changed function

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/web/app.py

@@ -59,9 +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
@@ -110,15 +107,6 @@ 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)
     
 
 @app.route('/data', methods=['GET'])
@@ -142,15 +130,15 @@ def data():
 
         # Database-insert
         db = get_db()
-        cursor = db.cursor()
+        with db.cursor() as cursor:
 
-        # Zorg dat je tabel `kobuki_data` kolommen heeft: `name` en `value`
+            # Zorg dat je tabel `kobuki_data` kolommen heeft: `name` en `value`
-        sql_sensor = "INSERT INTO kobuki_data (name, value) VALUES (%s, %s)"
+            sql_sensor = "INSERT INTO kobuki_data (name, value) VALUES (%s, %s)"
-        cursor.executemany(sql_sensor, sensor_data_tuples)
+            cursor.executemany(sql_sensor, sensor_data_tuples)
-
+    
-        # Commit en sluit de cursor
+            # Commit en sluit de cursor
-        db.commit()
+            db.commit()
-        cursor.close()
+            cursor.close()
     except json.JSONDecodeError as e:
         print(f"JSON decode error: {e}")
     except mysql.connector.Error as err:
@@ -176,6 +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)