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https://github.com/perinim/smartapple-thesis

MSc Mechatronics Engineering - Thesis
https://github.com/perinim/smartapple-thesis

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MSc Mechatronics Engineering - Thesis

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README 

          
# IoT Sensor System for Fruit Stress Monitoring in Apple Grading Industrial Processes



The project aims to develop a system to monitor the stress of apples during the grading process in industrial plants. The system is composed of three main components: the Smart Apple, the IoT Gateway, and the IoT Server. The Smart Apple is a low-cost IoT device placed inside a real apple that measures the accelerations and angular velocities of the fruit and sends the data to the IoT Gateway. The IoT Gateway is a Raspberry Pi that collects the data from the Smart Apples and sends it to the IoT Server. The IoT Server is a Raspberry Pi that stores the data in a InfluxDB database and provides a web interface to visualize the data with some impact analyses. The system is designed to be scalable and easy to deploy in industrial environments.



# Operational steps



## Option 1 - Only Master



- Run directly the script located in data-analysis/acquisition_app.py

- It will start looking for Smart Apples (Arduino Nicla) with a known MAC address and start the streaming of the BLE packets

- We can save the data in a local csv (by setting the save2local flag), send it to a MQTT server (by setting the send2mqtt flag) or save it directly in the InfluxDB database (by setting the send2influxdb flag). You can also decide to activate all of them at the same time

- The data saved in InfluxDB can be retrieve using the master-raspberry/test/pull_influxdb.py script (be careful of the timestamp since there is no RTC module in the Raspberry Pi and therefore it would be the best to take the last few hours or minutes instead of specifying a range).



## Option 2 - Slave & Master



- **Raspberry Pi Master**

    - Run the script located in master-raspberry/app/main.py

    - It will start listening to the MQTT topic and when some data is received, it will push them to the InfluxDB database

- **Raspberry Pi Slave**

    - Run the script located in slave-raspberry/app/main.py

    - It will start looking for Smart Apples (Arduino Nicla) with a known MAC address and start the streaming of the BLE packets

    - After receiving some packets, it will write them on the MQTT topic

- The data saved in InfluxDB can be retrieve using the master-raspberry/test/pull_influxdb.py script (be careful of the timestamp since there is no RTC module in the Raspberry Pi and therefore it would be the best to take the last few hours or minutes instead of specifying a range)



# Raspberry Pi 4 Set-up



## Common Set-up



### Set-up Modem

- Enable only 2.4 GHz with a 20MHz bandwidth (disable automatic switching from 20MHz to 40MHz)

- Fix the wifi channel and disable the automatic switching

### Installing OS

- Install [Raspberry Pi Imager](https://www.raspberrypi.com/software/) and open it

- Press **CTRL+Shift+X** and modify the preferences enabling the WI-FI options

- If using the modem provided by the lab the credentials are:

    

    ```bash

    ssid: UNITN-SHIELD4US-WIFI

    password: 

    ```

    

- Enable SSH options and give a username and password, such as:

    

    ```bash

    user: pi

    hostname: raspPi01

    password: raspberry

    ```

    

- Select **RASPBERRY PI OS (64-BIT)**

- Press **WRITE** to flash the micro-SD

- If you want to add new wifi credentials, you can create a wpa_supplicant.conf file and place it in the root of the sd, with this content:

    ```bash

    ctrl_interface=DIR=/var/run/wpa_supplicant GROUP=netdev

    update_config=1

    

    network={

        ssid="UNITN-SHIELD4US-WIFI"

        psk=""

        id_str="portable_router"

    }

    

    network={

        ssid="PROVA-SSID"

        psk="PASSWORD"

        id_str="prova_access_point"

    }

    ```

### Update BLE stack

- I have found that the bluez version **5.66** works better than others, so let’s update it (my current raspberry kernel is **6.1.21-v8+,** [Troubleshooting — bleak 0.21.1 documentation](https://bleak.readthedocs.io/en/latest/troubleshooting.html))

    

    ```bash

    # download new version

    wget http://www.kernel.org/pub/linux/bluetooth/bluez-5.66.tar.xz

    

    # extract it and go inside the folder

    tar xvf bluez-5.66.tar.xz

    cd bluez-5.66

    

    # install or update necessary dependencies

    sudo apt-get install libdbus-1-dev libglib2.0-dev libudev-dev libical-dev libreadline-dev

    

    # configure, compile and install

    ./configure --prefix=/usr --mandir=/usr/share/man --sysconfdir=/etc --localstatedir=/var --enable-experimental

    make

    sudo make install

    

    # restart the bluetooth services

    sudo systemctl daemon-reload

    sudo systemctl restart bluetooth

    

    # check bluez version

    bluetoothd -v

    # check kernel version

    uname -r

    

    # remove tar and folder

    cd ..

    rm bluez-5.66 -r && rm bluez-5.66.tar.xz

    ```

    

### Disable Wifi Power Management

    

Sometimes the Raspberry disconnects on its own from the network when it is in idle. To avoid this problem we can disable the wifi power management.



- Disable it temporally

    

    ```bash

    # check if it is on

    iwconfig wlan0 | grep "Power Management"

    # disable it

    sudo iwconfig wlan0 power off

    ```

    

- To disable it every time on start-up set-up a systemctl daemon

    

    ```bash

    # create a file

    sudo nano /etc/systemd/system/wifi-power-management.service

    

    # content of file

    [Unit]

    Description=Disable power management for wifi

    

    [Service]

    ExecStart=/sbin/iwconfig wlan0 power off

    Type=oneshot

    

    [Install]

    WantedBy=multi-user.target

    

    # save the file and enable the service

    sudo systemctl enable wifi-power-management.service

    # if you want to start it right away

    sudo systemctl start wifi-power-management.service

    ```

    

### Dependencies Installation

- update and upgrade packages

    

    ```bash

    sudo apt-get update 

    sudo apt-get upgrade

    ```

    

- clone github repo and install the dependencies

    

    ```bash

    # clone repo

    # insert github username and password (public token) if requested

    git clone https://github.com/PeriniM/SmartApple-Thesis.git

    

    # run bash to install everything and select whether the device is a Gateway or Server

    cd ./SmartApple-Thesis

    sudo chmod +x setup.sh

    ./setup.sh

    ```

    

- to discard local changes and fetch updated github repo

    

    ```bash

    git fetch --all

    git reset --hard origin/main

    ```

    



## IoT Gateway



### Using External Bluetooth Antenna

- the antenna must be compatible with bluetooth 5.0 to support BLE

- disable built-in interface to use the external antenna

        

    ```bash

    # check built-in interface name

    hciconfig

    

    # disable it to use new one

    sudo hciconfig hci0 down

    ```

        

### Run script on boot



## IoT Server



### Docker Influxdb, Grafana and Mosquitto

    

The following commands will set-up influxdb and grafana to run on boot inside a docker container



- install docker

        

    ```bash

    # install docker

    curl -sSL https://get.docker.com | sh

    sudo usermod -aG docker pi

    

    # reboot

    sudo reboot

    

    # install docker compose

    # sudo apt-get install libffi-dev libssl-dev

    # sudo apt-get install -y python python-pip

    sudo pip install docker-compose

    ```

        

- create the container

        

    ```bash

    # go inside the project folder and create the containers

    docker-compose up -d --build

    

    # stop the running containers

    docker-compose down

    ```

        

- if you get errors while installing, you need to set up the DNS properly

        

    ```bash

    # Open the systemd-resolved configuration file

    sudo nano /etc/systemd/resolved.conf

    # uncomment the DNS line and add the google ip

    DNS=8.8.8.8 8.8.4.4

    # restart the service

    sudo systemctl restart systemd-resolved

    # to verify the new DNS conf

    systemd-resolve --status

    ```

        

- to run on boot

        

    ```bash

    # create a systemd service file

    sudo nano /etc/systemd/system/docker-compose-app.service

    

    # content of the file

    [Unit]

    Description=Docker Compose Application Service

    Requires=docker.service

    After=docker.service

    

    [Service]

    WorkingDirectory=/home/pi/Desktop/SmartApple-Thesis

    ExecStart=/usr/local/bin/docker-compose up

    ExecStop=/usr/local/bin/docker-compose down

    TimeoutStartSec=0

    Restart=always

    RemainAfterExit=yes

    

    [Install]

    WantedBy=multi-user.target

    

    # reload systemd to read the new service

    sudo systemctl daemon-reload

    

    # enable the service to run on boot

    sudo systemctl enable docker-compose-app.service

    

    # start, stop, status service command

    sudo systemctl start docker-compose-app.service

    sudo systemctl stop docker-compose-app.service

    sudo systemctl status docker-compose-app.service

    ```

        

- if you make some changes to the docker-compose.yml

        

    ```bash

    # before making changes stop the service

    sudo systemctl stop docker-compose-app.service

    # apply changes to docker-compose file and run

    docker-compose up -d

    # restart systemctl service

    sudo systemctl restart docker-compose-app.service

    # to see if everything is good

    docker-compose logs

    ```

        

- to stop and remove all the containers

        

    ```bash

    docker container stop $(docker container ls -aq)

    docker container prune -f

    ```

        

### Set datetime

- If not accessed to internet to set manually the time we can use:

        

    ```bash

    sudo date -s '2024-01-26 13:04:00’

    ```

        

### Run script on boot



## Extras



### Enabling VNC

1. Connect through SSH using a terminal or Putty

    

    ```bash

    ssh pi@raspberrypi.local

    password: raspberry

    ```

    

2. Update the dependencies, create a folder for autoboot applications and install LXSession

    

    ```bash

    sudo apt-get update

    sudo mkdir -p /etc/xdg/autostart/

    sudo apt-get install lxsession

    ```

    

3. Open the options interface using ***sudo raspi-config*** and set the following to enable the GUI remote control:

    1. System Options > Boot / Auto Login > Desktop Autologin

    2. Display Options > VNC Resolution > 1920x1080

    3. Interface Options > VNC

4. Reboot with ***sudo reboot***

5. Download VNC Viewer, create an account and use the IP address of the raspberry to connect remotely to the GUI. To discover your device IP use the following command:

    

    ```bash

    ifconfig

    --OR--

    hostname -I

    ```

    

### Install Node-RED

    

```bash

bash <(curl -sL https://raw.githubusercontent.com/node-red/linux-installers/master/deb/update-nodejs-and-nodered)

# to start local server

node-red-pi --max-old-space-size=256

```

    

### Raspberry Pi Zero W (WORKING)

1. Install the OS

2. Check if the bluetooth interface is available and enable BLE features

        

    ```bash

    # install bluetooth dependencies ([here](https://github.com/noble/noble))

    sudo apt-get install bluetooth bluez libbluetooth-dev libudev-dev

    # check if hci is available

    hcitool dev

    # check if bluetooth service is active

    sudo systemctl status bluetooth

    # if not, active it with

    sudo systemctl start bluetooth

    # open bluetooth.service file and add the --experimental flag for BLE

    sudo nano /lib/systemd/system/bluetooth.service

    'ExecStart=/usr/local/libexec/bluetooth/bluetoothd --experimental'

    

    # reload the configuration and restart the service

    sudo systemctl daemon-reload

    sudo systemctl restart bluetooth

    

    # set bluetoothd permission (found [here](https://flows.nodered.org/node/node-red-contrib-generic-ble))

    sudo usermod -G bluetooth -a pi

    

    # start/stop BLE advertising without sudo (found [here](https://flows.nodered.org/node/node-red-contrib-ble-sense))

    sudo setcap cap_net_raw+eip $(eval readlink -f `which node`)

    

    # reboot

    sudo reboot

    ```

        

3. Install Node-RED

4. Install **node-red-contrib-ble-sense** module and **dashboard**

        

### Install BLE dependencies on Raspberry Pi 3 (NOT WORKING)

- To upgrade or downgrade bluez package (guide [here](https://learn.adafruit.com/install-bluez-on-the-raspberry-pi/installation)):

        

    ```bash

    # install latest bluez version (check [here](http://www.bluez.org/download/))

    cd ~

    wget http://www.kernel.org/pub/linux/bluetooth/bluez-5.66.tar.xz

    tar xvf bluez-5.66.tar.xz && cd bluez-5.66

    

    # install dependencies

    sudo apt-get update

    sudo apt-get install -y libusb-dev libdbus-1-dev libglib2.0-dev libudev-dev libical-dev libreadline-dev

    

    # set configure method

    ./configure --enable-library

    

    # compile

    make

    

    # install package

    sudo make install

    

    # reboot

    sudo reboot

    

    # make the service start from boot

    sudo systemctl enable bluetooth

    

    # open bluetooth.service file and add the --experimental flag for BLE

    sudo nano /lib/systemd/system/bluetooth.service

    'ExecStart=/usr/local/libexec/bluetooth/bluetoothd --experimental'

    

    # reload the configuration and restart the service

    sudo systemctl daemon-reload

    sudo systemctl restart bluetooth

    

    # reboot

    sudo reboot

    ```

        

- To enable bluetooth:

        

    ```bash

    # set bluetoothd permission (found [here](https://flows.nodered.org/node/node-red-contrib-generic-ble))

    sudo usermod -G bluetooth -a pi

    sudo reboot

    

    # start/stop BLE advertising without sudo (found [here](https://flows.nodered.org/node/node-red-contrib-ble-sense))

    sudo setcap cap_net_raw+eip $(eval readlink -f `which node`)

    

    # install bluetooth dependencies

    sudo apt-get install bluetooth bluez libbluetooth-dev libudev-dev

    

    # check if bluetooth service is active

    sudo systemctl status bluetooth

    # if not, active it with

    sudo systemctl start bluetooth

    ```

        

### Bluez Raspberry Problem

- Install bleak (in a virtual environment or globally with sudo)

- When I run the python script with the bleak test it works only one time

- From the second time a get this error

    

    ```bash

    (env) pi@raspberrypi4:~/Desktop/Smart-Apple $ python test-ble.py

    Traceback (most recent call last):

      File "/home/pi/Desktop/Smart-Apple/test-ble.py", line 42, in 

        asyncio.run(run(address))

      File "/usr/lib/python3.9/asyncio/runners.py", line 44, in run

        return loop.run_until_complete(main)

      File "/usr/lib/python3.9/asyncio/base_events.py", line 642, in run_until_complete

        return future.result()

      File "/home/pi/Desktop/Smart-Apple/test-ble.py", line 36, in run

        async with BleakClient(address) as client:

      File "/home/pi/Desktop/Smart-Apple/env/lib/python3.9/site-packages/bleak/__init__.py", line 565, in __aenter__

        await self.connect()

      File "/home/pi/Desktop/Smart-Apple/env/lib/python3.9/site-packages/bleak/__init__.py", line 605, in connect

        return await self._backend.connect(**kwargs)

      File "/home/pi/Desktop/Smart-Apple/env/lib/python3.9/site-packages/bleak/backends/bluezdbus/client.py", line 249, in connect

        assert_reply(reply)

      File "/home/pi/Desktop/Smart-Apple/env/lib/python3.9/site-packages/bleak/backends/bluezdbus/utils.py", line 22, in assert_reply

        raise BleakDBusError(reply.error_name, reply.body)

    bleak.exc.BleakDBusError: [org.bluez.Error.Failed] Software caused connection abort

    ```

    

- if I create a new virtual environment and run the script it works the first time and then stops working the following times

- I tried removing the /var/lib/bluetooth directory but without success

- Reinstalling bleak didnt work

    

    #### **Solution**



    Installing bluepy with libglib fixes the dependencies

        

    ```bash

    sudo apt-get install libglib2.0-dev

    sudo pip install bluepy

    ```