server: introduce join rpc for node id allocation

This mostly follows the ideas in cockroachdb#32574, and serves as a crucial
building block for cockroachdb#48843. Specifically this PR introduces a new Join
RPC that new nodes can use, addressing already initialized nodes, to
learn about the cluster ID and its node ID. Previously joining nodes
were responsible for allocating their own IDs and used to discover the
cluster ID.

By moving towards a more understandable flow of how nodes joins the
cluster, we can build a few useful primitives on top of this:
 - we can prevent mismatched version nodes from joining the cluster
   which (this commit)
 - we can allocate the first store ID for a given node, which is a nice
   code simplification (this commit)
 - we can prevent decommissioned nodes from joining the cluster
   (future PR)
 - we can eliminate another usage of gossip where we previously used it
   to disseminate the cluster ID. In the 21.1 cycle we can defer gossip
   start until much later in the server start lifecycle (future PR)
 - we can add the liveness record for a given node as soon as it joins,
   which would simplify our liveness record handling code that is
   perennially concerned with missing liveness records (future PR)

The tiny bit of complexity in this PR comes from how we're able to
migrate into this behavior from the old. To that end we retain the
earlier gossip-based cluster ID discovery+node ID allocation for self
behavior. Nodes with this patch will attempt to use this join RPC, if
implemented on the addressed node, and fall back to using the previous
behavior if not.

Release justification: low risk, high benefit changes to existing functionality
Release note: None

pkg/ccl/kvccl/kvtenantccl/connector_test.go

@@ -39,6 +39,8 @@ var rpcRetryOpts = retry.Options{
 	MaxBackoff:     4 * time.Microsecond,
 }
 
+var _ roachpb.InternalServer = &mockServer{}
+
 type mockServer struct {
 	rangeLookupFn func(context.Context, *roachpb.RangeLookupRequest) (*roachpb.RangeLookupResponse, error)
 	gossipSubFn   func(*roachpb.GossipSubscriptionRequest, roachpb.Internal_GossipSubscriptionServer) error
@@ -64,6 +66,12 @@ func (*mockServer) RangeFeed(*roachpb.RangeFeedRequest, roachpb.Internal_RangeFe
 	panic("unimplemented")
 }
 
+func (m *mockServer) Join(
+	context.Context, *roachpb.JoinNodeRequest,
+) (*roachpb.JoinNodeResponse, error) {
+	panic("unimplemented")
+}
+
 func gossipEventForNodeDesc(desc *roachpb.NodeDescriptor) *roachpb.GossipSubscriptionEvent {
 	val, err := protoutil.Marshal(desc)
 	if err != nil {

pkg/cli/init.go

@@ -51,7 +51,6 @@ func runInit(cmd *cobra.Command, args []string) error {
 
 	// Actually perform cluster initialization.
 	c := serverpb.NewInitClient(conn)
-
 	if _, err = c.Bootstrap(ctx, &serverpb.BootstrapRequest{}); err != nil {
 		return err
 	}

pkg/cli/start.go

@@ -455,7 +455,7 @@ func runStart(cmd *cobra.Command, args []string, disableReplication bool) error
 
 		if waitForInit {
 			log.Shout(ctx, log.Severity_INFO,
-				"initial startup completed.\n"+
+				"initial startup completed\n"+
 					"Node will now attempt to join a running cluster, or wait for `cockroach init`.\n"+
 					"Client connections will be accepted after this completes successfully.\n"+
 					"Check the log file(s) for progress. ")

pkg/clusterversion/cockroach_versions.go

@@ -611,6 +611,7 @@ var (
 	// this binary. If this binary is started using a store marked with an older
 	// version than binaryMinSupportedVersion, then the binary will exit with
 	// an error.
+	//
 	// We support everything after 19.1, including pre-release 19.2 versions.
 	// This is generally beneficial, but in particular it allows the
 	// version-upgrade roachtest to use a pre-release 19.2 binary before upgrading

pkg/cmd/roachtest/decommission.go

@@ -309,6 +309,21 @@ func runDecommissionRandomized(ctx context.Context, t *test, c *cluster) {
 		Multiplier:     2,
 	}
 
+	// This is a pretty gross hack to let the bootstrap info (cluster ID,
+	// liveness records) disseminate through the cluster. Since it's no longer
+	// happening through gossip, it takes a bit longer to happen. We should do
+	// two things to improve our story here:
+	//
+	// - We should opportunistically write to the liveness table when adding a
+	//   node through the Join RPC. This would also simplify the handling of
+	//   empty liveness records (they would no longer exist).
+	// - We should add roachtest helpers that wait until each node has received
+	//   cluster ID information, and use it in all the tests that need it (which
+	//   may very well be all the tests).
+	//
+	// TODO(irfansharif): Do the above.
+	time.Sleep(30 * time.Second)
+
 	// Partially decommission then recommission a random node, from another
 	// random node. Run a couple of status checks while doing so.
 	{

pkg/kv/kvclient/kvcoord/send_test.go

@@ -34,6 +34,8 @@ import (
 	"github.com/stretchr/testify/require"
 )
 
+var _ roachpb.InternalServer = Node(0)
+
 type Node time.Duration
 
 func (n Node) Batch(
@@ -61,6 +63,10 @@ func (n Node) GossipSubscription(
 	panic("unimplemented")
 }
 
+func (n Node) Join(context.Context, *roachpb.JoinNodeRequest) (*roachpb.JoinNodeResponse, error) {
+	panic("unimplemented")
+}
+
 // TestSendToOneClient verifies that Send correctly sends a request
 // to one server using the heartbeat RPC.
 func TestSendToOneClient(t *testing.T) {

pkg/kv/kvclient/kvcoord/transport_test.go

@@ -179,3 +179,9 @@ func (m *mockInternalClient) GossipSubscription(
 ) (roachpb.Internal_GossipSubscriptionClient, error) {
 	return nil, fmt.Errorf("unsupported GossipSubscripion call")
 }
+
+func (m *mockInternalClient) Join(
+	context.Context, *roachpb.JoinNodeRequest, ...grpc.CallOption,
+) (*roachpb.JoinNodeResponse, error) {
+	return nil, fmt.Errorf("unsupported Join call")
+}

pkg/kv/kvserver/replica_gossip.go

@@ -287,7 +287,7 @@ func (r *Replica) maybeGossipFirstRange(ctx context.Context) *roachpb.Error {
 	// Gossip the cluster ID from all replicas of the first range; there
 	// is no expiration on the cluster ID.
 	if log.V(1) {
-		log.Infof(ctx, "gossiping cluster id %q from store %d, r%d", r.store.ClusterID(),
+		log.Infof(ctx, "gossiping cluster ID %q from store %d, r%d", r.store.ClusterID(),
 			r.store.StoreID(), r.RangeID)
 	}
 	if err := r.store.Gossip().AddClusterID(r.store.ClusterID()); err != nil {