Polýplevros

#!/usr/bin/env python3


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, MediumMotor, LargeMotor, follow_for_ms
from ev3dev2.sensor.lego import ColorSensor, UltrasonicSensor, TouchSensor
from ev3dev2.sensor import INPUT_1, INPUT_2, INPUT_3, INPUT_4

# 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']
    STOP = ['stop', 'brake']



class Command(Enum):
    """
    The list of preset commands and their invocation variation.
    These variations correspond to the skill slot values.
    """
    
    PICK_UP = ['close gripper']
    DROP = ['open gripper']
    OPEN_GATE = ['open gate']
    CLOSE_GATE = ['close gate']
    CHECK_COLOUR = ['identify color']
    CHECK_DISTANCE = ['check distance']
    GRAB_OR_REMOVE = ['intelligent sense']
    LINE_FOLLOW = ['line following']
    TOUCH_SENSOR = ['touch sensor']

class EventName(Enum):
    SPEECH = "Speech"
    DISTANCE = "Distance"
    COLOR = "Color"
    SMART = "Smart"
    ANTI_CRASHING = "Anti Crashing"
    TOUCH = "Touch"
    LINE_FOLLOWING = "Line Follow"


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.distance_mode = False
        self.color_mode = False
        self.smart_mode = False
        self.anti_crashing_mode = False
        self.touch_mode = False
        self.line_follow_mode = False

        # Ev3dev initialization
        self.leds = Leds()
        self.sound = Sound()
        self.drive = MoveTank(OUTPUT_B, OUTPUT_C)
        self.gripper = MediumMotor(OUTPUT_A)
        self.gate = LargeMotor(OUTPUT_D)
        self.us = UltrasonicSensor(INPUT_3)
        self.cs1 = ColorSensor(INPUT_1)
        self.ts = TouchSensor(INPUT_4)
        self.drive.cs2 = ColorSensor(INPUT_2)

        threading.Thread(target=self._distance_thread, daemon=True).start()
        threading.Thread(target=self._color_thread, daemon=True).start()
        threading.Thread(target=self._smart_thread, daemon=True).start()
        threading.Thread(target=self._anti_crashing_thread, daemon=True).start()
        threading.Thread(target=self._touch_thread, daemon=True).start()
        threading.Thread(target=self._line_follow_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, rotations, speed]
                self._move(payload["direction"], int(payload["rotations"]), 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, rotations: 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 rotations: the rotations in numbers
        :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, rotations, is_blocking), file=sys.stderr)
        if direction in Direction.FORWARD.value:
            self.drive.on_for_rotations(SpeedPercent(speed), SpeedPercent(speed),rotations, block=is_blocking)

        if direction in Direction.BACKWARD.value:
            self.drive.on_for_rotations(SpeedPercent(-speed), SpeedPercent(-speed), rotations, block=is_blocking)

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

        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.PICK_UP.value:
            #picking up an object with the gripper
            self.gripper.on_for_degrees(SpeedPercent(20),355)

        if command in Command.DROP.value:
            #placing an object with the gripper
            self.gripper.on_for_degrees(SpeedPercent(20), -355)


        if command in Command.OPEN_GATE.value:
            #opening the gate
            self.gate.on_for_degrees(SpeedPercent(-50), 700)

        if command in Command.CLOSE_GATE.value:
            #closing the gate
            self.gate.on_for_degrees(SpeedPercent(50),700)

        if command in Command.CHECK_COLOUR.value:
            #colour identification with front facing coloursensor(cs1) 
            self.color_mode = True



        if command in Command.CHECK_DISTANCE.value:
            #distance in front of the bot and any obstacle
            self.distance_mode=True


        if command in Command.GRAB_OR_REMOVE.value:
            #smart colour detection, will leave it if its a wall and remove it if an object.
            self.smart_mode=True

        if command in Command.LINE_FOLLOW.value:
            #line following     
            self.line_follow_mode=True

        if command in Command.TOUCH_SENSOR.value:
            #TANK3R will dance until touch sesnor pressed
            self.touch_mode=True

                        



    def _turn(self, direction, speed, rotations):
        """
        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_rotations(SpeedPercent(0), SpeedPercent(speed), rotations)

        if direction in Direction.RIGHT.value:
            self.drive.on_for_rotations(SpeedPercent(speed), SpeedPercent(0), rotations)


    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)


    def _distance_thread(self):
        while True:
            while self.distance_mode:
                distance=self.us.distance_inches_ping
                print("Distance: {}".format(distance), file=sys.stderr)
                if distance < 3:
                        self._send_event(EventName.DISTANCE, {'distance': distance})
                        self.gate.on_for_degrees(SpeedPercent(100), -700)
                        self.gate.on_for_degrees(SpeedPercent(100), 700)
                        self.gate.on_for_degrees(SpeedPercent(100), -700)
                        self.gate.on_for_degrees(SpeedPercent(100), 700)
                        self.distance_mode= False
                else:                           
                        self.distance_mode= False

    def _color_thread(self):
        while True:
            while self.color_mode:
                #different colours and speech responses by alexa
                colourdetected=self.cs1.color_name
                if colourdetected == 'NoColor':
                    print("Color: {}".format(colourdetected), file=sys.stderr)
                    self._send_event(EventName.COLOR, {'0': colourdetected})
                    self.color_mode=False
                elif colourdetected == 'Black':
                    print("Color: {}".format(colourdetected), file=sys.stderr)
                    self._send_event(EventName.COLOR, {'1': colourdetected})
                    self.color_mode=False
                elif colourdetected == 'Blue':
                    print("Color: {}".format(colourdetected), file=sys.stderr)
                    self._send_event(EventName.COLOR, {'2': colourdetected})
                    self.color_mode=False
                elif colourdetected == 'Green':
                    print("Color: {}".format(colourdetected), file=sys.stderr)
                    self._send_event(EventName.COLOR, {'3': colourdetected})
                    self.color_mode=False
                elif colourdetected == 'Yellow':
                    print("Color: {}".format(colourdetected), file=sys.stderr)
                    self._send_event(EventName.COLOR, {'4': colourdetected})
                    self.color_mode=False
                elif colourdetected == 'Red':
                    print("Color: {}".format(colourdetected), file=sys.stderr)
                    self._send_event(EventName.COLOR, {'5': colourdetected})
                    self.color_mode=False
                elif colourdetected == 'White':
                    print("Color: {}".format(colourdetected), file=sys.stderr)
                    self._send_event(EventName.COLOR, {'6': colourdetected})
                    self.color_mode=False
                elif colourdetected == 'Brown':
                    print("Color: {}".format(colourdetected), file=sys.stderr)
                    self._send_event(EventName.COLOR, {'7': colourdetected})
                    self.color_mode=False
                else:
                    print("Color: {}".format(distance), file=sys.stderr)
                    self._send_event(EventName.COLOR, {'error': colourdetected})
                    self.color_mode=False

    def _smart_thread(self):
        while True:
            while self.smart_mode:
                #intelligent sense, red is a breach so it will remove it. White is a wall so  it will be
                #avoided. Blue is a human so it will also be avoided.(in a different way)
                colourdetected=self.cs1.color_name
                if colourdetected == 'Red':
                    self._send_event(EventName.SMART, {'red': colourdetected})
                    self.gate.on_for_degrees(SpeedPercent(100), -700)
                    self.gate.on_for_degrees(SpeedPercent(100), 700)
                    self.color_mode = False

                elif colourdetected == 'White':
                    self._send_event(EventName.SMART, {'white': colourdetected})
                    self.drive.on_for_rotations(SpeedPercent(100), SpeedPercent(100), -3)
                    self.color_mode = False

                elif colourdetected == 'Blue':
                    self._send_event(EventName.SMART, {'blue': colourdetected})
                    self.drive.on_for_rotations(SpeedPercent(100), SpeedPercent(100), -3)
                    self.drive.on_for_rotations(SpeedPercent(100), SpeedPercent(-100), 2)
                    self.drive.on_for_rotations(SpeedPercent(100), SpeedPercent(100), 3)
                    self.drive.on_for_rotations(SpeedPercent(-100), SpeedPercent(100), 2)
                    self.drive.on_for_rotations(SpeedPercent(100), SpeedPercent(100), 5)             
                    self.color_mode = False

                else :
                    self._send_event(EventName.SMART, {'error': colourdetected})
                    self.color_mode = False


    def _anti_crashing_thread(self):
        while True:
            while self.anti_crashing_mode:
                #a normal anti crashing mode, when wall s detected, its gonna go back
                distance=self.us.distance_inches_ping
                print("Distance: {}".format(distance), file=sys.stderr)
                if distance < 5:
                    self._send_event(EventName.ANTI_CRASHING, {'less': distance})
                    self.drive.on_for_rotations(SpeedPercent(100), SpeedPercent(100), 3)
                    self.anti_crashing_mode=False
                else :
                    self._send_event(EventName.ANTI_CRASHING, {'more': distance})
                    self.anti_crashing_mode=False



    def _touch_thread(self):
        while True:
            while self.touch_mode:
                #TANK3R will dance until ev3 touch sensor is pressed.
                while not self.ts.value():
                    self.drive.on_for_rotations(SpeedPercent(100), SpeedPercent(-100), 1)
                    self.drive.on_for_rotations(SpeedPercent(-100), SpeedPercent(100), 1)
                    self.gate.on_for_degrees(SpeedPercent(100), -700)
                    self.gate.on_for_degrees(SpeedPercent(100), 700)
                    self.drive.on_for_rotations(SpeedPercent(-100), SpeedPercent(100), 10)
                    self.drive.on_for_rotations(SpeedPercent(100), SpeedPercent(-100), 10)
                self._send_event(EventName.TOUCH, {'touch': pressed})
                self.touch_mode=False


    def _line_follow_thread(self):
        while True:

        #line following
            while self.line_follow_mode:
                self.drive.cs2.reflected_light_intensity
                self.drive.follow_line( kp=11.3, ki= 0.05, kd=3.2, speed=SpeedPercent(20), follow_left_edge=True, follow_for=follow_for_ms, ms=5000)
                self.line_follow_mode=False
                self._send_event(EventName.LINE_FOLLOWING, {'linefollow': lineFollow})



                  



if __name__ == '__main__':

    gadget = MindstormsGadget()

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

    # Starting it up
    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()

    # Shutting it down
    gadget.sound.play_song((('E5', 'e'), ('C4', 'e')))
    gadget.leds.set_color("LEFT", "BLACK")
    gadget.leds.set_color("RIGHT", "BLACK")

[GadgetSettings]
amazonId = 
alexaGadgetSecret = 

[GadgetCapabilities]
Custom.Mindstorms.Gadget = 1.0

{
  "interactionModel": {
    "languageModel": {
      "invocationName": "mindstorms",
      "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} now",
            "{Direction} {Duration} seconds",
            "move {Direction} for {Duration} seconds"
          ]
        },
        {
          "name": "SetSpeedIntent",
          "slots": [
            {
              "name": "Speed",
              "type": "AMAZON.NUMBER"
            }
          ],
          "samples": [
            "set speed {Speed} percent",
            "set {Speed} percent speed",
            "set speed to {Speed} percent"
          ]
        },
        {
          "name": "SetCommandIntent",
          "slots": [
            {
              "name": "Command",
              "type": "CommandType"
            }
          ],
          "samples": [
            "activate {Command} mode",
            "move in a {Command}",
            "fire {Command}",
            "activate {Command}"
          ]
        }
      ],
      "types": [
        {
          "name": "DirectionType",
          "values": [
            {
              "name": {
                "value": "brake"
              }
            },
            {
              "name": {
                "value": "go backward"
              }
            },
            {
              "name": {
                "value": "go forward"
              }
            },
            {
              "name": {
                "value": "go right"
              }
            },
            {
              "name": {
                "value": "go left"
              }
            },
            {
              "name": {
                "value": "right"
              }
            },
            {
              "name": {
                "value": "left"
              }
            },
            {
              "name": {
                "value": "backwards"
              }
            },
            {
              "name": {
                "value": "backward"
              }
            },
            {
              "name": {
                "value": "forwards"
              }
            },
            {
              "name": {
                "value": "forward"
              }
            }
          ]
        },
        {
          "name": "CommandType",
          "values": [
            {
              "name": {
                "value": "sentry"
              }
            },
            {
              "name": {
                "value": "circle"
              }
            },
            {
              "name": {
                "value": "square"
              }
            },
            {
              "name": {
                "value": "patrol"
              }
            },
            {
              "name": {
                "value": "cannon"
              }
            },
            {
              "name": {
                "value": "all shot"
              }
            },
            {
              "name": {
                "value": "one shot"
              }
            }
          ]
        }
      ]
    }
  }
}

{
  "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"
  }
}

'use strict';

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

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

/**
 * Get the authenticated URL to access the S3 Object. This URL expires after 60 seconds.
 * @param s3ObjectKey - the S3 object key
 * @returns {string} the pre-signed S3 URL
 */
exports.getS3PreSignedUrl = function getS3PreSignedUrl(s3ObjectKey) {

    const bucketName = process.env.S3_PERSISTENCE_BUCKET;
    return Escape(s3SigV4Client.getSignedUrl('getObject', {
        Bucket: bucketName,
        Key: s3ObjectKey,
        Expires: 60 // the Expires is capped for 1 minute
    }));
};

/**
 * 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
    };
};

/**
 * A convenience routine to add the a key-value pair to the session attribute.
 * @param handlerInput - the context 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);
};


/**
 * 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();
    }));
};