def __init__(self, node_id):
threading.Thread.__init__(self)
self.node = cluster[node_id]
self.node_state = Follower(self.node)
self.election_timeout = float(
randrange(ELECTION_TIMEOUT_MAX / 2, ELECTION_TIMEOUT_MAX))
self.election_timer = threading.Timer(self.election_timeout,
self.become_candidate)
def stepDown(self,message):
if(message.term>State.currentTerm and (not StateController.eql(State.state,'follower'))):
StateController.setState('follower')
#print("("+str(State.dc_ID)+","+State.state+","+str(State.currentTerm)+'): Resetting Follower')
Follower.reset(message.term)
StateController.setTimer()
print("("+str(State.dc_ID)+","+State.state+","+str(State.currentTerm)+'): Step down...State Switch to Follower')
return True
else:
return False
def become_follower(self):
timeout = float(
randrange(ELECTION_TIMEOUT_MAX / 2, ELECTION_TIMEOUT_MAX))
if type(self.node_state) != Follower:
logging.info(f'{self} become follower ... ')
self.node_state = Follower(self.node)
logging.info(f'{self} reset election timer {timeout} s ... ')
send_state_update(self.node_state, timeout)
self.election_timer.cancel()
self.election_timer = threading.Timer(timeout, self.become_candidate)
self.election_timer.start()
def onTimeout(self):
#print("("+str(State.dc_ID)+","+State.state+","+str(State.currentTerm)+'): Time out!')
if(StateController.eql(State.state,'follower')):
Follower.onTimeout()
print("("+str(State.dc_ID)+","+State.state+","+str(State.currentTerm)+'): State Switch to Candidate')
self.reset()
elif(StateController.eql(State.state,'candidate')):
Candidate.onTimeout()
print("("+str(State.dc_ID)+","+State.state+","+str(State.currentTerm)+'): Increment Term')
self.reset()
else:
pass
def stepDown(self, message):
if (message.term > State.currentTerm
and (not StateController.eql(State.state, 'follower'))):
StateController.setState('follower')
#print("("+str(State.dc_ID)+","+State.state+","+str(State.currentTerm)+'): Resetting Follower')
Follower.reset(message.term)
StateController.setTimer()
print("(" + str(State.dc_ID) + "," + State.state + "," +
str(State.currentTerm) +
'): Step down...State Switch to Follower')
return True
else:
return False
def onTimeout(self):
#print("("+str(State.dc_ID)+","+State.state+","+str(State.currentTerm)+'): Time out!')
if (StateController.eql(State.state, 'follower')):
Follower.onTimeout()
print("(" + str(State.dc_ID) + "," + State.state + "," +
str(State.currentTerm) + '): State Switch to Candidate')
self.reset()
elif (StateController.eql(State.state, 'candidate')):
Candidate.onTimeout()
print("(" + str(State.dc_ID) + "," + State.state + "," +
str(State.currentTerm) + '): Increment Term')
self.reset()
else:
pass
def become_candidate(self):
logging.warning(
f'heartbeat is timeout: {int(self.election_timeout)} s')
logging.info(f'{self} become candidate and start to request vote ... ')
send_state_update(self.node_state, self.election_timeout)
self.node_state = Candidate(self.node_state)
self.node_state.elect()
if self.node_state.win():
self.become_leader()
else:
self.become_follower()
def onRecAppendEntriesRPC(self,message):
#print("("+str(State.dc_ID)+","+State.state+","+str(State.currentTerm)+'): Receive AppendEntriesRPC from: '+\
#str(message.leaderId)+" term"+str(message.term))
if(StateController.eql(State.state,'follower')):
reply=Follower.onRecAppendEntriesRPC(message)
else:
reply=Receiver.onRecAppendEntriesRPC(message)
sender=Sender('AppendEntriesRPCReply',reply)
sender.send(self.dc_list[message.leaderId])
def onRecAppendEntriesRPC(self, message):
#print("("+str(State.dc_ID)+","+State.state+","+str(State.currentTerm)+'): Receive AppendEntriesRPC from: '+\
#str(message.leaderId)+" term"+str(message.term))
if (StateController.eql(State.state, 'follower')):
reply = Follower.onRecAppendEntriesRPC(message)
else:
reply = Receiver.onRecAppendEntriesRPC(message)
sender = Sender('AppendEntriesRPCReply', reply)
sender.send(self.dc_list[message.leaderId])
def onRecReqVoteRPC(self,message):
#print("("+str(State.dc_ID)+","+State.state+","+str(State.currentTerm)+'): Receive ReqVoteRPC from: '+\
#str(message.candidateId)+" term"+str(message.term))
if(StateController.eql(State.state,'follower')):
reply=Follower.onRecReqVoteRPC(message)
else:
reply=Receiver.onRecReqVoteRPC(message)
#print(reply.voteGranted)
sender=Sender('RequestVoteRPCReply',reply)
sender.send(self.dc_list[message.candidateId])
def onRecReqVoteRPC(self, message):
#print("("+str(State.dc_ID)+","+State.state+","+str(State.currentTerm)+'): Receive ReqVoteRPC from: '+\
#str(message.candidateId)+" term"+str(message.term))
if (StateController.eql(State.state, 'follower')):
reply = Follower.onRecReqVoteRPC(message)
else:
reply = Receiver.onRecReqVoteRPC(message)
#print(reply.voteGranted)
sender = Sender('RequestVoteRPCReply', reply)
sender.send(self.dc_list[message.candidateId])
class TimerThread(threading.Thread):
def __init__(self, node_id):
threading.Thread.__init__(self)
self.node = cluster[node_id]
self.node_state = Follower(self.node)
self.election_timeout = float(
randrange(ELECTION_TIMEOUT_MAX / 2, ELECTION_TIMEOUT_MAX))
self.election_timer = threading.Timer(self.election_timeout,
self.become_candidate)
def become_leader(self):
logging.info(f'{self} become leader and start to send heartbeat ... ')
send_state_update(self.node_state, self.election_timeout)
self.node_state = Leader(self.node_state)
self.node_state.heartbeat()
def become_candidate(self):
logging.warning(
f'heartbeat is timeout: {int(self.election_timeout)} s')
logging.info(f'{self} become candidate and start to request vote ... ')
send_state_update(self.node_state, self.election_timeout)
self.node_state = Candidate(self.node_state)
self.node_state.elect()
if self.node_state.win():
self.become_leader()
else:
self.become_follower()
# input: candidate (id, term, lastLogIndex, lastLogTerm)
# output: term, vote_granted
# rule:
# 1. return false if candidate.term < current_term
# 2. return true if (voteFor is None or voteFor==candidate.id) and candidate's log is newer than receiver's
def vote(self, vote_request: VoteRequest):
logging.info(f'{self} got vote request: {vote_request} ')
vote_result = self.node_state.vote(vote_request)
if vote_result[0]:
self.become_follower()
logging.info(f'{self} return vote result: {vote_result} ')
return vote_result
def become_follower(self):
timeout = float(
randrange(ELECTION_TIMEOUT_MAX / 2, ELECTION_TIMEOUT_MAX))
if type(self.node_state) != Follower:
logging.info(f'{self} become follower ... ')
self.node_state = Follower(self.node)
logging.info(f'{self} reset election timer {timeout} s ... ')
send_state_update(self.node_state, timeout)
self.election_timer.cancel()
self.election_timer = threading.Timer(timeout, self.become_candidate)
self.election_timer.start()
def run(self):
self.become_follower()
def __repr__(self):
return f'{type(self).__name__, self.node_state}'
def become_leader(self):
logging.info(f'{self} become leader and start to send heartbeat ... ')
send_state_update(self.node_state, self.election_timeout)
self.node_state = Leader(self.node_state)
self.node_state.heartbeat()
def create_main_window(self, api):
apiManager = APIManager(api)
follower = Follower(apiManager)
self.ui = UI(follower)
import sys
from motorControl import motorControl
from leader import leader
from Follower import Follower
from captorDistance import captorDistance
from RobotState import RobotState
from pybricks.tools import DataLog, StopWatch, wait
# This program requires LEGO EV3 MicroPython v2.0 or higher.
# Click "Open user guide" on the EV3 extension tab for more information.
#for record in records:
#data.log(record['id'],record['firstname'])
# Create your objects here.
ev3 = EV3Brick()
#state = RobotState("all_or_nothing_follow")
#state = RobotState("up_to_point_follow")
state = RobotState("two_points_follow")
follower = Follower(state)
#l = leader(1000)
# Write your program here.
print(sys.version)
#ev3.speaker.beep(5)