fix last build errors

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

@@ -3,6 +3,7 @@
 #include "termios.h"
 #include <cstddef>
 #include <iostream>
+#include <thread>
 
 // plot p;
 static std::vector<float> vectorX;
@@ -727,7 +728,7 @@ void CKobuki::goToXy(long double xx, long double yy) {
   return;
 }
 
-void CKobuki::forward(int speedvalue, long double distance) {
+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
@@ -755,3 +756,65 @@ void CKobuki::forward(int speedvalue, long double distance) {
   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 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/MQTT/MqttClient.cpp

@@ -3,18 +3,18 @@
 MqttClient::MqttClient(const std::string& address, const std::string& clientId, const std::string& username, const std::string& password)
     : client_(address, clientId), username_(username), password_(password), callback_(*this) {
     client_.set_callback(callback_);
-    connOpts_.set_clean_session(true);
+    options.set_clean_session(true);
-    connOpts_.set_mqtt_version(MQTTVERSION_3_1_1);  // For MQTT 3.1.1
+    options.set_mqtt_version(MQTTVERSION_3_1_1);  // For MQTT 3.1.1
     if (!username_.empty() && !password_.empty()) {
-        connOpts_.set_user_name(username_);
+        options.set_user_name(username_);
-        connOpts_.set_password(password_);
+        options.set_password(password_);
     }
 }
 
 void MqttClient::connect() {
     try {
         std::cout << "Connecting to broker..." << std::endl;
-        client_.connect(connOpts_)->wait();
+        client_.connect(options)->wait();
         std::cout << "Connected!" << std::endl;
     } catch (const mqtt::exception& exc) {
         std::cerr << "Error: " << exc.what() << std::endl;
@@ -41,6 +41,7 @@ void MqttClient::run() {
 }
 
 void MqttClient::Callback::message_arrived(mqtt::const_message_ptr msg) {
+    //lock the variable, it automaticly unlocks when going out of scope
     std::lock_guard<std::mutex> lock(client_.messageMutex_);
     client_.lastMessage_ = msg->to_string();
 }
@@ -55,7 +56,9 @@ void MqttClient::Callback::delivery_complete(mqtt::delivery_token_ptr token) {
 
 /// @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
     std::lock_guard<std::mutex> lock(messageMutex_);
     return lastMessage_;
 }

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

@@ -27,7 +27,7 @@ private:
     };
 
     mqtt::async_client client_;
-    mqtt::connect_options connOpts_;
+    mqtt::connect_options options;
     Callback callback_;
     std::string username_;
     std::string password_;
@@ -35,4 +35,4 @@ private:
     std::mutex messageMutex_;
 };
 
-#endif // MQTTCLIENT_H
+#endif //MQTTCLIENT_H

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

@@ -10,7 +10,8 @@ using namespace std;
 CKobuki robot;
 int movement();
 std::string readMQTT();
-MqttClient client("mqtt://localhost:1883", "KobukiRPI", "ishak", "kobuki");
+void parseMQTT(std::string message);
+MqttClient client("mqtt://145.92.224.21:1883", "KobukiRPI", "ishak", "kobuki"); //create a client object
 
 
 void setup(){
@@ -18,15 +19,13 @@ void setup(){
 	robot.startCommunication("/dev/ttyUSB0", true, null_ptr);
     client.connect();
     client.subscribe("home/commands");
-
 }
 
 int main(){
 	setup();
 	while(true){
-	readMQTT();
+    parseMQTT(readMQTT());
 	}
-	client.run();
 	return 0;
 }
 
@@ -42,6 +41,26 @@ std::string readMQTT()
 		return message;
 }
 
+void parseMQTT(std::string message){
+    if(message == "up"){
+        robot.forward(600);
+    }
+    else if(message == "left"){
+        robot.Rotate(90);
+
+    }
+    else if(message == "down"){
+        robot.Rotate(-90);
+    }
+    else if(message == "stop"){
+        robot.sendNullMessage();
+    }
+    else{
+        std::cout << "Invalid command" << std::endl;
+    }
+}
+
+
 int movement()
 {
     int text;

src/Python/flask/web/app.py

@@ -9,24 +9,20 @@ mqtt_client.username_pw_set("ishak", "kobuki")
 mqtt_client.connect("localhost", 1883, 60)
 mqtt_client.loop_start()
 
-@app.route('/', methods=["POST"])
+@app.route('/', methods=["GET","POST"])
 def index():
     return render_template('index.html')
 
 @app.route('/move', methods=['POST'])
 def move():
-    # Get the direction from the form data
+    data = request.get_json()
-    direction = request.form['direction']
+    direction = data.get("direction")
 
-    # Publish the direction to the MQTT topic "home/commands"
+    # Verstuur de richting via MQTT
-    result = mqtt_client.publish("home/commands", direction)
+    if direction:
-    
+        mqtt_client.publish("home/commands", direction)  # Het topic kan aangepast worden
-    # Check if the publish was successful
-    if result.rc == mqtt.MQTT_ERR_SUCCESS:
-        return jsonify({"message": "Bericht succesvol gepubliceerd"}), 200
-    else:
-        return jsonify({"message": "Fout bij het publiceren van bericht"}), 500
 
+    return jsonify({"status": "success", "direction": direction})
 # Run the Flask application in debug mode
 if __name__ == '__main__':
     app.run(debug=True)

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

@@ -1,14 +1,25 @@
-window.onload = function () {
+// Selecteer alle knoppen en voeg een event listener toe aan elke knop
-  const form = document.getElementById("form");
+document.querySelectorAll(".btn").forEach(button => {
-  form.onclick = function (event) {
+  button.addEventListener("click", function(event) {
-    event.preventDefault();
+    event.preventDefault(); // voorkomt pagina-verversing
+
+    // Haal de waarde van de knop op
+    const direction = event.target.value;
+
+    // Verstuur de richting naar de server met fetch
     fetch("/move", {
-      method: "GET",
+      method: "POST",
+      headers: {
+        "Content-Type": "application/json"
+      },
+      body: JSON.stringify({ direction: direction })
     })
-      .then((response) => {})
+    .then(response => response.json())
-      .then(() => {
+    .then(data => {
-        fetch
+      console.log("Success:", data);
+    })
+    .catch(error => {
+      console.error("Error:", error);
     });
-  };
+  });
-};
+});
-9

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

@@ -12,7 +12,7 @@
         <img src="kobuki.jpg" alt="Kobuki Robot" id="robot-image" />
       </div>
       <div class="button-section">
-        <form id = "form" action="/" method="post">
+        <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>
@@ -23,7 +23,7 @@
     <div class="container">
       <h1>Sensor Data</h1>
     </div>
-    <script href="../static/script.js"></script>
+    <script src="../static/script.js"></script>
   </body>
 </html>