Add ability to propogate result of vote and making a vote.

DecisionSystem/CentralisedDecision/ballotvoter.py

@@ -1,33 +1,19 @@
 import json
-from DecisionSystem.messages import ConnectSwarm, SubmitVote, Message, deserialise, RequestVote
+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, messenger: Messenger):
-
-        # Load config file
-        cfg = None
-        with open('config.json') as json_config:
-            cfg = json.load(json_config)
-        self._cfg = cfg
-
+    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))
 
-        # 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. 
-        # Leaving this until core centralised system is working.
-        #will_message = {"type": "UDisconnect"}
-
         # Tell commander we are now connected.
         self.send_connect()
 
@@ -41,12 +27,8 @@ class BallotVoter:
             self.submit_vote()
         elif messageD.type == "listening":
             self.send_connect()
-        elif messageD.type == "disconnectedcommander":
-            # Elect new leader...
-            # Might just use raft's method for electing a leader, 
-            # by doing a random timeout then choosing itself as the candidate,
-            # and collects who is part of the swarm. This may need to be another class...
-            pass
+        elif messageD.type == VoteResult.type:
+            self.handle_agreement(messageD.data["vote"])
 
     def submit_vote(self):
         v = self.on_vote()
@@ -59,15 +41,11 @@ class BallotVoter:
         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.messenger.broadcast_message(self.messenger.swarm, ConnectSwarm(self.messenger.id).serialise())
+        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())