IoT Robotics Implementation

// Actual Robot Controller Implementation
class RobotController {
    constructor() {
        this.joints = [0, 0, 0, 0, 0, 0]; // 6-DOF
        this.position = { x: 0, y: 0, z: 0 };
        this.gripper = false;
        this.speed = 1.0;
        this.status = 'IDLE';
    }

    // Move robot to position with inverse kinematics
    moveTo(x, y, z) {
        this.status = 'MOVING';
        const angles = this.calculateIK(x, y, z);
        
        for (let i = 0; i < angles.length; i++) {
            this.joints[i] = this.smoothMove(this.joints[i], angles[i]);
        }
        
        this.position = { x, y, z };
        this.status = 'IDLE';
        return this.joints;
    }

    // Calculate inverse kinematics
    calculateIK(x, y, z) {
        const l1 = 100, l2 = 100, l3 = 100;
        const r = Math.sqrt(x * x + y * y);
        const s = z - l1;
        const d = Math.sqrt(r * r + s * s);
        
        const theta1 = Math.atan2(y, x);
        const theta2 = Math.atan2(s, r) + Math.acos((l2 * l2 + d * d - l3 * l3) / (2 * l2 * d));
        const theta3 = Math.PI - Math.acos((l2 * l2 + l3 * l3 - d * d) / (2 * l2 * l3));
        
        return [theta1, theta2, theta3, 0, 0, 0];
    }

    // Smooth movement interpolation
    smoothMove(current, target, steps = 50) {
        const delta = (target - current) / steps;
        return current + delta;
    }

    // Execute pick and place
    pickAndPlace(pickPos, placePos) {
        this.moveTo(pickPos.x, pickPos.y, pickPos.z + 50);
        this.moveTo(pickPos.x, pickPos.y, pickPos.z);
        this.gripper = true;
        this.moveTo(pickPos.x, pickPos.y, pickPos.z + 50);
        this.moveTo(placePos.x, placePos.y, placePos.z + 50);
        this.moveTo(placePos.x, placePos.y, placePos.z);
        this.gripper = false;
        this.moveTo(placePos.x, placePos.y, placePos.z + 50);
    }
}

// Initialize and run
const robot = new RobotController();
robot.pickAndPlace(
    { x: 100, y: 50, z: 0 },
    { x: -100, y: 50, z: 0 }
);

// Working MQTT Client Implementation
class MQTTClient {
    constructor(broker = 'ws://localhost:9001') {
        this.broker = broker;
        this.client = null;
        this.subscriptions = new Map();
        this.connected = false;
    }

    connect() {
        // Simulated connection (replace with actual MQTT.js in production)
        this.connected = true;
        this.onConnect();
        
        // Simulate incoming messages
        setInterval(() => {
            this.simulateMessage();
        }, 2000);
    }

    onConnect() {
        console.log('Connected to MQTT broker');
        this.publish('robot/status', { status: 'online', timestamp: Date.now() });
    }

    subscribe(topic, callback) {
        if (!this.subscriptions.has(topic)) {
            this.subscriptions.set(topic, []);
        }
        this.subscriptions.get(topic).push(callback);
    }

    publish(topic, message) {
        const payload = JSON.stringify({
            topic: topic,
            message: message,
            timestamp: new Date().toISOString()
        });
        console.log(`Publishing to ${topic}:`, payload);
        
        // Handle local subscriptions
        if (this.subscriptions.has(topic)) {
            this.subscriptions.get(topic).forEach(cb => cb(message));
        }
    }

    simulateMessage() {
        const topics = ['sensor/temperature', 'sensor/vibration', 'robot/position'];
        const topic = topics[Math.floor(Math.random() * topics.length)];
        
        const messages = {
            'sensor/temperature': { value: 20 + Math.random() * 10, unit: '°C' },
            'sensor/vibration': { value: Math.random() * 100, unit: 'Hz' },
            'robot/position': { x: Math.random() * 200 - 100, y: Math.random() * 200 - 100, z: Math.random() * 100 }
        };
        
        if (this.subscriptions.has(topic)) {
            this.subscriptions.get(topic).forEach(cb => cb(messages[topic]));
        }
    }
}

// Initialize MQTT client
const mqtt = new MQTTClient();
mqtt.subscribe('sensor/#', (msg) => console.log('Sensor data:', msg));
mqtt.subscribe('robot/#', (msg) => console.log('Robot data:', msg));
 mqtt.connect();

// Actual Data Processing Pipeline
class DataPipeline {
    constructor() {
        this.buffer = [];
        this.processors = [];
        this.output = [];
        this.metrics = {
            processed: 0,
            errors: 0,
            latency: 0
        };
    }

    // Add data processor
    addProcessor(name, fn) {
        this.processors.push({ name, fn });
        return this;
    }

    // Process incoming data
    async process(data) {
        const startTime = performance.now();
        let result = data;
        
        try {
            // Run through processing pipeline
            for (const processor of this.processors) {
                result = await processor.fn(result);
            }
            
            this.output.push(result);
            this.metrics.processed++;
            this.metrics.latency = performance.now() - startTime;
            
            return result;
        } catch (error) {
            this.metrics.errors++;
            console.error('Pipeline error:', error);
            throw error;
        }
    }

    // Built-in processors
    static validators = {
        range: (min, max) => (data) => {
            if (data.value < min || data.value > max) {
                throw new Error(`Value ${data.value} out of range [${min}, ${max}]`);
            }
            return data;
        },
        
        schema: (schema) => (data) => {
            for (const key in schema) {
                if (!(key in data)) {
                    throw new Error(`Missing required field: ${key}`);
                }
                if (typeof data[key] !== schema[key]) {
                    throw new Error(`Invalid type for ${key}: expected ${schema[key]}`);
                }
            }
            return data;
        }
    };

    static transformers = {
        normalize: (scale = 1) => (data) => ({
            ...data,
            value: data.value / scale
        }),
        
        addTimestamp: () => (data) => ({
            ...data,
            timestamp: new Date().toISOString()
        }),
        
        aggregate: (window = 10) => {
            const buffer = [];
            return (data) => {
                buffer.push(data.value);
                if (buffer.length > window) buffer.shift();
                return {
                    ...data,
                    avg: buffer.reduce((a, b) => a + b, 0) / buffer.length,
                    min: Math.min(...buffer),
                    max: Math.max(...buffer)
                };
            };
        }
    };
}

// Create and configure pipeline
const pipeline = new DataPipeline()
    .addProcessor('validate', DataPipeline.validators.range(0, 100))
    .addProcessor('normalize', DataPipeline.transformers.normalize(100))
    .addProcessor('timestamp', DataPipeline.transformers.addTimestamp())
    .addProcessor('aggregate', DataPipeline.transformers.aggregate(5));

// Process sample data
 pipeline.process({ value: 75, sensor: 'temp-001' })
     .then(result => console.log('Processed:', result));

# docker-compose.yml - Complete Stack Configuration
version: '3.8'

services:
  # Robot Control Service
  robot-controller:
    build: ./robot-controller
    ports:
      - "3001:3001"
    environment:
      - NODE_ENV=production
      - MQTT_BROKER=mqtt://mosquitto:1883
      - DB_HOST=timescaledb
    depends_on:
      - mosquitto
      - timescaledb
    restart: unless-stopped
    networks:
      - iot-network

  # MQTT Broker
  mosquitto:
    image: eclipse-mosquitto:2.0
    ports:
      - "1883:1883"
      - "9001:9001"
    volumes:
      - ./mosquitto/config:/mosquitto/config
      - ./mosquitto/data:/mosquitto/data
      - ./mosquitto/log:/mosquitto/log
    networks:
      - iot-network

  # Time Series Database
  timescaledb:
    image: timescale/timescaledb:latest-pg14
    environment:
      - POSTGRES_PASSWORD=iot_secure_pass
      - POSTGRES_DB=iot_robotics
    ports:
      - "5432:5432"
    volumes:
      - timescale-data:/var/lib/postgresql/data
      - ./init.sql:/docker-entrypoint-initdb.d/init.sql
    networks:
      - iot-network

  # Grafana for Monitoring
  grafana:
    image: grafana/grafana:latest
    ports:
      - "3000:3000"
    environment:
      - GF_SECURITY_ADMIN_PASSWORD=admin
      - GF_INSTALL_PLUGINS=grafana-clock-panel
    volumes:
      - grafana-data:/var/lib/grafana
      - ./grafana/dashboards:/etc/grafana/provisioning/dashboards
    depends_on:
      - timescaledb
    networks:
      - iot-network

  # Redis Cache
  redis:
    image: redis:7-alpine
    ports:
      - "6379:6379"
    command: redis-server --appendonly yes
    volumes:
      - redis-data:/data
    networks:
      - iot-network

volumes:
  timescale-data:
  grafana-data:
  redis-data:

networks:
  iot-network:
    driver: bridge

# deployment.yaml - Production Kubernetes Configuration
apiVersion: apps/v1
kind: Deployment
metadata:
  name: iot-robotics-controller
  namespace: production
spec:
  replicas: 3
  selector:
    matchLabels:
      app: robotics-controller
  template:
    metadata:
      labels:
        app: robotics-controller
    spec:
      containers:
      - name: controller
        image: iot-robotics:v2.0
        ports:
        - containerPort: 3001
        env:
        - name: NODE_ENV
          value: "production"
        - name: MQTT_BROKER
          valueFrom:
            configMapKeyRef:
              name: app-config
              key: mqtt.broker
        resources:
          requests:
            memory: "256Mi"
            cpu: "250m"
          limits:
            memory: "512Mi"
            cpu: "500m"
        livenessProbe:
          httpGet:
            path: /health
            port: 3001
          initialDelaySeconds: 30
          periodSeconds: 10
        readinessProbe:
          httpGet:
            path: /ready
            port: 3001
          initialDelaySeconds: 5
          periodSeconds: 5
---
apiVersion: v1
kind: Service
metadata:
  name: robotics-controller-service
spec:
  selector:
    app: robotics-controller
  ports:
    - protocol: TCP
      port: 80
      targetPort: 3001
  type: LoadBalancer
---
apiVersion: autoscaling/v2
kind: HorizontalPodAutoscaler
metadata:
  name: robotics-controller-hpa
spec:
  scaleTargetRef:
    apiVersion: apps/v1
    kind: Deployment
    name: iot-robotics-controller
  minReplicas: 3
  maxReplicas: 10
  metrics:
  - type: Resource
    resource:
      name: cpu
      target:
        type: Utilization
        averageUtilization: 70
  - type: Resource
    resource:
      name: memory
      target:
        type: Utilization
        averageUtilization: 80