fix: streamline Kobuki communication startup and reconnection logic

docs/Infrastructure/uml.md

@@ -0,0 +1,51 @@
+```mermaid
+classDiagram
+    class CKobuki {
+        +enableCommands(bool commands)
+        +loop(void *user_data, TKobukiData &Kobuki_data)
+        +startCommunication(char *portname, bool CommandsEnabled, void *userDataL)
+        +measure()
+        +setLed(int led1, int led2)
+        +setTranslationSpeed(int mmpersec)
+        +setRotationSpeed(double radpersec)
+        +setArcSpeed(int mmpersec, int radius)
+        +setSound(int noteinHz, int duration)
+        +setPower(int value)
+        +goStraight(long double distance)
+        +forward(int speedvalue)
+        +doRotation(long double th)
+    }
+
+    class FlaskApp {
+        +on_message(client, message)
+        +get_db()
+        +close_db(error)
+        +index()
+        +control()
+        +move()
+    }
+
+    class MQTTClient {
+        +connect()
+        +subscribe(topic)
+        +getLastMessage()
+        +isConnected()
+    }
+
+    FlaskApp --> MQTTClient : uses
+    FlaskApp --> CKobuki : controls
+
+    class RPI {
+        +KobukiCommunication()
+        +ESP32Communication()
+        +Camera()
+    }
+
+    class ESP32 {
+        +TVOC()
+        +DHT11()
+    }
+
+    RPI --> MQTTClient : communicates
+    MQTTClient --> CKobuki : communicates
+    RPI --> ESP32 : communicates

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

@@ -68,28 +68,14 @@ int CKobuki::connect(char *comportT) {
   HCom = open(comportT, O_RDWR | O_NOCTTY | O_NONBLOCK);
 
   if (HCom == -1) {
-    printf("Kobuki connected\n");
+    std::cerr <<"unable to connect. retry in 1 second" << std::endl;
     return HCom;
   } else {
-    set_interface_attribs2(HCom, B115200,
+    set_interface_attribs2(HCom, B115200,0); // set speed to 115,200 bps, 8n1 (no parity)
-                           0); // set speed to 115,200 bps, 8n1 (no parity)
     set_blocking2(HCom, 0);    // set no blocking
-    /*  struct termios settings;
-      tcgetattr(HCom, &settings);
-
-      cfsetospeed(&settings, B115200); // baud rate
-      settings.c_cflag &= ~PARENB; // no parity
-      settings.c_cflag &= ~CSTOPB; // 1 stop bit
-      settings.c_cflag &= ~CSIZE;
-      settings.c_cflag |= CS8 | CLOCAL; // 8 bits
-      settings.c_lflag &= ~ICANON; // canonical mode
-      settings.c_cc[VTIME]=1;
-      settings.c_oflag &= ~OPOST; // raw output
-
-      tcsetattr(HCom, TCSANOW, &settings); // apply the settings*/
     tcflush(HCom, TCOFLUSH);
 
-    printf("Kobuki connected\n");
+    std::cout<<"Kobuki connected" << std::endl;
     return HCom;
   }
 }
@@ -252,7 +238,7 @@ void CKobuki::setSound(int noteinHz, int duration) {
   pocet = write(HCom, &message, 9);
 }
 
-bool CKobuki::startCommunication(char *portname, bool CommandsEnabled,
+void CKobuki::startCommunication(char *portname, bool CommandsEnabled,
                                  void *userDataL) {
   if(connect(portname) != -1){
   enableCommands(CommandsEnabled);

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

@@ -60,7 +60,7 @@ public:
 
 	long loop(void *user_data, TKobukiData &Kobuki_data);
 
-	bool startCommunication(char *portname,bool CommandsEnabled,void *userDataL);
+	void startCommunication(char *portname,bool CommandsEnabled,void *userDataL);
 	int measure(); //thread function, contains an infinite loop and reads data
 	void setLed(int led1 = 0, int led2 = 0); //led1 green/red 2/1, //led2 green/red 2/1
 	void setTranslationSpeed(int mmpersec);

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

@@ -1,13 +1,10 @@
 #include <iostream>
-#include <cmath>
 #include <thread>
 #include "MQTT/MqttClient.h"
 #include "KobukiDriver/CKobuki.h"
 #include <opencv4/opencv2/opencv.hpp>
 #include <opencv4/opencv2/core.hpp>
 
-#include <thread>
-
 using namespace std;
 using namespace cv;
 CKobuki robot;
@@ -15,21 +12,24 @@ 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
-MqttClient client("ws://145.92.224.21/ws/", "KobukiRPI", "rpi",
-                  "rpiwachtwoordofzo"); // create a client object
 std::string message = "stop";
 std::string serializeKobukiData(const TKobukiData &data);
 void sendKobukiData(TKobukiData &data);
 
 void setup() {
   unsigned char *null_ptr(0);
+  std::cout << "Attempting to start communication with Kobuki..." << std::endl;
   robot.startCommunication("/dev/ttyUSB0", true, null_ptr);
+  if (!robot.isConnected()) {
+    std::cerr << "Failed to start communication with Kobuki." << std::endl;
+  } else {
+    std::cout << "Successfully started communication with Kobuki." << std::endl;
+  }
   // connect mqtt server and sub to commands
 
   client.connect();
   client.subscribe("home/commands");
-
 }
 
 int main() {
@@ -40,6 +40,16 @@ int main() {
   std::thread sendMqtt([&]() { sendKobukiData(robot.parser.data); });
 
   while (true) {
+    if (!robot.isConnected()) {
+      std::cout << "Kobuki is not connected anymore. Reconnecting..." << std::endl;
+      robot.startCommunication("/dev/ttyUSB0", true, nullptr);
+      while (!robot.isConnected()) {
+        std::cout << "Attempting to reconnect..." << std::endl;
+        std::this_thread::sleep_for(std::chrono::seconds(1));
+      }
+      std::cout << "Reconnected to Kobuki." << std::endl;
+    }
+    
     std::string message = readMQTT();
     if (!message.empty()) {
       parseMQTT(message);
@@ -62,7 +72,7 @@ std::string readMQTT() {
 
   // Add a small delay to avoid busy-waiting
   std::this_thread::sleep_for(std::chrono::milliseconds(100));
-  return message;
+  return lastMessage;
 }
 
 void parseMQTT(std::string message) {
@@ -326,6 +336,13 @@ std::string serializeKobukiData(const TKobukiData &data) {
 // needed it so it can be threaded
 void sendKobukiData(TKobukiData &data) {
   while (true) {
+    // if(!robot.isConnected()){
+    //   std::cout << "Kobuki is not connected anymore" << std::endl;
+    //     robot.startCommunication("/dev/ttyUSB0", true, nullptr);
+    //   while(!robot.isConnected()){
+    //     std::this_thread::sleep_for(std::chrono::seconds(1));
+    //   }
+    // }
     client.publishMessage("kobuki/data", serializeKobukiData(data));
     std::cout << "Sent data" << std::endl;
     std::this_thread::sleep_for(std::chrono::milliseconds(1000));

src/Python/flask/web/app.py

@@ -1,6 +1,7 @@
 from flask import Flask, request, render_template, jsonify, g
 import paho.mqtt.client as mqtt
 import mysql.connector 
+import json
 
 app = Flask(__name__)
 
@@ -9,10 +10,12 @@ kobuki_message = ""
 latest_image = None
 
 # Globale MQTT setup
-def on_message(client, message):
+def on_message(client,userdata, message):
     global kobuki_message, latest_image
     if message.topic == "kobuki/data":
         kobuki_message = str(message.payload.decode("utf-8"))
+        with app.app_context():
+            sensor_data(kobuki_message)  # Sla de data op in de database
     elif message.topic == "kobuki/cam":
         latest_image = message.payload
 
@@ -24,6 +27,9 @@ mqtt_client.connect("localhost", 1884, 60)
 mqtt_client.loop_start()
 mqtt_client.subscribe("kobuki/data")
 
+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
@@ -54,6 +60,11 @@ def control():
     else:
         return ('Unauthorized', 401, {'WWW-Authenticate': 'Basic realm="Login Required"'})
 
+@app.route('/data', methods=['GET'])
+def data():
+    return kobuki_message
+
+
 @app.route('/move', methods=['POST'])
 def move():
     data = request.get_json()
@@ -65,19 +76,14 @@ def move():
 
     db_connection = get_db()
     cursor = db_connection.cursor()
-    sql = "INSERT INTO command (command) VALUES (%s)"
+    sql_command = "INSERT INTO command (command) VALUES (%s)"
-    value = direction
+    cursor.execute(sql_command, (direction,))        
-    cursor.execute(sql, (value,))
+    
     db_connection.commit()
     cursor.close()
     db_connection.close()
-    
     return jsonify({"status": "success", "direction": direction})
 
-@app.route('/data', methods=['GET'])
-def data():
-    return jsonify(kobuki_message)
-
 @app.route("/database")
 def database():
     db = get_db()
@@ -87,5 +93,39 @@ def database():
     cursor.close()
     return str(rows)
 
+def sensor_data(kobuki_message):
+    try:
+        # Parse de JSON-string naar een Python-dictionary
+        data = json.loads(kobuki_message)
+
+        # Maak een lijst van tuples met de naam en waarde van elk veld
+        sensor_data_tuples = [(name, float(value)) for name, value in data.items() if isinstance(value, (int, float))]
+
+        # Extra informatie of nested data (zoals "extraInfo" of "gyroData") kun je apart verwerken
+        if "extraInfo" in data:
+            for key, value in data["extraInfo"].items():
+                sensor_data_tuples.append((f"extraInfo_{key}", float(value)))
+
+        if "gyroData" in data:
+            for i, gyro in enumerate(data["gyroData"]):
+                for axis, value in gyro.items():
+                    sensor_data_tuples.append((f"gyroData_{i}_{axis}", float(value)))
+
+        # Database-insert
+        db = get_db()
+        cursor = db.cursor()
+
+        # Zorg dat je tabel `kobuki_data` kolommen heeft: `name` en `value`
+        sql_sensor = "INSERT INTO kobuki_data (name, value) VALUES (%s, %s)"
+        cursor.executemany(sql_sensor, sensor_data_tuples)
+
+        # Commit en sluit de cursor
+        db.commit()
+        cursor.close()
+    except json.JSONDecodeError as e:
+        print(f"JSON decode error: {e}")
+    except mysql.connector.Error as err:
+        print(f"Database error: {err}")
+
 if __name__ == '__main__':
     app.run(debug=True, port=5000)

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

@@ -1,6 +1,8 @@
-{% extends 'base.html' %} {% block head %}
+{% extends 'base.html' %} 
+{% block head %}
 <link rel="stylesheet" href="../static/style.css" />
-{% endblock %} {% block content %}
+{% endblock %} 
+{% block content %}
 <!DOCTYPE html>
 <html lang="en">
   <head>
@@ -11,8 +13,8 @@
   </head>
   <body>
     <div class="container">
-      <div class="image-section">
+      <div class="robot-image">
-        <!-- <img src="kobuki.jpg" alt="Kobuki Robot" id="robot-image" /> -->
+        <img src="/image" alt="Kobuki Camera Feed" id="robot-image" />
       </div>
       <div class="button-section">
         <form id="form" action="/move" method="post">
@@ -42,7 +44,8 @@
         </table>
       </div>
     </div>
+
     <script src="../static/script.js"></script>
   </body>
 </html>
-{% endblock %}
+{% endblock %}