Building the Web of Things is a hands-on guide that teaches how to design and implement scalable, flexible, and industry-ready IoT solutions on the Web. This practical book will show you how to connect various devices to the Web and how to expose their services and data over REST APIs.
Examples are based on Node.js and Raspberry Pi. The book also mentions Yaler:
Once the development and testing phase of your WoT Pi is finished, you’ll likely want to make it accessible over the web with its own public domain; for example, mypi.webofthings.io. To do this, you could use Yaler, which is a great service ... to securely access your embedded devices through your firewall
Thanks for recommending us. Glad to be a building block for the Web of Things.