raft/tracker: pull Voters and Learners into Config struct

This is helpful to quickly print the configuration log messages without
having to specify Voters and Learners separately.

It will also come in handy for joint quorums because it allows holding
on to voters and learners as a unit, which is useful for unit testing.

raft/quorum/joint.go

@@ -18,6 +18,13 @@ package quorum
 // majority configurations. Decisions require the support of both majorities.
 type JointConfig [2]MajorityConfig
 
+func (c JointConfig) String() string {
+	if len(c[1]) > 0 {
+		return c[0].String() + "&&" + c[1].String()
+	}
+	return c[0].String()
+}
+
 // IDs returns a newly initialized map representing the set of voters present
 // in the joint configuration.
 func (c JointConfig) IDs() map[uint64]struct{} {

raft/quorum/majority.go

@@ -24,6 +24,24 @@ import (
 // MajorityConfig is a set of IDs that uses majority quorums to make decisions.
 type MajorityConfig map[uint64]struct{}
 
+func (c MajorityConfig) String() string {
+	sl := make([]uint64, 0, len(c))
+	for id := range c {
+		sl = append(sl, id)
+	}
+	sort.Slice(sl, func(i, j int) bool { return sl[i] < sl[j] })
+	var buf strings.Builder
+	buf.WriteByte('(')
+	for i := range sl {
+		if i > 0 {
+			buf.WriteByte(' ')
+		}
+		fmt.Fprint(&buf, sl[i])
+	}
+	buf.WriteByte(')')
+	return buf.String()
+}
+
 // Describe returns a (multi-line) representation of the commit indexes for the
 // given lookuper.
 func (c MajorityConfig) Describe(l AckedIndexer) string {

raft/quorum/quorum.go

@@ -19,6 +19,7 @@ import (
 	"strconv"
 )
 
+// Index is a Raft log position.
 type Index uint64
 
 func (i Index) String() string {

raft/raft.go

@@ -1461,6 +1461,7 @@ func (r *raft) applyConfChange(cc pb.ConfChange) pb.ConfState {
 		}
 	}
 
+	r.logger.Infof("%x switched to configuration %s", r.id, r.prs.Config)
 	// Now that the configuration is updated, handle any side effects.
 
 	cs := pb.ConfState{Nodes: r.prs.VoterNodes(), Learners: r.prs.LearnerNodes()}

raft/tracker/tracker.go

@@ -21,12 +21,72 @@ import (
 	"go.etcd.io/etcd/raft/quorum"
 )
 
+// Config reflects the configuration tracked in a ProgressTracker.
+type Config struct {
+	Voters quorum.JointConfig
+	// Learners is a set of IDs corresponding to the learners active in the
+	// current configuration.
+	//
+	// Invariant: Learners and Voters does not intersect, i.e. if a peer is in
+	// either half of the joint config, it can't be a learner; if it is a
+	// learner it can't be in either half of the joint config. This invariant
+	// simplifies the implementation since it allows peers to have clarity about
+	// its current role without taking into account joint consensus.
+	Learners map[uint64]struct{}
+	// TODO(tbg): when we actually carry out joint consensus changes and turn a
+	// voter into a learner, we cannot add the learner when entering the joint
+	// state. This is because this would violate the invariant that the inter-
+	// section of voters and learners is empty. For example, assume a Voter is
+	// removed and immediately re-added as a learner (or in other words, it is
+	// demoted).
+	//
+	// Initially, the configuration will be
+	//
+	//   voters:   {1 2 3}
+	//   learners: {}
+	//
+	// and we want to demote 3. Entering the joint configuration, we naively get
+	//
+	//   voters:   {1 2} & {1 2 3}
+	//   learners: {3}
+	//
+	// but this violates the invariant (3 is both voter and learner). Instead,
+	// we have
+	//
+	//   voters:   {1 2} & {1 2 3}
+	//   learners: {}
+	//   next_learners: {3}
+	//
+	// Where 3 is now still purely a voter, but we are remembering the intention
+	// to make it a learner upon transitioning into the final configuration:
+	//
+	//   voters:   {1 2}
+	//   learners: {3}
+	//   next_learners: {}
+	//
+	// Note that next_learners is not used while adding a learner that is not
+	// also a voter in the joint config. In this case, the learner is added
+	// to Learners right away when entering the joint configuration, so that it
+	// is caught up as soon as possible.
+	//
+	// NextLearners        map[uint64]struct{}
+}
+
+func (c *Config) String() string {
+	if len(c.Learners) == 0 {
+		return fmt.Sprintf("voters=%s", c.Voters)
+	}
+	return fmt.Sprintf(
+		"voters=%s learners=%s",
+		c.Voters, quorum.MajorityConfig(c.Learners).String(),
+	)
+}
+
 // ProgressTracker tracks the currently active configuration and the information
 // known about the nodes and learners in it. In particular, it tracks the match
 // index for each peer which in turn allows reasoning about the committed index.
 type ProgressTracker struct {
-	Voters   quorum.JointConfig
-	Learners map[uint64]struct{}
+	Config
 
 	Progress map[uint64]*Progress
 
@@ -39,11 +99,15 @@ type ProgressTracker struct {
 func MakeProgressTracker(maxInflight int) ProgressTracker {
 	p := ProgressTracker{
 		MaxInflight: maxInflight,
-		Voters: quorum.JointConfig{
-			quorum.MajorityConfig{},
-			quorum.MajorityConfig{},
+		Config: Config{
+			Voters: quorum.JointConfig{
+				quorum.MajorityConfig{},
+				// TODO(tbg): this will be mostly empty, so make it a nil pointer
+				// in the common case.
+				quorum.MajorityConfig{},
+			},
+			Learners: map[uint64]struct{}{},
 		},
-		Learners: map[uint64]struct{}{},
 		Votes:    map[uint64]bool{},
 		Progress: map[uint64]*Progress{},
 	}