refactor: improve Kobuki connection handling and add USB device check

opencv camera logic rewrite

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

.gitignore

@@ -13,9 +13,23 @@ 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
 build/
 venv
+src/C++/MQTT/CMakeFiles
+src/C++/MQTT/Makefile
+src/C++/MQTT/CMakeCache.txt
+src/C++/MQTT/cmake_install.cmake
+src/Python/flask/web/_pycache_
+venv
+build/
+log
+CMakeFiles/
+Makefile
+CMakeCache.txt
+cmake_install.cmake
+src/C++/OpenCV/main
+.vs

.gitlab/issue_templates/User Story.md

@@ -19,14 +19,9 @@ Acceptatie criteria zijn specifieke eisen waaraan de User Story moet voldoen. De
 - [ ] Acceptatiecriterium 2 
 - [ ] ...
 
-**Definition of Done**
+**Definition of Done: Hardware**
 
 - [ ] Alle acceptatiecriteria van de user story zijn afgevinkt.
-- [ ] Je hebt volgens de HBO-ICT werkstandaarden gewerkt (Agile, GitLab, sprint boards, sprint planning, HBO-ICT conventions etc.)
-- [ ] Het werk is technisch gedocumenteerd in het Engels en relevant voor collega-ontwikkelaars. Denk o.a. aan ERD, UML, testen en testresultaten.
-- [ ] Het leerproces is beschreven in Standaardnederlands.
-- [ ] Het werk is gereviewd door een peer.
-- [ ] Het UX/UI gedeelte van de applicatie voldoet aan het Think-Make-Check (TMC) principe.
-- [ ] De code is functioneel getest op fouten.
-- [ ] De code werkt zonder fouten bij normaal gebruik.
-- [ ] De webapplicatie dient zowel op mobiele- als desktop-apparaten gebruikt te kunnen worden.
+- [ ] Je werk is gedocumenteerd.
+- [ ] Je hebt testen uitgevoerd.
+- [ ] 

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", 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/Infrastructure/uml.md

@@ -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

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/code-requirements.md

@@ -0,0 +1,10 @@
+# Requirements
+
+1. Het compileerd op x86 en ARM architechturen
+2. Geen dubbele code
+3. commentaar bij lastige code
+4. Doxygen comments bij elke functie, behalve als het duidelijk is in de functienaam
+5. Hou je code leesbaar
+6. Geen dode code
+7. Gebruik TODO comments (TODO TREE)
+8. 

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/explanation/Sensorbehuizing.md

@@ -1,28 +0,0 @@
-# Sensor behuizing
-
-Voor de sensoren op onze Kobuki wouden wij graag een behuizing zodat deze sensoren niet los liggen op de Kobuki.
-
-Deze behuizing had een paar eisen en die eisen waren als volgt
-- Hij moet klein zijn zodat hij niet veel ruimte in neemt op de Kobuki.
-- De behuizing moet makkelijk vast te maken zijn aan de Kobuki.
-- In de behuizing moet een esp32 passen en de 3 sensoren.
-- De behuizing moet makkelijk uit elkaar te halen zijn zodat als we onderhoud moeten plegen dit makkelijk kan.
-
-Met deze eisen zijn we uiteindelijk een behuizing gaan maken in onshape.
-Onshape is gratis ontwerp software wat te gebruiken is via je browser.
-Hierdoor hoef je dus geen applicatie te runnen op je computer en kan je op elk apparaat inloggen om zo gemakkelijk door te gaan aan je ontwerp.
-Ik (Yannick) heb voor deze software gekozen omdat ik deze software al veel vaker heb gebruikt en hier dus al bekend mee ben.
-
-Uiteindelijk zijn we op het volgende design uitgekomen.
-![Afbeelding van de behuizing](images/Behuizingfoto1.png)
-![Afbeelding van de behuizing van bovenaf](images/Behuizingfoto2.png)
-
-Wij hebben gekozen voor dit design omdat dit de breedte en lengte heeft van een esp32 dus de esp past precies waardoor wij hem niet nog extra vast hoeven te zetten.
-Er zitten gaten in de zijkant van het bakje voor de kabel en voor een 5 volt kabel voor de MQ5 sensor.
-De dht11 sensor past er precies in en deze blijft daardoor precies vast zitten.
-Voor de M5stack sensor is er een gat gemaakt zodat deze kabel erdoorheen past en vervolgens wordt deze sensor op de bovenkant van de behuizing vastgeplakt.
-Voor de MQ5 sensor is een gat gemaakt waar de sensor door heen kan en het printplaatje wordt aan de onderkant vast gemaakt met stevige M3 tape.
-
-In de onderkant van de behuizing zitten 2 gaten hiermee kan de behuizing goed vastgemaakt worden aan de kobuki.
-De onderkant en de bovenkant van de behuizing zijn makkelijk uit elkaar te halen omdat deze doormiddel van 4 sterke magneten aan elkaar vast zitten.
-Hierdoor is het ook makkelijk om onderhoud te plegen omdat het bakje door de magneten makkelijk uit elkaar te halen is maar niet zo makkelijk dat hij door trillingen los kan komen.

docs/explanation/Sensoronderzoek.md

@@ -1,79 +0,0 @@
-# Sensor onderzoek
-
-In dit bestand gaan we onderzoek doen naar de sensoren die we willen gebruiken op de Kobuki.
-Hierin gaan we meerdere sensoren vergelijken met elkaar en kijken welke wij het beste kunnen gebruiken voor ons project.
-
-## Probleem
-Voor ons project moeten wij een manier vinden om gassen/stoffen te detecteren zodat je in een gebouw weet waar je niet veilig naartoe kan.
-
-## De vraag
-> Welke sensoren kunnen wij het beste gebruiken om schadelijke gassen/stoffen te vinden in een gebouw ?
-
-## Voorwaarden
-De voorwaarden waar de sensors aan moeten voldoen zijn:
-
-- De sensoren moeten op de kobuki passen.
-- We moeten zo weining mogelijk sensoren gebruiken zodat we genoeg plek over houden voor andere onderdelen van de Kobuki.
-
-## Hoe aansluiten
-Wij gaan deze sensoren aansluiten op een esp32 en deze laten wij via MQTT de gegevens doorsturen naar de raspberry pi.
-
-## De sensoren.
-Wij zijn uitgekomen op 3 sensoren.
-
-- De dht11 sensor
-- De tvoc/eC02 Gas Unit.
-- Gravity: Elektrochemische zuurstof-/O2-sensor (0-25%Vol, I2C) SEN0322
-- Gassensor MQ-5 module (OT2018-D55)
-
-Wij hebben voor de Dht11 en de tvoc/eC02 gas unit gekozen omdat wij deze bij james konden lenen. En wij hebben gekozen voor de Gassensor MQ-5 module (OT2018-D55) Omdat dit een mooie kleine sensor is die wij makkelijk kwijt kunnen op de kobuki.
-Voor de o2 sensor hebben wij gekozen voor de Gravity: Elektrochemische zuurstof-/O2-sensor (0-25%Vol, I2C) SEN0322. Deze sensor is helaas op het moment van schrijven (29-10-2024) niet op voorraad dus deze sensor kunnen wij helaas nog niet toevoegen. Zodra deze sensor op voorraad is zal ik deze bestellen en aan de esp toevoegen.
-
-## Sensor uitleg
-#### Dht11
-De dht11 is een eenvoudige en goedkope sensor die wordt gebruikt om de temperatuur en luchtvochtigheid te meten.
-
-De sensor bevat de volgende onderdelen om te werken:
-- Een thermistor : Dit is een component die temperatuur meet door variaties in elektronische weerstand.
-- Een capacitieve vochtigheidssensor : Deze meet de relatieve luchtvochtigheid door de verandering in het materiaal tussen de condensatorplaten te meten. Deze verandering gebeurt door de waterdamp in de lucht.
-- Een geïntegreerde microcontroller : Deze microcontroller verwerkt de gegevens van de sensoren en zet deze om in een digitaal signaal.
-
-Het meetbereik van de sensor is 0 tot 50 graden voor temperatuur en voor de luchtvochtigheid is het 20 tot 90%
-Hierbij is de temperatuur tot ±2 graden nauwkeurig en de luchtvochtigheid ±5 procent.
-
-De DHT11 kan aangesloten worden op een 3.3 of 5 volt voeding.
-Wij kunnen deze sensor dus zonder problemen compleet aansluiten op de esp32s3
-
-#### Tvoc/eC02 Gas Unit
-De M5Stack TVOC/eCO2-Gassensensor-eenheid (SGP30) is een compacte sensor ontwikkeld om vluchtige organische stoffen (TVOC) en schijnbare CO₂-concentraties (eCO2) te meten. 
-Deze component maakt gebruik van de SGP30-sensor van Adafruit
-
-De SGP30 is gebaseerd op een metal-oxide (MOX) halfgeleidertechnologie. 
-Deze technologie detecteert veranderingen in elektrische weerstand bij blootstelling aan vluchtige organische stoffen (VOC's), 
-zoals ethanol en aceton.
-
-De sensor bevat ingebouwde algoritmes om de gemeten VOC waarden om te zetten in tvoc en eco2.
-- TVOC : Dit is de totale concentratie vluchtige organische stoffen.
-- ECO2 : Dit is een geschatte koolstofdioxideconcentratie. 
-Dit is een schatting op basis van de VOC metingen.
-
-Deze sensor werkt op 3.3 en 5 volt dus ook voor deze sensor kunnen wij de esp32s3 gebruiken.
-
-#### MQ5 Gassensor
-
-De MQ5-gassensor is een veelgebruikte sensor voor het detecteren van brandbare gassen, zoals aardgas (methaan), vloeibaar petroleumgas (LPG), waterstof en koolmonoxide. Het werkt op basis van veranderingen in elektrische weerstand van het sensorelement wanneer het wordt blootgesteld aan specifieke gassen.
-
-De kern van de MQ5 sensor is een chemisch gecoat metalen oxide (meestal tinoxide). 
-Dit materiaal reageert op de aanwezigheid van brandbare gassen.
-Wanneer de sensor gasdeeltjes detecteert, reageren deze met zuurstofionen op het oppervlak van het tinoxide. Deze reactie veroorzaakt een verandering in de elektrische geleidbaarheid (weerstand) van het materiaal.
-De verandering in weerstand wordt door een elektronisch circuit omgezet in een elektrisch signaal dat de concentratie van gas vertegenwoordigt.
-
-De MQ5 sensor heeft ook een ingebouwde verwarmingsspiraal die het sensorelement op een hoge temperatuur houdt (ongeveer 300-500°C). Deze temperatuur zorgt ervoor dat gassen efficiënt reageren met het tinoxide-oppervlak.
-
-Het enige nadeel van deze sensor is dat hij niet selectief is dus de sensor kan geen onderscheid maken tussen bijvoorbeeld methaan en lpg.
-
-## Aansluitschema
-![Afbeelding aansluitschema](images/Aansluitschema_sensors.png)
-
-Hierboven is te zien hoe wij de sensoren hebben aangesloten op de esp32.
-

docs/explanation/projectplan.md

@@ -1,22 +1,21 @@
 # **Projectplan - robot voor Gevaarlijke Omgevingen**
 
-### Projectbescrhijving
+### Projectbeschrijving
 
 Het project betreft de ontwikkeling van een robot voor gevaarlijke omgevingen. De robot is bedoeld om gevaarlijke situaties te verkennen en in kaart te brengen. De robot is uitgerust met verschillende sensoren en daar gaan we zelf nog een camera en andere sensoren op zetten om de omgeving te verkennen. De data wordt verzameld en geanalyseerd om een beeld te krijgen van de situatie. De robot kan worden ingezet in verschillende situaties, zoals branden, instortingen en andere gevaarlijke situaties.
 
-
 ### 1. Organisatorische Context
 
 Bij de ontwikkeling van de robot zijn verschillende factoren van belang. Maatschappelijke veranderingen zoals duurzaamheid en de toenemende vraag naar technologische oplossingen voor gevaarlijke werkomgevingen spelen een grote rol. De robot kan worden ingezet voor gevaarlijke situaties waar bijvoorbeeld geen mensen naar binnen kunnen.
 
 **Vervolgstappen:**
 
-- Focus op duurzaamheid en herbruikbaarheid. 
+- Focus op duurzaamheid en herbruikbaarheid.
 - Inzetten op veiligheid en efficiëntie.
 
 ### 2. Ethiek
 
-Ethische vragen staan centraal bij de ontwikkeling van de robot. Er moet rekening gehouden worden met de veiligheid van de gegevens van gebruiker. Het minimaliseren van de milieu-impact door duurzame materialen te gebruiken zoals hout en metaal. Privacy speelt ook een belangrijke rol. De verzamelde data moet veilig worden gebruikt en opgeslagen en het moet de EU privacy richtlijnen volgen. 
+Ethische vragen staan centraal bij de ontwikkeling van de robot. Er moet rekening gehouden worden met de veiligheid van de gegevens van gebruiker. Het minimaliseren van de milieu-impact door duurzame materialen te gebruiken zoals hout en metaal. Privacy speelt ook een belangrijke rol. De verzamelde data moet veilig worden gebruikt en opgeslagen en het moet de EU privacy richtlijnen volgen.
 
 **Punten waar we rekening mee moeten houden:**
 
@@ -27,7 +26,6 @@ Ethische vragen staan centraal bij de ontwikkeling van de robot. Er moet rekenin
 
 Het project wordt uitgevoerd vanuit een duidelijk plan waar elke sprint een deel van het project centraal staat. Driver bouwen, testen en verbindingen leggen tussen elk gedeelte van het project. We gebruiken de Agile methodiek dus alles kan nog veranderen. Hierbij moeten wij dus ook rekening houden met de etische en organisatorische aspecten, zoals duurzaamheid en veiligheid.
 
-
 ### Aanpak
 
 **Werk methode:** Gebruik van Agile projectmanagement voor flexibiliteit.
@@ -36,4 +34,4 @@ Het project wordt uitgevoerd vanuit een duidelijk plan waar elke sprint een deel
 
 **Duurzaamheid & Verbetering:** Zorgen dat we duurzame materialen kunnen gebruiken en dat we de robot kunnen blijven verbeteren.
 
-Deze aanpak zorgt ervoor dat het project niet alleen technisch succesvol is, maar ook voldoet aan ethische en organisatorische normen.
+Deze aanpak zorgt ervoor dat het project niet alleen technisch succesvol is, maar ook voldoet aan ethische en organisatorische normen.

docs/explanation/sensoren.md

@@ -1,6 +1,7 @@
 # Wat gaan we maken
 
 ## Sensoren
+
 * Camera
 * GPS module
 * Temparatuur sensor
@@ -12,21 +13,27 @@
 ## Wat gaan we met de sensoren doen?
 
 ### Camera
+
 De camera word gebruikt om foto's te maken in de omgeving in het geval van informatie verkrijgen voor als de robot bijvoorbeeld vast zit, geeft ook optie om informatie te krijgen zonder op de plek zelf te zijn.
 
 ### GPS module
+
 De GPS module word gebruikt om de locatie van de robot te bepalen en aan te geven waar bijzonderheden bevinden.
 
 ### Temparatuur, TVOC en ECO2 sensor
+
 Deze sensoren zijn bedoeld om de omgeving te meten en te kijken of de omgeving veilig is voor mensen om in te gaan.
 
 ### LDR sensor
+
 De LDR sensor word gebruikt om de lichtsterkte te meten en te kijken of er een lamp op de robot aan moet gaan voor de camera.
 
 ### Time of Flight sensor
+
 De Time of Flight sensor word gebruikt om de afstand te meten tussen de robot en de muur, zodat de robot niet tegen de muur aan botst.
 
 ## Het project
+
 Bij brand of op fabrieksterreinen met gevaarlijke stoffen kan het nodig zijn om een verkenning te 
 doen van een verdachte omgeving. Het is dan niet verstandig om mensen naar binnen te sturen, in 
 die gevallen vallen de hulpdiensten terug om een verkenningsrobot. Het doel van het project is het 

docs/home/home.md

@@ -1 +0,0 @@
-# home

docs/home/stappenplan.md

@@ -1,5 +0,0 @@
-- [x] Kobuki werkt met driver.
-- [x] Ik kan de data uitlezen.
-- [ ] Data wordt correct weergegeven.
-- [ ] Ik kan de data laten zien in op de website.
-- [ ] Ik kan de kobuki besturen vanaf de website.

docs/scrum/daily_stand_up.md

@@ -0,0 +1,20 @@
+# Daily stand ups
+
+??? note "Daily Stand-ups Sprint 4"
+    | Day        | Submitted by | What did you do yesterday     | What will you do today                             | Any blockers?                        |
+    | ---------- | ------------ | ----------------------------- | -------------------------------------------------- | ------------------------------------ |
+    | 18/11/2024 | Ishak        | ---                           | Engels, Repo fixen, beginnen met nieuwe user story | ---                                  |
+    | 18/11/2024 | Sam          | ---                           | Engels, Feedback verwerken medium stake            | None                                 |
+    | 18/11/2024 | Yannick      | ---                           | Engels, Documentatie, Code samenvoegen             | None                                 |
+    | 18/11/2024 | Mees         | ---                           | Engels, Onderzoek                                  | None                                 |
+    | 19/11/2024 | Ishak        | Engels, Repo fixen            | workshop                                           | ---                                  |
+    | 19/11/2024 | Sam          | Engels, Feedback verwerken    | workshop                                           | None                                 |
+    | 19/11/2024 | Yannick      | code samenvoegen,schema maken | workshop, documentatie                             | None                                 |
+    | 19/11/2024 | Mees         | niks                          | workshop, fixen include path                       | include path werkt niet              |
+    | 26/11/2024 | Ishak        | Workshop                      | database, engels video opnemen                     | phpmyadmin werkt niet(weet probleem) |
+    | 26/11/2024 | Sam          | opencv                        | opencv                                             | ---                                  |
+    | 26/11/2024 | Yannick      | ziek                          | ziek                                               | ---                                  |
+    | 26/11/2024 | Mees         | Engels video                  | stepper motor                                      | vscode werkt niet                    |
+    | 02/12/2024 | Ishak        | database                      | database                                           | ---                                  |
+    | 02/12/2024 | Sam          | opencv                        | camera beeld op website                            | ---                                  |
+    | 02/12/2024 | Yannick      | ziek, documentatie            | behuizing voor esp                                 | ---                                  |

docs/scrum/retrospective/retro_sprint_4.md

@@ -0,0 +1 @@
+# retro sprint 4

docs/scrum/review_feedback.md

@@ -0,0 +1,12 @@
+# sprint review 4 feedback
+
+- Definition of done SMART maken
+- Uitgebreider beschrijven wat er voor de definition of done nodig is
+- Testen van de software niet meer dan een halve A4
+- Acceptatie criteria beter uitschrijven( vragen aan ed)
+- Meer software ontwikkelen
+- kijken of we met een punten systeem kunnen werken in user stories. zo kan je zien hoe groot een user story is.
+- read.me file aanpassen
+- meer aan documentatie doen.
+- technisch iets te uitdagend
+- planning beter maken

mkdocs.yml

@@ -34,17 +34,22 @@ plugins:
       modules: [mkdocs_macros_mdocotion]
 
 markdown_extensions:
-  - attr_list
-  - md_in_html
-  - fenced_code
-  - pymdownx.highlight:
-      linenums: true
-      use_pygments: true
-  - pymdownx.inlinehilite
-  - pymdownx.snippets
-  - pymdownx.tabbed
-  - pymdownx.superfences:
-      custom_fences:
-        - name: mermaid
-          class: mermaid
-          format: !!python/name:pymdownx.superfences.fence_code_format
+    - attr_list
+    - admonition
+    - pymdownx.details
+    - pymdownx.superfences
+    - md_in_html
+    - fenced_code
+    - pymdownx.highlight:
+          linenums: true
+          use_pygments: true
+    - pymdownx.inlinehilite
+    - pymdownx.snippets
+    - pymdownx.superfences:
+          custom_fences:
+                - name: mermaid
+                  class: mermaid
+                  format: !!python/name:pymdownx.superfences.fence_code_format
+    - toc:
+        permalink: true
+    - pymdownx.details

src/Arduino/Sensors/Sensors.ino

@@ -1,123 +0,0 @@
-#include <DHT.h>
-#include <Wire.h>
-#include "Adafruit_SGP30.h"
-#include <WiFi.h>
-#include <PubSubClient.h>
-#include <ArduinoWebsockets.h>
-
-using namespace websockets;
-
-Adafruit_SGP30 sgp;
-
-// Definieert de pins voor de sensoren
-#define DHTPIN 4
-#define DHTTYPE DHT11
-
-#define MQ5_PIN 2
-
-#define SDA_PIN 10
-#define SCL_PIN 11
-
-DHT dht(DHTPIN, DHTTYPE);
-
-// WiFi en MQTT instellingen
-const char* ssid = "";
-const char* password = "";
-
-const char* mqtt_server = "192.168.68.104";
-const int mqtt_port = 8080; //websocket-poort
-const char* mqtt_topic = "sensors/data";
-
-// MQTT client
-WiFiClient espClient;
-WebsocketsClient websocket;
-PubSubClient client(espClient);
-
-// Functie om verbinding te maken met WiFi
-void setup_wifi() {
-  Serial.print("Verbinden met WiFi...");
-  WiFi.begin(ssid, password);
-  while (WiFi.status() != WL_CONNECTED) {
-    delay(500);
-    Serial.print(".");
-  }
-  Serial.println("Verbonden!");
-}
-
-void reconnectMQTT() {
-  while (!client.connected()) {
-    Serial.print("Verbinding maken met MQTT via WebSockets...");
-    if (client.connect("ESP32Client")) {
-      Serial.println("Verbonden!");
-    } else {
-      Serial.print("Fout: ");
-      Serial.print(client.state());
-      delay(5000);
-    }
-  }
-}
-
-void setup() {
-  // Start de seriële monitor
-  Serial.begin(9600);
-  
-  dht.begin();
-  
-   pinMode(MQ5_PIN, INPUT);
- 
-   Wire.begin(SDA_PIN, SCL_PIN);
-  Serial.println("SGP30 test");
-
-  // SGP30 initialiseren
-  if (!sgp.begin()) {
-    Serial.println("SGP30 sensor niet gevonden :(");
-    while (1);
-  }
-  if (!sgp.IAQinit()) {
-    Serial.println("SGP30 IAQ-initialisatie mislukt!");
-    while (1);
-  }
-
-  // Verbind met WiFi en MQTT-broker
-  setup_wifi();
-  // Stel MQTT-broker in met websockets
-  client.setServer(mqtt_server, mqtt_port);
-  reconnectMQTT();
-}
-
-void loop() {
-  // Zorgt ervoor dat MQTT verbonden blijft
-  if (!client.connected()) {
-    reconnectMQTT();
-  }
-  client.loop();
-
-  float h = dht.readHumidity();
-  float t = dht.readTemperature();
-  int mq5Value = analogRead(MQ5_PIN);
-
-   // Check of de sensorwaarden geldig zijn
-   if (isnan(h) || isnan(t) || mq5Value < 0) {
-     Serial.println("Fout bij het lezen van de sensors!");
-     return;
-   }
-
-   // Maak een JSON-payload
-  String payload = "{";
-  payload += "\"humidity\":" + String(h) + ",";
-  payload += "\"temperature\":" + String(t) + ",";
-  payload += "\"mq5\":" + String(mq5Value) + ",";
-  payload += "\"tvoc\":" + String(sgp.TVOC) + ",";
-  payload += "\"eco2\":" + String(sgp.eCO2);
-  payload += "}";
-
-  // Verzend de payload via MQTT
-  if (client.publish(mqtt_topic, payload.c_str())) {
-    Serial.println("Bericht verzonden: " + payload);
-  } else {
-    Serial.println("Fout bij verzenden van bericht!");
-  }
-
-  // Wacht 5 seconden voor de volgende meting
-  delay(5000);
-}

src/Arduino/TestM5/TestM5.ino

@@ -1,40 +0,0 @@
-// Test code is merged to main sensor code os this file is not needed anymore
-
-#include <Wire.h>
-#include "Adafruit_SGP30.h"
-
-Adafruit_SGP30 sgp;
-
-#define SDA_PIN 10
-#define SCL_PIN 11
-
-void setup() {
-  Serial.begin(115200);
-  while (!Serial) { delay(10); }
-
-  Wire.begin(SDA_PIN, SCL_PIN);
-
-  Serial.println("SGP30 test");
-
-  if (!sgp.begin()) {
-    Serial.println("SGP30 sensor not found :(");
-    while (1);
-  }
-
-  // Start measurements (initialize baseline)
-  if (! sgp.IAQinit()) {
-    Serial.println("SGP30 IAQinit failed!");
-    while (1);
-  }
-}
-
-void loop() {
-  if (! sgp.IAQmeasure()) {
-    Serial.println("Measurement failed");
-    return;
-  }
-  Serial.print("TVOC "); Serial.print(sgp.TVOC); Serial.print(" ppb\t");
-  Serial.print("eCO2 "); Serial.print(sgp.eCO2); Serial.println(" ppm");
-
-  delay(1000); // 1 second delay
-}

src/C++/Driver/CMakeLists.txt

@@ -1,12 +1,26 @@
 cmake_minimum_required(VERSION 3.9)
 project(kobuki_control)
 set(CMAKE_CXX_STANDARD 23)
+
+# Find the Paho MQTT C++ library (static)
+find_library(PAHO_MQTTPP_LIBRARY paho-mqttpp3 PATHS /usr/local/lib)
+find_library(PAHO_MQTT_LIBRARY paho-mqtt3a PATHS /usr/local/lib)
+
+# Find OpenCV package
+find_package(OpenCV REQUIRED)
+find_package(OpenEXR REQUIRED)
+include_directories(${OpenCV_INCLUDE_DIRS})
+
 set(SOURCE_FILES
-        src/KobukiParser.cpp
-        src/KobukiParser.h
-        src/CKobuki.cpp
-        src/CKobuki.h
-        src/main.cpp)
+    src/KobukiDriver/KobukiParser.cpp
+    src/KobukiDriver/KobukiParser.h
+    src/KobukiDriver/CKobuki.cpp
+    src/KobukiDriver/CKobuki.h
+    src/MQTT/MqttClient.cpp
+    src/MQTT/MqttClient.h
+    src/main.cpp)
 
 add_executable(kobuki_control ${SOURCE_FILES})
-#target_link_libraries(kobuki_control )
+
+# Link the static libraries
+target_link_libraries(kobuki_control ${PAHO_MQTTPP_LIBRARY} ${PAHO_MQTT_LIBRARY} ${OpenCV_LIBS} pthread OpenEXR::OpenEXR)

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

@@ -1,683 +0,0 @@
-#include "CKobuki.h"
-#include "errno.h"
-#include "termios.h"
-#include <cstddef>
-#include <iostream>
-#include <thread>
-
-
-// plot p;
-static std::vector<float> vectorX;
-static std::vector<float> vectorY;
-static std::vector<float> vectorGyroTheta;
-
-// obsluha tty pod unixom
-int set_interface_attribs2(int fd, int speed, int parity)
-{
-    struct termios tty;
-    memset(&tty, 0, sizeof tty);
-    if (tcgetattr(fd, &tty) != 0)
-    {
-        printf("error %d from tcgetattr", errno);
-        return -1;
-    }
-
-    cfsetospeed(&tty, speed);
-    cfsetispeed(&tty, speed);
-
-    tty.c_cflag = (tty.c_cflag & ~CSIZE) | CS8; // 8-bit chars
-    // disable IGNBRK for mismatched speed tests; otherwise receive break
-    // as \000 chars
-    // tty.c_iflag &= ~IGNBRK;         // disable break processing
-    tty.c_lflag = 0; // no signaling chars, no echo,
-    // no canonical processing
-    tty.c_oflag = 0;     // no remapping, no delays
-    tty.c_cc[VMIN] = 0;  // read doesn't block
-    tty.c_cc[VTIME] = 5; // 0.5 seconds read timeout
-
-    tty.c_iflag &= ~(IGNBRK | INLCR | ICRNL | IXON | IXOFF |
-                     IXANY); // shut off xon/xoff ctrl
-
-    tty.c_cflag |= (CLOCAL | CREAD); // ignore modem controls,
-    // enable reading
-    tty.c_cflag &= ~(PARENB | PARODD); // shut off parity
-    tty.c_cflag |= parity;
-    tty.c_cflag &= ~CSTOPB;
-    tty.c_cflag &= ~CRTSCTS;
-
-    if (tcsetattr(fd, TCSANOW, &tty) != 0)
-    {
-        printf("error %d from tcsetattr", errno);
-        return -1;
-    }
-    return 0;
-}
-
-void set_blocking2(int fd, int should_block)
-{
-    struct termios tty;
-    memset(&tty, 0, sizeof tty);
-    if (tcgetattr(fd, &tty) != 0)
-    {
-        printf("error %d from tggetattr", errno);
-        return;
-    }
-
-    tty.c_cc[VMIN] = should_block ? 1 : 0;
-    tty.c_cc[VTIME] = 5; // 0.5 seconds read timeout
-
-    if (tcsetattr(fd, TCSANOW, &tty) != 0)
-        printf("error %d setting term attributes", errno);
-}
-
-int CKobuki::connect(char *comportT)
-{
-    HCom = open(comportT, O_RDWR | O_NOCTTY | O_NONBLOCK);
-
-    if (HCom == -1)
-    {
-        printf("Kobuki nepripojeny\n");
-        return HCom;
-    }
-    else
-    {
-        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");
-        return HCom;
-    }
-}
-
-unsigned char *CKobuki::readKobukiMessage()
-{
-    unsigned char buffer[1];
-    ssize_t Pocet;
-    buffer[0] = 0;
-    unsigned char *null_buffer(0);
-    // citame kym nezachytime zaciatok spravy
-    do
-    {
-        Pocet = read(HCom, buffer, 1);
-    } while (buffer[0] != 0xAA);
-    // mame zaciatok spravy (asi)
-    if (Pocet == 1 && buffer[0] == 0xAA)
-    {
-        // citame dalsi byte
-        do
-        {
-
-            Pocet = read(HCom, buffer, 1);
-
-        } while (Pocet != 1); // na linuxe -1 na windowse 0
-
-        // a ak je to druhy byte hlavicky
-        if (Pocet == 1 && buffer[0] == 0x55)
-        {
-            // precitame dlzku
-            Pocet = read(HCom, buffer, 1);
-
-            // ReadFile(hCom, buffer, 1, &Pocet, NULL);
-            if (Pocet == 1)
-            {
-                // mame dlzku.. nastavime vektor a precitame ho cely
-                int readLenght = buffer[0];
-                unsigned char *outputBuffer =
-                    (unsigned char *)calloc(readLenght + 4, sizeof(char));
-                outputBuffer[0] = buffer[0];
-                int pct = 0;
-
-                do
-                {
-                    Pocet = 0;
-                    int readpoc = (readLenght + 1 - pct);
-                    Pocet = read(HCom, outputBuffer + 1 + pct, readpoc);
-
-                    pct = pct + (Pocet == -1 ? 0 : Pocet);
-                } while (pct != (readLenght + 1));
-
-                // tu si mozeme ceknut co chodi zo serial intefejsu Kobukiho
-                // for(int i=0;i<outputBuffer[0]+2;i++)
-                // {
-                // 	printf("%x ",outputBuffer[i]);
-                // }
-
-                return outputBuffer;
-            }
-        }
-    }
-
-    return null_buffer;
-}
-
-void CKobuki::setLed(int led1, int led2)
-{
-    unsigned char message[8] = {0xaa, 0x55, 0x04, 0x0c, 0x02, 0x00, (unsigned char)((led1 + led2 * 4) % 256), 0x00};
-    message[7] = message[2] ^ message[3] ^ message[4] ^ message[5] ^ message[6];
-    uint32_t pocet;
-    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...
-void CKobuki::setPower(int value)
-{
-    if (value == 1)
-    {
-        unsigned char message[8] = {0xaa, 0x55, 0x04, 0x0C, 0x02, 0xf0, 0x00, 0xAF};
-        uint32_t pocet;
-        pocet = write(HCom, &message, 8);
-    }
-}
-
-void CKobuki::setTranslationSpeed(int mmpersec)
-{
-    unsigned char message[14] = {0xaa, 0x55, 0x0A, 0x0c, 0x02,
-                                 0xf0, 0x00, 0x01, 0x04, mmpersec % 256,
-                                 mmpersec >> 8, 0x00, 0x00, 0x00};
-    message[13] = message[2] ^ message[3] ^ message[4] ^ message[5] ^ message[6] ^
-                  message[7] ^ message[8] ^ message[9] ^ message[10] ^
-                  message[11] ^ message[12];
-
-    uint32_t pocet;
-    pocet = write(HCom, &message, 14);
-}
-
-void CKobuki::setRotationSpeed(double radpersec)
-{
-    int speedvalue = radpersec * 230.0f / 2.0f;
-    unsigned char message[14] = {0xaa,
-                                 0x55,
-                                 0x0A,
-                                 0x0c,
-                                 0x02,
-                                 0xf0,
-                                 0x00,
-                                 0x01,
-                                 0x04,
-                                 speedvalue % 256,
-                                 speedvalue >> 8,
-                                 0x01,
-                                 0x00,
-                                 0x00};
-    message[13] = message[2] ^ message[3] ^ message[4] ^ message[5] ^ message[6] ^
-                  message[7] ^ message[8] ^ message[9] ^ message[10] ^
-                  message[11] ^ message[12];
-
-    uint32_t pocet;
-    pocet = write(HCom, &message, 14);
-}
-
-void CKobuki::setArcSpeed(int mmpersec, int radius)
-{
-    if (radius == 0)
-    {
-        setTranslationSpeed(mmpersec);
-        return;
-    }
-
-    int speedvalue =
-        mmpersec * ((radius + (radius > 0 ? 230 : -230)) / 2) / radius;
-    unsigned char message[14] = {0xaa,
-                                 0x55,
-                                 0x0A,
-                                 0x0c,
-                                 0x02,
-                                 0xf0,
-                                 0x00,
-                                 0x01,
-                                 0x04,
-                                 speedvalue % 256,
-                                 speedvalue >> 8,
-                                 radius % 256,
-                                 radius >> 8,
-                                 0x00};
-    message[13] = message[2] ^ message[3] ^ message[4] ^ message[5] ^ message[6] ^
-                  message[7] ^ message[8] ^ message[9] ^ message[10] ^
-                  message[11] ^ message[12];
-    uint32_t pocet;
-    pocet = write(HCom, &message, 14);
-}
-
-void CKobuki::setSound(int noteinHz, int duration)
-{
-    int notevalue = floor((double)1.0 / ((double)noteinHz * 0.00000275) + 0.5);
-    unsigned char message[9] = {0xaa, 0x55, 0x05,
-                                0x03, 0x03, notevalue % 256,
-                                notevalue >> 8, duration % 256, 0x00};
-    message[8] = message[2] ^ message[3] ^ message[4] ^ message[5] ^ message[6] ^
-                 message[7];
-
-    uint32_t pocet;
-    pocet = write(HCom, &message, 9);
-}
-
-void CKobuki::startCommunication(char *portname, bool CommandsEnabled, void *userDataL)
-{
-    connect(portname);
-    enableCommands(CommandsEnabled);
-    userData = userDataL;
-
-    int pthread_result;
-    pthread_result = pthread_create(&threadHandle, NULL, KobukiProcess, (void *)this);
-    if (pthread_result != 0) {
-        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;
-        }
-        int ok = parser.parseKobukiMessage(parser.data, message);
-
-        // maximalne moze trvat callback funkcia 20 ms, ak by trvala viac, nestihame
-        // citat
-        if (ok == 0)
-        {
-            loop(userData, parser.data);
-        }
-        free(message);
-    }
-    return 0;
-}
-
-long double CKobuki::gyroToRad(signed short GyroAngle)
-{
-
-    long double rad;
-    if (GyroAngle < 0)
-    {
-        rad = GyroAngle + 360;
-    }
-    else
-    {
-        rad = GyroAngle;
-    }
-    return (long double)rad * PI / 180.0;
-}
-
-long CKobuki::loop(void *user_data, TKobukiData &Kobuki_data)
-{
-    if (iterationCount == 0)
-    {
-        prevLeftEncoder = Kobuki_data.EncoderLeft;
-        prevRightEncoder = Kobuki_data.EncoderRight;
-        prevTimestamp = Kobuki_data.timestamp;
-        prevGyroTheta = gyroToRad(Kobuki_data.GyroAngle);
-        iterationCount++;
-    }
-
-    int dLeft;
-    if (abs(Kobuki_data.EncoderLeft - prevLeftEncoder) > 32000)
-    {
-        dLeft = Kobuki_data.EncoderLeft - prevLeftEncoder +
-                (Kobuki_data.EncoderLeft > prevLeftEncoder ? -65536 : +65536);
-    }
-    else
-    {
-        dLeft = Kobuki_data.EncoderLeft - prevLeftEncoder;
-    }
-
-    int dRight;
-    if (abs(Kobuki_data.EncoderRight - prevRightEncoder) > 32000)
-    {
-        dRight = Kobuki_data.EncoderRight - prevRightEncoder +
-                 (Kobuki_data.EncoderRight > prevRightEncoder ? -65536 : +65536);
-    }
-    else
-    {
-        dRight = Kobuki_data.EncoderRight - prevRightEncoder;
-    }
-
-    long double dGyroTheta = prevGyroTheta - gyroToRad(Kobuki_data.GyroAngle);
-
-    if (dGyroTheta > PI)
-    {
-        dGyroTheta -= 2 * PI;
-    }
-    if (dGyroTheta < -1 * PI)
-    {
-        dGyroTheta += 2 * PI;
-    }
-
-    gyroTheta += dGyroTheta;
-
-    uint16_t dTimestamp = Kobuki_data.timestamp - prevTimestamp;
-
-    long double mLeft = dLeft * tickToMeter;
-    long double mRight = dRight * tickToMeter;
-
-    if (mLeft == mRight)
-    {
-        x = x + mRight;
-    }
-    else
-    {
-        x = x + (b * (mRight + mLeft)) / (2 * (mRight - mLeft)) *
-                    (sin((mRight - mLeft) / b + theta) - sin(theta));
-        y = y + (b * (mRight + mLeft)) / (2 * (mRight - mLeft)) *
-                    (cos((mRight - mLeft) / b + theta) - cos(theta));
-        theta = (mRight - mLeft) / b + theta;
-    }
-
-    displacement = (mRight + mLeft) / 2;
-    integratedGyroTheta = integratedGyroTheta + dGyroTheta;
-    gx = gx + displacement * cos(integratedGyroTheta + dGyroTheta / 2);
-
-    gy = gy + displacement * sin(integratedGyroTheta + dGyroTheta / 2);
-
-    totalLeft += dLeft;
-    totalRight += dRight;
-
-    // ak je suma novej a predchadzajucej vacsia ako 65536 tak to pretieklo?
-    directionL = (prevLeftEncoder < Kobuki_data.EncoderLeft ? 1 : -1);
-    directionR = (prevRightEncoder < Kobuki_data.EncoderRight ? 1 : -1);
-    dTimestamp = (Kobuki_data.timestamp < prevTimestamp
-                      ? prevTimestamp - Kobuki_data.timestamp + 65536
-                      : dTimestamp);
-
-    prevLeftEncoder = Kobuki_data.EncoderLeft;
-    prevRightEncoder = Kobuki_data.EncoderRight;
-    prevTimestamp = Kobuki_data.timestamp;
-    prevGyroTheta = gyroToRad(Kobuki_data.GyroAngle);
-
-    //    std::cout << "X: " << x
-    //              << " Y: " << y
-    //              << " Theta: " << theta
-    //              << "Gyro theta:" << gyroTheta
-    //              << std::endl;
-
-    static long counter = 0;
-    
-    //vector for data plotting
-    vectorX.push_back(gx);
-    vectorY.push_back(gy);
-    vectorGyroTheta.push_back(gyroTheta);
-
-    // if (counter % 100 == 0) {
-    //     p.plot_data(vectorY, vectorX);
-    // }
-    counter++;
-
-    return 0;
-}
-
-
-
-
-// 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
-void CKobuki::goStraight(long double distance){
-    long double u_translation = 0; // controlled magnitude, speed of the robot in motion
-    long double w_translation = distance; // requested value
-
-  // controller parameters
-  long double Kp_translation = 4500;
-  long double e_translation = 0;
-  int upper_thresh_translation = 600;
-  int lower_thresh_translation = 40;
-  int translation_start_gain = 20;
-
-    long double u_rotation = 0; // controlled magnitude
-    long double w_rotation = 0;
-    long double Kp_rotation = 57;
-    long double e_rotation = 0;
-
-    x = 0;
-    y = 0;
-    theta = 0;
-
-    long i = 5;
-    //send command and hold until robot reaches point
-    while (fabs(x - w_translation) > 0.005 && x < w_translation)
-    {
-        e_translation = w_translation - x;
-        u_translation = Kp_translation * e_translation;
-
-        e_rotation = w_rotation - theta;
-        if (!e_rotation == 0)
-            u_rotation = Kp_rotation / e_rotation;
-
-        // limit translation speed
-        if (u_translation > upper_thresh_translation)
-            u_translation = upper_thresh_translation;
-        if (u_translation < lower_thresh_translation)
-            u_translation = lower_thresh_translation;
-
-        // rewrite starting speed with line
-        if (i < u_translation)
-        {
-            u_translation = i;
-        }
-
-        if (fabs(u_rotation) > 32767)
-        {
-            u_rotation = -32767;
-        }
-
-        if (u_rotation == 0)
-        {
-            u_rotation = -32767;
-        }
-        //send command to robot
-        this->setArcSpeed(u_translation, u_rotation);
-
-        // increment starting speed
-        i = i + translation_start_gain;
-    }
-    this->setTranslationSpeed(0);
-}
-
-/// the method performs the rotation, it rotates using the regulator, the
-/// gyroscope serves as feedback, because it is much more accurate than encoders
-void CKobuki::doRotation(long double th)
-{
-    long double u = 0;  // controlled variable, angular speed of the robot during movement
-    long double w = th; // desired value in radians
-    long double Kp = PI;
-    long double e = 0;
-    int thresh = PI / 2;
-
-    theta = 0;
-    x = 0;
-    y = 0;
-    gyroTheta = 0;
-
-    long double i = 0;
-
-    if (w > 0)
-    {
-        while (gyroTheta < w)
-        {
-            e = w - gyroTheta;
-            u = Kp * e;
-
-            if (u > thresh)
-                u = thresh;
-            if (u < 0.4)
-                u = 0.4;
-
-            if (i < u)
-            {
-                u = i;
-            }
-
-            std::cout << "Angle: " << gyroTheta << " required:" << w << std::endl;
-            this->setRotationSpeed(-1 * u);
-            usleep(25 * 1000);
-            i = i + 0.1;
-        }
-    }
-    else
-    {
-        while (gyroTheta > w)
-        {
-            e = w - gyroTheta;
-            u = Kp * e * -1;
-
-            if (u > thresh)
-                u = thresh;
-            if (u < 0.4)
-                u = 0.4;
-
-            if (i < u)
-            {
-                u = i;
-            }
-
-            std::cout << "Angle: " << gyroTheta << " required:" << w << std::endl;
-            this->setRotationSpeed(u);
-            usleep(25 * 1000);
-            i = i + 0.1;
-        }
-    }
-
-    std::cout << "Rotation done" << std::endl;
-    this->setRotationSpeed(0);
-    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 Kobuki go forward
-/// @param speedvalue speed of robot in mm/s
-/// @param distance   distance in meters
-void CKobuki::forward(int speedvalue) {
-  // Use the goStraight logic to determine the speed and distance
-
-  // Calculate the actual speed and radius values based on the conversion table
-  int actual_speed = speedvalue;
-  int actual_radius = 0; // Pure translation (straight line)
-
-unsigned char message[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
-    actual_speed >> 8,   // Upper byte of speed value
-    0x00,                // Placeholder for radius
-    0x00,                // Placeholder for radius
-    0x00                 // Placeholder for checksum
-};
-
-// Calculate checksum
-message[10] = message[2] ^ message[3] ^ message[4] ^ message[5] ^ message[6] ^
-              message[7] ^ message[8] ^ message[9];
-
-  // Send the message
-  uint32_t pocet;
-  pocet = write(HCom, &message, 11);
-  pocet = write(HCom, &message, 11);
-
-}
-
-/// @brief Makes the kobuki rotate
-/// @param degrees Rotation in degrees
-void CKobuki::Rotate(int degrees) {
-
-    // convert raidans to degrees
-    float radians = degrees * PI / 180.0;
-
-    // Calculate the rotation speed in radians per second
-    double radpersec = 1; 
-
-    // calculator rotation time and give absolute value
-    float rotation_time = std::abs(radians / radpersec);
-    
-    // Use original function to set the rotation speed in mm/s
-    setRotationSpeed(radians);
-
-    // Sleep for the calculated rotation time
-    std::this_thread::sleep_for(std::chrono::milliseconds(static_cast<int>(rotation_time * 1000)));
-
-    // Stop the robot after the rotation
-    setRotationSpeed(0);
-}
-
-
-void CKobuki::robotSafety() {
-    while (true) {
-
-        if (parser.data.BumperCenter || parser.data.BumperLeft || 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
-
-        }
-
-    }
-}
-
-void CKobuki::sendNullMessage(){
-
-    unsigned char message[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
-    0x00,  // Lower byte of speed value
-    0x00,   // Upper byte of speed value
-    0x00,                // Placeholder for radius
-    0x00,                // Placeholder for radius
-    0x00                 // Placeholder for checksum
-};
-    
-
-message[10] = message[2] ^ message[3] ^ message[4] ^ message[5] ^ message[6] ^
-              message[7] ^ message[8] ^ message[9];
-
-  // Send the message
-  uint32_t pocet;
-  pocet = write(HCom, &message, 11);
-}

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

@@ -0,0 +1,612 @@
+#include "CKobuki.h"
+#include "errno.h"
+#include "termios.h"
+#include <cstddef>
+#include <iostream>
+#include <thread>
+
+// plot p;
+static std::vector<float> vectorX;
+static std::vector<float> vectorY;
+static std::vector<float> vectorGyroTheta;
+
+// obsluha tty pod unixom
+int set_interface_attribs2(int fd, int speed, int parity) {
+  struct termios tty;
+  memset(&tty, 0, sizeof tty);
+  if (tcgetattr(fd, &tty) != 0) {
+    printf("error %d from tcgetattr", errno);
+    return -1;
+  }
+
+  cfsetospeed(&tty, speed);
+  cfsetispeed(&tty, speed);
+
+  tty.c_cflag = (tty.c_cflag & ~CSIZE) | CS8; // 8-bit chars
+  // disable IGNBRK for mismatched speed tests; otherwise receive break
+  // as \000 chars
+  // tty.c_iflag &= ~IGNBRK;         // disable break processing
+  tty.c_lflag = 0; // no signaling chars, no echo,
+  // no canonical processing
+  tty.c_oflag = 0;     // no remapping, no delays
+  tty.c_cc[VMIN] = 0;  // read doesn't block
+  tty.c_cc[VTIME] = 5; // 0.5 seconds read timeout
+
+  tty.c_iflag &= ~(IGNBRK | INLCR | ICRNL | IXON | IXOFF |
+                   IXANY); // shut off xon/xoff ctrl
+
+  tty.c_cflag |= (CLOCAL | CREAD); // ignore modem controls,
+  // enable reading
+  tty.c_cflag &= ~(PARENB | PARODD); // shut off parity
+  tty.c_cflag |= parity;
+  tty.c_cflag &= ~CSTOPB;
+  tty.c_cflag &= ~CRTSCTS;
+
+  if (tcsetattr(fd, TCSANOW, &tty) != 0) {
+    printf("error %d from tcsetattr", errno);
+    return -1;
+  }
+  return 0;
+}
+
+void set_blocking2(int fd, int should_block) {
+  struct termios tty;
+  memset(&tty, 0, sizeof tty);
+  if (tcgetattr(fd, &tty) != 0) {
+    printf("error %d from tggetattr", errno);
+    return;
+  }
+
+  tty.c_cc[VMIN] = should_block ? 1 : 0;
+  tty.c_cc[VTIME] = 5; // 0.5 seconds read timeout
+
+  if (tcsetattr(fd, TCSANOW, &tty) != 0)
+    printf("error %d setting term attributes", errno);
+}
+
+int CKobuki::connect(char *comportT) {
+  HCom = open(comportT, O_RDWR | O_NOCTTY | O_NONBLOCK);
+
+  if (HCom == -1) {
+    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_blocking2(HCom, 0);    // set no blocking
+    tcflush(HCom, TCOFLUSH);
+
+    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);
+
+  // Read until the start of the message is detected
+  do {
+    Pocet = read(HCom, buffer, 1);
+  } while (buffer[0] != 0xAA);
+
+  // We have the start of the message (possibly)
+  if (Pocet == 1 && buffer[0] == 0xAA) {
+    // Read the next byte
+    do {
+      Pocet = read(HCom, buffer, 1);
+    } while (Pocet != 1); // On Linux: -1, on Windows: 0
+
+    // If it is the second byte of the header
+    if (Pocet == 1 && buffer[0] == 0x55) {
+      // Read the length
+      Pocet = read(HCom, buffer, 1);
+
+      if (Pocet == 1) {
+        // 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));
+        outputBuffer[0] = buffer[0];
+        int pct = 0;
+
+        do {
+          Pocet = 0;
+          int readpoc = (readLenght + 1 - pct);
+          Pocet = read(HCom, outputBuffer + 1 + pct, readpoc);
+
+          pct = pct + (Pocet == -1 ? 0 : Pocet);
+        } while (pct != (readLenght + 1));
+
+        // 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]);
+        // }
+
+        return outputBuffer;
+      }
+    }
+  }
+
+  return null_buffer;
+}
+
+void CKobuki::setLed(int led1, int led2) {
+  unsigned char message[8] = {0xaa,
+                              0x55,
+                              0x04,
+                              0x0c,
+                              0x02,
+                              0x00,
+                              (unsigned char)((led1 + led2 * 4) % 256),
+                              0x00};
+  message[7] = message[2] ^ message[3] ^ message[4] ^ message[5] ^ message[6];
+  uint32_t pocet;
+  pocet = write(HCom, &message, 8);
+}
+
+// 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};
+    uint32_t pocet;
+    pocet = write(HCom, &message, 8);
+  }
+}
+
+void CKobuki::setTranslationSpeed(int mmpersec) {
+  unsigned char message[14] = {0xaa,          0x55, 0x0A, 0x0c, 0x02,
+                               0xf0,          0x00, 0x01, 0x04, mmpersec % 256,
+                               mmpersec >> 8, 0x00, 0x00, 0x00};
+  message[13] = message[2] ^ message[3] ^ message[4] ^ message[5] ^ message[6] ^
+                message[7] ^ message[8] ^ message[9] ^ message[10] ^
+                message[11] ^ message[12];
+
+  uint32_t pocet;
+  pocet = write(HCom, &message, 14);
+}
+
+void CKobuki::setRotationSpeed(double radpersec) {
+  int speedvalue = radpersec * 230.0f / 2.0f;
+  unsigned char message[14] = {0xaa,
+                               0x55,
+                               0x0A,
+                               0x0c,
+                               0x02,
+                               0xf0,
+                               0x00,
+                               0x01,
+                               0x04,
+                               speedvalue % 256,
+                               speedvalue >> 8,
+                               0x01,
+                               0x00,
+                               0x00};
+  message[13] = message[2] ^ message[3] ^ message[4] ^ message[5] ^ message[6] ^
+                message[7] ^ message[8] ^ message[9] ^ message[10] ^
+                message[11] ^ message[12];
+
+  uint32_t pocet;
+  pocet = write(HCom, &message, 14);
+}
+
+void CKobuki::setArcSpeed(int mmpersec, int radius) {
+  if (radius == 0) {
+    setTranslationSpeed(mmpersec);
+    return;
+  }
+
+  int speedvalue =
+      mmpersec * ((radius + (radius > 0 ? 230 : -230)) / 2) / radius;
+  unsigned char message[14] = {0xaa,
+                               0x55,
+                               0x0A,
+                               0x0c,
+                               0x02,
+                               0xf0,
+                               0x00,
+                               0x01,
+                               0x04,
+                               speedvalue % 256,
+                               speedvalue >> 8,
+                               radius % 256,
+                               radius >> 8,
+                               0x00};
+  message[13] = message[2] ^ message[3] ^ message[4] ^ message[5] ^ message[6] ^
+                message[7] ^ message[8] ^ message[9] ^ message[10] ^
+                message[11] ^ message[12];
+  uint32_t pocet;
+  pocet = write(HCom, &message, 14);
+}
+
+void CKobuki::setSound(int noteinHz, int duration) {
+  int notevalue = floor((double)1.0 / ((double)noteinHz * 0.00000275) + 0.5);
+  unsigned char message[9] = {0xaa,           0x55,           0x05,
+                              0x03,           0x03,           notevalue % 256,
+                              notevalue >> 8, duration % 256, 0x00};
+  message[8] = message[2] ^ message[3] ^ message[4] ^ message[5] ^ message[6] ^
+               message[7];
+
+  uint32_t pocet;
+  pocet = write(HCom, &message, 9);
+}
+
+void CKobuki::startCommunication(char *portname, bool CommandsEnabled,
+                                 void *userDataL) {
+  if(connect(portname) != -1){
+  enableCommands(CommandsEnabled);
+  userData = userDataL;
+
+  int pthread_result;
+  pthread_result =
+      pthread_create(&threadHandle, NULL, KobukiProcess, (void *)this);
+  if (pthread_result != 0) {
+    std::cerr << "Error creating thread: " << pthread_result << std::endl;
+  }
+}
+}
+
+int CKobuki::measure() {
+  while (stopVlakno == 0) {
+    unsigned char *message = readKobukiMessage();
+    if (message == NULL) {
+    // printf("returned null message\n");
+    continue;
+    }
+    int ok = parser.parseKobukiMessage(parser.data, message);
+
+    // 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);
+    }
+    free(message);
+  }
+  return 0;
+}
+
+long double CKobuki::gyroToRad(signed short GyroAngle) {
+
+  long double rad;
+  if (GyroAngle < 0) {
+    rad = GyroAngle + 360;
+  } else {
+    rad = GyroAngle;
+  }
+  return (long double)rad * PI / 180.0;
+}
+
+long CKobuki::loop(void *user_data, TKobukiData &Kobuki_data) {
+  if (iterationCount == 0) {
+    prevLeftEncoder = Kobuki_data.EncoderLeft;
+    prevRightEncoder = Kobuki_data.EncoderRight;
+    prevTimestamp = Kobuki_data.timestamp;
+    prevGyroTheta = gyroToRad(Kobuki_data.GyroAngle);
+    iterationCount++;
+  }
+
+  int dLeft;
+  if (abs(Kobuki_data.EncoderLeft - prevLeftEncoder) > 32000) {
+    dLeft = Kobuki_data.EncoderLeft - prevLeftEncoder +
+            (Kobuki_data.EncoderLeft > prevLeftEncoder ? -65536 : +65536);
+  } else {
+    dLeft = Kobuki_data.EncoderLeft - prevLeftEncoder;
+  }
+
+  int dRight;
+  if (abs(Kobuki_data.EncoderRight - prevRightEncoder) > 32000) {
+    dRight = Kobuki_data.EncoderRight - prevRightEncoder +
+             (Kobuki_data.EncoderRight > prevRightEncoder ? -65536 : +65536);
+  } else {
+    dRight = Kobuki_data.EncoderRight - prevRightEncoder;
+  }
+
+  long double dGyroTheta = prevGyroTheta - gyroToRad(Kobuki_data.GyroAngle);
+
+  if (dGyroTheta > PI) {
+    dGyroTheta -= 2 * PI;
+  }
+  if (dGyroTheta < -1 * PI) {
+    dGyroTheta += 2 * PI;
+  }
+
+  gyroTheta += dGyroTheta;
+
+  uint16_t dTimestamp = Kobuki_data.timestamp - prevTimestamp;
+
+  long double mLeft = dLeft * tickToMeter;
+  long double mRight = dRight * tickToMeter;
+
+  if (mLeft == mRight) {
+    x = x + mRight;
+  } else {
+    x = x + (b * (mRight + mLeft)) / (2 * (mRight - mLeft)) *
+                (sin((mRight - mLeft) / b + theta) - sin(theta));
+    y = y + (b * (mRight + mLeft)) / (2 * (mRight - mLeft)) *
+                (cos((mRight - mLeft) / b + theta) - cos(theta));
+    theta = (mRight - mLeft) / b + theta;
+  }
+
+  displacement = (mRight + mLeft) / 2;
+  integratedGyroTheta = integratedGyroTheta + dGyroTheta;
+  gx = gx + displacement * cos(integratedGyroTheta + dGyroTheta / 2);
+
+  gy = gy + displacement * sin(integratedGyroTheta + dGyroTheta / 2);
+
+  totalLeft += dLeft;
+  totalRight += dRight;
+
+// 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
+                    ? prevTimestamp - Kobuki_data.timestamp + 65536
+                    : dTimestamp);
+
+  prevLeftEncoder = Kobuki_data.EncoderLeft;
+  prevRightEncoder = Kobuki_data.EncoderRight;
+  prevTimestamp = Kobuki_data.timestamp;
+  prevGyroTheta = gyroToRad(Kobuki_data.GyroAngle);
+
+  //    std::cout << "X: " << x
+  //              << " Y: " << y
+  //              << " Theta: " << theta
+  //              << "Gyro theta:" << gyroTheta
+  //              << std::endl;
+
+  static long counter = 0;
+
+  vectorX.push_back(gx);
+  vectorY.push_back(gy);
+  vectorGyroTheta.push_back(gyroTheta);
+
+  // if (counter % 100 == 0) {
+  //     p.plot_data(vectorY, vectorX);
+  // }
+  counter++;
+
+  return 0;
+}
+
+// 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
+void CKobuki::goStraight(long double distance) {
+  long double u_translation =
+      0; // controlled magnitude, speed of the robot in motion
+  long double w_translation = distance; // requested value
+
+  // controller parameters
+  long double Kp_translation = 4500;
+  long double e_translation = 0;
+  int upper_thresh_translation = 600;
+  int lower_thresh_translation = 40;
+  int translation_start_gain = 20;
+
+  long double u_rotation = 0; // controlled magnitude
+  long double w_rotation = 0;
+  long double Kp_rotation = 57;
+  long double e_rotation = 0;
+
+  x = 0;
+  y = 0;
+  theta = 0;
+
+  long i = 5;
+  // send command and hold until robot reaches point
+  while (fabs(x - w_translation) > 0.005 && x < w_translation) {
+    e_translation = w_translation - x;
+    u_translation = Kp_translation * e_translation;
+
+    e_rotation = w_rotation - theta;
+    if (!e_rotation == 0)
+      u_rotation = Kp_rotation / e_rotation;
+
+    // limit translation speed
+    if (u_translation > upper_thresh_translation)
+      u_translation = upper_thresh_translation;
+    if (u_translation < lower_thresh_translation)
+      u_translation = lower_thresh_translation;
+
+    // rewrite starting speed with line
+    if (i < u_translation) {
+      u_translation = i;
+    }
+
+    if (fabs(u_rotation) > 32767) {
+      u_rotation = -32767;
+    }
+
+    if (u_rotation == 0) {
+      u_rotation = -32767;
+    }
+    // send command to robot
+    this->setArcSpeed(u_translation, u_rotation);
+
+    // increment starting speed
+    i = i + translation_start_gain;
+  }
+  this->setTranslationSpeed(0);
+}
+
+/// the method performs the rotation, it rotates using the regulator, the
+/// gyroscope serves as feedback, because it is much more accurate than encoders
+void CKobuki::doRotation(long double th) {
+  long double u =
+      0; // controlled variable, angular speed of the robot during movement
+  long double w = th; // desired value in radians
+  long double Kp = PI;
+  long double e = 0;
+  long double thresh = PI / 2;
+
+  theta = 0;
+  x = 0;
+  y = 0;
+  gyroTheta = 0;
+
+  long double i = 0;
+
+  if (w > 0) {
+    while (gyroTheta < w) {
+      e = w - gyroTheta;
+      u = Kp * e;
+
+      if (u > thresh) {
+        u = thresh;
+      }
+      if (u < 0.4) {
+        u = 0.4;
+      }
+      if (i < u) {
+        u = i;
+      }
+
+      std::cout << "Angle: " << gyroTheta << " required:" << w << std::endl;
+      this->setRotationSpeed(-1 * u);
+      usleep(25 * 1000);
+      i = i + 0.1;
+    }
+  } else {
+    while (gyroTheta > w) {
+      e = w - gyroTheta;
+      u = Kp * e * -1;
+
+      if (u > thresh)
+        u = thresh;
+      if (u < 0.4)
+        u = 0.4;
+
+      if (i < u) {
+        u = i;
+      }
+
+      std::cout << "Angle: " << gyroTheta << " required:" << w << std::endl;
+      this->setRotationSpeed(u);
+      usleep(25 * 1000);
+      i = i + 0.1;
+    }
+  }
+
+  std::cout << "Rotation done" << std::endl;
+  this->setRotationSpeed(0);
+  usleep(25 * 1000);
+}
+
+/// @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) {
+  // Use the goStraight logic to determine the speed and distance
+
+  // Calculate the actual speed and radius values based on the conversion table
+  int actual_speed = speedvalue;
+  int actual_radius = 0; // Pure translation (straight line)
+
+  unsigned char message[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
+      actual_speed >> 8,  // Upper byte of speed value
+      0x00,               // Placeholder for radius
+      0x00,               // Placeholder for radius
+      0x00                // Placeholder for checksum
+  };
+
+  // Calculate checksum
+  message[10] = message[2] ^ message[3] ^ message[4] ^ message[5] ^ message[6] ^
+                message[7] ^ message[8] ^ message[9];
+
+  // Send the message
+  uint32_t pocet;
+  pocet = write(HCom, &message, 11);
+}
+
+/// @brief Makes the kobuki rotate
+/// @param degrees Rotation in degrees
+void CKobuki::Rotate(int degrees) {
+
+  // convert raidans to degrees
+  float radians = degrees * PI / 180.0;
+
+  // Calculate the rotation speed in radians per second
+  double RADS_PER_SEC = 1;
+
+  // calculator rotation time and give absolute value
+  float rotation_time = std::abs(radians / RADS_PER_SEC);
+
+  // Use original function to set the rotation speed in mm/s
+  setRotationSpeed(radians);
+
+  // Sleep for the calculated rotation time
+  std::this_thread::sleep_for(
+      std::chrono::milliseconds(static_cast<int>(rotation_time * 1000)));
+
+  // Stop the robot after the rotation
+  setRotationSpeed(0);
+}
+
+
+/// @brief Robot safety function to be ran in another thread. Makes sure the robot does not throw inteself from the table. Only use this when the speed is lower than 350
+/// @param pointerToMessage Set this pointer to the control message and then it attempts to reset it when it bumps into something so it doesnt keep trying to do the past commant
+// TODO: make this return bool so it can be used in the control part
+void CKobuki::robotSafety(std::string *pointerToMessage) {
+  while (true) {
+
+    if (parser.data.BumperCenter || parser.data.BumperLeft ||
+        parser.data.BumperRight || parser.data.CliffLeft ||
+        parser.data.CliffCenter || parser.data.CliffRight) {
+      std::cout << "Safety condition triggered!" << std::endl; // Debug print
+      *pointerToMessage = "estop";
+      forward(-300); // reverse the robot
+    }
+    std::this_thread::sleep_for(std::chrono::milliseconds(static_cast<int>(100)));
+  }
+}
+
+/// @brief Robot safety function to be ran in another thread. Makes sure the robot does not throw inteself from the table. Only use this when the speed is lower than 350
+void CKobuki::robotSafety() {
+  while (true) {
+
+    if (parser.data.BumperCenter || parser.data.BumperLeft ||
+        parser.data.BumperRight || parser.data.CliffLeft ||
+        parser.data.CliffCenter || parser.data.CliffRight) {
+      std::cout << "Safety condition triggered!" << std::endl; // Debug print
+      forward(-300); // reverse the robot
+    }
+    std::this_thread::sleep_for(std::chrono::milliseconds(static_cast<int>(100)));
+
+  }
+}
+
+/// @brief When called the robot gets a control message to stop whatever its doing
+void CKobuki::sendNullMessage() {
+
+  unsigned char message[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
+      0x00, // Lower byte of speed value
+      0x00, // Upper byte of speed value
+      0x00, // Placeholder for radius
+      0x00, // Placeholder for radius
+      0x00  // Placeholder for checksum
+  };
+
+  message[10] = message[2] ^ message[3] ^ message[4] ^ message[5] ^ message[6] ^
+                message[7] ^ message[8] ^ message[9];
+
+  // Send the message
+  uint32_t pocet;
+  pocet = write(HCom, &message, 11);
+}

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

@@ -31,7 +31,6 @@
 #include <chrono>
 #include <sstream>
 #include "KobukiParser.h"
-#include "graph.h"
 
 using namespace std;
 
@@ -76,8 +75,11 @@ public:
 	void goToXy(long double xx, long double yy);
 	void Rotate(int degrees);
 	std::ofstream odometry_log;
-	void robotSafety();
+	void robotSafety(std::string *pointerToMessage);
+	void robotSafety(); //overload
 	void sendNullMessage();
+	bool safetyActive = false;
+	bool isConnected();
 	KobukiParser parser;
 
 

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

@@ -2,9 +2,11 @@
 #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;
+        // std::cerr << "Invalid checksum" << std::endl;
         return -2;
     }
 

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/MQTT/CMakeLists.txt

@@ -0,0 +1,30 @@
+cmake_minimum_required(VERSION 3.10)
+set(CMAKE_CXX_STANDARD 23)
+
+# Project name
+project(mqtt_receiver)
+
+# 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)
+
+# Set source files
+set(SOURCE_FILES
+    main.cpp
+    MqttClient.cpp
+    MqttClient.h
+)
+
+# Add the executable
+add_executable(mqtt_receiver ${SOURCE_FILES})
+
+# Link the libraries
+
+# Include directories for headers
+target_include_directories(mqtt_receiver PRIVATE)
+
+find_package(Threads REQUIRED)
+target_link_libraries(mqtt_receiver Threads::Threads)

src/C++/Driver/src/MQTT/MqttClient.cpp

@@ -0,0 +1,76 @@
+#include "MqttClient.h"
+
+MqttClient::MqttClient(const std::string& address, const std::string& clientId, const std::string& username, const std::string& password)
+    //client_ is the connection
+    //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()) {
+        options.set_user_name(username_);
+        options.set_password(password_);
+    }
+}
+
+void MqttClient::connect() {
+    try {
+        std::cout << "Connecting to broker..." << std::endl;
+        client_.connect(options)->wait();
+        std::cout << "Connected!" << std::endl;
+    } catch (const mqtt::exception& exc) {
+        std::cerr << "Error: " << exc.what() << std::endl;
+        throw;
+    }
+}
+
+void MqttClient::subscribe(const std::string& topic, int qos) {
+    try {
+        std::cout << "Subscribing to topic: " << topic << std::endl;
+        client_.subscribe(topic, qos)->wait();
+    } catch (const mqtt::exception& exc) {
+        std::cerr << "Error: " << exc.what() << std::endl;
+        throw;
+    }
+}
+
+void MqttClient::publishMessage(const std::string& topic, const std::string& payload) {
+    try {
+        client_.publish(topic, payload)->wait();
+    } catch (const mqtt::exception& exc) {
+        std::cerr << "Error: " << exc.what() << std::endl;
+        throw;
+    }
+}
+
+/// @brief Only needed when program doesnt keep itself alive
+void MqttClient::run() {
+    // Keep the client running to receive messages
+    while (true) {
+        std::this_thread::sleep_for(std::chrono::seconds(1));  // Wait to reduce CPU usage
+    }
+}
+
+void MqttClient::Callback::message_arrived(mqtt::const_message_ptr msg) {
+    //lock the variable, it automaticly unlocks when going out of scope using lock_guard
+    std::lock_guard<std::mutex> lock(client_.messageMutex_);
+    client_.lastMessage_ = msg->to_string();
+}
+
+void MqttClient::Callback::connection_lost(const std::string& cause) {
+    std::cerr << "Connection lost. Cause: " << cause << std::endl;
+}
+
+void MqttClient::Callback::delivery_complete(mqtt::delivery_token_ptr token) {
+    std::cout << "Message delivered!" << std::endl;
+}
+
+/// @brief Get the last message received from the MQTT broker
+/// @return The last message received in a string
+//std::string is the datatype of the return value
+std::string MqttClient::getLastMessage() {
+    //lock the variable, it automaticly unlocks when going out of scope using lock_guard
+    std::lock_guard<std::mutex> lock(messageMutex_);
+    return lastMessage_;
+}

src/C++/Driver/src/MQTT/MqttClient.h

@@ -0,0 +1,39 @@
+#ifndef MQTTCLIENT_H
+#define MQTTCLIENT_H
+
+#include <iostream>
+#include <thread>
+#include <mutex>
+#include <mqtt/async_client.h>
+
+class MqttClient {
+public:
+    MqttClient(const std::string& address, const std::string& clientId, const std::string& username = "", const std::string& password = "");
+    void connect();
+    void subscribe(const std::string& topic, int qos = 1);
+    void run();
+    std::string getLastMessage();
+    void publishMessage(const std::string& topic, const std::string& payload);
+
+private:
+    class Callback : public virtual mqtt::callback {
+    public:
+        Callback(MqttClient& client) : client_(client) {}
+        void message_arrived(mqtt::const_message_ptr msg) override;
+        void connection_lost(const std::string& cause) override;
+        void delivery_complete(mqtt::delivery_token_ptr token) override;
+
+    private:
+        MqttClient& client_;
+    };
+
+    mqtt::async_client client_;
+    mqtt::connect_options options;
+    Callback callback_;
+    std::string username_;
+    std::string password_;
+    std::string lastMessage_;
+    std::mutex messageMutex_;
+};
+
+#endif //MQTTCLIENT_H

src/C++/Driver/src/MQTT/example.cpp

@@ -0,0 +1,10 @@
+#include "MqttClient.h"
+//example file for testing
+int main(){
+    MqttClient client("mqtt://localhost:1883", "raspberry_pi_client", "ishak", "kobuki");
+    client.connect();
+    client.subscribe("home/commands");
+    client.run();
+
+    return 0;
+}

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

@@ -1,136 +1,448 @@
-#include "CKobuki.h"
 #include <iostream>
-#include <cmath>
 #include <thread>
-#include "graph.h"
+#include <fstream>
+#include "MQTT/MqttClient.h"
+#include "KobukiDriver/CKobuki.h"
+#include <opencv4/opencv2/opencv.hpp>
+#include <opencv4/opencv2/core.hpp>
 
 using namespace std;
+using namespace cv;
 CKobuki robot;
-int movement();
-int checkCenterCliff();
-void logToFile();
+std::atomic<bool> kobuki_connected(false);
+
+std::string readMQTT();
+void parseMQTT(std::string message);
+void CapnSend();
+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);
+  robot.startCommunication("/dev/ttyUSB0", true, null_ptr);
+  // connect mqtt server and sub to commands
+  client.connect();
+  client.subscribe("home/commands");
+}
 
 int main()
 {
-    unsigned char *null_ptr(0);
-    robot.startCommunication("/dev/ttyUSB0", true, null_ptr);
+  setup();
+  std::thread image(CapnSend);
+  std::thread safety([&](){ robot.robotSafety(&message); });
+  std::thread sendMqtt([&](){ sendKobukiData(robot.parser.data); });
+  std::thread connectionChecker(checkKobukiConnection);
+  connectionChecker.detach(); // Laat deze thread onafhankelijk draaien
+ 
 
-    std::thread safety([&robot]()
-                       { robot.robotSafety(); }); // use a lambda function to call the member function
-    safety.detach();
+  while (true)
+  {
+    std::string message = readMQTT();
+    if (!message.empty())
+    {
+      parseMQTT(message);
+    }
+  }
 
-    thread movementThread(movement);
-    movementThread.join(); // so the program doesnt quit
-    return 0;
+  sendMqtt.join();
+  safety.join();
+  image.join();
 }
 
-int checkCenterCliff()
+std::mutex connectionMutex;
+
+void checkKobukiConnection()
 {
     while (true)
     {
-        std::cout << robot.parser.data.CliffSensorRight << endl;
+        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
+        }
+
+        // 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;
+            }
+        }else if (!kobuki_connected){
+            // Update status als de verbinding hersteld is
+            cout << "Kobuki is connected." << endl;
+            kobuki_connected = true;
+        }
+
+        // Wacht voordat je opnieuw controleert
+        std::this_thread::sleep_for(std::chrono::seconds(5));
     }
 }
 
-int movement()
+std::string readMQTT()
 {
-    int text;
-    while (true)
-    {
-        cout << "gimme input: ";
-        cin >> text;
+  static std::string lastMessage;
 
-        if (text == 1)
-        {
-            robot.forward(400);
-        }
-        else if (text == 2)
-        {
-            // 1 is full circle
-            robot.Rotate(90);
-        }
-        else if (text == 3)
-        {
-            // Add your code here for text == 3
-        }
-        else
-        {
-            try
-            {
-                robot.doRotation(text);
-                throw "NaN";
-            }
-            catch (const char *msg)
-            {
-                cerr << msg << endl;
-            }
-        }
-    }
+  std::string message = client.getLastMessage();
+  if (!message.empty() && message != lastMessage)
+  {
+    std::cout << "MQTT Message: " << message << std::endl;
+    lastMessage = 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 logToFile()
 {
-    while (true)
+  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
     {
-        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::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)
+  {
+    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));
+  }
+}
+
+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\":[";
+
+  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;
+}
+// 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));
+    std::cout << "Sent data" << std::endl;
+    std::this_thread::sleep_for(std::chrono::milliseconds(1000));
+  }
+}
+
+void CapnSend() {
+    VideoCapture cap(0);
+    if (!cap.isOpened()) {
+        cerr << "Error: Could not open camera" << endl;
+        return;
+    }
+
+    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;
+            }
         }
 
-        std::this_thread::sleep_for(std::chrono::seconds(2)); // Sleep for 2 seconds
+        // Convert the image to a byte array
+        vector<uchar> buf;
+        imencode(".jpg", frame, buf);
+        auto *enc_msg = reinterpret_cast<unsigned char *>(buf.data());
+
+        // 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(200)); // Send image every 200ms
     }
 }

src/C++/Driver/src/test.cpp

@@ -1,67 +1,61 @@
 #include "CKobuki.h"
-#include <iostream>
-#include <cmath>
-#include <thread>
 #include "graph.h"
+#include <cmath>
+#include <iostream>
+#include <thread>
 
 using namespace std;
+
+// Globale instantie van de CKobuki-klasse
 CKobuki robot;
+
+// Functieprototypes
 int command();
+int checkCenterCliff();
+int checkWheelDrop();
 
-const int forward = 1;
-const int ROTATE = 2;
+int main() {
+  // Start communicatie met de robot
+  unsigned char *null_ptr(0);
+  robot.startCommunication("/dev/ttyUSB0", true, null_ptr);
+  usleep(1 * 1000 * 1000);
+
+  // Start een nieuwe thread voor de command-functie
+  thread mv(command);
+  usleep(30 * 1000 * 1000);
+  mv.join(); // Wacht tot de command-thread klaar is
 
-int main()
-{
-	unsigned char *null_ptr(0);
-	robot.startCommunication("/dev/ttyUSB0", true, null_ptr);
-	usleep(1 * 1000 * 1000);
-	thread mv(command);
-	usleep(30 * 1000 * 1000);
-	mv.join(); //only exit once thread one is done running
 }
 
-// int checkCenterCliff()
-// {
-// 	while (true)
-// 	{
-// 		std::cout << "cliffsensordata:" << robot.parser.data.CliffSensorCenter << std::endl;
-// 	}
-// }
+// Functie om commando's van de gebruiker te verwerken
+int command() {
+  int input;
 
-// int checkWheelDrop(){
-// 	while (true)
-// 	{
-// 		std::cout << "wheeldropdata:" << robot.parser.data.WheelDropLeft << std::endl;
-// 	}
-// }
+  while (true) {
+    // Vraag de gebruiker om een commando
+    std::cout << "choose between forward = 1 or rotate = 2" << endl;
+    std::cout << "What must the robot do?";
+    std::cin >> input;
 
-int command(){
-	cout << "choose between forward and rotate" << endl;
-	cout << "What must the robot do?";
-	cin >> input;
+    // Verwerk de invoer van de gebruiker
+    switch (input) {
+    case 1: {
+      int distance;
+      std::cout << "Enter distance to move forward: ";
+      std::cin >> distance;
+      robot.goStraight(distance); // Beweeg de robot naar voren
+    } break;
 
-	switch(input){
-		case forward:{
-			int distance;
-			std::cout >> "Enter distance to move forward: ";
-			std::cin >> distance;
-			robot.goStraight(distance);
-		}
-			
-		case ROTATE:{
-			int angle;
-			std::cout >> "Enter angle to rotate: ";
-			std::cin >> angle;
-			robot.doRotation(angle);
-		}
-			robot.goStraight(-1);
-			break;
-			
-		default:
-			cout << "Invalid input" << endl;
-			break;
-	}
-	
-}
+    case 2: {
+      int angle;
+      std::cout << "Enter angle to rotate in degrees: ";
+      std::cin >> angle;
+      robot.doRotation(angle); // Draai de robot
+    } break;
 
+    default:
+      cout << "Invalid input" << endl; // Ongeldige invoer
+      break;
+    }
+  }
+}

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/C++/Sensor/lib/src/TinyGPS++.cpp

@@ -0,0 +1,503 @@
+/*
+TinyGPS++ - a small GPS library for Arduino providing universal NMEA parsing
+Based on work by and "distanceBetween" and "courseTo" courtesy of Maarten Lamers.
+Suggestion to add satellites, courseTo(), and cardinal() by Matt Monson.
+Location precision improvements suggested by Wayne Holder.
+Copyright (C) 2008-2013 Mikal Hart
+All rights reserved.
+
+This library is free software; you can redistribute it and/or
+modify it under the terms of the GNU Lesser General Public
+License as published by the Free Software Foundation; either
+version 2.1 of the License, or (at your option) any later version.
+
+This library is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+Lesser General Public License for more details.
+
+You should have received a copy of the GNU Lesser General Public
+License along with this library; if not, write to the Free Software
+Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+*/
+
+#include "TinyGPS++.h"
+
+#include <string.h>
+#include <ctype.h>
+#include <stdlib.h>
+
+#define _GPRMCterm   "GPRMC"
+#define _GPGGAterm   "GPGGA"
+#define _GNRMCterm   "GNRMC"
+#define _GNGGAterm   "GNGGA"
+
+TinyGPSPlus::TinyGPSPlus()
+  :  parity(0)
+  ,  isChecksumTerm(false)
+  ,  curSentenceType(GPS_SENTENCE_OTHER)
+  ,  curTermNumber(0)
+  ,  curTermOffset(0)
+  ,  sentenceHasFix(false)
+  ,  customElts(0)
+  ,  customCandidates(0)
+  ,  encodedCharCount(0)
+  ,  sentencesWithFixCount(0)
+  ,  failedChecksumCount(0)
+  ,  passedChecksumCount(0)
+{
+  term[0] = '\0';
+}
+
+//
+// public methods
+//
+
+bool TinyGPSPlus::encode(char c)
+{
+  ++encodedCharCount;
+
+  switch(c)
+  {
+  case ',': // term terminators
+    parity ^= (uint8_t)c;
+  case '\r':
+  case '\n':
+  case '*':
+    {
+      bool isValidSentence = false;
+      if (curTermOffset < sizeof(term))
+      {
+        term[curTermOffset] = 0;
+        isValidSentence = endOfTermHandler();
+      }
+      ++curTermNumber;
+      curTermOffset = 0;
+      isChecksumTerm = c == '*';
+      return isValidSentence;
+    }
+    break;
+
+  case '$': // sentence begin
+    curTermNumber = curTermOffset = 0;
+    parity = 0;
+    curSentenceType = GPS_SENTENCE_OTHER;
+    isChecksumTerm = false;
+    sentenceHasFix = false;
+    return false;
+
+  default: // ordinary characters
+    if (curTermOffset < sizeof(term) - 1)
+      term[curTermOffset++] = c;
+    if (!isChecksumTerm)
+      parity ^= c;
+    return false;
+  }
+
+  return false;
+}
+
+//
+// internal utilities
+//
+int TinyGPSPlus::fromHex(char a)
+{
+  if (a >= 'A' && a <= 'F')
+    return a - 'A' + 10;
+  else if (a >= 'a' && a <= 'f')
+    return a - 'a' + 10;
+  else
+    return a - '0';
+}
+
+// static
+// Parse a (potentially negative) number with up to 2 decimal digits -xxxx.yy
+int32_t TinyGPSPlus::parseDecimal(const char *term)
+{
+  bool negative = *term == '-';
+  if (negative) ++term;
+  int32_t ret = 100 * (int32_t)atol(term);
+  while (isdigit(*term)) ++term;
+  if (*term == '.' && isdigit(term[1]))
+  {
+    ret += 10 * (term[1] - '0');
+    if (isdigit(term[2]))
+      ret += term[2] - '0';
+  }
+  return negative ? -ret : ret;
+}
+
+// static
+// Parse degrees in that funny NMEA format DDMM.MMMM
+void TinyGPSPlus::parseDegrees(const char *term, RawDegrees &deg)
+{
+  uint32_t leftOfDecimal = (uint32_t)atol(term);
+  uint16_t minutes = (uint16_t)(leftOfDecimal % 100);
+  uint32_t multiplier = 10000000UL;
+  uint32_t tenMillionthsOfMinutes = minutes * multiplier;
+
+  deg.deg = (int16_t)(leftOfDecimal / 100);
+
+  while (isdigit(*term))
+    ++term;
+
+  if (*term == '.')
+    while (isdigit(*++term))
+    {
+      multiplier /= 10;
+      tenMillionthsOfMinutes += (*term - '0') * multiplier;
+    }
+
+  deg.billionths = (5 * tenMillionthsOfMinutes + 1) / 3;
+  deg.negative = false;
+}
+
+#define COMBINE(sentence_type, term_number) (((unsigned)(sentence_type) << 5) | term_number)
+
+// Processes a just-completed term
+// Returns true if new sentence has just passed checksum test and is validated
+bool TinyGPSPlus::endOfTermHandler()
+{
+  // If it's the checksum term, and the checksum checks out, commit
+  if (isChecksumTerm)
+  {
+    byte checksum = 16 * fromHex(term[0]) + fromHex(term[1]);
+    if (checksum == parity)
+    {
+      passedChecksumCount++;
+      if (sentenceHasFix)
+        ++sentencesWithFixCount;
+
+      switch(curSentenceType)
+      {
+      case GPS_SENTENCE_GPRMC:
+        date.commit();
+        time.commit();
+        if (sentenceHasFix)
+        {
+           location.commit();
+           speed.commit();
+           course.commit();
+        }
+        break;
+      case GPS_SENTENCE_GPGGA:
+        time.commit();
+        if (sentenceHasFix)
+        {
+          location.commit();
+          altitude.commit();
+        }
+        satellites.commit();
+        hdop.commit();
+        break;
+      }
+
+      // Commit all custom listeners of this sentence type
+      for (TinyGPSCustom *p = customCandidates; p != NULL && strcmp(p->sentenceName, customCandidates->sentenceName) == 0; p = p->next)
+         p->commit();
+      return true;
+    }
+
+    else
+    {
+      ++failedChecksumCount;
+    }
+
+    return false;
+  }
+
+  // the first term determines the sentence type
+  if (curTermNumber == 0)
+  {
+    if (!strcmp(term, _GPRMCterm) || !strcmp(term, _GNRMCterm))
+      curSentenceType = GPS_SENTENCE_GPRMC;
+    else if (!strcmp(term, _GPGGAterm) || !strcmp(term, _GNGGAterm))
+      curSentenceType = GPS_SENTENCE_GPGGA;
+    else
+      curSentenceType = GPS_SENTENCE_OTHER;
+
+    // Any custom candidates of this sentence type?
+    for (customCandidates = customElts; customCandidates != NULL && strcmp(customCandidates->sentenceName, term) < 0; customCandidates = customCandidates->next);
+    if (customCandidates != NULL && strcmp(customCandidates->sentenceName, term) > 0)
+       customCandidates = NULL;
+
+    return false;
+  }
+
+  if (curSentenceType != GPS_SENTENCE_OTHER && term[0])
+    switch(COMBINE(curSentenceType, curTermNumber))
+  {
+    case COMBINE(GPS_SENTENCE_GPRMC, 1): // Time in both sentences
+    case COMBINE(GPS_SENTENCE_GPGGA, 1):
+      time.setTime(term);
+      break;
+    case COMBINE(GPS_SENTENCE_GPRMC, 2): // GPRMC validity
+      sentenceHasFix = term[0] == 'A';
+      break;
+    case COMBINE(GPS_SENTENCE_GPRMC, 3): // Latitude
+    case COMBINE(GPS_SENTENCE_GPGGA, 2):
+      location.setLatitude(term);
+      break;
+    case COMBINE(GPS_SENTENCE_GPRMC, 4): // N/S
+    case COMBINE(GPS_SENTENCE_GPGGA, 3):
+      location.rawNewLatData.negative = term[0] == 'S';
+      break;
+    case COMBINE(GPS_SENTENCE_GPRMC, 5): // Longitude
+    case COMBINE(GPS_SENTENCE_GPGGA, 4):
+      location.setLongitude(term);
+      break;
+    case COMBINE(GPS_SENTENCE_GPRMC, 6): // E/W
+    case COMBINE(GPS_SENTENCE_GPGGA, 5):
+      location.rawNewLngData.negative = term[0] == 'W';
+      break;
+    case COMBINE(GPS_SENTENCE_GPRMC, 7): // Speed (GPRMC)
+      speed.set(term);
+      break;
+    case COMBINE(GPS_SENTENCE_GPRMC, 8): // Course (GPRMC)
+      course.set(term);
+      break;
+    case COMBINE(GPS_SENTENCE_GPRMC, 9): // Date (GPRMC)
+      date.setDate(term);
+      break;
+    case COMBINE(GPS_SENTENCE_GPGGA, 6): // Fix data (GPGGA)
+      sentenceHasFix = term[0] > '0';
+      break;
+    case COMBINE(GPS_SENTENCE_GPGGA, 7): // Satellites used (GPGGA)
+      satellites.set(term);
+      break;
+    case COMBINE(GPS_SENTENCE_GPGGA, 8): // HDOP
+      hdop.set(term);
+      break;
+    case COMBINE(GPS_SENTENCE_GPGGA, 9): // Altitude (GPGGA)
+      altitude.set(term);
+      break;
+  }
+
+  // Set custom values as needed
+  for (TinyGPSCustom *p = customCandidates; p != NULL && strcmp(p->sentenceName, customCandidates->sentenceName) == 0 && p->termNumber <= curTermNumber; p = p->next)
+    if (p->termNumber == curTermNumber)
+         p->set(term);
+
+  return false;
+}
+
+/* static */
+double TinyGPSPlus::distanceBetween(double lat1, double long1, double lat2, double long2)
+{
+  // returns distance in meters between two positions, both specified
+  // as signed decimal-degrees latitude and longitude. Uses great-circle
+  // distance computation for hypothetical sphere of radius 6372795 meters.
+  // Because Earth is no exact sphere, rounding errors may be up to 0.5%.
+  // Courtesy of Maarten Lamers
+  double delta = radians(long1-long2);
+  double sdlong = sin(delta);
+  double cdlong = cos(delta);
+  lat1 = radians(lat1);
+  lat2 = radians(lat2);
+  double slat1 = sin(lat1);
+  double clat1 = cos(lat1);
+  double slat2 = sin(lat2);
+  double clat2 = cos(lat2);
+  delta = (clat1 * slat2) - (slat1 * clat2 * cdlong);
+  delta = sq(delta);
+  delta += sq(clat2 * sdlong);
+  delta = sqrt(delta);
+  double denom = (slat1 * slat2) + (clat1 * clat2 * cdlong);
+  delta = atan2(delta, denom);
+  return delta * 6372795;
+}
+
+double TinyGPSPlus::courseTo(double lat1, double long1, double lat2, double long2)
+{
+  // returns course in degrees (North=0, West=270) from position 1 to position 2,
+  // both specified as signed decimal-degrees latitude and longitude.
+  // Because Earth is no exact sphere, calculated course may be off by a tiny fraction.
+  // Courtesy of Maarten Lamers
+  double dlon = radians(long2-long1);
+  lat1 = radians(lat1);
+  lat2 = radians(lat2);
+  double a1 = sin(dlon) * cos(lat2);
+  double a2 = sin(lat1) * cos(lat2) * cos(dlon);
+  a2 = cos(lat1) * sin(lat2) - a2;
+  a2 = atan2(a1, a2);
+  if (a2 < 0.0)
+  {
+    a2 += TWO_PI;
+  }
+  return degrees(a2);
+}
+
+const char *TinyGPSPlus::cardinal(double course)
+{
+  static const char* directions[] = {"N", "NNE", "NE", "ENE", "E", "ESE", "SE", "SSE", "S", "SSW", "SW", "WSW", "W", "WNW", "NW", "NNW"};
+  int direction = (int)((course + 11.25f) / 22.5f);
+  return directions[direction % 16];
+}
+
+void TinyGPSLocation::commit()
+{
+   rawLatData = rawNewLatData;
+   rawLngData = rawNewLngData;
+   lastCommitTime = millis();
+   valid = updated = true;
+}
+
+void TinyGPSLocation::setLatitude(const char *term)
+{
+   TinyGPSPlus::parseDegrees(term, rawNewLatData);
+}
+
+void TinyGPSLocation::setLongitude(const char *term)
+{
+   TinyGPSPlus::parseDegrees(term, rawNewLngData);
+}
+
+double TinyGPSLocation::lat()
+{
+   updated = false;
+   double ret = rawLatData.deg + rawLatData.billionths / 1000000000.0;
+   return rawLatData.negative ? -ret : ret;
+}
+
+double TinyGPSLocation::lng()
+{
+   updated = false;
+   double ret = rawLngData.deg + rawLngData.billionths / 1000000000.0;
+   return rawLngData.negative ? -ret : ret;
+}
+
+void TinyGPSDate::commit()
+{
+   date = newDate;
+   lastCommitTime = millis();
+   valid = updated = true;
+}
+
+void TinyGPSTime::commit()
+{
+   time = newTime;
+   lastCommitTime = millis();
+   valid = updated = true;
+}
+
+void TinyGPSTime::setTime(const char *term)
+{
+   newTime = (uint32_t)TinyGPSPlus::parseDecimal(term);
+}
+
+void TinyGPSDate::setDate(const char *term)
+{
+   newDate = atol(term);
+}
+
+uint16_t TinyGPSDate::year()
+{
+   updated = false;
+   uint16_t year = date % 100;
+   return year + 2000;
+}
+
+uint8_t TinyGPSDate::month()
+{
+   updated = false;
+   return (date / 100) % 100;
+}
+
+uint8_t TinyGPSDate::day()
+{
+   updated = false;
+   return date / 10000;
+}
+
+uint8_t TinyGPSTime::hour()
+{
+   updated = false;
+   return time / 1000000;
+}
+
+uint8_t TinyGPSTime::minute()
+{
+   updated = false;
+   return (time / 10000) % 100;
+}
+
+uint8_t TinyGPSTime::second()
+{
+   updated = false;
+   return (time / 100) % 100;
+}
+
+uint8_t TinyGPSTime::centisecond()
+{
+   updated = false;
+   return time % 100;
+}
+
+void TinyGPSDecimal::commit()
+{
+   val = newval;
+   lastCommitTime = millis();
+   valid = updated = true;
+}
+
+void TinyGPSDecimal::set(const char *term)
+{
+   newval = TinyGPSPlus::parseDecimal(term);
+}
+
+void TinyGPSInteger::commit()
+{
+   val = newval;
+   lastCommitTime = millis();
+   valid = updated = true;
+}
+
+void TinyGPSInteger::set(const char *term)
+{
+   newval = atol(term);
+}
+
+TinyGPSCustom::TinyGPSCustom(TinyGPSPlus &gps, const char *_sentenceName, int _termNumber)
+{
+   begin(gps, _sentenceName, _termNumber);
+}
+
+void TinyGPSCustom::begin(TinyGPSPlus &gps, const char *_sentenceName, int _termNumber)
+{
+   lastCommitTime = 0;
+   updated = valid = false;
+   sentenceName = _sentenceName;
+   termNumber = _termNumber;
+   memset(stagingBuffer, '\0', sizeof(stagingBuffer));
+   memset(buffer, '\0', sizeof(buffer));
+
+   // Insert this item into the GPS tree
+   gps.insertCustom(this, _sentenceName, _termNumber);
+}
+
+void TinyGPSCustom::commit()
+{
+   strcpy(this->buffer, this->stagingBuffer);
+   lastCommitTime = millis();
+   valid = updated = true;
+}
+
+void TinyGPSCustom::set(const char *term)
+{
+   strncpy(this->stagingBuffer, term, sizeof(this->stagingBuffer));
+}
+
+void TinyGPSPlus::insertCustom(TinyGPSCustom *pElt, const char *sentenceName, int termNumber)
+{
+   TinyGPSCustom **ppelt;
+
+   for (ppelt = &this->customElts; *ppelt != NULL; ppelt = &(*ppelt)->next)
+   {
+      int cmp = strcmp(sentenceName, (*ppelt)->sentenceName);
+      if (cmp < 0 || (cmp == 0 && termNumber < (*ppelt)->termNumber))
+         break;
+   }
+
+   pElt->next = *ppelt;
+   *ppelt = pElt;
+}

src/C++/Sensor/lib/src/TinyGPS++.h

@@ -0,0 +1,278 @@
+/*
+TinyGPS++ - a small GPS library for Arduino providing universal NMEA parsing
+Based on work by and "distanceBetween" and "courseTo" courtesy of Maarten Lamers.
+Suggestion to add satellites, courseTo(), and cardinal() by Matt Monson.
+Location precision improvements suggested by Wayne Holder.
+Copyright (C) 2008-2022 Mikal Hart
+All rights reserved.
+
+This library is free software; you can redistribute it and/or
+modify it under the terms of the GNU Lesser General Public
+License as published by the Free Software Foundation; either
+version 2.1 of the License, or (at your option) any later version.
+
+This library is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+Lesser General Public License for more details.
+
+You should have received a copy of the GNU Lesser General Public
+License along with this library; if not, write to the Free Software
+Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+*/
+
+#ifndef __TinyGPSPlus_h
+#define __TinyGPSPlus_h
+
+#if defined(ARDUINO) && ARDUINO >= 100
+#include "Arduino.h"
+#else
+#include "WProgram.h"
+#endif
+#include <limits.h>
+
+#define _GPS_VERSION "1.0.3" // software version of this library
+#define _GPS_MPH_PER_KNOT 1.15077945
+#define _GPS_MPS_PER_KNOT 0.51444444
+#define _GPS_KMPH_PER_KNOT 1.852
+#define _GPS_MILES_PER_METER 0.00062137112
+#define _GPS_KM_PER_METER 0.001
+#define _GPS_FEET_PER_METER 3.2808399
+#define _GPS_MAX_FIELD_SIZE 15
+
+struct RawDegrees
+{
+   uint16_t deg;
+   uint32_t billionths;
+   bool negative;
+public:
+   RawDegrees() : deg(0), billionths(0), negative(false)
+   {}
+};
+
+struct TinyGPSLocation
+{
+   friend class TinyGPSPlus;
+public:
+   bool isValid() const    { return valid; }
+   bool isUpdated() const  { return updated; }
+   uint32_t age() const    { return valid ? millis() - lastCommitTime : (uint32_t)ULONG_MAX; }
+   const RawDegrees &rawLat()     { updated = false; return rawLatData; }
+   const RawDegrees &rawLng()     { updated = false; return rawLngData; }
+   double lat();
+   double lng();
+
+   TinyGPSLocation() : valid(false), updated(false)
+   {}
+
+private:
+   bool valid, updated;
+   RawDegrees rawLatData, rawLngData, rawNewLatData, rawNewLngData;
+   uint32_t lastCommitTime;
+   void commit();
+   void setLatitude(const char *term);
+   void setLongitude(const char *term);
+};
+
+struct TinyGPSDate
+{
+   friend class TinyGPSPlus;
+public:
+   bool isValid() const       { return valid; }
+   bool isUpdated() const     { return updated; }
+   uint32_t age() const       { return valid ? millis() - lastCommitTime : (uint32_t)ULONG_MAX; }
+
+   uint32_t value()           { updated = false; return date; }
+   uint16_t year();
+   uint8_t month();
+   uint8_t day();
+
+   TinyGPSDate() : valid(false), updated(false), date(0)
+   {}
+
+private:
+   bool valid, updated;
+   uint32_t date, newDate;
+   uint32_t lastCommitTime;
+   void commit();
+   void setDate(const char *term);
+};
+
+struct TinyGPSTime
+{
+   friend class TinyGPSPlus;
+public:
+   bool isValid() const       { return valid; }
+   bool isUpdated() const     { return updated; }
+   uint32_t age() const       { return valid ? millis() - lastCommitTime : (uint32_t)ULONG_MAX; }
+
+   uint32_t value()           { updated = false; return time; }
+   uint8_t hour();
+   uint8_t minute();
+   uint8_t second();
+   uint8_t centisecond();
+
+   TinyGPSTime() : valid(false), updated(false), time(0)
+   {}
+
+private:
+   bool valid, updated;
+   uint32_t time, newTime;
+   uint32_t lastCommitTime;
+   void commit();
+   void setTime(const char *term);
+};
+
+struct TinyGPSDecimal
+{
+   friend class TinyGPSPlus;
+public:
+   bool isValid() const    { return valid; }
+   bool isUpdated() const  { return updated; }
+   uint32_t age() const    { return valid ? millis() - lastCommitTime : (uint32_t)ULONG_MAX; }
+   int32_t value()         { updated = false; return val; }
+
+   TinyGPSDecimal() : valid(false), updated(false), val(0)
+   {}
+
+private:
+   bool valid, updated;
+   uint32_t lastCommitTime;
+   int32_t val, newval;
+   void commit();
+   void set(const char *term);
+};
+
+struct TinyGPSInteger
+{
+   friend class TinyGPSPlus;
+public:
+   bool isValid() const    { return valid; }
+   bool isUpdated() const  { return updated; }
+   uint32_t age() const    { return valid ? millis() - lastCommitTime : (uint32_t)ULONG_MAX; }
+   uint32_t value()        { updated = false; return val; }
+
+   TinyGPSInteger() : valid(false), updated(false), val(0)
+   {}
+
+private:
+   bool valid, updated;
+   uint32_t lastCommitTime;
+   uint32_t val, newval;
+   void commit();
+   void set(const char *term);
+};
+
+struct TinyGPSSpeed : TinyGPSDecimal
+{
+   double knots()    { return value() / 100.0; }
+   double mph()      { return _GPS_MPH_PER_KNOT * value() / 100.0; }
+   double mps()      { return _GPS_MPS_PER_KNOT * value() / 100.0; }
+   double kmph()     { return _GPS_KMPH_PER_KNOT * value() / 100.0; }
+};
+
+struct TinyGPSCourse : public TinyGPSDecimal
+{
+   double deg()      { return value() / 100.0; }
+};
+
+struct TinyGPSAltitude : TinyGPSDecimal
+{
+   double meters()       { return value() / 100.0; }
+   double miles()        { return _GPS_MILES_PER_METER * value() / 100.0; }
+   double kilometers()   { return _GPS_KM_PER_METER * value() / 100.0; }
+   double feet()         { return _GPS_FEET_PER_METER * value() / 100.0; }
+};
+
+struct TinyGPSHDOP : TinyGPSDecimal
+{
+   double hdop() { return value() / 100.0; }
+};
+
+class TinyGPSPlus;
+class TinyGPSCustom
+{
+public:
+   TinyGPSCustom() {};
+   TinyGPSCustom(TinyGPSPlus &gps, const char *sentenceName, int termNumber);
+   void begin(TinyGPSPlus &gps, const char *_sentenceName, int _termNumber);
+
+   bool isUpdated() const  { return updated; }
+   bool isValid() const    { return valid; }
+   uint32_t age() const    { return valid ? millis() - lastCommitTime : (uint32_t)ULONG_MAX; }
+   const char *value()     { updated = false; return buffer; }
+
+private:
+   void commit();
+   void set(const char *term);
+
+   char stagingBuffer[_GPS_MAX_FIELD_SIZE + 1];
+   char buffer[_GPS_MAX_FIELD_SIZE + 1];
+   unsigned long lastCommitTime;
+   bool valid, updated;
+   const char *sentenceName;
+   int termNumber;
+   friend class TinyGPSPlus;
+   TinyGPSCustom *next;
+};
+
+class TinyGPSPlus
+{
+public:
+  TinyGPSPlus();
+  bool encode(char c); // process one character received from GPS
+  TinyGPSPlus &operator << (char c) {encode(c); return *this;}
+
+  TinyGPSLocation location;
+  TinyGPSDate date;
+  TinyGPSTime time;
+  TinyGPSSpeed speed;
+  TinyGPSCourse course;
+  TinyGPSAltitude altitude;
+  TinyGPSInteger satellites;
+  TinyGPSHDOP hdop;
+
+  static const char *libraryVersion() { return _GPS_VERSION; }
+
+  static double distanceBetween(double lat1, double long1, double lat2, double long2);
+  static double courseTo(double lat1, double long1, double lat2, double long2);
+  static const char *cardinal(double course);
+
+  static int32_t parseDecimal(const char *term);
+  static void parseDegrees(const char *term, RawDegrees &deg);
+
+  uint32_t charsProcessed()   const { return encodedCharCount; }
+  uint32_t sentencesWithFix() const { return sentencesWithFixCount; }
+  uint32_t failedChecksum()   const { return failedChecksumCount; }
+  uint32_t passedChecksum()   const { return passedChecksumCount; }
+
+private:
+  enum {GPS_SENTENCE_GPGGA, GPS_SENTENCE_GPRMC, GPS_SENTENCE_OTHER};
+
+  // parsing state variables
+  uint8_t parity;
+  bool isChecksumTerm;
+  char term[_GPS_MAX_FIELD_SIZE];
+  uint8_t curSentenceType;
+  uint8_t curTermNumber;
+  uint8_t curTermOffset;
+  bool sentenceHasFix;
+
+  // custom element support
+  friend class TinyGPSCustom;
+  TinyGPSCustom *customElts;
+  TinyGPSCustom *customCandidates;
+  void insertCustom(TinyGPSCustom *pElt, const char *sentenceName, int index);
+
+  // statistics
+  uint32_t encodedCharCount;
+  uint32_t sentencesWithFixCount;
+  uint32_t failedChecksumCount;
+  uint32_t passedChecksumCount;
+
+  // internal utilities
+  int fromHex(char a);
+  bool endOfTermHandler();
+};
+
+#endif // def(__TinyGPSPlus_h)

src/C++/Sensor/lib/src/TinyGPSPlus.h

@@ -0,0 +1,26 @@
+/*
+TinyGPSPlus - a small GPS library for Arduino providing universal NMEA parsing
+Based on work by and "distanceBetween" and "courseTo" courtesy of Maarten Lamers.
+Suggestion to add satellites, courseTo(), and cardinal() by Matt Monson.
+Location precision improvements suggested by Wayne Holder.
+Copyright (C) 2008-2013 Mikal Hart
+All rights reserved.
+
+This library is free software; you can redistribute it and/or
+modify it under the terms of the GNU Lesser General Public
+License as published by the Free Software Foundation; either
+version 2.1 of the License, or (at your option) any later version.
+
+This library is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+Lesser General Public License for more details.
+
+You should have received a copy of the GNU Lesser General Public
+License along with this library; if not, write to the Free Software
+Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+*/
+
+#ifndef __TinyGPSPlus_h
+#include "TinyGPS++.h"
+#endif

src/C++/Socket/main.cpp

@@ -1,53 +0,0 @@
-#include <iostream>
-#include <boost/asio.hpp>
-#include <string>
-
-using boost::asio::ip::tcp;
-
-int main() {
-    try {
-        // Create an io_context object
-        boost::asio::io_context io_context;
-
-        // Resolve the server address and port
-        tcp::resolver resolver(io_context);
-        tcp::resolver::results_type endpoints = resolver.resolve("127.0.0.1", "4024");
-
-        // Create and connect the socket
-        tcp::socket socket(io_context);
-        boost::asio::connect(socket, endpoints);
-
-        std::cout << "Connected to the server." << std::endl;
-
-        // Receive initial message from the server
-        boost::asio::streambuf buffer;
-        boost::asio::read_until(socket, buffer, "\n");
-        std::istream is(&buffer);
-        std::string initial_message;
-        std::getline(is, initial_message);
-        std::cout << "Initial message from server: " << initial_message << std::endl;
-
-        // Send and receive messages
-        while (true) {
-            // Send a message to the server
-            std::string message;
-            std::cout << "Enter message: ";
-            std::getline(std::cin, message);
-            message += "\n"; // Add newline to mark the end of the message
-            boost::asio::write(socket, boost::asio::buffer(message));
-
-            // Receive a response from the server
-            boost::asio::streambuf response_buffer;
-            boost::asio::read_until(socket, response_buffer, "\n");
-            std::istream response_stream(&response_buffer);
-            std::string reply;
-            std::getline(response_stream, reply);
-            std::cout << "Reply from server: " << reply << std::endl;
-        }
-
-    } catch (std::exception& e) {
-        std::cerr << "Exception: " << e.what() << std::endl;
-    }
-
-    return 0;
-}

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

@@ -1,17 +1,177 @@
-from flask import Flask, render_template
+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__)
 
+# Load a model
+model = YOLO("yolo11n.pt")  # pretrained YOLO11n model
+
+kobuki_message = ""
+latest_image = None
+processed_image = None
+yolo_results = []
+
+# 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"))
+    elif message.topic == "kobuki/cam":
+        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()
+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
+        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=['POST'])
+@app.route('/control', methods=["GET", "POST"])
 def control():
-    return("hello")
+    if request.authorization and request.authorization.username == 'ishak' and request.authorization.password == 'kobuki':
+        return render_template('control.html')
+    else:
+        return ('Unauthorized', 401, {'WWW-Authenticate': 'Basic realm="Login Required"'})
+
+@app.route('/move', methods=['POST'])
+def move():
+    data = request.get_json()
+    direction = data.get("direction")
+
+    # Verstuur de richting via MQTT
+    if direction:
+        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('/data', methods=['GET'])
+def data():
+    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()
+        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()
+    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
+    with lock:
+        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()
+        return jsonify(yolo_results)
 
 
 if __name__ == '__main__':
-    app.run(debug=True)
-
-
+    app.run(debug=True, port=5000)

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

@@ -0,0 +1,63 @@
+document.addEventListener("DOMContentLoaded", function() {
+  document.querySelectorAll(".btn").forEach(button => {
+    button.addEventListener("click", function(event) {
+      event.preventDefault(); // prevents page refresh
+
+      // Get the value of the button
+      const direction = event.target.value;
+
+      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);
+      });
+    });
+  });
+
+  // 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
+  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 (const [key, value] of Object.entries(data)) {
+      const dataElement = document.createElement("p");
+      dataElement.textContent = `${key}: ${value}`;
+      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

@@ -1,8 +1,8 @@
 body {
-    font-family: 'Poppins', sans-serif;
-    text-align: -webkit-center;
-    margin: 0;
-    padding: 0;
+  font-family: "Poppins", sans-serif;
+  text-align: -webkit-center;
+  margin: 0;
+  padding: 0;
 }
 
 /* This is my code for my navbar */
@@ -10,7 +10,23 @@ body {
 .navbar {
   display: flex;
   justify-content: space-between;
-  max-width: 70rem;
+  max-width: 80%;
+  background-color: #fff;
+  border: 1px solid #f0f0f0;
+  border-radius: 50px;
+  align-items: center;
+  margin: 1.5rem auto 0 auto;
+  padding: 0 30px;
+  top: 0%;
+  bottom: auto;
+  left: 0%;
+  right: 0%;
+}
+
+.footer{
+  display: flex;
+  justify-content: space-between;
+  max-width: 80%;
   background-color: #fff;
   border: 1px solid #f0f0f0;
   border-radius: 50px;
@@ -29,93 +45,126 @@ body {
 }
 
 .connectButton {
-    border-radius: 10px;
-    height: 100%;
-    width: 100px;
-    box-shadow: none;
-    border: none;
-    font-size: 1rem;
-    height: 40px;
-    background-color: #b3ffb3;
-  }  
+  border-radius: 10px;
+  height: 100%;
+  width: 100px;
+  box-shadow: none;
+  border: none;
+  font-size: 1rem;
+  height: 40px;
+  background-color: #b3ffb3;
+}
 
 /* end navbar */
 
 .container {
-    display: flex;
-    justify-content: space-around;
-    align-items: center;
-    margin-top: 50px;
-    width: 80%;
-    background-color: white;
-    border-radius: 20px;
-    box-shadow: 0px 8px 16px rgba(0, 0, 0, 0.2);
-    padding: 40px;
+  display: flex;
+  justify-content: space-around;
+  align-items: center;
+  margin-top: 50px;
+  width: 80%;
+  background-color: white;
+  border-radius: 20px;
+  box-shadow: 0px 8px 16px rgba(0, 0, 0, 0.2);
+  padding: 40px;
 }
 .button-section {
-    position: relative;
-    width: 150px;
-    height: 150px;
-    margin-left: auto;
-    margin-right: auto;
+  position: relative;
+  width: 150px;
+  height: 150px;
 }
 
 .btn {
-    position: absolute;
-    background-color: #007BFF;
-    color: white;
-    border: none;
-    border-radius: 50%;
-    width: 60px;
-    height: 60px;
-    font-size: 1.2em;
-    text-align: center;
-    line-height: 60px;
-    cursor: pointer;
-    transition: transform 0.2s ease, background-color 0.2s ease;
+  position: absolute;
+  background-color: #007bff;
+  color: white;
+  border: none;
+  border-radius: 50%;
+  width: 60px;
+  height: 60px;
+  font-size: 1.2em;
+  text-align: center;
+  line-height: 60px;
+  cursor: pointer;
+  transition: transform 0.2s ease, background-color 0.2s ease;
 }
 
-/* Middenknop */
+.text{
+  width: 50%;
+}
+
+.image{
+  height: 100%;
+}
+
+.sectionHeight{
+  height: 200px;
+}
+
+/* Direction buttons */
 .btn:nth-child(1) {
-    top: 50%;
-    left: 50%;
-    transform: translate(-125%, -50%);
+  /* Left */
+  top: 50%;
+  left: 50%;
+  transform: translate(-160%, -50%);
 }
 
-/* Knop boven */
 .btn:nth-child(2) {
-    top: 0;
-    left: 50%;
-    transform: translateX(-50%);
+  /* Up */
+  top: 0;
+  left: 50%;
+  transform: translate(-50%, -35%);
 }
 
-/* Knop rechts */
 .btn:nth-child(3) {
-    top: 50%;
-    right: 0;
-    transform: translateY(-50%);
+  /* Right */
+  top: 50%;
+  right: 0;
+  transform: translate(35%, -50%);
 }
 
-/* Knop onder */
 .btn:nth-child(4) {
-    bottom: 0;
-    left: 50%;
-    transform: translateX(-50%);
+  /* Down */
+  bottom: 0;
+  left: 50%;
+  transform: translate(-50%, 35%);
 }
 
-/* Knop links */
 .btn:nth-child(5) {
-    top: 50%;
-    left: 0;
-    transform: translateY(-50%);
+  /* Stop Button */
+  top: 50%;
+  left: 50%;
+  transform: translate(-50%, -50%);
+  background-color: red; /* Distinct color for the stop button */
+  width: 60px; /* Slightly larger for emphasis */
+  height: 60px; /* Slightly larger for emphasis */
+  line-height: 60px; /* Center text vertically */
 }
 
+/* Hover effects */
 .btn:hover {
-    background-color: #0056b3;
-    /* transform: scale(1.1); */
+  background-color: #0056b3;
 }
 
 .btn:active {
-    background-color: #004494;
+  background-color: #004494;
 }
-  
+
+.stop-button:hover {
+  background-color: darkred; /* Different hover color for the stop button */
+}
+
+table {
+  width: 100%;
+  border-collapse: collapse;
+}
+
+th,td {
+  border: 1px solid #ddd;
+  padding: 8px;
+}
+
+th {
+  background-color: #f2f2f2;
+  text-align: left;
+}

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

@@ -0,0 +1,73 @@
+body {
+    font-family: Arial, sans-serif;
+    margin: 0;
+    padding: 0;
+    background-color: #f4f4f4;
+}
+
+header {
+    background-color: #333;
+    color: #fff;
+    padding: 1rem 0;
+    text-align: center;
+}
+
+header h1 {
+    margin: 0;
+}
+
+nav ul {
+    list-style: none;
+    padding: 0;
+}
+
+nav ul li {
+    display: inline;
+    margin: 0 1rem;
+}
+
+nav ul li a {
+    color: #fff;
+    text-decoration: none;
+}
+
+section {
+    padding: 2rem;
+    margin: 1rem 0;
+    background-color: #fff;
+    border-radius: 8px;
+    box-shadow: 0 0 10px rgba(0, 0, 0, 0.1);
+}
+
+section h2 {
+    margin-top: 0;
+}
+
+form {
+    display: flex;
+    flex-direction: column;
+}
+
+form label {
+    margin: 0.5rem 0 0.2rem;
+}
+
+form input, form textarea {
+    padding: 0.5rem;
+    margin-bottom: 1rem;
+    border: 1px solid #ccc;
+    border-radius: 4px;
+}
+
+form button {
+    padding: 0.7rem;
+    border: none;
+    border-radius: 4px;
+    background-color: #333;
+    color: #fff;
+    cursor: pointer;
+}
+
+form button:hover {
+    background-color: #555;
+}

src/Python/flask/web/templates/base.html

@@ -8,8 +8,9 @@
     {% block head %}{% endblock %}
 </head>
 <body>
-    {% include 'navbar.html' %}   
+    {% include 'navbar.html' %}  
     {% block content %}
     {% endblock %}
+
 </body>
 </html>

src/Python/flask/web/templates/control.html

@@ -0,0 +1,51 @@
+{% extends 'base.html' %} 
+{% block head %}
+<link rel="stylesheet" href="../static/style.css" />
+{% endblock %} 
+{% block content %}
+<!DOCTYPE html>
+<html lang="en">
+  <head>
+    <meta charset="UTF-8" />
+    <meta name="viewport" content="width=device-width, initial-scale=1.0" />
+    <title>Kobuki</title>
+    <link rel="stylesheet" href="../static/style.css" />
+  </head>
+  <body>
+    <div class="container">
+      <div class="robot-image">
+        <img src="/image" alt="Kobuki Camera Feed" id="robot-image" />
+      </div>
+      <div class="button-section">
+        <form id="form" action="/move" method="post">
+          <button class="btn" name="direction" value="left">←</button>
+          <button class="btn" name="direction" value="up">↑</button>
+          <button class="btn" name="direction" value="right">→</button>
+          <button class="btn" name="direction" value="down">↓</button>
+          <button class="btn stop-button" name="direction" value="stop">
+            Stop
+          </button>
+        </form>
+      </div>
+    </div>
+    <div class="container">
+      <h1>Sensor Data</h1>
+      <div class="data">
+        <table id="sensor-data"> <!-- Do not change -->
+          <thead>
+            <tr>
+              <th>Sensor</th>
+              <th>Value</th>
+            </tr>
+          </thead>
+          <tbody>
+            <!-- Sensor data rows will be inserted here -->
+          </tbody>
+        </table>
+      </div>
+    </div>
+
+    <script src="../static/script.js"></script>
+  </body>
+</html>
+{% endblock %}

src/Python/flask/web/templates/footer.html

@@ -0,0 +1,21 @@
+<!DOCTYPE html>
+<html lang="en">
+<head>
+    <meta charset="UTF-8">
+    <meta name="viewport" content="width=device-width, initial-scale=1.0">
+    <title>Document</title>
+    <link rel="stylesheet" href="{{ url_for('static', filename='style.css') }}">
+</head>
+<body>
+    <footer class="footer">
+        <img src="{{url_for('static', filename='images/logo_kobuki.png')}}" alt="logo" class="imgNav" />
+        <h3>© 2024 Kobuki Robot Project. All rights reserved.</h3>
+        <div class="buttonContainer">
+            <a href="{{ url_for('control') }}" target="_blank">
+              <button class="click connectButton">Controller</button>
+            </a>
+          </div>
+        </footer>
+  
+</body>
+</html>

src/Python/flask/web/templates/index.html

@@ -1,19 +1,58 @@
-{%extends 'base.html'%}
+{% extends 'base.html' %} {% block head %}
+<link rel="stylesheet" href="../static/style.css" />
+{% endblock %} {% block content %}
+<!DOCTYPE html>
+<html lang="en">
+  <head>
+    <meta charset="UTF-8" />
+    <meta name="viewport" content="width=device-width, initial-scale=1.0" />
+    <title>Kobuki Robot Project</title>
+    <link rel="stylesheet" href="../static/style.css" />
+  </head>
+  <body>
+    <section class="container sectionHeight">
+      <p class="text">
+        The Kobuki Robot Project is an innovative initiative aimed at developing
+        a versatile and intelligent robot platform. Our goal is to create a
+        robot that can navigate autonomously, interact with its environment, and
+        perform various tasks.
+      </p>
+      <img src="{{url_for('static', filename='images/logo.png')}}" alt="logo" class="image" />
+    </section>
 
-{%block head%}
+    <section class="container sectionHeight" id="about">
+      <h2>About the Project</h2>
+      <p>
+        This project is a collaborative effort involving engineers, researchers,
+        and enthusiasts. The Kobuki robot is equipped with various sensors,
+        including bumpers, cliff sensors, and gyroscopes, to help it navigate
+        and interact with its surroundings.
+      </p>
+      <p>Key features of the Kobuki Robot:</p>
+      <ul>
+        <li>Autonomous navigation</li>
+        <li>Obstacle detection and avoidance</li>
+        <li>Real-time data processing</li>
+        <li>Remote control and monitoring</li>
+      </ul>
+    </section>
 
-{%endblock%}
+    <section class="container" id="contact">
+      <h2>Contact Us</h2>
+      <form id="contact-form" action="/contact" method="post">
+        <label for="name">Name:</label>
+        <input type="text" id="name" name="name" required />
+        <label for="email">Email:</label>
+        <input type="email" id="email" name="email" required />
+        <label for="message">Message:</label>
+        <textarea id="message" name="message" required></textarea>
+        <button type="submit">Send</button>
+      </form>
+    </section>
 
-{%block content%}
-<div class="container">
-    <div class="image-section">
-        <img src="kobuki.jpg" alt="Kobuki Robot" id="robot-image">
-    </div>
-    <div class="button-section">
-        <button class="btn">1</button>
-        <button class="btn">2</button>
-        <button class="btn">3</button>
-        <button class="btn">4</button>
-    </div>
-</div>
-{%endblock%}
+    {% include 'footer.html' %}
+
+    <script src="static/script.js"></script>
+  </body>
+</html>
+{% endblock %}

src/Python/flask/web/templates/navbar.html

@@ -11,13 +11,9 @@
         <img src="{{url_for('static', filename='images/logo_kobuki.png')}}" alt="logo" class="imgNav" />
         <h3>Kobuki</h3>
         <div class="buttonContainer">
-          <a
-            href="https://gitlab.fdmci.hva.nl/propedeuse-hbo-ict/onderwijs/2023-2024/out-a-se-ti/blok-3/vuupoofeehoo27"
-            target="_blank"
-          >
-            <button class="click connectButton">Placeholder</button>
+          <a href="{{ url_for('control') }}" target="_blank">
+            <button class="click connectButton">Controller</button>
           </a>
-          <!-- <a href="./signup.html">sign in</a> -->
         </div>
       </nav>
   

src/Python/socket/socketServer.py

@@ -1,20 +0,0 @@
-import socket
-
-HOST = "127.0.0.1"  # Listen on all available interfaces
-PORT = 4024  # Port to listen on (non-privileged ports are > 1023)
-
-with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as s:
-    s.bind((HOST, PORT))
-    s.listen()
-    print(f"Server listening on {HOST}:{PORT}")
-    conn, addr = s.accept()
-    with conn:
-        print(f"Connected by {addr}")
-        conn.sendall(b"hallo\n")
-        while True:
-            data = conn.recv(2048)
-            if data:
-                print("Received:", repr(data))
-                conn.sendall(b"message received\n")
-            if not data:
-                break

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;
+    }
+}
+

teamdocumentatie/Ishak/etische_aspecten.md

@@ -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.

teamdocumentatie/Ishak/expert.md

@@ -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.
+- 

teamdocumentatie/Ishak/feedback.md

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+# Feedback expert review 
+
+probeer Definition of done zelf te formuleren.
+beter user stories maken
+
+# Feedback peer review
+
+- eventuele coaching op het gebied van technisch en taken
+- meer duidelijkheid wat wij gaan gebruiken, welke technieken en tools. Hiermee kan je mensen koppelen aan taken zodat iedereen iets heeft gedaan.
+- meer duidelijkheid van elkaar kwaliteiten en leerdoelen. Hiermee kan je goed inschatten wie wat kan doen en wie wat kan leren.
+  

teamdocumentatie/Ishak/hoofd-deelvraag.md

@@ -0,0 +1,42 @@
+# Hoofd en deelvragen
+
+**Wat is de aanleiding?**
+De aanleiding is de de behoefte aan veilige communicatie tussen apparaten. Dit is belangrijk omdat onbeveiligde dataoverdracht kan leiden tot datalekken.
+
+**wat is het probleem/behoefte en waaruit blijkt dat?**
+Het probleem is dat data die tussen apparaten wordt verstuurd kwetsbaar kan zijn. Dit blijkt nadat wij te horen hebben gekregen dat er niet goed was omgegaan met communicatie tussen apparaten.
+
+**Wie heeft het probleem/behoefte?**
+ons groepje, maar ook bijvoorbeeld grote bedrijven waar het heel belangrijk is dat data veilig wordt verstuurd zonder dat het in de verkeerde handen valt.
+
+**Wanneer is het probleem/behoefte ontstaan?**
+Het probleem is ontstaan nadat wij te horen hebben gekregen dat er niet goed was omgegaan met communicatie tussen apparaten.
+
+**Waarom is het een probleem?**
+Het is een probleem omdat onbeveiligde communicatie kan leiden tot datalekken waaronder privacy. Hiermee kunnen bedrijven in de problemen komen.
+
+**Waar doet het probleem/behoefte zich voor (afbakening)?**
+Het probleem komt voor in verschillende sectoren waar data tussen apparaten wordt verstuurd. Dit kan zijn in de zorg, industrie, op kantoor, maar ook met IoT projecten wat je thuis kan hebben.
+
+## Hoofdvraag
+
+Welke communicatieprotocol geeft de mogelijkheid om veilig en betrouwbaar te communiceren tussen IoT apparaten?
+
+## Deelvragen
+
+1. Wat houdt veilige en betrouwbare communicatie tussen apparaten in?
+2. Welke protocollen zijn er om veilig en betrouwbaar te communiceren tussen apparaten?
+3. Wat zijn de voor- en nadelen van de verschillende protocollen?
+
+## Bronnen
+
+- 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
+- Miorandi, D., Sicari, S., De Pellegrini, F., & Imrich Chlamtac. (2012). Internet of things: Vision, applications and research challenges. In Ad Hoc Networks (Vol. 10, pp. 1497–1516) [Journal-article]. Elsevier B.V. http://dx.doi.org/10.1016/j.adhoc.2012.02.016
+- Christiano, P. (2023, November 5). Top 9 IoT communication protocols & their features in 2024: An In-Depth guide - ExpertBeacon. Expertbeacon. https://expertbeacon.com/iot-communication-protocol/
+- Yugha, R., & Chithra, S. (2020). A survey on technologies and security protocols: Reference for future generation IoT. Journal of Network and Computer Applications, 169, 102763. https://doi.org/10.1016/j.jnca.2020.102763
+- De Mendizábal, I. (2022, June 16). IoT Communication Protocols—IoT Data Protocols. Technical Articles. https://www.allaboutcircuits.com/technical-articles/internet-of-things-communication-protocols-iot-data-protocols/
+- IoT-technologieën en -protocollen | Microsoft Azure. (n.d.). https://azure.microsoft.com/nl-nl/solutions/iot/iot-technology-protocols
+- Het IoT verbinden: wat is MQTT en waarin verschilt het van CoAP? (n.d.). https://www.onlogic.com/nl/blog/het-iot-verbinden-wat-is-mqtt-en-waarin-verschilt-het-van-coap/
+- Nader, K. (2023, October 30). Wat zijn de voordelen van het gebruik van WebSocket voor IoT-communicatie? AppMaster - Ultimate All-in No-code Platform. https://appmaster.io/nl/blog/websocket-voor-iot-communicatie
+- Sidna, J., Amine, B., Abdallah, N., & Alami, H. E. (2020). Analysis and evaluation of communication Protocols for IoT Applications. Karbala International Journal of Modern Science. https://doi.org/10.1145/3419604.3419754

teamdocumentatie/Ishak/motivatie.md

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+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

teamdocumentatie/Ishak/smartleerdoel.md

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+# Smart leerdoelen
+
+Na de retrospective die ik heb gedaan, heb ik besloten om de volgende smart leerdoelen te stellen:
+
+1 **Ik wil in de volgende blok meer gaan opletten op mijn teamgenoten om zo goed te weten waar iedereen mee bezig is.**
+
+**specifiek:**
+
+ik heb in onze groep de taak als voorzitter alleen merk ik op dit moment dat ik niet goed weet waar iedereen mee bezig is. Dat is niet handig omdat ik dan als voorzitter niet goed kan inschatten of iedereen op schema ligt.
+
+**meetbaar:**
+
+Ik wil dat ik aan het einde van de blok meer contact heb gehad met mijn teamgenoten en dat ik weet waar iedereen mee bezig is. Dit zorgt ervoor dat ik beter kan inschatten of iedereen op schema ligt en of ik moet ingrijpen.
+
+**acceptabel:**
+
+Dit is acceptabel omdat ik als voorzitter de taak heb om te zorgen dat iedereen op schema ligt en dat iedereen weet wat hij/zij moet doen. Zonder deze informatie kan ik niet goed mijn taak uitvoeren waardoor de teamgenoten niet goed kunnen werken.
+
+**realistisch:**
+
+Dit is realistisch omdat ik als voorzitter de taak heb om te zorgen dat iedereen op schema ligt en dat iedereen weet wat hij/zij moet doen. 
+
+**tijdgebonden:**
+
+Ik wil dit doel behalen aan het einde van de blok. Dit is een realistische tijd omdat ik dan genoeg tijd heb om dit doel te behalen. Ik kan mij later ook nog tijdens de opleiding verbeteren op dit punt.
+
+---
+
+2 **Ik wil in de volgende blok meer gaan opletten op mijn eigen documentatie.**
+
+**specifiek:**
+
+In tegen stelling tot vorig jaar hou ik nu mijn documentatie niet goed bij. Dit is niet handig omdat ik dan niet goed kan zien wat ik daadwerkelijk heb gedaan en wat ik allemaal heb geleerd. Ook is het fijn dat ik dan kan terug kijken op mijn werk als ik het later nodig heb. Ik wil daarom minimaal 2 keer per week mijn documentatie bijwerken.
+
+**meetbaar:**
+
+Ik wil dat ik aan het einde van de blok mijn documentatie goed heb bijgehouden. Dit zorgt ervoor dat ik kan zien wat ik heb gedaan en wat ik allemaal heb geleerd. Ook kan ik dan terug kijken op mijn werk als ik het later nodig heb.
+
+**acceptabel:**
+
+Dit is acceptabel omdat ik dan toekomst gericht kan werken. Ik kan dan terug kijken op mijn werk als ik het later nodig heb. Ook kan ik dan zien wat ik heb gedaan en wat ik allemaal heb geleerd.
+
+**realistisch:**
+
+Dit is realistisch omdat ik dit vorig jaar ook heb gedaan. Ik weet hoe ik mijn documentatie moet bijhouden en wat ik allemaal moet opschrijven. Mijn eis van 2 keer per week is ook realistisch omdat ik dan genoeg tijd heb om mijn documentatie bij te werken. 
+
+**tijdgebonden:**
+
+Ik wil dit doel behalen aan het einde van de blok. Dit is een realistische tijd omdat ik dan genoeg tijd heb om mijn documentatie bij te werken.

teamdocumentatie/Ishak/steekwoorden.md

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+# kobuki 
+# last sprint i have been busy with the website
+# my job was to make an controller on the website for the kobuki
+# so that we can control the kobuki with the website
+# i did this using a protocol called MQTT
+# mqtt is a protocol that is used to send messages between devices
+# this is different from the normal protocol that i used last year
+# it was a bit difficult to get the kobuki to work with the website
+# next sprint i will be working on a sensor
+# i will do some research on the different sensors that we can use
+# 

teamdocumentatie/Ishak/verslag.md

@@ -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
+
+- Miorandi, D., Sicari, S., De Pellegrini, F., & Imrich Chlamtac. (2012). Internet of things: Vision, applications and research challenges. In Ad Hoc Networks (Vol. 10, pp. 1497–1516) [Journal-article]. Elsevier B.V. http://dx.doi.org/10.1016/j.adhoc.2012.02.016
+
+- Christiano, P. (2023, November 5). Top 9 IoT communication protocols & their features in 2024: An In-Depth guide - ExpertBeacon. Expertbeacon. https://expertbeacon.com/iot-communication-protocol/
+
+- Yugha, R., & Chithra, S. (2020). A survey on technologies and security protocols: Reference for future generation IoT. Journal of Network and Computer Applications, 169, 102763. https://doi.org/10.1016/j.jnca.2020.102763
+
+- De Mendizábal, I. (2022, June 16). IoT Communication Protocols—IoT Data Protocols. Technical Articles. https://www.allaboutcircuits.com/technical-articles/internet-of-things-communication-protocols-iot-data-protocols/
+
+- IoT-technologieën en -protocollen | Microsoft Azure. (n.d.). https://azure.microsoft.com/nl-nl/solutions/iot/iot-technology-protocols
+
+- Darek Fanton(2024, Juli 11). Het IoT verbinden: wat is MQTT en waarin verschilt het van CoAP? (n.d.). https://www.onlogic.com/nl/blog/het-iot-verbinden-wat-is-mqtt-en-waarin-verschilt-het-van-coap/
+
+- Nader, K. (2023, October 30). Wat zijn de voordelen van het gebruik van WebSocket voor IoT-communicatie? AppMaster - Ultimate All-in No-code Platform. https://appmaster.io/nl/blog/websocket-voor-iot-communicatie
+
+- Sidna, J., Amine, B., Abdallah, N., & Alami, H. E. (2020). Analysis and evaluation of communication Protocols for IoT Applications. Karbala International Journal of Modern Science. https://doi.org/10.1145/3419604.3419754
+
+- Ministerie van Algemene Zaken. (2022, February 8). Hoe kan ik slimme apparaten veilig gebruiken? Rijksoverheid.nl. https://www.rijksoverheid.nl/onderwerpen/bescherming-van-consumenten/vraag-en-antwoord/hoe-kan-ik-slimme-apparaten-veilig-gebruiken