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This is a magic hat design using 2 motors and around 400 pieces of Lego. The purpose of this project is to appear and disappear objects using only voice commands through Alexa and the EV3 brick.
This is the demo:
Would you like to build your own? this is the time lapse of the construction. Trust me, it's not difficult and you will have fun during the process.
Would you like to code your own? follow these steps:
https://www.hackster.io/alexagadgets/lego-mindstorms-voice-challenge-mission-1-f31925
Tips:
*Not all the wifi adapters are supported officially but most of them work pretty well, try them first.
*Get your AmazonID and your alexaGadgetSecret and remember to update them for each mission.
*EV3 won't dance music out of Amazon music.
*Before getting mad of your uncorking code, doublecheck you copied your workspace to your EV3. (this happened a lot)
Enjoy the magic :)
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, LargeMotor, MoveTank, SpeedPercent, MediumMotor
from ev3dev2.sensor.lego import TouchSensor
# 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 Command(Enum):
"""
The list of preset commands and their invocation variation.
These variations correspond to the skill slot values.
"""
BOX=['box']
SHOW=['show']
HIDE=['hide']
MAGIC = ['magic', 'magics', 'cadabra']
CHICKEN = ['chicken','guy','costume']
SCIENTIST = ['scientist','engineer']
HARRY = ['harry','magician']
class EventName(Enum):
"""
The list of custom event name sent from this gadget
"""
TOUCH = "Touch"
class MindstormsGadget(AlexaGadget):
"""
A Mindstorms gadget that can perform bi-directional interaction with an Alexa skill.
"""
def __init__(self):
"""
Performs Alexa Gadget initialization routines and ev3dev resource allocation.
"""
super().__init__()
# Robot state
#self.sentry_mode = False
#self.patrol_mode = False
self.magic_mode = True
# Connect two large motors on output ports B and C
#self.drive = LargeMotor(OUTPUT_B)
self.selector = LargeMotor(OUTPUT_B)
self.box=MediumMotor(OUTPUT_C)
self.sound = Sound()
self.leds = Leds()
self.touch = TouchSensor()
# Start threads
threading.Thread(target=self._cadabra_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 == "command":
# Expected params: [command]
self._activate(payload["command"])
except KeyError:
print("Missing expected parameters: {}".format(directive), file=sys.stderr)
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.SHOW.value:
self.box.on_for_rotations(-20, 0.4)
if command in Command.HIDE.value:
self.box.on_for_rotations(-80, 0.4)
if command in Command.BOX.value:
x=self.box.position_sp/self.box.count_per_rot
if x < 0.4:
self.box.on_for_rotations(80, 0.4)
print("x < 0.4 - box in", file=sys.stderr)
else:
self.box.on_for_rotations(-20, 0.4)
print("x > 0.4 - box out", file=sys.stderr)
print("equal",x, sep=": ", file=sys.stderr)
print("count",self.box.count_per_rot, sep=": ", file=sys.stderr)
print("position",self.box.position_sp, sep=": ", file=sys.stderr)
if command in Command.MAGIC.value:
# Set Magic mode to resume magic thread processing
self.magic_mode = True
if command in Command.CHICKEN.value:
self.selector.on_for_rotations(SpeedPercent(-100), 3.4)
self.selector.on_for_rotations(SpeedPercent(100), 2.2)
print("Trick performed", file=sys.stderr)
self.magic_mode = True
if command in Command.SCIENTIST.value:
self.selector.on_for_rotations(SpeedPercent(-100), 4.5)
self.selector.on_for_rotations(SpeedPercent(100), 2.2)
print("Trick performed", file=sys.stderr)
self.magic_mode = True
if command in Command.HARRY.value:
self.selector.on_for_rotations(SpeedPercent(-100), 5.7)
self.selector.on_for_rotations(SpeedPercent(100), 2.2)
print("Trick performed", file=sys.stderr)
self.magic_mode = True
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 _cadabra_thread(self):
"""
This thread is controlling the band, the band always should return to the initial position
"""
while True:
while self.magic_mode:
self.leds.set_color("LEFT", "GREEN", 1)
self.leds.set_color("RIGHT", "GREEN", 1)
self.selector.on(-100, brake=True, block=False)
if self.touch.is_pressed:
self.selector.on(0, brake=True, block=False)
print("Initial position reached, ready to perform the magic", file=sys.stderr)
self.leds.set_color("LEFT", "RED", 1)
self.leds.set_color("RIGHT", "RED", 1)
#self._send_event(EventName.TOUCH, {'Initial position': self.touch.is_pressed})
self.magic_mode = False
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.
*/
'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 = 'Goodbye!';
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
};
/*
* 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 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();
}));
};
{
"name": "agt-mindstorms",
"version": "1.1.0",
"description": "A astonishing skill to appear and disappear objects with a Lego Mindstorms Magic Hat",
"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"
}
}
/*
* 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.
*/
// This sample demonstrates sending directives to an Echo connected gadget from an Alexa skill
// using the Alexa Skills Kit SDK (v2). Please visit https://alexa.design/cookbook for additional
// examples on implementing slots, dialog management, session persistence, api calls, and more.
const Alexa = require('ask-sdk-core');
const Util = require('./util');
const Common = require('./common');
// The namespace of the custom directive to be sent by this skill
const NAMESPACE = 'Custom.Mindstorms.Gadget';
// The name of the custom directive to be sent this skill
const NAME_CONTROL = 'control';
const LaunchRequestHandler = {
canHandle(handlerInput) {
return Alexa.getRequestType(handlerInput.requestEnvelope) === 'LaunchRequest';
},
handle: async function(handlerInput) {
let request = handlerInput.requestEnvelope;
let { apiEndpoint, apiAccessToken } = request.context.System;
let apiResponse = await Util.getConnectedEndpoints(apiEndpoint, apiAccessToken);
if ((apiResponse.endpoints || []).length === 0) {
return handlerInput.responseBuilder
.speak(`I couldn't find a Magic Hat connected to this Echo device. Please check to make sure your EV3 Brick is connected, and try again.`)
.getResponse();
}
// Store the gadget endpointId to be used in this skill session
let endpointId = apiResponse.endpoints[0].endpointId || [];
Util.putSessionAttribute(handlerInput, 'endpointId', endpointId);
return handlerInput.responseBuilder
.speak("Welcome, you can start the magic")
.reprompt("Awaiting commands")
.getResponse();
}
};
// Add the speed value to the session attribute.
// This allows other intent handler to use the specified speed value
// without asking the user for input.
const SetSpeedIntentHandler = {
canHandle(handlerInput) {
return Alexa.getRequestType(handlerInput.requestEnvelope) === 'IntentRequest'
&& Alexa.getIntentName(handlerInput.requestEnvelope) === 'SetSpeedIntent';
},
handle: function (handlerInput) {
// Bound speed to (1-100)
let speed = Alexa.getSlotValue(handlerInput.requestEnvelope, 'Speed');
speed = Math.max(1, Math.min(100, parseInt(speed)));
Util.putSessionAttribute(handlerInput, 'speed', speed);
return handlerInput.responseBuilder
.speak(`speed set to ${speed} percent.`)
.reprompt("awaiting command")
.getResponse();
}
};
// Construct and send a custom directive to the connected gadget with
// data from the MoveIntent request.
const MoveIntentHandler = {
canHandle(handlerInput) {
return Alexa.getRequestType(handlerInput.requestEnvelope) === 'IntentRequest'
&& Alexa.getIntentName(handlerInput.requestEnvelope) === 'MoveIntent';
},
handle: function (handlerInput) {
const request = handlerInput.requestEnvelope;
const direction = Alexa.getSlotValue(request, 'Direction');
// Duration is optional, use default if not available
const duration = Alexa.getSlotValue(request, 'Duration') || "2";
// Get data from session attribute
const attributesManager = handlerInput.attributesManager;
const speed = attributesManager.getSessionAttributes().speed || "50";
const endpointId = attributesManager.getSessionAttributes().endpointId || [];
// Construct the directive with the payload containing the move parameters
const directive = Util.build(endpointId, NAMESPACE, NAME_CONTROL,
{
type: 'move',
direction: direction,
duration: duration,
speed: speed
});
const speechOutput = (direction === "brake")
? "Applying brake"
: `${direction} ${duration} seconds at ${speed} percent speed`;
return handlerInput.responseBuilder
.speak(speechOutput)
.reprompt("awaiting command")
.addDirective(directive)
.getResponse();
}
};
// Construct and send a custom directive to the connected gadget with data from
// the SetCommandIntent request.
const SetCommandIntentHandler = {
canHandle(handlerInput) {
return Alexa.getRequestType(handlerInput.requestEnvelope) === 'IntentRequest'
&& Alexa.getIntentName(handlerInput.requestEnvelope) === 'SetCommandIntent';
},
handle: function (handlerInput) {
let command = Alexa.getSlotValue(handlerInput.requestEnvelope, 'Command');
if (!command) {
return handlerInput.responseBuilder
.speak("Can you repeat that?")
.reprompt("What was that again?").getResponse();
}
const attributesManager = handlerInput.attributesManager;
let endpointId = attributesManager.getSessionAttributes().endpointId || [];
let speed = attributesManager.getSessionAttributes().speed || "50";
// Construct the directive with the payload containing the move parameters
let directive = Util.build(endpointId, NAMESPACE, NAME_CONTROL,
{
type: 'command',
command: command,
speed: speed
});
return handlerInput.responseBuilder
.speak(` ${command} performing`)
.reprompt("awaiting command")
.addDirective(directive)
.getResponse();
}
};
// The SkillBuilder acts as the entry point for your skill, routing all request and response
// payloads to the handlers above. Make sure any new handlers or interceptors you've
// defined are included below. The order matters - they're processed top to bottom.
exports.handler = Alexa.SkillBuilders.custom()
.addRequestHandlers(
LaunchRequestHandler,
SetSpeedIntentHandler,
SetCommandIntentHandler,
MoveIntentHandler,
Common.HelpIntentHandler,
Common.CancelAndStopIntentHandler,
Common.SessionEndedRequestHandler,
Common.IntentReflectorHandler, // make sure IntentReflectorHandler is last so it doesn't override your custom intent handlers
)
.addRequestInterceptors(Common.RequestInterceptor)
.addErrorHandlers(
Common.ErrorHandler,
)
.lambda();
{
"interactionModel": {
"languageModel": {
"invocationName": "magic hat",
"intents": [
{
"name": "AMAZON.CancelIntent",
"samples": []
},
{
"name": "AMAZON.HelpIntent",
"samples": []
},
{
"name": "AMAZON.StopIntent",
"samples": []
},
{
"name": "AMAZON.NavigateHomeIntent",
"samples": []
},
{
"name": "SetCommandIntent",
"slots": [
{
"name": "Command",
"type": "CommandType"
}
],
"samples": [
"activate {Command} mode",
"move in a {Command}",
"fire {Command}",
"activate {Command} hat",
"cadabra {Command}",
"show {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": "magic"
}
},
{
"name": {
"value": "box"
}
},
{
"name": {
"value": "show"
}
},
{
"name": {
"value": "hide"
}
},
{
"name": {
"value": "chicken"
}
},
{
"name": {
"value": "scientist"
}
},
{
"name": {
"value": "harry"
}
}
]
}
]
}
}
}
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