Semester Project at REACT lab, EPFL

Note: Only the main files are represented.

	/home/pi/raspweb/
	├── flaskberry/
	│     ├── web_server.py               
	│     ├── blueprints
	│     ├── static/
	│     │     ├── dist/
	│     │     │     ├── css/
	│     │     │     └── js/
	│     │     │          └──pages/
	│     │     │               └── chartsConfig.js
	│     │     └── recordings/
	│     │           ├── sensor_folder/
	│     │           │    └── sensor_record.csv
	│     │           ├── single_file.csv
	│     │           └── last.zip	
	│     └── templates/
	│           ├── EtestSocket.html
	│           └── charts.html
	├── local/
	│     ├── sensors scripts
	│     └── mqtt_SensorsClient.py       
	├── extra/
	│     └──getData.py
	├── .venv/
	├── MANIFEST.in
	├── requirements.txt
	├── requirementsLocal.txt
	└── setup.py	

The old modules that used the local server can be found in extra/web_socketsOLD.py and extra/local_server.py.

The first installation requires an internet connection, possibly via ethernet cable since the WiFi module will be used to create another network.

Install the last operating system (Raspberry Pi OS with Desktop image) on a Micro SD.

To make NumPy work, install the following package:

sudo apt-get install libatlas-base-dev

Install the following packages:

 sudo apt-get install -y python-smbus
 sudo apt-get install -y i2c-tools

Open:

sudo raspi-config 

and go to : interface options -> enable I2C

Reboot, then test the connection:

sudo i2cdetect -y 1

This should show the I2C address in use (0x68)

Open:

sudo nano /boot/config.txt

and uncomment the line:

dtparam=spi=on

Add the following line after the previous one:

dtoverlay=mcp2515-can0,oscillator=16000000,interrupt=24

Reboot and check that SPI and CAN modules were started:

dmesg | grep -i spi
dmesg | grep -i can

Install the utils to receive and send data:

sudo apt-get install can-utils

Add to /etc/network/interface the following lines to automatically start the CAN interface at boot. The bitrate must match the Arduino/motors speed:

auto can0
iface can0 inet manual
        pre-up /sbin/ip link set $IFACE type can bitrate 250000
        up /sbin/ifconfig $IFACE up
        down /sbin/ifconfig $IFACE down

Listen to all the incoming messages to check if everything works:

candump any

Follow the official guide to set up the Network: https://www.raspberrypi.org/documentation/configuration/wireless/access-point-routed.md.
Note: The Raspberry IP must be 192.168.4.1, the same as in the tutorial.

Follow this guide to install the Mosquitto Broker: https://randomnerdtutorials.com/how-to-install-mosquitto-broker-on-raspberry-pi/

The Brick Daemon is necessary to connect the TinkerForge IMU. It can be downloaded from here: https://www.tinkerforge.com/en/doc/Software/Brickd.html

Create a virtual environment .venvin /home/pi/raspweb and activate it:

mkdir raspweb
cd raspweb
python3 -m venv /home/pi/raspweb/.venv
source .venv/bin/activate

Install all the requirements:

pip install -r requirements.txt
pip install -r requirementsLocal.txt

Finally, install the Flask application:

pip install -e .

This step is optional, it creates a script to automatically run the commands sequence required to start the MQTT client and the Flask server.
In /home/pi/create a new file startFlaskberry.sh with the following content:

pkill python
source /home/pi/raspweb/.venv/bin/activate
python3 /home/pi/raspweb/local/mqtt_sensorsClient.py &
python3 /home/pi/raspweb/flaskberry/web_server.py

Note: If the Razor IMU does not start, try to add i2cdetect -y 1 right after pkill python.

Then, make it executable:

chmod +x startFlaskberry.sh

To test everything, run startFlaskberry.sh and go to 192.168.4.1:5000 : You should see the incoming messages.