Merge branch 'main' into 'OpenCV'

# Conflicts:
#   src/Python/flask/web/app.py
#   src/Python/flask/web/static/script.js

.gitignore

@@ -13,7 +13,7 @@ src/Socket/a.out
 src/C++/Driver/cmake_install.cmake
 src/C++/Socket/a.out
 src/C++/Driver/Makefile
-src/C++/Driver/vgcore*
+vgcore*
 src/C++/Driver/cmake_install.cmake
 src/C++/Driver/Makefile
 src/C++/Driver/log
@@ -31,3 +31,4 @@ CMakeFiles/
 Makefile
 CMakeCache.txt
 cmake_install.cmake
+src/C++/OpenCV/main

.gitlab/issue_templates/User Story.md

@@ -19,14 +19,9 @@ Acceptatie criteria zijn specifieke eisen waaraan de User Story moet voldoen. De
 - [ ] Acceptatiecriterium 2 
 - [ ] ...
 
-**Definition of Done**
+**Definition of Done: Hardware**
 
 - [ ] Alle acceptatiecriteria van de user story zijn afgevinkt.
-- [ ] Je hebt volgens de HBO-ICT werkstandaarden gewerkt (Agile, GitLab, sprint boards, sprint planning, HBO-ICT conventions etc.)
-- [ ] Het werk is technisch gedocumenteerd in het Engels en relevant voor collega-ontwikkelaars. Denk o.a. aan ERD, UML, testen en testresultaten.
-- [ ] Het leerproces is beschreven in Standaardnederlands.
-- [ ] Het werk is gereviewd door een peer.
-- [ ] Het UX/UI gedeelte van de applicatie voldoet aan het Think-Make-Check (TMC) principe.
-- [ ] De code is functioneel getest op fouten.
-- [ ] De code werkt zonder fouten bij normaal gebruik.
-- [ ] De webapplicatie dient zowel op mobiele- als desktop-apparaten gebruikt te kunnen worden.
+- [ ] Je werk is gedocumenteerd.
+- [ ] Je hebt testen uitgevoerd.
+- [ ] 

docs/Ishak/feedback.md

@@ -1,2 +0,0 @@
-# Feedback expert review 
-

docs/code/OpenCV.md

@@ -0,0 +1,20 @@
+# OpenCV
+## Requirements
+For the camera we want it to detect what is happening on the video feed and identify it so it can identify dangers.
+
+
+## Issues
+
+* OpenCL not grabbing gpu
+* Solution: https://github.com/Smorodov/Multitarget-tracker/issues/93
+
+## Installation
+### Dependencies
+* glew
+* opencv
+
+
+
+
+## Sources
+* https://github.com/UnaNancyOwen/OpenCVDNNSample/tree/master

docs/code/code-requirements.md

@@ -0,0 +1,10 @@
+# Requirements
+
+1. Het compileerd op x86 en ARM architechturen
+2. Geen dubbele code
+3. commentaar bij lastige code
+4. Doxygen comments bij elke functie, behalve als het duidelijk is in de functienaam
+5. Hou je code leesbaar
+6. Geen dode code
+7. Gebruik TODO comments (TODO TREE)
+8. 

docs/explanation/projectplan.md

@@ -1,10 +1,9 @@
 # **Projectplan - robot voor Gevaarlijke Omgevingen**
 
-### Projectbescrhijving
+### Projectbeschrijving
 
 Het project betreft de ontwikkeling van een robot voor gevaarlijke omgevingen. De robot is bedoeld om gevaarlijke situaties te verkennen en in kaart te brengen. De robot is uitgerust met verschillende sensoren en daar gaan we zelf nog een camera en andere sensoren op zetten om de omgeving te verkennen. De data wordt verzameld en geanalyseerd om een beeld te krijgen van de situatie. De robot kan worden ingezet in verschillende situaties, zoals branden, instortingen en andere gevaarlijke situaties.
 
-
 ### 1. Organisatorische Context
 
 Bij de ontwikkeling van de robot zijn verschillende factoren van belang. Maatschappelijke veranderingen zoals duurzaamheid en de toenemende vraag naar technologische oplossingen voor gevaarlijke werkomgevingen spelen een grote rol. De robot kan worden ingezet voor gevaarlijke situaties waar bijvoorbeeld geen mensen naar binnen kunnen.
@@ -27,7 +26,6 @@ Ethische vragen staan centraal bij de ontwikkeling van de robot. Er moet rekenin
 
 Het project wordt uitgevoerd vanuit een duidelijk plan waar elke sprint een deel van het project centraal staat. Driver bouwen, testen en verbindingen leggen tussen elk gedeelte van het project. We gebruiken de Agile methodiek dus alles kan nog veranderen. Hierbij moeten wij dus ook rekening houden met de etische en organisatorische aspecten, zoals duurzaamheid en veiligheid.
 
-
 ### Aanpak
 
 **Werk methode:** Gebruik van Agile projectmanagement voor flexibiliteit.

docs/explanation/sensoren.md

@@ -1,6 +1,7 @@
 # Wat gaan we maken
 
 ## Sensoren
+
 * Camera
 * GPS module
 * Temparatuur sensor
@@ -12,21 +13,27 @@
 ## Wat gaan we met de sensoren doen?
 
 ### Camera
+
 De camera word gebruikt om foto's te maken in de omgeving in het geval van informatie verkrijgen voor als de robot bijvoorbeeld vast zit, geeft ook optie om informatie te krijgen zonder op de plek zelf te zijn.
 
 ### GPS module
+
 De GPS module word gebruikt om de locatie van de robot te bepalen en aan te geven waar bijzonderheden bevinden.
 
 ### Temparatuur, TVOC en ECO2 sensor
+
 Deze sensoren zijn bedoeld om de omgeving te meten en te kijken of de omgeving veilig is voor mensen om in te gaan.
 
 ### LDR sensor
+
 De LDR sensor word gebruikt om de lichtsterkte te meten en te kijken of er een lamp op de robot aan moet gaan voor de camera.
 
 ### Time of Flight sensor
+
 De Time of Flight sensor word gebruikt om de afstand te meten tussen de robot en de muur, zodat de robot niet tegen de muur aan botst.
 
 ## Het project
+
 Bij brand of op fabrieksterreinen met gevaarlijke stoffen kan het nodig zijn om een verkenning te 
 doen van een verdachte omgeving. Het is dan niet verstandig om mensen naar binnen te sturen, in 
 die gevallen vallen de hulpdiensten terug om een verkenningsrobot. Het doel van het project is het 

docs/home/home.md

@@ -1 +0,0 @@
-# home

docs/home/stappenplan.md

@@ -1,5 +0,0 @@
-- [x] Kobuki werkt met driver.
-- [x] Ik kan de data uitlezen.
-- [ ] Data wordt correct weergegeven.
-- [ ] Ik kan de data laten zien in op de website.
-- [ ] Ik kan de kobuki besturen vanaf de website.

docs/scrum/daily_stand_up.md

@@ -0,0 +1,20 @@
+# Daily stand ups
+
+??? note "Daily Stand-ups Sprint 4"
+    | Day        | Submitted by | What did you do yesterday     | What will you do today                             | Any blockers?                        |
+    | ---------- | ------------ | ----------------------------- | -------------------------------------------------- | ------------------------------------ |
+    | 18/11/2024 | Ishak        | ---                           | Engels, Repo fixen, beginnen met nieuwe user story | ---                                  |
+    | 18/11/2024 | Sam          | ---                           | Engels, Feedback verwerken medium stake            | None                                 |
+    | 18/11/2024 | Yannick      | ---                           | Engels, Documentatie, Code samenvoegen             | None                                 |
+    | 18/11/2024 | Mees         | ---                           | Engels, Onderzoek                                  | None                                 |
+    | 19/11/2024 | Ishak        | Engels, Repo fixen            | workshop                                           | ---                                  |
+    | 19/11/2024 | Sam          | Engels, Feedback verwerken    | workshop                                           | None                                 |
+    | 19/11/2024 | Yannick      | code samenvoegen,schema maken | workshop, documentatie                             | None                                 |
+    | 19/11/2024 | Mees         | niks                          | workshop, fixen include path                       | include path werkt niet              |
+    | 26/11/2024 | Ishak        | Workshop                      | database, engels video opnemen                     | phpmyadmin werkt niet(weet probleem) |
+    | 26/11/2024 | Sam          | opencv                        | opencv                                             | ---                                  |
+    | 26/11/2024 | Yannick      | ziek                          | ziek                                               | ---                                  |
+    | 26/11/2024 | Mees         | Engels video                  | stepper motor                                      | vscode werkt niet                    |
+    | 02/12/2024 | Ishak        | database                      | database                                           | ---                                  |
+    | 02/12/2024 | Sam          | opencv                        | camera beeld op website                            | ---                                  |
+    | 02/12/2024 | Yannick      | ziek, documentatie            | behuizing voor esp                                 | ---                                  |

docs/scrum/review_feedback.md

@@ -0,0 +1,12 @@
+# sprint review 4 feedback
+
+- Definition of done SMART maken
+- Uitgebreider beschrijven wat er voor de definition of done nodig is
+- Testen van de software niet meer dan een halve A4
+- Acceptatie criteria beter uitschrijven( vragen aan ed)
+- Meer software ontwikkelen
+- kijken of we met een punten systeem kunnen werken in user stories. zo kan je zien hoe groot een user story is.
+- read.me file aanpassen
+- meer aan documentatie doen.
+- technisch iets te uitdagend
+- planning beter maken

mkdocs.yml

@@ -35,6 +35,9 @@ plugins:
 
 markdown_extensions:
     - attr_list
+    - admonition
+    - pymdownx.details
+    - pymdownx.superfences
     - md_in_html
     - fenced_code
     - pymdownx.highlight:
@@ -42,9 +45,11 @@ markdown_extensions:
           use_pygments: true
     - pymdownx.inlinehilite
     - pymdownx.snippets
-  - pymdownx.tabbed
     - pymdownx.superfences:
           custom_fences:
                 - name: mermaid
                   class: mermaid
                   format: !!python/name:pymdownx.superfences.fence_code_format
+    - toc:
+        permalink: true
+    - pymdownx.details

src/C++/Driver/CMakeLists.txt

@@ -6,7 +6,10 @@ set(CMAKE_CXX_STANDARD 23)
 find_library(PAHO_MQTTPP_LIBRARY paho-mqttpp3 PATHS /usr/local/lib)
 find_library(PAHO_MQTT_LIBRARY paho-mqtt3a PATHS /usr/local/lib)
 
-include_directories(/usr/local/include)
+# Find OpenCV package
+find_package(OpenCV REQUIRED)
+find_package(OpenEXR REQUIRED)
+include_directories(${OpenCV_INCLUDE_DIRS})
 
 set(SOURCE_FILES
     src/KobukiDriver/KobukiParser.cpp
@@ -20,4 +23,4 @@ set(SOURCE_FILES
 add_executable(kobuki_control ${SOURCE_FILES})
 
 # Link the static libraries
-target_link_libraries(kobuki_control ${PAHO_MQTTPP_LIBRARY} ${PAHO_MQTT_LIBRARY} pthread)
+target_link_libraries(kobuki_control ${PAHO_MQTTPP_LIBRARY} ${PAHO_MQTT_LIBRARY} ${OpenCV_LIBS} pthread OpenEXR::OpenEXR)

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

@@ -282,7 +282,6 @@ int CKobuki::measure() {
   return 0;
 }
 
-
 long double CKobuki::gyroToRad(signed short GyroAngle) {
 
   long double rad;
@@ -510,32 +509,8 @@ void CKobuki::doRotation(long double th) {
   usleep(25 * 1000);
 }
 
-// combines navigation to a coordinate and rotation by an angle, performs
-// movement to the selected coordinate in the robot's coordinate system
-void CKobuki::goToXy(long double xx, long double yy) {
-  long double th;
-
-  yy = yy * -1;
-
-  th = atan2(yy, xx);
-  doRotation(th);
-
-  long double s = sqrt(pow(xx, 2) + pow(yy, 2));
-
-  // resetnem suradnicovu sustavu robota
-  x = 0;
-  y = 0;
-  iterationCount = 0;
-  theta = 0;
-
-  // std::cout << "mam prejst: " << s << "[m]" << std::endl;
-
-  goStraight(s);
-
-  usleep(25 * 1000);
-  return;
-}
-
+/// @brief Makes the robot move forward for 3 seconds
+/// @param speedvalue How fast it will drive forward from 0 - 1024
 void CKobuki::forward(int speedvalue) {
   // Use the goStraight logic to determine the speed and distance
 
@@ -573,51 +548,54 @@ 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);
 
   // Sleep for the calculated rotation time
-    std::this_thread::sleep_for(std::chrono::milliseconds(static_cast<int>(rotation_time * 1000)));
+  std::this_thread::sleep_for(
+      std::chrono::milliseconds(static_cast<int>(rotation_time * 1000)));
 
   // Stop the robot after the rotation
   setRotationSpeed(0);
 }
 
 
+/// @brief Robot safety function to be ran in another thread. Makes sure the robot does not throw inteself from the table. Only use this when the speed is lower than 350
+/// @param pointerToMessage Set this pointer to the control message and then it attempts to reset it when it bumps into something so it doesnt keep trying to do the past commant
+// TODO: make this return bool so it can be used in the control part
 void CKobuki::robotSafety(std::string *pointerToMessage) {
   while (true) {
 
-        if (parser.data.BumperCenter || parser.data.BumperLeft || parser.data.BumperRight || 
-            parser.data.CliffLeft || parser.data.CliffCenter || parser.data.CliffRight) {
+    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
       *pointerToMessage = "estop";
       forward(-100); // reverse the robot
-
     }
     std::this_thread::sleep_for(std::chrono::milliseconds(static_cast<int>(100)));
-
-
   }
 }
 
+/// @brief Robot safety function to be ran in another thread. Makes sure the robot does not throw inteself from the table. Only use this when the speed is lower than 350
 void CKobuki::robotSafety() {
   while (true) {
 
-        if (parser.data.BumperCenter || parser.data.BumperLeft || parser.data.BumperRight || 
-            parser.data.CliffLeft || parser.data.CliffCenter || parser.data.CliffRight) {
+    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
-
     }
-
   }
 }
 
+/// @brief When called the robot gets a control message to stop whatever its doing
 void CKobuki::sendNullMessage() {
 
   unsigned char message[11] = {
@@ -633,7 +611,6 @@ void CKobuki::sendNullMessage(){
       0x00  // Placeholder for checksum
   };
 
-
   message[10] = message[2] ^ message[3] ^ message[4] ^ message[5] ^ message[6] ^
                 message[7] ^ message[8] ^ message[9];
 
@@ -641,4 +618,3 @@ message[10] = message[2] ^ message[3] ^ message[4] ^ message[5] ^ message[6] ^
   uint32_t pocet;
   pocet = write(HCom, &message, 11);
 }
-

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

@@ -31,7 +31,6 @@
 #include <chrono>
 #include <sstream>
 #include "KobukiParser.h"
-#include "graph.h"
 
 using namespace std;
 
@@ -79,6 +78,7 @@ public:
 	void robotSafety(std::string *pointerToMessage);
 	void robotSafety(); //overload
 	void sendNullMessage();
+	bool safetyActive = false;
 	KobukiParser parser;
 
 

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

@@ -1,71 +0,0 @@
-#ifndef GRAPH1010
-#define GRAPH1010
-#include <stdio.h>
-#include <stdlib.h>
-#include <vector>
-
-using namespace std;
-#define GRAPH_ENABLED true
-
-class plot {
-public:
- FILE *gp;
- bool enabled,persist;
- plot(bool _persist=false,bool _enabled=GRAPH_ENABLED) {
- enabled=_enabled;
- persist=_persist;
-  if (enabled) {
-	if(persist)
-		  gp=popen("gnuplot -persist","w");
-	else
-		  gp=popen("gnuplot","w");
-  }
- }
-
- void plot_data(vector<float> x,const char* style="points",const char* title="Data") {
- if(!enabled)
-	return;
-  fprintf(gp,"set title '%s' \n",title);
-  fprintf(gp,"plot '-' w %s \n",style);
-  for(int k=0;k<x.size();k++) {
-   fprintf(gp,"%f\n",x[k]);
-  }
-  fprintf(gp,"e\n");
-  fflush(gp);
- }
-
- void plot_data(vector<float> x,vector<float> y,const char* style="points",const char* title="Data") {
- if(!enabled)
-	return;
-  fprintf(gp,"set title '%s' \n",title);
-  fprintf(gp,"plot '-' w %s \n",style);
-  for(int k=0;k<x.size();k++) {
-   fprintf(gp,"%f %f \n",x[k],y[k]);
-  }
-  fprintf(gp,"e\n");
-  fflush(gp);
- }
-
- ~plot() {
-  if(enabled)
-  pclose(gp);
- }
- 
-};
-
-/*
-int main(int argc,char **argv) {
- plot p;
- for(int a=0;a<100;a++) {
- vector<float> x,y;
- for(int k=a;k<a+200;k++) {
-   x.push_back(k);
-   y.push_back(k*k);
- }
-  p.plot_data(x,y);
- }
- return 0;
-}
-*/
-
-#endif

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

@@ -2,8 +2,10 @@
 
 MqttClient::MqttClient(const std::string& address, const std::string& clientId, const std::string& username, const std::string& password)
     //client_ is the connection
+    //here all the @PARAMS are getting set for the connection
     : client_(address, clientId), username_(username), password_(password), callback_(*this) {
     client_.set_callback(callback_);
+    
     options.set_clean_session(true);
     options.set_mqtt_version(MQTTVERSION_3_1_1);  // For MQTT 3.1.1
     if (!username_.empty() && !password_.empty()) {

src/C++/Driver/src/MQTT/example.cpp

@@ -1,5 +1,5 @@
 #include "MqttClient.h"
-
+//example file for testing
 int main(){
     MqttClient client("mqtt://localhost:1883", "raspberry_pi_client", "ishak", "kobuki");
     client.connect();

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

@@ -1,15 +1,19 @@
 #include <iostream>
 #include <cmath>
 #include <thread>
-#include "KobukiDriver/graph.h"
 #include "MQTT/MqttClient.h"
 #include "KobukiDriver/CKobuki.h"
+#include <opencv4/opencv2/opencv.hpp>
+#include <opencv4/opencv2/core.hpp>
 
 using namespace std;
+using namespace cv;
 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
+void CapnSend();
+//ip, clientID, username, password
+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);
@@ -18,6 +22,8 @@ void setup()
 {
     unsigned char *null_ptr(0);
     robot.startCommunication("/dev/ttyUSB0", true, null_ptr);
+    //connect mqtt server and sub to commands
+
     client.connect();
     client.subscribe("home/commands");
 }
@@ -25,15 +31,17 @@ void setup()
 int main()
 {
     setup();
+    std::thread image (CapnSend);
     std::thread safety([&]() { robot.robotSafety(&message); });
     std::thread sendMqtt([&]() { sendKobukiData(robot.parser.data); });
     
     while(true){
         parseMQTT(readMQTT());
     }
+
     sendMqtt.join();
     safety.join();
-    return 0;
+    image.join();
 }
 
 std::string readMQTT()
@@ -53,7 +61,7 @@ void parseMQTT(std::string message)
 {
     if (message == "up")
     {
-        robot.forward(1024);
+        robot.forward(350);
     }
     else if (message == "left")
     {
@@ -65,7 +73,7 @@ void parseMQTT(std::string message)
     }
     else if (message == "down")
     {
-        robot.forward(-800);
+        robot.forward(-350);
     }
     else if (message == "stop")
     {
@@ -149,6 +157,64 @@ 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) +
@@ -210,6 +276,35 @@ std::string serializeKobukiData(const TKobukiData &data) {
 void sendKobukiData(TKobukiData &data) {
     while (true) {
         client.publishMessage("kobuki/data", serializeKobukiData(data));
+        std::cout << "Sent data" << std::endl;
         std::this_thread::sleep_for(std::chrono::milliseconds(1000));
     }
 }
+
+void CapnSend() {
+    VideoCapture cap(0);
+    if (!cap.isOpened()) {
+        cerr << "Error: Could not open camera" << endl;
+        return;
+    }
+
+    Mat frame;
+    while (true) {
+        cap >> frame; // Capture a new image frame
+        if (frame.empty()) {
+            cerr << "Error: Could not capture image" << endl;
+            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()));
+        cout << "Sent image" << endl;
+
+        std::this_thread::sleep_for(std::chrono::milliseconds(300)); // Send image every 1000ms
+    }
+}

src/C++/MQTT/CMakeLists.txt

@@ -1,15 +0,0 @@
-cmake_minimum_required(VERSION 3.10)
-set(CMAKE_CXX_STANDARD 23)
-
-# Find the Paho MQTT C++ library
-find_library(PAHO_MQTTPP_LIBRARY paho-mqttpp3 PATHS /usr/local/lib)
-find_library(PAHO_MQTT_LIBRARY paho-mqtt3a PATHS /usr/local/lib)
-
-# Include the headers
-include_directories(/usr/local/include)
-
-# Add the executable
-add_executable(my_program main.cpp)
-
-# Link the libraries
-target_link_libraries(my_program ${PAHO_MQTTPP_LIBRARY} ${PAHO_MQTT_LIBRARY})

src/C++/MQTT/main.cpp

@@ -1,56 +0,0 @@
-#include <iostream>
-#include <mqtt/async_client.h>
-#include <thread>  // Voor std::this_thread::sleep_for
-#include <chrono>  // Voor std::chrono::seconds
-
-const std::string ADDRESS("mqtt://localhost:1883");  // Aanpassen indien nodig
-const std::string CLIENT_ID("raspberry_pi_client");
-const std::string TOPIC("home/commands");
-
-class callback : public virtual mqtt::callback {
-  void message_arrived(mqtt::const_message_ptr msg) override {
-    std::cout << "Ontvangen bericht: '" << msg->get_topic()
-              << "' : " << msg->to_string() << std::endl;
-    // Doe iets met het bericht, bijvoorbeeld een GP.IO-activering
-  }
-
-  void connection_lost(const std::string& cause) override {
-    std::cerr << "Verbinding verloren. Oorzaak: " << cause << std::endl;
-  }
-
-  void delivery_complete(mqtt::delivery_token_ptr token) override {
-    std::cout << "Bericht afgeleverd!" << std::endl;
-  }
-};
-
-int main() {
-  mqtt::async_client client(ADDRESS, CLIENT_ID);
-  callback cb;
-  client.set_callback(cb);
-
-  mqtt::connect_options connOpts;
-  connOpts.set_clean_session(true);
-  connOpts.set_user_name("ishak");
-  connOpts.set_password("kobuki");
-  connOpts.set_mqtt_version(MQTTVERSION_3_1_1);  // Voor MQTT 3.1.1
-
-  try {
-    std::cout << "Verbinden met broker..." << std::endl;
-    client.connect(connOpts)->wait();
-    std::cout << "Verbonden!" << std::endl;
-
-    std::cout << "Abonneren op topic: " << TOPIC << std::endl;
-    client.subscribe(TOPIC, 1)->wait();
-
-    // Houd de client draaiende om berichten te blijven ontvangen
-    while (true) {
-      std::this_thread::sleep_for(std::chrono::seconds(1));  // Wacht om CPU-gebruik te verminderen
-    }
-
-  } catch (const mqtt::exception &exc) {
-    std::cerr << "Fout: " << exc.what() << std::endl;
-    return 1;
-  }
-
-  return 0;
-}

src/C++/OpenCV/CMakeLists.txt

@@ -0,0 +1,44 @@
+cmake_minimum_required( VERSION 3.6 )
+
+# Require C++11 (or later)
+set( CMAKE_CXX_STANDARD 23 )
+set( CMAKE_CXX_STANDARD_REQUIRED ON )
+set( CMAKE_CXX_EXTENSIONS OFF )
+set(BUILD_MODE Debug)
+# Create Project
+project( Sample )
+add_executable( YOLOv4 util.h main.cpp )
+
+# Set StartUp Project
+set_property( DIRECTORY PROPERTY VS_STARTUP_PROJECT "YOLOv4" )
+
+# Find Package
+# OpenCV
+find_package( OpenCV REQUIRED )
+
+if( OpenCV_FOUND )
+  # Additional Include Directories
+  include_directories( ${OpenCV_INCLUDE_DIRS} )
+
+  # Additional Dependencies
+  target_link_libraries( YOLOv4 ${OpenCV_LIBS} )
+endif()
+
+# Download Model
+set( MODEL https://github.com/AlexeyAB/darknet/releases/download/darknet_yolo_v3_optimal/yolov4.weights )
+file( DOWNLOAD 
+  "${MODEL}"
+  "${CMAKE_CURRENT_LIST_DIR}/yolov4.weights"
+  EXPECTED_HASH SHA256=e8a4f6c62188738d86dc6898d82724ec0964d0eb9d2ae0f0a9d53d65d108d562
+  SHOW_PROGRESS
+)
+
+
+# Download Config
+set( CONFIG https://raw.githubusercontent.com/AlexeyAB/darknet/master/cfg/yolov4.cfg )
+file( DOWNLOAD 
+  "${CONFIG}"
+  "${CMAKE_CURRENT_LIST_DIR}/yolov4.cfg"
+  EXPECTED_HASH SHA256=a6d0f8e5c62cc8378384f75a8159b95fa2964d4162e33351b00ac82e0fc46a34
+  SHOW_PROGRESS
+)

src/C++/OpenCV/coco.names

@@ -0,0 +1,80 @@
+person
+bicycle
+car
+motorbike
+aeroplane
+bus
+train
+truck
+boat
+traffic light
+fire hydrant
+stop sign
+parking meter
+bench
+bird
+cat
+dog
+horse
+sheep
+cow
+elephant
+bear
+zebra
+giraffe
+backpack
+umbrella
+handbag
+tie
+suitcase
+frisbee
+skis
+snowboard
+sports ball
+kite
+baseball bat
+baseball glove
+skateboard
+surfboard
+tennis racket
+bottle
+wine glass
+cup
+fork
+knife
+spoon
+bowl
+banana
+apple
+sandwich
+orange
+broccoli
+carrot
+hot dog
+pizza
+donut
+cake
+chair
+sofa
+pottedplant
+bed
+diningtable
+toilet
+tvmonitor
+laptop
+mouse
+remote
+keyboard
+cell phone
+microwave
+oven
+toaster
+sink
+refrigerator
+book
+clock
+vase
+scissors
+teddy bear
+hair drier
+toothbrush

src/C++/OpenCV/main.cpp

@@ -0,0 +1,209 @@
+#include <iostream>
+#include <string>
+#include <vector>
+#include <opencv2/opencv.hpp>
+#include <opencv2/dnn.hpp>
+#include <filesystem>
+#include <fstream>
+
+#include "util.h"
+
+// Helper function to check if a file exists
+bool fileExists(const std::string &path)
+{
+    return std::filesystem::exists(path);
+}
+
+// Function to read class names from a file
+std::vector<std::string> _readClassNameList(const std::string &path)
+{
+    std::vector<std::string> classes;
+
+    // Check if file exists
+    if (!fileExists(path))
+    {
+        throw std::runtime_error("Class names file not found: " + path);
+    }
+
+    // Try to open and read file
+    std::ifstream file(path);
+    if (!file.is_open())
+    {
+        throw std::runtime_error("Unable to open class names file: " + path);
+    }
+
+    std::string line;
+    while (std::getline(file, line))
+    {
+        if (!line.empty())
+        {
+            classes.push_back(line);
+        }
+    }
+
+    if (classes.empty())
+    {
+        throw std::runtime_error("No classes found in file: " + path);
+    }
+
+    return classes;
+}
+
+int main(int argc, char *argv[])
+{
+    try
+    {
+        // Open Video Capture
+        cv::VideoCapture capture = cv::VideoCapture(0);
+        if (!capture.isOpened())
+        {
+            std::cerr << "Failed to open camera device" << std::endl;
+            return -1;
+        }
+
+        // Read Class Name List and Color Table
+        const std::string list = "coco.names";
+        const std::vector<std::string> classes = _readClassNameList(list);
+        const std::vector<cv::Scalar> colors = getClassColors(classes.size());
+
+        // Debug: Print the size of the colors vector
+        std::cout << "Number of colors: " << colors.size() << std::endl;
+
+        // Read Darknet
+        const std::string model = "yolov4.weights";
+        const std::string config = "yolov4.cfg";
+        cv::dnn::Net net = cv::dnn::readNet(model, config);
+        if (net.empty())
+        {
+            std::cerr << "Failed to load network" << std::endl;
+            return -1;
+        }
+
+        // Set Preferable Backend
+        net.setPreferableBackend(cv::dnn::DNN_BACKEND_OPENCV);
+
+        // Set Preferable Target
+        net.setPreferableTarget(cv::dnn::DNN_TARGET_OPENCL);
+
+        while (true)
+        {
+            // Read Frame
+            cv::Mat frame;
+            capture >> frame;
+            if (frame.empty())
+            {
+                cv::waitKey(0);
+                break;
+            }
+            if (frame.channels() == 4)
+            {
+                cv::cvtColor(frame, frame, cv::COLOR_BGRA2BGR);
+            }
+
+            // Create Blob from Input Image
+            cv::Mat blob = cv::dnn::blobFromImage(frame, 1 / 255.f, cv::Size(416, 416), cv::Scalar(), true, false);
+
+            // Set Input Blob
+            net.setInput(blob);
+
+            // Run Forward Network
+            std::vector<cv::Mat> detections;
+            net.forward(detections, getOutputsNames(net));
+
+            // Draw Region
+            std::vector<int32_t> class_ids;
+            std::vector<float> confidences;
+            std::vector<cv::Rect> rectangles;
+            for (cv::Mat &detection : detections)
+            {
+                if (detection.empty())
+                {
+                    std::cerr << "Detection matrix is empty!" << std::endl;
+                    continue;
+                }
+                for (int32_t i = 0; i < detection.rows; i++)
+                {
+                    cv::Mat region = detection.row(i);
+
+                    // Retrieve Max Confidence and Class Index
+                    cv::Mat scores = region.colRange(5, detection.cols);
+                    cv::Point class_id;
+                    double confidence;
+                    cv::minMaxLoc(scores, 0, &confidence, 0, &class_id);
+
+                    // Check Confidence
+                    constexpr float threshold = 0.2;
+                    if (threshold > confidence)
+                    {
+                        continue;
+                    }
+
+                    // Retrieve Object Position
+                    const int32_t x_center = static_cast<int32_t>(region.at<float>(0) * frame.cols);
+                    const int32_t y_center = static_cast<int32_t>(region.at<float>(1) * frame.rows);
+                    const int32_t width = static_cast<int32_t>(region.at<float>(2) * frame.cols);
+                    const int32_t height = static_cast<int32_t>(region.at<float>(3) * frame.rows);
+                    const cv::Rect rectangle = cv::Rect(x_center - (width / 2), y_center - (height / 2), width, height);
+
+                    // Add Class ID, Confidence, Rectangle
+                    class_ids.push_back(class_id.x);
+                    confidences.push_back(confidence);
+                    rectangles.push_back(rectangle);
+                }
+            }
+
+            // Remove Overlap Rectangles using Non-Maximum Suppression
+            constexpr float confidence_threshold = 0.5; // Confidence
+            constexpr float nms_threshold = 0.5;        // IoU (Intersection over Union)
+            std::vector<int32_t> indices;
+            cv::dnn::NMSBoxes(rectangles, confidences, confidence_threshold, nms_threshold, indices);
+
+            // Draw Rectangle
+            for (const int32_t &index : indices)
+            {
+                // Bounds checking
+                if (class_ids[index] >= colors.size())
+                {
+                    std::cerr << "Color index out of bounds: " << class_ids[index] << " (max: " << colors.size() - 1 << ")" << std::endl;
+                    continue;
+                }
+
+                const cv::Rect rectangle = rectangles[index];
+                const cv::Scalar color = colors[class_ids[index]];
+
+                // Debug: Print the index and color
+                std::cout << "Drawing rectangle with color index: " << class_ids[index] << std::endl;
+
+                constexpr int32_t thickness = 3;
+                cv::rectangle(frame, rectangle, color, thickness);
+
+                std::string label = classes[class_ids[index]] + ": " + std::to_string(static_cast<int>(confidences[index] * 100)) + "%";
+                
+                int baseLine;
+                cv::Size labelSize = cv::getTextSize(label, cv::FONT_HERSHEY_SIMPLEX, 0.5, 1, &baseLine);
+                int top = std::max(rectangle.y, labelSize.height);
+                cv::rectangle(frame, cv::Point(rectangle.x, top - labelSize.height),
+                              cv::Point(rectangle.x + labelSize.width, top + baseLine), color, cv::FILLED);
+                cv::putText(frame, label, cv::Point(rectangle.x, top), cv::FONT_HERSHEY_SIMPLEX, 0.5, cv::Scalar(255, 255, 255), 1);
+            }
+
+            // Show Image
+            cv::imshow("Object Detection", frame);
+            const int32_t key = cv::waitKey(1);
+            if (key == 'q')
+            {
+                break;
+            }
+        }
+
+        cv::destroyAllWindows();
+        return 0;
+    }
+    catch (const std::exception &e)
+    {
+        std::cerr << "Error: " << e.what() << std::endl;
+        return -1;
+    }
+}
+
+// cloned and fixed from https://github.com/UnaNancyOwen/OpenCVDNNSample/tree/master

src/C++/OpenCV/util.h

@@ -0,0 +1,61 @@
+#ifndef __UTIL__
+#define __UTIL__
+
+#include <vector>
+#include <string>
+#include <fstream>
+#include <opencv2/dnn.hpp>
+#include <opencv2/core.hpp>
+#include <opencv2/highgui.hpp>
+
+// Get Output Layers Name
+std::vector<std::string> getOutputsNames( const cv::dnn::Net& net )
+{
+    static std::vector<std::string> names;
+    if( names.empty() ){
+        std::vector<int32_t> out_layers = net.getUnconnectedOutLayers();
+        std::vector<std::string> layers_names = net.getLayerNames();
+        names.resize( out_layers.size() );
+        for( size_t i = 0; i < out_layers.size(); ++i ){
+            names[i] = layers_names[out_layers[i] - 1];
+        }
+    }
+    return names;
+}
+
+// Get Output Layer Type
+std::string getOutputLayerType( cv::dnn::Net& net )
+{
+    const std::vector<int32_t> out_layers = net.getUnconnectedOutLayers();
+    const std::string output_layer_type = net.getLayer( out_layers[0] )->type;
+    return output_layer_type;
+}
+
+// Read Class Name List
+std::vector<std::string> readClassNameList( const std::string list_path )
+{
+    std::vector<std::string> classes;
+    std::ifstream ifs( list_path );
+    if( !ifs.is_open() ){
+        return classes;
+    }
+    std::string class_name = "";
+    while( std::getline( ifs, class_name ) ){
+        classes.push_back( class_name );
+    }
+    return classes;
+}
+
+// Get Class Color Table for Visualize
+std::vector<cv::Scalar> getClassColors( const int32_t number_of_colors )
+{
+    cv::RNG random;
+    std::vector<cv::Scalar> colors;
+    for( int32_t i = 0; i < number_of_colors; i++ ){
+        cv::Scalar color( random.uniform( 0, 255 ), random.uniform( 0, 255 ), random.uniform( 0, 255 ) );
+        colors.push_back( color );
+    }
+    return colors;
+}
+
+#endif // __UTIL__

src/Python/flask/web/app.py

@@ -1,25 +1,38 @@
-from flask import Flask, request, render_template, jsonify
+from flask import Flask, Response, request, render_template, jsonify
 import paho.mqtt.client as mqtt
 
 app = Flask(__name__)
-# This function gets triggered when it receives a mqtt message
+
+kobuki_message = "empty"
 def on_message(client, userdata, message):
-    global kobuki_message #set scope for this variable
+    global kobuki_message, latest_image
+    if message.topic == "kobuki/data":
         kobuki_message = str(message.payload.decode("utf-8"))
+    elif message.topic == "kobuki/cam":
+        latest_image = message.payload
 
 # Create an MQTT client instance
 mqtt_client = mqtt.Client()
-mqtt_client.username_pw_set("ishak", "kobuki")
-mqtt_client.connect("145.92.224.21", 1883, 60)
+mqtt_client.username_pw_set("server", "serverwachtwoordofzo")
+mqtt_client.connect("localhost", 80, 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
 
-
-@app.route('/', methods=["GET","POST"])
+@app.route('/')
 def index():
     return render_template('index.html')
 
+
+@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()
@@ -34,10 +47,25 @@ def move():
 
 @app.route('/data', methods=['GET'])
 def data():
-    return jsonify({"kobuki_message": kobuki_message})
+    return kobuki_message
+
+
+@app.route('/image')
+def image():
+    global latest_image
+    if latest_image is not None:
+        return Response(latest_image, mimetype='image/jpeg')
+    else:
+        return "No image available", 404
+
+
+@app.route('/phpmyadmin/<path:path>')
+def phpmyadmin_passthrough(path):
+    # Laat Apache deze route direct afhandelen
+    return "", 404
 
 
 
 
 if __name__ == '__main__':
-    app.run(debug=True)
+    app.run(debug=True, port=5000)

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

@@ -1,12 +1,11 @@
-// Selecteer alle knoppen en voeg een event listener toe aan elke knop
+document.addEventListener("DOMContentLoaded", function() {
   document.querySelectorAll(".btn").forEach(button => {
     button.addEventListener("click", function(event) {
-    event.preventDefault(); // voorkomt pagina-verversing
+      event.preventDefault(); // prevents page refresh
 
-    // Haal de waarde van de knop op
+      // Get the value of the button
       const direction = event.target.value;
 
-    // Verstuur de richting naar de server met fetch
       fetch("/move", {
         method: "POST",
         headers: {
@@ -15,7 +14,7 @@ document.querySelectorAll(".btn").forEach(button => {
         body: JSON.stringify({ direction: direction })
       })
       .then(response => response.json())
-    .then(data => {
+      .then(data => {script
         console.log("Success:", data);
       })
       .catch(error => {
@@ -23,3 +22,36 @@ document.querySelectorAll(".btn").forEach(button => {
       });
     });
   });
+
+  // Fetch data from the server
+  async function fetchData() {
+    const response = await fetch("/data");
+    const data = await response.json();
+    return data;
+  }
+
+  // Parse the data and show it on the website
+  async function parseData() {
+    const data = await fetchData();
+    const sensorDataContainer = document.getElementById("sensor-data");
+    sensorDataContainer.innerHTML = ""; // Clear previous data
+    // For each object in JSON array, create a new paragraph element and append it to the sensorDataContainer
+    for (const [key, value] of Object.entries(data)) {
+      const dataElement = document.createElement("p");
+      dataElement.textContent = `${key}: ${value}`;
+      sensorDataContainer.appendChild(dataElement);
+    }
+  }
+
+  // Update the image
+  function updateImage() {
+    var img = document.getElementById("robot-image");
+    img.src = "/image?" + new Date().getTime(); // Add timestamp to avoid caching
+  }
+
+  // Fetch and display sensor data every 5 seconds
+  setInterval(parseData, 1000);
+
+  // Update the image every 5 seconds
+  setInterval(updateImage, 200);
+});

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

@@ -1,5 +1,5 @@
 body {
-    font-family: 'Poppins', sans-serif;
+  font-family: "Poppins", sans-serif;
   text-align: -webkit-center;
   margin: 0;
   padding: 0;
@@ -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;
@@ -60,7 +76,7 @@ body {
 
 .btn {
   position: absolute;
-    background-color: #007BFF;
+  background-color: #007bff;
   color: white;
   border: none;
   border-radius: 50%;
@@ -73,32 +89,49 @@ 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 */
+.btn:nth-child(1) {
+  /* Left */
   top: 50%;
   left: 50%;
   transform: translate(-160%, -50%);
 }
 
-.btn:nth-child(2) { /* Up */
+.btn:nth-child(2) {
+  /* Up */
   top: 0;
   left: 50%;
   transform: translate(-50%, -35%);
 }
 
-.btn:nth-child(3) { /* Right */
+.btn:nth-child(3) {
+  /* Right */
   top: 50%;
   right: 0;
   transform: translate(35%, -50%);
 }
 
-.btn:nth-child(4) { /* Down */
+.btn:nth-child(4) {
+  /* Down */
   bottom: 0;
   left: 50%;
   transform: translate(-50%, 35%);
 }
 
-.btn:nth-child(5) { /* Stop Button */
+.btn:nth-child(5) {
+  /* Stop Button */
   top: 50%;
   left: 50%;
   transform: translate(-50%, -50%);
@@ -121,3 +154,17 @@ body {
   background-color: darkred; /* Different hover color for the stop button */
 }
 
+table {
+  width: 100%;
+  border-collapse: collapse;
+}
+
+th,td {
+  border: 1px solid #ddd;
+  padding: 8px;
+}
+
+th {
+  background-color: #f2f2f2;
+  text-align: left;
+}

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

@@ -0,0 +1,73 @@
+body {
+    font-family: Arial, sans-serif;
+    margin: 0;
+    padding: 0;
+    background-color: #f4f4f4;
+}
+
+header {
+    background-color: #333;
+    color: #fff;
+    padding: 1rem 0;
+    text-align: center;
+}
+
+header h1 {
+    margin: 0;
+}
+
+nav ul {
+    list-style: none;
+    padding: 0;
+}
+
+nav ul li {
+    display: inline;
+    margin: 0 1rem;
+}
+
+nav ul li a {
+    color: #fff;
+    text-decoration: none;
+}
+
+section {
+    padding: 2rem;
+    margin: 1rem 0;
+    background-color: #fff;
+    border-radius: 8px;
+    box-shadow: 0 0 10px rgba(0, 0, 0, 0.1);
+}
+
+section h2 {
+    margin-top: 0;
+}
+
+form {
+    display: flex;
+    flex-direction: column;
+}
+
+form label {
+    margin: 0.5rem 0 0.2rem;
+}
+
+form input, form textarea {
+    padding: 0.5rem;
+    margin-bottom: 1rem;
+    border: 1px solid #ccc;
+    border-radius: 4px;
+}
+
+form button {
+    padding: 0.7rem;
+    border: none;
+    border-radius: 4px;
+    background-color: #333;
+    color: #fff;
+    cursor: pointer;
+}
+
+form button:hover {
+    background-color: #555;
+}

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

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

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

@@ -0,0 +1,51 @@
+{% extends 'base.html' %} 
+{% block head %}
+<link rel="stylesheet" href="../static/style.css" />
+{% endblock %} 
+{% block content %}
+<!DOCTYPE html>
+<html lang="en">
+  <head>
+    <meta charset="UTF-8" />
+    <meta name="viewport" content="width=device-width, initial-scale=1.0" />
+    <title>Kobuki</title>
+    <link rel="stylesheet" href="../static/style.css" />
+  </head>
+  <body>
+    <div class="container">
+      <div class="robot-image">
+        <img src="/image" alt="Kobuki Camera Feed" id="robot-image" />
+      </div>
+      <div class="button-section">
+        <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>
+          <button class="btn" name="direction" value="down">↓</button>
+          <button class="btn stop-button" name="direction" value="stop">
+            Stop
+          </button>
+        </form>
+      </div>
+    </div>
+    <div class="container">
+      <h1>Sensor Data</h1>
+      <div class="data">
+        <table id="sensor-data"> <!-- Do not change -->
+          <thead>
+            <tr>
+              <th>Sensor</th>
+              <th>Value</th>
+            </tr>
+          </thead>
+          <tbody>
+            <!-- Sensor data rows will be inserted here -->
+          </tbody>
+        </table>
+      </div>
+    </div>
+
+    <script src="../static/script.js"></script>
+  </body>
+</html>
+{% endblock %}

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

@@ -1,35 +1,58 @@
-{% 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>
     <meta charset="UTF-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-    <title>Kobuki</title>
+    <title>Kobuki Robot Project</title>
     <link rel="stylesheet" href="../static/style.css" />
   </head>
   <body>
-    <div class="container">
-      <div class="image-section">
-        <img src="kobuki.jpg" alt="Kobuki Robot" id="robot-image" />
-      </div>
-      <div class="button-section">
-        <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>
-          <button class="btn" name="direction" value="down">↓</button>
-          <button class="btn stop-button" name="direction" value="stop">Stop</button>
+    <section class="container sectionHeight">
+      <p class="text">
+        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="{{url_for('static', filename='images/logo.png')}}" alt="logo" class="image" />
+    </section>
+
+    <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>Key features of the Kobuki Robot:</p>
+      <ul>
+        <li>Autonomous navigation</li>
+        <li>Obstacle detection and avoidance</li>
+        <li>Real-time data processing</li>
+        <li>Remote control and monitoring</li>
+      </ul>
+    </section>
+
+    <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 />
+        <label for="email">Email:</label>
+        <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>
-      </div>
-    </div>
-    <div class="container">
-      <h1>Sensor Data</h1>
-    </div>
-    <script src="../static/script.js"></script>
+    </section>
+
+    {% include 'footer.html' %}
+
+    <script src="static/script.js"></script>
   </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
-            href="https://gitlab.fdmci.hva.nl/propedeuse-hbo-ict/onderwijs/2023-2024/out-a-se-ti/blok-3/vuupoofeehoo27"
-            target="_blank"
-          >
-            <button class="click connectButton">Placeholder</button>
+          <a href="{{ url_for('control') }}" target="_blank">
+            <button class="click connectButton">Controller</button>
           </a>
-          <!-- <a href="./signup.html">sign in</a> -->
         </div>
       </nav>
   

src/Python/wsgi.py

@@ -0,0 +1,7 @@
+import sys
+import logging
+
+logging.basicConfig(stream=sys.stderr)
+sys.path.insert(0, "/home/ishak/rooziinuubii79/src/Python/flask/web")
+
+from app import app as application

src/config/mosquitto.conf

@@ -0,0 +1,7 @@
+allow_anonymous false
+password_file /etc/mosquitto/passwordfile
+listener 8080
+protocol websockets
+
+listener 1884
+protocol mqtt

src/config/nginx-sites.conf

@@ -0,0 +1,22 @@
+server {
+    listen 80;
+    server_name 145.92.224.21;
+
+    # Proxy WebSocket connections for MQTT
+    location /ws/ {
+        proxy_pass http://localhost:9001;
+        proxy_http_version 1.1;
+        proxy_set_header Upgrade $http_upgrade;
+        proxy_set_header Connection "upgrade";
+        proxy_set_header Host $host;
+    }
+
+    # Proxy HTTP connections for Flask
+    location / {
+        proxy_pass http://localhost:5000;
+        proxy_set_header Host $host;
+        proxy_set_header X-Real-IP $remote_addr;
+        proxy_set_header X-Forwarded-For $proxy_add_x_forwarded_for;
+        proxy_set_header X-Forwarded-Proto $scheme;
+    }
+}

src/config/nginx.conf

@@ -0,0 +1,7 @@
+stream {
+    server {
+        listen 9001;
+        proxy_pass localhost:8080;
+    }
+}
+

teamdocumentatie/Ishak/feedback.md

@@ -0,0 +1,11 @@
+# Feedback expert review 
+
+probeer Definition of done zelf te formuleren.
+beter user stories maken
+
+# Feedback peer review
+
+- eventuele coaching op het gebied van technisch en taken
+- meer duidelijkheid wat wij gaan gebruiken, welke technieken en tools. Hiermee kan je mensen koppelen aan taken zodat iedereen iets heeft gedaan.
+- meer duidelijkheid van elkaar kwaliteiten en leerdoelen. Hiermee kan je goed inschatten wie wat kan doen en wie wat kan leren.
+  

teamdocumentatie/Ishak/hoofd-deelvraag.md

@@ -0,0 +1,42 @@
+# Hoofd en deelvragen
+
+**Wat is de aanleiding?**
+De aanleiding is de de behoefte aan veilige communicatie tussen apparaten. Dit is belangrijk omdat onbeveiligde dataoverdracht kan leiden tot datalekken.
+
+**wat is het probleem/behoefte en waaruit blijkt dat?**
+Het probleem is dat data die tussen apparaten wordt verstuurd kwetsbaar kan zijn. Dit blijkt nadat wij te horen hebben gekregen dat er niet goed was omgegaan met communicatie tussen apparaten.
+
+**Wie heeft het probleem/behoefte?**
+ons groepje, maar ook bijvoorbeeld grote bedrijven waar het heel belangrijk is dat data veilig wordt verstuurd zonder dat het in de verkeerde handen valt.
+
+**Wanneer is het probleem/behoefte ontstaan?**
+Het probleem is ontstaan nadat wij te horen hebben gekregen dat er niet goed was omgegaan met communicatie tussen apparaten.
+
+**Waarom is het een probleem?**
+Het is een probleem omdat onbeveiligde communicatie kan leiden tot datalekken waaronder privacy. Hiermee kunnen bedrijven in de problemen komen.
+
+**Waar doet het probleem/behoefte zich voor (afbakening)?**
+Het probleem komt voor in verschillende sectoren waar data tussen apparaten wordt verstuurd. Dit kan zijn in de zorg, industrie, op kantoor, maar ook met IoT projecten wat je thuis kan hebben.
+
+## Hoofdvraag
+
+Welke communicatieprotocol geeft de mogelijkheid om veilig en betrouwbaar te communiceren tussen IoT apparaten?
+
+## Deelvragen
+
+1. Wat houdt veilige en betrouwbare communicatie tussen apparaten in?
+2. Welke protocollen zijn er om veilig en betrouwbaar te communiceren tussen apparaten?
+3. Wat zijn de voor- en nadelen van de verschillende protocollen?
+
+## Bronnen
+
+- Singh, S., & Jyoti. (2024, June 7). Secure Communications Protocols for IoT networks: a survey. https://journal.ijprse.com/index.php/ijprse/article/view/1082
+- Nguyen, K. T., Laurent, M., Oualha, N., CEA, & Institut Mines-Telecom. (2015). Survey on secure communication protocols for the Internet of Things. In Ad Hoc Networks (Vol. 32, pp. 17–31) [Journal-article]. http://dx.doi.org/10.1016/j.adhoc.2015.01.006
+- Miorandi, D., Sicari, S., De Pellegrini, F., & Imrich Chlamtac. (2012). Internet of things: Vision, applications and research challenges. In Ad Hoc Networks (Vol. 10, pp. 1497–1516) [Journal-article]. Elsevier B.V. http://dx.doi.org/10.1016/j.adhoc.2012.02.016
+- Christiano, P. (2023, November 5). Top 9 IoT communication protocols & their features in 2024: An In-Depth guide - ExpertBeacon. Expertbeacon. https://expertbeacon.com/iot-communication-protocol/
+- Yugha, R., & Chithra, S. (2020). A survey on technologies and security protocols: Reference for future generation IoT. Journal of Network and Computer Applications, 169, 102763. https://doi.org/10.1016/j.jnca.2020.102763
+- De Mendizábal, I. (2022, June 16). IoT Communication Protocols—IoT Data Protocols. Technical Articles. https://www.allaboutcircuits.com/technical-articles/internet-of-things-communication-protocols-iot-data-protocols/
+- IoT-technologieën en -protocollen | Microsoft Azure. (n.d.). https://azure.microsoft.com/nl-nl/solutions/iot/iot-technology-protocols
+- Het IoT verbinden: wat is MQTT en waarin verschilt het van CoAP? (n.d.). https://www.onlogic.com/nl/blog/het-iot-verbinden-wat-is-mqtt-en-waarin-verschilt-het-van-coap/
+- Nader, K. (2023, October 30). Wat zijn de voordelen van het gebruik van WebSocket voor IoT-communicatie? AppMaster - Ultimate All-in No-code Platform. https://appmaster.io/nl/blog/websocket-voor-iot-communicatie
+- Sidna, J., Amine, B., Abdallah, N., & Alami, H. E. (2020). Analysis and evaluation of communication Protocols for IoT Applications. Karbala International Journal of Modern Science. https://doi.org/10.1145/3419604.3419754

teamdocumentatie/Ishak/steekwoorden.md

@@ -0,0 +1,11 @@
+# kobuki 
+# last sprint i have been busy with the website
+# my job was to make an controller on the website for the kobuki
+# so that we can control the kobuki with the website
+# i did this using a protocol called MQTT
+# mqtt is a protocol that is used to send messages between devices
+# this is different from the normal protocol that i used last year
+# it was a bit difficult to get the kobuki to work with the website
+# next sprint i will be working on a sensor
+# i will do some research on the different sensors that we can use
+#