# 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 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, SpeedPercent, Motor
# Set the logging level to INFO to see messages from AlexaGadget
logging.basicConfig(level=logging.INFO)
class Direction(Enum):
"""
The list of directional commands and their variations.
These variations correspond to the skill slot values.
"""
FORWARD = ['forward', 'forwards', 'go forward', 'raise', 'up']
BACKWARD = ['back', 'backward', 'go backward', 'lower', 'down']
STOP = ['stop', 'brake']
class Command(Enum):
"""
The list of preset commands and their invocation variation.
These variations correspond to the skill slot values.
"""
LOWER_BLIND = ['lower', 'lower blind', 'throw shade']
RAISE_BLIND = ['raise', 'raise blind', 'remove shade']
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__()
# Ev3dev initialization
self.leds = Leds()
self.sound = Sound()
self.motor = Motor(OUTPUT_A)
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")
print("{} 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")
print("{} 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))
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))
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 rotations
: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))
position = duration * 360
if direction in Direction.FORWARD.value:
self.motor.run_to_rel_pos(position_sp=(position), speed_sp=(speed), stop_action="hold")
if direction in Direction.BACKWARD.value:
self.motor.run_to_rel_pos(position_sp=(-position), speed_sp=(speed), stop_action="hold")
if direction in Direction.STOP.value:
self.motor.stop(stop_action="hold")
def _activate(self, command, speed=500):
"""
Handles preset commands.
:param command: the preset command
:param speed: the speed if applicable
"""
print("Activate command: ({}, {})".format(command, speed))
if command in Command.RAISE_BLIND.value:
self.motor.run_to_rel_pos(position_sp=5000, speed_sp=500, stop_action="hold")
print('running raise blinds')
if command in Command.LOWER_BLIND.value:
self.motor.run_to_rel_pos(position_sp=-5000, speed_sp=500, stop_action="hold")
print('running lower blinds')
if __name__ == '__main__':
# Startup sequence
gadget = MindstormsGadget()
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")
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