Merge branch 'master' of /Users/piv/Documents/Work/Test

Merge from work

COCO-classes.txt

@@ -0,0 +1,80 @@
+person
+bicycle
+car
+motorcycle
+airplane
+bus
+train
+truck
+boat
+traffic light
+fire hydrant
+stop sign
+parking meter
+bench
+bird
+cat
+dog
+horse
+sheep
+cow
+elephant
+bear
+zebra
+giraffe
+backpack
+umbrella
+handbag
+tie
+suitcase
+frisbee
+skis
+snowboard
+sports ball
+kite
+baseball bat
+baseball glove
+skateboard
+surfboard
+tennis racket
+bottle
+wine glass
+cup
+fork
+knife
+spoon
+bowl
+banana
+apple
+sandwich
+orange
+broccoli
+carrot
+hot dog
+pizza
+donut
+cake
+chair
+couch
+potted plant
+bed
+dining table
+toilet
+tv
+laptop
+mouse
+remote
+keyboard
+cell phone
+microwave
+oven
+toaster
+sink
+refrigerator
+book
+clock
+vase
+scissors
+teddy bear
+hair drier
+toothbrush

DecisionSystem/CentralisedDecision/ballotvoter.py

@@ -0,0 +1,45 @@
+import paho.mqtt.client as mqtt
+import umsgpack
+
+class BallotVoter:
+    def __init__(self, on_vote):
+        self.client = mqtt.Client()
+        # id is generated automatically.
+        self.client.connect('172.16.13.128')
+        self.on_vote = on_vote
+
+    def on_connect(self, client, userdata, flags, rc):
+        print("Connected with result code " + str(rc))
+
+        self.client.subscribe('swarm1/voters', qos=1)
+
+        # Create the message to send that it is now part of the swarm.
+
+        # 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. 
+        # Leaving this until core centralised system is working.
+        #will_message = {"type": "UDisconnect"}
+
+        self.send_connect()
+
+    def on_message(self, client, userdata, message):
+        messageDict = umsgpack.unpackb(message)
+        if "type" in messageDict.keys:
+            # Ok message.
+            if messageDict["type"] == "reqVote":
+                self.submit_vote()
+            if messageDict["type"] == "listening":
+                self.send_connect()
+        else:
+            # Bad message.
+            pass
+
+    def submit_vote(self):
+        binary = umsgpack.packb("type": "vote", "client": self.client._client_id, "vote": self.on_vote())
+        self.client.publish('swarm1/commander', binary)
+        
+    def send_connect(self):
+        # Send a connected message to let any commanders know that 
+        # it is available. 
+        binary = umsgpack.packb({"type": "connect", "id": self.client._client_id})
+        self.client.publish("swarm/commander", binary)

DecisionSystem/CentralisedDecision/commander.py

@@ -0,0 +1,90 @@
+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 = []
+    # Dict has format: {clientId: vote}
+    _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.client = mqtt.Client()
+        self.client.connect('172.16.13.128') 
+
+        self.client.subscribe("swarm1/commander")
+        # Commander needs a will message too, for the decentralised version, so the
+        # voters know to pick a new commander. 
+        # If using apache zookeeper this won't be needed.
+
+    def make_decision(self):
+        # Should change this to follow strategy pattern, for different implementations of 
+        # making a decision on the votes. 
+        votes = self._votes
+        dif_votes = {}
+
+        for vote in votes:
+            # Get the count of different votes. 
+            if str(vote) in dif_votes:
+                dif_votes[str(vote)] = dif_votes[str(vote)] + 1
+            else:
+                dif_votes[str(vote)] = 1
+
+        max_vote = None
+        max_vote_num = 0
+        for vote in dif_votes.keys():
+            if dif_votes[vote] > max_vote_num:
+                max_vote = vote
+                max_vote_num = dif_votes[vote]
+
+        return max_vote
+
+    def get_votes(self):
+        # Should consider abstracting these messages to another class for portability.
+        message = {"type": "reqVote"}
+        message_packed = umsgpack.packb(message)
+        self._taking_votes = True
+        # Publish a message that votes are needed.
+        self.client.publish("swarm1/voters", message_packed)
+        time.sleep(self.timeout)
+        self._taking_votes = False
+        self.make_decision()
+
+    def on_message(self, client, userdata, message):
+        messageDict = umsgpack.unpackb()
+        if "type" in messageDict.keys:
+            # Need to consider that a malicious message may have a type with incorrect subtypes. 
+            if messageDict["type"] == "connect":
+                # Voter just connected/reconnnected.
+                if not messageDict["client"] in self._connectedVoters:
+                    self._connectedVoters.append(messageDict["client"])
+            elif messageDict["type"] == "vote":
+                # Voter is sending in their vote.
+                if self._taking_votes:
+                    # Commander must have requested their taking votes, and the timeout
+                    # has not occurred. 
+                    # Only add vote to list if the client has not already voted. 
+                    if messageDict["client"] not in self._votes:
+                        self._votes[messageDict["client"]] = messageDict["vote"]
+
+            elif messageDict["type"] == "disconnected":
+                self._connectedVoters.remove(messageDict["type"])
+        else:
+            # Not a message we should be using.
+            pass
+
+    def on_connect(self, client, userdata, flags, rc):
+        self.client.subscribe("swarm1/commander")
+
+    def get_participants(self):
+
+        self.client.publish("swarm1/voters")

DecisionSystem/DecentralisedActivityFusion/voter.py

@@ -0,0 +1,26 @@
+class Voter:
+    '''
+    This class acts to replicate sensor information with the network to come to a consensus
+    of an activity occurrance. This is based upon research by Song et al. available at:
+    https://ieeexplore.ieee.org/document/5484586
+
+    The main advantage of this approach, as apposed to techniques such as by using zookeeper
+    or consul, is it can be completely decentralised and so works without a central server,
+    or needing to elect a central server. Additionally, it does not require all nodes
+    to run a Zookeeper/Consul server instance, which were not designed for these constrained
+    combat environments, which will fail if half the nodes fail, and also use a lot of resources
+    for handling services not required by this task. 
+
+    The original approach in the paper requires some previous training before sensing, so 
+    that there is a probability of a given action based upon the previous set of actions.
+    '''
+    def __init__(self, on_vote):
+        '''
+        on_vote: Callback to get the required vote to broadcast.
+        '''
+        self.on_vote = on_vote
+
+    def submit_vote(self):
+        pass
+
+    def 

DecisionSystem/PaxosDecision/acceptor.py

@@ -0,0 +1,26 @@
+from proposer import Proposer
+from paxosmessenger import Messenger
+
+class Acceptor():
+    highest_proposal = None
+    highest_promise = None
+    messenger = None
+
+    def __init__(self, messenger: Messenger):
+        self.messenger = messenger
+
+    def on_message(self, client, userdata, message):
+        pass
+
+    def prepare(self):
+        pass
+
+    def accept_request(self, fromt_uid, proposal_id, value):
+        '''
+        Called when an accept message is received from a proposer
+        '''
+        if proposal_id >= self.highest_promise:
+            self.highest_promise     = proposal_id
+            self.accepted_id     = proposal_id
+            self.accepted_value  = value
+            self.messenger.send_accepted(proposal_id, self.accepted_value)

DecisionSystem/PaxosDecision/learner.py

@@ -0,0 +1,2 @@
+class Learner():
+    pass

DecisionSystem/PaxosDecision/mqttmessenger.py

@@ -0,0 +1,42 @@
+from DecisionSystem.PaxosDecision.paxosmessenger import Messenger
+from 
+
+class MqttMessenger(Messenger):
+
+    def __init__(self):
+        
+
+    def send_prepare(self, proposal_id):
+        '''
+        Broadcasts a Prepare message to all Acceptors
+        '''
+
+        
+
+    def send_promise(self, proposer_id, proposal_id, previous_proposal):
+        '''
+        Sends a Promise message to the specified Proposer
+        '''
+
+        NotImplementedError
+
+    def send_accept(self, proposal):
+        '''
+        Broadcasts an Accept message to all Acceptors
+        '''
+
+        NotImplementedError
+
+    def send_accepted(self, proposal):
+        '''
+        Broadcasts an Accepted message to all Learners
+        '''
+
+        NotImplementedError
+
+    def on_resolution(self, proposal_id, value):
+        '''
+        Called when a resolution is reached
+        '''
+
+        NotImplementedError

DecisionSystem/PaxosDecision/paxos_instance.py

@@ -0,0 +1,14 @@
+'''
+@author Michael Pivato
+
+Much thanks to Tom Cocagne by providing basic paxos code
+which was the basis of this module and algorithm. 
+Check out the original at: https://github.com/cocagne/paxos/blob/master/paxos/essential.py
+'''
+
+from learner import Learner
+from acceptor import Acceptor
+from proposer import Proposer
+
+class PaxosInstance():
+    pass

DecisionSystem/PaxosDecision/paxosmessenger.py

@@ -0,0 +1,37 @@
+from proposal import Proposal
+
+class Messenger():
+    def send_prepare(self, proposal_id):
+        '''
+        Broadcasts a Prepare message to all Acceptors
+        '''
+
+        NotImplementedError
+
+    def send_promise(self, proposer_id, proposal_id, previous_proposal):
+        '''
+        Sends a Promise message to the specified Proposer
+        '''
+
+        NotImplementedError
+
+    def send_accept(self, proposal):
+        '''
+        Broadcasts an Accept message to all Acceptors
+        '''
+
+        NotImplementedError
+
+    def send_accepted(self, proposal):
+        '''
+        Broadcasts an Accepted message to all Learners
+        '''
+
+        NotImplementedError
+
+    def on_resolution(self, proposal_id, value):
+        '''
+        Called when a resolution is reached
+        '''
+
+        NotImplementedError

DecisionSystem/PaxosDecision/proposal.py

@@ -0,0 +1,32 @@
+from Messaging.messaginginterface import Message
+import umsgpack
+
+# Uses MessagePack for message transfer.
+
+class Proposal(Message):
+    ballot_number = None
+    vote = None
+
+    def __init__(self):
+        pass
+
+    def serialise(self) -> str:
+        return umsgpack.packb({"ballot": self.ballot_number, "vote": self.vote})
+
+    def deserialise(self, binary: bytearray):
+        '''
+        Deserialises a given proposal message into a proposal object.
+        '''
+        obj = umsgpack.unpackb(binary)
+        old_ballot = self.ballot_number
+        old_vote = self.vote
+        try:
+            self.ballot_number = obj['ballot']
+            self.vote = obj['vote']
+        except:
+            # Reset the values in case they have been changed.
+            self.ballot_number = old_ballot
+            self.vote = old_vote
+            print("Error: binary object is not a proposal")
+
+    

DecisionSystem/PaxosDecision/proposer.py

@@ -0,0 +1,3 @@
+class Proposer():
+    def propose(self):
+        pass

DecisionSystem/commander.py

@@ -1,35 +0,0 @@
-import Messaging.mqttsession as ms
-import time
-import umsgpack
-
-class Commander:
-
-    def __init__(self, timeout = 60):
-        self.timeout = timeout
-        self._votes = []
-        ms.Client()
-
-        def on_message(client, userdata, message):
-            self._votes.append(umsgpack.unpackb(message.payload))
-        
-        ms.client.subscribe("FakeSwarm/FirstTest", on_message)
-
-        ms.client.loop_start()
-
-    def make_decision(self):
-        votes = self._votes
-
-        for vote in votes:
-            continue
-
-    def get_votes(self, topic, message, qos=0):
-        # Publish a message that votes are needed.
-        ms.client.publish(topic, message, qos)
-        time.sleep(self.timeout)
-        self.make_decision()
-
-    def add_subscription(self, topic, callback=None, qos=0):
-        ms.client.subscribe(topic)
-
-        if callback is not None:
-            ms.client.message_callback_add(topic, callback)

DecisionSystem/vote.py

@@ -1,8 +1,10 @@
 from Messaging.packmessage import PackMessage
 
 class Vote(PackMessage):
-    def __init__(self, vote = None):
+    def __init__(self, client, vote = None):
         self._vote = vote
+        self._client = client
+        
 
     @property
     def vote(self):

DecisionSystem/voter.py

@@ -2,12 +2,8 @@ from Messaging.packmessage import PackMessage
 import umsgpack
 
 class Voter:
-    def __init__(self):
+    def submit_vote(self):
-        # self._client = 
-        pass
-
-    def submit_vote(self, vote_contents):
         raise NotImplementedError()
 
-    def request_vote(self):
+    def send_connected(self):
         raise NotImplementedError()

Messaging/mqttsession.py

@@ -1,11 +1,28 @@
 import paho.mqtt.client as mqtt
 
+"""
+Wrapper module for paho mqtt library, providing a singleton instance of the client to be used.
+Also adds some convenience functions such as having multiple connected callbacks,
+and managing whether the client is still connected. 
+"""
+
+
 client = mqtt.Client()
 host = None
 
-"""
+connect_callbacks = []
-Wrapper module for paho mqtt library, providing a singleton instance of the client to be used. 
+disconnect_callbacks = []
-"""
+
+def on_connect(client, userdata, flags, rc):
+    print("Connected with result code " + str(rc))
+    if rc == 0:
+        global connected
+        connected = True
+
+    for callback in connect_callbacks:
+        callback()
+
+    client.subscribe('hello/test', qos=1)
 
 # Arguably not needed, just want to make the client static, but here anyway.
 def connect():
@@ -16,6 +33,14 @@ def connect():
         client.connect(host, port=1883, keepalive=60, bind_address="")
         client.loop_start()
 
+def add_connect_callback(callback):
+    global connect_callbacks
+    connect_callbacks += callback
+    connectted = True
+
+def add_disconnect_callback(callback):
+    global 
+
 def disconnect():
     global client
     if client is not None:
@@ -24,6 +49,13 @@ def disconnect():
     else:
         print("Error: Client is not initialised.")
 
+def on_disconnect(client, userdata, rc):
+    if rc != 0:
+        print("Unexpected disconnection.")
+
+    global connected
+    connected = False
+
 def Client():
     global client
     if client is None: