Changelog for package foros

0.4.1 (2022-11-13)

• foros: update package.xml test_depend add ament_cmake_gtest, ament_cmake_gmock
• foros: update package.xml depend libleveldb-dev -> leveldb
• Contributors: Wonguk Jeong

0.4.0 (2022-10-27)

• version 0.4.0
• foros: remove private member access from public method
• Added humble branch (#1) foros: migration to humble hawksbill
  • asnyc_send_request() returns a std::future instead of a std::shared_future
  • get_callback_group() is replaced with for_each_callback_group()
  • publish() is not a virtual function anymore
• foros: fix unused variable, uninitialize fields fix CID 257409, 257410, 257421, 257426, 257433
• docs: integrate coverity scan, remove dead link
• Contributors: Taehun Lim, Wonguk Jeong

0.3.1 (2022-04-27)

• Version 0.3.1
  • inspector UI enhanced
  • unit test updated
• foros: unittest updated add raft unittest when inspector is enabled
• docs: inspector screenshot updated
• Contributors: Wonguk Jeong

0.3.0 (2022-04-25)

• docs: doxygen updated show test result using inspector not console
• Version 0.3.0
  • inspector introduced
  • locking added for multithreading
• foros: remove unnecessary logs
• foros: add default period of instpector
• foros: fill timstamp in inspector msg
• foros: send cluster_size to inspector
• foros: inspector implemented enable inspector with environment variables
  • FOROS_INSPECTOR : 1 to enable

  - FOROS_INSPECTOR_PERIOD : inspector message publish period if inspector is enabled, publish inspector message every FOROS_INSPECTOR_PERIOD second(s)

• foros: add mutex for supporting multithread add mutex for
  • callback of observable
  • state transition of state machine
  • data getter/setter of context store
  • commit/revert callback of context
  • index of other node
• docs: fix test failure of doxygen mainpage add new line at the end of foros/docs/foros.hpp
• docs: doxygen main page added
• Contributors: Wonguk Jeong

0.1.0 (2021-12-22)

• foros: raft state machine TC added
• foros: more unit TC
• foros: unit TC added
  • add more test for cluster node class
  • add raft context, context store test cases
• foros: refine functio signature
• foros: raft TC added, coverage script added
• foros: context store ldata loading bug fix
• foros_msgs: rename fields
  • data -> entries
  • prev_data_term -> prev_log_term
  • prev_data_index -> prev_log_index
• foros: maintain command logs by framework not user as-is: maintains command logs (data) outside (by user) to-be: maintains command logs internally using leveldb (by framework)

• foros: maintain persistent data using leveldb election_term, voted_for, voted values should be stored in storage. (deleted on reboot) Therefore, 1) created raft context store using leveldb

  2) add options to set temp directory. default is std::<filesystem::temp_directory_path>() TODO: add command logs in store

• foros: check validity of raft RPC check whether the RAFT message is sent by node which is not included in the cluster.
• foros: quorum calculation changed as-is: calculate quorum from the number of available candidates to-be: calculate quorum from full cluster
• foros: use rclcpp logger not std::cerr, std::cout
• foros: data commit API implemented
• foros: fix method signiture mismatch
• foros: refine cluster node data itnerface Do not use internal terminology in APIs
  • index -> id
  • term -> sub_id
• foros: align doxygen style
• foros: add data constructor
• foros: specify missing const arg of function
• foros: update commit index, next index as needed 1) update last commit index,
  • on local commit

  - on rollback commit 2) update next indeice of other nodes, when the node becomes leader

• foros: send current commit index in the vote request RPC
• foros: data replication logic added (phase 1)
  • implemented replication using broadcast

  - example added TODO:

  • bug fix
  • implement replication using data commit API
• foros: add lifecycle callback register APIs The virtual function is not guarenteed to be invoked in the constructor. Therefore, uses register APIs not overriding As-Is: overriding using interface To-Be: register using API explicitly
• foros: rename callbacks of data interface
• foros: initialize the last commit index
• foros: add data replicatoin logic in RPC response
• foros: the lastest data request interface added
• foros: CommitInfo class added CommitInfo stores the index, the term, request counts. It used for storing commit information in the pending commits map.
• fsros: add prev commt info in Data class To achieve raft data duplication, need to pass previous commit index and previous commit term.
• foros: store term, request count in pending commit
• foros: rename interfaces, add more doxygen
• foros: data commit interface added for data replication, 1) add data interface API 2) data commit API added in raft context
• foros: align coding style (CommitData, CommitResponse)
• foros: change commit data API to asnyc API This API need to make a consensus in the cluster. Therefore, change to async API.
  • use promise-future

  - for now, return result immediately until the business logic is implemented.

• rename failsafe::fsros to failover::foros
• Contributors: Wonguk Jeong