Olive - Your Animatronic Home Assistant

/*
 * Olive - Eye Controller
 * Author: Travis Rosenbaum (TRosenbaum@gmail.com)
 */

// D-Duino Pinouts
#define D0 16
#define D1 5
#define D2 4
#define D3 0
#define D4 2
#define D5 14
#define D6 12
#define D7 13
#define D8 15
#define TX 1
#define RX 3
#define SDA_PIN D7
#define SCL_PIN D6
 
#include <ESP8266WiFi.h>
#include <DNSServer.h>
#include <WiFiManager.h> //https://github.com/tzapu/WiFiManager
#include <WiFiUdp.h>

// NeoPixel (WS2812B)
#include <Adafruit_NeoPixel.h>
// Iris LED Setup
#define IRIS_NUMPIXELS 16 // Number of pixels in the Iris ring
#define IRIS_PIXEL_PIN D8
Adafruit_NeoPixel iris = Adafruit_NeoPixel(IRIS_NUMPIXELS, IRIS_PIXEL_PIN, NEO_GRBW + NEO_KHZ800);

// Pupil LED Setup
#define PUPIL_PIXEL_PIN D4
Adafruit_NeoPixel pupil = Adafruit_NeoPixel(1, PUPIL_PIXEL_PIN, NEO_GRB + NEO_KHZ800);

// MQTT Client
#include "Adafruit_MQTT.h"
#include "Adafruit_MQTT_Client.h"

// Iris Motor contoller pins
#define AIN1 D6 // CLOSE - AIN1
#define AIN2 D7 // OPEN - AIN2

// MQTT Client
#define MQTT_SERVER      "192.168.1.77"
#define MQTT_SERVERPORT  1883 // 1883 for MQTT, 8883 for MQTTS
#define MQTT_CLIENTID    "olive-eye-1"
#define MQTT_USERNAME    "olive-eye"
#define MQTT_KEY         "key"
//
//// Use WiFiClientSecure for SSL/TLS support
WiFiClient client;
Adafruit_MQTT_Client mqtt(&client, MQTT_SERVER, MQTT_SERVERPORT, MQTT_USERNAME, MQTT_KEY);

/* Hermes - relevant topics:
 *  hermes/hotword/toggleOff                - Hotword detection off (usually when hotword detected, but also when disabled)
 *  hermes/dialogueManager/sessionStarted   - Conversation / listening begins
 *  hermes/asr/textCaptured                 - Text was captured from speech
 *  hermes/nlu/intentParsed                 - The intent was understood, now we wait for the activity
 *  hermes/nlu/intentNotRecognized          - "Man, ain't nobody understand the words that are coming out of your mouth."
 *  hermes/dialogueManager/endSession       - (Optional) The session-ending activity / response.
 *  hermes/dialogueManager/sessionEnded     - The definitive end of the conversation.
 *  hermes/hotword/toggleOn                 - Back to listening for hotword
 *  ----------------------------------------------------------------------------------------------
 *  Other topics:
 *  hermes/intent/TRosenbaum:openPodBayDoors - Olive 9000 Mode
 */
 
Adafruit_MQTT_Subscribe toggleOffSub            = Adafruit_MQTT_Subscribe(&mqtt, "hermes/hotword/toggleOff"                 , MQTT_QOS_1);
//Adafruit_MQTT_Subscribe sessionStartedSub       = Adafruit_MQTT_Subscribe(&mqtt, "hermes/dialogueManager/sessionStarted"    , MQTT_QOS_1);
Adafruit_MQTT_Subscribe textCapturedSub         = Adafruit_MQTT_Subscribe(&mqtt, "hermes/asr/textCaptured"                  , MQTT_QOS_1);
//Adafruit_MQTT_Subscribe intentParsedSub         = Adafruit_MQTT_Subscribe(&mqtt, "hermes/nlu/intentParsed"                  , MQTT_QOS_1);
//Adafruit_MQTT_Subscribe intentNotRecognizedSub  = Adafruit_MQTT_Subscribe(&mqtt, "hermes/nlu/intentNotRecognized"           , MQTT_QOS_1);
//Adafruit_MQTT_Subscribe endSessionSub           = Adafruit_MQTT_Subscribe(&mqtt, "hermes/dialogueManager/endSession"        , MQTT_QOS_1);
//Adafruit_MQTT_Subscribe sessionEndedSub         = Adafruit_MQTT_Subscribe(&mqtt, "hermes/dialogueManager/sessionEnded"      , MQTT_QOS_1);
Adafruit_MQTT_Subscribe toggleOnSub             = Adafruit_MQTT_Subscribe(&mqtt, "hermes/hotword/toggleOn"                  , MQTT_QOS_1);
Adafruit_MQTT_Subscribe olive9000Sub            = Adafruit_MQTT_Subscribe(&mqtt, "hermes/intent/TRosenbaum:openPodBayDoors" , MQTT_QOS_1);

/******************************************************************************
* Bug workaround for Arduino 1.6.6, it seems to need a function declaration   *
* for some reason (only affects ESP8266, likely an arduino-builder bug).      *
******************************************************************************/
void MQTT_connect();
/*****************************************************************************/

// Iris Position Detection
int inputPin = A0;
int pos = 0;

// IRIS Position Smoothing (REF: https://www.arduino.cc/en/tutorial/smoothing)
// Define the number of samples to keep track of. The higher the number, the
// more the readings will be smoothed, but the slower the output will respond to
// the input. Using a constant rather than a normal variable lets us use this
// value to determine the size of the readings array.
const int numReadings = 25;
int readings[numReadings];      // the readings from the analog input
int readIndex = 0;              // the index of the current reading
int total = 0;                  // the running total
int average = 0;                // the average

// Helper method for logging
void setLine(int level, String statusText) {
  // Print to serial
  Serial.println(statusText);
}

// Function to connect and reconnect as necessary to the MQTT server.
void MQTT_connect() {
  int8_t ret;

  // Stop if already connected.
  if (mqtt.connected()) {
    return;
  }

  uint8_t retries = 20;
  while ((ret = mqtt.connect()) != 0) { // connect will return 0 for connected
    setLine(3,"Retry #" + String(21 - retries));
    setLine(4,mqtt.connectErrorString(ret));
    mqtt.disconnect();
    delay(1000);
    retries--;
    if (retries == 0) {
      setLine(5,"MQTT failed! Reset.");
      // Lock up and wait for Watchdog Timer (WDT) reset
      while (1);
    }
  }

  setLine(5, "MQTT Connected!");
}

void animateBoot() {
  // Iris Ring up animation
  for (int i=0; i<IRIS_NUMPIXELS; i++) {
    delay(50);
    iris.setPixelColor(i, iris.Color(0, 0, 1));
    iris.show();
  }    

  // Green pupil glow
  pupil.setPixelColor(0, pupil.Color(124, 252, 0));
  pupil.show();
}

void animateListening() {
  // Open Iris
  digitalWrite(AIN1, LOW);
  digitalWrite(AIN2, HIGH);
  
  // Ring yellow
  for (int i=0; i<IRIS_NUMPIXELS; i++) {
    delay(10);
    iris.setPixelColor(i, iris.Color(5, 5, 0));
    iris.show();
  }   

  // Turn off Iris
  digitalWrite(AIN1, LOW);
  digitalWrite(AIN2, LOW);
}

void animateEnded() {
  // Open Iris
  digitalWrite(AIN1, LOW);
  digitalWrite(AIN2, HIGH);
  
  // Ring green
  for (int i=0; i<IRIS_NUMPIXELS; i++) {
    delay(10);
    iris.setPixelColor(i, iris.Color(0, 1, 0));
    iris.show();
  }   

  // Turn off Iris
  digitalWrite(AIN1, LOW);
  digitalWrite(AIN2, LOW);
}

void animateIdle() {
  // Close Iris
  digitalWrite(AIN1, HIGH);
  digitalWrite(AIN2, LOW);
  
  // Ring blue
  for (int i=0; i<IRIS_NUMPIXELS; i++) {
    delay(10);
    iris.setPixelColor(i, iris.Color(0, 0, 1));
    iris.show();
  }   

  // Turn off Iris
  digitalWrite(AIN1, LOW);
  digitalWrite(AIN2, LOW);
}

void toggleOff            (char *data, uint16_t len) { setLine(5, "toggleOff          : " + String(data)); animateListening(); }          
void sessionStarted       (char *data, uint16_t len) { setLine(5, "sessionStarted     : " + String(data)); animateListening(); }
void textCaptured         (char *data, uint16_t len) { setLine(5, "textCaptured       : " + String(data)); }
void intentParsed         (char *data, uint16_t len) { setLine(5, "intentParsed       : " + String(data)); }
void intentNotRecognized  (char *data, uint16_t len) { setLine(5, "intentNotRecognized: " + String(data)); }
void endSession           (char *data, uint16_t len) { setLine(5, "endSession         : " + String(data)); animateEnded(); }
void sessionEnded         (char *data, uint16_t len) { setLine(5, "sessionEnded       : " + String(data)); animateIdle(); }
void toggleOn             (char *data, uint16_t len) { setLine(5, "toggleOn           : " + String(data)); animateIdle(); }
void olive9000            (char *data, uint16_t len) { setLine(5, "olive9000          : " + String(data)); animateBoot(); }

// Initialize system
void setup() {
  // Set motor controller to off
  pinMode(AIN1, OUTPUT);
  digitalWrite(AIN1, LOW);
  pinMode(AIN2, OUTPUT);
  digitalWrite(AIN2, LOW);

  // Set up analog reader for Iris position potentiometer
  pinMode(A0, INPUT);
  
  // initialize all the readings to 0:
  for (int thisReading = 0; thisReading < numReadings; thisReading++) {
    readings[thisReading] = 0;
  }

  // Begin serial
  Serial.begin(9600);
  Serial.println("Booting");

  // Set iris pixel to off
  pupil.begin();
  pupil.show();

  // Set pupil to red
  pupil.setPixelColor(0, pupil.Color(128, 0, 0));
  pupil.show();

  // Dilate for effect
  digitalWrite(AIN1, HIGH);
  digitalWrite(AIN2, LOW);
  delay(500);
  digitalWrite(AIN1, LOW);
  digitalWrite(AIN2, LOW);

  // Init iris ring to off
  iris.begin();  
  iris.show(); // Initialize all ring to 'off'
  
  //WiFiManager
  //Local intialization. Once its business is done, there is no need to keep it around
  WiFiManager wifiManager;
  //reset settings - for testing
  //wifiManager.resetSettings();

  //sets timeout until configuration portal gets turned off
  //useful to make it all retry or go to sleep
  //in seconds
  wifiManager.setTimeout(300);
  
  //fetches ssid and pass and tries to connect
  //if it does not connect it starts an access point with the specified name
  //here  "AutoConnectAP"
  //and goes into a blocking loop awaiting configuration
  if(!wifiManager.autoConnect()) {
    Serial.println("Could not connect, Timeout while setting up WiFi. Resetting.");
    //reset and try again, or maybe put it to deep sleep
    ESP.reset();
    delay(5000);
  } 
  
  Serial.println("Ready");
  Serial.print("IP address: ");
  Serial.println(WiFi.localIP());

  setLine(2, "Init MQTT...");

  // Setup MQTT Callbacks
  toggleOffSub          .setCallback(toggleOff            );
  //sessionStartedSub     .setCallback(sessionStarted       );
  //textCapturedSub       .setCallback(textCaptured         );
  //intentParsedSub       .setCallback(intentParsed         );
  //intentNotRecognizedSub.setCallback(intentNotRecognized  );
  //endSessionSub         .setCallback(endSession           );
  //sessionEndedSub       .setCallback(sessionEnded         );
  toggleOnSub           .setCallback(toggleOn             );
  //olive9000Sub          .setCallback(olive9000            );

  // Subscribe to topics
  mqtt.subscribe(&toggleOffSub              );
  //mqtt.subscribe(&sessionStartedSub         );
  //mqtt.subscribe(&textCapturedSub           );
  //mqtt.subscribe(&intentParsedSub           );
  //mqtt.subscribe(&intentNotRecognizedSub    );
  //mqtt.subscribe(&endSessionSub             );
  //mqtt.subscribe(&sessionEndedSub           );
  mqtt.subscribe(&toggleOnSub               );
  //mqtt.subscribe(&olive9000Sub              );

  // Connect to MQTT Broker
  MQTT_connect();
  
  animateBoot();
  
  setLine(5,"Boot complete...");
}

void loop() {  
  // subtract the last reading:
  total = total - readings[readIndex];
  // read from the sensor:
  readings[readIndex] = analogRead(inputPin);
  // add the reading to the total:
  total = total + readings[readIndex];
  // advance to the next position in the array:
  readIndex = readIndex + 1;

  // if we're at the end of the array...
  if (readIndex >= numReadings) {
    // ...wrap around to the beginning:
    readIndex = 0;
  }

  // calculate the average:
  pos = total / numReadings;
  //Serial.println(pos);

  // 1% of the time, adjust toward idle position+
  if (random(0,101) <= 1) {
    if (pos >= 27) {
      // CLOSE
      digitalWrite(AIN1,HIGH);
      digitalWrite(AIN2,LOW);
      delay(200);
      digitalWrite(AIN1,LOW);
      digitalWrite(AIN2,LOW);
    }
    else if (pos <= 18) {
      // OPEN
      digitalWrite(AIN1,LOW);
      digitalWrite(AIN2,HIGH);
      delay(100);
      digitalWrite(AIN1,LOW);
      digitalWrite(AIN2,LOW);
    }
  }

  //setLine(0,String(pos));
  // Maintain MQTT Connection
  MQTT_connect();

  // Check for events on subscribed MQTT Topics
  mqtt.processPackets(10);
}