Tracking

.gitignore

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+
+computer vis/Human detection/yolov3.weights
+*.xml
+*.weights

Tracking/BLE-ESP32/BLE_client/BLE_client.ino

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+/**
+ * A BLE client example that is rich in capabilities.
+ * There is a lot new capabilities implemented.
+ * author unknown
+ * updated by chegewara
+ */
+
+#include "BLEDevice.h"
+//#include "BLEScan.h"
+
+// The remote service we wish to connect to.
+static BLEUUID serviceUUID("adabfb00-6e7d-4601-bda2-bffaa68956ba");
+// The characteristic of the remote service we are interested in.
+static BLEUUID    charUUID("adabfb02-6e7d-4601-bda2-bffaa68956ba");
+
+static boolean doConnect = false;
+static boolean connected = false;
+static boolean doScan = false;
+static BLERemoteCharacteristic* pRemoteCharacteristic;
+static BLEAdvertisedDevice* myDevice;
+
+static void notifyCallback(
+  BLERemoteCharacteristic* pBLERemoteCharacteristic,
+  uint8_t* pData,
+  size_t length,
+  bool isNotify) {
+    Serial.print("Notify callback for characteristic ");
+    Serial.print(pBLERemoteCharacteristic->getUUID().toString().c_str());
+    Serial.print(" of data length ");
+    Serial.println(length);
+    Serial.print("data: ");
+    Serial.println((char*)pData);
+}
+
+class MyClientCallback : public BLEClientCallbacks {
+  void onConnect(BLEClient* pclient) {
+  }
+
+  void onDisconnect(BLEClient* pclient) {
+    connected = false;
+    Serial.println("onDisconnect");
+  }
+};
+
+bool connectToServer() {
+    Serial.print("Forming a connection to ");
+    Serial.println(myDevice->getAddress().toString().c_str());
+
+    BLEClient*  pClient  = BLEDevice::createClient();
+    Serial.println(" - Created client");
+
+    pClient->setClientCallbacks(new MyClientCallback());
+
+    // Connect to the remove BLE Server.
+    pClient->connect(myDevice);  // if you pass BLEAdvertisedDevice instead of address, it will be recognized type of peer device address (public or private)
+    Serial.println(" - Connected to server");
+    pClient->setMTU(517); //set client to request maximum MTU from server (default is 23 otherwise)
+
+    // Obtain a reference to the service we are after in the remote BLE server.
+    BLERemoteService* pRemoteService = pClient->getService(serviceUUID);
+    if (pRemoteService == nullptr) {
+      Serial.print("Failed to find our service UUID: ");
+      Serial.println(serviceUUID.toString().c_str());
+      pClient->disconnect();
+      return false;
+    }
+    Serial.println(" - Found our service");
+
+
+    // Obtain a reference to the characteristic in the service of the remote BLE server.
+    pRemoteCharacteristic = pRemoteService->getCharacteristic(charUUID);
+    if (pRemoteCharacteristic == nullptr) {
+      Serial.print("Failed to find our characteristic UUID: ");
+      Serial.println(charUUID.toString().c_str());
+      pClient->disconnect();
+      return false;
+    }
+    Serial.println(" - Found our characteristic");
+
+    // Read the value of the characteristic.
+    if(pRemoteCharacteristic->canRead()) {
+      std::string value = pRemoteCharacteristic->readValue();
+      Serial.print("The characteristic value was: ");
+      Serial.println(value.c_str());
+    }
+
+    if(pRemoteCharacteristic->canNotify())
+      pRemoteCharacteristic->registerForNotify(notifyCallback);
+
+    connected = true;
+    return true;
+}
+/**
+ * Scan for BLE servers and find the first one that advertises the service we are looking for.
+ */
+class MyAdvertisedDeviceCallbacks: public BLEAdvertisedDeviceCallbacks {
+ /**
+   * Called for each advertising BLE server.
+   */
+  void onResult(BLEAdvertisedDevice advertisedDevice) {
+    Serial.print("BLE Advertised Device found: ");
+    Serial.println(advertisedDevice.toString().c_str());
+
+    // We have found a device, let us now see if it contains the service we are looking for.
+    if (advertisedDevice.haveServiceUUID() && advertisedDevice.isAdvertisingService(serviceUUID)) {
+
+      BLEDevice::getScan()->stop();
+      myDevice = new BLEAdvertisedDevice(advertisedDevice);
+      doConnect = true;
+      doScan = true;
+
+    } // Found our server
+  } // onResult
+}; // MyAdvertisedDeviceCallbacks
+
+
+void setup() {
+  Serial.begin(115200);
+  Serial.println("Starting Arduino BLE Client application...");
+  BLEDevice::init("");
+
+  // Retrieve a Scanner and set the callback we want to use to be informed when we
+  // have detected a new device.  Specify that we want active scanning and start the
+  // scan to run for 5 seconds.
+  BLEScan* pBLEScan = BLEDevice::getScan();
+  pBLEScan->setAdvertisedDeviceCallbacks(new MyAdvertisedDeviceCallbacks());
+  pBLEScan->setInterval(1349);
+  pBLEScan->setWindow(449);
+  pBLEScan->setActiveScan(true);
+  pBLEScan->start(5, false);
+} // End of setup.
+
+
+// This is the Arduino main loop function.
+void loop() {
+
+  // If the flag "doConnect" is true then we have scanned for and found the desired
+  // BLE Server with which we wish to connect.  Now we connect to it.  Once we are 
+  // connected we set the connected flag to be true.
+  if (doConnect == true) {
+    if (connectToServer()) {
+      Serial.println("We are now connected to the BLE Server.");
+    } else {
+      Serial.println("We have failed to connect to the server; there is nothin more we will do.");
+    }
+    doConnect = false;
+  }
+
+  // If we are connected to a peer BLE Server, update the characteristic each time we are reached
+  // with the current time since boot.
+  if (connected) {
+    String newValue = "Time since boot: " + String(millis()/1000);
+    Serial.println("Setting new characteristic value to \"" + newValue + "\"");
+
+    // Set the characteristic's value to be the array of bytes that is actually a string.
+    pRemoteCharacteristic->writeValue(newValue.c_str(), newValue.length());
+  }else if(doScan){
+    BLEDevice::getScan()->start(0);  // this is just example to start scan after disconnect, most likely there is better way to do it in arduino
+  }
+
+  delay(1000); // Delay a second between loops.
+} // End of loop

Tracking/BLE-ESP32/Magnetometer/Compass/Compass.ino

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+/*
+   e-Gizmo QMC5883L GY-271 Compass
+
+   Sample sketch for the GY-271 QMC5883L
+   for getting the raw data of x, y, z and
+   Radius in degrees.
+
+   Codes by e-Gizmo Mechatronix Central
+   http://www.e-gizmo.com
+   July 10,2017
+
+*/
+
+
+#include <Arduino.h>
+#if defined(ESP32)
+  #include <WiFi.h>
+#elif defined(ESP8266)
+  #include <ESP8266WiFi.h>
+#endif
+#include <Firebase_ESP_Client.h>
+
+//Provide the token generation process info.
+#include "addons/TokenHelper.h"
+//Provide the RTDB payload printing info and other helper functions.
+#include "addons/RTDBHelper.h"
+
+
+#include <Wire.h>
+#include <QMC5883L.h>
+
+QMC5883L compass;
+
+// Insert your network credentials
+#define WIFI_SSID "paya1"
+#define WIFI_PASSWORD "naina123"
+
+// Insert Firebase project API Key
+#define API_KEY "AIzaSyA3sxz8LTLgtvdkvBAaLvZO7gBLqzuLM_A"
+
+// Insert RTDB URLefine the RTDB URL */
+#define DATABASE_URL "https://rudra-x-default-rtdb.firebaseio.com/" 
+
+//Define Firebase Data object
+FirebaseData fbdo;
+
+FirebaseAuth auth;
+FirebaseConfig config;
+
+unsigned long sendDataPrevMillis = 0;
+int count = 0;
+bool signupOK = false;
+
+
+const int trigPin1 = 15;
+const int echoPin1 = 2;
+
+
+//define sound speed in cm/uS
+#define SOUND_SPEED 0.034
+#define CM_TO_INCH 0.393701
+
+long duration1;
+float distanceCm1;
+float distanceInch;
+
+
+void setup(){
+  Serial.begin(115200);
+  pinMode(trigPin1, OUTPUT); // Sets the trigPin as an Output
+  pinMode(echoPin1, INPUT); // Sets the echoPin as an Input
+  WiFi.begin(WIFI_SSID, WIFI_PASSWORD);
+  Serial.print("Connecting to Wi-Fi");
+  while (WiFi.status() != WL_CONNECTED){
+    Serial.print(".");
+    delay(300);
+  }
+  Serial.println();
+  Serial.print("Connected with IP: ");
+  Serial.println(WiFi.localIP());
+  Serial.println();
+
+  /* Assign the api key (required) */
+  config.api_key = API_KEY;
+
+  /* Assign the RTDB URL (required) */
+  config.database_url = DATABASE_URL;
+
+  /* Sign up */
+  if (Firebase.signUp(&config, &auth, "", "")){
+    Serial.println("ok");
+    signupOK = true;
+  }
+  else{
+    Serial.printf("%s\n", config.signer.signupError.message.c_str());
+  }
+
+  /* Assign the callback function for the long running token generation task */
+  config.token_status_callback = tokenStatusCallback; //see addons/TokenHelper.h
+
+  Firebase.begin(&config, &auth);
+  Firebase.reconnectWiFi(true);
+
+  Wire.begin();
+  compass.init();
+}
+
+
+void loop() {
+  int x,y,z;
+  compass.read(&x,&y,&z);
+
+ // Calculate heading when the magnetometer is level, then correct for signs of axis.
+  // Atan2() automatically check the correct formula taking care of the quadrant you are in
+  float heading = atan2(y, x);
+
+  float declinationAngle = 0.0404;
+  heading += declinationAngle;
+  // Find yours here: http://www.magnetic-declination.com/
+
+   // Correct for when signs are reversed.
+  if(heading < 0)
+    heading += 2*PI;
+
+  // Check for wrap due to addition of declination.
+  if(heading > 2*PI)
+    heading -= 2*PI;
+
+  // Convert radians to degrees for readability.
+  float headingDegrees = heading * 180/M_PI; 
+
+
+  Serial.print("x: ");
+  Serial.print(x);
+  Serial.print("    y: ");
+  Serial.print(y);
+  Serial.print("    z: ");
+  Serial.print(z);
+  Serial.print("    heading: ");
+  Serial.print(heading);
+  Serial.print("    Radius: ");
+  Serial.print(headingDegrees);
+  Serial.println();
+
+  if (Firebase.ready() && signupOK && (millis() - sendDataPrevMillis > 100 || sendDataPrevMillis == 0)){
+    sendDataPrevMillis = millis();
+    // Write an Int number on the database path test/int
+    if (Firebase.RTDB.setInt(&fbdo, "magnet/dir", headingDegrees)){
+      Serial.println("PASSED");
+      Serial.println("PATH: " + fbdo.dataPath());
+      Serial.println("TYPE: " + fbdo.dataType());
+    }
+    else {
+      Serial.println("FAILED");
+      Serial.println("REASON: " + fbdo.errorReason());
+    }
+  }
+  delay(100);
+}

Tracking/BLE-ESP32/Magnetometer/mag_example/jscript.h

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+const String javascript PROGMEM = " $(document).ready(function(){\r\n"
+            "  setInterval(getData,1000);\r\n"
+            " function getData(){\r\n"
+            "  $.ajax({\r\n"
+            "  type:\"GET\",\r\n"
+            "  url:\"data\",\r\n"
+            "  success: function(data){\r\n"
+            "  $('#heading-value').val(data);\r\n"
+            "  theta = data - 90;\r\n"
+            "  $('#arrow').css({'transform' : 'rotate('+ theta +'deg)'});\r\n"
+            "}\r\n"
+            "}).done(function() {\r\n"
+            " console.log('ok'); "
+            "})\r\n"
+            "}\r\n"
+            "});";