Fix view change stuck issue

consensus/consensus_service.go

@@ -573,9 +573,9 @@ func (consensus *Consensus) selfCommit(payload []byte) error {
 			continue
 		}
 
-		if _, err := consensus.Decider.SubmitVote(
+		if _, err := consensus.Decider.AddNewVote(
 			quorum.Commit,
-			[]bls.SerializedPublicKey{key.Pub.Bytes},
+			[]*bls_cosi.PublicKeyWrapper{key.Pub},
 			key.Pri.SignHash(commitPayload),
 			common.BytesToHash(consensus.blockHash[:]),
 			block.NumberU64(),

consensus/consensus_v2.go

@@ -517,7 +517,7 @@ func (consensus *Consensus) commitBlock(blk *types.Block, committedMsg *FBFTMess
 	}
 
 	atomic.AddUint64(&consensus.blockNum, 1)
-	consensus.SetCurBlockViewID(committedMsg.ViewID + 1)
+	consensus.SetViewIDs(committedMsg.ViewID + 1)
 	consensus.LeaderPubKey = committedMsg.SenderPubkeys[0]
 	// Update consensus keys at last so the change of leader status doesn't mess up normal flow
 	if blk.IsLastBlockInEpoch() {

consensus/view_change.go

@@ -131,9 +131,8 @@ func (consensus *Consensus) getNextViewID() (uint64, time.Duration) {
 	if curTimestamp <= blockTimestamp {
 		return consensus.fallbackNextViewID()
 	}
-	totalNode := consensus.Decider.ParticipantsCount()
 	// diff is at least 1, and it won't exceed the totalNode
-	diff := uint64(((curTimestamp - blockTimestamp) / viewChangeTimeout) % int64(totalNode))
+	diff := uint64((curTimestamp - blockTimestamp) / viewChangeTimeout)
 	nextViewID := diff + consensus.GetCurBlockViewID()
 
 	consensus.getLogger().Info().