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gossipsub v1.0 (OLD): An extensible baseline pubsub protocol

DISCLAIMER: This is the original specification, please refer to gossipsub-v1.0 from now on

Lifecycle Stage Maturity Status Latest Revision
3A Recommendation Active r1, 2018-08-29

Authors: @vyzo Interest Group: @yusefnapora, @raulk, @whyrusleeping, @Stebalien, @jamesray1, @vasco-santos, @daviddias, @yiannisbot

See the lifecycle document for context about the maturity level and spec status.

This is the specification for an extensible baseline pubsub protocol, based on randomized topic meshes and gossip. It is a general purpose pubsub protocol with moderate amplification factors and good scaling properties. The protocol is designed to be extensible by more specialized routers, which may add protocol messages and gossip in order to provide behaviour optimized for specific application profiles.

Contents

Context - In the beginning was floodsub

The initial pubsub experiment in libp2p was floodsub. It implements pubsub in the most basic manner, with two defining aspects:

  • ambient peer discovery; and
  • most basic routing: flooding.

Ambient Peer Discovery

With ambient peer discovery, the function is pushed outside the scope of the protocol. Instead, the mechanism for discovering peers is provided for by the environment. In practice, this can be embodied by DHT walks, rendezvous points, etc. This protocol relies on the ambient connection events produced by such mechanisms. Whenever a new peer is connected, the protocol checks to see if the peer implements floodsub and/or gossipsub, and if so, it sends it a hello packet that announces the topics that it is currently subscribing to.

This allows the peer to maintain soft overlays for all topics of interest. The overlay is maintained by exchanging subscription control messages whenever there is a change in the topic list. The subscription messages are not propagated further, so each peer maintains a topic view of its direct peers only. Whenever a peer disconnects, it is removed from the overlay.

Ambient peer discovery can be driven by arbitrary external means, which allows orthogonal development and no external dependencies for the protocol implementation.

There are a couple of options we are exploring as canonical approaches for the discovery driver:

  • DHT rendezvous using provider records; peers in the topic announce a provider record named after the topic.
  • Rendezvous through known or dynamically discovered rendezvous points.

Flood routing

With flooding, routing is almost trivial: for each incoming message, forward to all known peers in the topic. There is a bit of logic, as the router maintains a timed cache of previous messages, so that seen messages are not further forwarded. It also never forwards a message back to the source or the peer that forwarded the message.

Retrospective

Evaluating floodsub as a viable pubsub protocol reveals the following highly desirable properties:

  • it is straightforward to implement.
  • it minimizes latency; messages are delivered across minimum latency paths, modulo overlay connectivity.
  • it is highly robust; there is very little maintenance logic or state.

The problem however is that messages don't just follow the minimum latency paths; they follow all edges, thus creating a flood. The outbound degree of the network is unbounded, whereas we want it to be bounded in order to reduce bandwidth requirements and increase decentralization and scalability. In other words, this unbounded outbound degree creates a problem for individual densely connected nodes, as they may have a large number of connected peers and cannot afford the bandwidth to forward all these pubsub messages. Similary, the amplification factor is only bounded by the sum of degrees of all nodes in the overlay, which creates a scaling problem for densely connected overlays at large.

Proposed alternatives - Controlling the flood

In order to scale pubsub without excessive bandwidth waste or peer overload, we need a router that bounds the degree of each peer and globally controls the amplification factor.

randomsub: A random message router

Let's first consider the simplest bounded floodsub variant, which we call randomsub. In this construction, the router is still stateless, apart from a list of known peers in the topic. But instead of forwarding messages to all peers, it forwards to a random subset of up to D peers, where D is the desired degree of the network.

The problem with this construction is that the message propagation patterns are non-deterministic. This results in extreme message route instability, manifesting as message reordering and varying timing patterns, which is an undesirable property for many applications.

meshsub: An overlay mesh router

Nonetheless, the idea of limiting the flow of messages to a random subset of peers is solid. But instead of randomly selecting peers on a per message basis, we can form an overlay mesh where each peer forwards to a subset of its peers on a stable basis. We construct a router in this fashion, dubbed meshsub.

Each peer maintains its own view of the mesh for each topic, which is a list of bidirectional links to other peers. That is, in steady state, whenever a peer A is in the mesh of peer B, then peer B is also in the mesh of peer A.

The overlay is initially constructed in a random fashion. Whenever a peer joins a topic, then it selects D peers (in the topic) at random and adds them to the mesh, notifying them with a control message. When it leaves the topic, it notifies its peers and forgets the mesh for the topic.

The mesh is maintained with the following periodic stabilization algorithm:

at each peer:
  loop:
    if |peers| < D_low:
       select D - |peers| non-mesh peers at random and add them to the mesh
    if |peers| > D_high:
       select |peers| - D mesh peers at random and remove them from the mesh
    sleep t

The parameters of the algorithm are D which is the target degree, and two relaxed degree parameters D_low and D_high which represent admissible mesh degree bounds.

gossipsub: The gossiping mesh router

The meshsub router offers a baseline construction with good amplification control properties, which we augment with gossip about message flow. The gossip is emitted to random subsets of peers not in the mesh, similar to randomsub, and it allows us to propagate metadata about message flow throughout the network. The metadata can be arbitrary, but as a baseline we include the message ids of seen messages in the last few seconds. The messages are cached, so that peers receiving the gossip can request them for transmission with a control message.

The router can use this metadata to improve the mesh, for instance an episub router built on top of gossipsub can create epidemic broadcast trees. Beyond that, the metadata can restart message transmission at different points in the overlay to rectify downstream message loss. Or it can simply jump hops opportunistically and accelerate message transmission for peers who are at some distance in the mesh.

Essentially, gossipsub is a blend of meshsub for data and randomsub for mesh metadata. It provides bounded degree and amplification factor with the meshsub construction and augments it using gossip propagation of metadata with the randomsub technique.

Protocol Architecture - Gossipsub

We can now provide a specification of the pubsub protocol by sketching out the router implementation. The router is backwards compatible with floodsub, as it accepts floodsub peers and behaves like floodsub towards them.

If you would like to get a video presentation and visualization on Gossipsub, watch Scalable PubSub with GossipSub - Dimitris Vyzovitis from the IPFS London Hack Week of 2018 Q4.

Control messages

The protocol defines four control messages:

  • GRAFT: graft a mesh link; this notifies the peer that it has been added to the local mesh view.
  • PRUNE: prune a mesh link; this notifies the peer that it has been removed from the local mesh view.
  • IHAVE: gossip; this notifies the peer that the following messages were recently seen and are available on request.
  • IWANT: request transmission of messages announced in an IHAVE message.

Router state

The router maintains the following state:

  • peers: a set of all known peers; peers.gossipsub denotes the gossipsub peers while peers.floodsub denotes the floodsub peers.
  • mesh: the overlay meshes as a map of topics to lists of peers.
  • fanout: the mesh peers to which we are publishing to without topic membership, as a map of topics to lists of peers.
  • seen: this is the timed message ID cache, which tracks seen messages.
  • mcache: a message cache that contains the messages for the last few heartbeat ticks.

The message cache is a data structure that stores windows of message IDs and the corresponding messages. It supports the following operations:

  • mcache.put(m): adds a message to the current window and the cache.
  • mcache.get(id): retrieves a message from the cache by its ID, if it is still present.
  • mcache.window(): retrieves the message IDs for messages in the current history window.
  • mcache.shift(): shifts the current window, discarding messages older than the history length of the cache.

The seen cache is the flow control mechanism. It tracks the message IDs of seen messages for the last two minutes. It is separate from mcache for implementation reasons in Go (the seen cache is inherited from the pubsub framework), but they could be the same data structure. Note that the two minute cache interval is non-normative; a router could use a different value, chosen to approximate the propagation delay in the overlay with some healthy margin.

Topic membership

Topic membership is controlled by two operations supported by the router, as part of the pubsub api:

  • On JOIN(topic) the router joins the topic. In order to do so, if it already has D peers from the fanout peers of a topic, then it adds them to mesh[topic], and notifies them with a GRAFT(topic) control message. Otherwise, if there are less than D peers (let this number be x) in the fanout for a topic (or the topic is not in the fanout), then it still adds them as above (if there are any), and selects the remaining number of peers (D-x) from peers.gossipsub[topic], and likewise adds them to mesh[topic] and notifies them with a GRAFT(topic) control message.
  • On LEAVE(topic) the router leaves the topic. It notifies the peers in mesh[topic] with a PRUNE(topic) message and forgets mesh[topic].

Note that the router can publish messages without topic membership. In order to maintain stable routes in that case, it maintains a list of peers for each topic it has published in the fanout map. If the router does not publish any messages of a topic for some time, then the fanout peers for that topic are forgotten, so this is soft state.

Also note that as part of the pubsub api, the peer emits SUBSCRIBE and UNSUBSCRIBE control messages to all its peers whenever it joins or leaves a topic. This is provided by the the ambient peer discovery mechanism and nominally not part of the router. A standalone implementation would have to implement those control messages.

Message processing

Upon receiving a message, the router first processes the payload of the message. If it contains a valid message that has not been previously seen, then it publishes the message:

  • It forwards the message to every peer in peers.floodsub[topic], provided it's not the source of the message.
  • It forwards the message to every peer in mesh[topic], provided it's not the source of the message.

After processing the payload, it then processes the control messages in the envelope:

  • On GRAFT(topic) it adds the peer to mesh[topic] if it is subscribed to the topic. If it is not subscribed, it responds with a PRUNE(topic) control message.
  • On PRUNE(topic) it removes the peer from mesh[topic].
  • On IHAVE(ids) it checks the seen set and requests unknown messages with an IWANT message.
  • On IWANT(ids) it forwards all request messages that are present in mcache to the requesting peer.

When the router publishes a message that originates from the router itself (at the application layer), then it proceeds similarly to the payload reaction:

  • It forwards the message to every peer in peers.floodsub[topic].
  • If it is subscribed to the topic, then it must have a set of peers in mesh[topic], to which the message is forwarded.
  • If it is not subscribed to the topic, it then forwards the message to the peers in fanout[topic]. If this set is empty, it chooses D peers from peers.gossipsub[topic] to become the new fanout[topic] peers and forwards to them.

Heartbeat

The router periodically runs a heartbeat procedure, which is responsible for maintaining the mesh, emitting gossip, and shifting the message cache.

The mesh is maintained exactly as prescribed by meshsub:

for each topic in mesh:
 if |mesh[topic]| < D_low:
   select D - |mesh[topic]| peers from peers.gossipsub[topic] - mesh[topic]
    ; i.e. not including those peers that are already in the topic mesh.
   for each new peer:
     add peer to mesh[topic]
     emit GRAFT(topic) control message to peer

 if |mesh[topic]| > D_high:
   select |mesh[topic]| - D peers from mesh[topic]
   for each new peer:
     remove peer from mesh[topic]
     emit PRUNE(topic) control message to peer

The fanout map is maintained by keeping track of the last published time for each topic:

for each topic in fanout:
  if time since last published > ttl
    remove topic from fanout
  else if |fanout[topic]| < D
    select D - |fanout[topic]| peers from peers.gossipsub[topic] - fanout[topic]
    add the peers to fanout[topic]

Gossip is emitted by selecting peers for each topic that are not already part of the mesh:

for each topic in mesh+fanout:
  let mids be mcache.window[topic]
  if mids is not empty:
    select D peers from peers.gossipsub[topic] not in mesh[topic] or fanout[topic]
    for each peer
      emit IHAVE(mids)

shift the mcache

Note that we used the same parameter D as the target degree for gossip for simplicity, but this is not normative. A separate parameter D_lazy can be used to explicitly control the gossip propagation factor, which allows for tuning the tradeoff between eager and lazy transmission of messages.

Control message piggybacking

Gossip and other control messages do not have to be transmitted on their own message. Instead, they can be coalesced and piggybacked on any other message in the regular flow, for any topic. This can lead to message rate reduction whenever there is some correlated flow between topics, and can be significant for densely connected peers.

For piggyback implementation details, consult the Go implementation.

Protobuf

The protocol extends the existing RPC message structure with a new field, control. This is an instance of ControlMessage which may contain one or more control messages. The four control messages are ControlIHave for IHAVE messages, ControlIWant for IWANT messages, ControlGraft for GRAFT messages and ControlPrune for PRUNE messages.

The protobuf is as follows:

syntax = "proto2";

message RPC {
    // ...
	optional ControlMessage control = 3;
}

message ControlMessage {
	repeated ControlIHave ihave = 1;
	repeated ControlIWant iwant = 2;
	repeated ControlGraft graft = 3;
	repeated ControlPrune prune = 4;
}

message ControlIHave {
	optional string topicID = 1;
	repeated string messageIDs = 2;
}

message ControlIWant {
	repeated string messageIDs = 1;
}

message ControlGraft {
	optional string topicID = 1;
}

message ControlPrune {
	optional string topicID = 1;
}