add comment lines and docker files

robot/.dockerignore

+node_modules
+start_robot_coaty_agent.sh

robot/.env

+# The Coaty MQTT Broker URL
+# BROKER_URL=mqtt://localhost:1883
+# BROKER_URL=mqtt://10.200.4.129:1883
+# BROKER_URL=mqtt://broker.hivemq.com:1883
+BROKER_URL=mqtt://10.0.33.39:1883
+BROKER_USERNAME=iiotlabadmin
+BROKER_PASSWORD=iiotlabadmin
+

robot/Dockerfile

-FROM alpine:3.10
+FROM ros:noetic-robot
 
-WORKDIR /opt/thing
+WORKDIR /opt/robot
 
-# change local date time to Europe/Berlin
-RUN apk add tzdata && \
-    cp /usr/share/zoneinfo/Europe/Berlin /etc/localtime && \
-    echo "Europe/Berlin" > /etc/timezone
+# update. upgrade packages
+RUN apt-get update && \
+    apt-get upgrade -y
 
-# update. upgrade packages and install nodejs and npm
-RUN apk update && \
-    apk upgrade && \
-    apk add --no-cache linux-headers python3 py3-pip python3-dev make g++ nodejs npm curl sudo bash git && \
-    pip3 install setuptools wheel pyserial adafruit-io
+# install required linux packages
+RUN apt-get install -y apt-utils python3.8 python3-pip python3-dev make g++ nodejs npm curl \
+    sudo bash nano git python3-rospy libraspberrypi-bin libraspberrypi-dev
 
-# copy sensor files
+# install required python packages
+RUN pip3 install --upgrade setuptools wheel pyserial adafruit-io \
+        numpy Pillow tflite_runtime matplotlib opencv-python
+
+# copy files
 COPY . .
 
-RUN pip3 install -r python/requirements.txt
+# run entrypoint file
+RUN bash -c "chmod +x entrypoint.sh && ./entrypoint.sh"
 
 # install dependencies, build and run the application
-RUN npm install && \
-    npm run build
+RUN npm install
+
+RUN npm run build
 
 CMD npm start

robot/entrypoint.sh

+#!/bin/bash
+
+# set ros network parameters
+echo "export ROS_MASTER_URI=http://10.0.33.39:11311" >> ~/.bashrc && \
+    echo "export ROS_HOSTNAME=10.0.33.47" >> ~/.bashrc && \
+    echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc && \
+    source ~/.bashrc
+
+# install raspicam_node ros node
+cd ~ && \
+    mkdir -p catkin_ws && cd catkin_ws && mkdir -p src && cd src && \
+    source /opt/ros/noetic/setup.bash && \
+    git clone https://github.com/UbiquityRobotics/raspicam_node.git && \
+    echo "yaml https://raw.githubusercontent.com/UbiquityRobotics/rosdep/master/raspberry-pi.yaml" >> /etc/ros/rosdep/sources.list.d/20-default.list && \
+    rosdep update && \
+    cd .. && rosdep install --from-paths src --ignore-src --rosdistro=noetic -y && \
+    catkin_make
+
+# install sensor_msgs ros package
+roslocate info sensor_msgs > /tmp/sensor_msgs.rosinstall && \
+    rosinstall /opt/ros/noetic /tmp/sensor_msgs.rosinstall
+
+sed -i 's/yaml.load/yaml.safe_load/g' /opt/ros/noetic/setup.sh
+
+# source ros runnables
+source /opt/ros/noetic/setup.bash

robot/package.json

@@ -3,7 +3,7 @@
   "version": "1.0.0",
   "description": "Mobile IoT thing",
   "scripts": {
-    "build": "tsc ./src/**/**.ts --outDir ./build",
+    "build": "gulp build",
     "lint": "gulp lint",
     "lint:fix": "gulp lint:fix",
     "start": "node -r dotenv/config dist/agent/agent.js"

robot/src/controller/sensor-things-controller.ts

@@ -20,7 +20,6 @@ import {
     Thing,
 } from "@coaty/core/sensor-things";
 import * as sensor_config from "../sensor";
-import * as dhtSensorDriver from "node-dht-sensor";
 
 /**
  * Handles registration of sensor objects.
@@ -110,7 +109,7 @@ export class SensorThingsController extends SensorSourceController {
             metadata: {
                 building: {
                     name: "HT",
-                    address: "Mies-van-der-Rohe-Straße 6, 80807 München"
+                    address: "Mies-van-der-Rohe-Straße 6, 80807 München",
                 },
                 floor: "15",
                 room: "1",

robot/src/driver/occupancy/occupancy.py

@@ -15,7 +15,6 @@ import time
 import cv2
 from object_detector import ObjectDetector
 from object_detector import ObjectDetectorOptions
-import utils
 
 import rospy
 import argparse
@@ -69,6 +68,7 @@ def detect(image: Image) -> None:
                 person_count = person_count + 1
 
     print(person_count)
+    sys.stdout.flush()
     # Calculate the FPS
     # if counter % fps_avg_frame_count == 0:
     #     end_time = time.time()

robot/src/sensor/occupancy.ts

@@ -2,14 +2,14 @@
  * Copyright (C) 2021 fortiss GmbH
  * @author Erkan Karabulut – {@link "karabulut@fortiss.org"}
  * @version 1.0
- * Describing an air quality sensor and reading data from it
+ * Describing an occupancy sensor and reading data from it
  */
 
 import {ObservationTypes, Sensor, SensorEncodingTypes, SensorThingsTypes} from "@coaty/core/sensor-things";
 import {spawn} from "child_process";
 
 /**
- * Describes the Grove air quality sensor and runs the sensor driver to read observations
+ * Describes the occupancy sensor and runs the sensor driver to read observations
  */
 export class Occupancy {
     _value: number = 0;
@@ -19,11 +19,11 @@ export class Occupancy {
     }
 
     /**
-     * describe the air quality sensor
+     * describe the occupancy sensor
      * @param parentObjectId: IoT thing object ID
      */
     public _getSensorConfig(parentObjectId: string) {
-        const airQualitySensor: Sensor = {
+        const occupancySensor: Sensor = {
             name: "Camera sensor",
             objectId: "17f98945-4a78-41b0-84f0-bb9a4a807b13",
             objectType: SensorThingsTypes.OBJECT_TYPE_SENSOR,
@@ -45,7 +45,7 @@ export class Occupancy {
             metadata: {},
         };
 
-        return airQualitySensor;
+        return occupancySensor;
     }
 
     public _getValue() {
@@ -58,9 +58,9 @@ export class Occupancy {
      * @private
      */
     private _listenSensorData() {
-        const airQualitySensor = spawn("python3", [__dirname + "/../../src/driver/occupancy/occupancy.py",
+        const occupancySensor = spawn("python3", [__dirname + "/../../src/driver/occupancy/occupancy.py",
             "--model", __dirname + "/../../src/driver/occupancy/efficientdet_lite0.tflite"]);
-        airQualitySensor.stdout.on("data", (data) => {
+        occupancySensor.stdout.on("data", (data) => {
             this._value = parseFloat(Buffer.from(data).toString());
         });
     }