Add 'car/' from commit 'eee0e8dc445691e600680f4abc77f2814b20b054'

git-subtree-dir: car
git-subtree-mainline: 1d29a5526c
git-subtree-split: eee0e8dc44

car/DecisionSystem/CentralisedDecision/ballotvoter.py

@@ -0,0 +1,51 @@
+import json
+from DecisionSystem.messages import ConnectSwarm, SubmitVote, Message, deserialise, RequestVote, ClientVoteRequest, VoteResult
+from multiprocessing import Pool
+from messenger import Messenger
+
+class BallotVoter:
+    def __init__(self, on_vote, handle_agreement, messenger: Messenger):
+        self.messenger = messenger
+        self.messenger.add_message_callback(self.on_message)
+        self.messenger.add_connect(self.on_connect)
+        self.on_vote = on_vote
+        self.handle_agreement = handle_agreement
+
+    def on_connect(self, rc):
+        print("Connected with result code " + str(rc))
+
+        # Tell commander we are now connected.
+        self.send_connect()
+
+    def on_message(self, message):
+        print("Message Received!")
+        messageD = deserialise(message.payload)
+        print("Message Type: " + messageD.type)
+        # Ok message.
+        if messageD.type == RequestVote().type:
+            print('Received vote message')
+            self.submit_vote()
+        elif messageD.type == "listening":
+            self.send_connect()
+        elif messageD.type == VoteResult.type:
+            self.handle_agreement(messageD.data["vote"])
+
+    def submit_vote(self):
+        v = self.on_vote()
+        if v == None:
+            print('Could not get vote')
+            return
+        print("Got Vote")
+        vote = SubmitVote(v, self.messenger.id)
+        print('Created Vote Message')
+        self.messenger.broadcast_message(self.messenger.swarm, vote.serialise())
+        print('published vote')
+
+    def send_connect(self):
+        # Send a connected message to let any commanders know that 
+        # it is available. 
+        self.messenger.broadcast_message(self.messenger.swarm, ConnectSwarm(self.messenger.id).serialise())
+
+    def request_vote(self):
+        """Sends a request to the leader to start collecting votes."""
+        self.messenger.broadcast_message(self.messenger.swarm, ClientVoteRequest(self.messenger.id).serialise())