jason19970210 / temi-ros

TAIROA ROS-based 機器人創新應用提案

Temi-ROS

Project Web & System Monitor

• https://cgutemi.nctu.me

Environment & Tools

• Ubuntu 18.04
  • MQTT Broker
  • Redis DB Server
  • Redis Web GUI Console
  • NodeJS
  • Python
    • Sub MQTT & Write Data into Redis DB
• Temi Robot
  • Java
    • MQTT Client

Installation

Ubuntu

• MQTT

  • Broker

    $ sudo apt update -y && sudo apt install -y mosquitto

    • Enable Service

      $ sudo systemctl enable mosquitto

  • Client

    $ sudo apt update -y && sudo apt install -y mosquitto-clients

• Redis

  $ sudo apt update -y && sudo apt install redis-server -y

  • Enable Service

    $ sudo systemctl enable redis-server.service

  • Config

    $ sudo vim /etc/redis/redis.conf

    bind 0.0.0.0
    # port (default 6379)
    # requirepass <password>
    stop-writes-on-bgsave-error no
    

• NodeJS

  • Node & NPM

    $ sudo apt update -y && sudo apt install nodejs -y

• Python

  • Python v2.7

    $ sudo apt install python -y

  • Python v3.6+
    • MQTT Client

      $ pip3 install paho-mqtt

    • redis

      $ pip3 install redis

Connect to Temi

• Install Android Studio

• Install ADB (Android Debug Bridge)

  • Windows
    1. Download SDK Platform-Tools
  • MacOS
    • Via Homebrew
      1. Make sure brew is installed
      2. $ brew cask install android-platform-tools
    • Mannual
      1. (Optional) If installed before, run this command $ rm -rf ~/.android-sdk-macosx/ to delete previous document
      2. Download SDK Platform-Tools https://developer.android.com/studio/releases/platform-tools
      3. Add environment variables

      $ echo 'export PATH=$PATH:~/.android-sdk-macosx/platform-tools/' >> ~/.bash_profile
      $ echo 'export PATH="$PATH:<PWD>/platform-tools"' >> ~/.zshrc
      
      # ex.
      $ echo 'export PATH="$PATH:$HOME/development/platform-tools"' >> ~/.zshrc

      or change .bash_profile to the active shell config such as zsh config .zshrc 4. Source the rc file

      $ source ~/.zshrc

• Open Temi ADB Connection Port

  Settings -> temi Developer Tools -> ADB Port Opening

• Connect

  # Default Port : 5555
  $ adb connect ip:port
  
  $ adb devices # check connection
  
  $ adb logcat | grep D\ <TAG>
  
  $ adb shell
  
  $ adb disconnect

APIs

• Getting Brand List
  • Method : GET
  • Parameters : BrandList_ID
  • Usage : https://cgutemi.nctu.me/BrandLists/<ID>
• Getting Special Events & News
  • Method : GET
  • Parameters : Null
  • Usage : https://cgutemi.nctu.me/events

Database - RedisDB

• Table [0] : Robot Utils & Status

  • Key : S/N
    • Value : Data JSON Format

  S/N	Status	Time	MAC_Addr	SSID	IP Addr	RSSI	Battery_Info	Charging_Status
  								Boolean

• Table [1] : Robot Status Log

  • Key : S/N
    • Field : Date, Time
      • Value : Data JSON Format

• Table [2] : 櫃位引導(Brand Guide)

  Brand_ID	Brand_Name	Brand_URL	Brand_Logo	Brand_Description	Brand_Location	Ask_Counter
  			URL

• Table [3] : 活動列表(Activity List)

  Time	Activity_Name	Provider_ID	ProviderName	DM_Sources	TTL
  				List

• Table [4] : Coupon List

  Time	Coupon_Number	Amount	TTL

• Table [5] : User Data

  UserID	UserName	UserPhone	UserMail

Andriod (On Temi)

• IDE : Android Studio (v4.0)
• Language : Java
• System Target : Android Version 6 Marshmallow (API 23)
• Screen Spec : 10.1" inches, 1920x1200(px), 224dpi >> Officail Web Spec

How to send data periodly ?

// Make app running specified function in a period
// https://www.itread01.com/p/1358274.html

final int time = 1000  ; // set period time (ms)
final Handler handler = new Handler();
Runnable runnable = new Runnable(){
    @Override
    public void run() {
        // Add function(s) or something eles here

        handler.postDelayed(this, time);// time ms後執行this,即runable
    }
};
handler.postDelayed(runnable, time);// 開啟定時器,time ms後執行runnable操作

Getting Temi Util Info

• Serial Number
• Current Time
• MAC Address
• IP Address
• SSID
• RSSI (Connection Strength)
• Memory
  • System Memory
    • totalMem
    • availMem
    • usedMem = totalMem - availMem
  • Runtime Memory
    • maxMemory
    • totalMemory
    • freeMemory
    • usedMemory = totalMemory - freeMemory
• Battery
  • BatteryLevel
  • isCharging

Push the message to MQTT Server

public static void publishUtilTOMqtt(String content){ // Void function without return value (ex. string, int ...

        String broker = "tcp://ip:1883";
        String clientId = "Temi";
        MemoryPersistence persistence = new MemoryPersistence();
        String topic = "test/sub_topic"; // or "test/+" to subscribe the sub topic

        // Setting mqtt connection quaility
        // https://swf.com.tw/?p=1015
        int qos = 0;

        Log.d(TAG, "message: " + content);

        try {
            MqttClient sampleClient = new MqttClient(broker, clientId, persistence);
            MqttConnectOptions connOpts = new MqttConnectOptions();
            connOpts.setCleanSession(true);
            //Log.d(TAG, "Connecting to broker: " + broker);
            sampleClient.connect(connOpts);
            Log.d(TAG, "Connected");
            //Log.d(TAG, "Publishing message: " + content);
            MqttMessage message = new MqttMessage(content.getBytes());
            message.setQos(qos);
            sampleClient.publish(topic, message);
            Log.d(TAG, "Message published");
            sampleClient.disconnect();
            //Log.d(TAG, "Disconnected");
            //System.exit(0);
        } catch (MqttException me) {
            Log.e(TAG, String.valueOf(me));
            Log.d(TAG, "reason: " + me.getReasonCode());
            Log.d(TAG, "msg: " + me.getMessage());
            Log.d(TAG, "loc: " + me.getLocalizedMessage());
            Log.d(TAG, "cause: " + me.getCause());
            Log.d(TAG, "excep " + me);
            me.printStackTrace();
        }
    }

Python + MQTT + Redis

• Connect to MQTT Server & Subcribe to Topic
• Connect to Redis & I/O Data

Python + Redis >> Redis Admin Manage Webpage

• Clone from github
• Setup on http://ip:8085
• Can be access from http://cgutemi.nctu.me

Backend Server & Frontend

• NodeJS
  • Install Node & NPM(Node Package Manager)

Realtime System Monitor

• Connect to MQTT Server
• Subscribe to Topic
• Start a socket to communicate between server (backend) & webpage (frontend)

Domain Name

• Apply from NCTU free domain : https://nctu.me/
  • No longer support !! (from 2020/10)

Ref

[1] https://oranwind.org/-edge-zai-ubuntu-an-zhuang-mosquitto-mqtt-broker-part-2/
[2] https://www.digitalocean.com/community/tutorials/how-to-install-and-secure-redis-on-ubuntu-20-04
[3] https://www.digitalocean.com/community/tutorials/how-to-install-node-js-on-ubuntu-20-04