Remove use of external mqtt file, just use paho library

DecisionSystem/CentralisedDecision/commander.py

@@ -1,26 +1,31 @@
-import Messaging.mqttsession as ms
+import paho.mqtt.client as mqtt
 import time
 import umsgpack
 
 class Commander:
     currentVote = None
 
+    # Stores voters that connect to maintain a majority.
+    # Voters who do not vote in latest round are removed.
+    connectedVoters = {}
+    votes = []
+    taking_votes = False
+
     def __init__(self, timeout = 60):
         '''
         Initial/default waiting time is 1 minute for votes to come in. 
         '''
-        self.timeout = timeout
-        self._votes = []
-        ms.Client()
+        self.timeout = timeout       
 
-        def on_message(client, userdata, message):
-            self._votes.append(umsgpack.unpackb(message.payload))
-        
-        ms.client.subscribe("FakeSwarm/FirstTest", on_message)
+        self.client = mqtt.Client()
+        self.client.connect('172.16.13.128') 
 
-        ms.client.loop_start()
+        # Commander needs a will message too, for the decentralised version, so the
+        # voters know to pick a new commander. 
 
     def make_decision(self):
+        # Could change this to be a strategy, for different implementations of making 
+        # a decision on the votes. 
         votes = self._votes
         dif_votes = {}
 
@@ -40,9 +45,11 @@ class Commander:
 
         return max_vote
 
-    def get_votes(self, topic, message, qos=0):
+    def get_votes():
+        message = {"type": "voteRequest"}
+        message_packed = umsgpack.packb(message)
         # Publish a message that votes are needed.
-        ms.client.publish(topic, message, qos)
+        ms.client.publish("swarm1/voters", message_packed, qos)
         time.sleep(self.timeout)
         self.make_decision()
 
@@ -50,4 +57,22 @@ class Commander:
         ms.client.subscribe(topic)
 
         if callback is not None:
-            ms.client.message_callback_add(topic, callback)
+            ms.client.message_callback_add(topic, callback)
+
+    def on_message(self, client, userdata, message):
+        messageDict = umsgpack.unpackb()
+
+        if "type" in messageDict.keys:
+            if messageDict["type"] == "connect":
+                # Voter just connected/reconnnected.
+                
+            elif messageDict["type"] == "vote":
+                # Voter is sending in their vote.
+                if messageDict[""]
+
+        else:
+            # Not a message we should be using.
+            NotImplementedError
+
+    def on_connect(client, userdata, flags, rc):
+        self.client.subscribe("swarm1/commander")