Recently I bought Anki Cozmo. This little tiny robot is amazing and a great companion on your desk. Cozmo comes with a great personality. He is full of fun, he plays games with you, do tricks, animate and makes a lot of joy. Cozmo comes with a Camera that can detect faces and greet people and pets. It also has a SDK which allows you to customize Cozmo and create cool Apps and IoT connected programs.
In this post, I’ll show how to use Cozmo with my Jenkins IFTTT Build Notification plugin to send build notification to Cozmo. He will animate to these notifications and do some tricks like lighting up his cubes. This will make Cozmo an eXtreme Feedback Device
The Cozmo SDK comes with a bundle of examples and apps that you can play and modify. There is a bunch of examples that connect Cozmo to IFTTT and use different channels like Gmail or Sports news. I took the Gmail example and modified it to get Jenkins notifications. Here’s how this works on a high level:
Step 1 – Connecting Cozmo from IFTTT
In order to connect Cozmo from IFTTT, we need a computer running Cozmo exposed to the internet. You can do this either by using a static IP or using a tool like ngrok which sets up a secure tunnel to localhost running on your computer. To set up ngrok follow instructions from https://ngrok.com/download
Run this command to create a secure public URL for port 8080:
./ngrok http 8080
Note the HTTP forwarding address shown in the terminal (e.g., http://4916890d.ngrok.io). This is required while creating the IFTTT applet.
WARNING: Using ngrok exposes your local web server to the internet. See the ngrok documentation for more information: https://ngrok.com/docs
Step 2 – IFTTT Jenkins Cozmo Script
Cozmo SDK is presently available in Python. The IFTTT examples use aiohttp module to create a web server with an endpoint with a handler to call the Cozmo SDK:
#!/usr/bin/env python3 | |
# Copyright (c) 2016 Anki, Inc. | |
# | |
# Licensed under the Apache License, Version 2.0 (the "License"); | |
# you may not use this file except in compliance with the License. | |
# You may obtain a copy of the License in the file LICENSE.txt or at | |
# | |
# http://www.apache.org/licenses/LICENSE-2.0 | |
# | |
# Unless required by applicable law or agreed to in writing, software | |
# distributed under the License is distributed on an "AS IS" BASIS, | |
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | |
# See the License for the specific language governing permissions and | |
# limitations under the License. | |
# Program modified by Unmesh Gundecha, http://unmesh.me | |
'''"If This Then That" Jenkins example | |
This example demonstrates how "If This Then That" (http://ifttt.com) can be used | |
make Cozmo respond when a Jenkins build job is completed. Instructions below | |
will lead you through setting up an applet on the IFTTT website. When the applet | |
trigger is called (which sends a web request received by the web server started | |
in this example), Cozmo will annouce the the Build status, play an animation and | |
light up the cubes. | |
Please place Cozmo on the charger for this example. When necessary, he will be | |
rolled off and back on. | |
Follow these steps to set up and run the example: | |
1) Provide a a static ip, URL or similar that can be reached from the If This | |
Then That server. One easy way to do this is with ngrok, which sets up | |
a secure tunnel to localhost running on your machine. | |
To set up ngrok: | |
a) Follow instructions here to download and install: | |
https://ngrok.com/download | |
b) Run this command to create a secure public URL for port 8080: | |
./ngrok http 8080 | |
c) Note the HTTP forwarding address shown in the terminal (e.g., http://55e57164.ngrok.io). | |
You will use this address in your applet, below. | |
WARNING: Using ngrok exposes your local web server to the internet. See the ngrok | |
documentation for more information: https://ngrok.com/docs | |
2) Set up your applet on the "If This Then That" website. | |
a) Sign up and sign into https://ifttt.com | |
b) Create an applet: https://ifttt.com/create | |
c) Set up your trigger. | |
1. Click "this". | |
2. Select "Maker Webhooks" as your service. | |
3. Under "Choose a Trigger", select “Receive a Web request". | |
4. In "Recive a Web Request", enter "JenkinsBuild" as "Event Name" | |
5. Click "Create Trigger" button | |
d) Set up your action. | |
1. Click “that". | |
2. Select “Maker Webhooks" to set it as your action channel. Connect to the Maker channel if prompted. | |
3. Click “Make a web request" and fill out the fields as follows. Remember your publicly | |
accessible URL from above (e.g., http://55e57164.ngrok.io) and use it in the URL field, | |
followed by "/iftttJenkins" as shown below: | |
URL: http://55e57164.ngrok.io/iftttJenkins | |
Method: POST | |
Content Type: application/json | |
Body: {"project" : "{{Value1}}", "build" : "{{Value2}}", "status": "{{Value3}}"} | |
5. Click “Create Action" then “Finish". | |
3) Test your applet. | |
a) Run this script at the command line: ./ifttt_jenkins.py | |
b) On ifttt.com, on your applet page, click “Check now”. See that IFTTT confirms that the applet | |
was checked. | |
4) Setup Jenkins Job – requires IFTTT Build Notification Plugin | |
a) In your Jenkins job "Post-build Action" section add a new "IFTTT Build Notifier" | |
action with following values: | |
Event Name: JenkinsBuild | |
Key: <Your Make Webhooks Key> | |
Note: You can get your unique Maker Webhooks Key from https://ifttt.com/services/maker_webhooks/settings | |
5) Run your Jenkins job to test the setup. | |
In response to the ifttt web request, Cozmo should roll off the charger, raise and lower | |
his lift, announce the status, and then animate and light-up the cubes. | |
''' | |
import asyncio | |
import re | |
import sys | |
try: | |
from aiohttp import web | |
except ImportError: | |
sys.exit("Cannot import from aiohttp. Do `pip3 install –user aiohttp` to install") | |
import cozmo | |
from common import IFTTTRobot | |
from cozmo.objects import LightCube1Id, LightCube2Id, LightCube3Id | |
app = web.Application() | |
async def serve_jenkins(request): | |
'''Define an HTTP POST handler for receiving requests from If This Then That. | |
You may modify this method to change how Cozmo reacts to the Jenkins build | |
notification | |
''' | |
json_object = await request.json() | |
# Extract the name of the project and build status. | |
project_name = json_object["project"] | |
status = json_object["status"] | |
robot = request.app['robot'] | |
async def read_name(): | |
try: | |
async with robot.perform_off_charger(): | |
'''If necessary, Move Cozmo's Head and Lift to make it easy to see Cozmo's face.''' | |
await robot.get_in_position() | |
# First, have Cozmo play an animation | |
await robot.play_anim_trigger(cozmo.anim.Triggers.ReactToPokeStartled).wait_for_completed() | |
# Next, have Cozmo speak the name of the project and the build status. | |
if status == "SUCCESS": | |
await robot.say_text("Build for " + project_name + " is successful").wait_for_completed() | |
elif status == "FAILURE": | |
await robot.say_text("Build for " + project_name + " is failed").wait_for_completed() | |
else: | |
await robot.say_text("Build for " + project_name + " is completed" + status).wait_for_completed() | |
# Last, have Cozmo animate & Cubes flash light based on build status | |
await rock_n_roll(robot, status) | |
except cozmo.RobotBusy: | |
cozmo.logger.warning("Robot was busy so didn't receive status for: "+ project_name) | |
# Perform Cozmo's task in the background so the HTTP server responds immediately. | |
asyncio.ensure_future(read_name()) | |
return web.Response(text="OK") | |
async def rock_n_roll(robot, status): | |
cube1 = robot.world.get_light_cube(LightCube1Id) # looks like a paperclip | |
cube2 = robot.world.get_light_cube(LightCube2Id) # looks like a lamp / heart | |
cube3 = robot.world.get_light_cube(LightCube3Id) # looks like the letters 'ab' over 'T' | |
if status == "SUCCESS": | |
light_color = cozmo.lights.green_light | |
await robot.play_anim_trigger(cozmo.anim.Triggers.PeekABooGetOutHappy).wait_for_completed() | |
elif status == "FAILURE": | |
light_color = cozmo.lights.red_light | |
await robot.play_anim_trigger(cozmo.anim.Triggers.FrustratedByFailure).wait_for_completed() | |
else: | |
light_color = cozmo.lights.blue_light | |
if cube1 is not None: | |
cube1.set_lights(light_color) | |
else: | |
cozmo.logger.warning("Cozmo is not connected to a LightCube1Id cube – check the battery.") | |
if cube2 is not None: | |
cube2.set_lights(light_color) | |
else: | |
cozmo.logger.warning("Cozmo is not connected to a LightCube2Id cube – check the battery.") | |
if cube3 is not None: | |
cube3.set_lights(light_color) | |
else: | |
cozmo.logger.warning("Cozmo is not connected to a LightCube3Id cube – check the battery.") | |
await asyncio.sleep(10) | |
cube1.set_lights_off()import asyncio | |
import re | |
import sys | |
try: | |
from aiohttp import web | |
except ImportError: | |
sys.exit("Cannot import from aiohttp. Do `pip3 install –user aiohttp` to install") | |
import cozmo | |
from common import IFTTTRobot | |
from cozmo.objects import LightCube1Id, LightCube2Id, LightCube3Id | |
app = web.Application() | |
async def serve_jenkins(request): | |
'''Define an HTTP POST handler for receiving requests from If This Then That. | |
You may modify this method to change how Cozmo reacts to the Jenkins build | |
notification | |
''' | |
json_object = await request.json() | |
# Extract the name of the project and build status. | |
project_name = json_object["project"] | |
status = json_object["status"] | |
robot = request.app['robot'] | |
async def read_name(): | |
try: | |
async with robot.perform_off_charger(): | |
'''If necessary, Move Cozmo's Head and Lift to make it easy to see Cozmo's face.''' | |
await robot.get_in_position() | |
# First, have Cozmo play an animation | |
await robot.play_anim_trigger(cozmo.anim.Triggers.ReactToPokeStartled).wait_for_completed() | |
# Next, have Cozmo speak the name of the project and the build status. | |
if status == "SUCCESS": | |
await robot.say_text("Build for " + project_name + " is successful").wait_for_completed() | |
elif status == "FAILURE": | |
await robot.say_text("Build for " + project_name + " is failed").wait_for_completed() | |
else: | |
await robot.say_text("Build for " + project_name + " is completed" + status).wait_for_completed() | |
# Last, have Cozmo animate & Cubes flash light based on build status | |
await rock_n_roll(robot, status) | |
except cozmo.RobotBusy: | |
cozmo.logger.warning("Robot was busy so didn't receive status for: "+ project_name) | |
# Perform Cozmo's task in the background so the HTTP server responds immediately. | |
asyncio.ensure_future(read_name()) | |
return web.Response(text="OK") | |
async def rock_n_roll(robot, status): | |
cube1 = robot.world.get_light_cube(LightCube1Id) # looks like a paperclip | |
cube2 = robot.world.get_light_cube(LightCube2Id) # looks like a lamp / heart | |
cube3 = robot.world.get_light_cube(LightCube3Id) # looks like the letters 'ab' over 'T' | |
if status == "SUCCESS": | |
light_color = cozmo.lights.green_light | |
await robot.play_anim_trigger(cozmo.anim.Triggers.PeekABooGetOutHappy).wait_for_completed() | |
elif status == "FAILURE": | |
light_color = cozmo.lights.red_light | |
await robot.play_anim_trigger(cozmo.anim.Triggers.FrustratedByFailure).wait_for_completed() | |
else: | |
light_color = cozmo.lights.blue_light | |
if cube1 is not None: | |
cube1.set_lights(light_color) | |
else: | |
cozmo.logger.warning("Cozmo is not connected to a LightCube1Id cube – check the battery.") | |
if cube2 is not None: | |
cube2.set_lights(light_color) | |
else: | |
cozmo.logger.warning("Cozmo is not connected to a LightCube2Id cube – check the battery.") | |
if cube3 is not None: | |
cube3.set_lights(light_color) | |
else: | |
cozmo.logger.warning("Cozmo is not connected to a LightCube3Id cube – check the battery.") | |
await asyncio.sleep(10) | |
cube1.set_lights_off() | |
cube2.set_lights_off() | |
cube3.set_lights_off() | |
# Attach the function as an HTTP handler. | |
app.router.add_post('/iftttJenkins', serve_jenkins) | |
if __name__ == '__main__': | |
cozmo.setup_basic_logging() | |
cozmo.robot.Robot.drive_off_charger_on_connect = False | |
# Use our custom robot class with extra helper methods | |
cozmo.conn.CozmoConnection.robot_factory = IFTTTRobot | |
try: | |
app_loop = asyncio.get_event_loop() | |
sdk_conn = cozmo.connect_on_loop(app_loop) | |
# Wait for the robot to become available and add it to the app object. | |
app['robot'] = app_loop.run_until_complete(sdk_conn.wait_for_robot()) | |
except cozmo.ConnectionError as e: | |
sys.exit("A connection error occurred: %s" % e) | |
web.run_app(app) | |
cube2.set_lights_off() | |
cube3.set_lights_off() | |
# Attach the function as an HTTP handler. | |
app.router.add_post('/iftttJenkins', serve_jenkins) | |
if __name__ == '__main__': | |
cozmo.setup_basic_logging() | |
cozmo.robot.Robot.drive_off_charger_on_connect = False | |
# Use our custom robot class with extra helper methods | |
cozmo.conn.CozmoConnection.robot_factory = IFTTTRobot | |
try: | |
app_loop = asyncio.get_event_loop() | |
sdk_conn = cozmo.connect_on_loop(app_loop) | |
# Wait for the robot to become available and add it to the app object. | |
app['robot'] = app_loop.run_until_complete(sdk_conn.wait_for_robot()) | |
except cozmo.ConnectionError as e: | |
sys.exit("A connection error occurred: %s" % e) | |
web.run_app(app) |
Complete source code is available at https://github.com/upgundecha/cozmo-python-sdk
Step 3 – Creating IFTTT Recipe
IFTTT is a web service that lets you create chains of simple conditional statements, called applets. An applet is triggered by changes that occur within other web services such as Gmail, Facebook, Instagram, or Twitter. An applet may send an e-mail message if the user tweets using a hashtag or copy a photo on Facebook to a user’s archive if someone tags a user in a photo or it can trigger an support IoT device to a specific action.
In this example, we will create custom IFTTT Trigger and Action using Maker Webhooks feature.
- Sign up and sign into https://ifttt.com
- Create an applet: https://ifttt.com/create
- Set up your trigger.
- Click “this”.
- Select “Maker Webhooks” as your service.
- Under “Choose a Trigger”, select “Receive a Web request”.
- In “Receive a Web Request”, enter “JenkinsBuild” as “Event Name”
- Click “Create Trigger” button
- Set up your action.
- Click “that”.
- Select “Maker Webhooks” to set it as your action channel. Connect to the Maker channel if prompted.
- Click “Make a web request” and fill out the fields as follows. Remember your publicly accessible URL from above (e.g., http://55e57164.ngrok.io) and use it in the URL field, followed by “/iftttJenkins” as shown below:
URL: http: // 55e57164.ngrok.io / iftttJenkins
Method: POST
Content Type: application / json
Body: {“project”: “{{Value1}}”, “build”: “{{Value2}}”, “status”: “{{Value3}}”
Click “Create Action” then “Finish”.
Here is video loop for above settings:
Step 4 – Configuring Jenkins Build Job
Setup Jenkins Job – requires IFTTT Build Notification Plugin
In Jenkins job “Post-build Action” section add a new “IFTTT Build Notifier” action with following values:
- Event Name: JenkinsBuild
- Key: <Make Webhooks Key>
Note: You can get your unique Maker Webhooks Key from https://ifttt.com/services/maker_webhooks/setting
Finally, run the Jenkins job to test the setup. In response to the ifttt web request, Cozmo should roll off the charger, raise and lower his lift, announce the status, and then animate and light-up the cubes.
Here is video loop for above settings:
Running it together
Here’s video with Cozmo’s reaction to a passed build vs. a failed build: