updated set up docs

opencv camera logic rewrite

See merge request technische-informatica-sm3/ti-projectten/rooziinuubii79!5

.gitignore

@@ -13,7 +13,7 @@ src/Socket/a.out
 src/C++/Driver/cmake_install.cmake
 src/C++/Socket/a.out
 src/C++/Driver/Makefile
-src/C++/Driver/vgcore*
+vgcore*
 src/C++/Driver/cmake_install.cmake
 src/C++/Driver/Makefile
 src/C++/Driver/log
@@ -31,3 +31,5 @@ CMakeFiles/
 Makefile
 CMakeCache.txt
 cmake_install.cmake
+src/C++/OpenCV/main
+.vs

README.md

@@ -1,93 +1,70 @@
-# TI-project
-
-
-
-## Getting started
-
-To make it easy for you to get started with GitLab, here's a list of recommended next steps.
-
-Already a pro? Just edit this README.md and make it your own. Want to make it easy? [Use the template at the bottom](#editing-this-readme)!
-
-## Add your files
-
-- [ ] [Create](https://docs.gitlab.com/ee/user/project/repository/web_editor.html#create-a-file) or [upload](https://docs.gitlab.com/ee/user/project/repository/web_editor.html#upload-a-file) files
-- [ ] [Add files using the command line](https://docs.gitlab.com/ee/gitlab-basics/add-file.html#add-a-file-using-the-command-line) or push an existing Git repository with the following command:
-
-```
-cd existing_repo
-git remote add origin https://gitlab.fdmci.hva.nl/technische-informatica-sm3/ti-project.git
-git branch -M main
-git push -uf origin main
-```
-
-## Integrate with your tools
-
-- [ ] [Set up project integrations](https://gitlab.fdmci.hva.nl/technische-informatica-sm3/ti-project/-/settings/integrations)
-
-## Collaborate with your team
-
-- [ ] [Invite team members and collaborators](https://docs.gitlab.com/ee/user/project/members/)
-- [ ] [Create a new merge request](https://docs.gitlab.com/ee/user/project/merge_requests/creating_merge_requests.html)
-- [ ] [Automatically close issues from merge requests](https://docs.gitlab.com/ee/user/project/issues/managing_issues.html#closing-issues-automatically)
-- [ ] [Enable merge request approvals](https://docs.gitlab.com/ee/user/project/merge_requests/approvals/)
-- [ ] [Set auto-merge](https://docs.gitlab.com/ee/user/project/merge_requests/merge_when_pipeline_succeeds.html)
-
-## Test and Deploy
-
-Use the built-in continuous integration in GitLab.
-
-- [ ] [Get started with GitLab CI/CD](https://docs.gitlab.com/ee/ci/quick_start/index.html)
-- [ ] [Analyze your code for known vulnerabilities with Static Application Security Testing (SAST)](https://docs.gitlab.com/ee/user/application_security/sast/)
-- [ ] [Deploy to Kubernetes, Amazon EC2, or Amazon ECS using Auto Deploy](https://docs.gitlab.com/ee/topics/autodevops/requirements.html)
-- [ ] [Use pull-based deployments for improved Kubernetes management](https://docs.gitlab.com/ee/user/clusters/agent/)
-- [ ] [Set up protected environments](https://docs.gitlab.com/ee/ci/environments/protected_environments.html)
-
-***
-
-# Editing this README
-
-When you're ready to make this README your own, just edit this file and use the handy template below (or feel free to structure it however you want - this is just a starting point!). Thanks to [makeareadme.com](https://www.makeareadme.com/) for this template.
-
-## Suggestions for a good README
-
-Every project is different, so consider which of these sections apply to yours. The sections used in the template are suggestions for most open source projects. Also keep in mind that while a README can be too long and detailed, too long is better than too short. If you think your README is too long, consider utilizing another form of documentation rather than cutting out information.
-
-## Name
-Choose a self-explaining name for your project.
+# TI-project - exploration robot Kobuki
 
 ## Description
-Let people know what your project can do specifically. Provide context and add a link to any reference visitors might be unfamiliar with. A list of Features or a Background subsection can also be added here. If there are alternatives to your project, this is a good place to list differentiating factors.
+This project is a kobuki that drives around in dangerous areas and detects objects in its path. It uses a camera to detect objects. The purpose of this project is to explore dangerous areas without risking human lives. You are able to control the robot using controller on the website. 
 
-## Badges
-On some READMEs, you may see small images that convey metadata, such as whether or not all the tests are passing for the project. You can use Shields to add some to your README. Many services also have instructions for adding a badge.
-
-## Visuals
-Depending on what you are making, it can be a good idea to include screenshots or even a video (you'll frequently see GIFs rather than actual videos). Tools like ttygif can help, but check out Asciinema for a more sophisticated method.
+## Photos
+![Kobuki](/docs/assets/KobukiPhoto.jpg)
 
 ## Installation
-Within a particular ecosystem, there may be a common way of installing things, such as using Yarn, NuGet, or Homebrew. However, consider the possibility that whoever is reading your README is a novice and would like more guidance. Listing specific steps helps remove ambiguity and gets people to using your project as quickly as possible. If it only runs in a specific context like a particular programming language version or operating system or has dependencies that have to be installed manually, also add a Requirements subsection.
 
-## Usage
-Use examples liberally, and show the expected output if you can. It's helpful to have inline the smallest example of usage that you can demonstrate, while providing links to more sophisticated examples if they are too long to reasonably include in the README.
+### Requirements
 
-## Support
-Tell people where they can go to for help. It can be any combination of an issue tracker, a chat room, an email address, etc.
+- Kobuki robot
+- Raspberry Pi (minimum 3B)
+- Camera
+- power supply for Raspberry Pi
+- laptop or computer
 
-## Roadmap
-If you have ideas for releases in the future, it is a good idea to list them in the README.
+### Steps
 
-## Contributing
-State if you are open to contributions and what your requirements are for accepting them.
+1. **Install Python and Pip**
+   - Ensure you have Python installed on your system. You can download it from [python.org](https://www.python.org/).
+   - Pip is the package installer for Python. It usually comes with Python, but you can install it separately if needed.
 
-For people who want to make changes to your project, it's helpful to have some documentation on how to get started. Perhaps there is a script that they should run or some environment variables that they need to set. Make these steps explicit. These instructions could also be useful to your future self.
+2. **Clone Our Repository**
+    - Clone our repository to your local machine doing the following :
+        - Open your terminal
+        - Change the current working directory to the location where you want the cloned directory.
+        - Type `git clone https://gitlab.fdmci.hva.nl/technische-informatica-sm3/ti-projectten/rooziinuubii79.git
+  
+3. **Install the required packages**
+    - Install the following packages on the server: "docker docker-buildx mosquitto nginx"
+    - Install the following packages on the Raspberry Pi: "g++ make cmake libopencv-dev libssl-dev", https://github.com/eclipse-paho/paho.mqtt.c, https://github.com/eclipse-paho/paho.mqtt.cpp 
+
+
+
+4. **Run the project**
+
+    #### Server side
+    - Run the following commands in the terminal to start the website:
+        - `cd src/Python/flask`
+        - `sudo docker buildx build -t flaskapp:latest .`
+        - `sudo docker run --network="host" --restart=always flaskapp:latest`
+    - Run the following commands in the terminal to start the MQTT broker:
+        - `cd src/config/server/`
+        - `mosquitto -c mosquitto.conf`
+    - Run the following commands in the terminal to start the Nginx server:
+        - `cd src/config/server/`
+        -  `cp nginx.conf /etc/nginx/nginx.conf`
+        -  `cp nginx-sites.conf /etc/nginx/sites-enable/nginx-sites.conf`
+
+
+    #### Raspberry Pi side
+    - Run the following commands to build and start the driver:
+        - `cd src/C++/Driver`
+        - `cmake ..`
+        - `make`
+        - `./kobuki_driver`
+    - Run the following commands to autostart the driver on startup of the Raspberry Pi:
+        - `cd src/config/rpi/`
+        - `cp kobukiDriver.service /etc/systemd/system/kobukiDriver.service`
+        - `systemctl enable kobukiDriver.service`
+        - `systemctl start kobukiDriver.service`
+
+## Extra notes
+Dont forget to change the IP address in the `src/C++/Driver/src/main.cpp` file to the IP address of the server.
 
-You can also document commands to lint the code or run tests. These steps help to ensure high code quality and reduce the likelihood that the changes inadvertently break something. Having instructions for running tests is especially helpful if it requires external setup, such as starting a Selenium server for testing in a browser.
 
-## Authors and acknowledgment
-Show your appreciation to those who have contributed to the project.
 
-## License
-For open source projects, say how it is licensed.
 
-## Project status
-If you have run out of energy or time for your project, put a note at the top of the README saying that development has slowed down or stopped completely. Someone may choose to fork your project or volunteer to step in as a maintainer or owner, allowing your project to keep going. You can also make an explicit request for maintainers.

docs/Infrastructure/system-services.md

@@ -0,0 +1,51 @@
+# Systemd Services
+
+# What is a service
+A service is a program or script that runs in the background and is managed by the system. Services are started at boot time and run until the system is shut down. Services can be started, stopped, and restarted by the system administrator.
+
+# How to manage services on systemD
+
+## Starting a service
+To start a service, use the `systemctl start` command followed by the service name. For example, to start the `apache2` service, use the following command:
+
+```bash
+sudo systemctl start apache2
+```
+
+## Stopping a service
+To stop a service, use the `systemctl stop` command followed by the service name. For example, to stop the `apache2` service, use the following command:
+
+```bash
+sudo systemctl stop apache2
+```
+
+## Restarting a service
+To restart a service, use the `systemctl restart` command followed by the service name. For example, to restart the `apache2` service, use the following command:
+
+```bash
+sudo systemctl restart apache2
+```
+
+## Enabling a service
+To enable a service to start at boot time, use the `systemctl enable` command followed by the service name. For example, to enable the `apache2` service, use the following command:
+
+```bash
+sudo systemctl enable apache2
+```
+
+## Creating a new service
+To create a new service, you need to create a new service file in the `/etc/systemd/system/` directory. The service file should have a `.service` extension and contain the following sections:
+
+### Example service file:
+
+```bash
+[Unit]
+Description=FlaskApp #description of the service
+After=network.target #start the service after the network is up
+
+[Service]
+User=ishak #start the service as a specific user
+WorkingDirectory=/home/ishak/rooziinuubii79/src/Python/flask/web/ #working directory of the service
+ExecStart=/usr/bin/gunicorn -w 3 -b 127.0.0.1:5000 app:app #command to start the service
+```
+

docs/code/Mqtt.md

@@ -0,0 +1,50 @@
+# MQTT
+
+## What is MQTT?
+MQTT is a lightweight messaging protocol made for IOT devices. It allows efficient communication between IoT devices, servers, and applications by allowing them to
+publish and subscribe to messages.
+
+
+## How to connect
+To connect to a MQTT server you need to create a instance of the class.
+
+Example:
+```cpp
+// server adress, Client ID, Client Username, Client Password
+MqttClient client("ws://145.92.224.21/ws/", "KobukiRPI", "rpi", "rpiwachtwoordofzo"); // create a client object
+```
+Later in the setup function you need to call ```client.connect();``` to connect to the mqtt server.
+```cpp
+    client.connect();
+```
+
+When you've connected and the instance is initiated you can subscribe to topics or send messages to topics.
+
+
+## Subscribing and receiving messages
+Example subscribing to a topic:
+```cpp
+void setup(){
+    client.subscribe("home/commands");
+}
+```
+
+Example receiving latest message from a topic:
+```cpp
+std::string foo(){
+    std::string latestMqttMessage = "";
+    latestMqttMessage = client.getLastMessage();
+    return latestMqttMessage;
+}
+```
+
+If you want to subscribe to mulitple topics you need to initiate multiple instances of the mqtt class.
+
+## Publishing messages
+Example publishing a message:
+```cpp
+void foo(std::string Message){
+    //channel, payload
+    client.publishMessage("kobuki/example", Message);
+}
+```

docs/code/OpenCV.md

@@ -0,0 +1,69 @@
+# OpenCV
+## Requirements
+We want that the camera we want it to detect what is happening on the video feed and identify it so it can identify dangers.    
+
+## Issues
+* OpenCL not grabbing gpu
+* Solution: https://github.com/Smorodov/Multitarget-tracker/issues/93
+
+## Installation
+### Dependencies
+* glew (for openGL)
+* opencv C++ lib
+
+How to install OpenCV
+```bash
+ sudo apt-get install libopencv-dev
+```
+
+## Code explanation
+
+### Opening the camera with OpenCV
+```cpp
+    VideoCapture cap(0);     //Open the default camera (0), points to /dev/video0. You could also change the number to the preferred camera
+    if (!cap.isOpened()) { //if camera is not opened throw a error message
+        cerr << "Error: Could not open camera" << endl;
+        return;
+    }
+```
+
+## Taking a picture and storing it in a variable
+```cpp
+    Mat frame; //create a new Matrix variable called frame
+    while (true) {
+        cap >> frame; // Capture a new image frame. 
+        if (frame.empty()) { //if the variable frame is not filled return a error
+            cerr << "Error: Could not capture image" << endl;
+            continue;
+        }
+```
+
+## Encoding the image for sending it over MQTT
+```cpp
+        vector<uchar> buf; //create a dyanmic buffer for the image 
+        imencode(".jpg", frame, buf); //encode the image to the buffer
+        auto* enc_msg = reinterpret_cast<unsigned char*>(buf.data());
+```
+
+```cpp
+
+void CapnSend() {
+
+
+
+
+        // Convert the image to a byte array
+
+
+        // Publish the image data
+        client.publishMessage("kobuki/cam", string(enc_msg, enc_msg + buf.size()));
+        cout << "Sent image" << endl;
+
+        std::this_thread::sleep_for(std::chrono::milliseconds(300)); // Send image every 1000ms
+    }
+}
+```
+
+
+## Sources
+* https://github.com/UnaNancyOwen/OpenCVDNNSample/tree/master

docs/code/kobuki-driver.md

@@ -0,0 +1,25 @@
+# Kobuki driver 
+
+## How do i communicate with the kobuki
+You can communicate with the kobuki by usb serial or the big serial port on the front. We chose the usb port paired with a raspberry Pi.
+
+The Kobuki sends a message every 200ms with a baudrate of 115200. It sends all the sensordata and the message always starts with the same 2 bytes 0xAA and 0x55.
+
+## Kobuki payloads
+To communicate with the kobuki we need to send payloads to the kobuki. These are structured the same as the payloads that the kobuki sends.
+
+```cpp
+  unsigned char KobukiPayload[11] = {
+      0xaa,               // Start byte 1
+      0x55,               // Start byte 2
+      0x08,               // Payload length (the first 2 bytes dont count)
+      0x01,               // payload type (0x01 = control command)
+      0x04,               // Control byte or additional identifier
+      actual_speed % 256, // Lower byte of speed value (max actual_speed 1024)
+      actual_speed >> 8,  // Upper byte of speed value
+      0x00,               // Placeholder for radius
+      0x00,               // Placeholder for radius
+      0x00                // Placeholder for checksum (will be applied later)
+  };
+```
+You can also find the documentation about the payloads on the kobuki website

docs/code/kobuki-reconnect.md

@@ -0,0 +1,78 @@
+# Kobuki automatische reconnect
+
+Mijn taak was om de kobuki automatisch te reconnecten als de verbinding verbroken werd met de pi. nu moet je telkens handmatig de pi laten connecten met de kobuki, dit is niet handig als iemand niet weet hoe dit moet. 
+
+De connectie word gemaakt met ttyUSB0. Dat is de eerste poort die wij kunnen gebruiken voor de kobuki. 
+
+```cpp
+  robot.startCommunication("/dev/ttyUSB0", true, null_ptr);
+```
+
+ik heb een functie gemaakt die kijkt of de pi nog is verbonden aan de kobuki. in de if statement kijkt hij elke 5 seconden of de ttyusb0 poort beschikbaar is. 
+
+```cpp
+void checkKobukiConnection()
+{
+    while (true)
+    {
+        std::lock_guard<std::mutex> lock(connectionMutex);
+
+        // Controleer of het apparaat beschikbaar is
+        if (!std::ifstream("/dev/ttyUSB0")){
+            if (kobuki_connected){
+                cout << "Kobuki disconnected: USB device not found." << endl;
+                kobuki_connected = false;
+            }
+            std::this_thread::sleep_for(std::chrono::seconds(5));
+            continue; // Probeer later opnieuw
+        }
+```	
+
+Hier kijk ik dan of de kobuki is geconnect, zoniet dan moet ie weer connecten met ttyUSB0
+
+```cpp
+ // Controleer of de Kobuki verbonden is
+        if (!robot.isConnected()){
+            if (kobuki_connected){
+                cout << "Kobuki disconnected." << endl;
+                kobuki_connected = false;
+            }
+
+            cout << "Attempting to reconnect Kobuki..." << endl;
+            robot.startCommunication("/dev/ttyUSB0", true, nullptr);
+
+            if (robot.isConnected()){
+                cout << "Kobuki reconnected successfully!" << endl;
+                kobuki_connected = true;
+            }
+            else{
+                cout << "Failed to reconnect Kobuki, retrying in 5 seconds..." << endl;
+            }
+        }
+```        
+
+Nu heb ik het probleem dat als ik de kabel eruit steek en terug in de kobuki stop dat de pi niet meer wil connecten. Dit komt omdat het systeem denkt dat de poort "ttyUSB0" nog steeds gebruikt word. Als ik de kabel dan terug stop word de poort "ttyUSB1" gebruikt, omdat ttyusb0 niet word vrijgegeven.
+
+```bash
+ishak@raspberrypi:~ $ dmesg | tail -n 20
+[10516.084132] usb 1-1.3: Product: iClebo Kobuki
+[10516.084144] usb 1-1.3: Manufacturer: Yujin Robot
+[10516.084155] usb 1-1.3: SerialNumber: kobuki_AI02MQMK
+[10516.091210] ftdi_sio 1-1.3:1.0: FTDI USB Serial Device converter detected
+[10516.091414] usb 1-1.3: Detected FT232R
+[10516.099169] usb 1-1.3: FTDI USB Serial Device converter now attached to ttyUSB1
+[10574.100491] usb 1-1.3: USB disconnect, device number 34
+[10574.101596] ftdi_sio ttyUSB1: FTDI USB Serial Device converter now disconnected from ttyUSB1
+[10574.101735] ftdi_sio 1-1.3:1.0: device disconnected
+[10579.697816] usb 1-1.3: new full-speed USB device number 35 using dwc_otg
+[10579.829776] usb 1-1.3: New USB device found, idVendor=0403, idProduct=6001, bcdDevice= 6.00
+[10579.829821] usb 1-1.3: New USB device strings: Mfr=1, Product=2, SerialNumber=3
+[10579.829836] usb 1-1.3: Product: iClebo Kobuki
+[10579.829848] usb 1-1.3: Manufacturer: Yujin Robot
+[10579.829860] usb 1-1.3: SerialNumber: kobuki_AI02MQMK
+[10579.840148] ftdi_sio 1-1.3:1.0: FTDI USB Serial Device converter detected
+[10579.840351] usb 1-1.3: Detected FT232R
+[10579.842208] usb 1-1.3: FTDI USB Serial Device converter now attached to ttyUSB1
+[10612.745819] hwmon hwmon1: Voltage normalised
+[10614.761829] hwmon hwmon1: Undervoltage detected!
+```

src/C++/Driver/src/KobukiDriver/CKobuki.cpp

@@ -499,32 +499,6 @@ void CKobuki::doRotation(long double th) {
   usleep(25 * 1000);
 }
 
-// combines navigation to a coordinate and rotation by an angle, performs
-// movement to the selected coordinate in the robot's coordinate system
-void CKobuki::goToXy(long double xx, long double yy) {
-  long double th;
-
-  yy = yy * -1;
-
-  th = atan2(yy, xx);
-  doRotation(th);
-
-  long double s = sqrt(pow(xx, 2) + pow(yy, 2));
-
-  // resetnem suradnicovu sustavu robota
-  x = 0;
-  y = 0;
-  iterationCount = 0;
-  theta = 0;
-
-  // std::cout << "mam prejst: " << s << "[m]" << std::endl;
-
-  goStraight(s);
-
-  usleep(25 * 1000);
-  return;
-}
-
 /// @brief Makes the robot move forward for 3 seconds
 /// @param speedvalue How fast it will drive forward from 0 - 1024
 void CKobuki::forward(int speedvalue) {
@@ -592,7 +566,7 @@ void CKobuki::robotSafety(std::string *pointerToMessage) {
         parser.data.CliffCenter || parser.data.CliffRight) {
       std::cout << "Safety condition triggered!" << std::endl; // Debug print
       *pointerToMessage = "estop";
-      forward(-100); // reverse the robot
+      forward(-300); // reverse the robot
     }
     std::this_thread::sleep_for(std::chrono::milliseconds(static_cast<int>(100)));
   }
@@ -606,8 +580,10 @@ void CKobuki::robotSafety() {
         parser.data.BumperRight || parser.data.CliffLeft ||
         parser.data.CliffCenter || parser.data.CliffRight) {
       std::cout << "Safety condition triggered!" << std::endl; // Debug print
-      forward(-100); // reverse the robot
+      forward(-300); // reverse the robot
     }
+    std::this_thread::sleep_for(std::chrono::milliseconds(static_cast<int>(100)));
+
   }
 }
 

src/C++/Driver/src/KobukiDriver/CKobuki.h

@@ -31,7 +31,6 @@
 #include <chrono>
 #include <sstream>
 #include "KobukiParser.h"
-#include "graph.h"
 
 using namespace std;
 

src/C++/Driver/src/KobukiDriver/KobukiParser.cpp

@@ -2,6 +2,8 @@
 #include <iostream>
 //moet checkenvalue gebruiken of moet kijken naar de payloadlength welke dingen er extra zijn
 int KobukiParser::parseKobukiMessage(TKobukiData &output, unsigned char *data) {
+    std::this_thread::sleep_for(std::chrono::milliseconds(static_cast<int>(20))); //avoid busy waiting. The kobuki sends a message every 20ms
+
     int rtrnvalue = checkChecksum(data);
     if (rtrnvalue != 0) {
         // std::cerr << "Invalid checksum" << std::endl;

src/C++/Driver/src/KobukiDriver/KobukiParser.h

@@ -2,6 +2,8 @@
 #define KOBUKIPARSER_H
 
 #include <vector>
+#include <thread>
+
 
 struct TRawGyroData {
     int x, y, z;

src/C++/Driver/src/KobukiDriver/graph.h

@@ -1,71 +0,0 @@
-#ifndef GRAPH1010
-#define GRAPH1010
-#include <stdio.h>
-#include <stdlib.h>
-#include <vector>
-
-using namespace std;
-#define GRAPH_ENABLED true
-
-class plot {
-public:
- FILE *gp;
- bool enabled,persist;
- plot(bool _persist=false,bool _enabled=GRAPH_ENABLED) {
- enabled=_enabled;
- persist=_persist;
-  if (enabled) {
-	if(persist)
-		  gp=popen("gnuplot -persist","w");
-	else
-		  gp=popen("gnuplot","w");
-  }
- }
-
- void plot_data(vector<float> x,const char* style="points",const char* title="Data") {
- if(!enabled)
-	return;
-  fprintf(gp,"set title '%s' \n",title);
-  fprintf(gp,"plot '-' w %s \n",style);
-  for(int k=0;k<x.size();k++) {
-   fprintf(gp,"%f\n",x[k]);
-  }
-  fprintf(gp,"e\n");
-  fflush(gp);
- }
-
- void plot_data(vector<float> x,vector<float> y,const char* style="points",const char* title="Data") {
- if(!enabled)
-	return;
-  fprintf(gp,"set title '%s' \n",title);
-  fprintf(gp,"plot '-' w %s \n",style);
-  for(int k=0;k<x.size();k++) {
-   fprintf(gp,"%f %f \n",x[k],y[k]);
-  }
-  fprintf(gp,"e\n");
-  fflush(gp);
- }
-
- ~plot() {
-  if(enabled)
-  pclose(gp);
- }
- 
-};
-
-/*
-int main(int argc,char **argv) {
- plot p;
- for(int a=0;a<100;a++) {
- vector<float> x,y;
- for(int k=a;k<a+200;k++) {
-   x.push_back(k);
-   y.push_back(k*k);
- }
-  p.plot_data(x,y);
- }
- return 0;
-}
-*/
-
-#endif

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()) {
@@ -36,7 +37,6 @@ void MqttClient::subscribe(const std::string& topic, int qos) {
 
 void MqttClient::publishMessage(const std::string& topic, const std::string& payload) {
     try {
-        std::cout << "Publishing message: " << payload << std::endl;
         client_.publish(topic, payload)->wait();
     } catch (const mqtt::exception& exc) {
         std::cerr << "Error: " << exc.what() << std::endl;

src/C++/Driver/src/main.cpp

@@ -1,5 +1,7 @@
 #include <iostream>
 #include <thread>
+#include <fstream>
+#include <filesystem>
 #include "MQTT/MqttClient.h"
 #include "KobukiDriver/CKobuki.h"
 #include <opencv4/opencv2/opencv.hpp>
@@ -8,50 +10,56 @@
 using namespace std;
 using namespace cv;
 CKobuki robot;
+std::atomic<bool> kobuki_connected(false);
 
 std::string readMQTT();
 void parseMQTT(std::string message);
 void CapnSend();
-MqttClient client("ws://145.92.224.21/ws/", "KobukiRPI", "rpi","rpiwachtwoordofzo"); // create a client object
+void checkKobukiConnection();
+// ip, clientID, username, password
+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);
 
-void setup() {
-  unsigned char *null_ptr(0);
-  std::cout << "Attempting to start communication with Kobuki..." << std::endl;
-  robot.startCommunication("/dev/ttyUSB0", true, null_ptr);
-  if (!robot.isConnected()) {
-    std::cerr << "Failed to start communication with Kobuki." << std::endl;
-  } else {
-    std::cout << "Successfully started communication with Kobuki." << std::endl;
-  }
-  // connect mqtt server and sub to commands
+std::string findKobukiPort()
+{
+    for (const auto& entry : std::filesystem::directory_iterator("/dev"))
+    {
+        std::string device = entry.path().string();
+        if (device.find("ttyUSB") != std::string::npos)
+        {
+            return device; // Returneer de eerste gevonden poort
+        }
+    }
+    return ""; // Geen poort gevonden
+}
 
+void setup()
+{
+  std::string port = findKobukiPort();
+  unsigned char *null_ptr(0);
+  robot.startCommunication(const_cast<char*>(port.c_str()), true, null_ptr);
+  // connect mqtt server and sub to commands
   client.connect();
   client.subscribe("home/commands");
 }
 
-int main() {
+int main()
+{
   setup();
-
   std::thread image(CapnSend);
-  std::thread safety([&]() { robot.robotSafety(&message); });
-  std::thread sendMqtt([&]() { sendKobukiData(robot.parser.data); });
+  std::thread safety([&](){ robot.robotSafety(&message); });
+  std::thread sendMqtt([&](){ sendKobukiData(robot.parser.data); });
+  std::thread connectionChecker(checkKobukiConnection);
+  connectionChecker.detach(); // Laat deze thread onafhankelijk draaien
+ 
 
-  while (true) {
-    if (!robot.isConnected()) {
-      std::cout << "Kobuki is not connected anymore. Reconnecting..." << std::endl;
-      robot.startCommunication("/dev/ttyUSB0", true, nullptr);
-      while (!robot.isConnected()) {
-        std::cout << "Attempting to reconnect..." << std::endl;
-        std::this_thread::sleep_for(std::chrono::seconds(1));
-      }
-      std::cout << "Reconnected to Kobuki." << std::endl;
-    }
-    
+  while (true)
+  {
     std::string message = readMQTT();
-    if (!message.empty()) {
+    if (!message.empty())
+    {
       parseMQTT(message);
     }
   }
@@ -61,11 +69,54 @@ int main() {
   image.join();
 }
 
-std::string readMQTT() {
+std::mutex connectionMutex;
+
+void checkKobukiConnection()
+{
+    while (true)
+    {
+        std::lock_guard<std::mutex> lock(connectionMutex);
+        std::string port = findKobukiPort();
+
+        if (port.empty()) {
+            if (kobuki_connected) {
+                cout << "Kobuki disconnected: No USB device found." << endl;
+                kobuki_connected = false;
+            }
+            std::this_thread::sleep_for(std::chrono::seconds(5));
+            continue; // Probeer later opnieuw
+        }
+
+        // Controleer of de Kobuki verbonden is
+        if (!robot.isConnected()){
+            if (kobuki_connected){
+                cout << "Kobuki disconnected." << endl;
+                kobuki_connected = false;
+            }
+
+            cout << "Attempting to reconnect Kobuki..." << endl;
+            robot.startCommunication(const_cast<char*>(port.c_str()), true, nullptr);
+
+            if (robot.isConnected()){
+                cout << "Kobuki reconnected successfully!" << endl;
+                kobuki_connected = true;
+            }
+            else{
+                cout << "Failed to reconnect Kobuki, retrying in 5 seconds..." << endl;
+            }
+        }
+        // Wacht voordat je opnieuw controleert
+        std::this_thread::sleep_for(std::chrono::seconds(5));
+    }
+}
+
+std::string readMQTT()
+{
   static std::string lastMessage;
 
   std::string message = client.getLastMessage();
-  if (!message.empty() && message != lastMessage) {
+  if (!message.empty() && message != lastMessage)
+  {
     std::cout << "MQTT Message: " << message << std::endl;
     lastMessage = message;
   }
@@ -75,32 +126,49 @@ std::string readMQTT() {
   return lastMessage;
 }
 
-void parseMQTT(std::string message) {
-  if (message == "up") {
+void parseMQTT(std::string message)
+{
+  if (message == "up")
+  {
     robot.forward(350);
-  } else if (message == "left") {
+  }
+  else if (message == "left")
+  {
     robot.setRotationSpeed(4);
-  } else if (message == "right") {
+  }
+  else if (message == "right")
+  {
     robot.setRotationSpeed(-4);
-  } else if (message == "down") {
+  }
+  else if (message == "down")
+  {
     robot.forward(-350);
-  } else if (message == "stop") {
+  }
+  else if (message == "stop")
+  {
     robot.sendNullMessage();
     robot.sendNullMessage();
-  } else if (message == "estop") {
+  }
+  else if (message == "estop")
+  {
     robot.forward(-400);
-  } else {
+  }
+  else
+  {
     std::cout << "Invalid command" << std::endl;
   }
 }
 
-void logToFile() {
-  while (true) {
+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
+    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);
@@ -158,7 +226,9 @@ void logToFile() {
       outputFile << "UDID1: " << robotData.extraInfo.UDID1 << "\n";
       outputFile << "UDID2: " << robotData.extraInfo.UDID2 << "\n";
       outputFile.close();
-    } else {
+    }
+    else
+    {
       std::cerr << "Error opening file\n";
     }
 
@@ -166,8 +236,10 @@ void logToFile() {
   }
 }
 
-void sendIndividualKobukiData(const TKobukiData &data) {
-  while (true) {
+void sendIndividualKobukiData(const TKobukiData &data)
+{
+  while (true)
+  {
     std::cout << "Kobuki Data wordt gepubliceerd naar kobuki/data/timestamp: "
               << data.timestamp << std::endl;
     client.publishMessage("kobuki/data/timestamp",
@@ -255,7 +327,8 @@ void sendIndividualKobukiData(const TKobukiData &data) {
     client.publishMessage("kobuki/data/extraInfo/UDID2",
                           std::to_string(data.extraInfo.UDID2));
 
-    if (!data.gyroData.empty()) {
+    if (!data.gyroData.empty())
+    {
       const auto &latestGyro = data.gyroData.back();
       client.publishMessage("kobuki/data/gyroData/x",
                             std::to_string(latestGyro.x));
@@ -269,7 +342,8 @@ void sendIndividualKobukiData(const TKobukiData &data) {
   }
 }
 
-std::string serializeKobukiData(const TKobukiData &data) {
+std::string serializeKobukiData(const TKobukiData &data)
+{
   std::string json =
       "{\"timestamp\":" + std::to_string(data.timestamp) +
       ",\"BumperCenter\":" + std::to_string(data.BumperCenter) +
@@ -322,7 +396,8 @@ std::string serializeKobukiData(const TKobukiData &data) {
       ",\"UDID1\":" + std::to_string(data.extraInfo.UDID1) +
       ",\"UDID2\":" + std::to_string(data.extraInfo.UDID2) + "},\"gyroData\":[";
 
-  if (!data.gyroData.empty()) {
+  if (!data.gyroData.empty())
+  {
     const auto &latestGyro = data.gyroData.back();
     json += "{\"x\":" + std::to_string(latestGyro.x) +
             ",\"y\":" + std::to_string(latestGyro.y) +
@@ -332,17 +407,13 @@ std::string serializeKobukiData(const TKobukiData &data) {
   json += "]}";
   return json;
 }
+
 // create extra function to send the message every 100ms
 // needed it so it can be threaded
-void sendKobukiData(TKobukiData &data) {
-  while (true) {
-    // if(!robot.isConnected()){
-    //   std::cout << "Kobuki is not connected anymore" << std::endl;
-    //     robot.startCommunication("/dev/ttyUSB0", true, nullptr);
-    //   while(!robot.isConnected()){
-    //     std::this_thread::sleep_for(std::chrono::seconds(1));
-    //   }
-    // }
+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));
@@ -350,30 +421,47 @@ void sendKobukiData(TKobukiData &data) {
 }
 
 void CapnSend() {
-  VideoCapture cap(0);
-  if (!cap.isOpened()) {
-    cerr << "Error: Could not open camera" << endl;
-    return;
-  }
-
-  Mat frame;
-  while (true) {
-    cap >> frame; // Capture a new image frame
-    if (frame.empty()) {
-      cerr << "Error: Could not capture image" << endl;
-      continue;
+  int COMPRESSION_LEVEL = 90;
+    VideoCapture cap(0); // Open the camera
+    if (!cap.isOpened()) {
+        cerr << "Error: Could not open camera" << endl;
+        return;
     }
 
-    // Convert the image to a byte array
-    vector<uchar> buf;
-    imencode(".jpg", frame, buf);
-    auto *enc_msg = reinterpret_cast<unsigned char *>(buf.data());
+    Mat frame;
+    while (true) {
+        if (!cap.read(frame)) { 
+            cout << "Reconnecting camera" << endl;
+            cap.release();
+            std::this_thread::sleep_for(std::chrono::seconds(1));
+            // Attempt to reconnect to the camera
+            cap.open(0);
+            if (!cap.isOpened()) {
+                cerr << "Error: Could not reconnect to camera" << endl;
+                std::this_thread::sleep_for(std::chrono::seconds(1)); // Wait before retrying
+                continue;
+            } else {
+                cout << "Reconnected to camera" << endl;
+                continue;
+            }
+        }
 
-    // Publish the image data
-    client.publishMessage("kobuki/cam", string(enc_msg, enc_msg + buf.size()));
-    cout << "Sent image" << endl;
 
-    std::this_thread::sleep_for(
-        std::chrono::milliseconds(300)); // Send image every 1000ms
-  }
+        vector<uchar> imgbuf;
+        vector<int> compression_params;
+        compression_params.push_back(IMWRITE_JPEG_QUALITY); // Set JPEG quality
+        compression_params.push_back(COMPRESSION_LEVEL);  // Adjust the quality level (0-100, lower = more compression)
+
+        // Encode the image into the byte buffer with the specified compression parameters
+        imencode(".jpg", frame, imgbuf, compression_params);
+
+        // Convert the vector<uchar> buffer to a string (no casting)
+        string enc_msg(imgbuf.begin(), imgbuf.end());
+
+        // Publish the compressed image data (MQTT, in this case)
+        client.publishMessage("kobuki/cam", enc_msg);
+        cout << "Sent compressed image" << endl;
+
+        std::this_thread::sleep_for(std::chrono::milliseconds(200)); // Send image every 200ms
+    }
 }

src/C++/MQTT/CMakeLists.txt

@@ -1,15 +0,0 @@
-cmake_minimum_required(VERSION 3.10)
-set(CMAKE_CXX_STANDARD 23)
-
-# Find the Paho MQTT C++ library
-find_library(PAHO_MQTTPP_LIBRARY paho-mqttpp3 PATHS /usr/local/lib)
-find_library(PAHO_MQTT_LIBRARY paho-mqtt3a PATHS /usr/local/lib)
-
-# Include the headers
-include_directories(/usr/local/include)
-
-# Add the executable
-add_executable(my_program main.cpp)
-
-# Link the libraries
-target_link_libraries(my_program ${PAHO_MQTTPP_LIBRARY} ${PAHO_MQTT_LIBRARY})

src/C++/MQTT/main.cpp

@@ -1,64 +0,0 @@
-#include <iostream>
-#include <mqtt/async_client.h>
-#include <thread>  // For std::this_thread::sleep_for
-#include <chrono>  // For std::chrono::seconds
-
-// Define the address of the MQTT broker, the client ID, and the topic to subscribe to.
-const std::string ADDRESS("mqtt://localhost:1883");  // Broker address (Raspberry Pi)
-const std::string CLIENT_ID("raspberry_pi_client");
-const std::string TOPIC("home/commands");
-
-// Define a callback class that handles incoming messages and connection events.
-class callback : public virtual mqtt::callback {
-  // Called when a message arrives on a subscribed topic.
-  void message_arrived(mqtt::const_message_ptr msg) override {
-    std::cout << "Received message: '" << msg->get_topic()<< "' : " << msg->to_string() << std::endl;
-  }
-
-  // Called when the connection to the broker is lost.
-  void connection_lost(const std::string& cause) override {
-    std::cerr << "Connection lost. Reason: " << cause << std::endl;
-  }
-
-  // Called when a message delivery is complete.
-  void delivery_complete(mqtt::delivery_token_ptr token) override {
-    std::cout << "Message delivered!" << std::endl;
-  }
-};
-
-int main() {
-  // Create an MQTT async client and set up the callback class.
-  mqtt::async_client client(ADDRESS, CLIENT_ID);
-  callback cb;
-  client.set_callback(cb);
-
-  // Set up the connection options (such as username and password).
-  mqtt::connect_options connOpts;
-  connOpts.set_clean_session(true);
-  connOpts.set_user_name("ishak");
-  connOpts.set_password("kobuki");
-  connOpts.set_mqtt_version(MQTTVERSION_3_1_1);
-
-  try {
-    // Try to connect to the broker and wait until successful.
-    std::cout << "Connecting to broker..." << std::endl;
-    client.connect(connOpts)->wait();  // Connect with the provided options
-    std::cout << "Connected!" << std::endl;
-
-    // Subscribe to the specified topic and wait for confirmation.
-    std::cout << "Subscribing to topic: " << TOPIC << std::endl;
-    client.subscribe(TOPIC, 1)->wait();  // Subscribe with QoS level 1
-
-    // Keep the program running to continue receiving messages from the broker.
-    while (true) {
-      std::this_thread::sleep_for(std::chrono::seconds(1));  // Sleep to reduce CPU usage
-    }
-
-  } catch (const mqtt::exception &exc) {
-    // Catch any MQTT exceptions and display the error message.
-    std::cerr << "Error: " << exc.what() << std::endl;
-    return 1;
-  }
-
-  return 0;  // Return 0 to indicate successful execution
-}

src/C++/OpenCV/CMakeLists.txt

@@ -0,0 +1,44 @@
+cmake_minimum_required( VERSION 3.6 )
+
+# Require C++11 (or later)
+set( CMAKE_CXX_STANDARD 23 )
+set( CMAKE_CXX_STANDARD_REQUIRED ON )
+set( CMAKE_CXX_EXTENSIONS OFF )
+set(BUILD_MODE Debug)
+# Create Project
+project( Sample )
+add_executable( YOLOv4 util.h main.cpp )
+
+# Set StartUp Project
+set_property( DIRECTORY PROPERTY VS_STARTUP_PROJECT "YOLOv4" )
+
+# Find Package
+# OpenCV
+find_package( OpenCV REQUIRED )
+
+if( OpenCV_FOUND )
+  # Additional Include Directories
+  include_directories( ${OpenCV_INCLUDE_DIRS} )
+
+  # Additional Dependencies
+  target_link_libraries( YOLOv4 ${OpenCV_LIBS} )
+endif()
+
+# Download Model
+set( MODEL https://github.com/AlexeyAB/darknet/releases/download/darknet_yolo_v3_optimal/yolov4.weights )
+file( DOWNLOAD 
+  "${MODEL}"
+  "${CMAKE_CURRENT_LIST_DIR}/yolov4.weights"
+  EXPECTED_HASH SHA256=e8a4f6c62188738d86dc6898d82724ec0964d0eb9d2ae0f0a9d53d65d108d562
+  SHOW_PROGRESS
+)
+
+
+# Download Config
+set( CONFIG https://raw.githubusercontent.com/AlexeyAB/darknet/master/cfg/yolov4.cfg )
+file( DOWNLOAD 
+  "${CONFIG}"
+  "${CMAKE_CURRENT_LIST_DIR}/yolov4.cfg"
+  EXPECTED_HASH SHA256=a6d0f8e5c62cc8378384f75a8159b95fa2964d4162e33351b00ac82e0fc46a34
+  SHOW_PROGRESS
+)

src/C++/OpenCV/coco.names

@@ -0,0 +1,80 @@
+person
+bicycle
+car
+motorbike
+aeroplane
+bus
+train
+truck
+boat
+traffic light
+fire hydrant
+stop sign
+parking meter
+bench
+bird
+cat
+dog
+horse
+sheep
+cow
+elephant
+bear
+zebra
+giraffe
+backpack
+umbrella
+handbag
+tie
+suitcase
+frisbee
+skis
+snowboard
+sports ball
+kite
+baseball bat
+baseball glove
+skateboard
+surfboard
+tennis racket
+bottle
+wine glass
+cup
+fork
+knife
+spoon
+bowl
+banana
+apple
+sandwich
+orange
+broccoli
+carrot
+hot dog
+pizza
+donut
+cake
+chair
+sofa
+pottedplant
+bed
+diningtable
+toilet
+tvmonitor
+laptop
+mouse
+remote
+keyboard
+cell phone
+microwave
+oven
+toaster
+sink
+refrigerator
+book
+clock
+vase
+scissors
+teddy bear
+hair drier
+toothbrush

src/C++/OpenCV/main.cpp

@@ -0,0 +1,209 @@
+#include <iostream>
+#include <string>
+#include <vector>
+#include <opencv2/opencv.hpp>
+#include <opencv2/dnn.hpp>
+#include <filesystem>
+#include <fstream>
+
+#include "util.h"
+
+// Helper function to check if a file exists
+bool fileExists(const std::string &path)
+{
+    return std::filesystem::exists(path);
+}
+
+// Function to read class names from a file
+std::vector<std::string> _readClassNameList(const std::string &path)
+{
+    std::vector<std::string> classes;
+
+    // Check if file exists
+    if (!fileExists(path))
+    {
+        throw std::runtime_error("Class names file not found: " + path);
+    }
+
+    // Try to open and read file
+    std::ifstream file(path);
+    if (!file.is_open())
+    {
+        throw std::runtime_error("Unable to open class names file: " + path);
+    }
+
+    std::string line;
+    while (std::getline(file, line))
+    {
+        if (!line.empty())
+        {
+            classes.push_back(line);
+        }
+    }
+
+    if (classes.empty())
+    {
+        throw std::runtime_error("No classes found in file: " + path);
+    }
+
+    return classes;
+}
+
+int main(int argc, char *argv[])
+{
+    try
+    {
+        // Open Video Capture
+        cv::VideoCapture capture = cv::VideoCapture(0);
+        if (!capture.isOpened())
+        {
+            std::cerr << "Failed to open camera device" << std::endl;
+            return -1;
+        }
+
+        // Read Class Name List and Color Table
+        const std::string list = "coco.names";
+        const std::vector<std::string> classes = _readClassNameList(list);
+        const std::vector<cv::Scalar> colors = getClassColors(classes.size());
+
+        // Debug: Print the size of the colors vector
+        std::cout << "Number of colors: " << colors.size() << std::endl;
+
+        // Read Darknet
+        const std::string model = "yolov4.weights";
+        const std::string config = "yolov4.cfg";
+        cv::dnn::Net net = cv::dnn::readNet(model, config);
+        if (net.empty())
+        {
+            std::cerr << "Failed to load network" << std::endl;
+            return -1;
+        }
+
+        // Set Preferable Backend
+        net.setPreferableBackend(cv::dnn::DNN_BACKEND_OPENCV);
+
+        // Set Preferable Target
+        net.setPreferableTarget(cv::dnn::DNN_TARGET_OPENCL);
+
+        while (true)
+        {
+            // Read Frame
+            cv::Mat frame;
+            capture >> frame;
+            if (frame.empty())
+            {
+                cv::waitKey(0);
+                break;
+            }
+            if (frame.channels() == 4)
+            {
+                cv::cvtColor(frame, frame, cv::COLOR_BGRA2BGR);
+            }
+
+            // Create Blob from Input Image
+            cv::Mat blob = cv::dnn::blobFromImage(frame, 1 / 255.f, cv::Size(416, 416), cv::Scalar(), true, false);
+
+            // Set Input Blob
+            net.setInput(blob);
+
+            // Run Forward Network
+            std::vector<cv::Mat> detections;
+            net.forward(detections, getOutputsNames(net));
+
+            // Draw Region
+            std::vector<int32_t> class_ids;
+            std::vector<float> confidences;
+            std::vector<cv::Rect> rectangles;
+            for (cv::Mat &detection : detections)
+            {
+                if (detection.empty())
+                {
+                    std::cerr << "Detection matrix is empty!" << std::endl;
+                    continue;
+                }
+                for (int32_t i = 0; i < detection.rows; i++)
+                {
+                    cv::Mat region = detection.row(i);
+
+                    // Retrieve Max Confidence and Class Index
+                    cv::Mat scores = region.colRange(5, detection.cols);
+                    cv::Point class_id;
+                    double confidence;
+                    cv::minMaxLoc(scores, 0, &confidence, 0, &class_id);
+
+                    // Check Confidence
+                    constexpr float threshold = 0.2;
+                    if (threshold > confidence)
+                    {
+                        continue;
+                    }
+
+                    // Retrieve Object Position
+                    const int32_t x_center = static_cast<int32_t>(region.at<float>(0) * frame.cols);
+                    const int32_t y_center = static_cast<int32_t>(region.at<float>(1) * frame.rows);
+                    const int32_t width = static_cast<int32_t>(region.at<float>(2) * frame.cols);
+                    const int32_t height = static_cast<int32_t>(region.at<float>(3) * frame.rows);
+                    const cv::Rect rectangle = cv::Rect(x_center - (width / 2), y_center - (height / 2), width, height);
+
+                    // Add Class ID, Confidence, Rectangle
+                    class_ids.push_back(class_id.x);
+                    confidences.push_back(confidence);
+                    rectangles.push_back(rectangle);
+                }
+            }
+
+            // Remove Overlap Rectangles using Non-Maximum Suppression
+            constexpr float confidence_threshold = 0.5; // Confidence
+            constexpr float nms_threshold = 0.5;        // IoU (Intersection over Union)
+            std::vector<int32_t> indices;
+            cv::dnn::NMSBoxes(rectangles, confidences, confidence_threshold, nms_threshold, indices);
+
+            // Draw Rectangle
+            for (const int32_t &index : indices)
+            {
+                // Bounds checking
+                if (class_ids[index] >= colors.size())
+                {
+                    std::cerr << "Color index out of bounds: " << class_ids[index] << " (max: " << colors.size() - 1 << ")" << std::endl;
+                    continue;
+                }
+
+                const cv::Rect rectangle = rectangles[index];
+                const cv::Scalar color = colors[class_ids[index]];
+
+                // Debug: Print the index and color
+                std::cout << "Drawing rectangle with color index: " << class_ids[index] << std::endl;
+
+                constexpr int32_t thickness = 3;
+                cv::rectangle(frame, rectangle, color, thickness);
+
+                std::string label = classes[class_ids[index]] + ": " + std::to_string(static_cast<int>(confidences[index] * 100)) + "%";
+                
+                int baseLine;
+                cv::Size labelSize = cv::getTextSize(label, cv::FONT_HERSHEY_SIMPLEX, 0.5, 1, &baseLine);
+                int top = std::max(rectangle.y, labelSize.height);
+                cv::rectangle(frame, cv::Point(rectangle.x, top - labelSize.height),
+                              cv::Point(rectangle.x + labelSize.width, top + baseLine), color, cv::FILLED);
+                cv::putText(frame, label, cv::Point(rectangle.x, top), cv::FONT_HERSHEY_SIMPLEX, 0.5, cv::Scalar(255, 255, 255), 1);
+            }
+
+            // Show Image
+            cv::imshow("Object Detection", frame);
+            const int32_t key = cv::waitKey(1);
+            if (key == 'q')
+            {
+                break;
+            }
+        }
+
+        cv::destroyAllWindows();
+        return 0;
+    }
+    catch (const std::exception &e)
+    {
+        std::cerr << "Error: " << e.what() << std::endl;
+        return -1;
+    }
+}
+
+// cloned and fixed from https://github.com/UnaNancyOwen/OpenCVDNNSample/tree/master

src/C++/OpenCV/util.h

@@ -0,0 +1,61 @@
+#ifndef __UTIL__
+#define __UTIL__
+
+#include <vector>
+#include <string>
+#include <fstream>
+#include <opencv2/dnn.hpp>
+#include <opencv2/core.hpp>
+#include <opencv2/highgui.hpp>
+
+// Get Output Layers Name
+std::vector<std::string> getOutputsNames( const cv::dnn::Net& net )
+{
+    static std::vector<std::string> names;
+    if( names.empty() ){
+        std::vector<int32_t> out_layers = net.getUnconnectedOutLayers();
+        std::vector<std::string> layers_names = net.getLayerNames();
+        names.resize( out_layers.size() );
+        for( size_t i = 0; i < out_layers.size(); ++i ){
+            names[i] = layers_names[out_layers[i] - 1];
+        }
+    }
+    return names;
+}
+
+// Get Output Layer Type
+std::string getOutputLayerType( cv::dnn::Net& net )
+{
+    const std::vector<int32_t> out_layers = net.getUnconnectedOutLayers();
+    const std::string output_layer_type = net.getLayer( out_layers[0] )->type;
+    return output_layer_type;
+}
+
+// Read Class Name List
+std::vector<std::string> readClassNameList( const std::string list_path )
+{
+    std::vector<std::string> classes;
+    std::ifstream ifs( list_path );
+    if( !ifs.is_open() ){
+        return classes;
+    }
+    std::string class_name = "";
+    while( std::getline( ifs, class_name ) ){
+        classes.push_back( class_name );
+    }
+    return classes;
+}
+
+// Get Class Color Table for Visualize
+std::vector<cv::Scalar> getClassColors( const int32_t number_of_colors )
+{
+    cv::RNG random;
+    std::vector<cv::Scalar> colors;
+    for( int32_t i = 0; i < number_of_colors; i++ ){
+        cv::Scalar color( random.uniform( 0, 255 ), random.uniform( 0, 255 ), random.uniform( 0, 255 ) );
+        colors.push_back( color );
+    }
+    return colors;
+}
+
+#endif // __UTIL__

src/Python/YOLO/app.py

@@ -0,0 +1,41 @@
+from ultralytics import YOLO
+import cv2
+import numpy as np
+import requests
+import time
+
+model = YOLO("yolo11n.pt") 
+
+#try to fetch the image from the given url
+def fetch_image(url):
+    try:
+        response = requests.get(url)
+        response.raise_for_status()
+        image_array = np.frombuffer(response.content, np.uint8)
+        image = cv2.imdecode(image_array, cv2.IMREAD_COLOR)
+        return image
+    except requests.RequestException as e:
+        print(f"Error: Could not fetch image - {e}")
+        return None
+
+# URL of the photostream
+url = "http://145.92.224.21/image"
+
+while True:
+    frame = fetch_image(url)
+    if frame is None:
+        print("Error: Could not fetch image, retrying...")
+        time.sleep(1)  # Wait for 1 second before retrying
+        continue
+
+    # Predict on the frame
+    results = model(frame)
+
+    # Display the results
+    results[0].show()
+
+    # Exit if 'q' is pressed
+    if cv2.waitKey(1) & 0xFF == ord('q'):
+        break
+
+cv2.destroyAllWindows()

src/Python/flask/.dockerignore

@@ -0,0 +1 @@
+__pycache__

src/Python/flask/Dockerfile

@@ -0,0 +1,18 @@
+FROM python:3.9
+
+WORKDIR /app
+
+COPY . .
+
+RUN apt-get update && apt-get install -y libgl1
+
+
+RUN pip install -r requirements.txt
+
+EXPOSE 5000
+
+CMD ["python", "web/app.py"]
+
+#build instruction: sudo docker buildx build -t flaskapp:latest .   
+#run instruction: sudo docker run --network="host" --restart=always flaskapp:latest
+# need to use network host to connect to the host's mqtt server

src/Python/flask/requirements.txt

@@ -0,0 +1,6 @@
+Flask==3.1.0
+paho-mqtt==1.6.1
+ultralytics==8.3.58 
+opencv-python-headless==4.6.0.66
+numpy==1.23.4
+mysql-connector-python==9.1.0

src/Python/flask/web/app.py

@@ -1,24 +1,53 @@
-from flask import Flask, request, render_template, jsonify, g
+from flask import Flask, Response, request, render_template, jsonify, g
 import paho.mqtt.client as mqtt
+from ultralytics import YOLO
+import cv2
+import numpy as np
+import threading
 import mysql.connector 
 import json
 
 app = Flask(__name__)
 
-# Globale variabelen
+# Load a model
+model = YOLO("yolo11n.pt")  # pretrained YOLO11n model
+
 kobuki_message = ""
 latest_image = None
+processed_image = None
+yolo_results = []
 
-# Globale MQTT setup
-def on_message(client,userdata, message):
-    global kobuki_message, latest_image
+# Lock for thread-safe access to shared variables
+lock = threading.Lock()
+
+# List of class names (example for COCO dataset)
+yolo_classes = list(model.names.values())
+
+def on_message(client, userdata, message):
+    global kobuki_message, latest_image, processed_image, yolo_results
     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
-
+        with lock: # Lock the shared variables between threads so they can't be accessed at the same time and you cant have half processed images
+            latest_image = np.frombuffer(message.payload, np.uint8)
+            latest_image = cv2.imdecode(latest_image, cv2.IMREAD_COLOR)
+            # Process the image with YOLO
+            results = model(latest_image)
+            yolo_results = []
+            processed_image = latest_image.copy()  # Create a copy for processing
+            for result in results:
+                for box in result.boxes:
+                    class_id = int(box.cls.item())
+                    class_name = yolo_classes[class_id]
+                    yolo_results.append({
+                        "class": class_name,
+                        "confidence": box.conf.item(),
+                        "bbox": box.xyxy.tolist()
+                    })
+                    # Draw bounding box on the processed image
+                    x1, y1, x2, y2 = map(int, box.xyxy[0])
+                    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)
 
 # Create an MQTT client instance
 mqtt_client = mqtt.Client()
@@ -26,10 +55,10 @@ mqtt_client.username_pw_set("server", "serverwachtwoordofzo")
 mqtt_client.connect("localhost", 1884, 60)
 mqtt_client.loop_start()
 mqtt_client.subscribe("kobuki/data")
+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
 
-
 # Database connectie-functie
 def get_db():
     if 'db' not in g:  # 'g' is specifiek voor een request en leeft zolang een request duurt
@@ -56,15 +85,11 @@ def index():
 @app.route('/control', methods=["GET", "POST"])
 def control():
     if request.authorization and request.authorization.username == 'ishak' and request.authorization.password == 'kobuki':
+        yolo_results_db()
         return render_template('control.html')
     else:
         return ('Unauthorized', 401, {'WWW-Authenticate': 'Basic realm="Login Required"'})
 
-@app.route('/data', methods=['GET'])
-def data():
-    return kobuki_message
-
-
 @app.route('/move', methods=['POST'])
 def move():
     data = request.get_json()
@@ -83,17 +108,10 @@ def move():
     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):
+@app.route('/data', methods=['GET'])
+def data():
     try:
         # Parse de JSON-string naar een Python-dictionary
         data = json.loads(kobuki_message)
@@ -113,19 +131,55 @@ def sensor_data(kobuki_message):
 
         # Database-insert
         db = get_db()
-        cursor = db.cursor()
+        with db.cursor() as 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()
+            # 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}")
+    return kobuki_message
+    
+
+
+@app.route('/image')
+def image():
+    global processed_image
+    with lock: # Lock the shared variables between threads so they can't be accessed at the same time and you cant have half processed images
+        if processed_image is not None:
+            _, buffer = cv2.imencode('.jpg', processed_image) 
+            return Response(buffer.tobytes(), mimetype='image/jpeg')
+        else:
+            return "No image available", 404
+
+
+@app.route('/yolo_results', methods=['GET'])
+def yolo_results_endpoint():
+    global yolo_results        
+    return jsonify(yolo_results)
+
+def yolo_results_db():
+    global yolo_results    
+    with lock:
+        try:
+            db = get_db()
+            with db.cursor() as cursor:
+                sql_yolo = "INSERT INTO image (class, confidence) VALUES (%s, %s)"
+                yolo_tuples = [(result["class"], result["confidence"]) for result in yolo_results]
+                print(f"YOLO Tuples: {yolo_tuples}")  # Debug statement
+                cursor.executemany(sql_yolo, yolo_tuples)
+                db.commit()
+                cursor.close()
+        except mysql.connector.Error as err:
+            print(f"Database error: {err}")
+        except Exception as e:
+            print(f"Unexpected error: {e}")
 
 if __name__ == '__main__':
-    app.run(debug=True, port=5000)
+    app.run(debug=True, port=5000)

src/Python/flask/web/static/script.js

@@ -1,41 +1,63 @@
-document.querySelectorAll(".btn").forEach(button => {
-  button.addEventListener("click", async function(event) { // Maak de functie async
-    event.preventDefault(); // voorkomt pagina-verversing
+document.addEventListener("DOMContentLoaded", function() {
+  document.querySelectorAll(".btn").forEach(button => {
+    button.addEventListener("click", function(event) {
+      event.preventDefault(); // prevents page refresh
 
-    // Haal de waarde van de knop op
-    const direction = event.target.value;
+      // Get the value of the button
+      const direction = event.target.value;
 
-    try {
-      const response = await fetch("/move", {
+      fetch("/move", {
         method: "POST",
         headers: {
           "Content-Type": "application/json"
         },
         body: JSON.stringify({ direction: direction })
+      })
+      .then(response => response.json())
+      .then(data => {
+        console.log("Success:", data);
+      })
+      .catch(error => {
+        console.error("Error:", error);
       });
-      const data = await response.json();
-      console.log("Success:", data);
-    } catch (error) {
-      console.error("Error:", error);
-    }
+    });
+  });
 
-    // Fetch data from the server
-    async function fetchData() {
+  // Fetch data from the server
+  async function fetchData() {
+    try {
       const response = await fetch("/data");
       const data = await response.json();
       return data;
+    } catch (error) {
+      console.error("Error:", error);
     }
+  }
 
-    // Parse the data and show it on the website
+  // Parse the data and show it on the website
+  async function parseData() {
     const data = await fetchData();
     const sensorDataContainer = document.getElementById("sensor-data");
     sensorDataContainer.innerHTML = ""; // Clear previous data
-    //for each object in json array create a new paragraph element and append it to the sensorDataContainer
+    // For each object in JSON array, create a new paragraph element and append it to the sensorDataContainer
     for (const [key, value] of Object.entries(data)) {
       const dataElement = document.createElement("p");
       dataElement.textContent = `${key}: ${value}`;
-      sensorDataContainer.appendChild(dataElement); // Voeg het element toe aan de container
+      sensorDataContainer.appendChild(dataElement); // Add the element to the container
     }
-  });
-});
+  }
 
+  // Update the image
+  async function updateImage() {
+    let img = document.getElementById("robot-image");
+    img.src = "/image?" + new Date().getTime(); // Add timestamp to avoid caching
+    // Wait for 200 milliseconds before fetching the next image
+    setTimeout(updateImage, 200);
+  }
+
+  // Fetch and display sensor data every 1 second
+  setInterval(parseData, 1000);
+
+  // Start updating the image
+  updateImage();
+});

src/Python/flask/web/static/style.css

@@ -167,4 +167,4 @@ th,td {
 th {
   background-color: #f2f2f2;
   text-align: left;
-}
+}

src/Python/wsgi.py

@@ -1,7 +0,0 @@
-import sys
-import logging
-
-logging.basicConfig(stream=sys.stderr)
-sys.path.insert(0, "/home/ishak/rooziinuubii79/src/Python/flask/web")
-
-from app import app as application

src/config/rpi/kobukiDriver.service

@@ -0,0 +1,13 @@
+[Unit]
+Description=kobukiDriver
+After=network.target
+
+[Service]
+User=user1
+WorkingDirectory=/home/user1/rooziinuubii79/src/C++/Driver/
+ExecStart=/home/user1/rooziinuubii79/src/C++/Driver/kobuki_control
+Restart=always
+RestartSec=5
+
+[Install]
+WantedBy=multi-user.target

src/config/server/mosquitto.conf

@@ -0,0 +1,7 @@
+allow_anonymous false
+password_file /etc/mosquitto/passwordfile
+listener 8080
+protocol websockets
+
+listener 1884
+protocol mqtt

src/config/server/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;
+    }
+}

src/config/server/nginx.conf

@@ -0,0 +1,7 @@
+stream {
+    server {
+        listen 9001;
+        proxy_pass localhost:8080;
+    }
+}
+