樹莓派Tailscale設定，免費內網穿透VPN

Tailscale是一款開源的虛擬區域網路（virtual LAN）軟體，可將多個裝置組成虛擬內網，互相連線，存取共享資源。

舉例來說，你可以用Tailscale連線到自架的Rustdesk遠端桌面，或是SSH遠端登入主機。過程只需要透過一組虛擬區域IP遠端連線，再也不需要port forwarding，將機器暴露到公網了。

因此就利用這個工具架設在樹莓派中, 從任何地方來控制樹莓派!

使用前需要到Tailscale公司的網站註冊一個帳號。Tailscale有免費版與付費版方案。免費版方案最多加入100個裝置，最多邀請3名帳號加入自己的網路。

你的使用者帳號會有自己的虛擬區網，稱之為「Tailnet」。你會將所有的裝置都加入進去，形成一個虛擬區網。原理圖如下：

# 樹莓派安裝:

curl -fsSL https://tailscale.com/install.sh | sh

# 安裝後設定開機自動啟用Tailscale服務:

sudo systemctl enable --now tailscaled

# 檢查服務狀態

sudo systemctl status tailscaled

sudo tailscale up

# Windows安裝

Tailscale支援Windows 10以上系統。至官網下載exe安裝。

安裝完後

兩個裝置都登入同個帳號把裝置加進去!

可透過SSH操作:

FTP運行:

VNC連線:

Raspberry Pi4 與小龍蝦 openclaw 的連接問題 (應用 telegram)

首先在raspberryPi4安裝Openclaw
# 更新系統
sudo apt update && sudo apt upgrade -y
sudo apt install -y git curl build-essential

# 安裝 Node.js 22

curl -fsSL https://deb.nodesource.com/setup_22.x | sudo -E bash -

sudo apt install -y nodejs

# 安裝 openclaw

curl -fsSL https://openclaw.ai/install.sh | bash

安裝完後接著去設定telegram的APP

這些網路上教學很多可參考!!

以下是我安裝完後跟 telegram 在溝通時的問題與解決方法!!

問題1. 在telegram上, 下 /start 沒有回應

很多 Pi 都是卡 IPv6。

sudo nano /etc/dhcpcd.conf

在最後一行添加noipv6

sudo nano /boot/firmware/cmdline.txt

在最後一行添加ipv6.disable=1

然後在/home/pi/.openclaw的openclaw.json修改

"channels": {

    "telegram": {

      "enabled": true,

      "dmPolicy": "open",

      "botToken": "your telegram token",

      "allowFrom": [

        "*"

      ],

      "groupPolicy": "allowlist",

      "streaming": "partial"

    }

  },

  "gateway": {

    "port": 18789,

    "mode": "local",

    "bind": "lan",

    "controlUi": {

      "enabled": true,

      "allowedOrigins": [

        "http://192.168.1.41:port",

        "http://192.168.1.104:port"

      ]

    },

問題2. ⚠️ API rate limit reached. Please try again later. (rate_limit)

這個問題出在telegram 下指令給 openclaw時, 去找尋答案時還是會用到 model上的token

所以要執行順利一點還是要花點錢!!

應用例:從telegram下達指令, 透過 openclaw 來控制raspberryPi的IO做家電控制

在/home/pi/.openclaw/workspace建立skills目錄跟skills/gpio-control

/home/pi/.openclaw/workspace/skills/gpio-control

led_control.py

import RPi.GPIO as GPIO

import sys

def set_led(pin, state):

    GPIO.setmode(GPIO.BCM) # 使用 BCM 編號

    GPIO.setup(pin, GPIO.OUT)

    if state == "on":

        GPIO.output(pin, GPIO.HIGH)

        print(f"Pin {pin} is now ON")

    else:

        GPIO.output(pin, GPIO.LOW)

        print(f"Pin {pin} is now OFF")

    # 注意：在 AI 持續控制場景下，通常不立即執行 GPIO.cleanup()

    # 以免狀態重置，但在程式退出前應呼叫。

if __name__ == "__main__":

    # 從命令列接收參數：python led_control.py 17 on

    pin_num = int(sys.argv[1])

    target_state = sys.argv[2]

    set_led(pin_num, target_state)

skill.json

{

  "name": "control_raspberry_pi_gpio",

  "description": "控制樹莓派的 GPIO 針腳開關（例如開關燈或馬達）",

  "parameters": {

    "type": "object",

    "properties": {

      "pin": { "type": "number", "description": "GPIO 針腳編號 (BCM)" },

      "state": { "type": "string", "enum": ["on", "off"], "description": "開啟或關閉" }

    },

    "required": ["pin", "state"]

  },

  "handler": "python3 path/to/led_control.py {{pin}} {{state}}"

}

RaspberryPi Project - MagicMirror Function

Purpose:

在樹莓派上面安裝魔鏡軟體, 搭配適當的硬體, 你的樹莓派立刻變成亮麗的展示播放器！

Step:

1. 安裝好樹莓派

2. 在樹莓派安裝MagicMirror

3. 在MagicMirror安裝所需的模組. 如時間, 行事曆....

我的MagicMirror介面安排如下圖:

接下來介紹如何將介面配置出來

1. 安裝 Node.js 和 git。Node.js 是 MagicMirror 所需要運行環境。git 是我們要獲取MagicMirror 時所需要的工具。

sudo apt-get install curl

curl -fsSL https://deb.nodesource.com/setup_current.x | sudo -E bash

sudo apt install -y nodejs git

2. 下載 Magic mirror 的主程式碼：
git clone https://github.com/MichMich/MagicMirror
cd MagicMirror

npm run install-mm

將配置的示例文件複制一份，作為初始的配置文件

cp config/config.js.sample config/config.js

這個config/config.js就是要配置各個模組的檔案

運行npm run start 來啟動完整的 MagicMirror

3. 數位相框 Module MMM-ImageSlideshow

依照這連結步驟

https://github.com/AdamMoses-GitHub/MMM-ImageSlideshow

部屬到MagicMirror 顯示介面變成數位相框

Node-red Machine Learning module Tensorflow in Raspberry Pi4

Purpose:

這個專題想利用Node-Red結合USBCamera分析所得到的影像照片中物件所屬的類別, 而TensorFlow剛好可以符合所要的影片類別分析的部分. 再來就是在Node-Red的圖形介面中把所要的功能呈現出來.

This topic wants to use Node-Red combined with USBCamera to analyze the categories of objects in the images and photos obtained, and TensorFlow can just meet the required video category analysis. The next step is to present the required functions in the graphical interface of Node-Red.

Fundamental:

Node-RED

Node-RED is a programming tool for wiring together hardware devices, APIs and online services in new and interesting ways. It provides a browser-based editor that makes it easy to wire together flows using the wide range of nodes in the palette that can be deployed to its runtime in a single-click.
Node-RED 是 IBM 以 Node.js 為基礎, 開發出來的視覺化 IOT 開發工具, 透過「流程圖」方式的操作,Node-RED 完成許多後端才能做的事情.
Node-RED is a visual IOT development tool developed by IBM based on Node.js. Through the operation of "flow chart", Node-RED can accomplish many things that can only be done in the back end.

TensorFlow

TensorFlow is open source library for Machine Learning. It provides a platform that can be used to develop and train ML(Machine Learning)  models and integrate them into applications.

This is a custom Node-RED node that handles the prediction results of an Object Detection model.

Node-Red  [manage palette]:

1. node-red-dashboard

2. node-red-contrib-ui-webcam

3. node-red-contrib-tensorflow

4. node-red-contrib-image-output

5. node-red-contrib-image-tools

6. node-red-contrib-browser-utils

YouTube Demonstration:

Raspberry Pi Smart temperature and humidity controller

Purpose:

這個專題以Raspberry Pi為核心配合DHT22溫溼度模組來做智慧溫度濕度控制器. 在Raspberry Pi中用Node-Red為圖形化界面監看與控制, 當溫度或濕度達到設定的臨界值時, 就控制相對應的Relay Port開啟風扇電源或是除濕機的電源.

This Project uses Raspberry Pi as the core and use DHT22 temperature and humidity module to make a smart temperature and humidity controller. Node-Red is used as a graphical interface for monitoring and control in Raspberry Pi. When the temperature or humidity reaches the set critical value, Just control the corresponding Relay Port to turn on the fan power or dehumidifier power.

Fundamental:

Raspberry Pi:

Raspberry Pi is a popular embedded system board that is relatively small in size and easy to use. Its applications range from hobbyist to professional work areas.

Node-RED

Node-RED is a programming tool for wiring together hardware devices, APIs and online services in new and interesting ways. It provides a browser-based editor that makes it easy to wire together flows using the wide range of nodes in the palette that can be deployed to its runtime in a single-click.
Node-RED 是 IBM 以 Node.js 為基礎, 開發出來的視覺化 IOT 開發工具, 透過「流程圖」方式的操作,透過 Node-RED 完成許多後端才能做的事情.
Node-RED is a visual IOT development tool developed by IBM based on Node.js. Through the operation of "flow chart", Node-RED can accomplish many things that can only be done in the back end.

DHT22

Digital-output relative humidity & temperature sensor/module

DHT22 output calibrated digital signal. It utilizes exclusive digital-signal-collecting-technique and humidity sensing technology, assuring its reliability and stability.Its sensing elements is connected with 8-bit single-chip computer. Every sensor of this model is temperature compensated and calibrated in accurate calibration chamber and the calibration-coefficient is saved in type of programme in OTP memory, when the sensor is detecting, it will cite coefficient from memory.

Circuit:

Node-Red  [manage palette]:

安裝 [node-red-node-pi-gpio]

安裝 [node-red-dashboard]

安裝 [node-red-contrib-dht-sensor] 

安裝 [ node-rede-contrib-ui-led]

YouTubeDemo:

Project Flow:

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    {

        "id": "aef41f4e7f9ffcd2",

        "type": "tab",

        "label": "Smart Controller",

        "disabled": false,

        "info": "",

        "env": []

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        "type": "group",

        "z": "aef41f4e7f9ffcd2",

        "name": "Dehumidifier Power",

        "style": {

            "label": true,

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        "z": "aef41f4e7f9ffcd2",

        "name": "Fan Power",

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            "label": true,

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            "f4664c58d588e0d5"

        ],

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        "w": 812,

        "h": 302

    },

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        "z": "aef41f4e7f9ffcd2",

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        "name": "",

        "pin": "21",

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        "bcm": true,

        "x": 980,

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        "wires": []

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    {

        "id": "15d973b809fcf8c5",

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                "color": "#808080",

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        "showGlow": true,

        "name": "",

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        "y": 700,

        "wires": []

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    {

        "id": "0c9d579aa745e441",

        "type": "ui_button",

        "z": "aef41f4e7f9ffcd2",

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        "className": "",

        "icon": "",

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        "outputs": 1,

        "timeout": 0,

        "noerr": 0,

        "initialize": "",

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        "libs": [],

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        "wires": [

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        "props": [

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            },

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        "wires": [

            [

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        ]

    },

    {

        "id": "734a368317708723",

        "type": "rpi-dht22",

        "z": "aef41f4e7f9ffcd2",

        "g": "b1ca411cd3db418d",

        "name": "",

        "topic": "rpi-dht22",

        "dht": 22,

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        "pin": "18",

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        "y": 400,

        "wires": [

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        "func": "\nreturn msg;",

        "outputs": 1,

        "timeout": 0,

        "noerr": 0,

        "initialize": "",

        "finalize": "",

        "libs": [],

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        "y": 360,

        "wires": [

            [

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        "outputs": 1,

        "timeout": 0,

        "noerr": 0,

        "initialize": "",

        "finalize": "",

        "libs": [],

        "x": 600,

        "y": 420,

        "wires": [

            [

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    },

    {

        "id": "6e9ff33159e25b5b",

        "type": "ui_gauge",

        "z": "aef41f4e7f9ffcd2",

        "g": "b1ca411cd3db418d",

        "name": "",

        "group": "0e2b7585a755f9de",

        "order": 1,

        "width": 5,

        "height": 4,

        "gtype": "gage",

        "title": "Temperature",

        "label": "C",

        "format": "{{value}}",

        "min": "15",

        "max": "50",

        "colors": [

            "#00b500",

            "#e6e600",

            "#ca3838"

        ],

        "seg1": "",

        "seg2": "",

        "diff": false,

        "className": "",

        "x": 810,

        "y": 320,

        "wires": []

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    {

        "id": "7915f1ddd5bac848",

        "type": "ui_chart",

        "z": "aef41f4e7f9ffcd2",

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        "name": "",

        "group": "0e2b7585a755f9de",

        "order": 2,

        "width": 5,

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