Smikkelbakje/J2S1-Kobuki
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Merge branch '35-als-gebruiker-wil-ik-dat-mijn-data-word-opgeslagen-in-een-database-om-data-terug-te-zien' into 'main'

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Resolve "Als gebruiker wil ik dat mijn data word opgeslagen in een database om data terug te zien"

Closes #35

See merge request technische-informatica-sm3/ti-projectten/rooziinuubii79!4
This commit is contained in:
Sam Hos
2025-01-13 10:27:00 +01:00
parent 1fd88c7636 3fddee73c7
commit 2fa8fb2926
15 changed files with 537 additions and 250 deletions
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51
docs/Infrastructure/uml.md Normal file
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@@ -0,0 +1,51 @@
```mermaid
classDiagram
class CKobuki {
+enableCommands(bool commands)
+loop(void *user_data, TKobukiData &Kobuki_data)
+startCommunication(char *portname, bool CommandsEnabled, void *userDataL)
+measure()
+setLed(int led1, int led2)
+setTranslationSpeed(int mmpersec)
+setRotationSpeed(double radpersec)
+setArcSpeed(int mmpersec, int radius)
+setSound(int noteinHz, int duration)
+setPower(int value)
+goStraight(long double distance)
+forward(int speedvalue)
+doRotation(long double th)
}
class FlaskApp {
+on_message(client, message)
+get_db()
+close_db(error)
+index()
+control()
+move()
}
class MQTTClient {
+connect()
+subscribe(topic)
+getLastMessage()
+isConnected()
}
FlaskApp --> MQTTClient : uses
FlaskApp --> CKobuki : controls
class RPI {
+KobukiCommunication()
+ESP32Communication()
+Camera()
}
class ESP32 {
+TVOC()
+DHT11()
}
RPI --> MQTTClient : communicates
MQTTClient --> CKobuki : communicates
RPI --> ESP32 : communicates

1
docs/scrum/retrospective/retro_sprint_4.md Normal file
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@@ -0,0 +1 @@
# retro sprint 4

64
src/C++/Driver/src/KobukiDriver/CKobuki.cpp
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@@ -68,58 +68,47 @@ int CKobuki::connect(char *comportT) {
HCom = open(comportT, O_RDWR | O_NOCTTY | O_NONBLOCK);
if (HCom == -1) {
printf("Kobuki nepripojeny\n");
std::cerr <<"unable to connect. retry in 1 second" << std::endl;
return HCom;
} else {
set_interface_attribs2(HCom, B115200,
0); // set speed to 115,200 bps, 8n1 (no parity)
set_interface_attribs2(HCom, B115200,0); // set speed to 115,200 bps, 8n1 (no parity)
set_blocking2(HCom, 0); // set no blocking
/* struct termios settings;
tcgetattr(HCom, &settings);
cfsetospeed(&settings, B115200); // baud rate
settings.c_cflag &= ~PARENB; // no parity
settings.c_cflag &= ~CSTOPB; // 1 stop bit
settings.c_cflag &= ~CSIZE;
settings.c_cflag |= CS8 | CLOCAL; // 8 bits
settings.c_lflag &= ~ICANON; // canonical mode
settings.c_cc[VTIME]=1;
settings.c_oflag &= ~OPOST; // raw output
tcsetattr(HCom, TCSANOW, &settings); // apply the settings*/
tcflush(HCom, TCOFLUSH);
printf("Kobuki pripojeny\n");
std::cout<<"Kobuki connected" << std::endl;
return HCom;
}
}
bool CKobuki::isConnected() {
return (HCom != -1 && tcflush(HCom, TCOFLUSH) == 0);
}
unsigned char *CKobuki::readKobukiMessage() {
unsigned char buffer[1];
ssize_t Pocet;
buffer[0] = 0;
unsigned char *null_buffer(0);
// citame kym nezachytime zaciatok spravy
// Read until the start of the message is detected
do {
Pocet = read(HCom, buffer, 1);
} while (buffer[0] != 0xAA);
// mame zaciatok spravy (asi)
// We have the start of the message (possibly)
if (Pocet == 1 && buffer[0] == 0xAA) {
// citame dalsi byte
// Read the next byte
do {
Pocet = read(HCom, buffer, 1);
} while (Pocet != 1); // On Linux: -1, on Windows: 0
} while (Pocet != 1); // na linuxe -1 na windowse 0
// a ak je to druhy byte hlavicky
// If it is the second byte of the header
if (Pocet == 1 && buffer[0] == 0x55) {
// precitame dlzku
// Read the length
Pocet = read(HCom, buffer, 1);
// ReadFile(hCom, buffer, 1, &Pocet, NULL);
if (Pocet == 1) {
// mame dlzku.. nastavime vektor a precitame ho cely
// We have the length; initialize a buffer and read the entire message
int readLenght = buffer[0];
unsigned char *outputBuffer =
(unsigned char *)calloc(readLenght + 4, sizeof(char));
@@ -134,7 +123,7 @@ unsigned char *CKobuki::readKobukiMessage() {
pct = pct + (Pocet == -1 ? 0 : Pocet);
} while (pct != (readLenght + 1));
// tu si mozeme ceknut co chodi zo serial intefejsu Kobukiho
// Here we can check what data is received from the Kobuki's serial interface
// for(int i=0;i<outputBuffer[0]+2;i++)
// {
// printf("%x ",outputBuffer[i]);
@@ -162,8 +151,8 @@ void CKobuki::setLed(int led1, int led2) {
pocet = write(HCom, &message, 8);
}
// tato funkcia nema moc sama o sebe vyznam, payload o tom, ze maju byt externe
// napajania aktivne musi byt aj tak v kazdej sprave...
// this function doesn't have much meaning by itself, the payload about them being external
// power supplies must be active in every message anyway...
void CKobuki::setPower(int value) {
if (value == 1) {
unsigned char message[8] = {0xaa, 0x55, 0x04, 0x0C, 0x02, 0xf0, 0x00, 0xAF};
@@ -251,7 +240,7 @@ void CKobuki::setSound(int noteinHz, int duration) {
void CKobuki::startCommunication(char *portname, bool CommandsEnabled,
void *userDataL) {
connect(portname);
if(connect(portname) != -1){
enableCommands(CommandsEnabled);
userData = userDataL;
@@ -262,18 +251,19 @@ void CKobuki::startCommunication(char *portname, bool CommandsEnabled,
std::cerr << "Error creating thread: " << pthread_result << std::endl;
}
}
}
int CKobuki::measure() {
while (stopVlakno == 0) {
unsigned char *message = readKobukiMessage();
if (message == NULL) {
// printf("vratil null message\n");
continue;
// printf("returned null message\n");
continue;
}
int ok = parser.parseKobukiMessage(parser.data, message);
// maximalne moze trvat callback funkcia 20 ms, ak by trvala viac, nestihame
// citat
// the maximum callback function can take 20 ms, if it takes longer, we won't be able to do it
// read
if (ok == 0) {
loop(userData, parser.data);
}
@@ -353,7 +343,7 @@ long CKobuki::loop(void *user_data, TKobukiData &Kobuki_data) {
totalLeft += dLeft;
totalRight += dRight;
// ak je suma novej a predchadzajucej vacsia ako 65536 tak to pretieklo?
// if the sum of the new and previous is greater than 65536 then it overflowed?
directionL = (prevLeftEncoder < Kobuki_data.EncoderLeft ? 1 : -1);
directionR = (prevRightEncoder < Kobuki_data.EncoderRight ? 1 : -1);
dTimestamp = (Kobuki_data.timestamp < prevTimestamp
@@ -387,7 +377,7 @@ long CKobuki::loop(void *user_data, TKobukiData &Kobuki_data) {
// tells the kobuki to go a few meters forward or backward, the sign decides
// the function compensates for walking straight with the controller, internally
// it uses setArcSpeed and uses encoder data as feedback
// it uses setArcSpeed ​​and uses encoder data as feedback
void CKobuki::goStraight(long double distance) {
long double u_translation =
0; // controlled magnitude, speed of the robot in motion

1
src/C++/Driver/src/KobukiDriver/CKobuki.h
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@@ -79,6 +79,7 @@ public:
void robotSafety(); //overload
void sendNullMessage();
bool safetyActive = false;
bool isConnected();
KobukiParser parser;

455
src/C++/Driver/src/main.cpp
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@@ -1,5 +1,4 @@
#include <iostream>
#include <cmath>
#include <thread>
#include "MQTT/MqttClient.h"
#include "KobukiDriver/CKobuki.h"
@@ -9,6 +8,7 @@
using namespace std;
using namespace cv;
CKobuki robot;
std::string readMQTT();
void parseMQTT(std::string message);
void CapnSend();
@@ -59,227 +59,270 @@ std::string readMQTT()
lastMessage = message;
}
// Add a small delay to avoid busy-waiting
std::this_thread::sleep_for(std::chrono::milliseconds(100));
return message;
// Add a small delay to avoid busy-waiting
std::this_thread::sleep_for(std::chrono::milliseconds(100));
return lastMessage;
}
void parseMQTT(std::string message)
{
if (message == "up")
{
robot.forward(350);
}
else if (message == "left")
{
robot.setRotationSpeed(4);
}
else if (message == "right")
{
robot.setRotationSpeed(-4);
}
else if (message == "down")
{
robot.forward(-350);
}
else if (message == "stop")
{
robot.sendNullMessage();
robot.sendNullMessage();
}
else if (message == "estop")
{
robot.forward(-400);
}
else
{
std::cout << "Invalid command" << std::endl;
}
void parseMQTT(std::string message) {
if (message == "up") {
robot.forward(350);
} else if (message == "left") {
robot.setRotationSpeed(4);
} else if (message == "right") {
robot.setRotationSpeed(-4);
} else if (message == "down") {
robot.forward(-350);
} else if (message == "stop") {
robot.sendNullMessage();
robot.sendNullMessage();
} else if (message == "estop") {
robot.forward(-400);
} else {
std::cout << "Invalid command" << std::endl;
}
}
void logToFile()
{
while (true)
{
TKobukiData robotData = robot.parser.data;
std::ofstream outputFile("log", std::ios_base::app); // Open file in append mode to not overwrite own content
if (outputFile.is_open())
{ // check if the file was opened successfully
// Get current time
std::time_t now = std::time(nullptr);
outputFile << "Timestamp: " << std::ctime(&now);
// Write data to the file
outputFile << "analogInputCh0: " << robotData.analogInputCh0 << "\n";
outputFile << "analogInputCh1: " << robotData.analogInputCh1 << "\n";
outputFile << "analogInputCh2: " << robotData.analogInputCh2 << "\n";
outputFile << "analogInputCh3: " << robotData.analogInputCh3 << "\n";
outputFile << "digitalInput: " << robotData.digitalInput << "\n";
outputFile << "timestamp: " << robotData.timestamp << "\n";
outputFile << "BumperCenter: " << robotData.BumperCenter << "\n";
outputFile << "BumperLeft: " << robotData.BumperLeft << "\n";
outputFile << "BumperRight: " << robotData.BumperRight << "\n";
outputFile << "WheelDropLeft: " << robotData.WheelDropLeft << "\n";
outputFile << "WheelDropRight: " << robotData.WheelDropRight << "\n";
outputFile << "CliffCenter: " << robotData.CliffCenter << "\n";
outputFile << "CliffLeft: " << robotData.CliffLeft << "\n";
outputFile << "CliffRight: " << robotData.CliffRight << "\n";
outputFile << "EncoderLeft: " << robotData.EncoderLeft << "\n";
outputFile << "EncoderRight: " << robotData.EncoderRight << "\n";
outputFile << "PWMleft: " << robotData.PWMleft << "\n";
outputFile << "PWMright: " << robotData.PWMright << "\n";
outputFile << "ButtonPress: " << robotData.ButtonPress1 << "\n";
outputFile << "ButtonPress: " << robotData.ButtonPress2 << "\n";
outputFile << "ButtonPress: " << robotData.ButtonPress3 << "\n";
outputFile << "Charger: " << robotData.Charger << "\n";
outputFile << "Battery: " << robotData.Battery << "\n";
outputFile << "overCurrent: " << robotData.overCurrent << "\n";
outputFile << "IRSensorRight: " << robotData.IRSensorRight << "\n";
outputFile << "IRSensorCenter: " << robotData.IRSensorCenter << "\n";
outputFile << "IRSensorLeft: " << robotData.IRSensorLeft << "\n";
outputFile << "GyroAngle: " << robotData.GyroAngle << "\n";
outputFile << "GyroAngleRate: " << robotData.GyroAngleRate << "\n";
outputFile << "CliffSensorRight: " << robotData.CliffSensorRight << "\n";
outputFile << "CliffSensorCenter: " << robotData.CliffSensorCenter << "\n";
outputFile << "CliffSensorLeft: " << robotData.CliffSensorLeft << "\n";
outputFile << "wheelCurrentLeft: " << robotData.wheelCurrentLeft << "\n";
outputFile << "wheelCurrentRight: " << robotData.wheelCurrentRight << "\n";
outputFile << "frameId: " << robotData.frameId << "\n";
outputFile << "HardwareVersionPatch: " << robotData.extraInfo.HardwareVersionPatch << "\n";
outputFile << "HardwareVersionMinor: " << robotData.extraInfo.HardwareVersionMinor << "\n";
outputFile << "HardwareVersionMajor: " << robotData.extraInfo.HardwareVersionMajor << "\n";
outputFile << "FirmwareVersionPatch: " << robotData.extraInfo.FirmwareVersionPatch << "\n";
outputFile << "FirmwareVersionMinor: " << robotData.extraInfo.FirmwareVersionMinor << "\n";
outputFile << "FirmwareVersionMajor: " << robotData.extraInfo.FirmwareVersionMajor << "\n";
outputFile << "UDID0: " << robotData.extraInfo.UDID0 << "\n";
outputFile << "UDID1: " << robotData.extraInfo.UDID1 << "\n";
outputFile << "UDID2: " << robotData.extraInfo.UDID2 << "\n";
outputFile.close();
}
else
{
std::cerr << "Error opening file\n";
}
std::this_thread::sleep_for(std::chrono::seconds(2)); // Sleep for 2 seconds
void logToFile() {
while (true) {
TKobukiData robotData = robot.parser.data;
std::ofstream outputFile("log",
std::ios_base::app); // Open file in append mode to
// not overwrite own content
if (outputFile.is_open()) { // check if the file was opened successfully
// Get current time
std::time_t now = std::time(nullptr);
outputFile << "Timestamp: " << std::ctime(&now);
// Write data to the file
outputFile << "analogInputCh0: " << robotData.analogInputCh0 << "\n";
outputFile << "analogInputCh1: " << robotData.analogInputCh1 << "\n";
outputFile << "analogInputCh2: " << robotData.analogInputCh2 << "\n";
outputFile << "analogInputCh3: " << robotData.analogInputCh3 << "\n";
outputFile << "digitalInput: " << robotData.digitalInput << "\n";
outputFile << "timestamp: " << robotData.timestamp << "\n";
outputFile << "BumperCenter: " << robotData.BumperCenter << "\n";
outputFile << "BumperLeft: " << robotData.BumperLeft << "\n";
outputFile << "BumperRight: " << robotData.BumperRight << "\n";
outputFile << "WheelDropLeft: " << robotData.WheelDropLeft << "\n";
outputFile << "WheelDropRight: " << robotData.WheelDropRight << "\n";
outputFile << "CliffCenter: " << robotData.CliffCenter << "\n";
outputFile << "CliffLeft: " << robotData.CliffLeft << "\n";
outputFile << "CliffRight: " << robotData.CliffRight << "\n";
outputFile << "EncoderLeft: " << robotData.EncoderLeft << "\n";
outputFile << "EncoderRight: " << robotData.EncoderRight << "\n";
outputFile << "PWMleft: " << robotData.PWMleft << "\n";
outputFile << "PWMright: " << robotData.PWMright << "\n";
outputFile << "ButtonPress: " << robotData.ButtonPress1 << "\n";
outputFile << "ButtonPress: " << robotData.ButtonPress2 << "\n";
outputFile << "ButtonPress: " << robotData.ButtonPress3 << "\n";
outputFile << "Charger: " << robotData.Charger << "\n";
outputFile << "Battery: " << robotData.Battery << "\n";
outputFile << "overCurrent: " << robotData.overCurrent << "\n";
outputFile << "IRSensorRight: " << robotData.IRSensorRight << "\n";
outputFile << "IRSensorCenter: " << robotData.IRSensorCenter << "\n";
outputFile << "IRSensorLeft: " << robotData.IRSensorLeft << "\n";
outputFile << "GyroAngle: " << robotData.GyroAngle << "\n";
outputFile << "GyroAngleRate: " << robotData.GyroAngleRate << "\n";
outputFile << "CliffSensorRight: " << robotData.CliffSensorRight << "\n";
outputFile << "CliffSensorCenter: " << robotData.CliffSensorCenter
<< "\n";
outputFile << "CliffSensorLeft: " << robotData.CliffSensorLeft << "\n";
outputFile << "wheelCurrentLeft: " << robotData.wheelCurrentLeft << "\n";
outputFile << "wheelCurrentRight: " << robotData.wheelCurrentRight
<< "\n";
outputFile << "frameId: " << robotData.frameId << "\n";
outputFile << "HardwareVersionPatch: "
<< robotData.extraInfo.HardwareVersionPatch << "\n";
outputFile << "HardwareVersionMinor: "
<< robotData.extraInfo.HardwareVersionMinor << "\n";
outputFile << "HardwareVersionMajor: "
<< robotData.extraInfo.HardwareVersionMajor << "\n";
outputFile << "FirmwareVersionPatch: "
<< robotData.extraInfo.FirmwareVersionPatch << "\n";
outputFile << "FirmwareVersionMinor: "
<< robotData.extraInfo.FirmwareVersionMinor << "\n";
outputFile << "FirmwareVersionMajor: "
<< robotData.extraInfo.FirmwareVersionMajor << "\n";
outputFile << "UDID0: " << robotData.extraInfo.UDID0 << "\n";
outputFile << "UDID1: " << robotData.extraInfo.UDID1 << "\n";
outputFile << "UDID2: " << robotData.extraInfo.UDID2 << "\n";
outputFile.close();
} else {
std::cerr << "Error opening file\n";
}
std::this_thread::sleep_for(std::chrono::seconds(2)); // Sleep for 2 seconds
}
}
void sendIndividualKobukiData(const TKobukiData &data) {
while (true) {
client.publishMessage("kobuki/data/timestamp", std::to_string(data.timestamp));
client.publishMessage("kobuki/data/BumperCenter", std::to_string(data.BumperCenter));
client.publishMessage("kobuki/data/BumperLeft", std::to_string(data.BumperLeft));
client.publishMessage("kobuki/data/BumperRight", std::to_string(data.BumperRight));
client.publishMessage("kobuki/data/WheelDropLeft", std::to_string(data.WheelDropLeft));
client.publishMessage("kobuki/data/WheelDropRight", std::to_string(data.WheelDropRight));
client.publishMessage("kobuki/data/CliffCenter", std::to_string(data.CliffCenter));
client.publishMessage("kobuki/data/CliffLeft", std::to_string(data.CliffLeft));
client.publishMessage("kobuki/data/CliffRight", std::to_string(data.CliffRight));
client.publishMessage("kobuki/data/EncoderLeft", std::to_string(data.EncoderLeft));
client.publishMessage("kobuki/data/EncoderRight", std::to_string(data.EncoderRight));
client.publishMessage("kobuki/data/PWMleft", std::to_string(data.PWMleft));
client.publishMessage("kobuki/data/PWMright", std::to_string(data.PWMright));
client.publishMessage("kobuki/data/ButtonPress1", std::to_string(data.ButtonPress1));
client.publishMessage("kobuki/data/ButtonPress2", std::to_string(data.ButtonPress2));
client.publishMessage("kobuki/data/ButtonPress3", std::to_string(data.ButtonPress3));
client.publishMessage("kobuki/data/Charger", std::to_string(data.Charger));
client.publishMessage("kobuki/data/Battery", std::to_string(data.Battery));
client.publishMessage("kobuki/data/overCurrent", std::to_string(data.overCurrent));
client.publishMessage("kobuki/data/IRSensorRight", std::to_string(data.IRSensorRight));
client.publishMessage("kobuki/data/IRSensorCenter", std::to_string(data.IRSensorCenter));
client.publishMessage("kobuki/data/IRSensorLeft", std::to_string(data.IRSensorLeft));
client.publishMessage("kobuki/data/GyroAngle", std::to_string(data.GyroAngle));
client.publishMessage("kobuki/data/GyroAngleRate", std::to_string(data.GyroAngleRate));
client.publishMessage("kobuki/data/CliffSensorRight", std::to_string(data.CliffSensorRight));
client.publishMessage("kobuki/data/CliffSensorCenter", std::to_string(data.CliffSensorCenter));
client.publishMessage("kobuki/data/CliffSensorLeft", std::to_string(data.CliffSensorLeft));
client.publishMessage("kobuki/data/wheelCurrentLeft", std::to_string(data.wheelCurrentLeft));
client.publishMessage("kobuki/data/wheelCurrentRight", std::to_string(data.wheelCurrentRight));
client.publishMessage("kobuki/data/digitalInput", std::to_string(data.digitalInput));
client.publishMessage("kobuki/data/analogInputCh0", std::to_string(data.analogInputCh0));
client.publishMessage("kobuki/data/analogInputCh1", std::to_string(data.analogInputCh1));
client.publishMessage("kobuki/data/analogInputCh2", std::to_string(data.analogInputCh2));
client.publishMessage("kobuki/data/analogInputCh3", std::to_string(data.analogInputCh3));
client.publishMessage("kobuki/data/frameId", std::to_string(data.frameId));
client.publishMessage("kobuki/data/extraInfo/HardwareVersionPatch", std::to_string(data.extraInfo.HardwareVersionPatch));
client.publishMessage("kobuki/data/extraInfo/HardwareVersionMinor", std::to_string(data.extraInfo.HardwareVersionMinor));
client.publishMessage("kobuki/data/extraInfo/HardwareVersionMajor", std::to_string(data.extraInfo.HardwareVersionMajor));
client.publishMessage("kobuki/data/extraInfo/FirmwareVersionPatch", std::to_string(data.extraInfo.FirmwareVersionPatch));
client.publishMessage("kobuki/data/extraInfo/FirmwareVersionMinor", std::to_string(data.extraInfo.FirmwareVersionMinor));
client.publishMessage("kobuki/data/extraInfo/FirmwareVersionMajor", std::to_string(data.extraInfo.FirmwareVersionMajor));
client.publishMessage("kobuki/data/extraInfo/UDID0", std::to_string(data.extraInfo.UDID0));
client.publishMessage("kobuki/data/extraInfo/UDID1", std::to_string(data.extraInfo.UDID1));
client.publishMessage("kobuki/data/extraInfo/UDID2", std::to_string(data.extraInfo.UDID2));
while (true) {
std::cout << "Kobuki Data wordt gepubliceerd naar kobuki/data/timestamp: "
<< data.timestamp << std::endl;
client.publishMessage("kobuki/data/timestamp",
std::to_string(data.timestamp));
client.publishMessage("kobuki/data/BumperCenter",
std::to_string(data.BumperCenter));
client.publishMessage("kobuki/data/BumperLeft",
std::to_string(data.BumperLeft));
client.publishMessage("kobuki/data/BumperRight",
std::to_string(data.BumperRight));
client.publishMessage("kobuki/data/WheelDropLeft",
std::to_string(data.WheelDropLeft));
client.publishMessage("kobuki/data/WheelDropRight",
std::to_string(data.WheelDropRight));
client.publishMessage("kobuki/data/CliffCenter",
std::to_string(data.CliffCenter));
client.publishMessage("kobuki/data/CliffLeft",
std::to_string(data.CliffLeft));
client.publishMessage("kobuki/data/CliffRight",
std::to_string(data.CliffRight));
client.publishMessage("kobuki/data/EncoderLeft",
std::to_string(data.EncoderLeft));
client.publishMessage("kobuki/data/EncoderRight",
std::to_string(data.EncoderRight));
client.publishMessage("kobuki/data/PWMleft", std::to_string(data.PWMleft));
client.publishMessage("kobuki/data/PWMright",
std::to_string(data.PWMright));
client.publishMessage("kobuki/data/ButtonPress1",
std::to_string(data.ButtonPress1));
client.publishMessage("kobuki/data/ButtonPress2",
std::to_string(data.ButtonPress2));
client.publishMessage("kobuki/data/ButtonPress3",
std::to_string(data.ButtonPress3));
client.publishMessage("kobuki/data/Charger", std::to_string(data.Charger));
client.publishMessage("kobuki/data/Battery", std::to_string(data.Battery));
client.publishMessage("kobuki/data/overCurrent",
std::to_string(data.overCurrent));
client.publishMessage("kobuki/data/IRSensorRight",
std::to_string(data.IRSensorRight));
client.publishMessage("kobuki/data/IRSensorCenter",
std::to_string(data.IRSensorCenter));
client.publishMessage("kobuki/data/IRSensorLeft",
std::to_string(data.IRSensorLeft));
client.publishMessage("kobuki/data/GyroAngle",
std::to_string(data.GyroAngle));
client.publishMessage("kobuki/data/GyroAngleRate",
std::to_string(data.GyroAngleRate));
client.publishMessage("kobuki/data/CliffSensorRight",
std::to_string(data.CliffSensorRight));
client.publishMessage("kobuki/data/CliffSensorCenter",
std::to_string(data.CliffSensorCenter));
client.publishMessage("kobuki/data/CliffSensorLeft",
std::to_string(data.CliffSensorLeft));
client.publishMessage("kobuki/data/wheelCurrentLeft",
std::to_string(data.wheelCurrentLeft));
client.publishMessage("kobuki/data/wheelCurrentRight",
std::to_string(data.wheelCurrentRight));
client.publishMessage("kobuki/data/digitalInput",
std::to_string(data.digitalInput));
client.publishMessage("kobuki/data/analogInputCh0",
std::to_string(data.analogInputCh0));
client.publishMessage("kobuki/data/analogInputCh1",
std::to_string(data.analogInputCh1));
client.publishMessage("kobuki/data/analogInputCh2",
std::to_string(data.analogInputCh2));
client.publishMessage("kobuki/data/analogInputCh3",
std::to_string(data.analogInputCh3));
client.publishMessage("kobuki/data/frameId", std::to_string(data.frameId));
client.publishMessage("kobuki/data/extraInfo/HardwareVersionPatch",
std::to_string(data.extraInfo.HardwareVersionPatch));
client.publishMessage("kobuki/data/extraInfo/HardwareVersionMinor",
std::to_string(data.extraInfo.HardwareVersionMinor));
client.publishMessage("kobuki/data/extraInfo/HardwareVersionMajor",
std::to_string(data.extraInfo.HardwareVersionMajor));
client.publishMessage("kobuki/data/extraInfo/FirmwareVersionPatch",
std::to_string(data.extraInfo.FirmwareVersionPatch));
client.publishMessage("kobuki/data/extraInfo/FirmwareVersionMinor",
std::to_string(data.extraInfo.FirmwareVersionMinor));
client.publishMessage("kobuki/data/extraInfo/FirmwareVersionMajor",
std::to_string(data.extraInfo.FirmwareVersionMajor));
client.publishMessage("kobuki/data/extraInfo/UDID0",
std::to_string(data.extraInfo.UDID0));
client.publishMessage("kobuki/data/extraInfo/UDID1",
std::to_string(data.extraInfo.UDID1));
client.publishMessage("kobuki/data/extraInfo/UDID2",
std::to_string(data.extraInfo.UDID2));
if (!data.gyroData.empty()) {
const auto& latestGyro = data.gyroData.back();
client.publishMessage("kobuki/data/gyroData/x", std::to_string(latestGyro.x));
client.publishMessage("kobuki/data/gyroData/y", std::to_string(latestGyro.y));
client.publishMessage("kobuki/data/gyroData/z", std::to_string(latestGyro.z));
}
std::this_thread::sleep_for(std::chrono::milliseconds(1000));
if (!data.gyroData.empty()) {
const auto &latestGyro = data.gyroData.back();
client.publishMessage("kobuki/data/gyroData/x",
std::to_string(latestGyro.x));
client.publishMessage("kobuki/data/gyroData/y",
std::to_string(latestGyro.y));
client.publishMessage("kobuki/data/gyroData/z",
std::to_string(latestGyro.z));
}
std::this_thread::sleep_for(std::chrono::milliseconds(1000));
}
}
std::string serializeKobukiData(const TKobukiData &data) {
std::string json = "{\"timestamp\":" + std::to_string(data.timestamp) +
",\"BumperCenter\":" + std::to_string(data.BumperCenter) +
",\"BumperLeft\":" + std::to_string(data.BumperLeft) +
",\"BumperRight\":" + std::to_string(data.BumperRight) +
",\"WheelDropLeft\":" + std::to_string(data.WheelDropLeft) +
",\"WheelDropRight\":" + std::to_string(data.WheelDropRight) +
",\"CliffCenter\":" + std::to_string(data.CliffCenter) +
",\"CliffLeft\":" + std::to_string(data.CliffLeft) +
",\"CliffRight\":" + std::to_string(data.CliffRight) +
",\"EncoderLeft\":" + std::to_string(data.EncoderLeft) +
",\"EncoderRight\":" + std::to_string(data.EncoderRight) +
",\"PWMleft\":" + std::to_string(data.PWMleft) +
",\"PWMright\":" + std::to_string(data.PWMright) +
",\"ButtonPress1\":" + std::to_string(data.ButtonPress1) +
",\"ButtonPress2\":" + std::to_string(data.ButtonPress2) +
",\"ButtonPress3\":" + std::to_string(data.ButtonPress3) +
",\"Charger\":" + std::to_string(data.Charger) +
",\"Battery\":" + std::to_string(data.Battery) +
",\"overCurrent\":" + std::to_string(data.overCurrent) +
",\"IRSensorRight\":" + std::to_string(data.IRSensorRight) +
",\"IRSensorCenter\":" + std::to_string(data.IRSensorCenter) +
",\"IRSensorLeft\":" + std::to_string(data.IRSensorLeft) +
",\"GyroAngle\":" + std::to_string(data.GyroAngle) +
",\"GyroAngleRate\":" + std::to_string(data.GyroAngleRate) +
",\"CliffSensorRight\":" + std::to_string(data.CliffSensorRight) +
",\"CliffSensorCenter\":" + std::to_string(data.CliffSensorCenter) +
",\"CliffSensorLeft\":" + std::to_string(data.CliffSensorLeft) +
",\"wheelCurrentLeft\":" + std::to_string(data.wheelCurrentLeft) +
",\"wheelCurrentRight\":" + std::to_string(data.wheelCurrentRight) +
",\"digitalInput\":" + std::to_string(data.digitalInput) +
",\"analogInputCh0\":" + std::to_string(data.analogInputCh0) +
",\"analogInputCh1\":" + std::to_string(data.analogInputCh1) +
",\"analogInputCh2\":" + std::to_string(data.analogInputCh2) +
",\"analogInputCh3\":" + std::to_string(data.analogInputCh3) +
",\"frameId\":" + std::to_string(data.frameId) +
",\"extraInfo\":{\"HardwareVersionPatch\":" + std::to_string(data.extraInfo.HardwareVersionPatch) +
",\"HardwareVersionMinor\":" + std::to_string(data.extraInfo.HardwareVersionMinor) +
",\"HardwareVersionMajor\":" + std::to_string(data.extraInfo.HardwareVersionMajor) +
",\"FirmwareVersionPatch\":" + std::to_string(data.extraInfo.FirmwareVersionPatch) +
",\"FirmwareVersionMinor\":" + std::to_string(data.extraInfo.FirmwareVersionMinor) +
",\"FirmwareVersionMajor\":" + std::to_string(data.extraInfo.FirmwareVersionMajor) +
",\"UDID0\":" + std::to_string(data.extraInfo.UDID0) +
",\"UDID1\":" + std::to_string(data.extraInfo.UDID1) +
",\"UDID2\":" + std::to_string(data.extraInfo.UDID2) + "},\"gyroData\":[";
std::string json =
"{\"timestamp\":" + std::to_string(data.timestamp) +
",\"BumperCenter\":" + std::to_string(data.BumperCenter) +
",\"BumperLeft\":" + std::to_string(data.BumperLeft) +
",\"BumperRight\":" + std::to_string(data.BumperRight) +
",\"WheelDropLeft\":" + std::to_string(data.WheelDropLeft) +
",\"WheelDropRight\":" + std::to_string(data.WheelDropRight) +
",\"CliffCenter\":" + std::to_string(data.CliffCenter) +
",\"CliffLeft\":" + std::to_string(data.CliffLeft) +
",\"CliffRight\":" + std::to_string(data.CliffRight) +
",\"EncoderLeft\":" + std::to_string(data.EncoderLeft) +
",\"EncoderRight\":" + std::to_string(data.EncoderRight) +
",\"PWMleft\":" + std::to_string(data.PWMleft) +
",\"PWMright\":" + std::to_string(data.PWMright) +
",\"ButtonPress1\":" + std::to_string(data.ButtonPress1) +
",\"ButtonPress2\":" + std::to_string(data.ButtonPress2) +
",\"ButtonPress3\":" + std::to_string(data.ButtonPress3) +
",\"Charger\":" + std::to_string(data.Charger) +
",\"Battery\":" + std::to_string(data.Battery) +
",\"overCurrent\":" + std::to_string(data.overCurrent) +
",\"IRSensorRight\":" + std::to_string(data.IRSensorRight) +
",\"IRSensorCenter\":" + std::to_string(data.IRSensorCenter) +
",\"IRSensorLeft\":" + std::to_string(data.IRSensorLeft) +
",\"GyroAngle\":" + std::to_string(data.GyroAngle) +
",\"GyroAngleRate\":" + std::to_string(data.GyroAngleRate) +
",\"CliffSensorRight\":" + std::to_string(data.CliffSensorRight) +
",\"CliffSensorCenter\":" + std::to_string(data.CliffSensorCenter) +
",\"CliffSensorLeft\":" + std::to_string(data.CliffSensorLeft) +
",\"wheelCurrentLeft\":" + std::to_string(data.wheelCurrentLeft) +
",\"wheelCurrentRight\":" + std::to_string(data.wheelCurrentRight) +
",\"digitalInput\":" + std::to_string(data.digitalInput) +
",\"analogInputCh0\":" + std::to_string(data.analogInputCh0) +
",\"analogInputCh1\":" + std::to_string(data.analogInputCh1) +
",\"analogInputCh2\":" + std::to_string(data.analogInputCh2) +
",\"analogInputCh3\":" + std::to_string(data.analogInputCh3) +
",\"frameId\":" + std::to_string(data.frameId) +
",\"extraInfo\":{\"HardwareVersionPatch\":" +
std::to_string(data.extraInfo.HardwareVersionPatch) +
",\"HardwareVersionMinor\":" +
std::to_string(data.extraInfo.HardwareVersionMinor) +
",\"HardwareVersionMajor\":" +
std::to_string(data.extraInfo.HardwareVersionMajor) +
",\"FirmwareVersionPatch\":" +
std::to_string(data.extraInfo.FirmwareVersionPatch) +
",\"FirmwareVersionMinor\":" +
std::to_string(data.extraInfo.FirmwareVersionMinor) +
",\"FirmwareVersionMajor\":" +
std::to_string(data.extraInfo.FirmwareVersionMajor) +
",\"UDID0\":" + std::to_string(data.extraInfo.UDID0) +
",\"UDID1\":" + std::to_string(data.extraInfo.UDID1) +
",\"UDID2\":" + std::to_string(data.extraInfo.UDID2) + "},\"gyroData\":[";
if (!data.gyroData.empty()) {
const auto& latestGyro = data.gyroData.back();
json += "{\"x\":" + std::to_string(latestGyro.x) +
",\"y\":" + std::to_string(latestGyro.y) +
",\"z\":" + std::to_string(latestGyro.z) + "}";
}
if (!data.gyroData.empty()) {
const auto &latestGyro = data.gyroData.back();
json += "{\"x\":" + std::to_string(latestGyro.x) +
",\"y\":" + std::to_string(latestGyro.y) +
",\"z\":" + std::to_string(latestGyro.z) + "}";
}
json += "]}";
return json;
json += "]}";
return json;
}
//create extra function to send the message every 100ms
//needed it so it can be threaded
// create extra function to send the message every 100ms
// needed it so it can be threaded
void sendKobukiData(TKobukiData &data) {
while (true) {
client.publishMessage("kobuki/data", serializeKobukiData(data));

90
src/Python/flask/web/app.py
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@@ -4,6 +4,8 @@ from ultralytics import YOLO
import cv2
import numpy as np
import threading
import mysql.connector
import json
app = Flask(__name__)
@@ -47,6 +49,18 @@ def on_message(client, userdata, message):
cv2.rectangle(processed_image, (x1, y1), (x2, y2), (0, 255, 0), 2)
cv2.putText(processed_image, f"{class_name} {box.conf.item():.2f}", (x1, y1 - 10), cv2.FONT_HERSHEY_SIMPLEX, 0.9, (0, 255, 0), 2)
# Globale MQTT setup
def on_message(client,userdata, message):
global kobuki_message, latest_image
if message.topic == "kobuki/data":
kobuki_message = str(message.payload.decode("utf-8"))
with app.app_context():
sensor_data(kobuki_message) # Sla de data op in de database
elif message.topic == "kobuki/cam":
latest_image = message.payload
# Create an MQTT client instance
mqtt_client = mqtt.Client()
mqtt_client.username_pw_set("server", "serverwachtwoordofzo")
@@ -57,11 +71,32 @@ mqtt_client.subscribe("kobuki/cam")
mqtt_client.on_message = on_message # this line needs to be under the function definition otherwise it can't find which function it needs to use
mqtt_client.on_message = on_message # this line needs to be under the function definition otherwise it can't find which function it needs to use
# Database connectie-functie
def get_db():
if 'db' not in g: # 'g' is specifiek voor een request en leeft zolang een request duurt
g.db = mysql.connector.connect(
host="127.0.0.1",
port=3306,
user="admin",
password="kobuki",
database="kobuki"
)
return g.db
# Sluit de database na elke request
@app.teardown_appcontext
def close_db(error):
db = g.pop('db', None)
if db is not None:
db.close()
@app.route('/')
def index():
return render_template('index.html')
@app.route('/control', methods=["GET", "POST"])
def control():
if request.authorization and request.authorization.username == 'ishak' and request.authorization.password == 'kobuki':
@@ -69,7 +104,6 @@ def control():
else:
return ('Unauthorized', 401, {'WWW-Authenticate': 'Basic realm="Login Required"'})
@app.route('/move', methods=['POST'])
def move():
data = request.get_json()
@@ -77,10 +111,60 @@ def move():
# Verstuur de richting via MQTT
if direction:
mqtt_client.publish("home/commands", direction) # Het topic kan aangepast worden
mqtt_client.publish("home/commands", direction)
db_connection = get_db()
cursor = db_connection.cursor()
sql_command = "INSERT INTO command (command) VALUES (%s)"
cursor.execute(sql_command, (direction,))
db_connection.commit()
cursor.close()
db_connection.close()
return jsonify({"status": "success", "direction": direction})
@app.route("/database")
def database():
db = get_db()
cursor = db.cursor()
cursor.execute("SELECT * FROM kobuki_data")
rows = cursor.fetchall()
cursor.close()
return str(rows)
def sensor_data(kobuki_message):
try:
# Parse de JSON-string naar een Python-dictionary
data = json.loads(kobuki_message)
# Maak een lijst van tuples met de naam en waarde van elk veld
sensor_data_tuples = [(name, float(value)) for name, value in data.items() if isinstance(value, (int, float))]
# Extra informatie of nested data (zoals "extraInfo" of "gyroData") kun je apart verwerken
if "extraInfo" in data:
for key, value in data["extraInfo"].items():
sensor_data_tuples.append((f"extraInfo_{key}", float(value)))
if "gyroData" in data:
for i, gyro in enumerate(data["gyroData"]):
for axis, value in gyro.items():
sensor_data_tuples.append((f"gyroData_{i}_{axis}", float(value)))
# Database-insert
db = get_db()
cursor = db.cursor()
# Zorg dat je tabel `kobuki_data` kolommen heeft: `name` en `value`
sql_sensor = "INSERT INTO kobuki_data (name, value) VALUES (%s, %s)"
cursor.executemany(sql_sensor, sensor_data_tuples)
# Commit en sluit de cursor
db.commit()
cursor.close()
except json.JSONDecodeError as e:
print(f"JSON decode error: {e}")
except mysql.connector.Error as err:
print(f"Database error: {err}")
@app.route('/data', methods=['GET'])
def data():

8
src/Python/flask/web/static/script.js
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@@ -34,8 +34,7 @@ document.addEventListener("DOMContentLoaded", function() {
}
}
// Parse the data and show it on the website
async function parseData() {
// Parse the data and show it on the website
const data = await fetchData();
const sensorDataContainer = document.getElementById("sensor-data");
sensorDataContainer.innerHTML = ""; // Clear previous data
@@ -43,7 +42,7 @@ document.addEventListener("DOMContentLoaded", function() {
for (const [key, value] of Object.entries(data)) {
const dataElement = document.createElement("p");
dataElement.textContent = `${key}: ${value}`;
sensorDataContainer.appendChild(dataElement);
sensorDataContainer.appendChild(dataElement); // Voeg het element toe aan de container
}
}
@@ -58,4 +57,5 @@ document.addEventListener("DOMContentLoaded", function() {
// Update the image every 200 milliseconds
setInterval(updateImage, 100);
});
});

25
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@@ -0,0 +1,25 @@
# Etische aspecten van het project
## Visie op de ethische aspecten van het Kobuki-project
Etische aspecten zijn heel belangrijk in het project, al ben ik wel van mening dat je niet alles kan voorkomen en ook kan waarborgen.
## Privacy
Als je bijvoorbeeld kijkt naar het gedeelte privacy, dan is het heel moeilijk om te kijken wat je gaat doen met die gegevens. Ik ga een camera gebruiken op de robot om zo te kijken
waar de robot is en wat hij allemaal ziet. Als de robot in een brandende huis komt en dan een persoon ziet, is het wel belangrijk om die persoon goed te kunnen zien. Je zou dan niet kunnen zeggen dat je die persoon bijvoorbeeld moet vervagen, want je moet wel kunnen zien wat de status is van die persoon.
Ook is het dan belangrijk om te kijken wat je met die gegevens gaat doen, ga je ze opslaan voor eventuele later gebruik of verwijder je ze direct. Het is heel lastig te bepalen wanneer je op zo een moment privacy schendt.
## Betrouwbaarheid
Ik vind dat je de betrouwbaarheid van de robot wel moet waarborgen,
want als ik de robot in een brandend huis stuur en hij valt uit, dan kan dat heel gevaarlijk zijn voor de persoon die in dat huis zit. Daar vind ik dat je meer rekening mee moet houden dan met de privacy van de persoon. Het is de bedoeling dat de robot hulpmedewerkers gaat helpen en niet hun werk moeilijker maakt.
## Impact op hulpverleners & maatschappij
Als meerdere hulpmedewerkers de robot gaan gebruiken en het word een soort van standaard, dan is het wel belangrijk dat de robot betrouwbaar is en dat je erop kan vertrouwen. Het gaat immers om mensenlevens en dat is wel het belangrijkste. Het is uiteindelijk de bedoeling dat de robot hulpverleners zal helpen en niet hun werk lastiger moet maken. Als de robot een standaard hulpmiddel wordt moet hij wel gebruiksvriendelijk zijn en goed kunnen helpen. De robot moet ook zo goed mogelijk werken om zo de vertrouwen te behouden van de mensen. Als de robot fouten blijft maken en niet betrouwbaar is zullen minder mensen het gebruiken. Ik vind dan ook dat de gebruik van de robot heel transparant moet zijn. Hoe word de robot aangestuurd, hoe vergelijkt hij situaties en hoe hij daarmee omgaat.
Als je daar al heel duidelijk in bent bouw je al wat sneller vertrouwen van de mensen op.
Ik vind dat in dit project de ethische aspecten heel belangrijk zijn en dat je daar ook rekening mee moet houden.
Bij betrouwbaarheid en de impact die de robot kan hebben op de maatschappij en de hulpverleners moet je wel goed over nadenken.
Je werkt immers met mensenlevens en dat is wel het belangrijkste. Privacy is ook heel belangrijk, maar ik vind dat je daar wel wat soepeler mee om kan gaan.

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teamdocumentatie/Ishak/expert.md Normal file
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@@ -0,0 +1,7 @@
# feedback
- schrijf altijd in je code waarvan je de library importeert. Dit is handig voor jezelf en voor anderen die je code lezen.
- Meer comments in je code zouden handig zijn om te begrijpen wat je code doet.
- Database: timestamp voor wanneer je een record toevoegt in je command.
- Kobuki sensor data ook opslaan in de database.
-

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teamdocumentatie/Ishak/motivatie.md Normal file
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@@ -0,0 +1,21 @@
Motivation Letter
16/12/2024
Cognizant Digital StudioAttn. Hayo Rubingh
Subject: Internship Application Cognizant Digital Studio
Dear Mr. Rubingh,
With great enthusiasm, I am applying for the internship position at Cognizant Digital Studio in Amsterdam. As a second-year bachelor’s student in Technische Informatica(Computer Science) at Hogeschool Van Amsterdam, I am seeking a challenging internship where I can combine my technical skills with my passion for innovation. Cognizant’s focus IoT, and technology prototypes fits perfectly with my interests .
Throughout my studies, I have gained experience in software development, including Python and JavaScript, and have worked with IoT devices such as Arduino/ESP. What drives me is the opportunity to create and develop new solutions that can make life easier and more efficient. I am particularly interested in the field of IoT and the possibilities it offers for creating smart solutions. I am eager to learn more about the latest technologies and how they can be applied in real-world projects.
I am available to start in February 2025 and look forward to contributing to innovative projects.
I would be delighted to discuss my motivation and experience further in a personal interview. You can find my contact details in my CV. Thank you for considering my application. I am looking forward to hearing from you.
Yours sincerely,
Ishak Jmilou

64
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@@ -0,0 +1,64 @@
![alt text](images/image.png)
# Welke communicatieprotocol geeft de mogelijkheid om veilig en betrouwbaar te communiceren tussen IoT apparaten?
Auteur: Ishak Jmilou
Datum: 17-12-2024
---
## Inleiding
In dit verslag wordt er gekeken naar de verschillende communicatieprotocollen die gebruikt kunnen worden om veilig en betrouwbaar te communiceren tussen IoT apparaten. Er wordt gekeken naar de verschillende protocollen en de voor- en nadelen van elk protocol.
---
# Samenvatting
In dit verslag worden de communicatieprotocollen MQTT, HTTP, WebSockets en CoAP vergeleken op het gebied van veilige en betrouwbare communicatie tussen IoT-apparaten. Veilige communicatie omvat gegevensversleuteling en authenticatie, terwijl betrouwbaarheid verwijst naar het verzenden en ontvangen van gegevens zonder verlies. Op basis van deze overwegingen wordt MQTT aanbevolen voor situaties waar zowel veiligheid als betrouwbaarheid cruciaal zijn in IoT-communicatie.
## 1. Wat houdt veilige en betrouwbare communicatie tussen apparaten in?
Als je werkt met IoT-apparaten, is het belangrijk dat de communicatie tussen deze apparaten veilig en betrouwbaar is. Iot-apparaten verzamelen gegevens over de omgeving en communiceert deze tussen apparaten over het internet. Als deze communicatie niet veilig is, kunnen hackers deze gegevens onderscheppen en gebruiken(Ministerie van Algemene Zaken, 2022). Je wilt voorkomen dat hackers toegang krijgen tot gevoelige informatie zoals persoonlijke gegevens of bedrijfsgeheimen. Daarom is het belangrijk dat de communicatie tussen apparaten veilig en betrouwbaar is. Een protocol is een set regels die bepalen hoe apparaten met elkaar communiceren. Er zijn verschillende protocollen die gebruikt kunnen worden om veilig en betrouwbaar te communiceren tussen IoT-apparaten.
## 2. Welke protocollen zijn er om veilig en betrouwbaar te communiceren tussen apparaten?
Een communicatieprotocol is een set regels die bepalen hoe apparaten met elkaar communiceren(Paul Christiano, 2023). Er is voor elk project een ander protocol dat het beste past. In dit geval is het belangrijk dat de communicatie veilig en betrouwbaar is. De protocollen die ik ga vergelijken zijn MQTT, HTTP, WebSockets en CoAP. Wat belangrijk is om te onderzoeken is hoe de protocollen omgaan met veiligheid en betrouwbaarheid. Veiligheid kan worden bereikt door gegevens te versleutelen en te authenticeren. Betrouwbaarheid kan worden bereikt door gegevens te verzenden en te ontvangen zonder verlies.(Paul Christiano, 2023).
## 3. Wat zijn de voor- en nadelen van de verschillende protocollen?
![alt text](image.png)
Zoals te zien is in de tabel is CoAP minder betrouwbaar dan de andere protocollen. Dit komt, omdat CoAP gebruik maakt van UDP wat ervoor zorgt dat het sneller is maar niet betrouwbaar met de berichten die hij stuurt(Darek Fanton, 2023). Websockets is een goede protocol alleen is het niet altijd geschikt voor lichtgewicht apparaten. HTTP maakt gebruik van TCP wat betrouwbaar is, maar het nadeel van HTTP is dat het elke keer een nieuwe verbinding moet maken. Dit kan een probleem zijn als je veel berichten moet versturen. MQTT is een lichtgewicht protocol dat betrouwbaar is en verschillende niveaus van kwaliteit van de berichten ondersteunt. Het is ook mogelijk om gegevens te versleutelen en te authenticeren met MQTT. Dit maakt het een goede keuze voor veilige en betrouwbare communicatie tussen IoT-apparaten.
## 4. Conclusie
Er zijn verschillende protocollen die goed gebruikt kunnen worden voor IoT apparaten. Aangezien voor mijn project veiligheid en betrouwbaarheid op één staat heb ik gekozen voor MQTT. Dit protocol is lichtgewicht, betrouwbaar en ondersteunt verschillende niveaus van kwaliteit van de berichten. Het is ook mogelijk om gegevens te versleutelen en te authenticeren met MQTT. Dit maakt het een goede keuze voor veilige en betrouwbare communicatie tussen IoT-apparaten.
## literatuurlijst
- Singh, S., & Jyoti. (2024, June 7). Secure Communications Protocols for IoT networks: a survey. https://journal.ijprse.com/index.php/ijprse/article/view/1082
- Nguyen, K. T., Laurent, M., Oualha, N., CEA, & Institut Mines-Telecom. (2015). Survey on secure communication protocols for the Internet of Things. In Ad Hoc Networks (Vol. 32, pp. 17–31) [Journal-article]. http://dx.doi.org/10.1016/j.adhoc.2015.01.006
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