changed function

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

Closes #35

See merge request technische-informatica-sm3/ti-projectten/rooziinuubii79!4

README.md

@@ -1,8 +1,39 @@
-# TI-project - Kobuki
+# TI-project - exploration robot Kobuki
 
 ## Description
-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 kobuki is able to drive around in a room and detect objects.
+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. 
 
 ## Photos
 ![Kobuki](/docs/assets/KobukiPhoto.jpg)
 
+## Installation
+
+### Requirements
+
+- Kobuki robot
+- Raspberry Pi (minimum 3B)
+- Camera
+- power supply for Raspberry Pi
+- laptop or computer
+
+### Steps
+
+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.
+
+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**
+    - Open the terminal and navigate to the project - scr - Python - flask.
+    - Run the following command to install the required packages:
+        - `pip install -r requirements.txt`
+        -  This will install all the python packages required to run the project.
+        -  for C++, you will need to install the following packages:
+           - OpenCV
+           - mqtt-client
+4.   

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

@@ -8,6 +8,8 @@
 using namespace std;
 using namespace cv;
 CKobuki robot;
+std::atomic<bool> kobuki_connected(false);
+
 
 std::string readMQTT();
 void parseMQTT(std::string message);
@@ -28,12 +30,28 @@ void setup()
     client.subscribe("home/commands");
 }
 
+void checkKobukiConnection() {
+    while (true) {
+        bool connected = robot.isConnected();
+        if (!connected && kobuki_connected) {
+            cout << "Kobuki is disconnected" << endl;
+            kobuki_connected = false;
+        } else if (connected && !kobuki_connected) {
+            cout << "Kobuki is connecting..." << endl;
+            // Start de Kobuki automatisch
+            robot.startCommunication("/dev/ttyUSB0", true, nullptr);
+        }
+        std::this_thread::sleep_for(std::chrono::seconds(5)); // Controleer elke 5 seconden
+    }
+}
+
 int main()
 {
     setup();
     std::thread image (CapnSend);
     std::thread safety([&]() { robot.robotSafety(&message); });
     std::thread sendMqtt([&]() { sendKobukiData(robot.parser.data); });
+    std::thread connectionThread(checkKobukiConnection);
     
     while(true){
         std::string message = readMQTT();
@@ -46,6 +64,7 @@ int main()
     sendMqtt.join();
     safety.join();
     image.join();
+    connectionThread.join();
 }
 
 std::string readMQTT()

src/Python/flask/Dockerfile

@@ -14,5 +14,5 @@ EXPOSE 5000
 CMD ["python", "web/app.py"]
 
 #build instruction: sudo docker buildx build -t flaskapp:latest .   
-#run instruction: sudo docker run --network="host" 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

@@ -3,3 +3,4 @@ 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

@@ -1,4 +1,4 @@
-from flask import Flask, Response, request, render_template, jsonify
+from flask import Flask, Response, request, render_template, jsonify, g
 import paho.mqtt.client as mqtt
 from ultralytics import YOLO
 import cv2
@@ -49,18 +49,6 @@ def on_message(client, userdata, message):
                     cv2.rectangle(processed_image, (x1, y1), (x2, y2), (0, 255, 0), 2)
                     cv2.putText(processed_image, f"{class_name} {box.conf.item():.2f}", (x1, y1 - 10), cv2.FONT_HERSHEY_SIMPLEX, 0.9, (0, 255, 0), 2)
 
-
-# Globale MQTT setup
-def on_message(client,userdata, message):
-    global kobuki_message, latest_image
-    if message.topic == "kobuki/data":
-        kobuki_message = str(message.payload.decode("utf-8"))
-        with app.app_context():
-            sensor_data(kobuki_message)  # Sla de data op in de database
-    elif message.topic == "kobuki/cam":
-        latest_image = message.payload
-
-
 # Create an MQTT client instance
 mqtt_client = mqtt.Client()
 mqtt_client.username_pw_set("server", "serverwachtwoordofzo")
@@ -71,9 +59,6 @@ mqtt_client.subscribe("kobuki/cam")
 
 mqtt_client.on_message = on_message  # this line needs to be under the function definition otherwise it can't find which function it needs to use
 
-mqtt_client.on_message = on_message  # this line needs to be under the function definition otherwise it can't find which function it needs to use
-
-
 # Database connectie-functie
 def get_db():
     if 'db' not in g:  # 'g' is specifiek voor een request en leeft zolang een request duurt
@@ -122,17 +107,10 @@ def move():
     cursor.close()
     db_connection.close()
     return jsonify({"status": "success", "direction": direction})
+    
 
-@app.route("/database")
-def database():
-    db = get_db()
-    cursor = db.cursor()
-    cursor.execute("SELECT * FROM kobuki_data")
-    rows = cursor.fetchall()
-    cursor.close()
-    return str(rows)
-
-def sensor_data(kobuki_message):
+@app.route('/data', methods=['GET'])
+def data():
     try:
         # Parse de JSON-string naar een Python-dictionary
         data = json.loads(kobuki_message)
@@ -152,23 +130,21 @@ def sensor_data(kobuki_message):
 
         # Database-insert
         db = get_db()
-        cursor = db.cursor()
+        with db.cursor() as cursor:
 
-        # Zorg dat je tabel `kobuki_data` kolommen heeft: `name` en `value`
-        sql_sensor = "INSERT INTO kobuki_data (name, value) VALUES (%s, %s)"
-        cursor.executemany(sql_sensor, sensor_data_tuples)
-
-        # Commit en sluit de cursor
-        db.commit()
-        cursor.close()
+            # Zorg dat je tabel `kobuki_data` kolommen heeft: `name` en `value`
+            sql_sensor = "INSERT INTO kobuki_data (name, value) VALUES (%s, %s)"
+            cursor.executemany(sql_sensor, sensor_data_tuples)
+    
+            # Commit en sluit de cursor
+            db.commit()
+            cursor.close()
     except json.JSONDecodeError as e:
         print(f"JSON decode error: {e}")
     except mysql.connector.Error as err:
         print(f"Database error: {err}")
-
-@app.route('/data', methods=['GET'])
-def data():
     return kobuki_message
+    
 
 
 @app.route('/image')
@@ -188,6 +164,16 @@ def yolo_results_endpoint():
     with lock:
         return jsonify(yolo_results)
 
+def yolo_results_db():
+    global yolo_results
+    db = get_db()
+    with db.cursor() as cursor:
+        sql_yolo = "INSERT INTO yolo_results (object, confidence) VALUES (%s, %s)"
+        yolo_tuples = [(result["class"], result["confidence"]) for result in yolo_results]
+        cursor.executemany(sql_yolo, yolo_tuples)
+        db.commit()
+        cursor.close()
+
 
 if __name__ == '__main__':
     app.run(debug=True, port=5000)

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

@@ -34,7 +34,8 @@ document.addEventListener("DOMContentLoaded", function() {
     }
   }
 
-    // Parse the data and show it on the website
+  // Parse the data and show it on the website
+  async function parseData() {
     const data = await fetchData();
     const sensorDataContainer = document.getElementById("sensor-data");
     sensorDataContainer.innerHTML = ""; // Clear previous data
@@ -57,5 +58,4 @@ document.addEventListener("DOMContentLoaded", function() {
 
   // Update the image every 200 milliseconds
   setInterval(updateImage, 100);
-});
-
+});