Table Service Robot

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, MoveTank, SpeedPercent, MediumMotor, LargeMotor

# 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']
    BACKWARD = ['back', 'backward', 'backwards', 'go backward']
    LEFT = ['left', 'go left']
    RIGHT = ['right', 'go right']
    STOP = ['stop', 'brake']


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 = MoveTank(OUTPUT_A,OUTPUT_A)  # Band """
        self.deliver = MoveTank(OUTPUT_B,OUTPUT_B) # Deliver """

        # 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")
        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 == "deliver":
                # Expected params: [direction, duration, speed]
                self._deliver(payload["direction"], int(payload["duration"]), int(payload["speed"]),payload["spice"])
        
        except KeyError:
            print("Missing expected parameters: {}".format(directive))

    def _move(self, direction, duration, speed, 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))
        if direction in Direction.FORWARD.value:
            self.drive.on_for_seconds(SpeedPercent(speed), SpeedPercent(speed), duration, block=is_blocking)
           # self.drive.run_timed(speed_sp=speed, time_sp=duration)  
           # self.drive.run_timed(speed_sp=750, time_sp=2500)
        if direction in Direction.BACKWARD.value:
           self.drive.on_for_seconds(SpeedPercent(-speed), SpeedPercent(-speed), duration, block=is_blocking)
           # self.drive.run_timed(speed_sp=-speed, time_sp=duration)  
  
        if direction in Direction.STOP.value:
            self.drive.off()
            self.patrol_mode = False

    def _deliver(self, direction, duration, speed, spice, is_blocking=False):

        #print("Move command: ({}, {}, {}, {})".format(direction, speed, duration, is_blocking))

        # Define the speed and duration for band and deliver motor depending on the spice
        if (spice == 'salt'):
            SpeedBand = 16
            Durationband = 2
            SpeedDeliver = 15
            DurationDeliver = 3

        if (spice == 'pepper'):
            SpeedBand = 0
            Durationband = 0
            SpeedDeliver = 15
            DurationDeliver = 3

        if spice == 'lemon':
            SpeedBand = -16
            Durationband = 2
            SpeedDeliver = 15
            DurationDeliver = 3


        if spice != '':
            self.leds.set_color("LEFT", "ORANGE")
            self.leds.set_color("RIGHT", "ORANGE")

            #Band position to correct spice
            self.drive.on_for_seconds(SpeedPercent(-SpeedBand), SpeedPercent(-SpeedBand), Durationband, block=is_blocking)   
            time.sleep(4)

            # deliver spice
            self.deliver.on_for_seconds(SpeedPercent(SpeedDeliver), SpeedPercent(SpeedDeliver), DurationDeliver, block=is_blocking)
            time.sleep(4)

            # # deliver motor to init
            self.deliver.on_for_seconds(SpeedPercent(-SpeedDeliver), SpeedPercent(-SpeedDeliver), DurationDeliver, block=is_blocking)
            time.sleep(4)

            #Band back to init
            self.drive.on_for_seconds(SpeedPercent(SpeedBand), SpeedPercent(SpeedBand), Durationband, block=is_blocking)  
            time.sleep(4)

            # make some noise and blinking after the delivery 
            self.sound.play_song((('E5', 'q'), ('E5', 'q')))
            self.sound.speak('Enjoy your meal')

            self.leds.set_color("LEFT", "GREEN")
            self.leds.set_color("RIGHT", "GREEN")

    

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")