shijaz/shadow_listener.py

## shadow_listener.py
# shadow_listener.py - Looks for messages on the device shadow using MQTT and performs actions (move and see)
# Copyright (C) 2019 Shijaz Abdulla - www.awsomenow.com
#This bit runs on the RPi

import os, logging, subprocess, time, argparse, datetime
from bottle import route, request, response, redirect, hook, error, default_app, view, static_file, template, HTTPError
from gpiozero import CamJamKitRobot
import datetime, pygame, ssl
import paho.mqtt.client as mqtt
#from picamera import PiCamera
import boto3
from contextlib import closing
global response

class txt:
    HEADER = '\033[95m'
    OKBLUE = '\033[94m'
    OKGREEN = '\033[92m'
    WARNING = '\033[93m'
    FAIL = '\033[91m'
    ENDC = '\033[0m'
    BOLD = '\033[1m'
    UNDERLINE = '\033[4m'

# Set variables from env
host = os.environ.get("AWS_IOT_MQTT_HOST")
port = int(os.environ.get("AWS_IOT_MQTT_PORT"))
rootCAPath = os.environ.get("AWS_IOT_ROOT_CA_FILENAME")
certificatePath = os.environ.get("AWS_IOTCERTIFICATE_FILENAME")
privateKeyPath = os.environ.get("AWS_PRIVATE_KEY_FILENAME")
publicKeyPath = os.environ.get("AWS_PUBLIC_KEY_FILENAME")
thingName = os.environ.get("AWS_IOT_THING_NAME")
clientId = os.environ.get("AWS_IOT_MQTT_CLIENT_ID")

robot = CamJamKitRobot()
keepalive_interval=45
shadow_update_topic = "$aws/things/{0}/shadow/update".format(thingName)
shadow_update_accepted_topic = "$aws/things/{0}/shadow/update/accepted".format(thingName)
shadow_update_rejected_topic = "$aws/things/{0}/shadow/update/rejected".format(thingName)
shadow_update_delta_topic = "$aws/things/{0}/shadow/update/delta".format(thingName)
shadow_get_topic = "$aws/things/{0}/shadow/get".format(thingName)
shadow_get_accepted_topic = "$aws/things/{0}/shadow/get/accepted".format(thingName)
shadow_get_rejected_topic = "$aws/things/{0}/shadow/get/rejected".format(thingName)
shadow_state_doc_direction_forward = """{"state" : {"reported" : {"move_direction" : "FORWARD"}}}"""
shadow_state_doc_direction_backward = """{"state" : {"reported" : {"move_direction" : "BACKWARD"}}}"""
shadow_state_doc_direction_left = """{"state" : {"reported" : {"move_direction" : "LEFT"}}}"""
shadow_state_doc_direction_right = """{"state" : {"reported" : {"move_direction" : "RIGHT"}}}"""
shadow_state_doc_direction_stopped = """{"state" : {"reported" : {"move_direction" : "STOP"}}}"""
shadow_state_doc_cheese_see = """{"state" : {"reported" : {"cheese_option" : "SEE"}}}"""
shadow_state_doc_cheese_stop = """{"state" : {"reported" : {"cheese_option" : "STOP"}}}"""

# Logger information
logger = logging.getLogger(__name__)
logger.setLevel(logging.INFO)
streamHandler = logging.StreamHandler()
formatter = logging.Formatter('%(asctime)s - %(name)s - %(levelname)s - %(message)s')
streamHandler.setFormatter(formatter)
logger.addHandler(streamHandler)

# Initialize MQTT Client
mqttclient = mqtt.Client("client2")


def playsound(mp3file):
	pygame.mixer.init()
	pygame.mixer.music.load(mp3file)
	pygame.mixer.music.set_volume(1.0)
	pygame.mixer.music.play()

# I swapped my left and right functions because of the way I wired my motors. You may or may not have to switch them back.
def action_right():
	playsound("./speech/right.mp3")
	robot.left()
	time.sleep(0.2)
	robot.stop()

def action_stop():
	robot.stop()

def action_left():
	playsound("./speech/left.mp3")
	robot.right()
	time.sleep(0.2)
	robot.stop()


def action_forward():
	playsound("./speech/forward.mp3")
	robot.forward()
	time.sleep(0.3)
	robot.stop()

def action_back():
	playsound("./speech/backward.mp3")
	robot.backward()
	time.sleep(0.3)
	robot.stop()


def ultrasonic():
	return "{:.2f}".format(sensor.distance)

def detect_labels(bucket, key, max_labels=1, min_confidence=85, region="eu-west-1"):
	print(txt.OKBLUE + "Recognizing objects with minimum confidence " + txt.WARNING + str(min_confidence) + txt.OKBLUE + "%..." + txt.ENDC)
	playsound("./speech/recognizing.mp3")
	rekognition = boto3.client("rekognition", region)
	rekogresponse = rekognition.detect_labels(
		Image={
			"S3Object": {
				"Bucket": bucket,
				"Name": key,
			}
		},
		MaxLabels=max_labels,
		MinConfidence=min_confidence,
	)
	return rekogresponse['Labels']


def cheese():
	s3=boto3.client('s3')
	polly=boto3.client("polly")
	#Generate a filename for the picture on S3
	now=datetime.datetime.now()
	KEY = now.strftime("%Y%m%d%H%M%S")+".jpg"
	#S3 bucket name for upload
	BUCKET = "rekogrobot"

	#take a picture without storing locally and send it to S3
	response.content_type = 'image/jpeg'
	response.cache_control = 'no-store'
	print (txt.OKBLUE + "Robot is looking..." + txt.ENDC)
	playsound("./speech/looking.mp3")
	with subprocess.Popen(["raspistill", "-w", "400", "-h", "300", "-o", "-"], stdout=subprocess.PIPE) as proc:
		#playsound("./speech/sending.mp3")
		s3.put_object(ACL='public-read', Bucket=BUCKET, Key=KEY, Body=proc.stdout.read())
		s3location="https://"+BUCKET+".s3-eu-west-1.amazonaws.com/"+KEY

	labels=detect_labels(BUCKET,KEY)
	if labels:
		#Print and read out response using Polly
		print(txt.OKGREEN + "\nResponse JSON from Rekognition: " + txt.ENDC)
		print(labels)
		for label in labels:
			roundedconfidence=round(label['Confidence'],2)
			speech= "I see a {Name} and I am ".format(**label)
			speech= speech + str(roundedconfidence) + "% sure."
			print("\n" + txt.OKGREEN + speech + txt.ENDC)
			print(txt.OKBLUE + "\nRobot is speaking..." + txt.ENDC)
			try:

				pollyresponse = polly.synthesize_speech(Text=speech, OutputFormat="mp3", VoiceId="Salli")
			except (BotoCoreError, ClientError) as error:
				print(txt.FAIL + error + txt.ENDC)
				sys.exit(-1)
			if "AudioStream" in pollyresponse:
				with closing(pollyresponse["AudioStream"]) as stream:
					output = "./speech.mp3"

					try:
						with open(output, "wb") as file:
							file.write(stream.read())
					except IOError as error:
						print(txt.FAIL + error + txt.ENDC)
						sys.exit(-1)
			else:
				print(txt.FAIL + "Could not stream audio" + txt.ENDC)
				sys.exit(-1)
			#open the file
			pygame.mixer.init()
			pygame.mixer.music.load(output)
			pygame.mixer.music.set_volume(1.0)
			pygame.mixer.music.play()

			#Use the below if you want to code to wait till the robot finishes speaking
			#while pygame.mixer.music.get_busy()==True:
			#	continue
	else:
		#Play a message that the robot couldn't identify any objects.
		print(txt.WARNING + "I could not recognize any objects." + txt.ENDC)
		pygame.mixer.init()
		pygame.mixer.music.load("./notfound_Salli.mp3")
		pygame.mixer.music.set_volume(1.0)
		pygame.mixer.music.play()
	#return b


def Direction_Status_Change(shadow_state_doc, Type):
	# Parse Status from Shadow
	desired_direction = ""
	desired_cheese=""
	print (txt.OKGREEN + "\nShadow JSON:" + txt.ENDC)
	shadow_state_doc = json.loads(shadow_state_doc)
	print (shadow_state_doc)
	if Type == "DELTA":
		if 'move_direction' in shadow_state_doc['state']:
			desired_direction = shadow_state_doc['state']['move_direction']
		if 'cheese_option' in shadow_state_doc['state']:
			desired_cheese = shadow_state_doc['state']['cheese_option']
	elif Type == "GET_REQ":
		desired_direction = shadow_state_doc['state']['desired']['move_direction']
		desired_cheese=shadow_state_doc['state']['desired']['cheese_option']
	# if not desired_direction== "STOP": print (txt.OKGREEN + "Desired Direction: " + desired_direction + txt.ENDC)
	# if not desired_direction=="STOP": print (txt.OKGREEN + "Desired See Action: " + desired_cheese + txt.ENDC)


	# Control Direction
	if not (desired_direction=="STOP" or desired_direction is None or desired_direction==""): print (txt.OKBLUE + "\nMoving " + desired_direction + "..." + txt.ENDC)
	if desired_direction == "FORWARD":
		action_forward()
		# Report direction back to Shadow
		shadow_state_doc_direction=shadow_state_doc_direction_forward
	elif desired_direction == "BACKWARD":
		action_back()
		# Report direction back to Shadow
		shadow_state_doc_direction=shadow_state_doc_direction_backward
	elif desired_direction == "RIGHT":
		action_right()
		# Report direction back to Shadow
		shadow_state_doc_direction=shadow_state_doc_direction_right
	elif desired_direction == "LEFT":
		action_left()
		# Report direction back to Shadow
		shadow_state_doc_direction=shadow_state_doc_direction_left
	elif desired_direction == "STOP":
		action_stop()
		# Report direction back to Shadow
		shadow_state_doc_direction=shadow_state_doc_direction_stopped
	else:
		print (txt.WARNING + "No command to move robot in IoT shadow." + txt.ENDC)
	if not (desired_direction=="STOP" or desired_direction is None or desired_direction==""): print (txt.OKBLUE + "\nDirection set to " + desired_direction + ". Reporting status to IoT shadow..." + txt.ENDC)
	if desired_direction!="":
		mqttclient.publish(shadow_update_topic,shadow_state_doc_direction,qos=1)

	# See Object
	if desired_cheese == "SEE": print (txt.OKGREEN + "Robot vision command found in IoT shadow: " + txt.WARNING + desired_cheese + txt.ENDC)
	if desired_cheese == "SEE":
		cheese()
		shadow_state_doc_cheese=shadow_state_doc_cheese_see
		mqttclient.publish(shadow_update_topic,shadow_state_doc_cheese,qos=1)
	else:
		shadow_state_doc_cheese=shadow_state_doc_cheese_stop
		mqttclient.publish(shadow_update_topic,shadow_state_doc_cheese,qos=1)

# We shall subscribe to Shadow Accepted and Rejected Topics in this function
def on_connect(self, mosq, obj, rc):
	print (txt.OKBLUE + "Connected to AWS IoT." + txt.ENDC)
	# Subscribe to Delta Topic
	mqttclient.subscribe(shadow_update_delta_topic, 1)
	# Subscribe to Update Topic
	#mqttc.subscribe(shadow_update_topic, 1)
	# Subscribe to Update Accepted and Rejected Topics
	mqttclient.subscribe(shadow_update_accepted_topic, 1)
	mqttclient.subscribe(shadow_update_rejected_topic, 1)
	# Subscribe to Get Accepted and Rejected Topics
	mqttclient.subscribe(shadow_get_accepted_topic, 1)
	mqttclient.subscribe(shadow_get_rejected_topic, 1)

# This function will be invoked every time
# a new message arrives for the subscribed topic

def on_message(mosq, obj, msg):
	if str(msg.topic) == shadow_update_delta_topic:
		print (txt.OKGREEN + "\nNew delta message received..." + txt.ENDC)
		shadow_state_delta = (msg.payload).decode('utf-8')
		print (shadow_state_delta)
		Direction_Status_Change(shadow_state_delta, "DELTA")
	elif str(msg.topic) == shadow_get_accepted_topic:
		print (txt.OKGREEN + "\nReceived state doc with Get request..." + txt.ENDC)
		shadow_state_doc = (msg.payload).decode('utf-8')
		print (shadow_state_doc)
		Direction_Status_Change(shadow_state_doc, "GET_REQ")
	elif str(msg.topic) == shadow_get_rejected_topic:
		shadow_get_error = (msg.payload).decode('utf-8')
		print (txt.FAIL + "\n---ERROR--- Unable to fetch Shadow Doc...\nError Response: " + txt.ENDC + shadow_get_error)
	elif str(msg.topic) == shadow_update_accepted_topic:
		print (txt.OKGREEN + "\nStatus change updated in IoT Shadow."  + txt.ENDC)
		print (txt.OKGREEN + "\nResponse JSON:"  + txt.ENDC + '\n' + (msg.payload).decode('utf-8'))
	elif str(msg.topic) == shadow_update_rejected_topic:
		shadow_update_error = (msg.payload).decode('utf-8')
		print (txt.FAIL + "\n---ERROR--- Failed to Update the Shadow...\nError Response: " + txt.ENDC + shadow_update_error)
	else:
		print (txt.OKGREEN + "AWS Response Topic: " + txt.ENDC + str(msg.topic))
		print (txt.OKGREEN + "QoS: " + txt.ENDC + str(msg.qos))
		print (txt.OKGREEN + "Payload: " + txt.ENDC + str(msg.payload).decode('utf-8'))

def on_subscribe(mosq, obj, mid, granted_qos):
	#As we are subscribing to 3 Topics, wait till all 3 topics get subscribed
	#for each subscription mid will get incremented by 1 (starting with 1)
	if mid == 3:
		# Fetch current Shadow status. Useful for reconnection scenario.
		mqttclient.publish(shadow_get_topic,"",qos=1)

def on_disconnect(client, userdata, rc):
    if rc != 0:
        print (txt.WARNING + "Disconnected from AWS IoT. Trying to auto-reconnect..." + txt.ENDC)

# Register callback functions
mqttclient.on_message = on_message
mqttclient.on_connect = on_connect
mqttclient.on_subscribe = on_subscribe
mqttclient.on_disconnect = on_disconnect


def main():
	print(txt.OKBLUE + "Robot is now ready." + txt.ENDC)
	playsound("./robotready_Salli.mp3")
	#pygame.mixer.init()
	#pygame.mixer.music.load("./robotready_Salli.mp3")
	#pygame.mixer.music.set_volume(1.0)
	#pygame.mixer.music.play()

	parser = argparse.ArgumentParser()

	# Verbose mode
	parser.add_argument("--verbose", "-v", help="increase output verbosity", action="store_true")
	args = parser.parse_args()

	if args.verbose:
		logging.basicConfig(level=logging.DEBUG)
	else:
		logging.basicConfig(level=logging.INFO)
	log = logging.getLogger(__name__)

	try:

		robot.stop()
	except Exception as e:
		log.error(e)
		print ("error")
		exit()
	print (txt.OKGREEN + "Root CA Path: " + txt.ENDC + rootCAPath)
	print (txt.OKGREEN + "Certificate Path: " + txt.ENDC + certificatePath)
	print (txt.OKGREEN + "Private Key Path: " + txt.ENDC + privateKeyPath)
	# Configure TLS Set
	mqttclient.tls_set(rootCAPath, certfile=certificatePath, keyfile=privateKeyPath, cert_reqs=ssl.CERT_REQUIRED, tls_version=ssl.PROTOCOL_TLSv1_2, ciphers=None)
	# Connect with MQTT Broker
	mqttclient.connect(host, port, keepalive_interval)
	# Continue monitoring the incoming messages for subscribed topic
	mqttclient.loop_forever()


if __name__ == '__main__':
    main()
	# shadow_listener.py - Looks for messages on the device shadow using MQTT and performs actions (move and see)
	# Copyright (C) 2019 Shijaz Abdulla - www.awsomenow.com
	#This bit runs on the RPi

	import os, logging, subprocess, time, argparse, datetime
	from bottle import route, request, response, redirect, hook, error, default_app, view, static_file, template, HTTPError
	from gpiozero import CamJamKitRobot
	import datetime, pygame, ssl
	import paho.mqtt.client as mqtt
	#from picamera import PiCamera
	import boto3
	from contextlib import closing
	global response

	class txt:
	HEADER = '\033[95m'
	OKBLUE = '\033[94m'
	OKGREEN = '\033[92m'
	WARNING = '\033[93m'
	FAIL = '\033[91m'
	ENDC = '\033[0m'
	BOLD = '\033[1m'
	UNDERLINE = '\033[4m'

	# Set variables from env
	host = os.environ.get("AWS_IOT_MQTT_HOST")
	port = int(os.environ.get("AWS_IOT_MQTT_PORT"))
	rootCAPath = os.environ.get("AWS_IOT_ROOT_CA_FILENAME")
	certificatePath = os.environ.get("AWS_IOTCERTIFICATE_FILENAME")
	privateKeyPath = os.environ.get("AWS_PRIVATE_KEY_FILENAME")
	publicKeyPath = os.environ.get("AWS_PUBLIC_KEY_FILENAME")
	thingName = os.environ.get("AWS_IOT_THING_NAME")
	clientId = os.environ.get("AWS_IOT_MQTT_CLIENT_ID")

	robot = CamJamKitRobot()
	keepalive_interval=45
	shadow_update_topic = "$aws/things/{0}/shadow/update".format(thingName)
	shadow_update_accepted_topic = "$aws/things/{0}/shadow/update/accepted".format(thingName)
	shadow_update_rejected_topic = "$aws/things/{0}/shadow/update/rejected".format(thingName)
	shadow_update_delta_topic = "$aws/things/{0}/shadow/update/delta".format(thingName)
	shadow_get_topic = "$aws/things/{0}/shadow/get".format(thingName)
	shadow_get_accepted_topic = "$aws/things/{0}/shadow/get/accepted".format(thingName)
	shadow_get_rejected_topic = "$aws/things/{0}/shadow/get/rejected".format(thingName)
	shadow_state_doc_direction_forward = """{"state" : {"reported" : {"move_direction" : "FORWARD"}}}"""
	shadow_state_doc_direction_backward = """{"state" : {"reported" : {"move_direction" : "BACKWARD"}}}"""
	shadow_state_doc_direction_left = """{"state" : {"reported" : {"move_direction" : "LEFT"}}}"""
	shadow_state_doc_direction_right = """{"state" : {"reported" : {"move_direction" : "RIGHT"}}}"""
	shadow_state_doc_direction_stopped = """{"state" : {"reported" : {"move_direction" : "STOP"}}}"""
	shadow_state_doc_cheese_see = """{"state" : {"reported" : {"cheese_option" : "SEE"}}}"""
	shadow_state_doc_cheese_stop = """{"state" : {"reported" : {"cheese_option" : "STOP"}}}"""

	# Logger information
	logger = logging.getLogger(__name__)
	logger.setLevel(logging.INFO)
	streamHandler = logging.StreamHandler()
	formatter = logging.Formatter('%(asctime)s - %(name)s - %(levelname)s - %(message)s')
	streamHandler.setFormatter(formatter)
	logger.addHandler(streamHandler)

	# Initialize MQTT Client
	mqttclient = mqtt.Client("client2")



	def playsound(mp3file):
	pygame.mixer.init()
	pygame.mixer.music.load(mp3file)
	pygame.mixer.music.set_volume(1.0)
	pygame.mixer.music.play()

	# I swapped my left and right functions because of the way I wired my motors. You may or may not have to switch them back.
	def action_right():
	playsound("./speech/right.mp3")
	robot.left()
	time.sleep(0.2)
	robot.stop()

	def action_stop():
	robot.stop()

	def action_left():
	playsound("./speech/left.mp3")
	robot.right()
	time.sleep(0.2)
	robot.stop()


	def action_forward():
	playsound("./speech/forward.mp3")
	robot.forward()
	time.sleep(0.3)
	robot.stop()

	def action_back():
	playsound("./speech/backward.mp3")
	robot.backward()
	time.sleep(0.3)
	robot.stop()


	def ultrasonic():
	return "{:.2f}".format(sensor.distance)

	def detect_labels(bucket, key, max_labels=1, min_confidence=85, region="eu-west-1"):
	print(txt.OKBLUE + "Recognizing objects with minimum confidence " + txt.WARNING + str(min_confidence) + txt.OKBLUE + "%..." + txt.ENDC)
	playsound("./speech/recognizing.mp3")
	rekognition = boto3.client("rekognition", region)
	rekogresponse = rekognition.detect_labels(
	Image={
	"S3Object": {
	"Bucket": bucket,
	"Name": key,
	}
	},
	MaxLabels=max_labels,
	MinConfidence=min_confidence,
	)
	return rekogresponse['Labels']



	def cheese():
	s3=boto3.client('s3')
	polly=boto3.client("polly")
	#Generate a filename for the picture on S3
	now=datetime.datetime.now()
	KEY = now.strftime("%Y%m%d%H%M%S")+".jpg"
	#S3 bucket name for upload
	BUCKET = "rekogrobot"

	#take a picture without storing locally and send it to S3
	response.content_type = 'image/jpeg'
	response.cache_control = 'no-store'
	print (txt.OKBLUE + "Robot is looking..." + txt.ENDC)
	playsound("./speech/looking.mp3")
	with subprocess.Popen(["raspistill", "-w", "400", "-h", "300", "-o", "-"], stdout=subprocess.PIPE) as proc:
	#playsound("./speech/sending.mp3")
	s3.put_object(ACL='public-read', Bucket=BUCKET, Key=KEY, Body=proc.stdout.read())
	s3location="https://"+BUCKET+".s3-eu-west-1.amazonaws.com/"+KEY

	labels=detect_labels(BUCKET,KEY)
	if labels:
	#Print and read out response using Polly
	print(txt.OKGREEN + "\nResponse JSON from Rekognition: " + txt.ENDC)
	print(labels)
	for label in labels:
	roundedconfidence=round(label['Confidence'],2)
	speech= "I see a {Name} and I am ".format(**label)
	speech= speech + str(roundedconfidence) + "% sure."
	print("\n" + txt.OKGREEN + speech + txt.ENDC)
	print(txt.OKBLUE + "\nRobot is speaking..." + txt.ENDC)
	try:

	pollyresponse = polly.synthesize_speech(Text=speech, OutputFormat="mp3", VoiceId="Salli")
	except (BotoCoreError, ClientError) as error:
	print(txt.FAIL + error + txt.ENDC)
	sys.exit(-1)
	if "AudioStream" in pollyresponse:
	with closing(pollyresponse["AudioStream"]) as stream:
	output = "./speech.mp3"

	try:
	with open(output, "wb") as file:
	file.write(stream.read())
	except IOError as error:
	print(txt.FAIL + error + txt.ENDC)
	sys.exit(-1)
	else:
	print(txt.FAIL + "Could not stream audio" + txt.ENDC)
	sys.exit(-1)
	#open the file
	pygame.mixer.init()
	pygame.mixer.music.load(output)
	pygame.mixer.music.set_volume(1.0)
	pygame.mixer.music.play()

	#Use the below if you want to code to wait till the robot finishes speaking
	#while pygame.mixer.music.get_busy()==True:
	# continue
	else:
	#Play a message that the robot couldn't identify any objects.
	print(txt.WARNING + "I could not recognize any objects." + txt.ENDC)
	pygame.mixer.init()
	pygame.mixer.music.load("./notfound_Salli.mp3")
	pygame.mixer.music.set_volume(1.0)
	pygame.mixer.music.play()
	#return b



	def Direction_Status_Change(shadow_state_doc, Type):
	# Parse Status from Shadow
	desired_direction = ""
	desired_cheese=""
	print (txt.OKGREEN + "\nShadow JSON:" + txt.ENDC)
	shadow_state_doc = json.loads(shadow_state_doc)
	print (shadow_state_doc)
	if Type == "DELTA":
	if 'move_direction' in shadow_state_doc['state']:
	desired_direction = shadow_state_doc['state']['move_direction']
	if 'cheese_option' in shadow_state_doc['state']:
	desired_cheese = shadow_state_doc['state']['cheese_option']
	elif Type == "GET_REQ":
	desired_direction = shadow_state_doc['state']['desired']['move_direction']
	desired_cheese=shadow_state_doc['state']['desired']['cheese_option']
	# if not desired_direction== "STOP": print (txt.OKGREEN + "Desired Direction: " + desired_direction + txt.ENDC)
	# if not desired_direction=="STOP": print (txt.OKGREEN + "Desired See Action: " + desired_cheese + txt.ENDC)



	# Control Direction
	if not (desired_direction=="STOP" or desired_direction is None or desired_direction==""): print (txt.OKBLUE + "\nMoving " + desired_direction + "..." + txt.ENDC)
	if desired_direction == "FORWARD":
	action_forward()
	# Report direction back to Shadow
	shadow_state_doc_direction=shadow_state_doc_direction_forward
	elif desired_direction == "BACKWARD":
	action_back()
	# Report direction back to Shadow
	shadow_state_doc_direction=shadow_state_doc_direction_backward
	elif desired_direction == "RIGHT":
	action_right()
	# Report direction back to Shadow
	shadow_state_doc_direction=shadow_state_doc_direction_right
	elif desired_direction == "LEFT":
	action_left()
	# Report direction back to Shadow
	shadow_state_doc_direction=shadow_state_doc_direction_left
	elif desired_direction == "STOP":
	action_stop()
	# Report direction back to Shadow
	shadow_state_doc_direction=shadow_state_doc_direction_stopped
	else:
	print (txt.WARNING + "No command to move robot in IoT shadow." + txt.ENDC)
	if not (desired_direction=="STOP" or desired_direction is None or desired_direction==""): print (txt.OKBLUE + "\nDirection set to " + desired_direction + ". Reporting status to IoT shadow..." + txt.ENDC)
	if desired_direction!="":
	mqttclient.publish(shadow_update_topic,shadow_state_doc_direction,qos=1)

	# See Object
	if desired_cheese == "SEE": print (txt.OKGREEN + "Robot vision command found in IoT shadow: " + txt.WARNING + desired_cheese + txt.ENDC)
	if desired_cheese == "SEE":
	cheese()
	shadow_state_doc_cheese=shadow_state_doc_cheese_see
	mqttclient.publish(shadow_update_topic,shadow_state_doc_cheese,qos=1)
	else:
	shadow_state_doc_cheese=shadow_state_doc_cheese_stop
	mqttclient.publish(shadow_update_topic,shadow_state_doc_cheese,qos=1)

	# We shall subscribe to Shadow Accepted and Rejected Topics in this function
	def on_connect(self, mosq, obj, rc):
	print (txt.OKBLUE + "Connected to AWS IoT." + txt.ENDC)
	# Subscribe to Delta Topic
	mqttclient.subscribe(shadow_update_delta_topic, 1)
	# Subscribe to Update Topic
	#mqttc.subscribe(shadow_update_topic, 1)
	# Subscribe to Update Accepted and Rejected Topics
	mqttclient.subscribe(shadow_update_accepted_topic, 1)
	mqttclient.subscribe(shadow_update_rejected_topic, 1)
	# Subscribe to Get Accepted and Rejected Topics
	mqttclient.subscribe(shadow_get_accepted_topic, 1)
	mqttclient.subscribe(shadow_get_rejected_topic, 1)

	# This function will be invoked every time
	# a new message arrives for the subscribed topic

	def on_message(mosq, obj, msg):
	if str(msg.topic) == shadow_update_delta_topic:
	print (txt.OKGREEN + "\nNew delta message received..." + txt.ENDC)
	shadow_state_delta = (msg.payload).decode('utf-8')
	print (shadow_state_delta)
	Direction_Status_Change(shadow_state_delta, "DELTA")
	elif str(msg.topic) == shadow_get_accepted_topic:
	print (txt.OKGREEN + "\nReceived state doc with Get request..." + txt.ENDC)
	shadow_state_doc = (msg.payload).decode('utf-8')
	print (shadow_state_doc)
	Direction_Status_Change(shadow_state_doc, "GET_REQ")
	elif str(msg.topic) == shadow_get_rejected_topic:
	shadow_get_error = (msg.payload).decode('utf-8')
	print (txt.FAIL + "\n---ERROR--- Unable to fetch Shadow Doc...\nError Response: " + txt.ENDC + shadow_get_error)
	elif str(msg.topic) == shadow_update_accepted_topic:
	print (txt.OKGREEN + "\nStatus change updated in IoT Shadow." + txt.ENDC)
	print (txt.OKGREEN + "\nResponse JSON:" + txt.ENDC + '\n' + (msg.payload).decode('utf-8'))
	elif str(msg.topic) == shadow_update_rejected_topic:
	shadow_update_error = (msg.payload).decode('utf-8')
	print (txt.FAIL + "\n---ERROR--- Failed to Update the Shadow...\nError Response: " + txt.ENDC + shadow_update_error)
	else:
	print (txt.OKGREEN + "AWS Response Topic: " + txt.ENDC + str(msg.topic))
	print (txt.OKGREEN + "QoS: " + txt.ENDC + str(msg.qos))
	print (txt.OKGREEN + "Payload: " + txt.ENDC + str(msg.payload).decode('utf-8'))

	def on_subscribe(mosq, obj, mid, granted_qos):
	#As we are subscribing to 3 Topics, wait till all 3 topics get subscribed
	#for each subscription mid will get incremented by 1 (starting with 1)
	if mid == 3:
	# Fetch current Shadow status. Useful for reconnection scenario.
	mqttclient.publish(shadow_get_topic,"",qos=1)

	def on_disconnect(client, userdata, rc):
	if rc != 0:
	print (txt.WARNING + "Disconnected from AWS IoT. Trying to auto-reconnect..." + txt.ENDC)

	# Register callback functions
	mqttclient.on_message = on_message
	mqttclient.on_connect = on_connect
	mqttclient.on_subscribe = on_subscribe
	mqttclient.on_disconnect = on_disconnect




	def main():
	print(txt.OKBLUE + "Robot is now ready." + txt.ENDC)
	playsound("./robotready_Salli.mp3")
	#pygame.mixer.init()
	#pygame.mixer.music.load("./robotready_Salli.mp3")
	#pygame.mixer.music.set_volume(1.0)
	#pygame.mixer.music.play()

	parser = argparse.ArgumentParser()

	# Verbose mode
	parser.add_argument("--verbose", "-v", help="increase output verbosity", action="store_true")
	args = parser.parse_args()

	if args.verbose:
	logging.basicConfig(level=logging.DEBUG)
	else:
	logging.basicConfig(level=logging.INFO)
	log = logging.getLogger(__name__)

	try:

	robot.stop()
	except Exception as e:
	log.error(e)
	print ("error")
	exit()
	print (txt.OKGREEN + "Root CA Path: " + txt.ENDC + rootCAPath)
	print (txt.OKGREEN + "Certificate Path: " + txt.ENDC + certificatePath)
	print (txt.OKGREEN + "Private Key Path: " + txt.ENDC + privateKeyPath)
	# Configure TLS Set
	mqttclient.tls_set(rootCAPath, certfile=certificatePath, keyfile=privateKeyPath, cert_reqs=ssl.CERT_REQUIRED, tls_version=ssl.PROTOCOL_TLSv1_2, ciphers=None)
	# Connect with MQTT Broker
	mqttclient.connect(host, port, keepalive_interval)
	# Continue monitoring the incoming messages for subscribed topic
	mqttclient.loop_forever()








	if __name__ == '__main__':
	main()