Add more code to decentralised voter, still not complete.

DecisionSystem/DecentralisedActivityFusion/voter.py

@@ -56,12 +56,19 @@ class Voter:
         # First calculate vi -> the actual vote that is taken 
         # (Or the probability that the observation is a label for each)
         # We're just going to be doing 1 for the detected and 0 for all others.
-        # vi = np.zeros(6,1)
-        # ANDvi = np.zeros(6,6)
+        # vi is for each hand (action in paper), but we're just going to do a single
+        # hand for our purposes. Will be able to use the CNN for all hands/gestures if we want to.
+        vi = np.zeros(6,1)
+        # Set correct vi.
+        vote = self.on_vote()
+        vi[vote] = 1
+        # Now send this off to the other nodes. Potentially using gossip...
 
-        # # Set diagonal of ANDvi to elements of vi.
-        # for i in np.size(vi):
-        #     ANDvi[i,i] = vi[i]
+        # Set diagonal of ANDvi to elements of vi.
+        # This should actually be ANDvj, as it is for each observation received.
+        ANDvi = np.diag(vi.flatten())
+
+        # Nee
         
         # M is the probability of going from one state to the next, which
         # is assumed to be uniform for our situation - someone is just as likely
@@ -72,12 +79,21 @@ class Voter:
 
         # Y1T = np.full((6,1),1)
 
+        # Compute consensus state estimate by taking difference between our observations
+        # and all others individually. 
+
         # Moving to an approach that does not require the previous 
         # timestep (or so much math...)
         # First take other information and fuse, using algorithm
         # as appropriate.
         pass
-
+    
+    def custom_fuse(self):
+        vi = np.zeros(6,1)
+        # Set correct vi.
+        vote = self.on_vote()
+        vi[vote] = 1
+        
 
     def on_message(self, client, userdata, message):
         try:
@@ -106,4 +122,7 @@ class Voter:
     def collect_vote(self):
         vote_message = umsgpack.packb({"type": "vote", 
         "client":self._client._client_id, "vote": self.on_vote()})
-        return vote_message
+        return vote_message
+
+    def start_vote(self):
+        pass