revert and change port number

(everything works now)

README.md

@@ -1,93 +1,8 @@
-# TI-project
-
-
-
-## Getting started
-
-To make it easy for you to get started with GitLab, here's a list of recommended next steps.
-
-Already a pro? Just edit this README.md and make it your own. Want to make it easy? [Use the template at the bottom](#editing-this-readme)!
-
-## Add your files
-
-- [ ] [Create](https://docs.gitlab.com/ee/user/project/repository/web_editor.html#create-a-file) or [upload](https://docs.gitlab.com/ee/user/project/repository/web_editor.html#upload-a-file) files
-- [ ] [Add files using the command line](https://docs.gitlab.com/ee/gitlab-basics/add-file.html#add-a-file-using-the-command-line) or push an existing Git repository with the following command:
-
-```
-cd existing_repo
-git remote add origin https://gitlab.fdmci.hva.nl/technische-informatica-sm3/ti-project.git
-git branch -M main
-git push -uf origin main
-```
-
-## Integrate with your tools
-
-- [ ] [Set up project integrations](https://gitlab.fdmci.hva.nl/technische-informatica-sm3/ti-project/-/settings/integrations)
-
-## Collaborate with your team
-
-- [ ] [Invite team members and collaborators](https://docs.gitlab.com/ee/user/project/members/)
-- [ ] [Create a new merge request](https://docs.gitlab.com/ee/user/project/merge_requests/creating_merge_requests.html)
-- [ ] [Automatically close issues from merge requests](https://docs.gitlab.com/ee/user/project/issues/managing_issues.html#closing-issues-automatically)
-- [ ] [Enable merge request approvals](https://docs.gitlab.com/ee/user/project/merge_requests/approvals/)
-- [ ] [Set auto-merge](https://docs.gitlab.com/ee/user/project/merge_requests/merge_when_pipeline_succeeds.html)
-
-## Test and Deploy
-
-Use the built-in continuous integration in GitLab.
-
-- [ ] [Get started with GitLab CI/CD](https://docs.gitlab.com/ee/ci/quick_start/index.html)
-- [ ] [Analyze your code for known vulnerabilities with Static Application Security Testing (SAST)](https://docs.gitlab.com/ee/user/application_security/sast/)
-- [ ] [Deploy to Kubernetes, Amazon EC2, or Amazon ECS using Auto Deploy](https://docs.gitlab.com/ee/topics/autodevops/requirements.html)
-- [ ] [Use pull-based deployments for improved Kubernetes management](https://docs.gitlab.com/ee/user/clusters/agent/)
-- [ ] [Set up protected environments](https://docs.gitlab.com/ee/ci/environments/protected_environments.html)
-
-***
-
-# Editing this README
-
-When you're ready to make this README your own, just edit this file and use the handy template below (or feel free to structure it however you want - this is just a starting point!). Thanks to [makeareadme.com](https://www.makeareadme.com/) for this template.
-
-## Suggestions for a good README
-
-Every project is different, so consider which of these sections apply to yours. The sections used in the template are suggestions for most open source projects. Also keep in mind that while a README can be too long and detailed, too long is better than too short. If you think your README is too long, consider utilizing another form of documentation rather than cutting out information.
-
-## Name
-Choose a self-explaining name for your project.
+# TI-project - Kobuki
 
 ## Description
-Let people know what your project can do specifically. Provide context and add a link to any reference visitors might be unfamiliar with. A list of Features or a Background subsection can also be added here. If there are alternatives to your project, this is a good place to list differentiating factors.
+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.
 
-## Badges
-On some READMEs, you may see small images that convey metadata, such as whether or not all the tests are passing for the project. You can use Shields to add some to your README. Many services also have instructions for adding a badge.
+## Photos
+![Kobuki](/docs/assets/KobukiPhoto.jpg)
 
-## Visuals
-Depending on what you are making, it can be a good idea to include screenshots or even a video (you'll frequently see GIFs rather than actual videos). Tools like ttygif can help, but check out Asciinema for a more sophisticated method.
-
-## Installation
-Within a particular ecosystem, there may be a common way of installing things, such as using Yarn, NuGet, or Homebrew. However, consider the possibility that whoever is reading your README is a novice and would like more guidance. Listing specific steps helps remove ambiguity and gets people to using your project as quickly as possible. If it only runs in a specific context like a particular programming language version or operating system or has dependencies that have to be installed manually, also add a Requirements subsection.
-
-## Usage
-Use examples liberally, and show the expected output if you can. It's helpful to have inline the smallest example of usage that you can demonstrate, while providing links to more sophisticated examples if they are too long to reasonably include in the README.
-
-## Support
-Tell people where they can go to for help. It can be any combination of an issue tracker, a chat room, an email address, etc.
-
-## Roadmap
-If you have ideas for releases in the future, it is a good idea to list them in the README.
-
-## Contributing
-State if you are open to contributions and what your requirements are for accepting them.
-
-For people who want to make changes to your project, it's helpful to have some documentation on how to get started. Perhaps there is a script that they should run or some environment variables that they need to set. Make these steps explicit. These instructions could also be useful to your future self.
-
-You can also document commands to lint the code or run tests. These steps help to ensure high code quality and reduce the likelihood that the changes inadvertently break something. Having instructions for running tests is especially helpful if it requires external setup, such as starting a Selenium server for testing in a browser.
-
-## Authors and acknowledgment
-Show your appreciation to those who have contributed to the project.
-
-## License
-For open source projects, say how it is licensed.
-
-## Project status
-If you have run out of energy or time for your project, put a note at the top of the README saying that development has slowed down or stopped completely. Someone may choose to fork your project or volunteer to step in as a maintainer or owner, allowing your project to keep going. You can also make an explicit request for maintainers.

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

@@ -576,7 +576,7 @@ void CKobuki::robotSafety(std::string *pointerToMessage) {
         parser.data.CliffCenter || parser.data.CliffRight) {
       std::cout << "Safety condition triggered!" << std::endl; // Debug print
       *pointerToMessage = "estop";
-      forward(-100); // reverse the robot
+      forward(-300); // reverse the robot
     }
     std::this_thread::sleep_for(std::chrono::milliseconds(static_cast<int>(100)));
   }
@@ -590,7 +590,7 @@ void CKobuki::robotSafety() {
         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
+      forward(-300); // reverse the robot
     }
     std::this_thread::sleep_for(std::chrono::milliseconds(static_cast<int>(100)));
 

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

@@ -289,12 +289,23 @@ void sendKobukiData(TKobukiData &data) {
 }
 
 void CapnSend() {
-    VideoCapture cap(0);
+    int fps = 15;
+    int width = 800;
+    int height = 600;
+
+    VideoCapture cap("/dev/video0");
     if (!cap.isOpened()) {
         cerr << "Error: Could not open camera" << endl;
         return;
     }
 
+    VideoWriter out("appsrc ! videoconvert ! video/x-raw,format=I420 ! x264enc speed-preset=ultrafast bitrate=600 key-int-max=" + to_string(fps * 2) + " ! video/x-h264,profile=baseline ! mpegtsmux ! udpsink host=127.0.0.1 port=5001",
+                    CAP_GSTREAMER, 0, fps, Size(width, height), true);
+    if (!out.isOpened()) {
+        cerr << "Error: Can't open video writer" << endl;
+        return;
+    }
+
     Mat frame;
     while (true) {
         cap >> frame; // Capture a new image frame
@@ -303,15 +314,10 @@ void CapnSend() {
             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()));
+        // Write the frame to the UDP stream
+        out.write(frame);
         cout << "Sent image" << endl;
 
-        std::this_thread::sleep_for(std::chrono::milliseconds(200)); // Send image every 200ms
+        std::this_thread::sleep_for(std::chrono::milliseconds(1000 / fps)); // Control the frame rate
     }
 }

src/Python/flask/.dockerignore

@@ -0,0 +1 @@
+__pycache__

src/Python/flask/Dockerfile

@@ -0,0 +1,18 @@
+FROM python:3.9
+
+WORKDIR /app
+
+COPY . .
+
+RUN apt-get update && apt-get install -y libgl1
+
+
+RUN pip install -r requirements.txt
+
+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
+# need to use network host to connect to the host's mqtt server

src/Python/flask/requirements.txt

@@ -0,0 +1,5 @@
+Flask==3.1.0
+paho-mqtt==1.6.1
+ultralytics==8.3.58 
+opencv-python-headless==4.6.0.66
+numpy==1.23.4

src/Python/flask/web/app.py

@@ -3,6 +3,7 @@ import paho.mqtt.client as mqtt
 from ultralytics import YOLO
 import cv2
 import numpy as np
+import threading
 
 app = Flask(__name__)
 
@@ -11,52 +12,64 @@ model = YOLO("yolo11n.pt")  # pretrained YOLO11n model
 
 kobuki_message = ""
 latest_image = None
+processed_image = None
 yolo_results = []
 
+# Lock for thread-safe access to shared variables
+lock = threading.Lock()
+
+# List of class names (example for COCO dataset)
+yolo_classes = list(model.names.values())
+
 def on_message(client, userdata, message):
-    global kobuki_message, latest_image, yolo_results
+    global kobuki_message, latest_image, processed_image, yolo_results
     if message.topic == "kobuki/data":
         kobuki_message = str(message.payload.decode("utf-8"))
     elif message.topic == "kobuki/cam":
-        latest_image = np.frombuffer(message.payload, np.uint8)
-        latest_image = cv2.imdecode(latest_image, cv2.IMREAD_COLOR)
-        # Process the image with YOLO
-        results = model(latest_image)
-        yolo_results = []
-        for result in results:
-            for box in result.boxes:
-                yolo_results.append({
-                    "class": box.cls,
-                    "confidence": box.conf,
-                    "bbox": box.xyxy.tolist()
-                })
-                # Draw bounding box on the image
-                x1, y1, x2, y2 = map(int, box.xyxy)
-                cv2.rectangle(latest_image, (x1, y1), (x2, y2), (0, 255, 0), 2)
-                cv2.putText(latest_image, f"{box.cls} {box.conf:.2f}", (x1, y1 - 10), cv2.FONT_HERSHEY_SIMPLEX, 0.9, (0, 255, 0), 2)
+        with lock: # Lock the shared variables between threads so they can't be accessed at the same time and you cant have half processed images
+            latest_image = np.frombuffer(message.payload, np.uint8)
+            latest_image = cv2.imdecode(latest_image, cv2.IMREAD_COLOR)
+            # Process the image with YOLO
+            results = model(latest_image)
+            yolo_results = []
+            processed_image = latest_image.copy()  # Create a copy for processing
+            for result in results:
+                for box in result.boxes:
+                    class_id = int(box.cls.item())
+                    class_name = yolo_classes[class_id]
+                    yolo_results.append({
+                        "class": class_name,
+                        "confidence": box.conf.item(),
+                        "bbox": box.xyxy.tolist()
+                    })
+                    # Draw bounding box on the processed image
+                    x1, y1, x2, y2 = map(int, box.xyxy[0])
+                    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)
 
 # Create an MQTT client instance
 mqtt_client = mqtt.Client()
 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.subscribe("kobuki/cam")
 
-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
+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
 
 @app.route('/')
 def index():
     return render_template('index.html')
 
 
-@app.route('/control', methods=["GET","POST"])
+@app.route('/control', methods=["GET", "POST"])
 def control():
     if request.authorization and request.authorization.username == 'ishak' and request.authorization.password == 'kobuki':
         return render_template('control.html')
     else:
         return ('Unauthorized', 401, {'WWW-Authenticate': 'Basic realm="Login Required"'})
 
+
 @app.route('/move', methods=['POST'])
 def move():
     data = request.get_json()
@@ -73,19 +86,24 @@ def move():
 def data():
     return kobuki_message
 
+
 @app.route('/image')
 def image():
-    global latest_image
-    if latest_image is not None:
-        _, buffer = cv2.imencode('.jpg', latest_image)
-        return Response(buffer.tobytes(), mimetype='image/jpeg')
-    else:
-        return "No image available", 404
+    global processed_image
+    with lock: # Lock the shared variables between threads so they can't be accessed at the same time and you cant have half processed images
+        if processed_image is not None:
+            _, buffer = cv2.imencode('.jpg', processed_image) 
+            return Response(buffer.tobytes(), mimetype='image/jpeg')
+        else:
+            return "No image available", 404
+
 
 @app.route('/yolo_results', methods=['GET'])
 def yolo_results_endpoint():
     global yolo_results
-    return jsonify(yolo_results)
+    with lock:
+        return jsonify(yolo_results)
+
 
 if __name__ == '__main__':
     app.run(debug=True, port=5000)

src/config/rpi/kobukiDriver.service

@@ -7,3 +7,7 @@ User=user1
 WorkingDirectory=/home/user1/rooziinuubii79/src/C++/Driver/
 ExecStart=/home/user1/rooziinuubii79/src/C++/Driver/kobuki_control
 Restart=always
+RestartSec=5
+
+[Install]
+WantedBy=multi-user.target