0 +1,54 @@ +\* 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. +\* + +CONSTANTS + s1 = 1 + s2 = 2 + s3 = 3 + s4 = 4 + s5 = 5 + + InitServer = {s1, s2, s3} + Server = {s1, s2, s3} + + Nil = 0 + + ValueEntry = "ValueEntry" + ConfigEntry = "ConfigEntry" + + Follower = "Follower" + Candidate = "Candidate" + Leader = "Leader" + RequestVoteRequest = "RequestVoteRequest" + RequestVoteResponse = "RequestVoteResponse" + AppendEntriesRequest = "AppendEntriesRequest" + AppendEntriesResponse = "AppendEntriesResponse" + + +VIEW vars + +INIT Init +NEXT NextAsyncCrash + +\* Raft properties +INVARIANTS + LogInv + MoreThanOneLeaderInv + ElectionSafetyInv + LogMatchingInv + VotesGrantedInv + QuorumLogInv + MoreUpToDateCorrectInv + LeaderCompletenessInv diff --git a/tla/etcdraft.tla b/tla/etcdraft.tla new file mode 100644 index 00000000..e2d2595b --- /dev/null +++ b/tla/etcdraft.tla @@ -0,0 +1,913 @@ +--------------------------------- MODULE etcdraft --------------------------------- +\* 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 +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 + +currentDurableState == + [ + currentTerm |-> currentTerm, + votedFor |-> votedFor, + log |-> [ i \in Server |-> Len(log[i]) ], + commitIndex |-> commitIndex, + config |-> config + ] + + +\* End of per server variables. +---- + +\* All variables; used for stuttering (asserting state hasn't changed). +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 set of all quorums. This just calculates simple majorities, but the only +\* important property is that every quorum overlaps with every other. +Quorums == + [ s \in SUBSET Server |-> {i \in SUBSET(s) : Cardinality(i) * 2 > Cardinality(s)} ] + +\* 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) == + FoldBag(LAMBDA x, y: IF y.msource = i THEN BagAdd(x,y) ELSE x, EmptyBag, pendingMessages) + +\* 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) + +\* 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 EXCEPT ![i]= [jointConfig |-> << log[i][k].value.newconf, {} >>, learners |-> log[i][k].value.learners]] + +CommitTo(i, c) == + commitIndex' = [commitIndex EXCEPT ![i] = Max({@, c})] + +BootstrapLog == + LET prevConf(y) == IF Len(y) = 0 THEN {} ELSE y[Len(y)].value.newconf + IN FoldSeq(LAMBDA x, y: Append(y, [ term |-> 1, type |-> ConfigEntry, value |-> [ newconf |-> prevConf(y) \union {x}, learners |-> {} ] ]), <<>>, SetToSeq(InitServer)) + +CurrentLeaders == {i \in Server : state[i] = Leader} + +---- +\* Define initial values for all variables +InitMessageVars == /\ messages = EmptyBag + /\ pendingMessages = EmptyBag +\* etcd is bootstrapped in two ways. +\* 1. bootstrap a cluster for the first time: server vars are initialized with term 1 and pre-inserted log entries for initial configuration. +\* 2. adding a new member: server vars are initialized with all state 0 +\* 3. restarting an existing member: all states are loaded from durable storage +InitServerVars == /\ currentTerm = [i \in Server |-> IF i \in InitServer THEN 1 ELSE 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 |-> IF i \in InitServer THEN BootstrapLog ELSE <<>>] + /\ commitIndex = [i \in Server |-> IF i \in InitServer THEN Cardinality(InitServer) ELSE 0] +InitConfigVars == /\ config = [i \in Server |-> [ jointConfig |-> IF i \in InitServer THEN <> ELSE <<{}, {}>>, learners |-> {}]] + /\ reconfigCount = 0 \* the bootstrap configuraitons are not counted +InitDurableState == + durableState = currentDurableState + +Init == /\ InitMessageVars + /\ InitServerVars + /\ InitCandidateVars + /\ InitLeaderVars + /\ InitLogVars + /\ InitConfigVars + /\ InitDurableState + +---- +\* Define state 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) == + /\ 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.currentTerm[i]] + /\ commitIndex' = [commitIndex EXCEPT ![i] = durableState.commitIndex[i]] + /\ votedFor' = [votedFor EXCEPT ![i] = durableState.votedFor[i]] + /\ log' = [log EXCEPT ![i] = SubSeq(@, 1, durableState.log[i])] + /\ config' = [config EXCEPT ![i] = durableState.config[i]] + /\ 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 <> + +\* Candidate i sends j a RequestVote request. +\* @type: (Int, Int) => Bool; +RequestVote(i, j) == + /\ 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) == + /\ 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) == + AppendEntriesInRangeToPeer("app", i, j, range) + +Heartbeat(i, j) == + \* heartbeat is equivalent to an append-entry request with 0 entry index 1 + AppendEntriesInRangeToPeer("heartbeat", i, j, <<1,1>>) + +SendSnapshot(i, j, index) == + AppendEntriesInRangeToPeer("snapshot", i, j, <<1,index+1>>) + +\* Candidate i transitions to leader. +\* @type: Int => Bool; +BecomeLeader(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) == + /\ Replicate(i, 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) == + /\ 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) == + /\ 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) == + /\ 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) == + /\ 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 <> + +ApplySimpleConfChange(i) == + /\ ~IsJointConfig(i) + /\ LET k == SelectLastInSubSeq(log[i], 1, commitIndex[i], LAMBDA x: x.type = ConfigEntry) + IN + /\ k > 0 + /\ k <= commitIndex[i] + /\ config' = ApplyConfigUpdate(i, k) + /\ IF state[i] = Leader /\ pendingConfChangeIndex[i] >= k THEN + /\ reconfigCount' = reconfigCount + 1 + /\ pendingConfChangeIndex' = [pendingConfChangeIndex EXCEPT ![i] = 0] + ELSE UNCHANGED <> + /\ UNCHANGED <> + +Ready(i) == + /\ durableState' = currentDurableState + /\ SendPendingMessages(i) + /\ 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) == + /\ state[i] \in {Leader, Candidate} + /\ 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) == 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) == + /\ m \in DOMAIN messages + /\ messages' = WithMessage(m, messages) + /\ UNCHANGED <> + +\* The network drops a message +\* @type: MSG => Bool; +DropMessage(m) == + \* 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 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 : Ready(i) + \/ \E i \in Server : StepDownToFollower(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) + \/ \E i \in Server : ApplySimpleConfChange(i) + +\* 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) + +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 : + \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 + +----- + + +=============================================================================== + + + +\* 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 new file mode 100644 index 00000000..1dbfdc52 --- /dev/null +++ b/tla/example.ndjson @@ -0,0 +1,4014 @@ +{"level":"debug","ts":1705477141.0284326,"caller":"rafttest/trace_logger.go:42","msg":"trace","tag":"trace","event":{"name":"InitState","nid":"1","state":{"term":1,"vote":"0","commit":5},"role":"StateFollower","log":5,"conf":[["1","2","3","4","5"],[]]}} +{"level":"debug","ts":1705477141.0288076,"caller":"rafttest/trace_logger.go:42","msg":"trace","tag":"trace","event":{"name":"Ready","nid":"1","state":{"term":1,"vote":"0","commit":5},"role":"StateFollower","log":5,"conf":[["1","2","3","4","5"],[]]}} 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] -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 ${TOOLDIR} + echo "done." +} + +function preprocess_log { + local trace=${1} + sed -i -E 's/^[^{]+//' ${trace} + sort -t":" -k 3 ${trace} -o ${trace} +} + +function colored_text { + color=$1 + text=$2 + + case $color in + "red") + echo $"\033[0;31m$text\033[0m" + ;; + + "green") + echo "\033[0;32m$text\033[0m" + ;; + + *) + echo text + ;; + esac +} + +function validate { + local id=${1} + local trace=${2} + local spec=${3} + local config=${4} + local tooldir=${5} + local statedir=${6} + local name=$(basename $trace .ndjson) + + # preprocess log + sed -i -E 's/^[^{]+//' ${trace} + sort -t":" -k 3 ${trace} -o ${trace} + + set -o pipefail + env JSON="${trace}" java -XX:+UseParallelGC -cp ${tooldir}/tla2tools.jar:${tooldir}/CommunityModules-deps.jar tlc2.TLC -config "${config}" "${spec}" -lncheck final -metadir "${statedir}" -fpmem 0.9 | sed -nuE "s/<<\"Progress %:\", ([0-9]+)>>$/${id} \1/p" + + if [ "$?" -ne 0 ]; then + echo ${id} -1 + fi +} + +function show_progress { + #tput rc + #tput ed + + for ((i=0;i") + remaining=$(printf "%${r}s" | tr " " "-") + echo + echo -e " [${completed}${remaining}] ${progress[$i]}%" + lines=$((lines+1)) + fi + done +} + +while getopts :hs:c:p: flag +do + case "${flag}" in + s) SPEC=${OPTARG};; + c) CONFIG=${OPTARG};; + p) PARALLEL=${OPTARG};; + h|*) show_usage; exit 1;; + esac +done + +shift $(($OPTIND -1)) +trace_files=("$@") +progress=() +result=() + +if [ ! "$SPEC" ] || [ ! "$CONFIG" ] || [ ! "$trace_files" ] +then + show_usage + exit 1 +fi + +echo "spec: ${SPEC}" +echo "config: ${CONFIG}" + +install_tlaplus + +total=${#trace_files[@]} +SECONDS=0 + +#tput init +#tput sc + +export -f validate +while read line; do + tokens=(${line// / }) + id=${tokens[0]} + p=${tokens[1]} + progress[$id]=$p + if [ "${p}" = 100 ]; then + result[$id]="success" + show_progress + elif [ "${p}" = -1 ]; then + result[$id]="fail" + fi + + if [ "${SECONDS}" -ge 2 ]; then + show_progress + SECONDS=0 + fi +done < \ +<(for i in ${!trace_files[@]}; do + progress[$i]=0 + echo $i ${trace_files[$i]} +done | \ +xargs -I{} -P ${PARALLEL} bash -c 'validate $@' _ {} $SPEC $CONFIG $TOOLDIR $STATEDIR) + + +passed=0 +for s in ${result[@]}; do + if [ "$s" = "success" ]; then + passed=$((passed+1)) + fi +done + +echo -e "$passed of $total trace(s) passed" + +if [ "$passed" -lt "$total" ]; then + exit 1 +fi + +