Use Joint Consensus

[HunDunDM]

Development Task

Etcd has supported joint consensus, we need to port the change and finally support it in TiKV. This issue records the progress in PD. Please refer to tikv/tikv#7587 for the total progress.

Development branch: hundundm/pd/joint-wip

Development progress

• some preparations
• replace operator.Cluster to opt.Cluster
• steps
  • add DemoteFollower
  • add DemoteVoter
  • add ChangePeerV2Enter
  • add ChangePeerV2Leave
  • add unit test
• builder
  • refine compatible builder
  • add joint consensus builder
  • add leave joint state operator
  • refine unit test
• checker
  • add joint state checker
  • add joint state checker unit test
  • (optional) refine learner checker
• fix original test with error

Split PRs

• some preparations
  • [Merged] Update kvproto in dependencies Update kvproto in dependencies #2729
  • [Merged] schedule: add IsFeatureSupported in Cluster Interface schedule: add IsFeatureSupported in Cluster Interface #2735
  • [Merged] testutil: refine operator_check testutil: refine operator_check #2887
  • [Merged] cluster: refine IsFeatureSupported cluster: refine IsFeatureSupported #2889
  • [Merged] client: fix typo file name client: fix typo file name #2890
  • [Merged] test: refine unit test test: refine unit test #2893
  • [Merged] operator: replace operator.Cluster to opt.Cluster operator: replace operator.Cluster to opt.Cluster #2936
• step
  • [Merged] operator: ConfVerChanged returns uint64 operator: change the return type of ConfVerChanged from bool to uint64 #2919
  • [Merged] schedule: add some operator steps related to joint consensus schedule: add some operator steps related to joint consensus #2895
• builder
  • [Merged] operator: refactor the builder to prepare to support the joint consensus operator: refactor the builder to prepare to support the joint consensus #2938
  • [Merged] operator: implement joint consensus builder operator: implement joint consensus builder #2944
  • [Merged] operator: optimize builder code for the previous PRs operator: optimize builder code for the previous PRs #2947
    • Unite hasAbilityLeader and allowLeader
    • Use allowDemote + useJointConsensus instead of useJointConsensus
    • Consider promote learner + demote voter as a step
    • Rename Empty to IsEmpty
    • Rename b2i to BoolToInt
    • Unite newBuilderWithBasicCheck and NewBuilder
• [Merged] schedule: add joint state checker schedule: add joint state checker #2952
• (optional) refine learner checker

Update patchs

• schedule: add enable-joint-consensus config schedule: add enable-joint-consensus config #2955
• schedule: unify the naming style of builder schedule: unify the naming style of builder #2956
• schedule: fix the bug that the kind of role change operator is marked as OpRegion schedule: fix the bug that the kind of role change operator is marked as OpRegion #3107
• cluster: reject the split request of a joint state region cluster: reject the split request of a joint state region #3376

[HunDunDM]

All tasks have been completed and the issue will be closed.