Star Wars - AT-AT - LEGO MINDSTORMS Voice Challenge

#!/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, SpeedPercent, LargeMotor, MediumMotor

# 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']
    BACKWARD = ['back']
    STOP = ['stop']


class Command(Enum):
    """
    The list of preset commands and their invocation variation.
    These variations correspond to the skill slot values.
    """
    PATROL = ['patrol']
    FIRE_ONE = ['fire_one']
    FIRE_ALL = ['fire_all']


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.patrol_mode = False

        # Ev3dev initialization
        self.leds = Leds()
        self.sound = Sound()
        self.drive = LargeMotor(OUTPUT_B)
        self.weapon = MediumMotor(OUTPUT_A)

        # Start threads
        threading.Thread(target=self._patrol_thread, daemon=True).start()

    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))

    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"], int(payload["duration"]), int(payload["speed"]))

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

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

    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
        """
        print("Move command: ({}, {}, {}, {})".format(direction, speed, duration, is_blocking), file=sys.stderr)
        if direction in Direction.FORWARD.value:
            self.drive.run_timed(speed_sp=int(-speed*10), time_sp=int(duration*int(1000)))
            #self.drive.on_for_seconds(SpeedPercent(speed), SpeedPercent(speed), duration, block=is_blocking)

        if direction in Direction.BACKWARD.value:
            self.drive.run_timed(speed_sp=int(speed*10), time_sp=int(duration*int(1000)))
            #self.drive.on_for_seconds(SpeedPercent(-speed), SpeedPercent(-speed), duration, block=is_blocking)

        # if direction in (Direction.RIGHT.value + Direction.LEFT.value):
        #     self._turn(direction, speed)
        #     self.drive.on_for_seconds(SpeedPercent(speed), SpeedPercent(speed), duration, block=is_blocking)

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

    def _activate(self, command, speed=50):
        """
        Handles preset commands.
        :param command: the preset command
        :param speed: the speed if applicable
        """
        print("Activate command: ({}, {})".format(command, speed), file=sys.stderr)
        # if command in Command.MOVE_CIRCLE.value:
        #     self.drive.on_for_seconds(SpeedPercent(int(speed)), SpeedPercent(5), 12)

        # if command in Command.MOVE_SQUARE.value:
        #     for i in range(4):
        #         self._move("right", 2, speed, is_blocking=True)

        if command in Command.PATROL.value:
            # Set patrol mode to resume patrol thread processing
            self.patrol_mode = True

        if command in Command.FIRE_ONE.value:
            self.weapon.on_for_rotations(SpeedPercent(100), 3)

        # if command in Command.FIRE_ALL.value:
        #     self.weapon.on_for_rotations(SpeedPercent(100), 10)

    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
        """
        # if direction in Direction.LEFT.value:
        #     self.drive.on_for_seconds(SpeedPercent(0), SpeedPercent(speed), 2)

        # if direction in Direction.RIGHT.value:
        #     self.drive.on_for_seconds(SpeedPercent(speed), SpeedPercent(0), 2)

    def _patrol_thread(self):
        """
        Performs random movement when patrol mode is activated.
        """
        while True:
            while self.patrol_mode:
                print("Patrol mode activated randomly picks a path", file=sys.stderr)
                direction = random.choice(list(Direction))
                duration = random.randint(1, 5)
                speed = random.randint(1, 4) * 25

                while direction == Direction.STOP:
                    direction = random.choice(list(Direction))

                # direction: all except stop, duration: 1-5s, speed: 25, 50, 75, 100
                self._move(direction.value[0], duration, speed)
                time.sleep(duration)
            time.sleep(1)


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')))
    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")

# 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.

[GadgetSettings]
amazonId = YOUR_GADGET_AMAZON_ID
alexaGadgetSecret = YOUR_GADGET_SECRET

[GadgetCapabilities]
Custom.Mindstorms.Gadget = 1.0

/*
 * 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.
*/

'use strict'

const Alexa = require('ask-sdk-core');

const HelpIntentHandler = {
    canHandle(handlerInput) {
        return Alexa.getRequestType(handlerInput.requestEnvelope) === 'IntentRequest'
            && Alexa.getIntentName(handlerInput.requestEnvelope) === 'AMAZON.HelpIntent';
    },
    handle(handlerInput) {
        const speakOutput = 'You can say hello to me! How can I help?';

        return handlerInput.responseBuilder
            .speak(speakOutput)
            .reprompt(speakOutput)
            .getResponse();
    }
};
const CancelAndStopIntentHandler = {
    canHandle(handlerInput) {
        return Alexa.getRequestType(handlerInput.requestEnvelope) === 'IntentRequest'
            && (Alexa.getIntentName(handlerInput.requestEnvelope) === 'AMAZON.CancelIntent'
                || Alexa.getIntentName(handlerInput.requestEnvelope) === 'AMAZON.StopIntent');
    },
    handle(handlerInput) {
        const speakOutput = "<voice name='Takumi'><prosody volume='x-loud' pitch='low'>了解!</prosody></voice>";
        return handlerInput.responseBuilder
            .speak(speakOutput)
            .getResponse();
    }
};
const SessionEndedRequestHandler = {
    canHandle(handlerInput) {
        return Alexa.getRequestType(handlerInput.requestEnvelope) === 'SessionEndedRequest';
    },
    handle(handlerInput) {
        // Any cleanup logic goes here.
        return handlerInput.responseBuilder.getResponse();
    }
};

// The intent reflector is used for interaction model testing and debugging.
// It will simply repeat the intent the user said. You can create custom handlers
// for your intents by defining them above, then also adding them to the request
// handler chain below.
const IntentReflectorHandler = {
    canHandle(handlerInput) {
        return Alexa.getRequestType(handlerInput.requestEnvelope) === 'IntentRequest';
    },
    handle(handlerInput) {
        const intentName = Alexa.getIntentName(handlerInput.requestEnvelope);
        const speakOutput = `You just triggered ${intentName}`;

        return handlerInput.responseBuilder
            .speak(speakOutput)
            .reprompt("I don't understand this command, try again")
            .getResponse();
    }
};

// Generic error handling to capture any syntax or routing errors. If you receive an error
// stating the request handler chain is not found, you have not implemented a handler for
// the intent being invoked or included it in the skill builder below.
const ErrorHandler = {
    canHandle() {
        return true;
    },
    handle(handlerInput, error) {
        console.log(`~~~~ Error handled: ${error.stack}`);
        const speakOutput = `Sorry, I had trouble doing what you asked. Please try again.`;

        return handlerInput.responseBuilder
            .speak(speakOutput)
            .reprompt(speakOutput)
            .getResponse();
    }
};

// The request interceptor is used for request handling testing and debugging.
// It will simply log the request in raw json format before any processing is performed.
const RequestInterceptor = {
    process(handlerInput) {
        let { attributesManager, requestEnvelope } = handlerInput;
        let sessionAttributes = attributesManager.getSessionAttributes();

        // Log the request for debug purposes.
        console.log(`=====Request==${JSON.stringify(requestEnvelope)}`);
        console.log(`=========SessionAttributes==${JSON.stringify(sessionAttributes, null, 2)}`);
    }
};

module.exports = {
    HelpIntentHandler,
    CancelAndStopIntentHandler,
    SessionEndedRequestHandler,
    IntentReflectorHandler,
    ErrorHandler,
    RequestInterceptor
    };

{
    "interactionModel": {
        "languageModel": {
            "invocationName": "スターウォーズ",
            "intents": [
                {
                    "name": "AMAZON.CancelIntent",
                    "samples": []
                },
                {
                    "name": "AMAZON.HelpIntent",
                    "samples": []
                },
                {
                    "name": "AMAZON.StopIntent",
                    "samples": []
                },
                {
                    "name": "AMAZON.NavigateHomeIntent",
                    "samples": []
                },
                {
                    "name": "MoveIntent",
                    "slots": [
                        {
                            "name": "Direction",
                            "type": "DirectionType"
                        },
                        {
                            "name": "Duration",
                            "type": "AMAZON.NUMBER"
                        }
                    ],
                    "samples": [
                        "{Direction} して",
                        "{Direction} を {Duration} 秒",
                        "{Direction} に {Duration} 秒",
                        "{Direction}"
                    ]
                },
                {
                    "name": "SetSpeedIntent",
                    "slots": [
                        {
                            "name": "Speed",
                            "type": "AMAZON.NUMBER"
                        }
                    ],
                    "samples": [
                        "スピードを {Speed} パーセントに設定",
                        "{Speed} パーセント",
                        "スピードを {Speed} パーセント",
                        "スピードを {Speed} "
                    ]
                },
                {
                    "name": "SetCommandIntent",
                    "slots": [
                        {
                            "name": "Command",
                            "type": "CommandType"
                        }
                    ],
                    "samples": [
                        "{Command} モード",
                        "{Command}"
                    ]
                }
            ],
            "types": [
                {
                    "name": "DirectionType",
                    "values": [
                        {
                            "name": {
                                "value": "前進"
                            }
                        },
                        {
                            "name": {
                                "value": "バック"
                            }
                        },
                        {
                            "name": {
                                "value": "止まれ"
                            }
                        },
                        {
                            "name": {
                                "value": "ストップ"
                            }
                        },
                        {
                            "name": {
                                "value": "後ろに戻れ"
                            }
                        },
                        {
                            "name": {
                                "value": "後ろ"
                            }
                        },
                        {
                            "name": {
                                "value": "前に進め"
                            }
                        },
                        {
                            "name": {
                                "value": "前"
                            }
                        }
                    ]
                },
                {
                    "name": "CommandType",
                    "values": [
                        {
                            "name": {
                                "value": "全部撃て"
                            }
                        },
                        {
                            "name": {
                                "value": "発射"
                            }
                        },
                        {
                            "name": {
                                "value": "攻撃"
                            }
                        },
                        {
                            "name": {
                                "value": "撃て"
                            }
                        },
                        {
                            "name": {
                                "value": "ガードモード"
                            }
                        },
                        {
                            "name": {
                                "value": "パトロール"
                            }
                        }
                    ]
                }
            ]
        }
    }
}

{
    "type": "APL",
    "version": "1.1",
    "settings": {},
    "theme": "dark",
    "import": [
        {
            "name": "alexa-layouts",
            "version": "1.0.0"
        }
    ],
    "resources": [
        {
            "description": "Stock color for the light theme",
            "colors": {
                "colorTextPrimary": "#151920"
            }
        },
        {
            "description": "Stock color for the dark theme",
            "when": "${viewport.theme == 'dark'}",
            "colors": {
                "colorTextPrimary": "#f0f1ef"
            }
        },
        {
            "description": "Standard font sizes",
            "dimensions": {
                "textSizeBody": 48,
                "textSizePrimary": 27,
                "textSizeSecondary": 23,
                "textSizeSecondaryHint": 25
            }
        },
        {
            "description": "Common spacing values",
            "dimensions": {
                "spacingThin": 6,
                "spacingSmall": 12,
                "spacingMedium": 24,
                "spacingLarge": 48,
                "spacingExtraLarge": 72
            }
        },
        {
            "description": "Common margins and padding",
            "dimensions": {
                "marginTop": 40,
                "marginLeft": 60,
                "marginRight": 60,
                "marginBottom": 40
            }
        }
    ],
    "styles": {
        "textStyleBase": {
            "description": "Base font description; set color",
            "values": [
                {
                    "color": "@colorTextPrimary"
                }
            ]
        },
        "textStyleBase0": {
            "description": "Thin version of basic font",
            "extend": "textStyleBase",
            "values": {
                "fontWeight": "100"
            }
        },
        "textStyleBase1": {
            "description": "Light version of basic font",
            "extend": "textStyleBase",
            "values": {
                "fontWeight": "300"
            }
        },
        "mixinBody": {
            "values": {
                "fontSize": "@textSizeBody"
            }
        },
        "mixinPrimary": {
            "values": {
                "fontSize": "@textSizePrimary"
            }
        },
        "mixinSecondary": {
            "values": {
                "fontSize": "@textSizeSecondary"
            }
        },
        "textStylePrimary": {
            "extend": [
                "textStyleBase1",
                "mixinPrimary"
            ]
        },
        "textStyleSecondary": {
            "extend": [
                "textStyleBase0",
                "mixinSecondary"
            ]
        },
        "textStyleBody": {
            "extend": [
                "textStyleBase1",
                "mixinBody"
            ]
        },
        "textStyleSecondaryHint": {
            "values": {
                "fontFamily": "Bookerly",
                "fontStyle": "italic",
                "fontSize": "@textSizeSecondaryHint",
                "color": "@colorTextPrimary"
            }
        }
    },
    "onMount": [],
    "graphics": {},
    "commands": {},
    "layouts": {},
    "mainTemplate": {
        "parameters": [
            "payload"
        ],
        "items": [
            {
                "when": "${viewport.shape == 'round'}",
                "type": "Container",
                "direction": "column",
                "items": [
                    {
                        "type": "Image",
                        "source": "${payload.bodyTemplate7Data.backgroundImage.sources[0].url}",
                        "scale": "best-fill",
                        "position": "absolute",
                        "width": "100vw",
                        "height": "100vh"
                    },
                    {
                        "type": "AlexaHeader",
                        "headerTitle": "${payload.bodyTemplate7Data.title}",
                        "headerAttributionImage": "${payload.bodyTemplate7Data.logoUrl}"
                    },
                    {
                        "type": "Container",
                        "grow": 1,
                        "alignItems": "center",
                        "justifyContent": "center",
                        "items": [
                            {
                                "type": "Image",
                                "source": "${payload.bodyTemplate7Data.image.sources[0].url}",
                                "scale": "best-fill",
                                "width": "100vh",
                                "height": "70vw",
                                "align": "center"
                            }
                        ]
                    }
                ]
            },
            {
                "type": "Container",
                "height": "100vh",
                "width": "100vw",
                "items": [
                    {
                        "type": "Image",
                        "source": "${payload.bodyTemplate7Data.backgroundImage.sources[0].url}",
                        "scale": "best-fill",
                        "position": "absolute",
                        "width": "100vw",
                        "height": "100vh"
                    },
                    {
                        "type": "AlexaHeader",
                        "headerTitle": "${payload.bodyTemplate7Data.title}",
                        "headerAttributionImage": "${payload.bodyTemplate7Data.logoUrl}"
                    },
                    {
                        "type": "Container",
                        "direction": "row",
                        "paddingLeft": "5vw",
                        "paddingRight": "5vw",
                        "paddingBottom": "5vh",
                        "alignItems": "center",
                        "justifyContent": "center",
                        "items": [
                            {
                                "type": "Image",
                                "height": "70vh",
                                "width": "90vw",
                                "source": "${payload.bodyTemplate7Data.image.sources[0].url}",
                                "scale": "best-fill",
                                "align": "center"
                            }
                        ]
                    }
                ]
            }
        ]
    }
}

{
    "bodyTemplate7Data": {
        "type": "object",
        "objectId": "bt7Sample",
        "title": "Star Wars : AT-AT",
        "backgroundImage": {
            "contentDescription": null,
            "smallSourceUrl": null,
            "largeSourceUrl": null,
            "sources": [
                {
                    "url": "https://s3.amazonaws.com/static.digg.com/images/8745ea4a89564121885e6290162e66a8_60bb2001fac04de8ac93109bdfdbc7a9_1_header.jpeg",
                    "size": "small",
                    "widthPixels": 0,
                    "heightPixels": 0
                },
                {
                    "url": "https://s3.amazonaws.com/static.digg.com/images/8745ea4a89564121885e6290162e66a8_60bb2001fac04de8ac93109bdfdbc7a9_1_header.jpeg",
                    "size": "large",
                    "widthPixels": 0,
                    "heightPixels": 0
                }
            ]
        },
        "hintText": "Try, \"Alexa, search for blue cheese\""
    }
}