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

DecisionSystem/CentralisedDecision/commander.py

@@ -1,5 +1,5 @@
 import time
-from DecisionSystem.messages import Message, CommanderWill, RequestVote, GetSwarmParticipants, deserialise
+from DecisionSystem.messages import Message, CommanderWill, RequestVote, GetSwarmParticipants, deserialise, ClientVoteRequest, VoteResult
 import json
 import numpy as np
 
@@ -62,6 +62,7 @@ class Commander:
         print("published message")
         time.sleep(self.timeout)
         self._taking_votes = False
+        # TODO: Work out how to broadcast votes back to the swarm, maybe using raft?
         return self.make_decision()
 
     def on_message(self, message):
@@ -90,6 +91,9 @@ class Commander:
                 # Only add vote to list if the client has not already voted. 
                 if messageD.sender not in self._votes:
                     self._votes[messageD.sender] = int(messageD.data["vote"])
+        elif messageD.type == ClientVoteRequest().type:
+            # received a request to get votes/consensus.
+            self.get_votes()
 
         elif messageD.type == "disconnected":
             print("Voter disconnected :(")
@@ -109,4 +113,7 @@ class Commander:
         # self.client.publish("swarm1/voters", CommanderWill(self.client._client_id).serialise())
 
     def on_disconnect(self, rc):
-        pass
+        pass
+
+    def propogate_result(self, result):
+        self._messenger.broadcast_message(self._messenger.swarm, )