commentaar naar engels

.gitignore

@@ -16,6 +16,13 @@ src/C++/Driver/Makefile
 src/C++/Driver/vgcore*
 src/C++/Driver/cmake_install.cmake
 src/C++/Driver/Makefile
+src/C++/Driver/log
+build/
+venv
+src/C++/MQTT/CMakeFiles
+src/C++/MQTT/Makefile
+src/C++/MQTT/CMakeCache.txt
+src/C++/MQTT/cmake_install.cmake
 src/Python/flask/web/_pycache_
 venv
 build/

.gitlab/issue_templates/Learning Story.md

@@ -0,0 +1,21 @@
+```
+Inleiding van de learning story:
+Vul hier een korte beschrijving in van de learning story. 
+Probeer dit direct te koppelen aan het project wat studenten gaan doen.
+```
+
+**Wat ga ik leren?**
+
+```
+Zet hier een overzicht van de vaardigheden die een student gaat leren. 
+Als de student alle vinkjes heeft afgevinkt, dan hebben ze dit onderwerp goed begrepen.
+```
+
+- [ ] <- Maak op deze manier afvinklijstjes
+
+**Hoe ga ik dit leren?**
+
+```
+Zet hier de bronnenlijst.
+```
+- [ ] <- Maak op deze manier afvinklijstjes

.gitlab/issue_templates/User Story.md

@@ -0,0 +1,27 @@
+Als gebruiker wil ik ..., zodat ... (verwijder deze regel, plaats de tekst in de titel)
+
+
+[beschrijving van de user story en context]
+
+**Taken**
+
+Deze user story is opgedeeld in een aantal taken. Vul onderstaande lijst zelf aan.
+
+- [ ] Taak 1.
+- [ ] Taak 2.
+- [ ] ...
+
+**Acceptatie criteria**
+
+Acceptatie criteria zijn specifieke eisen waaraan de User Story moet voldoen. Deze zijn meestal uniek per User Story.
+
+- [ ] Acceptatiecriterium 1 
+- [ ] Acceptatiecriterium 2 
+- [ ] ...
+
+**Definition of Done: Hardware**
+
+- [ ] Alle acceptatiecriteria van de user story zijn afgevinkt.
+- [ ] Je werk is gedocumenteerd.
+- [ ] Je hebt testen uitgevoerd.
+- [ ] 

docs/Infrastructure/infrastructure.md

@@ -2,35 +2,51 @@
 
 ```mermaid
 classDiagram
+Apache <--> Flask
+Flask <--> MariaDB
+ESP32 --> RPI : Wired communication
+RPI <--> Wireguard : MQTT with a VPN connection
+Wireguard <--> Flask
+
 
-VirtualMachine <--> RPI
-Kobuki <--> RPI
 namespace Server {
-    class VirtualMachine {
-        +Apache()
-        +Flask()
-        +SocketServer()
-        +MariaDB()
-        Python/C++
-        Database
-        Website
-
 
+    class Wireguard {
+        +VPN()
     }
+
+    class Apache {
+        +ReverseProxy()
+    }
+
+    class MariaDB {
+        +Database()
+    }
+
+    class Flask {
+        Python
+        +Webserver()
+        +endpoints communication()
+    }
+
+
 }
-namespace robot {
-    class RPI {
-    Receiver
-    Sensors
-    C++
-    +SocketClient()
-    +Kobuki()
 
-    }
+    namespace Kobuki {
+        class RPI {
+            +KobukiCommunication()
+            +ESP32Communication()
+            C++
+            }
 
-    class Kobuki {
-        +data
-    }
- 
+        class ESP32 {
+            +TVOC()
+            +ECO2()
+            +Temperature()
+            +LDR()
+            +Camera()
+            +GPS()
+            +ToF()
+        }
 }
-```
+```

docs/Ishak/feedback.md

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

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/code/idea.md

@@ -22,3 +22,32 @@ The ideas we came up with where:
 - A mobile scarecrow that will ride around a farm scaring birds, checking for optimal growing conditions using sensors, and checking (and possibly fighting) pests.
 - A robot that would be sent into buildings with a gasleak and check where the leak is the strongest and thus where it would most likely be coming from. (also possible lighting mechanic for controlled explosions in case of preventable disasters without loss of a human life)
 - A mobile fire extinguisher placed in buildings or terrains that are prone to fires. The robot would be able to detect fires and extinguish them before they get out of hand. Or control the fire before the fire department arrives.
+- A mobile solar panel that moves to the spot with the harshest sunlight (without a certain area). After which it would plug itself into a battery and charge it. This battery could then be used to power a building or a car.
+- A robot that is dropped in dangerous environments to scout the area and report back to the people who sent it. This could be used in warzones, dangerous buildings, or other dangerous environments.
+It scouts for stuff in the air using air sensors, it scouts for stuff on the ground using cameras, and it scouts for possible hazards like fire using infrared and other sensors.
+
+### Decision
+
+In the end we decided to go with the final idea. This was partially due to the  fact that it merges some of the most interresting aspect of the other ideas. We think that this is the most fitting with our goal oof minimizing the loss of human life because it can be used in not just fires or gasleaks but also in warzones and other dangerous environments. This makes it so that it has way more usecases than the other ideas and the buyer has enough with just these robots to cover a lot of dangerous situations.
+
+## Realization & Plan
+
+### Hardware
+
+#### Sensors
+
+placeholder
+
+#### IC's
+
+placeholder
+
+#### Motors
+
+placeholder
+
+#### Batteries
+
+placeholder
+
+### Software

docs/explanation/projectplan.md

@@ -1,22 +1,21 @@
 # **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.
 
 **Vervolgstappen:**
 
-- Focus op duurzaamheid en herbruikbaarheid. 
+- Focus op duurzaamheid en herbruikbaarheid.
 - Inzetten op veiligheid en efficiëntie.
 
 ### 2. Ethiek
 
-Ethische vragen staan centraal bij de ontwikkeling van de robot. Er moet rekening gehouden worden met de veiligheid van de gegevens van gebruiker. Het minimaliseren van de milieu-impact door duurzame materialen te gebruiken zoals hout en metaal. Privacy speelt ook een belangrijke rol. De verzamelde data moet veilig worden gebruikt en opgeslagen en het moet de EU privacy richtlijnen volgen. 
+Ethische vragen staan centraal bij de ontwikkeling van de robot. Er moet rekening gehouden worden met de veiligheid van de gegevens van gebruiker. Het minimaliseren van de milieu-impact door duurzame materialen te gebruiken zoals hout en metaal. Privacy speelt ook een belangrijke rol. De verzamelde data moet veilig worden gebruikt en opgeslagen en het moet de EU privacy richtlijnen volgen.
 
 **Punten waar we rekening mee moeten houden:**
 
@@ -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.
@@ -36,4 +34,4 @@ Het project wordt uitgevoerd vanuit een duidelijk plan waar elke sprint een deel
 
 **Duurzaamheid & Verbetering:** Zorgen dat we duurzame materialen kunnen gebruiken en dat we de robot kunnen blijven verbeteren.
 
-Deze aanpak zorgt ervoor dat het project niet alleen technisch succesvol is, maar ook voldoet aan ethische en organisatorische normen.
+Deze aanpak zorgt ervoor dat het project niet alleen technisch succesvol is, maar ook voldoet aan ethische en organisatorische normen.

docs/explanation/sensoren.md

@@ -0,0 +1,40 @@
+# Wat gaan we maken
+
+## Sensoren
+
+* Camera
+* GPS module
+* Temparatuur sensor
+* TVOC sensor
+* ECO2 sensor
+* LDR sensor
+* Time of Flight sensor
+
+## 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 
+realiseren van een verkenningsrobot die zelfstandig een gevaarlijke omgeving in kaart kan brengen.

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/retrospective/retro_sprint_4.md

@@ -0,0 +1 @@
+# retro sprint 4

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

@@ -34,17 +34,22 @@ plugins:
       modules: [mkdocs_macros_mdocotion]
 
 markdown_extensions:
-  - attr_list
-  - md_in_html
-  - fenced_code
-  - pymdownx.highlight:
-      linenums: true
-      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
+    - attr_list
+    - admonition
+    - pymdownx.details
+    - pymdownx.superfences
+    - md_in_html
+    - fenced_code
+    - pymdownx.highlight:
+          linenums: true
+          use_pygments: true
+    - pymdownx.inlinehilite
+    - pymdownx.snippets
+    - 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

@@ -3,6 +3,7 @@
 #include "termios.h"
 #include <cstddef>
 #include <iostream>
+#include <thread>
 
 // plot p;
 static std::vector<float> vectorX;
@@ -67,7 +68,7 @@ int CKobuki::connect(char *comportT) {
   HCom = open(comportT, O_RDWR | O_NOCTTY | O_NONBLOCK);
 
   if (HCom == -1) {
-    printf("Kobuki nepripojeny\n");
+    printf("Kobuki connected\n");
     return HCom;
   } else {
     set_interface_attribs2(HCom, B115200,
@@ -88,7 +89,7 @@ int CKobuki::connect(char *comportT) {
       tcsetattr(HCom, TCSANOW, &settings); // apply the settings*/
     tcflush(HCom, TCOFLUSH);
 
-    printf("Kobuki pripojeny\n");
+    printf("Kobuki connected\n");
     return HCom;
   }
 }
@@ -98,27 +99,26 @@ unsigned char *CKobuki::readKobukiMessage() {
   ssize_t Pocet;
   buffer[0] = 0;
   unsigned char *null_buffer(0);
-  // citame kym nezachytime zaciatok spravy
+
+  // Read until the start of the message is detected
   do {
     Pocet = read(HCom, buffer, 1);
   } while (buffer[0] != 0xAA);
-  // mame zaciatok spravy (asi)
+
+  // We have the start of the message (possibly)
   if (Pocet == 1 && buffer[0] == 0xAA) {
-    // citame dalsi byte
+    // Read the next byte
     do {
-
       Pocet = read(HCom, buffer, 1);
+    } while (Pocet != 1); // On Linux: -1, on Windows: 0
 
-    } while (Pocet != 1); // na linuxe -1 na windowse 0
-
-    // a ak je to druhy byte hlavicky
+    // If it is the second byte of the header
     if (Pocet == 1 && buffer[0] == 0x55) {
-      // precitame dlzku
+      // Read the length
       Pocet = read(HCom, buffer, 1);
 
-      // ReadFile(hCom, buffer, 1, &Pocet, NULL);
       if (Pocet == 1) {
-        // mame dlzku.. nastavime vektor a precitame ho cely
+        // We have the length; initialize a buffer and read the entire message
         int readLenght = buffer[0];
         unsigned char *outputBuffer =
             (unsigned char *)calloc(readLenght + 4, sizeof(char));
@@ -133,7 +133,7 @@ unsigned char *CKobuki::readKobukiMessage() {
           pct = pct + (Pocet == -1 ? 0 : Pocet);
         } while (pct != (readLenght + 1));
 
-        // tu si mozeme ceknut co chodi zo serial intefejsu Kobukiho
+        // Here we can check what data is received from the Kobuki's serial interface
         // for(int i=0;i<outputBuffer[0]+2;i++)
         // {
         // 	printf("%x ",outputBuffer[i]);
@@ -161,8 +161,8 @@ void CKobuki::setLed(int led1, int led2) {
   pocet = write(HCom, &message, 8);
 }
 
-// tato funkcia nema moc sama o sebe vyznam, payload o tom, ze maju byt externe
-// napajania aktivne musi byt aj tak v kazdej sprave...
+// this function doesn't have much meaning by itself, the payload about them being external
+// power supplies must be active in every message anyway...
 void CKobuki::setPower(int value) {
   if (value == 1) {
     unsigned char message[8] = {0xaa, 0x55, 0x04, 0x0C, 0x02, 0xf0, 0x00, 0xAF};
@@ -266,13 +266,13 @@ int CKobuki::measure() {
   while (stopVlakno == 0) {
     unsigned char *message = readKobukiMessage();
     if (message == NULL) {
-      // printf("vratil null message\n");
-      continue;
+    // printf("returned null message\n");
+    continue;
     }
     int ok = parser.parseKobukiMessage(parser.data, message);
 
-    // maximalne moze trvat callback funkcia 20 ms, ak by trvala viac, nestihame
-    // citat
+    // the maximum callback function can take 20 ms, if it takes longer, we won't be able to do it
+    // read
     if (ok == 0) {
       loop(userData, parser.data);
     }
@@ -281,199 +281,6 @@ int CKobuki::measure() {
   return 0;
 }
 
-// int CKobuki::parseKobukiMessage(TKobukiData &output, unsigned char *data)
-// {
-//     int rtrnvalue = checkChecksum(data);
-//     // ak je zly checksum,tak kaslat na to
-//     if (rtrnvalue != 0)
-//         return -2;
-
-//     int checkedValue = 1;
-//     // kym neprejdeme celu dlzku
-//     while (checkedValue < data[0])
-//     {
-//         // basic data subload
-//         if (data[checkedValue] == 0x01)
-//         {
-//             checkedValue++;
-//             if (data[checkedValue] != 0x0F)
-//                 return -1;
-//             checkedValue++;
-//             output.timestamp = data[checkedValue + 1] * 256 +
-//             data[checkedValue]; checkedValue += 2; output.BumperCenter =
-//             data[checkedValue] && 0x02; output.BumperLeft =
-//             data[checkedValue] && 0x04; output.BumperRight =
-//             data[checkedValue] && 0x01; checkedValue++; output.WheelDropLeft
-//             = data[checkedValue] && 0x02; output.WheelDropRight =
-//             data[checkedValue] && 0x01; checkedValue++; output.CliffCenter =
-//             data[checkedValue] && 0x02; output.CliffLeft = data[checkedValue]
-//             && 0x04; output.CliffRight = data[checkedValue] && 0x01;
-//             checkedValue++;
-//             output.EncoderLeft = data[checkedValue + 1] * 256 +
-//             data[checkedValue]; checkedValue += 2; output.EncoderRight =
-//             data[checkedValue + 1] * 256 + data[checkedValue]; checkedValue
-//             += 2; output.PWMleft = data[checkedValue]; checkedValue++;
-//             output.PWMright = data[checkedValue];
-//             checkedValue++;
-//             output.ButtonPress = data[checkedValue];
-//             checkedValue++;
-//             output.Charger = data[checkedValue];
-//             checkedValue++;
-//             output.Battery = data[checkedValue];
-//             checkedValue++;
-//             output.overCurrent = data[checkedValue];
-//             checkedValue++;
-//         }
-//         else if (data[checkedValue] == 0x03)
-//         {
-//             checkedValue++;
-//             if (data[checkedValue] != 0x03)
-//                 return -3;
-//             checkedValue++;
-//             output.IRSensorRight = data[checkedValue];
-//             checkedValue++;
-//             output.IRSensorCenter = data[checkedValue];
-//             checkedValue++;
-//             output.IRSensorLeft = data[checkedValue];
-//             checkedValue++;
-//         }
-//         else if (data[checkedValue] == 0x04)
-//         {
-//             checkedValue++;
-//             if (data[checkedValue] != 0x07)
-//                 return -4;
-//             checkedValue++;
-//             output.GyroAngle = data[checkedValue + 1] * 256 +
-//             data[checkedValue]; checkedValue += 2; output.GyroAngleRate =
-//             data[checkedValue + 1] * 256 + data[checkedValue]; checkedValue
-//             += 5; // 3 unsued
-//         }
-//         else if (data[checkedValue] == 0x05)
-//         {
-//             checkedValue++;
-//             if (data[checkedValue] != 0x06)
-//                 return -5;
-//             checkedValue++;
-//             output.CliffSensorRight =
-//                 data[checkedValue + 1] * 256 + data[checkedValue];
-//             checkedValue += 2;
-//             output.CliffSensorCenter =
-//                 data[checkedValue + 1] * 256 + data[checkedValue];
-//             checkedValue += 2;
-//             output.CliffSensorLeft =
-//                 data[checkedValue + 1] * 256 + data[checkedValue];
-//             checkedValue += 2;
-//         }
-//         else if (data[checkedValue] == 0x06)
-//         {
-//             checkedValue++;
-//             if (data[checkedValue] != 0x02)
-//                 return -6;
-//             checkedValue++;
-//             output.wheelCurrentLeft = data[checkedValue];
-//             checkedValue++;
-//             output.wheelCurrentRight = data[checkedValue];
-//             checkedValue++;
-//         }
-//         else if (data[checkedValue] == 0x0A)
-//         {
-//             checkedValue++;
-//             if (data[checkedValue] != 0x04)
-//                 return -7;
-//             checkedValue++;
-//             output.extraInfo.HardwareVersionPatch = data[checkedValue];
-//             checkedValue++;
-//             output.extraInfo.HardwareVersionMinor = data[checkedValue];
-//             checkedValue++;
-//             output.extraInfo.HardwareVersionMajor = data[checkedValue];
-//             checkedValue += 2;
-//         }
-//         else if (data[checkedValue] == 0x0B)
-//         {
-//             checkedValue++;
-//             if (data[checkedValue] != 0x04)
-//                 return -8;
-//             checkedValue++;
-//             output.extraInfo.FirmwareVersionPatch = data[checkedValue];
-//             checkedValue++;
-//             output.extraInfo.FirmwareVersionMinor = data[checkedValue];
-//             checkedValue++;
-//             output.extraInfo.FirmwareVersionMajor = data[checkedValue];
-//             checkedValue += 2;
-//         }
-//         else if (data[checkedValue] == 0x0D)
-//         {
-//             checkedValue++;
-//             if (data[checkedValue] % 2 != 0)
-//                 return -9;
-//             checkedValue++;
-//             output.frameId = data[checkedValue];
-//             checkedValue++;
-//             int howmanyFrames = data[checkedValue] / 3;
-//             checkedValue++;
-//             output.gyroData.reserve(howmanyFrames);
-//             output.gyroData.clear();
-//             for (int hk = 0; hk < howmanyFrames; hk++)
-//             {
-//                 TRawGyroData temp;
-//                 temp.x = data[checkedValue + 1] * 256 + data[checkedValue];
-//                 checkedValue += 2;
-//                 temp.y = data[checkedValue + 1] * 256 + data[checkedValue];
-//                 checkedValue += 2;
-//                 temp.z = data[checkedValue + 1] * 256 + data[checkedValue];
-//                 checkedValue += 2;
-//                 output.gyroData.push_back(temp);
-//             }
-//         }
-//         else if (data[checkedValue] == 0x10)
-//         {
-//             checkedValue++;
-//             if (data[checkedValue] != 0x10)
-//                 return -10;
-//             checkedValue++;
-//             output.digitalInput = data[checkedValue + 1] * 256 +
-//             data[checkedValue]; checkedValue += 2; output.analogInputCh0 =
-//             data[checkedValue + 1] * 256 + data[checkedValue]; checkedValue
-//             += 2; output.analogInputCh1 = data[checkedValue + 1] * 256 +
-//             data[checkedValue]; checkedValue += 2; output.analogInputCh2 =
-//             data[checkedValue + 1] * 256 + data[checkedValue]; checkedValue
-//             += 2; output.analogInputCh3 = data[checkedValue + 1] * 256 +
-//             data[checkedValue]; checkedValue += 8; // 2+6
-//         }
-//         else if (data[checkedValue] == 0x13)
-//         {
-//             checkedValue++;
-//             if (data[checkedValue] != 0x0C)
-//                 return -11;
-//             checkedValue++;
-//             output.extraInfo.UDID0 = data[checkedValue + 3] * 256 * 256 * 256
-//             +
-//                                      data[checkedValue + 2] * 256 * 256 +
-//                                      data[checkedValue + 1] * 256 +
-//                                      data[checkedValue];
-//             checkedValue += 4;
-//             output.extraInfo.UDID1 = data[checkedValue + 3] * 256 * 256 * 256
-//             +
-//                                      data[checkedValue + 2] * 256 * 256 +
-//                                      data[checkedValue + 1] * 256 +
-//                                      data[checkedValue];
-//             checkedValue += 4;
-//             output.extraInfo.UDID2 = data[checkedValue + 3] * 256 * 256 * 256
-//             +
-//                                      data[checkedValue + 2] * 256 * 256 +
-//                                      data[checkedValue + 1] * 256 +
-//                                      data[checkedValue];
-//             checkedValue += 4;
-//         }
-//         else
-//         {
-//             checkedValue++;
-//             checkedValue += data[checkedValue] + 1;
-//         }
-//     }
-//     return 0;
-// }
-
 long double CKobuki::gyroToRad(signed short GyroAngle) {
 
   long double rad;
@@ -545,7 +352,7 @@ long CKobuki::loop(void *user_data, TKobukiData &Kobuki_data) {
   totalLeft += dLeft;
   totalRight += dRight;
 
-  // ak je suma novej a predchadzajucej vacsia ako 65536 tak to pretieklo?
+// if the sum of the new and previous is greater than 65536 then it overflowed?
   directionL = (prevLeftEncoder < Kobuki_data.EncoderLeft ? 1 : -1);
   directionR = (prevRightEncoder < Kobuki_data.EncoderRight ? 1 : -1);
   dTimestamp = (Kobuki_data.timestamp < prevTimestamp
@@ -579,7 +386,7 @@ long CKobuki::loop(void *user_data, TKobukiData &Kobuki_data) {
 
 // tells the kobuki to go a few meters forward or backward, the sign decides
 // the function compensates for walking straight with the controller, internally
-// it uses setArcSpeed and uses encoder data as feedback
+// it uses setArcSpeed ​​and uses encoder data as feedback
 void CKobuki::goStraight(long double distance) {
   long double u_translation =
       0; // controlled magnitude, speed of the robot in motion
@@ -727,7 +534,9 @@ void CKobuki::goToXy(long double xx, long double yy) {
   return;
 }
 
-void CKobuki::forward(int speedvalue, long double distance) {
+/// @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
 
   // Calculate the actual speed and radius values based on the conversion table
@@ -755,3 +564,82 @@ 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 RADS_PER_SEC = 1;
+
+  // calculator rotation time and give absolute value
+  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)));
+
+  // 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) {
+      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) {
+      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] = {
+      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/KobukiDriver/CKobuki.h

@@ -12,7 +12,7 @@
 ////*************************************************************************************
 #ifndef KOBUKI_CLASS_123456789
 #define KOBUKI_CLASS_123456789
-#define PI          3.141592653589793238462643383279502884L /* pi */
+#define PI  3.141592653589793238462643383279502884L /* pi */
 #define MS_INSTRUCTION_DELAY 25
 
 #include <stdio.h>
@@ -35,91 +35,6 @@
 
 using namespace std;
 
-
-// typedef struct
-// {
-	
-// 	unsigned short x;
-// 	unsigned short y;
-// 	unsigned short z;
-
-// }TRawGyroData;
-// typedef struct
-// {
-// 	//Hardware Version
-// 	unsigned char HardwareVersionMajor;
-// 	unsigned char HardwareVersionMinor;
-// 	unsigned char HardwareVersionPatch;
-// 	//Firmware Version
-// 	unsigned char FirmwareVersionMajor;
-// 	unsigned char FirmwareVersionMinor;
-// 	unsigned char FirmwareVersionPatch;
-
-// 	//Unique Device IDentifier(UDID)
-// 	unsigned int UDID0;
-// 	unsigned int UDID1;
-// 	unsigned int UDID2;
-// 	//Controller Info
-// 	unsigned char PIDtype;
-// 	unsigned int PIDgainP;
-// 	unsigned int PIDgainI;
-// 	unsigned int PIDgainD;
-// }TExtraRequestData;
-
-// typedef struct
-// {
-// 	//---basic package
-// 	unsigned short timestamp;
-// 	//bumpers
-// 	bool BumperLeft;
-// 	bool BumperCenter;
-// 	bool BumperRight;
-// 	//cliff
-// 	bool CliffLeft;
-// 	bool CliffCenter;
-// 	bool CliffRight;
-// 	// wheel drop
-// 	bool WheelDropLeft;  
-// 	bool WheelDropRight; 
-// 	//wheel rotation
-// 	unsigned short EncoderRight;
-// 	unsigned short EncoderLeft;
-// 	unsigned char PWMright;
-// 	unsigned char PWMleft;
-// 	//buttons
-// 	unsigned char ButtonPress;// 0 no, 1 2 4 for button 0 1 2 (7 is all three)
-// 	//power
-// 	unsigned char Charger;
-// 	unsigned char Battery;
-// 	unsigned char overCurrent;
-// 	//---docking ir
-// 	unsigned char IRSensorRight;
-// 	unsigned char IRSensorCenter;
-// 	unsigned char IRSensorLeft;
-// 	//---Inertial Sensor Data
-// 	signed short GyroAngle;
-// 	unsigned short GyroAngleRate;
-// 	//---Cliff Sensor Data
-// 	unsigned short CliffSensorRight;
-// 	unsigned short CliffSensorCenter;
-// 	unsigned short CliffSensorLeft;
-// 	//---Current
-// 	unsigned char wheelCurrentLeft;
-// 	unsigned char wheelCurrentRight;
-// 	//---Raw Data Of 3D Gyro
-// 	unsigned char frameId;
-// 	std::vector<TRawGyroData> gyroData;
-// 	//---General Purpose Input
-// 	unsigned short digitalInput;
-// 	unsigned short analogInputCh0;
-// 	unsigned short analogInputCh1;
-// 	unsigned short analogInputCh2;
-// 	unsigned short analogInputCh3;
-// 	//---structure with data that appears only on request
-// 	TExtraRequestData extraInfo;
-// }TKobukiData;
-
-
 typedef long(*src_callback_kobuki_data) (void *user_data, TKobukiData &Kobuki_data);
 
 class CKobuki
@@ -156,10 +71,15 @@ public:
 
 	// control functions 
 	void goStraight(long double distance);
-	void forward(int speedvalue, long double distance);
+	void forward(int speedvalue);
 	void doRotation(long double th);
 	void goToXy(long double xx, long double yy);
+	void Rotate(int degrees);
 	std::ofstream odometry_log;
+	void robotSafety(std::string *pointerToMessage);
+	void robotSafety(); //overload
+	void sendNullMessage();
+	bool safetyActive = false;
 	KobukiParser parser;
 
 

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

@@ -1,6 +1,6 @@
 #include "KobukiParser.h"
 #include <iostream>
-
+//moet checkenvalue gebruiken of moet kijken naar de payloadlength welke dingen er extra zijn
 int KobukiParser::parseKobukiMessage(TKobukiData &output, unsigned char *data) {
     int rtrnvalue = checkChecksum(data);
     if (rtrnvalue != 0) {
@@ -108,7 +108,7 @@ void KobukiParser::parseBasicData(TKobukiData &output, unsigned char *data, int
     checkedValue += 2;
     output.BumperCenter = (data[checkedValue] & 0x02) >> 1;
     output.BumperLeft = (data[checkedValue] & 0x04) >> 2;
-    output.BumperRight = data[checkedValue] & 0x01;
+    output.BumperRight = data[checkedValue] & 0x01; 
     checkedValue++;
     output.WheelDropLeft = (data[checkedValue] & 0x02) >> 1;
     output.WheelDropRight = data[checkedValue] & 0x01;
@@ -125,7 +125,9 @@ void KobukiParser::parseBasicData(TKobukiData &output, unsigned char *data, int
     checkedValue++;
     output.PWMright = data[checkedValue];
     checkedValue++;
-    output.ButtonPress = data[checkedValue];
+    output.ButtonPress1  = data[checkedValue] & 0x01;
+    output.ButtonPress2 = data[checkedValue] & 0x02;
+    output.ButtonPress3 = data[checkedValue] & 0x04;
     checkedValue++;
     output.Charger = data[checkedValue];
     checkedValue++;
@@ -151,13 +153,13 @@ void KobukiParser::parseGyroData(TKobukiData &output, unsigned char *data, int &
     checkedValue += 5; // 3 unused
 }
 
-void KobukiParser::parseCliffSensorData(TKobukiData &output, unsigned char *data, int &checkedValue){
-    output.CliffSensorRight = data[checkedValue];
-    checkedValue++;
-    output.CliffSensorCenter = data[checkedValue];
-    checkedValue++;
-    output.CliffSensorLeft = data[checkedValue];
-    checkedValue++;
+void KobukiParser::parseCliffSensorData(TKobukiData &output, unsigned char *data, int &checkedValue) {
+    output.CliffSensorRight = (data[checkedValue] << 8) | data[checkedValue + 1];
+    checkedValue += 2;
+    output.CliffSensorCenter = (data[checkedValue] << 8) | data[checkedValue + 1];
+    checkedValue += 2;
+    output.CliffSensorLeft = (data[checkedValue] << 8) | data[checkedValue + 1];
+    checkedValue += 2;
 }
 
 void KobukiParser::parseWheelCurrentData(TKobukiData &output, unsigned char *data, int &checkedValue){

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

@@ -19,7 +19,8 @@ struct TKobukiData {
     int CliffCenter, CliffLeft, CliffRight;
     int EncoderLeft, EncoderRight;
     int PWMleft, PWMright;
-    int ButtonPress, Charger, Battery, overCurrent;
+    int ButtonPress1, ButtonPress2, ButtonPress3;
+    int Charger, Battery, overCurrent;
     int IRSensorRight, IRSensorCenter, IRSensorLeft;
     int GyroAngle, GyroAngleRate;
     int CliffSensorRight, CliffSensorCenter, CliffSensorLeft;

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

@@ -1,20 +1,22 @@
 #include "MqttClient.h"
 
 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_);
-    connOpts_.set_clean_session(true);
-    connOpts_.set_mqtt_version(MQTTVERSION_3_1_1);  // For MQTT 3.1.1
+    options.set_clean_session(true);
+    options.set_mqtt_version(MQTTVERSION_3_1_1);  // For MQTT 3.1.1
     if (!username_.empty() && !password_.empty()) {
-        connOpts_.set_user_name(username_);
-        connOpts_.set_password(password_);
+        options.set_user_name(username_);
+        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;
@@ -32,6 +34,16 @@ void MqttClient::subscribe(const std::string& topic, int qos) {
     }
 }
 
+void MqttClient::publishMessage(const std::string& topic, const std::string& payload) {
+    try {
+        std::cout << "Publishing message: " << payload << std::endl;
+        client_.publish(topic, payload)->wait();
+    } catch (const mqtt::exception& exc) {
+        std::cerr << "Error: " << exc.what() << std::endl;
+        throw;
+    }
+}
+
 /// @brief Only needed when program doesnt keep itself alive
 void MqttClient::run() {
     // Keep the client running to receive messages
@@ -41,6 +53,7 @@ void MqttClient::run() {
 }
 
 void MqttClient::Callback::message_arrived(mqtt::const_message_ptr msg) {
+    //lock the variable, it automaticly unlocks when going out of scope using lock_guard
     std::lock_guard<std::mutex> lock(client_.messageMutex_);
     client_.lastMessage_ = msg->to_string();
 }
@@ -55,7 +68,9 @@ 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 using lock_guard
     std::lock_guard<std::mutex> lock(messageMutex_);
     return lastMessage_;
 }

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

@@ -13,6 +13,7 @@ public:
     void subscribe(const std::string& topic, int qos = 1);
     void run();
     std::string getLastMessage();
+    void publishMessage(const std::string& topic, const std::string& payload);
 
 private:
     class Callback : public virtual mqtt::callback {
@@ -27,7 +28,7 @@ private:
     };
 
     mqtt::async_client client_;
-    mqtt::connect_options connOpts_;
+    mqtt::connect_options options;
     Callback callback_;
     std::string username_;
     std::string password_;
@@ -35,4 +36,4 @@ private:
     std::mutex messageMutex_;
 };
 
-#endif // MQTTCLIENT_H
+#endif //MQTTCLIENT_H

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

@@ -1,79 +1,318 @@
 #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;
-int movement();
 std::string readMQTT();
-MqttClient client("mqtt://localhost:1883", "KobukiRPI", "ishak", "kobuki");
+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
+std::string message = "stop";
+std::string serializeKobukiData(const TKobukiData &data);
+void sendKobukiData(TKobukiData &data);
 
+void setup()
+{
+    unsigned char *null_ptr(0);
+    robot.startCommunication("/dev/ttyUSB0", true, null_ptr);
+    //connect mqtt server and sub to commands
 
-void setup(){
-	unsigned char *null_ptr(0);
-	robot.startCommunication("/dev/ttyUSB0", true, null_ptr);
     client.connect();
     client.subscribe("home/commands");
-
 }
 
-int main(){
-	setup();
-	while(true){
-	readMQTT();
-	}
-	client.run();
-	return 0;
+int main()
+{
+    setup();
+    std::thread image (CapnSend);
+    std::thread safety([&]() { robot.robotSafety(&message); });
+    std::thread sendMqtt([&]() { sendKobukiData(robot.parser.data); });
+    
+    while(true){
+        std::string message = readMQTT();
+        if (!message.empty()){
+            parseMQTT(message);
+        }
+        
+    }
+
+    sendMqtt.join();
+    safety.join();
+    image.join();
 }
 
 std::string readMQTT()
 {
-        std::string message = client.getLastMessage();
-        if (!message.empty()) {
-            std::cout << "MQTT Message: " << message << std::endl;
+    static std::string lastMessage;
+
+    std::string message = client.getLastMessage();
+    if (!message.empty() && message != lastMessage)
+    {
+        std::cout << "MQTT Message: " << message << std::endl;
+        lastMessage = message;
+    }
+
+    // Add a small delay to avoid busy-waiting
+    std::this_thread::sleep_for(std::chrono::milliseconds(100));
+    return message;
+}
+
+void parseMQTT(std::string message)
+{
+    if (message == "up")
+    {
+        robot.forward(350);
+    }
+    else if (message == "left")
+    {
+        robot.setRotationSpeed(4);
+    }
+    else if (message == "right")
+    {
+        robot.setRotationSpeed(-4);
+    }
+    else if (message == "down")
+    {
+        robot.forward(-350);
+    }
+    else if (message == "stop")
+    {
+        robot.sendNullMessage();
+        robot.sendNullMessage();
+    }
+    else if (message == "estop")
+    {
+        robot.forward(-400);
+    }
+    else
+    {
+        std::cout << "Invalid command" << std::endl;
+    }
+}
+
+void logToFile()
+{
+    while (true)
+    {
+        TKobukiData robotData = robot.parser.data;
+        std::ofstream outputFile("log", std::ios_base::app); // Open file in append mode to not overwrite own content
+        if (outputFile.is_open())
+        { // check if the file was opened successfully
+            // Get current time
+            std::time_t now = std::time(nullptr);
+            outputFile << "Timestamp: " << std::ctime(&now);
+            // Write data to the file
+            outputFile << "analogInputCh0: " << robotData.analogInputCh0 << "\n";
+            outputFile << "analogInputCh1: " << robotData.analogInputCh1 << "\n";
+            outputFile << "analogInputCh2: " << robotData.analogInputCh2 << "\n";
+            outputFile << "analogInputCh3: " << robotData.analogInputCh3 << "\n";
+            outputFile << "digitalInput: " << robotData.digitalInput << "\n";
+            outputFile << "timestamp: " << robotData.timestamp << "\n";
+            outputFile << "BumperCenter: " << robotData.BumperCenter << "\n";
+            outputFile << "BumperLeft: " << robotData.BumperLeft << "\n";
+            outputFile << "BumperRight: " << robotData.BumperRight << "\n";
+            outputFile << "WheelDropLeft: " << robotData.WheelDropLeft << "\n";
+            outputFile << "WheelDropRight: " << robotData.WheelDropRight << "\n";
+            outputFile << "CliffCenter: " << robotData.CliffCenter << "\n";
+            outputFile << "CliffLeft: " << robotData.CliffLeft << "\n";
+            outputFile << "CliffRight: " << robotData.CliffRight << "\n";
+            outputFile << "EncoderLeft: " << robotData.EncoderLeft << "\n";
+            outputFile << "EncoderRight: " << robotData.EncoderRight << "\n";
+            outputFile << "PWMleft: " << robotData.PWMleft << "\n";
+            outputFile << "PWMright: " << robotData.PWMright << "\n";
+            outputFile << "ButtonPress: " << robotData.ButtonPress1 << "\n";
+            outputFile << "ButtonPress: " << robotData.ButtonPress2 << "\n";
+            outputFile << "ButtonPress: " << robotData.ButtonPress3 << "\n";
+            outputFile << "Charger: " << robotData.Charger << "\n";
+            outputFile << "Battery: " << robotData.Battery << "\n";
+            outputFile << "overCurrent: " << robotData.overCurrent << "\n";
+            outputFile << "IRSensorRight: " << robotData.IRSensorRight << "\n";
+            outputFile << "IRSensorCenter: " << robotData.IRSensorCenter << "\n";
+            outputFile << "IRSensorLeft: " << robotData.IRSensorLeft << "\n";
+            outputFile << "GyroAngle: " << robotData.GyroAngle << "\n";
+            outputFile << "GyroAngleRate: " << robotData.GyroAngleRate << "\n";
+            outputFile << "CliffSensorRight: " << robotData.CliffSensorRight << "\n";
+            outputFile << "CliffSensorCenter: " << robotData.CliffSensorCenter << "\n";
+            outputFile << "CliffSensorLeft: " << robotData.CliffSensorLeft << "\n";
+            outputFile << "wheelCurrentLeft: " << robotData.wheelCurrentLeft << "\n";
+            outputFile << "wheelCurrentRight: " << robotData.wheelCurrentRight << "\n";
+            outputFile << "frameId: " << robotData.frameId << "\n";
+            outputFile << "HardwareVersionPatch: " << robotData.extraInfo.HardwareVersionPatch << "\n";
+            outputFile << "HardwareVersionMinor: " << robotData.extraInfo.HardwareVersionMinor << "\n";
+            outputFile << "HardwareVersionMajor: " << robotData.extraInfo.HardwareVersionMajor << "\n";
+            outputFile << "FirmwareVersionPatch: " << robotData.extraInfo.FirmwareVersionPatch << "\n";
+            outputFile << "FirmwareVersionMinor: " << robotData.extraInfo.FirmwareVersionMinor << "\n";
+            outputFile << "FirmwareVersionMajor: " << robotData.extraInfo.FirmwareVersionMajor << "\n";
+            outputFile << "UDID0: " << robotData.extraInfo.UDID0 << "\n";
+            outputFile << "UDID1: " << robotData.extraInfo.UDID1 << "\n";
+            outputFile << "UDID2: " << robotData.extraInfo.UDID2 << "\n";
+            outputFile.close();
+        }
+        else
+        {
+            std::cerr << "Error opening file\n";
         }
 
-        // Add a small delay to avoid busy-waiting
-        std::this_thread::sleep_for(std::chrono::milliseconds(100));
-		return message;
+        std::this_thread::sleep_for(std::chrono::seconds(2)); // Sleep for 2 seconds
+    }
 }
 
+void sendIndividualKobukiData(const TKobukiData &data) {
+    while (true) {
+        std::cout << "Kobuki Data wordt gepubliceerd naar kobuki/data/timestamp: " << data.timestamp << std::endl;
+        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));
 
-int movement()
-{
-	int text;
-	while (true)
-	{
-		cin >> text;
+        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));
+        }
 
-		if (text == 1)
-		{
-			robot.forward(1024, 1);
-		}
-		else if (text == 2)
-		{
-			// 1 is full circle
-			robot.doRotation(0.25);
-		}
-		else if (text == 3)
-		{
-			// Add your code here for text == 3
-		}
-		else
-		{
-			try
-			{
-				robot.doRotation(text);
-				throw "NaN";
-			}
-			catch (const char *msg)
-			{
-				cerr << msg << endl;
-			}
-		}
-	}
+        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) +
+                       ",\"BumperLeft\":" + std::to_string(data.BumperLeft) +
+                       ",\"BumperRight\":" + std::to_string(data.BumperRight) +
+                       ",\"WheelDropLeft\":" + std::to_string(data.WheelDropLeft) +
+                       ",\"WheelDropRight\":" + std::to_string(data.WheelDropRight) +
+                       ",\"CliffCenter\":" + std::to_string(data.CliffCenter) +
+                       ",\"CliffLeft\":" + std::to_string(data.CliffLeft) +
+                       ",\"CliffRight\":" + std::to_string(data.CliffRight) +
+                       ",\"EncoderLeft\":" + std::to_string(data.EncoderLeft) +
+                       ",\"EncoderRight\":" + std::to_string(data.EncoderRight) +
+                       ",\"PWMleft\":" + std::to_string(data.PWMleft) +
+                       ",\"PWMright\":" + std::to_string(data.PWMright) +
+                       ",\"ButtonPress1\":" + std::to_string(data.ButtonPress1) +
+                       ",\"ButtonPress2\":" + std::to_string(data.ButtonPress2) +
+                       ",\"ButtonPress3\":" + std::to_string(data.ButtonPress3) +
+                       ",\"Charger\":" + std::to_string(data.Charger) +
+                       ",\"Battery\":" + std::to_string(data.Battery) +
+                       ",\"overCurrent\":" + std::to_string(data.overCurrent) +
+                       ",\"IRSensorRight\":" + std::to_string(data.IRSensorRight) +
+                       ",\"IRSensorCenter\":" + std::to_string(data.IRSensorCenter) +
+                       ",\"IRSensorLeft\":" + std::to_string(data.IRSensorLeft) +
+                       ",\"GyroAngle\":" + std::to_string(data.GyroAngle) +
+                       ",\"GyroAngleRate\":" + std::to_string(data.GyroAngleRate) +
+                       ",\"CliffSensorRight\":" + std::to_string(data.CliffSensorRight) +
+                       ",\"CliffSensorCenter\":" + std::to_string(data.CliffSensorCenter) +
+                       ",\"CliffSensorLeft\":" + std::to_string(data.CliffSensorLeft) +
+                       ",\"wheelCurrentLeft\":" + std::to_string(data.wheelCurrentLeft) +
+                       ",\"wheelCurrentRight\":" + std::to_string(data.wheelCurrentRight) +
+                       ",\"digitalInput\":" + std::to_string(data.digitalInput) +
+                       ",\"analogInputCh0\":" + std::to_string(data.analogInputCh0) +
+                       ",\"analogInputCh1\":" + std::to_string(data.analogInputCh1) +
+                       ",\"analogInputCh2\":" + std::to_string(data.analogInputCh2) +
+                       ",\"analogInputCh3\":" + std::to_string(data.analogInputCh3) +
+                       ",\"frameId\":" + std::to_string(data.frameId) +
+                       ",\"extraInfo\":{\"HardwareVersionPatch\":" + std::to_string(data.extraInfo.HardwareVersionPatch) +
+                       ",\"HardwareVersionMinor\":" + std::to_string(data.extraInfo.HardwareVersionMinor) +
+                       ",\"HardwareVersionMajor\":" + std::to_string(data.extraInfo.HardwareVersionMajor) +
+                       ",\"FirmwareVersionPatch\":" + std::to_string(data.extraInfo.FirmwareVersionPatch) +
+                       ",\"FirmwareVersionMinor\":" + std::to_string(data.extraInfo.FirmwareVersionMinor) +
+                       ",\"FirmwareVersionMajor\":" + std::to_string(data.extraInfo.FirmwareVersionMajor) +
+                       ",\"UDID0\":" + std::to_string(data.extraInfo.UDID0) +
+                       ",\"UDID1\":" + std::to_string(data.extraInfo.UDID1) +
+                       ",\"UDID2\":" + std::to_string(data.extraInfo.UDID2) + "},\"gyroData\":[";
+
+    if (!data.gyroData.empty()) {
+        const auto& latestGyro = data.gyroData.back();
+        json += "{\"x\":" + std::to_string(latestGyro.x) +
+                ",\"y\":" + std::to_string(latestGyro.y) +
+                ",\"z\":" + std::to_string(latestGyro.z) + "}";
+    }
+
+    json += "]}";
+    return json;
+}
+//create extra function to send the message every 100ms
+//needed it so it can be threaded
+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/main.cpp

@@ -1,56 +1,64 @@
 #include <iostream>
 #include <mqtt/async_client.h>
-#include <thread>  // Voor std::this_thread::sleep_for
-#include <chrono>  // Voor std::chrono::seconds
+#include <thread>  // For std::this_thread::sleep_for
+#include <chrono>  // For std::chrono::seconds
 
-const std::string ADDRESS("mqtt://localhost:1883");  // Aanpassen indien nodig
+// Define the address of the MQTT broker, the client ID, and the topic to subscribe to.
+const std::string ADDRESS("mqtt://localhost:1883");  // Broker address (Raspberry Pi)
 const std::string CLIENT_ID("raspberry_pi_client");
 const std::string TOPIC("home/commands");
 
+// Define a callback class that handles incoming messages and connection events.
 class callback : public virtual mqtt::callback {
+  // Called when a message arrives on a subscribed topic.
   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
+    std::cout << "Received message: '" << msg->get_topic()<< "' : " << msg->to_string() << std::endl;
   }
 
+  // Called when the connection to the broker is lost.
   void connection_lost(const std::string& cause) override {
-    std::cerr << "Verbinding verloren. Oorzaak: " << cause << std::endl;
+    std::cerr << "Connection lost. Reason: " << cause << std::endl;
   }
 
+  // Called when a message delivery is complete.
   void delivery_complete(mqtt::delivery_token_ptr token) override {
-    std::cout << "Bericht afgeleverd!" << std::endl;
+    std::cout << "Message delivered!" << std::endl;
   }
 };
 
 int main() {
+  // Create an MQTT async client and set up the callback class.
   mqtt::async_client client(ADDRESS, CLIENT_ID);
   callback cb;
   client.set_callback(cb);
 
+  // Set up the connection options (such as username and password).
   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
+  connOpts.set_mqtt_version(MQTTVERSION_3_1_1);
 
   try {
-    std::cout << "Verbinden met broker..." << std::endl;
-    client.connect(connOpts)->wait();
-    std::cout << "Verbonden!" << std::endl;
+    // Try to connect to the broker and wait until successful.
+    std::cout << "Connecting to broker..." << std::endl;
+    client.connect(connOpts)->wait();  // Connect with the provided options
+    std::cout << "Connected!" << std::endl;
 
-    std::cout << "Abonneren op topic: " << TOPIC << std::endl;
-    client.subscribe(TOPIC, 1)->wait();
+    // Subscribe to the specified topic and wait for confirmation.
+    std::cout << "Subscribing to topic: " << TOPIC << std::endl;
+    client.subscribe(TOPIC, 1)->wait();  // Subscribe with QoS level 1
 
-    // Houd de client draaiende om berichten te blijven ontvangen
+    // Keep the program running to continue receiving messages from the broker.
     while (true) {
-      std::this_thread::sleep_for(std::chrono::seconds(1));  // Wacht om CPU-gebruik te verminderen
+      std::this_thread::sleep_for(std::chrono::seconds(1));  // Sleep to reduce CPU usage
     }
 
   } catch (const mqtt::exception &exc) {
-    std::cerr << "Fout: " << exc.what() << std::endl;
+    // Catch any MQTT exceptions and display the error message.
+    std::cerr << "Error: " << exc.what() << std::endl;
     return 1;
   }
 
-  return 0;
+  return 0;  // Return 0 to indicate successful execution
 }

src/C++/Sensor/lib/src/TinyGPS++.cpp

@@ -0,0 +1,503 @@
+/*
+TinyGPS++ - a small GPS library for Arduino providing universal NMEA parsing
+Based on work by and "distanceBetween" and "courseTo" courtesy of Maarten Lamers.
+Suggestion to add satellites, courseTo(), and cardinal() by Matt Monson.
+Location precision improvements suggested by Wayne Holder.
+Copyright (C) 2008-2013 Mikal Hart
+All rights reserved.
+
+This library is free software; you can redistribute it and/or
+modify it under the terms of the GNU Lesser General Public
+License as published by the Free Software Foundation; either
+version 2.1 of the License, or (at your option) any later version.
+
+This library is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+Lesser General Public License for more details.
+
+You should have received a copy of the GNU Lesser General Public
+License along with this library; if not, write to the Free Software
+Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+*/
+
+#include "TinyGPS++.h"
+
+#include <string.h>
+#include <ctype.h>
+#include <stdlib.h>
+
+#define _GPRMCterm   "GPRMC"
+#define _GPGGAterm   "GPGGA"
+#define _GNRMCterm   "GNRMC"
+#define _GNGGAterm   "GNGGA"
+
+TinyGPSPlus::TinyGPSPlus()
+  :  parity(0)
+  ,  isChecksumTerm(false)
+  ,  curSentenceType(GPS_SENTENCE_OTHER)
+  ,  curTermNumber(0)
+  ,  curTermOffset(0)
+  ,  sentenceHasFix(false)
+  ,  customElts(0)
+  ,  customCandidates(0)
+  ,  encodedCharCount(0)
+  ,  sentencesWithFixCount(0)
+  ,  failedChecksumCount(0)
+  ,  passedChecksumCount(0)
+{
+  term[0] = '\0';
+}
+
+//
+// public methods
+//
+
+bool TinyGPSPlus::encode(char c)
+{
+  ++encodedCharCount;
+
+  switch(c)
+  {
+  case ',': // term terminators
+    parity ^= (uint8_t)c;
+  case '\r':
+  case '\n':
+  case '*':
+    {
+      bool isValidSentence = false;
+      if (curTermOffset < sizeof(term))
+      {
+        term[curTermOffset] = 0;
+        isValidSentence = endOfTermHandler();
+      }
+      ++curTermNumber;
+      curTermOffset = 0;
+      isChecksumTerm = c == '*';
+      return isValidSentence;
+    }
+    break;
+
+  case '$': // sentence begin
+    curTermNumber = curTermOffset = 0;
+    parity = 0;
+    curSentenceType = GPS_SENTENCE_OTHER;
+    isChecksumTerm = false;
+    sentenceHasFix = false;
+    return false;
+
+  default: // ordinary characters
+    if (curTermOffset < sizeof(term) - 1)
+      term[curTermOffset++] = c;
+    if (!isChecksumTerm)
+      parity ^= c;
+    return false;
+  }
+
+  return false;
+}
+
+//
+// internal utilities
+//
+int TinyGPSPlus::fromHex(char a)
+{
+  if (a >= 'A' && a <= 'F')
+    return a - 'A' + 10;
+  else if (a >= 'a' && a <= 'f')
+    return a - 'a' + 10;
+  else
+    return a - '0';
+}
+
+// static
+// Parse a (potentially negative) number with up to 2 decimal digits -xxxx.yy
+int32_t TinyGPSPlus::parseDecimal(const char *term)
+{
+  bool negative = *term == '-';
+  if (negative) ++term;
+  int32_t ret = 100 * (int32_t)atol(term);
+  while (isdigit(*term)) ++term;
+  if (*term == '.' && isdigit(term[1]))
+  {
+    ret += 10 * (term[1] - '0');
+    if (isdigit(term[2]))
+      ret += term[2] - '0';
+  }
+  return negative ? -ret : ret;
+}
+
+// static
+// Parse degrees in that funny NMEA format DDMM.MMMM
+void TinyGPSPlus::parseDegrees(const char *term, RawDegrees &deg)
+{
+  uint32_t leftOfDecimal = (uint32_t)atol(term);
+  uint16_t minutes = (uint16_t)(leftOfDecimal % 100);
+  uint32_t multiplier = 10000000UL;
+  uint32_t tenMillionthsOfMinutes = minutes * multiplier;
+
+  deg.deg = (int16_t)(leftOfDecimal / 100);
+
+  while (isdigit(*term))
+    ++term;
+
+  if (*term == '.')
+    while (isdigit(*++term))
+    {
+      multiplier /= 10;
+      tenMillionthsOfMinutes += (*term - '0') * multiplier;
+    }
+
+  deg.billionths = (5 * tenMillionthsOfMinutes + 1) / 3;
+  deg.negative = false;
+}
+
+#define COMBINE(sentence_type, term_number) (((unsigned)(sentence_type) << 5) | term_number)
+
+// Processes a just-completed term
+// Returns true if new sentence has just passed checksum test and is validated
+bool TinyGPSPlus::endOfTermHandler()
+{
+  // If it's the checksum term, and the checksum checks out, commit
+  if (isChecksumTerm)
+  {
+    byte checksum = 16 * fromHex(term[0]) + fromHex(term[1]);
+    if (checksum == parity)
+    {
+      passedChecksumCount++;
+      if (sentenceHasFix)
+        ++sentencesWithFixCount;
+
+      switch(curSentenceType)
+      {
+      case GPS_SENTENCE_GPRMC:
+        date.commit();
+        time.commit();
+        if (sentenceHasFix)
+        {
+           location.commit();
+           speed.commit();
+           course.commit();
+        }
+        break;
+      case GPS_SENTENCE_GPGGA:
+        time.commit();
+        if (sentenceHasFix)
+        {
+          location.commit();
+          altitude.commit();
+        }
+        satellites.commit();
+        hdop.commit();
+        break;
+      }
+
+      // Commit all custom listeners of this sentence type
+      for (TinyGPSCustom *p = customCandidates; p != NULL && strcmp(p->sentenceName, customCandidates->sentenceName) == 0; p = p->next)
+         p->commit();
+      return true;
+    }
+
+    else
+    {
+      ++failedChecksumCount;
+    }
+
+    return false;
+  }
+
+  // the first term determines the sentence type
+  if (curTermNumber == 0)
+  {
+    if (!strcmp(term, _GPRMCterm) || !strcmp(term, _GNRMCterm))
+      curSentenceType = GPS_SENTENCE_GPRMC;
+    else if (!strcmp(term, _GPGGAterm) || !strcmp(term, _GNGGAterm))
+      curSentenceType = GPS_SENTENCE_GPGGA;
+    else
+      curSentenceType = GPS_SENTENCE_OTHER;
+
+    // Any custom candidates of this sentence type?
+    for (customCandidates = customElts; customCandidates != NULL && strcmp(customCandidates->sentenceName, term) < 0; customCandidates = customCandidates->next);
+    if (customCandidates != NULL && strcmp(customCandidates->sentenceName, term) > 0)
+       customCandidates = NULL;
+
+    return false;
+  }
+
+  if (curSentenceType != GPS_SENTENCE_OTHER && term[0])
+    switch(COMBINE(curSentenceType, curTermNumber))
+  {
+    case COMBINE(GPS_SENTENCE_GPRMC, 1): // Time in both sentences
+    case COMBINE(GPS_SENTENCE_GPGGA, 1):
+      time.setTime(term);
+      break;
+    case COMBINE(GPS_SENTENCE_GPRMC, 2): // GPRMC validity
+      sentenceHasFix = term[0] == 'A';
+      break;
+    case COMBINE(GPS_SENTENCE_GPRMC, 3): // Latitude
+    case COMBINE(GPS_SENTENCE_GPGGA, 2):
+      location.setLatitude(term);
+      break;
+    case COMBINE(GPS_SENTENCE_GPRMC, 4): // N/S
+    case COMBINE(GPS_SENTENCE_GPGGA, 3):
+      location.rawNewLatData.negative = term[0] == 'S';
+      break;
+    case COMBINE(GPS_SENTENCE_GPRMC, 5): // Longitude
+    case COMBINE(GPS_SENTENCE_GPGGA, 4):
+      location.setLongitude(term);
+      break;
+    case COMBINE(GPS_SENTENCE_GPRMC, 6): // E/W
+    case COMBINE(GPS_SENTENCE_GPGGA, 5):
+      location.rawNewLngData.negative = term[0] == 'W';
+      break;
+    case COMBINE(GPS_SENTENCE_GPRMC, 7): // Speed (GPRMC)
+      speed.set(term);
+      break;
+    case COMBINE(GPS_SENTENCE_GPRMC, 8): // Course (GPRMC)
+      course.set(term);
+      break;
+    case COMBINE(GPS_SENTENCE_GPRMC, 9): // Date (GPRMC)
+      date.setDate(term);
+      break;
+    case COMBINE(GPS_SENTENCE_GPGGA, 6): // Fix data (GPGGA)
+      sentenceHasFix = term[0] > '0';
+      break;
+    case COMBINE(GPS_SENTENCE_GPGGA, 7): // Satellites used (GPGGA)
+      satellites.set(term);
+      break;
+    case COMBINE(GPS_SENTENCE_GPGGA, 8): // HDOP
+      hdop.set(term);
+      break;
+    case COMBINE(GPS_SENTENCE_GPGGA, 9): // Altitude (GPGGA)
+      altitude.set(term);
+      break;
+  }
+
+  // Set custom values as needed
+  for (TinyGPSCustom *p = customCandidates; p != NULL && strcmp(p->sentenceName, customCandidates->sentenceName) == 0 && p->termNumber <= curTermNumber; p = p->next)
+    if (p->termNumber == curTermNumber)
+         p->set(term);
+
+  return false;
+}
+
+/* static */
+double TinyGPSPlus::distanceBetween(double lat1, double long1, double lat2, double long2)
+{
+  // returns distance in meters between two positions, both specified
+  // as signed decimal-degrees latitude and longitude. Uses great-circle
+  // distance computation for hypothetical sphere of radius 6372795 meters.
+  // Because Earth is no exact sphere, rounding errors may be up to 0.5%.
+  // Courtesy of Maarten Lamers
+  double delta = radians(long1-long2);
+  double sdlong = sin(delta);
+  double cdlong = cos(delta);
+  lat1 = radians(lat1);
+  lat2 = radians(lat2);
+  double slat1 = sin(lat1);
+  double clat1 = cos(lat1);
+  double slat2 = sin(lat2);
+  double clat2 = cos(lat2);
+  delta = (clat1 * slat2) - (slat1 * clat2 * cdlong);
+  delta = sq(delta);
+  delta += sq(clat2 * sdlong);
+  delta = sqrt(delta);
+  double denom = (slat1 * slat2) + (clat1 * clat2 * cdlong);
+  delta = atan2(delta, denom);
+  return delta * 6372795;
+}
+
+double TinyGPSPlus::courseTo(double lat1, double long1, double lat2, double long2)
+{
+  // returns course in degrees (North=0, West=270) from position 1 to position 2,
+  // both specified as signed decimal-degrees latitude and longitude.
+  // Because Earth is no exact sphere, calculated course may be off by a tiny fraction.
+  // Courtesy of Maarten Lamers
+  double dlon = radians(long2-long1);
+  lat1 = radians(lat1);
+  lat2 = radians(lat2);
+  double a1 = sin(dlon) * cos(lat2);
+  double a2 = sin(lat1) * cos(lat2) * cos(dlon);
+  a2 = cos(lat1) * sin(lat2) - a2;
+  a2 = atan2(a1, a2);
+  if (a2 < 0.0)
+  {
+    a2 += TWO_PI;
+  }
+  return degrees(a2);
+}
+
+const char *TinyGPSPlus::cardinal(double course)
+{
+  static const char* directions[] = {"N", "NNE", "NE", "ENE", "E", "ESE", "SE", "SSE", "S", "SSW", "SW", "WSW", "W", "WNW", "NW", "NNW"};
+  int direction = (int)((course + 11.25f) / 22.5f);
+  return directions[direction % 16];
+}
+
+void TinyGPSLocation::commit()
+{
+   rawLatData = rawNewLatData;
+   rawLngData = rawNewLngData;
+   lastCommitTime = millis();
+   valid = updated = true;
+}
+
+void TinyGPSLocation::setLatitude(const char *term)
+{
+   TinyGPSPlus::parseDegrees(term, rawNewLatData);
+}
+
+void TinyGPSLocation::setLongitude(const char *term)
+{
+   TinyGPSPlus::parseDegrees(term, rawNewLngData);
+}
+
+double TinyGPSLocation::lat()
+{
+   updated = false;
+   double ret = rawLatData.deg + rawLatData.billionths / 1000000000.0;
+   return rawLatData.negative ? -ret : ret;
+}
+
+double TinyGPSLocation::lng()
+{
+   updated = false;
+   double ret = rawLngData.deg + rawLngData.billionths / 1000000000.0;
+   return rawLngData.negative ? -ret : ret;
+}
+
+void TinyGPSDate::commit()
+{
+   date = newDate;
+   lastCommitTime = millis();
+   valid = updated = true;
+}
+
+void TinyGPSTime::commit()
+{
+   time = newTime;
+   lastCommitTime = millis();
+   valid = updated = true;
+}
+
+void TinyGPSTime::setTime(const char *term)
+{
+   newTime = (uint32_t)TinyGPSPlus::parseDecimal(term);
+}
+
+void TinyGPSDate::setDate(const char *term)
+{
+   newDate = atol(term);
+}
+
+uint16_t TinyGPSDate::year()
+{
+   updated = false;
+   uint16_t year = date % 100;
+   return year + 2000;
+}
+
+uint8_t TinyGPSDate::month()
+{
+   updated = false;
+   return (date / 100) % 100;
+}
+
+uint8_t TinyGPSDate::day()
+{
+   updated = false;
+   return date / 10000;
+}
+
+uint8_t TinyGPSTime::hour()
+{
+   updated = false;
+   return time / 1000000;
+}
+
+uint8_t TinyGPSTime::minute()
+{
+   updated = false;
+   return (time / 10000) % 100;
+}
+
+uint8_t TinyGPSTime::second()
+{
+   updated = false;
+   return (time / 100) % 100;
+}
+
+uint8_t TinyGPSTime::centisecond()
+{
+   updated = false;
+   return time % 100;
+}
+
+void TinyGPSDecimal::commit()
+{
+   val = newval;
+   lastCommitTime = millis();
+   valid = updated = true;
+}
+
+void TinyGPSDecimal::set(const char *term)
+{
+   newval = TinyGPSPlus::parseDecimal(term);
+}
+
+void TinyGPSInteger::commit()
+{
+   val = newval;
+   lastCommitTime = millis();
+   valid = updated = true;
+}
+
+void TinyGPSInteger::set(const char *term)
+{
+   newval = atol(term);
+}
+
+TinyGPSCustom::TinyGPSCustom(TinyGPSPlus &gps, const char *_sentenceName, int _termNumber)
+{
+   begin(gps, _sentenceName, _termNumber);
+}
+
+void TinyGPSCustom::begin(TinyGPSPlus &gps, const char *_sentenceName, int _termNumber)
+{
+   lastCommitTime = 0;
+   updated = valid = false;
+   sentenceName = _sentenceName;
+   termNumber = _termNumber;
+   memset(stagingBuffer, '\0', sizeof(stagingBuffer));
+   memset(buffer, '\0', sizeof(buffer));
+
+   // Insert this item into the GPS tree
+   gps.insertCustom(this, _sentenceName, _termNumber);
+}
+
+void TinyGPSCustom::commit()
+{
+   strcpy(this->buffer, this->stagingBuffer);
+   lastCommitTime = millis();
+   valid = updated = true;
+}
+
+void TinyGPSCustom::set(const char *term)
+{
+   strncpy(this->stagingBuffer, term, sizeof(this->stagingBuffer));
+}
+
+void TinyGPSPlus::insertCustom(TinyGPSCustom *pElt, const char *sentenceName, int termNumber)
+{
+   TinyGPSCustom **ppelt;
+
+   for (ppelt = &this->customElts; *ppelt != NULL; ppelt = &(*ppelt)->next)
+   {
+      int cmp = strcmp(sentenceName, (*ppelt)->sentenceName);
+      if (cmp < 0 || (cmp == 0 && termNumber < (*ppelt)->termNumber))
+         break;
+   }
+
+   pElt->next = *ppelt;
+   *ppelt = pElt;
+}

src/C++/Sensor/lib/src/TinyGPS++.h

@@ -0,0 +1,278 @@
+/*
+TinyGPS++ - a small GPS library for Arduino providing universal NMEA parsing
+Based on work by and "distanceBetween" and "courseTo" courtesy of Maarten Lamers.
+Suggestion to add satellites, courseTo(), and cardinal() by Matt Monson.
+Location precision improvements suggested by Wayne Holder.
+Copyright (C) 2008-2022 Mikal Hart
+All rights reserved.
+
+This library is free software; you can redistribute it and/or
+modify it under the terms of the GNU Lesser General Public
+License as published by the Free Software Foundation; either
+version 2.1 of the License, or (at your option) any later version.
+
+This library is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+Lesser General Public License for more details.
+
+You should have received a copy of the GNU Lesser General Public
+License along with this library; if not, write to the Free Software
+Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+*/
+
+#ifndef __TinyGPSPlus_h
+#define __TinyGPSPlus_h
+
+#if defined(ARDUINO) && ARDUINO >= 100
+#include "Arduino.h"
+#else
+#include "WProgram.h"
+#endif
+#include <limits.h>
+
+#define _GPS_VERSION "1.0.3" // software version of this library
+#define _GPS_MPH_PER_KNOT 1.15077945
+#define _GPS_MPS_PER_KNOT 0.51444444
+#define _GPS_KMPH_PER_KNOT 1.852
+#define _GPS_MILES_PER_METER 0.00062137112
+#define _GPS_KM_PER_METER 0.001
+#define _GPS_FEET_PER_METER 3.2808399
+#define _GPS_MAX_FIELD_SIZE 15
+
+struct RawDegrees
+{
+   uint16_t deg;
+   uint32_t billionths;
+   bool negative;
+public:
+   RawDegrees() : deg(0), billionths(0), negative(false)
+   {}
+};
+
+struct TinyGPSLocation
+{
+   friend class TinyGPSPlus;
+public:
+   bool isValid() const    { return valid; }
+   bool isUpdated() const  { return updated; }
+   uint32_t age() const    { return valid ? millis() - lastCommitTime : (uint32_t)ULONG_MAX; }
+   const RawDegrees &rawLat()     { updated = false; return rawLatData; }
+   const RawDegrees &rawLng()     { updated = false; return rawLngData; }
+   double lat();
+   double lng();
+
+   TinyGPSLocation() : valid(false), updated(false)
+   {}
+
+private:
+   bool valid, updated;
+   RawDegrees rawLatData, rawLngData, rawNewLatData, rawNewLngData;
+   uint32_t lastCommitTime;
+   void commit();
+   void setLatitude(const char *term);
+   void setLongitude(const char *term);
+};
+
+struct TinyGPSDate
+{
+   friend class TinyGPSPlus;
+public:
+   bool isValid() const       { return valid; }
+   bool isUpdated() const     { return updated; }
+   uint32_t age() const       { return valid ? millis() - lastCommitTime : (uint32_t)ULONG_MAX; }
+
+   uint32_t value()           { updated = false; return date; }
+   uint16_t year();
+   uint8_t month();
+   uint8_t day();
+
+   TinyGPSDate() : valid(false), updated(false), date(0)
+   {}
+
+private:
+   bool valid, updated;
+   uint32_t date, newDate;
+   uint32_t lastCommitTime;
+   void commit();
+   void setDate(const char *term);
+};
+
+struct TinyGPSTime
+{
+   friend class TinyGPSPlus;
+public:
+   bool isValid() const       { return valid; }
+   bool isUpdated() const     { return updated; }
+   uint32_t age() const       { return valid ? millis() - lastCommitTime : (uint32_t)ULONG_MAX; }
+
+   uint32_t value()           { updated = false; return time; }
+   uint8_t hour();
+   uint8_t minute();
+   uint8_t second();
+   uint8_t centisecond();
+
+   TinyGPSTime() : valid(false), updated(false), time(0)
+   {}
+
+private:
+   bool valid, updated;
+   uint32_t time, newTime;
+   uint32_t lastCommitTime;
+   void commit();
+   void setTime(const char *term);
+};
+
+struct TinyGPSDecimal
+{
+   friend class TinyGPSPlus;
+public:
+   bool isValid() const    { return valid; }
+   bool isUpdated() const  { return updated; }
+   uint32_t age() const    { return valid ? millis() - lastCommitTime : (uint32_t)ULONG_MAX; }
+   int32_t value()         { updated = false; return val; }
+
+   TinyGPSDecimal() : valid(false), updated(false), val(0)
+   {}
+
+private:
+   bool valid, updated;
+   uint32_t lastCommitTime;
+   int32_t val, newval;
+   void commit();
+   void set(const char *term);
+};
+
+struct TinyGPSInteger
+{
+   friend class TinyGPSPlus;
+public:
+   bool isValid() const    { return valid; }
+   bool isUpdated() const  { return updated; }
+   uint32_t age() const    { return valid ? millis() - lastCommitTime : (uint32_t)ULONG_MAX; }
+   uint32_t value()        { updated = false; return val; }
+
+   TinyGPSInteger() : valid(false), updated(false), val(0)
+   {}
+
+private:
+   bool valid, updated;
+   uint32_t lastCommitTime;
+   uint32_t val, newval;
+   void commit();
+   void set(const char *term);
+};
+
+struct TinyGPSSpeed : TinyGPSDecimal
+{
+   double knots()    { return value() / 100.0; }
+   double mph()      { return _GPS_MPH_PER_KNOT * value() / 100.0; }
+   double mps()      { return _GPS_MPS_PER_KNOT * value() / 100.0; }
+   double kmph()     { return _GPS_KMPH_PER_KNOT * value() / 100.0; }
+};
+
+struct TinyGPSCourse : public TinyGPSDecimal
+{
+   double deg()      { return value() / 100.0; }
+};
+
+struct TinyGPSAltitude : TinyGPSDecimal
+{
+   double meters()       { return value() / 100.0; }
+   double miles()        { return _GPS_MILES_PER_METER * value() / 100.0; }
+   double kilometers()   { return _GPS_KM_PER_METER * value() / 100.0; }
+   double feet()         { return _GPS_FEET_PER_METER * value() / 100.0; }
+};
+
+struct TinyGPSHDOP : TinyGPSDecimal
+{
+   double hdop() { return value() / 100.0; }
+};
+
+class TinyGPSPlus;
+class TinyGPSCustom
+{
+public:
+   TinyGPSCustom() {};
+   TinyGPSCustom(TinyGPSPlus &gps, const char *sentenceName, int termNumber);
+   void begin(TinyGPSPlus &gps, const char *_sentenceName, int _termNumber);
+
+   bool isUpdated() const  { return updated; }
+   bool isValid() const    { return valid; }
+   uint32_t age() const    { return valid ? millis() - lastCommitTime : (uint32_t)ULONG_MAX; }
+   const char *value()     { updated = false; return buffer; }
+
+private:
+   void commit();
+   void set(const char *term);
+
+   char stagingBuffer[_GPS_MAX_FIELD_SIZE + 1];
+   char buffer[_GPS_MAX_FIELD_SIZE + 1];
+   unsigned long lastCommitTime;
+   bool valid, updated;
+   const char *sentenceName;
+   int termNumber;
+   friend class TinyGPSPlus;
+   TinyGPSCustom *next;
+};
+
+class TinyGPSPlus
+{
+public:
+  TinyGPSPlus();
+  bool encode(char c); // process one character received from GPS
+  TinyGPSPlus &operator << (char c) {encode(c); return *this;}
+
+  TinyGPSLocation location;
+  TinyGPSDate date;
+  TinyGPSTime time;
+  TinyGPSSpeed speed;
+  TinyGPSCourse course;
+  TinyGPSAltitude altitude;
+  TinyGPSInteger satellites;
+  TinyGPSHDOP hdop;
+
+  static const char *libraryVersion() { return _GPS_VERSION; }
+
+  static double distanceBetween(double lat1, double long1, double lat2, double long2);
+  static double courseTo(double lat1, double long1, double lat2, double long2);
+  static const char *cardinal(double course);
+
+  static int32_t parseDecimal(const char *term);
+  static void parseDegrees(const char *term, RawDegrees &deg);
+
+  uint32_t charsProcessed()   const { return encodedCharCount; }
+  uint32_t sentencesWithFix() const { return sentencesWithFixCount; }
+  uint32_t failedChecksum()   const { return failedChecksumCount; }
+  uint32_t passedChecksum()   const { return passedChecksumCount; }
+
+private:
+  enum {GPS_SENTENCE_GPGGA, GPS_SENTENCE_GPRMC, GPS_SENTENCE_OTHER};
+
+  // parsing state variables
+  uint8_t parity;
+  bool isChecksumTerm;
+  char term[_GPS_MAX_FIELD_SIZE];
+  uint8_t curSentenceType;
+  uint8_t curTermNumber;
+  uint8_t curTermOffset;
+  bool sentenceHasFix;
+
+  // custom element support
+  friend class TinyGPSCustom;
+  TinyGPSCustom *customElts;
+  TinyGPSCustom *customCandidates;
+  void insertCustom(TinyGPSCustom *pElt, const char *sentenceName, int index);
+
+  // statistics
+  uint32_t encodedCharCount;
+  uint32_t sentencesWithFixCount;
+  uint32_t failedChecksumCount;
+  uint32_t passedChecksumCount;
+
+  // internal utilities
+  int fromHex(char a);
+  bool endOfTermHandler();
+};
+
+#endif // def(__TinyGPSPlus_h)

src/C++/Sensor/lib/src/TinyGPSPlus.h

@@ -0,0 +1,26 @@
+/*
+TinyGPSPlus - a small GPS library for Arduino providing universal NMEA parsing
+Based on work by and "distanceBetween" and "courseTo" courtesy of Maarten Lamers.
+Suggestion to add satellites, courseTo(), and cardinal() by Matt Monson.
+Location precision improvements suggested by Wayne Holder.
+Copyright (C) 2008-2013 Mikal Hart
+All rights reserved.
+
+This library is free software; you can redistribute it and/or
+modify it under the terms of the GNU Lesser General Public
+License as published by the Free Software Foundation; either
+version 2.1 of the License, or (at your option) any later version.
+
+This library is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+Lesser General Public License for more details.
+
+You should have received a copy of the GNU Lesser General Public
+License along with this library; if not, write to the Free Software
+Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+*/
+
+#ifndef __TinyGPSPlus_h
+#include "TinyGPS++.h"
+#endif

src/Python/flask/web/app.py

@@ -1,32 +1,91 @@
-from flask import Flask, request, render_template, jsonify
+from flask import Flask, request, render_template, jsonify, g
 import paho.mqtt.client as mqtt
+import mysql.connector 
 
 app = Flask(__name__)
 
+# Globale variabelen
+kobuki_message = ""
+latest_image = None
+
+# Globale MQTT setup
+def on_message(client, message):
+    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("localhost", 1883, 60)
+mqtt_client.username_pw_set("server", "serverwachtwoordofzo")
+mqtt_client.connect("localhost", 1884, 60)
 mqtt_client.loop_start()
+mqtt_client.subscribe("kobuki/data")
 
-@app.route('/', methods=["POST"])
+# Database connectie-functie
+def get_db():
+    if 'db' not in g:  # 'g' is specifiek voor een request en leeft zolang een request duurt
+        g.db = mysql.connector.connect(
+            host="127.0.0.1",
+            port=3306,
+            user="admin",
+            password="kobuki",
+            database="kobuki"
+        )
+    return g.db
+
+# Sluit de database na elke request
+@app.teardown_appcontext
+def close_db(error):
+    db = g.pop('db', None)
+    if db is not None:
+        db.close()
+
+@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():
-    # Get the direction from the form data
-    direction = request.form['direction']
-    
-    # Publish the direction to the MQTT topic "home/commands"
-    result = mqtt_client.publish("home/commands", direction)
-    
-    # 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
+    data = request.get_json()
+    direction = data.get("direction")
+
+    # Verstuur de richting via MQTT
+    if direction:
+        mqtt_client.publish("home/commands", direction)
+
+    db_connection = get_db()
+    cursor = db_connection.cursor()
+    sql = "INSERT INTO command (command) VALUES (%s)"
+    value = 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()
+    cursor = db.cursor()
+    cursor.execute("SELECT * FROM kobuki_data")
+    rows = cursor.fetchall()
+    cursor.close()
+    return str(rows)
 
-# Run the Flask application in debug mode
 if __name__ == '__main__':
-    app.run(debug=True)
+    app.run(debug=True, port=5000)

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

@@ -1,14 +1,41 @@
-window.onload = function () {
-  const form = document.getElementById("form");
-  form.onclick = function (event) {
-    event.preventDefault();
-    fetch("/move", {
-      method: "GET",
-    })
-      .then((response) => {})
-      .then(() => {
-        fetch
+document.querySelectorAll(".btn").forEach(button => {
+  button.addEventListener("click", async function(event) { // Maak de functie async
+    event.preventDefault(); // voorkomt pagina-verversing
+
+    // Haal de waarde van de knop op
+    const direction = event.target.value;
+
+    try {
+      const response = await fetch("/move", {
+        method: "POST",
+        headers: {
+          "Content-Type": "application/json"
+        },
+        body: JSON.stringify({ direction: direction })
       });
-  };
-};
-9
+      const data = await response.json();
+      console.log("Success:", data);
+    } catch (error) {
+      console.error("Error:", error);
+    }
+
+    // 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
+    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); // Voeg het element toe aan de container
+    }
+  });
+});
+

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

@@ -1,8 +1,8 @@
 body {
-    font-family: 'Poppins', sans-serif;
-    text-align: -webkit-center;
-    margin: 0;
-    padding: 0;
+  font-family: "Poppins", sans-serif;
+  text-align: -webkit-center;
+  margin: 0;
+  padding: 0;
 }
 
 /* This is my code for my navbar */
@@ -23,97 +23,148 @@ 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;
 }
 
 .connectButton {
-    border-radius: 10px;
-    height: 100%;
-    width: 100px;
-    box-shadow: none;
-    border: none;
-    font-size: 1rem;
-    height: 40px;
-    background-color: #b3ffb3;
-  }  
+  border-radius: 10px;
+  height: 100%;
+  width: 100px;
+  box-shadow: none;
+  border: none;
+  font-size: 1rem;
+  height: 40px;
+  background-color: #b3ffb3;
+}
 
 /* end navbar */
 
 .container {
-    display: flex;
-    justify-content: space-around;
-    align-items: center;
-    margin-top: 50px;
-    width: 80%;
-    background-color: white;
-    border-radius: 20px;
-    box-shadow: 0px 8px 16px rgba(0, 0, 0, 0.2);
-    padding: 40px;
+  display: flex;
+  justify-content: space-around;
+  align-items: center;
+  margin-top: 50px;
+  width: 80%;
+  background-color: white;
+  border-radius: 20px;
+  box-shadow: 0px 8px 16px rgba(0, 0, 0, 0.2);
+  padding: 40px;
 }
 .button-section {
-    position: relative;
-    width: 150px;
-    height: 150px;
+  position: relative;
+  width: 150px;
+  height: 150px;
 }
 
 .btn {
-    position: absolute;
-    background-color: #007BFF;
-    color: white;
-    border: none;
-    border-radius: 50%;
-    width: 60px;
-    height: 60px;
-    font-size: 1.2em;
-    text-align: center;
-    line-height: 60px;
-    cursor: pointer;
-    transition: transform 0.2s ease, background-color 0.2s ease;
+  position: absolute;
+  background-color: #007bff;
+  color: white;
+  border: none;
+  border-radius: 50%;
+  width: 60px;
+  height: 60px;
+  font-size: 1.2em;
+  text-align: center;
+  line-height: 60px;
+  cursor: pointer;
+  transition: transform 0.2s ease, background-color 0.2s ease;
 }
 
-/* Middenknop */
+.text{
+  width: 50%;
+}
+
+.image{
+  height: 100%;
+}
+
+.sectionHeight{
+  height: 200px;
+}
+
+/* Direction buttons */
 .btn:nth-child(1) {
-    top: 50%;
-    left: 50%;
-    transform: translate(-125%, -50%);
+  /* Left */
+  top: 50%;
+  left: 50%;
+  transform: translate(-160%, -50%);
 }
 
-/* Knop boven */
 .btn:nth-child(2) {
-    top: 0;
-    left: 50%;
-    transform: translateX(-50%);
+  /* Up */
+  top: 0;
+  left: 50%;
+  transform: translate(-50%, -35%);
 }
 
-/* Knop rechts */
 .btn:nth-child(3) {
-    top: 50%;
-    right: 0;
-    transform: translateY(-50%);
+  /* Right */
+  top: 50%;
+  right: 0;
+  transform: translate(35%, -50%);
 }
 
-/* Knop onder */
 .btn:nth-child(4) {
-    bottom: 0;
-    left: 50%;
-    transform: translateX(-50%);
+  /* Down */
+  bottom: 0;
+  left: 50%;
+  transform: translate(-50%, 35%);
 }
 
-/* Knop links */
 .btn:nth-child(5) {
-    top: 50%;
-    left: 0;
-    transform: translateY(-50%);
+  /* Stop Button */
+  top: 50%;
+  left: 50%;
+  transform: translate(-50%, -50%);
+  background-color: red; /* Distinct color for the stop button */
+  width: 60px; /* Slightly larger for emphasis */
+  height: 60px; /* Slightly larger for emphasis */
+  line-height: 60px; /* Center text vertically */
 }
 
+/* Hover effects */
 .btn:hover {
-    background-color: #0056b3;
-    /* transform: scale(1.1); */
+  background-color: #0056b3;
 }
 
 .btn:active {
-    background-color: #004494;
+  background-color: #004494;
+}
+
+.stop-button:hover {
+  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

@@ -8,8 +8,9 @@
     {% block head %}{% endblock %}
 </head>
 <body>
-    {% include 'navbar.html' %}   
+    {% include 'navbar.html' %}  
     {% block content %}
     {% endblock %}
+
 </body>
 </html>

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

@@ -0,0 +1,48 @@
+{% 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="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>
+        </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

@@ -1,30 +1,58 @@
-{%extends 'base.html'%} {%block head%} {%endblock%} {%block content%}
+{% 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>
+    <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="/" 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>
-        </form>
-      </div>
-    </div>
-    <div class="container">
-      <h1>Sensor Data</h1>
-    </div>
-    <script href="../static/script.js"></script>
+    <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>
+    </section>
+
+    {% include 'footer.html' %}
+
+    <script src="static/script.js"></script>
   </body>
 </html>
-
-{%endblock%}
+{% 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

teamdocumentatie/Ishak/etische_aspecten.md

@@ -0,0 +1,25 @@
+#  Etische aspecten van het project
+
+## Visie op de ethische aspecten van het Kobuki-project
+
+Etische aspecten zijn heel belangrijk in het project, al ben ik wel van mening dat je niet alles kan voorkomen en ook kan waarborgen.
+
+## Privacy
+
+Als je bijvoorbeeld kijkt naar het gedeelte privacy, dan is het heel moeilijk om te kijken wat je gaat doen met die gegevens. Ik ga een camera gebruiken op de robot om zo te kijken 
+waar de robot is en wat hij allemaal ziet. Als de robot in een brandende huis komt en dan een persoon ziet, is het wel belangrijk om die persoon goed te kunnen zien. Je zou dan niet kunnen zeggen dat je die persoon bijvoorbeeld moet vervagen, want je moet wel kunnen zien wat de status is van die persoon.
+Ook is het dan belangrijk om te kijken wat je met die gegevens gaat doen, ga je ze opslaan voor eventuele later gebruik of verwijder je ze direct. Het is heel lastig te bepalen wanneer je op zo een moment privacy schendt. 
+
+## Betrouwbaarheid
+
+Ik vind dat je de betrouwbaarheid van de robot wel moet waarborgen,
+want als ik de robot in een brandend huis stuur en hij valt uit, dan kan dat heel gevaarlijk zijn voor de persoon die in dat huis zit. Daar vind ik dat je meer rekening mee moet houden dan met de privacy van de persoon. Het is de bedoeling dat de robot hulpmedewerkers gaat helpen en niet hun werk moeilijker maakt.
+
+## Impact op hulpverleners & maatschappij
+
+Als meerdere hulpmedewerkers de robot gaan gebruiken en het word een soort van standaard, dan is het wel belangrijk dat de robot betrouwbaar is en dat je erop kan vertrouwen. Het gaat immers om mensenlevens en dat is wel het belangrijkste. Het is uiteindelijk de bedoeling dat de robot hulpverleners zal helpen en niet hun werk lastiger moet maken. Als de robot een standaard hulpmiddel wordt moet hij wel gebruiksvriendelijk zijn en goed kunnen helpen. De robot moet ook zo goed mogelijk werken om zo de vertrouwen te behouden van de mensen. Als de robot fouten blijft maken en niet betrouwbaar is zullen minder mensen het gebruiken. Ik vind dan ook dat de gebruik van de robot heel transparant moet zijn. Hoe word de robot aangestuurd, hoe vergelijkt hij situaties en hoe hij daarmee omgaat. 
+Als je daar al heel duidelijk in bent bouw je al wat sneller vertrouwen van de mensen op. 
+
+Ik vind dat in dit project de ethische aspecten heel belangrijk zijn en dat je daar ook rekening mee moet houden. 
+Bij betrouwbaarheid en de impact die de robot kan hebben op de maatschappij en de hulpverleners moet je wel goed over nadenken. 
+Je werkt immers met mensenlevens en dat is wel het belangrijkste. Privacy is ook heel belangrijk, maar ik vind dat je daar wel wat soepeler mee om kan gaan.

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/motivatie.md

@@ -0,0 +1,21 @@
+Motivation Letter
+
+16/12/2024
+
+Cognizant Digital StudioAttn. Hayo Rubingh
+
+Subject: Internship Application Cognizant Digital Studio
+
+Dear Mr. Rubingh,
+
+With great enthusiasm, I am applying for the internship position at Cognizant Digital Studio in Amsterdam. As a second-year bachelor’s student in Technische Informatica(Computer Science) at Hogeschool Van Amsterdam, I am seeking a challenging internship where I can combine my technical skills with my passion for innovation. Cognizant’s focus  IoT, and technology prototypes fits perfectly with my interests .
+
+Throughout my studies, I have gained experience in software development, including Python and JavaScript, and have worked with IoT devices such as Arduino/ESP. What drives me is the opportunity to create and develop new solutions that can make life easier and more efficient. I am particularly interested in the field of IoT and the possibilities it offers for creating smart solutions. I am eager to learn more about the latest technologies and how they can be applied in real-world projects.
+
+I am available to start in February 2025 and look forward to contributing to innovative projects.
+
+I would be delighted to discuss my motivation and experience further in a personal interview. You can find my contact details in my CV. Thank you for considering my application. I am looking forward to hearing from you.
+
+Yours sincerely,
+
+Ishak Jmilou

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
+# 

teamdocumentatie/Ishak/verslag.md

@@ -0,0 +1,64 @@
+![alt text](images/image.png)
+
+# Welke communicatieprotocol geeft de mogelijkheid om veilig en betrouwbaar te communiceren tussen IoT apparaten?
+
+Auteur: Ishak Jmilou
+
+Datum: 17-12-2024
+
+
+
+---
+
+
+## Inleiding
+
+In dit verslag wordt er gekeken naar de verschillende communicatieprotocollen die gebruikt kunnen worden om veilig en betrouwbaar te communiceren tussen IoT apparaten. Er wordt gekeken naar de verschillende protocollen en de voor- en nadelen van elk protocol.
+
+---
+
+# Samenvatting
+
+In dit verslag worden de communicatieprotocollen MQTT, HTTP, WebSockets en CoAP vergeleken op het gebied van veilige en betrouwbare communicatie tussen IoT-apparaten. Veilige communicatie omvat gegevensversleuteling en authenticatie, terwijl betrouwbaarheid verwijst naar het verzenden en ontvangen van gegevens zonder verlies. Op basis van deze overwegingen wordt MQTT aanbevolen voor situaties waar zowel veiligheid als betrouwbaarheid cruciaal zijn in IoT-communicatie.
+
+## 1. Wat houdt veilige en betrouwbare communicatie tussen apparaten in?
+
+Als je werkt met IoT-apparaten, is het belangrijk dat de communicatie tussen deze apparaten veilig en betrouwbaar is. Iot-apparaten verzamelen gegevens over de omgeving en communiceert deze tussen apparaten over het internet. Als deze communicatie niet veilig is, kunnen hackers deze gegevens onderscheppen en gebruiken(Ministerie van Algemene Zaken, 2022). Je wilt voorkomen dat hackers toegang krijgen tot gevoelige informatie zoals persoonlijke gegevens of bedrijfsgeheimen. Daarom is het belangrijk dat de communicatie tussen apparaten veilig en betrouwbaar is. Een protocol is een set regels die bepalen hoe apparaten met elkaar communiceren. Er zijn verschillende protocollen die gebruikt kunnen worden om veilig en betrouwbaar te communiceren tussen IoT-apparaten.
+
+## 2. Welke protocollen zijn er om veilig en betrouwbaar te communiceren tussen apparaten?
+
+Een communicatieprotocol is een set regels die bepalen hoe apparaten met elkaar communiceren(Paul Christiano, 2023). Er is voor elk project een ander protocol dat het beste past. In dit geval is het belangrijk dat de communicatie veilig en betrouwbaar is. De protocollen die ik ga vergelijken zijn MQTT, HTTP, WebSockets en CoAP. Wat belangrijk is om te onderzoeken is hoe de protocollen omgaan met veiligheid en betrouwbaarheid. Veiligheid kan worden bereikt door gegevens te versleutelen en te authenticeren. Betrouwbaarheid kan worden bereikt door gegevens te verzenden en te ontvangen zonder verlies.(Paul Christiano, 2023).
+
+## 3. Wat zijn de voor- en nadelen van de verschillende protocollen?
+
+![alt text](image.png)
+
+Zoals te zien is in de tabel is CoAP minder betrouwbaar dan de andere protocollen. Dit komt, omdat CoAP gebruik maakt van UDP wat ervoor zorgt dat het sneller is maar niet betrouwbaar met de berichten die hij stuurt(Darek Fanton, 2023). Websockets is een goede protocol alleen is het niet altijd geschikt voor lichtgewicht apparaten. HTTP maakt gebruik van TCP wat betrouwbaar is, maar het nadeel van HTTP is dat het elke keer een nieuwe verbinding moet maken. Dit kan een probleem zijn als je veel berichten moet versturen. MQTT is een lichtgewicht protocol dat betrouwbaar is en verschillende niveaus van kwaliteit van de berichten ondersteunt. Het is ook mogelijk om gegevens te versleutelen en te authenticeren met MQTT. Dit maakt het een goede keuze voor veilige en betrouwbare communicatie tussen IoT-apparaten.
+
+## 4. Conclusie
+
+Er zijn verschillende protocollen die goed gebruikt kunnen worden voor IoT apparaten. Aangezien voor mijn project veiligheid en betrouwbaarheid op één staat heb ik gekozen voor MQTT. Dit protocol is lichtgewicht, betrouwbaar en ondersteunt verschillende niveaus van kwaliteit van de berichten. Het is ook mogelijk om gegevens te versleutelen en te authenticeren met MQTT. Dit maakt het een goede keuze voor veilige en betrouwbare communicatie tussen IoT-apparaten.
+
+## literatuurlijst
+
+- 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
+
+- Darek Fanton(2024, Juli 11). 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
+
+- Ministerie van Algemene Zaken. (2022, February 8). Hoe kan ik slimme apparaten veilig gebruiken? Rijksoverheid.nl. https://www.rijksoverheid.nl/onderwerpen/bescherming-van-consumenten/vraag-en-antwoord/hoe-kan-ik-slimme-apparaten-veilig-gebruiken