diff --git a/DecisionSystem/CentralisedDecision/cameraserver.py b/DecisionSystem/CentralisedDecision/cameraserver.py
index c2330be..e9254ff 100644
--- a/DecisionSystem/CentralisedDecision/cameraserver.py
+++ b/DecisionSystem/CentralisedDecision/cameraserver.py
@@ -11,6 +11,12 @@ from GestureRecognition.simplehandrecogniser import SimpleHandRecogniser
 from threading import Thread
 from queue import Queue
 
+import MyRaft.node as raft
+import MyRaft.leader as leader
+import DecisionSystem.CentralisedDecision.commander as commander
+import DecisionSystem.CentralisedDecision.messenger as messenger
+import DecisionSystem.CentralisedDecision.ballotvoter as voter
+
 print("Parsing args")
 parser = argparse.ArgumentParser(description="Runs a file with OpenCV and gets consensus from the swarm.")
 
@@ -30,46 +36,6 @@ else:
     # Exit if no video file specified - we aren't using webcam here.
     sys.exit(1)
 
-class VideoGet:
-    '''
-    Code taken from Najam R Syed, available here:
-    https://github.com/nrsyed/computer-vision/tree/master/multithread
-    '''
-    def __init__(self, q, src):
-        '''
-        Must provide a source so we don't accidently start camera at work.
-        '''
-        self._stream = cv2.VideoCapture(src)
-        (self.grabbed, self.frame) = self._stream.read()
-        self.stopped = False
-        self.q = q
-        self.q.put(np.copy(self.frame))
-        self.src = src
-
-    def start(self):    
-        Thread(target=self.get, args=()).start()
-        return self
-
-    def get(self):
-        while not self.stopped:
-            if not self.grabbed:
-                # self.stopped = True
-                print('frame not grabbed')
-                self._stream.release()
-                self._stream = cv2.VideoCapture(self.src)
-                # time.sleep(2)
-                self.grabbed, self.frame = self._stream.read()
-            else:
-                (self.grabbed, self.frame) = self._stream.read()
-                if self.q.full():
-                    self.q.get()
-                self.q.put(np.copy(self.frame))
-                time.sleep(0.03)
-                # Start a new feed.
-            
-    def stop(self):
-        self.stopped = True
-
 def on_vote():
     # Get the current frame of the camera and process what hand 
     # is currently being seen. 
@@ -77,32 +43,54 @@ def on_vote():
     # Need to copy rather than just take a reference, as frame will
     # constantly be changing.
     global vd
-    recogniser.setFrame(np.copy(vd.frame))
+    recogniser.set_frame(np.copy(vd.frame))
     print('Got frame, voting with recogniser')
     return recogniser.get_gesture()
 
+def connect_to_broker(mqtt):
+    print("Connecting to broker")
+    max_collisions = 100
+    collisions = 1
+    while not mqtt.connect() and collisions <= max_collisions:
+        time.sleep(2 ** collisions - 1)
+        print("Reconnecting in %s" %(2 ** collisions - 1))
+        collisions += 1
+
 mqtt = MqttMessenger()
 v = BallotVoter(on_vote, mqtt)
-mqtt.connect()
+
+def on_disconnect(rc):
+    print("Client disconnected from broker")
+    i = input("Would you like to reconnnect? (y|n)")
+    if i == 'y':
+        global mqtt
+        connect_to_broker(mqtt)
+
+mqtt.add_disconnect_callback(on_disconnect)
+connect_to_broker(mqtt)
 
 # Start the video capture at the next whole minute.
-# current_time_sec = time.gmtime(time.time()).tm_sec
-# if current_time_sec < 40:
-#     time.sleep(60 - current_time_sec)
-# else:
-#     time.sleep(60 - current_time_sec + 60)
+current_time_sec = time.gmtime(time.time()).tm_sec
+if current_time_sec < 40:
+    time.sleep(60 - current_time_sec)
+else:
+    time.sleep(60 - current_time_sec + 60)
 print('loading video')
 
-q = Queue(5)
-vd = VideoGet(q, args.video)
-vd.start()
 
-stay_alive = input("Press q to stop, anything else to see what the camera is seeing.")
 
-while stay_alive:
+print('Press q to quit the server, g to get votes/consensus')
+
+while True:
     if vd.frame is None:
         continue
     frame = np.copy(vd.frame)
     cv2.imshow('Frame', frame)
-    cv2.waitKey(1) & 0xFF
-    stay_alive = input("Press q to stop, anything else to see what the camera is seeing.")
\ No newline at end of file
+    k = cv2.waitKey(33)
+    if k == ord('q'):
+        break
+    elif k == -1:
+        continue
+    elif k == ord('g'):
+        # Get votes
+        pass