Boxing robots

'use strict';

const Https = require('https');
const AWS = require('aws-sdk');
const Escape = require('lodash/escape');

/**
 * Builds a directive to start the EventHandler.
 * @param token - a unique identifier to track the event handler
 * @param {number} timeout - the duration to wait before sending back the expiration
 * payload to the skill.
 * @param payload - the expiration json payload
 * @see {@link https://developer.amazon.com/docs/alexa-gadgets-toolkit/receive-custom-event-from-gadget.html#start}
 */
exports.buildStartEventHandler = function (token, timeout = 30000, payload)  {
    return {
        type: "CustomInterfaceController.StartEventHandler",
        token: token,
        expiration : {
            durationInMilliseconds: timeout,
            expirationPayload: payload
        }
    };
};

/**
 *
 * Builds a directive to stops the active event handler.
 * The event handler is identified by the cached token in the session attribute.
 * @param {string} handlerInput - the context from Alexa Service
 * @see {@link https://developer.amazon.com/docs/alexa-gadgets-toolkit/receive-custom-event-from-gadget.html#stop}
 */
exports.buildStopEventHandlerDirective = function (handlerInput) {

    let token = handlerInput.attributesManager.getSessionAttributes().token || '';
    return {
        "type": "CustomInterfaceController.StopEventHandler",
        "token": token
    }
};


/**
 * Build a custom directive payload to the gadget with the specified endpointId
 * @param {string} endpointId - the gadget endpoint Id
 * @param {string} namespace - the namespace of the skill
 * @param {string} name - the name of the skill within the scope of this namespace
 * @param {object} payload - the payload data
 * @see {@link https://developer.amazon.com/docs/alexa-gadgets-toolkit/send-gadget-custom-directive-from-skill.html#respond}
 */
exports.build = function (endpointId, namespace, name, payload) {
    // Construct the custom directive that needs to be sent
    // Gadget should declare the capabilities in the discovery response to
    // receive the directives under the following namespace.
    return {
        type: 'CustomInterfaceController.SendDirective',
        header: {
            name: name,
            namespace: namespace
        },
        endpoint: {
            endpointId: endpointId
        },
        payload
    };
};

/**
 * To get a list of all the gadgets that meet these conditions,
 * Call the Endpoint Enumeration API with the apiEndpoint and apiAccessToken to
 * retrieve the list of all connected gadgets.
 *
 * @param {string} apiEndpoint - the Endpoint API url
 * @param {string} apiAccessToken  - the token from the session object in the Alexa request
 * @see {@link https://developer.amazon.com/docs/alexa-gadgets-toolkit/send-gadget-custom-directive-from-skill.html#call-endpoint-enumeration-api}
 */
exports.getConnectedEndpoints = function(apiEndpoint, apiAccessToken) {

    // The preceding https:// need to be stripped off before making the call
    apiEndpoint = (apiEndpoint || '').replace('https://', '');
    return new Promise(((resolve, reject) => {

        const options = {
            host: apiEndpoint,
            path: '/v1/endpoints',
            method: 'GET',
            headers: {
                'Content-Type': 'application/json',
                'Authorization': 'Bearer ' + apiAccessToken
            }
        };

        const request = Https.request(options, (response) => {
            response.setEncoding('utf8');
            let returnData = '';
            response.on('data', (chunk) => {
                returnData += chunk;
            });

            response.on('end', () => {
                resolve(JSON.parse(returnData));
            });

            response.on('error', (error) => {
                reject(error);
            });
        });
        request.end();
    }));
};

'use strict';

const Https = require('https');
const AWS = require('aws-sdk');
const Escape = require('lodash/escape');


/**
 * A convenience routine to add the a key-value pair to the session attribute.
 * @param handlerInput - the handlerInput from Alexa Service
 * @param key - the key to be added
 * @param value - the value be added
 */
/*exports.putSessionAttribute = function(handlerInput, key, value) {
    const attributesManager = handlerInput.attributesManager;
    let sessionAttributes = attributesManager.getSessionAttributes();
    sessionAttributes[key] = value;
    attributesManager.setSessionAttributes(sessionAttributes);
};
*/

const s3SigV4Client = new AWS.S3({
    signatureVersion: 'v4'
});


module.exports= {

    getS3PreSignedUrl(s3ObjectKey) {
    
        const bucketName = process.env.S3_PERSISTENCE_BUCKET;
        const s3PreSignedUrl = s3SigV4Client.getSignedUrl('getObject', {
            Bucket: bucketName,
            Key: s3ObjectKey,
            Expires: 60*1 // the Expires is capped for 1 minute
        });
        console.log(`Util.s3PreSignedUrl: ${s3ObjectKey} URL ${s3PreSignedUrl}`);
        return s3PreSignedUrl;
    
    },

    getPersistenceAdapter(tableName) {
    // This function is an indirect way to detect if this is part of an Alexa-Hosted skill
    function isAlexaHosted() {
        return process.env.S3_PERSISTENCE_BUCKET;
    }
    if (isAlexaHosted()) {
        const {S3PersistenceAdapter} = require('ask-sdk-s3-persistence-adapter');
        return new S3PersistenceAdapter({
            bucketName: process.env.S3_PERSISTENCE_BUCKET
        });
    } else {
        // IMPORTANT: don't forget to give DynamoDB access to the role you're using to run this lambda (via IAM policy)
        const {DynamoDbPersistenceAdapter} = require('ask-sdk-dynamodb-persistence-adapter');
        return new DynamoDbPersistenceAdapter({
            tableName: tableName || 'simon_says',
            createTable: true
        });
    }
    },

   
   putSessionAttribute(handlerInput, key, value) {
    const attributesManager = handlerInput.attributesManager;
    let sessionAttributes = attributesManager.getSessionAttributes();
    sessionAttributes[key] = value;
    attributesManager.setSessionAttributes(sessionAttributes);
},

   supportsAPL(handlerInput) {
        const {supportedInterfaces} = handlerInput.requestEnvelope.context.System.device;
        return !!supportedInterfaces['Alexa.Presentation.APL'];
    },    
    

  putAPLmessage(handlerInput, headerTxt, mainTxt, hintTxt){
    
     if (this.supportsAPL(handlerInput)){
    
        const {Viewport} = handlerInput.requestEnvelope.context;
        const resolution = Viewport.pixelWidth + 'x' + Viewport.pixelHeight;
          
        handlerInput.responseBuilder
                .addDirective({
                    type: 'Alexa.Presentation.APL.RenderDocument',
                    document:  require('./documents/launch.json'),
                    datasources: {
                     launchData: {
                                    type: 'object',
                                    properties: {
                                        headerTitle: headerTxt,
                                        mainText: mainTxt,
                                        hintString: hintTxt,
                                        //logoImage: isBirthday ? null : Viewport.pixelWidth > 480 ? util.getS3PreSignedUrl('Media/full_icon_512.png') : util.getS3PreSignedUrl('Media/full_icon_108.png'),
                                        backgroundImage: this.getS3PreSignedUrl('Media/simon_'+resolution+'.png') ,
                                        backgroundOpacity: "0.5"
                                    },
                                    transformers: [{
                                        inputPath: 'hintString',
                                        transformer: 'textToHint',
                                    }]
                                }
                      }
                    
                });  
     }
     
  },  
 
   putAPLmessagep(handlerInput, headerTxt, mainTxt, hintTxt, player){
    
     if (this.supportsAPL(handlerInput)){
    
        const {Viewport} = handlerInput.requestEnvelope.context;
        const resolution = Viewport.pixelWidth + 'x' + Viewport.pixelHeight;
          
        handlerInput.responseBuilder
                .addDirective({
                    type: 'Alexa.Presentation.APL.RenderDocument',
                    document:  require('./documents/launch.json'),
                    datasources: {
                     launchData: {
                                    type: 'object',
                                    properties: {
                                        headerTitle: headerTxt,
                                        mainText: mainTxt,
                                        hintString: hintTxt,
                                        //logoImage: isBirthday ? null : Viewport.pixelWidth > 480 ? util.getS3PreSignedUrl('Media/full_icon_512.png') : util.getS3PreSignedUrl('Media/full_icon_108.png'),
                                        backgroundImage: this.getS3PreSignedUrl('Media/player_' + player + '_' + resolution+'.png') ,
                                        backgroundOpacity: "0.5"
                                    },
                                    transformers: [{
                                        inputPath: 'hintString',
                                        transformer: 'textToHint',
                                    }]
                                }
                      }
                    
                });  
     }
     
  },
  
    player_color (player){
        var p;
        if (player==='1') p='green';
        else p='red';
    return p;
  }
    
}

{
  "name": "agt-mindstorms",
  "version": "1.1.0",
  "description": "A sample skill demonstrating how to use AGT with Lego Mindstorms",
  "main": "index.js",
  "scripts": {
    "test": "echo \"Error: no test specified\" && exit 1"
  },
  "author": "Amazon Alexa",
  "license": "ISC",
  "dependencies": {
    "ask-sdk-core": "^2.6.0",
    "ask-sdk-model": "^1.18.0",
    "aws-sdk": "^2.326.0",
    "request": "^2.81.0",
    "lodash": "^4.17.11"
  }
}

{
    "type": "APL",
    "version": "1.1",
    "theme": "dark",
    "import": [
        {
            "name": "alexa-viewport-profiles",
            "version": "1.0.0"
        },
        {
            "name": "alexa-layouts",
            "version": "1.0.0"
        },
        {
            "name": "alexa-styles",
            "version": "1.0.0"
        }
    ],
    "layouts": {
        "LaunchScreen": {
            "description": "A basic launch screen with a text and logo",
            "parameters": [
                {
                    "name": "mainText",
                    "type": "string"
                },
                {
                    "name": "logo",
                    "type": "string"
                }
            ],
            "items": [
                {
                    "type": "Container",
                    "width": "100%",
                    "height": "100%",
                    "justifyContent": "center",
                    "alignItems": "center",
                    "item": [
                        {
                            "type": "Image",
                            "source": "${logo}",
                            "width": "20vw",
                            "height": "20vw",
                            "scale": "best-fill"
                        },
                        {
                            "type": "Text",
                            "text": "${mainText}",
                            "style": "textStyleDisplay5",
                            "textAlign": "center",
                            "paddingTop": "30dp",
                            "color": "white"
                        }
                    ]
                }
            ]
        }
    },
    "mainTemplate": {
        "parameters": [
            "payload"
        ],
        "items": [
            {
                "type": "Container",
                "direction": "column",
                "items": [
                    {
                        "type": "Image",
                        "source": "${payload.launchData.properties.backgroundImage}",
                        "scale": "best-fill",
                        "width": "100vw",
                        "height": "100vh",
                        "opacity": "${payload.launchData.properties.backgroundOpacity}"
                    },
                    {
                        "type": "Container",
                        "position": "absolute",
                        "width": "100vw",
                        "height": "100vh",
                        "direction": "column",
                        "items": [
                            {
                                "headerTitle": "${payload.launchData.properties.headerTitle}",
                                "type": "AlexaHeader"
                            },
                            {
                                "when": "${@viewportProfile == @hubRoundSmall}",
                                "type": "Container",
                                "width": "100vw",
                                "height": "60vh",
                                "position": "relative",
                                "alignItems": "center",
                                "justifyContent": "center",
                                "direction": "column",
                                "items": [
                                    {
                                        "type": "LaunchScreen",
                                        "mainText": "${payload.launchData.properties.mainText}",
                                        "logo": "${payload.launchData.properties.logoImage}"
                                    }
                                ]
                            },
                            {
                                "when": "${@viewportProfile == @hubLandscapeSmall || @viewportProfile == @hubLandscapeMedium || @viewportProfile == @hubLandscapeLarge || @viewportProfile == @tvLandscapeXLarge}",
                                "type": "Container",
                                "width": "100vw",
                                "height": "70vh",
                                "direction": "column",
                                "alignItems": "center",
                                "justifyContent": "center",
                                "items": [
                                    {
                                        "type": "LaunchScreen",
                                        "mainText": "${payload.launchData.properties.mainText}",
                                        "logo": "${payload.launchData.properties.logoImage}"
                                    }
                                ]
                            },
                            {
                                "footerHint": "${payload.launchData.properties.hintString}",
                                "type": "AlexaFooter",
                                "when": "${@viewportProfile == @hubLandscapeSmall || @viewportProfile == @hubLandscapeMedium || @viewportProfile == @hubLandscapeLarge || @viewportProfile == @tvLandscapeXLarge}"
                            }
                        ]
                    }
                ]
            }
        ]
    }
}

#!/usr/bin/env python3
# Copyright 2019 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
# 
# You may not use this file except in compliance with the terms and conditions 
# set forth in the accompanying LICENSE.TXT file.
#
# THESE MATERIALS ARE PROVIDED ON AN "AS IS" BASIS. AMAZON SPECIFICALLY DISCLAIMS, WITH 
# RESPECT TO THESE MATERIALS, ALL WARRANTIES, EXPRESS, IMPLIED, OR STATUTORY, INCLUDING 
# THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND NON-INFRINGEMENT.

import os
import sys
import time
import logging
import json
import random
import threading

from enum import Enum
from agt import AlexaGadget

from ev3dev2.led import Leds
from ev3dev2.sound import Sound
from ev3dev2.motor import OUTPUT_A, OUTPUT_B, OUTPUT_C, OUTPUT_D, MoveTank, SpeedPercent, LargeMotor, MediumMotor
from ev3dev2.sensor.lego import TouchSensor

#from ev3dev2.sensor.lego import ColorSensor

# Set the logging level to INFO to see messages from AlexaGadget
logging.basicConfig(level=logging.INFO, stream=sys.stdout, format='%(message)s')
logging.getLogger().addHandler(logging.StreamHandler(sys.stderr))
logger = logging.getLogger(__name__)


class Direction(Enum):
    """
    The list of directional commands and their variations.
    These variations correspond to the skill slot values.
    """
    FORWARD = ['forward', 'forwards', 'go forward']
    BACKWARD = ['back', 'backward', 'backwards', 'go backward']
    #LEFT = ['left', 'go left']
    #RIGHT = ['right', 'go right']
    LEFT = ['turn left', 'go left']
    RIGHT = ['turn right', 'go right']
    #STOP = ['stop', 'brake']
    STOP = ['brake']
    #JAB= ['jab']
    #HOOK= ['hook']
    JAB= ['left']
    HOOK= ['right']
    POWER_PUNCH= ['power punch','power']

class Command(Enum):
    """
    The list of preset commands and their invocation variation.
    These variations correspond to the skill slot values.
    """
    MOVE_CIRCLE = ['circle', 'spin']
    MOVE_SQUARE = ['square']
    PATROL = ['patrol', 'guard mode', 'sentry mode']
    FIRE_ONE = ['cannon', '1 shot', 'one shot']
    FIRE_ALL = ['all shot']

class EventName(Enum):
    """
    The list of custom event name sent from this gadget
    """
    SENTRY = "Sentry"
    PROXIMITY = "Proximity"
    SPEECH = "Speech"
    COLOR = "Color"
    TOUCH = 'Touch'
    #MOVING= 'Moving'

class MindstormsGadget(AlexaGadget):
    """
    A Mindstorms gadget that performs movement based on voice commands.
    Two types of commands are supported, directional movement and preset.
    """

    def __init__(self):
        """
        Performs Alexa Gadget initialization routines and ev3dev resource allocation.
        """
        super().__init__()

        # Gadget state
        self.boxing_mode= False
        self.player= "1"

        # Ev3dev initialization
        self.leds = Leds()
        self.sound = Sound()
        self.drive = MoveTank(OUTPUT_B, OUTPUT_C)

        self.armL = LargeMotor(OUTPUT_A)
        self.armR = LargeMotor(OUTPUT_D)

        self.tsL = TouchSensor('in1')
        self.tsR = TouchSensor('in4')
        self.pounches = 0
      
    def on_connected(self, device_addr):
        """
        Gadget connected to the paired Echo device.
        :param device_addr: the address of the device we connected to
        """
        self.leds.set_color("LEFT", "GREEN")
        self.leds.set_color("RIGHT", "GREEN")
        logger.info("{} connected to Echo device".format(self.friendly_name))        
      

    def on_disconnected(self, device_addr):
        """
        Gadget disconnected from the paired Echo device.
        :param device_addr: the address of the device we disconnected from
        """
        self.leds.set_color("LEFT", "BLACK")
        self.leds.set_color("RIGHT", "BLACK")
        logger.info("{} disconnected from Echo device".format(self.friendly_name))
        self.color_mode = False

    def on_custom_mindstorms_gadget_control(self, directive):
        """
        Handles the Custom.Mindstorms.Gadget control directive.
        :param directive: the custom directive with the matching namespace and name
        """
        try:
            payload = json.loads(directive.payload.decode("utf-8"))
            #print("Control payload: {}".format(payload), file=sys.stderr)
            control_type = payload["type"]
            if control_type == "move":

                # Expected params: [direction, duration, speed]
                self._move(payload["direction"], float(payload["duration"]), int(payload["speed"]))

            if control_type == "command":
                # Expected params: [command]
                self._activate(payload["command"])

            if control_type == "init":
                # Expected params: [command]
                self._init_player(payload["player"])

            if control_type == "start":
                # Expected params: [command]
                self._start()


        except KeyError:
            print("Missing expected parameters: {}".format(directive), file=sys.stderr)

    def _start(self):
        self.color_mode = True
        logger.info('Player ' + self.player + ' ready!')
        self._init_arm(self.armL, 200)
        self._init_arm(self.armR, 200)
        self.boxing_mode= True
        self.pounches= 0


    def _init_player(self, player):
        self.player= player
        if self.player=="1":
            self.leds.set_color("LEFT", "GREEN")
            self.leds.set_color("RIGHT", "GREEN")
        else:
            self.leds.set_color("LEFT", "RED")
            self.leds.set_color("RIGHT", "RED")
            logger.info("I'm Player 2")

    def _init_arm(self,arm, speed):
        arm.run_timed(time_sp=500, speed_sp=-speed)
        arm.wait_while('running')

        arm.stop()


    def _move_arm(self, arm, ts, speed):
        arm.run_timed(time_sp=500, speed_sp=speed)
  
        while any(arm.state):
            if ts.value():
                self.sound.beep()
                self._send_event(EventName.TOUCH, {'player': self.player})
                logger.info("Send TOUCH event to skill ")
                self.pounches=self.pounches+1
                print('Pounches: '+ str(self.pounches))
            time.sleep(0.05)


        arm.stop(stop_action="brake")

        arm.run_timed(time_sp=500, speed_sp=-speed)
        arm.wait_while('running')

        arm.stop()

    def _move(self, direction, duration: int, speed: int, is_blocking=False):
        """
        Handles move commands from the directive.
        Right and left movement can under or over turn depending on the surface type.
        :param direction: the move direction
        :param duration: the duration in seconds
        :param speed: the speed percentage as an integer
        :param is_blocking: if set, motor run until duration expired before accepting another command
        """
  
        self.moving_mode=True

        if direction in Direction.FORWARD.value:
            self.drive.on_for_seconds(SpeedPercent(speed), SpeedPercent(speed), duration, block=is_blocking, brake=False)

        if direction in Direction.BACKWARD.value:
            self.drive.on_for_seconds(SpeedPercent(-speed), SpeedPercent(-speed), duration, block=is_blocking, brake=False)

        if direction in (Direction.RIGHT.value + Direction.LEFT.value):
            self._turn(direction, speed)

        if direction in Direction.STOP.value:
            self.drive.off()
            self.patrol_mode = False

        if direction in Direction.JAB.value:
            self._move_arm(self.armL,self.tsL,400)

        if direction in Direction.HOOK.value:
            self._move_arm(self.armR,self.tsR,400)

        if direction in Direction.POWER_PUNCH.value:
            self._move_arm(self.armR,self.tsR,400)
            self._move_arm(self.armL,self.tsL,400)
            self._move_arm(self.armR,self.tsR,400)

        self.moving_mode= False

    def _turn(self, direction, speed):
        """
        Turns based on the specified direction and speed.
        Calibrated for hard smooth surface.
        :param direction: the turn direction
        :param speed: the turn speed
        """
        speed= 10

        if direction in Direction.LEFT.value:
            self.drive.on_for_seconds(SpeedPercent(-speed), SpeedPercent(speed), 1, brake=False)

        if direction in Direction.RIGHT.value:
            self.drive.on_for_seconds(SpeedPercent(speed), SpeedPercent(-speed), 1, brake=False)

    def _send_event(self, name: EventName, payload):
        """
        Sends a custom event to trigger a sentry action.
        :param name: the name of the custom event
        :param payload: the sentry JSON payload
        """
        self.send_custom_event('Custom.Mindstorms.Gadget', name.value, payload)

if __name__ == '__main__':

    gadget = MindstormsGadget()

    # Set LCD font and turn off blinking LEDs
    os.system('setfont Lat7-Terminus12x6')
    gadget.leds.set_color("LEFT", "BLACK")
    gadget.leds.set_color("RIGHT", "BLACK")

    # Startup sequence
    gadget.sound.play_song((('C4', 'e'), ('D4', 'e'), ('E5', 'q')))
    #Player 1
    gadget.leds.set_color("LEFT", "GREEN")
    gadget.leds.set_color("RIGHT", "GREEN")

    # Gadget main entry point
    gadget.main()

    # Shutdown sequence
    gadget.sound.play_song((('E5', 'e'), ('C4', 'e')))
    gadget.leds.set_color("LEFT", "BLACK")
    gadget.leds.set_color("RIGHT", "BLACK")