This PR contains the first version of a
[FoundationDB-like](https://www.youtube.com/watch?v=4fFDFbi3toc)
simulation testing for safekeeper and walproposer.
### desim
This is a core "framework" for running determenistic simulation. It
operates on threads, allowing to test syncronous code (like walproposer).
`libs/desim/src/executor.rs` contains implementation of a determenistic
thread execution. This is achieved by blocking all threads, and each
time allowing only a single thread to make an execution step. All
executor's threads are blocked using `yield_me(after_ms)` function. This
function is called when a thread wants to sleep or wait for an external
notification (like blocking on a channel until it has a ready message).
`libs/desim/src/chan.rs` contains implementation of a channel (basic
sync primitive). It has unlimited capacity and any thread can push or
read messages to/from it.
`libs/desim/src/network.rs` has a very naive implementation of a network
(only reliable TCP-like connections are supported for now), that can
have arbitrary delays for each package and failure injections for
breaking connections with some probability.
`libs/desim/src/world.rs` ties everything together, to have a concept of
virtual nodes that can have network connections between them.
### walproposer_sim
Has everything to run walproposer and safekeepers in a simulation.
`safekeeper.rs` reimplements all necesary stuff from `receive_wal.rs`,
`send_wal.rs` and `timelines_global_map.rs`.
`walproposer_api.rs` implements all walproposer callback to use
simulation library.
`simulation.rs` defines a schedule – a set of events like `restart <sk>`
or `write_wal` that should happen at time `<ts>`. It also has code to
spawn walproposer/safekeeper threads and provide config to them.
### tests
`simple_test.rs` has tests that just start walproposer and 3 safekeepers
together in a simulation, and tests that they are not crashing right
away.
`misc_test.rs` has tests checking more advanced simulation cases, like
crashing or restarting threads, testing memory deallocation, etc.
`random_test.rs` is the main test, it checks thousands of random seeds
(schedules) for correctness. It roughly corresponds to running a real
python integration test in an environment with very unstable network and
cpu, but in a determenistic way (each seed results in the same execution
log) and much much faster.
Closes#547
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Co-authored-by: Arseny Sher <sher-ars@yandex.ru>
