removed image for now

src/C++/Driver/CMakeLists.txt

@@ -6,7 +6,10 @@ set(CMAKE_CXX_STANDARD 23)
 find_library(PAHO_MQTTPP_LIBRARY paho-mqttpp3 PATHS /usr/local/lib)
 find_library(PAHO_MQTT_LIBRARY paho-mqtt3a PATHS /usr/local/lib)
 
-include_directories(/usr/local/include)
+# Find OpenCV package
+find_package(OpenCV REQUIRED)
+find_package(OpenEXR REQUIRED)
+include_directories(${OpenCV_INCLUDE_DIRS})
 
 set(SOURCE_FILES
     src/KobukiDriver/KobukiParser.cpp
@@ -20,4 +23,4 @@ set(SOURCE_FILES
 add_executable(kobuki_control ${SOURCE_FILES})
 
 # Link the static libraries
-target_link_libraries(kobuki_control ${PAHO_MQTTPP_LIBRARY} ${PAHO_MQTT_LIBRARY} pthread)
+target_link_libraries(kobuki_control ${PAHO_MQTTPP_LIBRARY} ${PAHO_MQTT_LIBRARY} ${OpenCV_LIBS} pthread OpenEXR::OpenEXR)

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

@@ -3,11 +3,15 @@
 #include <thread>
 #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;
 std::string readMQTT();
 void parseMQTT(std::string message);
+void CapnSend();
 //ip, clientID, username, password
 MqttClient client("ws://145.92.224.21/ws/", "KobukiRPI", "rpi", "rpiwachtwoordofzo"); // create a client object
 std::string message = "stop";
@@ -17,7 +21,7 @@ void sendKobukiData(TKobukiData &data);
 void setup()
 {
     unsigned char *null_ptr(0);
-    // robot.startCommunication("/dev/ttyUSB0", true, null_ptr);
+    robot.startCommunication("/dev/ttyUSB0", true, null_ptr);
     //connect mqtt server and sub to commands
 
     client.connect();
@@ -26,26 +30,33 @@ void setup()
 
 int main()
 {
-    // Unset the http_proxy environment variable
-
-
     setup();
+    std::thread image (CapnSend);
     std::thread safety([&]() { robot.robotSafety(&message); });
     std::thread sendMqtt([&]() { sendKobukiData(robot.parser.data); });
     
     while(true){
-        parseMQTT(readMQTT());
+        std::string message = readMQTT();
+        if (!message.empty()){
+            parseMQTT(message);
+        }
+        
     }
+
     sendMqtt.join();
     safety.join();
+    image.join();
 }
 
 std::string readMQTT()
 {
-    message = client.getLastMessage();
-    if (!message.empty())
+    static std::string lastMessage;
+
+    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
@@ -57,7 +68,7 @@ void parseMQTT(std::string message)
 {
     if (message == "up")
     {
-        robot.forward(1024);
+        robot.forward(350);
     }
     else if (message == "left")
     {
@@ -69,7 +80,7 @@ void parseMQTT(std::string message)
     }
     else if (message == "down")
     {
-        robot.forward(-800);
+        robot.forward(-350);
     }
     else if (message == "stop")
     {
@@ -155,6 +166,7 @@ void logToFile()
 
 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));
@@ -276,3 +288,31 @@ void sendKobukiData(TKobukiData &data) {
         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) {
+        cap >> frame; // Capture a new image frame
+        if (frame.empty()) {
+            cerr << "Error: Could not capture image" << endl;
+            continue;
+        }
+
+        // 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(300)); // Send image every 1000ms
+    }
+}

src/Python/flask/web/app.py

@@ -4,8 +4,11 @@ import mysql.connector
 
 app = Flask(__name__)
 
+# Globale variabelen
+kobuki_message = ""
+latest_image = None
+
 # Globale MQTT setup
-kobuki_message = "empty"
 def on_message(client, message):
     global kobuki_message, latest_image
     if message.topic == "kobuki/data":
@@ -73,7 +76,7 @@ def move():
 
 @app.route('/data', methods=['GET'])
 def data():
-    return kobuki_message
+    return jsonify(kobuki_message)
 
 @app.route("/database")
 def database():

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

@@ -1,25 +1,27 @@
-// Selecteer alle knoppen en voeg een event listener toe aan elke knop
-document.querySelectorAll(".btn").forEach((button) => {
-  button.addEventListener("click", function (event) {
-    event.preventDefault(); // voorkomt pagina-verversing
+document.addEventListener("DOMContentLoaded", function () {
+  document.querySelectorAll(".btn").forEach((button) => {
+    button.addEventListener("click", function (event) {
+      event.preventDefault(); // prevents page refresh
 
-    // Haal de waarde van de knop op
-    const direction = event.target.value;
+      // Get the value of the button
+      const direction = event.target.value;
 
-    fetch("/move", {
-      method: "POST",
-      headers: {
-        "Content-Type": "application/json",
-      },
-      body: JSON.stringify({ direction: direction }),
-    })
-      .then((response) => response.json())
-      .then((data) => {
-        console.log("Success:", data);
+      fetch("/move", {
+        method: "POST",
+        headers: {
+          "Content-Type": "application/json",
+        },
+        body: JSON.stringify({ direction: direction }),
       })
-      .catch((error) => {
-        console.error("Error:", error);
-      });
+        .then((response) => response.json())
+        .then((data) => {
+          script;
+          console.log("Success:", data);
+        })
+        .catch((error) => {
+          console.error("Error:", error);
+        });
+    });
   });
 
   // Fetch data from the server
@@ -32,18 +34,12 @@ document.querySelectorAll(".btn").forEach((button) => {
       console.error("Error:", error);
     }
   }
-
   // Parse the data and show it on the website
   async function parseData() {
     const data = await fetchData();
-
-    if(!data){
-      console.error("No data received");
-      return;
-    }
     const sensorDataContainer = document.getElementById("sensor-data");
     sensorDataContainer.innerHTML = ""; // Clear previous data
-    //for each object in json array create a new paragraph element and append it to the sensorDataContainer
+    // For each object in JSON array, create a new paragraph element and append it to the sensorDataContainer
     for (const [key, value] of Object.entries(data)) {
       const dataElement = document.createElement("p");
       dataElement.textContent = `${key}: ${value}`;
@@ -51,6 +47,15 @@ document.querySelectorAll(".btn").forEach((button) => {
     }
   }
 
+  // Update the image
+  function updateImage() {
+    var img = document.getElementById("robot-image");
+    img.src = "/image?" + new Date().getTime(); // Add timestamp to avoid caching
+  }
+
   // Fetch and display sensor data every 5 seconds
-  setInterval(parseData, 5000);
+  setInterval(parseData, 1000);
+
+  // Update the image every 5 seconds
+  setInterval(updateImage, 200);
 });

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

@@ -12,7 +12,7 @@
   <body>
     <div class="container">
       <div class="image-section">
-        <img src="kobuki.jpg" alt="Kobuki Robot" id="robot-image" />
+        <!-- <img src="kobuki.jpg" alt="Kobuki Robot" id="robot-image" /> -->
       </div>
       <div class="button-section">
         <form id="form" action="/move" method="post">