├── docs ├── test.jpg ├── test_ocv.jpg ├── email_node.png ├── flow_email.png ├── flow_mqtt.png ├── raspberry_scheme.png ├── screenshot_email_ocv.png ├── screenshot_flow_ocv.png └── arduino_pushbutton_servo.png ├── fifth_iteration ├── test.jpg └── face_detection.py ├── arduino ├── getting_started_1.png ├── getting_started_2.png ├── getting_started_3.png ├── getting_started_4.png ├── getting_started_5.png ├── web_editor_import.png └── add_to_my_sketchbook.PNG ├── sixth_iteration ├── start_docker_opencv.ino ├── docker_image_files │ ├── Dockerfile │ └── camera.py └── flows.json ├── first_iteration ├── pushbutton.py └── pushbutton_event.py ├── second_iteration └── flows.json ├── fourth_iteration └── test.py ├── third_iteration ├── pushbutton_http_post.ino └── flows.json ├── seventh_iteration ├── flows.json └── arduino_button_servo_mqtt.ino ├── README.md └── LICENSE /docs/test.jpg: -------------------------------------------------------------------------------- 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https://raw.githubusercontent.com/arduino/arduino-edge-container-demo/master/docs/arduino_pushbutton_servo.png -------------------------------------------------------------------------------- /sixth_iteration/start_docker_opencv.ino: -------------------------------------------------------------------------------- 1 | int interval = 15000; void setup() { CloudSerial.begin(9600); // initialize the monitor of the Arduino Web Editor } void loop() { System.runShellCommand("docker start face_detection"); //start the docker container with opencv CloudSerial.println("docker started"); // print on the monitor delay(interval); } -------------------------------------------------------------------------------- /sixth_iteration/docker_image_files/Dockerfile: -------------------------------------------------------------------------------- 1 | FROM sgtwilko/rpi-raspbian-opencv:stretch-latest 2 | 3 | Run mkdir -p /usr/scr/ocv_face_detection 4 | RUN mkdir /data 5 | 6 | WORKDIR /usr/src/ocv_face_detection 7 | 8 | COPY camera.py /usr/src/ocv_face_detection 9 | COPY haarcascade_frontalface_alt.xml /usr/src/ocv_face_detection 10 | 11 | CMD [ "python", "camera.py" ] 12 | -------------------------------------------------------------------------------- /first_iteration/pushbutton.py: -------------------------------------------------------------------------------- 1 | import RPi.GPIO as GPIO 2 | 3 | GPIO.setwarnings(False) 4 | GPIO.setmode(GPIO.BOARD) # Imposta la numerazione fisica dei pin 5 | GPIO.setup(8, GPIO.IN, pull_up_down=GPIO.PUD_DOWN) # Imposta il pin 8 come input e lo imposta inizialmente ad off 6 | 7 | while True: 8 | if GPIO.input(8) == GPIO.HIGH: # Quando viene premuto il tasto 9 | print("Bottone premuto") 10 | -------------------------------------------------------------------------------- /second_iteration/flows.json: -------------------------------------------------------------------------------- 1 | [{"id":"51091760.f0e6c8","type":"tab","label":"Flow 1"},{"id":"1d8ec7b9.5652b","type":"rpi-gpio in","z":"51091760.f0e6c8","name":"button","pin":"8","intype":"tri","debounce":"25","read":false,"x":135.5,"y":83,"wires":[["d5e15015.36d69"]]},{"id":"d5e15015.36d69","type":"debug","z":"51091760.f0e6c8","name":"","active":true,"console":"false","complete":"false","x":294.5,"y":81,"wires":[]}] -------------------------------------------------------------------------------- /first_iteration/pushbutton_event.py: -------------------------------------------------------------------------------- 1 | import RPi.GPIO as GPIO 2 | 3 | def button_callback(channel): # Funzione che verrà chiamata al verificarsi di un evento 4 | print("Bottone Premuto") 5 | 6 | GPIO.setwarnings(False) 7 | GPIO.setmode(GPIO.BOARD) # Imposta la numerazione fisica dei pin 8 | GPIO.setup(8, GPIO.IN, pull_up_down=GPIO.PUD_DOWN) # Imposta il pin 8 come input e lo imposta inizialmente ad off 9 | 10 | GPIO.add_event_detect(8, GPIO.RISING, callback=button_callback) # Aggiunge la funzione button_callback all'evento legato al pin 8 11 | 12 | message = input("Press enter to quit\n\n") 13 | GPIO.cleanup() 14 | -------------------------------------------------------------------------------- /fourth_iteration/test.py: -------------------------------------------------------------------------------- 1 | import cv2 2 | 3 | camera_port = 0 # number of your camera port 4 | ramp_frames = 15 # number of frames to skip (to take a better photo) 5 | camera = cv2.VideoCapture(camera_port) # initialize the camera 6 | 7 | 8 | def get_image(): 9 | return_value, image = camera.read() # take the photo 10 | return image # return the photo 11 | 12 | 13 | for i in range(ramp_frames): # skips some frames to take a better photo 14 | temp = get_image() 15 | print("Taking image...") 16 | camera_capture = get_image() # take the photo 17 | print("Done!") 18 | file = "/data/opencv.png" # path to save the photo 19 | cv2.imwrite(file, camera_capture) # save the photo 20 | del(camera) 21 | -------------------------------------------------------------------------------- /third_iteration/pushbutton_http_post.ino: -------------------------------------------------------------------------------- 1 | int buttonPin = 8; // the number of the pushbutton pin int buttonState = 0; // variable for reading the pushbutton status void setup() { pinMode(buttonPin, INPUT); // initialize the pushbutton pin as an input: CloudSerial.begin(9600); // initialize the monitor of the Arduino Web Editor } void loop() { buttonState = digitalRead(buttonPin); // read the state of the pushbutton value: if (buttonState == HIGH) { // if the button is pressed // run a shell command to make an HTTP POST System.runShellCommand("curl -s -X POST -d 'button=pressed' http://127.0.0.1:1880/button"); CloudSerial.println("button pressed"); // print on the monitor } delay(1); // delay in between reads for stability } -------------------------------------------------------------------------------- /seventh_iteration/flows.json: -------------------------------------------------------------------------------- 1 | [{"id":"95d4dd1.4ee76a","type":"mqtt in","z":"920b2d0.c740c5","name":"","topic":"/arduino/button","qos":"0","broker":"81c0449e.57cd1","x":120,"y":60,"wires":[["f3c267bb.a62aa8","4c3ebb3f.5e03e4"]]},{"id":"f3c267bb.a62aa8","type":"debug","z":"920b2d0.c740c5","name":"","active":true,"tosidebar":true,"console":false,"tostatus":false,"complete":"payload","x":470,"y":60,"wires":[]},{"id":"4c3ebb3f.5e03e4","type":"mqtt out","z":"920b2d0.c740c5","name":"","topic":"/arduino/servo","qos":"0","retain":"","broker":"81c0449e.57cd1","x":480,"y":140,"wires":[]},{"id":"81c0449e.57cd1","type":"mqtt-broker","z":"","name":"Mosquitto","broker":"10.130.22.201","port":"1883","clientid":"raspi","usetls":false,"compatmode":true,"keepalive":"60","cleansession":true,"birthTopic":"","birthQos":"0","birthPayload":"","closeTopic":"","closeQos":"0","closePayload":"","willTopic":"","willQos":"0","willPayload":""}] 2 | -------------------------------------------------------------------------------- /third_iteration/flows.json: -------------------------------------------------------------------------------- 1 | [{"id":"ed318932.b4fb9","type":"tab","label":"Flow 1","disabled":false,"info":""},{"id":"a1bfb361.3362","type":"http in","z":"ed318932.b4fb9","name":"","url":"/button","method":"post","upload":false,"swaggerDoc":"","x":110,"y":60,"wires":[["3ea5556f.777ea2"]]},{"id":"70c38949.b803a8","type":"debug","z":"ed318932.b4fb9","name":"","active":true,"tosidebar":true,"console":false,"tostatus":false,"complete":"true","x":530,"y":180,"wires":[]},{"id":"3e3a9eb0.53514a","type":"http response","z":"ed318932.b4fb9","name":"","statusCode":"","headers":{},"x":530,"y":60,"wires":[]},{"id":"262f06a2.f6f29a","type":"e-mail","z":"ed318932.b4fb9","server":"smtp.gmail.com","port":"465","secure":true,"name":"","dname":"","x":530,"y":120,"wires":[]},{"id":"3ea5556f.777ea2","type":"function","z":"ed318932.b4fb9","name":"Compose e-mail","func":"msg.topic = \"Pushbutton\";\nmsg.payload = \"Someone pressed my button!\\n\";\nreturn msg;","outputs":1,"noerr":0,"x":330,"y":60,"wires":[["70c38949.b803a8","262f06a2.f6f29a","3e3a9eb0.53514a"]]}] -------------------------------------------------------------------------------- /fifth_iteration/face_detection.py: -------------------------------------------------------------------------------- 1 | import cv2 2 | import sys 3 | import os 4 | 5 | 6 | def detect_faces(f_cascade, colored_img, scaleFactor=1.1): 7 | img_copy = colored_img.copy() # create a copy of the image 8 | gray = cv2.cvtColor(img_copy, cv2.COLOR_BGR2GRAY) # convert image to grey scale for opencv 9 | faces = f_cascade.detectMultiScale(gray, scaleFactor=scaleFactor, minNeighbors=5) # detect multiscale: some faces can be closer 10 | print('Faces found: ', len(faces)) # print faces found 11 | for (x, y, w, h) in faces: 12 | cv2.rectangle(img_copy, (x, y), (x + w, y + h), (0, 255, 0), 2) # draw rectangles on original coloured img 13 | return img_copy 14 | 15 | 16 | def main(): 17 | input_file = sys.argv[1] # input file passed ad argument 18 | name, ext = os.path.splitext(input_file) 19 | output_file = name + '_ocv' + ext # create the name of the output file 20 | test = cv2.imread(input_file) # open the input file 21 | print('img loaded') 22 | haar_face_cascade = cv2.CascadeClassifier('haarcascade_frontalface_alt.xml') # load the cascade classifier trainig file 23 | print('classifier loaded') 24 | faces_detected_img = detect_faces(haar_face_cascade, test) 25 | cv2.imwrite(output_file, faces_detected_img) # save the image 26 | print('file saved') 27 | 28 | 29 | if __name__ == '__main__': 30 | main() 31 | -------------------------------------------------------------------------------- /sixth_iteration/flows.json: -------------------------------------------------------------------------------- 1 | [{"id":"3b11e2bf.fab086","type":"tab","label":"Flow 1","disabled":false,"info":""},{"id":"2821ab75.3650dc","type":"watch","z":"3b11e2bf.fab086","name":"Watch for file changes","files":"/data/opencv.png","recursive":"","x":120,"y":100,"wires":[["9d69d017.36d768"]]},{"id":"fc5afb61.24ba48","type":"debug","z":"3b11e2bf.fab086","name":"","active":true,"tosidebar":true,"console":false,"tostatus":false,"complete":"true","x":710,"y":140,"wires":[]},{"id":"9d69d017.36d768","type":"delay","z":"3b11e2bf.fab086","name":"","pauseType":"queue","timeout":"5","timeoutUnits":"seconds","rate":"1","nbRateUnits":"3","rateUnits":"second","randomFirst":"1","randomLast":"5","randomUnits":"seconds","drop":true,"x":330,"y":100,"wires":[["ce722854.ee6eb8"]]},{"id":"ce722854.ee6eb8","type":"function","z":"3b11e2bf.fab086","name":"Compose e-mail","func":"msg.topic = \"Node-Red\";\n\nmsg.payload = \"Hello,

Someone is waiting at the door and forgot the badge..
In attachment you can find a camera snapshot.

Kind regards,
Your Node-Red flow\";\n\nmsg.attachments = [{\n filename: 'opencv.png',\n path: '/data/opencv.png',\n content: msg.payload\n}];\n \nreturn msg;","outputs":1,"noerr":0,"x":530,"y":100,"wires":[["fc5afb61.24ba48","fdbafbc2.2d5f7"]]},{"id":"fdbafbc2.2d5f7","type":"e-mail","z":"3b11e2bf.fab086","server":"smtp.gmail.com","port":"465","secure":true,"name":"","dname":"","x":710,"y":100,"wires":[]}] -------------------------------------------------------------------------------- /sixth_iteration/docker_image_files/camera.py: -------------------------------------------------------------------------------- 1 | import cv2 2 | import sys 3 | import os 4 | 5 | camera_port = 0 # number of your camera port 6 | ramp_frames = 15 # number of frames to skip (to take a better photo) 7 | camera = cv2.VideoCapture(camera_port) # initialize the camera 8 | output_file = "/data/opencv.png" # path to save the photo 9 | 10 | def get_image(): 11 | return_value, image = camera.read() # take the photo 12 | return image # return the photo 13 | 14 | 15 | def detect_faces(f_cascade, colored_img, scaleFactor=1.1): 16 | img_copy = colored_img.copy() # create a copy of the image 17 | gray = cv2.cvtColor(img_copy, cv2.COLOR_BGR2GRAY) # convert image to grey scale for opencv 18 | faces = f_cascade.detectMultiScale(gray, scaleFactor=scaleFactor, minNeighbors=5) # detect multiscale: some faces can be closer 19 | print("Faces found: " + str(len(faces))) # print faces found 20 | for (x, y, w, h) in faces: 21 | cv2.rectangle(img_copy, (x, y), (x + w, y + h), (0, 255, 0), 2) # draw rectangles on original coloured img 22 | return img_copy, len(faces) 23 | 24 | 25 | def main(): 26 | for i in range(ramp_frames): # skips some frames to take a better photo 27 | temp = get_image() 28 | print("Taking image...") 29 | camera_capture = get_image() # take the photo 30 | print("Done!") 31 | haar_face_cascade = cv2.CascadeClassifier('haarcascade_frontalface_alt.xml') # load the cascade classifier trainig file 32 | print('Classifier loaded') 33 | faces_detected_img, n_faces = detect_faces(haar_face_cascade, camera_capture) 34 | if(n_faces>0): # check if at least a face is detected 35 | cv2.imwrite(output_file, faces_detected_img) # save the image 36 | print('File saved') 37 | else: 38 | print('File NOT saved, no faces detected') 39 | camera.release() 40 | 41 | if __name__ == '__main__': 42 | main() 43 | -------------------------------------------------------------------------------- /seventh_iteration/arduino_button_servo_mqtt.ino: -------------------------------------------------------------------------------- 1 | #include "arduino_secrets.h" 2 | 3 | #include 4 | #include 5 | #include 6 | #include 7 | #include 8 | #include 9 | #include 10 | #include 11 | 12 | ///////please enter your sensitive data in the Secret tab/arduino_secrets.h 13 | char ssid[] = SECRET_SSID; // your network SSID (name) 14 | char pass[] = SECRET_PASS; // your network password (use for WPA, or use as key for WEP) 15 | int status = WL_IDLE_STATUS; // the Wifi radio's status 16 | char ip_server[] = "192.168.12.1"; //ip of the Mqtt Broker 17 | int port_server = 1883; //port of the Mqtt Broker 18 | int led_pin = LED_BUILTIN; 19 | int servo_pin = 9; 20 | int button_pin = 2; 21 | int button_state = LOW;// the current reading from the input pin 22 | int old_button_state = LOW; // the previous reading from the input pin 23 | Servo servo; 24 | WiFiClient net; // needed for connection with Mqtt 25 | MQTTClient client; 26 | char p_topic[] = "/arduino/button"; //topic where to publish messages 27 | char s_topic[] = "/arduino/servo"; //topic where to subscribe 28 | 29 | void setup() { 30 | pinMode(led_pin, OUTPUT); 31 | pinMode(button_pin, INPUT); 32 | servo.attach(servo_pin); 33 | servo.write(10); //bring servo in starting position 34 | //Initialize serial and wait for port to open: 35 | Serial.begin(9600); 36 | while (!Serial) { 37 | ; // wait for serial port to connect. Needed for native USB port only 38 | } 39 | 40 | delay(1000); // wait for serial inizialization 41 | connectToWifi(); 42 | connectToMqtt(); 43 | 44 | //begin dovrebbe andare qui 45 | client.onMessage(messageReceived); 46 | } 47 | 48 | void loop() { 49 | status = WiFi.status(); // check if the wi-fi is still connected 50 | if(status == WL_DISCONNECTED) { // Access Point is down 51 | Serial.println("Communication with AP failed!"); 52 | digitalWrite(led_pin, LOW); // turn the led off to let you know the connection is not working 53 | connectToWifi(); 54 | connectToMqtt(); 55 | } 56 | if(!client.connected()) { // check the connection between the client and Mqtt Broker 57 | Serial.println("Communication with Mqtt Broker failed!"); 58 | connectToMqtt(); 59 | } 60 | 61 | client.loop(); 62 | 63 | button_state = digitalRead(button_pin); // check the state of the button 64 | 65 | if (!button_state && old_button_state) { 66 | client.publish(p_topic, "on"); // publish a message via Mqtt 67 | Serial.println("Button Pressed"); 68 | // blink the led 69 | digitalWrite(led_pin, LOW); 70 | delay(30); 71 | digitalWrite(led_pin, HIGH); 72 | 73 | 74 | } 75 | old_button_state = button_state; 76 | delay(50); 77 | } 78 | 79 | void messageReceived(String &topic, String &payload) { //function called when a message is published 80 | Serial.println("incoming: " + topic + " - " + payload); 81 | if(topic==s_topic && payload == "on"){ 82 | servo.write(170); // opens the door 83 | delay(1000); 84 | servo.write(10); // bring servo in the starting position 85 | } 86 | } 87 | 88 | void printWifiData() { 89 | // print your WiFi shield's IP address: 90 | Serial.print("IP Address: "); 91 | Serial.println(WiFi.localIP()); 92 | // print the received signal strength: 93 | Serial.print("Signal strength (RSSI): "); 94 | Serial.println(WiFi.RSSI()); 95 | } 96 | 97 | void connectToWifi(){ //connects/reconnects to wifi 98 | Serial.print("Attempting to connect to WPA SSID: "); 99 | Serial.print(ssid); 100 | while (status != WL_CONNECTED) { 101 | Serial.print("."); 102 | WiFi.end(); //useful when the Access Point is not reachable 103 | status = WiFi.begin(ssid, pass); 104 | delay(10000); // wait 10 seconds for connection 105 | } 106 | Serial.println("\nYou're connected to the network"); 107 | printWifiData(); 108 | digitalWrite(led_pin, HIGH); // Light up the LED to let you know that is connected 109 | } 110 | 111 | void connectToMqtt(){ 112 | Serial.print("Attempting to connect to Mqtt Broker"); 113 | client.begin(ip_server, port_server, net); 114 | while (!client.connect("button")) { 115 | Serial.print("."); 116 | delay(1000); 117 | } 118 | Serial.println("\nYou're connected to Mqtt Broker"); 119 | client.subscribe(s_topic); 120 | } -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | In this tutorial we'll show you how you can use a **Raspberry Pi** in conjunction with the **Arduino Create** platform to create some cool projects involving face detection, Node-RED flows and Mqtt messages! 2 | The tutorial will be divided into seven iterations. In each iteration we will add a new ingredient to the project in order to achieve our final goals at Iterations 6 and 7. 3 | 4 | # 1st Iteration: Raspberry Pi setup 5 | 6 | In the first iteration we'll setup our Raspberry Pi and test that the GPIOs are working. We'll be using [Raspbian Stretch Lite](https://www.raspberrypi.org/downloads/raspbian/), which is the newest version of Raspbian at the current time, installed on a *Raspberry Pi 3b+*. We'll use the Lite version because we don't need the GUI. It's easier to work on it if you have SSH enabled. To achieve that goal you have to create an empty file named **ssh** (with no extension) and put it in the boot partition of the microSD card. 7 | 8 | After powering up the Raspberry, we need to get its **IP address** in order to **ssh** into it. We have two option for this: 9 | - We can connect the Raspberry Pi to our pc using an **Ethernet cable** (here are some guides for [Windows 10](http://www.circuitbasics.com/how-to-connect-to-a-raspberry-pi-directly-with-an-ethernet-cable/) and [Ubuntu 16.04](https://raspberrypi.stackexchange.com/questions/30144/connect-raspberry-pi-to-pc-ubuntu-with-ethernet/61004#61004)); 10 | - Or we can connect via **WiFi** (but we will need keyboard and display). Once logged in, just run `sudo ifconfig` and read the IP address next to the `wlan0` entry. 11 | Now that we now the Raspberry IP, we can control it (in a bash window) using SSH with the command: 12 | ``` bash 13 | $ ssh pi@ 14 | ``` 15 | 16 | The default log-in informations are: user: `pi`, password `raspberry`. 17 | 18 | ### GPIO Libraries 19 | 20 | At this point we need to check if the **GPIO libraries for Python** are already installed/updated. 21 | ``` bash 22 | $ sudo apt-get update 23 | $ sudo apt-get install python-rpi.gpio python3-rpi.gpio 24 | ``` 25 | 26 | Then, we can write two simple Python scripts to check the status of a pushbutton (connected to Pin 8 - i.e. GPIO 14, see the Raspberry pinout below) and to write a message on the terminal (`pushbutton.py` and `pushbutton_event.py` in the repo linked at the end of the tutorial). The second script uses the events related to GPIO pins to call a function which prints the button status on the terminal. This is a more complex way, but the most efficient one. 27 | 28 | Let's create a new folder to **save the scripts**: 29 | ```bash 30 | $ cd ~ 31 | mkdir python-data 32 | ``` 33 | 34 | Now transfer the two script files to the Raspberry Pi: 35 | - On Linux, we can use the `scp` command from our local machine (if you copy bash command from here, remember to first clone the github repository in `~/Documents/`): 36 | ``` bash 37 | $ scp ~/Documents/first_iteration/pushbutton.py ~/Documents/first_iteration/pushbutton_event.py pi@:~/python-data/ 38 | ``` 39 | - On Windows, we can use an ssh client like [PuTTY](https://www.putty.org/) or [WinScp](https://winscp.net/eng/index.php). For a more complete guide on file transfer have a look at [this tutorial](https://it.cornell.edu/managed-servers/transfer-files-using-putty). 40 | 41 | If `scp` is not working (e.g. we get Permission Denied), we need to change ownership of the destination folder in the Raspberry using the command `chown pi python-data`. 42 | 43 | For all the connections to the Pi, we used the following scheme: 44 | ![pin raspberry](https://www.raspberrypi-spy.co.uk/wp-content/uploads/2012/06/Raspberry-Pi-GPIO-Layout-Model-B-Plus-rotated-2700x900.png "Pin Raspberry") 45 | If you want further information on the GPIO pins you can read something useful [here](https://www.raspberrypi.org/documentation/usage/gpio/, "GPIO documentation") 46 | 47 | To **run the scripts** simply run this command: 48 | ```bash 49 | $ python3 ~/Documents/first_iteration/pushbutton.py 50 | ``` 51 | or 52 | ```bash 53 | $ python3 ~/Documents/first_iteration/pushbutton_event.py 54 | ``` 55 | 56 | --- 57 | # 2nd Iteration: adding Docker 58 | 59 | After installing Raspbian and testing the GPIO pins, let's add **Docker**! 60 | 61 | First of all, we need to bind the Raspberry Pi to our Arduino account by following the [Getting Started flow](https://create.arduino.cc/getting-started). Create a new account, if you don't have one yet. 62 | 63 | ![Select RaspberryPi](arduino/getting_started_1.png) 64 | 65 | Select Raspberry Pi in the device lists, then follow the instructions... 66 | 67 | ![Click Next](arduino/getting_started_2.png) 68 | ![Click My device is ready](arduino/getting_started_3.png) 69 | 70 | Select option A and enter the IP addres of the Raspberry (which we know from the 1st Iteration). 71 | 72 | ![Choose option A](arduino/getting_started_4.png) 73 | 74 | Now we will be prompted with a modal asking for the Raspberry Pi credentials (if you did not changed them, default are `pi` and `raspberry`). 75 | 76 | ![Insert credentials](arduino/getting_started_5.png) 77 | 78 | Doing this will install some software on the Raspberry Pi, including the [Arduino Connector](https://github.com/arduino/arduino-connector) and Docker. 79 | 80 | If we don't want to use `sudo` each time we use docker, we need to create a group named `docker` and add our user to it: 81 | ```bash 82 | $ sudo groupadd docker 83 | $ sudo usermod -aG docker $USER 84 | ``` 85 | 86 | For our project we need [Node-RED](https://nodered.org/), which is a **flow-based development tool** for wiring together hardware devices, APIs and online services as part of the Internet of Things. 87 | 88 | We can use this [Node-RED Docker container](https://hub.docker.com/r/nieleyde/rpi-nodered-gpio/) which is already configured for GPIO use. To install and run the container we can execute the following command: 89 | 90 | ```bash 91 | $ docker run -d -p 1880:1880 -v ~/node-red-data:/data --privileged --name mynodered nieleyde/rpi-nodered-gpio:latest 92 | ``` 93 | 94 | Here's a brief explanation of it: 95 | - `run -d nieleyde/rpi-nodered-gpio:latest` This command will download the container from DockerHub (if it's not already been downloaded) and run it in background; 96 | - `-p 1880:1880` This option exposes 1880 port outside the container; 97 | - `-v ~/node-red-data:/data` This option mounts the host’s *~/node-red-data* directory as the user configuration directory inside the container. It's useful to backup *flows.json* file. This file contains the configuration of all flows created in Node-RED browser editor; 98 | - `--privileged` This option allows the container to access to all devices, in particular to Raspberry's GPIO pins; 99 | - `-- name mynodered` This option gives a human readable name to the container; 100 | 101 | Now we can check the status of the container with `docker ps`: it should be *up*. Furthermore we can stop the container with `docker stop mynodered` and start it again with `docker start mynodered`. 102 | 103 | It's also possible to **modify the flow and nodes** through Node-RED's browser web interface, connecting to this URL: `http://:1880/`. 104 | 105 | Finally it's also possible to **restore** the backup of Node-RED's **nodes and flows** using scp to copy `flows.json` in the folder node-red-data created before. 106 | ```bash 107 | $ scp ~/Documents/second_iteration/flows.json pi@:~/node-red-data/ 108 | 109 | ``` 110 | The example `flows.json` in this iteration simply reads the value of a GPIO input pin (Pin 8) and prints its values in the debug tab. 111 | 112 | ### Second Iteration alternative 113 | 114 | For the 2nd Iteration we could have used the [official container of Node-RED](https://hub.docker.com/r/nodered/node-red-docker/). To make it work, we need to use this command: 115 | ```bash 116 | docker run -d -p 1880:1880 -v ~/node-red-data:/data --user=root --privileged --name nodered nodered/node-red-docker:0.18.7-rpi-v8 117 | 118 | ``` 119 | It is better to use this container because it is the official one, so it's better mantained and more updated in comparison to the one we used previously. We need to run this container with `--user=root` beacuse in its [Dockerfile](https://github.com/node-red/node-red-docker/blob/master/rpi/Dockerfile) the developers created the user `node-red` which cannot access `/dev/mem` (to control the GPIO pins). Further information about users [here](https://docs.docker.com/engine/reference/run/#user,). 120 | 121 | --- 122 | # 3rd Iteration: using Arduino Web Editor 123 | 124 | Our goal in this iteration is to write an **Arduino sketch** which reads the value of a pushbutton and notifies Node-RED inside the Docker container. The flow in Node-RED has to rework the value received from the sketch and **send an email** to a speicifed email address. 125 | 126 | For this step there's no need of configuring anything. We simply have to import and flash the arduino sketch on the Raspberry Pi using the [Arduino Web Editor](https://create.arduino.cc/editor/) and import the flow in Node-RED. 127 | 128 | We can upload the sketch in two different ways: 129 | - By downloading the sketch `pushbutton_http_post.ino` and importing it into the editor; 130 | 131 | ![Import sketch](arduino/web_editor_import.png) 132 | 133 | - By opening [this sketch](https://create.arduino.cc/editor/Arduino_Genuino/4ade6370-e98e-4dbf-bf3a-88767deb00cd/preview) directly in the web editor. 134 | 135 | ![Add to my sketchbook](arduino/add_to_my_sketchbook.PNG) 136 | 137 | The sketch reads the status of the pushbutton (connected to Pin 8) and, if it's pressed, performs an **HTTP POST request** using the bash command curl. The request is directed to Node-RED's ip and port. 138 | 139 | On the Node-RED side we have to **import the flow** located in the third_iteration folder (in the github repo): 140 | - We can do that as described in the 2nd Iteration, but copying this new flow: 141 | ```bash 142 | $ scp ~/Documents/third_iteration/flows.json pi@:~/node-red-data/ 143 | 144 | ``` 145 | - Or you can use a simpler solution: open the `flows.json` file and copy all its content to the clipboard, then use Node-RED import function (*toast menu > import > clipboard*). 146 | 147 | The flow for this iteration should look like this: 148 | 149 | 150 | 151 | 152 | 153 | To make it work we need to add the properties inside the e-mail node (recipient, e-mail address and password). 154 | 155 | 156 | 157 | 158 | 159 | If using a gmail account it may be necessary to disable **less secure** apps [here](https://myaccount.google.com/lesssecureapps). 160 | 161 | Now it's time to deploy the flow and test it! 162 | 163 | --- 164 | # 4th Iteration: the OpenCV library 165 | 166 | In this iteration we are going to test [OpenCV](https://opencv.org/), which is a **computer vision library** written in C/C++ supporting Python. Our goal for now is to install OpenCV, take a photo and save it using this library. Since it's not an easy task to install it, we can use a docker container already built! We can use this one which comes already compiled for Raspberry Pi and Raspbian Stretch. 167 | 168 | To install it use this command: 169 | ```bash 170 | $ docker run -it --privileged -v ~/opencv-data:/data --name opencv sgtwilko/rpi-raspbian-opencv:stretch-latest 171 | ``` 172 | The options used in this command were already described in the 2nd Iteration. By the way, the option `--priviliged` let the container access all the peripherals connected to our Raspberry, even the webcam (or Raspberry Pi Cam). 173 | 174 | As usual we can stop the container with `docker stop opencv` and start it again with `docker start -i opencv` (option `-i` attaches container's STDIN). 175 | 176 | Now we should be in the container's bash! First of all let's check if **OpenCV is installed** by running **Python interpeter**: 177 | ``` bash 178 | $ python 179 | Python 2.7.13 (default, Nov 24 2017, 17:33:09) 180 | [GCC 6.3.0 20170516] on linux2 181 | Type "help", "copyright", "credits" or "license" for more information. 182 | >>> 183 | ``` 184 | And then try to import OpenCV library: 185 | ``` 186 | >>> import cv2 187 | >>> 188 | ``` 189 | If there isn't any error, we can move on to the next part. To exit the interpreter use `exit()`. 190 | ``` 191 | >>> exit() 192 | ``` 193 | 194 | The python script in the github repo (`test.py`) simply takes a photo using the webcam and saves it in `/opencv-data/opencv.png`. 195 | 196 | As previously described, we can copy the script into the Raspberry using `scp`: 197 | ```bash 198 | scp ~/Documents/fourth_iteration/test.py pi@:~/opencv-data/ 199 | ``` 200 | To run the script, let's start the docker container (`docker start -i opencv`), move to the correct directory (`cd opencv-data/`) and finally run the script with `python test.py`. 201 | 202 | We can open and see the photo if we copy it back to our pc: 203 | ```bash 204 | scp pi@:~/opencv-data/opencv.png ~/Documents/ 205 | ``` 206 | ___ 207 | 208 | # 5th Iteration: doing some face detection 209 | 210 | In this iteration we are going to do some **face detection**! This step clearly requires to have OpenCV installed on the Raspberry Pi, as shown in the 4th Iteration. 211 | 212 | Basically, face detection will detect if a photo contains a face and will find the position of the face, highlighting it with a green rectangle (see figure below). 213 | 214 | Before OpenCV | After OpenCV 215 | :--------------------------------:|:----------------------------------: 216 | ![Before](docs/test.jpg "Before") | ![After](docs/test_ocv.jpg "After") 217 | 218 | OpenCV uses a **cascade file** (an **.xml** file) which contains data to detect objects, in our case faces. We only have to initialize it in our code. OpenCV comes with different built-in cascades for detecting several things such as eyes, hands, legs, animals and so on... In this tutorial we are going to use **Haar Cascade Classifier**. It is a machine learning based approach where a cascade function is trained from a lot of positive (images with faces) and negative (images without faces) images. 219 | 220 | So, we need to copy the cascade file (`haarcascade_frontalface_alt.xml`) to the Raspberry: 221 | ```bash 222 | scp ~/Documents/fifth_iteration/haarcascade_frontalface_alt.xml pi@:~/opencv-data/ 223 | ``` 224 | The we can copy some test images to the Raspberry: 225 | ```bash 226 | scp ~/Documents/fifth_iteration/test.jpg pi@:~/opencv-data/ 227 | ``` 228 | The python script in the github repo (`face_detection.py`) opens a photo passed as argument, tries to find faces and saves the image with detected faces in the same folder. We can copy the script to the Raspberry with: 229 | ```bash 230 | scp ~/Documents/fifth_iteration/face_detection.py pi@:~/opencv-data/ 231 | ``` 232 | 233 | Now that everything is configured, let's start the script! Similarly to the previous iteration, we have to start the docker container first (`docker start -i opencv`), then we move to the correct directory (`cd opencv-data/`) and finally we run the script (`python face_detection.py test.jpg`). 234 | 235 | We can open and see the modified photo by copying it to our pc: 236 | ```bash 237 | scp pi@:~/opencv-data/test_ocv.jpg ~/Documents/ 238 | ``` 239 | 240 | --- 241 | 242 | # 6th Iteration: putting it all together 243 | 244 | In this iteration we are going to put together all the previous iterations. 245 | 246 | ![scheme](docs/raspberry_scheme.png) 247 | 248 | This is the idea: 249 | - An **Arduino sketch** will run every 15 seconds a shell command to start a docker container; 250 | - The **docker container** which contains **OpenCV** will run a **python script** on startup. This script will take a photo using a webcam, will detect faces in that photo and will save the image (with detected faces) in a **docker shared volume** with the name `opencv.png` if at least one face is found. After all that, the container will stop; 251 | - In another docker container, a flow in **Node-RED** will watch the shared volume, waiting for changes in the file `opencv.jpg`. If the file has changed (i.e. the photo has been overwritten), the flow composes an e-mail (attaching the photo) and sends it to a specified e-mail address. 252 | 253 | 254 | 255 | 256 | 257 | ### Arduino sketch 258 | 259 | Let's start with the Arduino code. The upload procedure to the Raspberry has already been explained in the 3rd Iteration. The code can be found at the end of the tutorial, or directly [here](https://create.arduino.cc/editor/Arduino_Genuino/ee18d8d1-f67c-4c12-ba5b-5239d5421338/preview). 260 | 261 | ### Docker container for OpenCV 262 | 263 | The OpenCV docker container part is a bit more complex. First of all we have to create a docker volume to **share data between the two containers**: 264 | ``` bash 265 | docker volume create share 266 | ``` 267 | To check if everything is ok we can check the list of volumes: we should see the volume we just created with `docker volume ls`. 268 | 269 | We can create a docker image to simplify the procedure, but we could also build the image by ourselves as explained in the section **Docker build OpenCV** below. With Docker already installed on the Raspberry, just download [this image](https://hub.docker.com/r/umbobaldi/opencv_face_detection/) by running the command: 270 | 271 | ``` bash 272 | docker run -it --privileged -v share:/data --name face_detection umbobaldi/opencv_face_detection:1.0 273 | ``` 274 | Some notes: 275 | - `-it` let us see a short log and check if everything is ok; 276 | - `-v share:/data` mounts the docker volume share and binds it with */opencv-data* folder inside the container. 277 | 278 | The downloaded image is already configured to run on startup a python script which uses OpenCV. This script does the following: 279 | - It takes a photo using the webcam; 280 | - It does some face detection, as described in the 5th Iteration; 281 | - It saves the photo (`opencv.png`) in the opencv-data folder, which is connected to the shared volume, if at least one face is found. Otherwise nothing is saved. 282 | - When the script finish the execution, the docker container is stopped. 283 | 284 | ### Docker container for Node-Red 285 | 286 | In the end we can import `flows.json` as described in the 3rd Iteration. Let's open the file and copy all its content to the clipboard, then use Node-RED import function (*toast menu > import > clipboard*). To make it work we need to add the properties inside the e-mail node (recipient, e-mail address and password). 287 | 288 | Here's the resulting flow: 289 | 290 | 291 | 292 | 293 | 294 | This flow does the following: 295 | - The **first node** waits for changes in the file `opencv.png` located in the shared volume. When there is a change it means the old file has been overwritten by a newer file, so it's time to send the e-mail; 296 | - The **delay node** has to filter the input: when the OpenCV container overwrites the file the process is not immediate, so the messages have to be limited to one; 297 | - The **function node** composes the e-mail attaching the photo and writing a proper message; 298 | - Finally, the e-mail is sent by the **e-mail node**. 299 | 300 | #### Docker build for OpenCV 301 | 302 | In case we want to build the docker image by ourselves, we have to move to the folder where the **Dockerfile** is located, and run the command: 303 | ```bash 304 | docker build -t myopencv: . 305 | ``` 306 | This command will build our image. To check if everything is ok we can list all docker images with `docker images -a`. If the new image is listed, we can run it the first time using: 307 | $ docker run -it --priviliged -v share:/ 308 | ``` bash 309 | docker run -it --privileged -v share:/data --name face_detection myopencv: 310 | ``` 311 | If it is not the first time, just run it using 312 | ``` bash 313 | $ docker start -i face_detection` 314 | ``` 315 | 316 | The image is modeled after [this one](https://hub.docker.com/r/sgtwilko/rpi-raspbian-opencv/) which has already OpenCV installed. The Dockerfile creates two folders: one for the code and the other one for sharing the photo. Then it moves `camera.py` and `haarcascade_frontalface_alt.xml` inside the newly created folder inside the container (`/usr/scr/ocv_face_detection`). In the end it starts the python script. 317 | 318 | # 7th Iteration: Mqtt meassages from an Arduino MKR WiFi 1010 319 | The goal in this last iteration is to **send and receive Mqtt messages** from an **Arduino MKR WiFi 1010**. The Arduino has to publish Mqtt messages on a topic when a pushbutton connected to it is pressed. Another Arduino (or the same, in this case) is subscribed to another topic and moves the shaft of a servomotor. 320 | 321 | The Arduino is connected via WiFi to our Raspberry which is now configured as an access point. The Raspberry has to run an **Mqtt Broker** ([Mosquitto](https://mosquitto.org/) in our case). We can install and run this broker using a docker. In the end, a **Node-RED flow** is responsible for the logic. 322 | 323 | ### Arduino sketch 324 | 325 | The Arduino sketch simply connects to the Raspberry via WiFi, then connects to the Mqtt Broker in the docker container running on the Raspberry and finally publishes a message on */arduino/button* topic when the pushbutton is pressed. 326 | 327 | The same Arduino is subscribed to */arduino/servo* topic: when a message is published on this topic, the arduino activates a servomotor. If the WiFi connection is working the built-in LED is turned on. 328 | 329 | To program and flash the code, use the [Arduino Web Editor](https://create.arduino.cc/editor). For uploading the sketch to the Arduino, we need to connect the board to our pc, install the [Arduino Create plugin](https://create.arduino.cc/getting-started/plugin) and follow the 3rd Iteration to import the sketch `arduino_button_servo_mqtt.ino` (direct link to the sketch [here](https://create.arduino.cc/editor/Arduino_Genuino/9b81cad5-af45-49be-8035-041a2c4857d7/preview)). 330 | 331 | The circuit chematics is shown below: 332 | 333 | ![wiring](docs/arduino_pushbutton_servo.png) 334 | 335 | ### Raspberry Pi configuration 336 | 337 | In this iteration we need to configure the Raspberry in such a way that the Arduino board can connect to it via WiFi. The idea is to make the onboard wireless card act like an access point and not as a client. To achieve that we can follow [this guide](https://www.raspberrypi.org/documentation/configuration/wireless/access-point.md) or, better, use [this tool](https://github.com/oblique/create_ap) which simplifies the process a lot. First of all we need to install all its dependencies. Then we can clone the repo and install the script. To set up the access point, we use this command: 338 | ``` bash 339 | $ sudo create_ap -n --no-virt wlan0 RaspberryPi3b+_Net RaspberryPi 340 | ``` 341 | Here's a brief explanation of the above command: 342 | - `-n` is for disabling Internet sharing; 343 | - `--no-virt` is for not creating virtual interface; 344 | - `wlan0` is the name of the interface; 345 | - `RaspberryPi3b+_Net` is the SSID of the wireless network; 346 | - `RaspberryPi` is the passphrase. 347 | 348 | ### Node-RED flow 349 | 350 | Node-RED is responsible for the logic behind this iteration. The idea is to make a flow which is able to publish on */arduino/servo* when it receives a message on another topic (*/arduino/button*). The flow must be subscribed to this second topic to achieve that. We can import `flows.json` as described in the 3rd Iteration in order to define the Node-RED flow. It should look like this: 351 | 352 | 353 | 354 | 355 | ### Mosquitto docker 356 | 357 | Finally we can install our Mqtt Broker. We used Mosquitto beacuse it is opensource, easy to setup and simple. We can install it through a docker container since it's easier this way, using [this image](https://hub.docker.com/r/mjenz/rpi-mosquitto/) which comes preconfigured. The installation is similar to the one described in the 1st Iteration. To run it the first time, use: 358 | ``` bash 359 | $ docker run -d -p 1883:1883 --name mqtt mjenz/rp-mosquitto 360 | ``` 361 | while the other times, use: 362 | ```bash 363 | $ docker start mqtt 364 | ``` 365 | At this point, all that remains to do is to deploy the flow and test the project! 366 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | This file includes licensing information for [insert application name]. 2 | 3 | Copyright (c) [insert year] 4 | Authors: [insert authors] 5 | 6 | The software is released under the GNU General Public License, which covers the main body 7 | of the [insert app name] code. The terms of this license can be found at: 8 | https://www.gnu.org/licenses/gpl-3.0.en.html 9 | 10 | You can be released from the requirements of the above licenses by purchasing 11 | a commercial license. 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You may not convey a covered 540 | work if you are a party to an arrangement with a third party that is 541 | in the business of distributing software, under which you make payment 542 | to the third party based on the extent of your activity of conveying 543 | the work, and under which the third party grants, to any of the 544 | parties who would receive the covered work from you, a discriminatory 545 | patent license (a) in connection with copies of the covered work 546 | conveyed by you (or copies made from those copies), or (b) primarily 547 | for and in connection with specific products or compilations that 548 | contain the covered work, unless you entered into that arrangement, 549 | or that patent license was granted, prior to 28 March 2007. 550 | 551 | Nothing in this License shall be construed as excluding or limiting 552 | any implied license or other defenses to infringement that may 553 | otherwise be available to you under applicable patent law. 554 | 555 | 12. No Surrender of Others' Freedom. 556 | 557 | If conditions are imposed on you (whether by court order, agreement or 558 | otherwise) that contradict the conditions of this License, they do not 559 | excuse you from the conditions of this License. If you cannot convey a 560 | covered work so as to satisfy simultaneously your obligations under this 561 | License and any other pertinent obligations, then as a consequence you may 562 | not convey it at all. For example, if you agree to terms that obligate you 563 | to collect a royalty for further conveying from those to whom you convey 564 | the Program, the only way you could satisfy both those terms and this 565 | License would be to refrain entirely from conveying the Program. 566 | 567 | 13. Use with the GNU Affero General Public License. 568 | 569 | Notwithstanding any other provision of this License, you have 570 | permission to link or combine any covered work with a work licensed 571 | under version 3 of the GNU Affero General Public License into a single 572 | combined work, and to convey the resulting work. The terms of this 573 | License will continue to apply to the part which is the covered work, 574 | but the special requirements of the GNU Affero General Public License, 575 | section 13, concerning interaction through a network will apply to the 576 | combination as such. 577 | 578 | 14. Revised Versions of this License. 579 | 580 | The Free Software Foundation may publish revised and/or new versions of 581 | the GNU General Public License from time to time. Such new versions will 582 | be similar in spirit to the present version, but may differ in detail to 583 | address new problems or concerns. 584 | 585 | Each version is given a distinguishing version number. If the 586 | Program specifies that a certain numbered version of the GNU General 587 | Public License "or any later version" applies to it, you have the 588 | option of following the terms and conditions either of that numbered 589 | version or of any later version published by the Free Software 590 | Foundation. If the Program does not specify a version number of the 591 | GNU General Public License, you may choose any version ever published 592 | by the Free Software Foundation. 593 | 594 | If the Program specifies that a proxy can decide which future 595 | versions of the GNU General Public License can be used, that proxy's 596 | public statement of acceptance of a version permanently authorizes you 597 | to choose that version for the Program. 598 | 599 | Later license versions may give you additional or different 600 | permissions. However, no additional obligations are imposed on any 601 | author or copyright holder as a result of your choosing to follow a 602 | later version. 603 | 604 | 15. Disclaimer of Warranty. 605 | 606 | THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY 607 | APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT 608 | HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY 609 | OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, 610 | THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR 611 | PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM 612 | IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF 613 | ALL NECESSARY SERVICING, REPAIR OR CORRECTION. 614 | 615 | 16. Limitation of Liability. 616 | 617 | IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING 618 | WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS 619 | THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY 620 | GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE 621 | USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF 622 | DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD 623 | PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS), 624 | EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF 625 | SUCH DAMAGES. 626 | 627 | 17. Interpretation of Sections 15 and 16. 628 | 629 | If the disclaimer of warranty and limitation of liability provided 630 | above cannot be given local legal effect according to their terms, 631 | reviewing courts shall apply local law that most closely approximates 632 | an absolute waiver of all civil liability in connection with the 633 | Program, unless a warranty or assumption of liability accompanies a 634 | copy of the Program in return for a fee. 635 | 636 | END OF TERMS AND CONDITIONS 637 | 638 | How to Apply These Terms to Your New Programs 639 | 640 | If you develop a new program, and you want it to be of the greatest 641 | possible use to the public, the best way to achieve this is to make it 642 | free software which everyone can redistribute and change under these terms. 643 | 644 | To do so, attach the following notices to the program. It is safest 645 | to attach them to the start of each source file to most effectively 646 | state the exclusion of warranty; and each file should have at least 647 | the "copyright" line and a pointer to where the full notice is found. 648 | 649 | 650 | Copyright (C) 651 | 652 | This program is free software: you can redistribute it and/or modify 653 | it under the terms of the GNU General Public License as published by 654 | the Free Software Foundation, either version 3 of the License, or 655 | (at your option) any later version. 656 | 657 | This program is distributed in the hope that it will be useful, 658 | but WITHOUT ANY WARRANTY; without even the implied warranty of 659 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 660 | GNU General Public License for more details. 661 | 662 | You should have received a copy of the GNU General Public License 663 | along with this program. If not, see . 664 | 665 | Also add information on how to contact you by electronic and paper mail. 666 | 667 | If the program does terminal interaction, make it output a short 668 | notice like this when it starts in an interactive mode: 669 | 670 | Copyright (C) 671 | This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. 672 | This is free software, and you are welcome to redistribute it 673 | under certain conditions; type `show c' for details. 674 | 675 | The hypothetical commands `show w' and `show c' should show the appropriate 676 | parts of the General Public License. Of course, your program's commands 677 | might be different; for a GUI interface, you would use an "about box". 678 | 679 | You should also get your employer (if you work as a programmer) or school, 680 | if any, to sign a "copyright disclaimer" for the program, if necessary. 681 | For more information on this, and how to apply and follow the GNU GPL, see 682 | . 683 | 684 | The GNU General Public License does not permit incorporating your program 685 | into proprietary programs. If your program is a subroutine library, you 686 | may consider it more useful to permit linking proprietary applications with 687 | the library. If this is what you want to do, use the GNU Lesser General 688 | Public License instead of this License. But first, please read 689 | . 690 | --------------------------------------------------------------------------------