Change to use external messaging module

DecisionSystem/CentralisedDecision/ballotvoter.py

@@ -1,28 +1,27 @@
-import paho.mqtt.client as mqtt
 import json
 from DecisionSystem.messages import ConnectSwarm, SubmitVote, Message, deserialise, RequestVote
+from multiprocessing import Pool
+from messenger import Messenger
 
 class BallotVoter:
-    def __init__(self, on_vote):
+    def __init__(self, on_vote, messenger: Messenger):
 
         # Load config file
         cfg = None
-        with open('../config.json') as json_config:
+        with open('config.json') as json_config:
             cfg = json.load(json_config)
         self._cfg = cfg
 
-        self.client = mqtt.Client()
-        self.client.on_connect = self.on_connect
-        self.client.on_message = self.on_message
-        # id is generated automatically.
-        self.client.connect(cfg["mqtt"]["host"], cfg["mqtt"]["port"], cfg["mqtt"]["timeout"])
-        self.client.loop_start()
+        self.messenger = messenger
+        self.messenger.add_message_callback(self.on_message)
+        self.messenger.add_connect(self.on_connect)
         self.on_vote = on_vote
 
-    def on_connect(self, client, userdata, flags, rc):
+    def on_connect(self, rc):
         print("Connected with result code " + str(rc))
 
-        self.client.subscribe('swarm1/voters', qos=1)
+        # Should subscribes be handled by the messenger?
+        #self.client.subscribe('swarm1/voters', qos=1)
 
         # Need to set a will as well to broadcast on unexpected disconnection, so commander
         # knows it is no longer part of the set of voters. 
@@ -30,9 +29,9 @@ class BallotVoter:
         #will_message = {"type": "UDisconnect"}
 
         # Tell commander we are now connected.
-        # self.send_connect()
+        self.send_connect()
 
-    def on_message(self, client, userdata, message):
+    def on_message(self, message):
         print("Message Received!")
         messageD = deserialise(message.payload)
         print("Message Type: " + messageD.type)
@@ -51,14 +50,24 @@ class BallotVoter:
 
     def submit_vote(self):
         v = self.on_vote()
+        if v == None:
+            print('Could not vote on the frame')
+            return
         print("Got Vote")
-        vote = SubmitVote(v, self.client._client_id)
+        vote = SubmitVote(v, self.messenger.id)
         print('created vote')
-        self.client.publish('swarm1/commander', vote.serialise())
+        self.messenger.broadcast_message(self.messenger.swarm, vote.serialise())
         print('published vote')
-        
+
+    def submit_vote_multicore(self):
+        '''
+        Uses multiple processes to work on multiple frames at the same time
+        to take an average for this voter, or if it could not find a hand
+        in one frame but can in another.
+        '''
+        pass
+
     def send_connect(self):
         # Send a connected message to let any commanders know that 
         # it is available. 
-        self.client.publish("swarm1/commander", ConnectSwarm(self.client._client_id).serialise())
-    
+        self.messenger.broadcast_message(self.messenger.swarm, ConnectSwarm(self.messenger.id).serialise())