From dd39bd30219f4f1247337241b485450070dd277a Mon Sep 17 00:00:00 2001
From: Sam Hos <sam.hos@hva.nl>
Date: Mon, 2 Dec 2024 13:44:15 +0100
Subject: [PATCH] fixed mqtt and sockets and reverse proxy after 5 hours

---
 src/C++/Driver/src/KobukiDriver/CKobuki.h |  1 -
 src/C++/Driver/src/MQTT/MqttClient.cpp    |  1 +
 src/C++/Driver/src/main.cpp               | 14 +++++++++-----
 src/Python/flask/web/app.py               |  2 +-
 src/config/nginx-sites.conf               | 22 ++++++++++++++++++++++
 src/config/nginx.conf                     |  7 +++++++
 6 files changed, 40 insertions(+), 7 deletions(-)
 create mode 100644 src/config/nginx-sites.conf
 create mode 100644 src/config/nginx.conf

diff --git a/src/C++/Driver/src/KobukiDriver/CKobuki.h b/src/C++/Driver/src/KobukiDriver/CKobuki.h
index 0567df1..a3fb1c1 100755
--- a/src/C++/Driver/src/KobukiDriver/CKobuki.h
+++ b/src/C++/Driver/src/KobukiDriver/CKobuki.h
@@ -31,7 +31,6 @@
 #include <chrono>
 #include <sstream>
 #include "KobukiParser.h"
-#include "graph.h"
 
 using namespace std;
 
diff --git a/src/C++/Driver/src/MQTT/MqttClient.cpp b/src/C++/Driver/src/MQTT/MqttClient.cpp
index 7386cb2..50940bb 100644
--- a/src/C++/Driver/src/MQTT/MqttClient.cpp
+++ b/src/C++/Driver/src/MQTT/MqttClient.cpp
@@ -5,6 +5,7 @@ MqttClient::MqttClient(const std::string& address, const std::string& clientId,
     //here all the @PARAMS are getting set for the connection
     : client_(address, clientId), username_(username), password_(password), callback_(*this) {
     client_.set_callback(callback_);
+    
     options.set_clean_session(true);
     options.set_mqtt_version(MQTTVERSION_3_1_1);  // For MQTT 3.1.1
     if (!username_.empty() && !password_.empty()) {
diff --git a/src/C++/Driver/src/main.cpp b/src/C++/Driver/src/main.cpp
index b1ba02f..727b6c4 100644
--- a/src/C++/Driver/src/main.cpp
+++ b/src/C++/Driver/src/main.cpp
@@ -1,7 +1,7 @@
 #include <iostream>
 #include <cmath>
 #include <thread>
-#include "KobukiDriver/graph.h"
+#include <cstdlib> // For unsetenv
 #include "MQTT/MqttClient.h"
 #include "KobukiDriver/CKobuki.h"
 
@@ -10,7 +10,7 @@ CKobuki robot;
 std::string readMQTT();
 void parseMQTT(std::string message);
 //ip, clientID, username, password
-MqttClient client("mqtt://145.92.224.21:1884", "KobukiRPI", "rpi", "rpiwachtwoordofzo"); // create a client object
+MqttClient client("ws://145.92.224.21/ws/", "KobukiRPI", "rpi", "rpiwachtwoordofzo"); // create a client object
 std::string message = "stop";
 std::string serializeKobukiData(const TKobukiData &data);
 void sendKobukiData(TKobukiData &data);
@@ -18,24 +18,27 @@ void sendKobukiData(TKobukiData &data);
 void setup()
 {
     unsigned char *null_ptr(0);
-    robot.startCommunication("/dev/ttyUSB0", true, null_ptr);
+    // robot.startCommunication("/dev/ttyUSB0", true, null_ptr);
     //connect mqtt server and sub to commands
+
     client.connect();
     client.subscribe("home/commands");
 }
 
 int main()
 {
+    // Unset the http_proxy environment variable
+
+
     setup();
     std::thread safety([&]() { robot.robotSafety(&message); });
     std::thread sendMqtt([&]() { sendKobukiData(robot.parser.data); });
     
     while(true){
-    parseMQTT(readMQTT());
+        parseMQTT(readMQTT());
     }
     sendMqtt.join();
     safety.join();
-    return 0;
 }
 
 std::string readMQTT()
@@ -270,6 +273,7 @@ std::string serializeKobukiData(const TKobukiData &data) {
 void sendKobukiData(TKobukiData &data) {
     while (true) {
         client.publishMessage("kobuki/data", serializeKobukiData(data));
+        std::cout << "Sent data" << std::endl;
         std::this_thread::sleep_for(std::chrono::milliseconds(1000));
     }
 }
diff --git a/src/Python/flask/web/app.py b/src/Python/flask/web/app.py
index 60ddd63..4864394 100644
--- a/src/Python/flask/web/app.py
+++ b/src/Python/flask/web/app.py
@@ -10,7 +10,7 @@ def on_message(client, userdata, message):
 # Create an MQTT client instance
 mqtt_client = mqtt.Client()
 mqtt_client.username_pw_set("server", "serverwachtwoordofzo")
-mqtt_client.connect("localhost", 1884, 60)
+mqtt_client.connect("145.92.224.21/ws", 80, 60)
 mqtt_client.loop_start()
 mqtt_client.subscribe("kobuki/data")
 mqtt_client.on_message = on_message # this lines needs to be under the function definition otherwise it cant find which function it needs to use
diff --git a/src/config/nginx-sites.conf b/src/config/nginx-sites.conf
new file mode 100644
index 0000000..e213464
--- /dev/null
+++ b/src/config/nginx-sites.conf
@@ -0,0 +1,22 @@
+server {
+    listen 80;
+    server_name 145.92.224.21;
+
+    # Proxy WebSocket connections for MQTT
+    location /ws/ {
+        proxy_pass http://localhost:9001;
+        proxy_http_version 1.1;
+        proxy_set_header Upgrade $http_upgrade;
+        proxy_set_header Connection "upgrade";
+        proxy_set_header Host $host;
+    }
+
+    # Proxy HTTP connections for Flask
+    location / {
+        proxy_pass http://localhost:5000;
+        proxy_set_header Host $host;
+        proxy_set_header X-Real-IP $remote_addr;
+        proxy_set_header X-Forwarded-For $proxy_add_x_forwarded_for;
+        proxy_set_header X-Forwarded-Proto $scheme;
+    }
+}
diff --git a/src/config/nginx.conf b/src/config/nginx.conf
new file mode 100644
index 0000000..0f13dc0
--- /dev/null
+++ b/src/config/nginx.conf
@@ -0,0 +1,7 @@
+stream {
+    server {
+        listen 9001;
+        proxy_pass localhost:8080;
+    }
+}
+