Bootstrap a Zen2 cluster once quorum is discovered (#37463)

Today when bootstrapping a Zen2 cluster we wait for every node in the
`initial_master_nodes` setting to be discovered, so that we can map the
node names or addresses in the `initial_master_nodes` list to their IDs for
inclusion in the initial voting configuration. This means that if any of
the expected master-eligible nodes fails to start then bootstrapping will
not occur and the cluster will not form. This is not ideal, and we would
prefer the cluster to bootstrap even if some of the master-eligible nodes
do not start.

Safe bootstrapping requires that all pairs of quorums of all initial
configurations overlap, and this is particularly troublesome to ensure
given that nodes may be concurrently and independently attempting to
bootstrap the cluster. The solution is to bootstrap using an initial
configuration whose size matches the size of the expected set of
master-eligible nodes, but with the unknown IDs replaced by "placeholder"
IDs that can never belong to any node.  Any quorum of received votes in any
of these placeholder-laden initial configurations is also a quorum of the
"true" initial set of master-eligible nodes, giving the guarantee that it
intersects all other quorums as required.

Note that this change means that the initial configuration is not
necessarily robust to any node failures. Normally the cluster will form and
then auto-reconfigure to a more robust configuration in which the
placeholder IDs are replaced by the IDs of genuine nodes as they join the
cluster; however if a node fails between bootstrapping and this
auto-reconfiguration then the cluster may become unavailable. This we feel
to be less likely than a node failing to start at all.

This commit also enormously simplifies the cluster bootstrapping process.
Today, the cluster bootstrapping process involves two (local) transport actions
in order to support a flexible bootstrapping API and to make it easily
accessible to plugins. However this flexibility is not required for the current
design so it is adding a good deal of unnecessary complexity. Here we remove
this complexity in favour of a much simpler ClusterBootstrapService
implementation that does all the work itself.

Author: DaveCTurner

server/src/main/java/org/elasticsearch/ElasticsearchException.java

@@ -1009,10 +1009,8 @@ private enum ElasticsearchExceptionHandle {
             MultiBucketConsumerService.TooManyBucketsException::new, 149, Version.V_7_0_0),
         COORDINATION_STATE_REJECTED_EXCEPTION(org.elasticsearch.cluster.coordination.CoordinationStateRejectedException.class,
             org.elasticsearch.cluster.coordination.CoordinationStateRejectedException::new, 150, Version.V_7_0_0),
-        CLUSTER_ALREADY_BOOTSTRAPPED_EXCEPTION(org.elasticsearch.cluster.coordination.ClusterAlreadyBootstrappedException.class,
-            org.elasticsearch.cluster.coordination.ClusterAlreadyBootstrappedException::new, 151, Version.V_7_0_0),
         SNAPSHOT_IN_PROGRESS_EXCEPTION(org.elasticsearch.snapshots.SnapshotInProgressException.class,
-            org.elasticsearch.snapshots.SnapshotInProgressException::new, 152, Version.V_7_0_0);
+            org.elasticsearch.snapshots.SnapshotInProgressException::new, 151, Version.V_7_0_0);
 
         final Class<? extends ElasticsearchException> exceptionClass;
         final CheckedFunction<StreamInput, ? extends ElasticsearchException, IOException> constructor;

server/src/main/java/org/elasticsearch/action/ActionModule.java

@@ -23,10 +23,6 @@
 import org.apache.logging.log4j.LogManager;
 import org.elasticsearch.action.admin.cluster.allocation.ClusterAllocationExplainAction;
 import org.elasticsearch.action.admin.cluster.allocation.TransportClusterAllocationExplainAction;
-import org.elasticsearch.action.admin.cluster.bootstrap.BootstrapClusterAction;
-import org.elasticsearch.action.admin.cluster.bootstrap.GetDiscoveredNodesAction;
-import org.elasticsearch.action.admin.cluster.bootstrap.TransportBootstrapClusterAction;
-import org.elasticsearch.action.admin.cluster.bootstrap.TransportGetDiscoveredNodesAction;
 import org.elasticsearch.action.admin.cluster.configuration.AddVotingConfigExclusionsAction;
 import org.elasticsearch.action.admin.cluster.configuration.ClearVotingConfigExclusionsAction;
 import org.elasticsearch.action.admin.cluster.configuration.TransportAddVotingConfigExclusionsAction;
@@ -433,8 +429,6 @@ public <Request extends ActionRequest, Response extends ActionResponse> void reg
         actions.register(GetTaskAction.INSTANCE, TransportGetTaskAction.class);
         actions.register(CancelTasksAction.INSTANCE, TransportCancelTasksAction.class);
 
-        actions.register(GetDiscoveredNodesAction.INSTANCE, TransportGetDiscoveredNodesAction.class);
-        actions.register(BootstrapClusterAction.INSTANCE, TransportBootstrapClusterAction.class);
         actions.register(AddVotingConfigExclusionsAction.INSTANCE, TransportAddVotingConfigExclusionsAction.class);
         actions.register(ClearVotingConfigExclusionsAction.INSTANCE, TransportClearVotingConfigExclusionsAction.class);
         actions.register(ClusterAllocationExplainAction.INSTANCE, TransportClusterAllocationExplainAction.class);