Merge branch 'main' of ssh://gitlab.fdmci.hva.nl/technische-informatica-sm3/ti-projectten/rooziinuubii79

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

@@ -572,10 +572,10 @@ void CKobuki::Rotate(int degrees) {
   float radians = degrees * PI / 180.0;
 
   // Calculate the rotation speed in radians per second
-  double radpersec = 1;
+  double RADS_PER_SEC = 1;
 
   // calculator rotation time and give absolute value
-  float rotation_time = std::abs(radians / radpersec);
+  float rotation_time = std::abs(radians / RADS_PER_SEC);
 
   // Use original function to set the rotation speed in mm/s
   setRotationSpeed(radians);

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

@@ -9,7 +9,8 @@ using namespace std;
 CKobuki robot;
 std::string readMQTT();
 void parseMQTT(std::string message);
-MqttClient client("mqtt://145.92.224.21:1883", "KobukiRPI", "ishak", "kobuki"); // create a client object
+//ip, clientID, username, password
+MqttClient client("mqtt://145.92.224.21:1884", "KobukiRPI", "rpi", "rpiwachtwoordofzo"); // create a client object
 std::string message = "stop";
 std::string serializeKobukiData(const TKobukiData &data);
 void sendKobukiData(TKobukiData &data);
@@ -149,6 +150,64 @@ void logToFile()
     }
 }
 
+void sendIndividualKobukiData(const TKobukiData &data) {
+    while (true) {
+        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) +

src/Python/flask/web/app.py

@@ -9,8 +9,8 @@ def on_message(client, userdata, message):
 
 # Create an MQTT client instance
 mqtt_client = mqtt.Client()
-mqtt_client.username_pw_set("ishak", "kobuki")
+mqtt_client.username_pw_set("server", "serverwachtwoordofzo")
-mqtt_client.connect("localhost", 1883, 60)
+mqtt_client.connect("localhost", 1884, 60)
 mqtt_client.loop_start()
 mqtt_client.subscribe("kobuki/data")
 mqtt_client.on_message = on_message # this lines needs to be under the function definition otherwise it cant find which function it needs to use

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

@@ -23,6 +23,22 @@ body {
   right: 0%;
 }
 
+.footer{
+  display: flex;
+  justify-content: space-between;
+  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%;
+}
+
 .imgNav {
   height: 50px;
   border-radius: 20px;
@@ -73,6 +89,18 @@ body {
   transition: transform 0.2s ease, background-color 0.2s ease;
 }
 
+.text{
+  width: 50%;
+}
+
+.image{
+  height: 100%;
+}
+
+.sectionHeight{
+  height: 200px;
+}
+
 /* Direction buttons */
 .btn:nth-child(1) {
   /* Left */

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

@@ -43,16 +43,6 @@ section h2 {
     margin-top: 0;
 }
 
-footer {
-    background-color: #333;
-    color: #fff;
-    text-align: center;
-    padding: 1rem 0;
-    position: fixed;
-    width: 100%;
-    bottom: 0;
-}
-
 form {
     display: flex;
     flex-direction: column;

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

@@ -11,5 +11,6 @@
     {% include 'navbar.html' %}  
     {% block content %}
     {% endblock %}
+
 </body>
 </html>

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

@@ -1,32 +1,33 @@
+{% extends 'base.html' %} {% block head %}
+<link rel="stylesheet" href="../static/style.css" />
+{% endblock %} {% block content %}
 <!DOCTYPE html>
 <html lang="en">
-<head>
+  <head>
-    <meta charset="UTF-8">
+    <meta charset="UTF-8" />
-    <meta name="viewport" content="width=device-width, initial-scale=1.0">
+    <meta name="viewport" content="width=device-width, initial-scale=1.0" />
     <title>Kobuki Robot Project</title>
-    <link rel="stylesheet" href="../static/styleIndex.css" />
+    <link rel="stylesheet" href="../static/style.css" />
-</head>
+  </head>
-<body>
+  <body>
-    <header>
+    <section class="container sectionHeight">
-        <h1>Welcome to the Kobuki Robot Project</h1>
+      <p class="text">
-        <nav>
+        The Kobuki Robot Project is an innovative initiative aimed at developing
-            <ul>
+        a versatile and intelligent robot platform. Our goal is to create a
-                <li><a href="#home">Home</a></li>
+        robot that can navigate autonomously, interact with its environment, and
-                <li><a href="#about">About</a></li>
+        perform various tasks.
-                <li><a href="#contact">Contact</a></li>
+      </p>
-            </ul>
+      <img src="{{url_for('static', filename='images/logo.png')}}" alt="logo" class="image" />
-        </nav>
-    </header>
-
-    <section id="home">
-        <h2>Introduction</h2>
-        <p>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="static/kobuki.jpg" alt="Kobuki Robot">
     </section>
 
-    <section id="about">
+    <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>
+        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>
@@ -36,23 +37,22 @@
       </ul>
     </section>
 
-    <section id="contact">
+    <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>
+        <input type="text" id="name" name="name" required />
         <label for="email">Email:</label>
-            <input type="email" id="email" name="email" required>
+        <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>
 
-    <footer>
+    {% include 'footer.html' %}
-        <p>&copy; 2023 Kobuki Robot Project. All rights reserved.</p>
-    </footer>
 
     <script src="static/script.js"></script>
-</body>
+  </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
+          <a href="{{ url_for('control') }}" target="_blank">
-            href="https://gitlab.fdmci.hva.nl/propedeuse-hbo-ict/onderwijs/2023-2024/out-a-se-ti/blok-3/vuupoofeehoo27"
+            <button class="click connectButton">Controller</button>
-            target="_blank"
-          >
-            <button class="click connectButton">Placeholder</button>
           </a>
-          <!-- <a href="./signup.html">sign in</a> -->
         </div>
       </nav>