Smart Pill Dispenser

Made by ashokr / Health / Home Automation / Robotics / Voice / IoT

About the project

Dispenses the tablet for elder people with Voice control (Alexa Skills)

Project info

Difficulty: Moderate

Platforms: Amazon Web Services, Cypress, Infineon, LEGO MindStorms, MQTT

Estimated time: 7 days

License: Creative Commons Attribution-NonCommercial-NoDerivs CC BY-NC-ND version 4.0 or later (CC BY-NC-ND 4+)

Items used in this project

Hardware components

	Cy8ckit-062-wifi-bt Psoc 6 Pioneer Kit	x 1
	LEGO Mindstorms Ev3 Medium Servo Motor and Parts	x 1
	Micro Servo	x 1
	H-BRIDGE MOTOR DRIVER L293D or TB6612	x 1
	General Purpose PCB	x 1

Software apps and online services

	Amazon Eco
	AWS Services
	Twilio Services

Hand tools and fabrication machines

	Hot Glue Gun	x 1
	Soldering Station	x 1

Story

Introduction

One day we will all become older , we struggle to walk , we struggle to grab , we struggle to remember yes it will happen one day . In today most of elders runs their daily life with tablets/pills. I had seen my grand parents who struggle to open and take tablets. In sometime they took wrong one. These things made me to design "Smart Pill Dispenser". There are plenty of pill dispenser available in market but nothing is standardized. My idea is to make a well structured standard device something like IEEE compiled. This project is seed for the future. Earlier i was mentoring the student and made an 1st attempt of this pill dispenser. This time i came with the LEGO based design.

Blocks

Hardware

Hardware I have received the kit PSoC6 Wifi-BT Pioneer Kit

Unfortunately the kit went bad after upgrading the KitProg3 firmware. Then i have taken my old kits started using it. For driving DC motors and servo i used PWM and H - Bridge driver so i hand-soldered on the small general purpose pcb board. The entire design is build with LEGO mindstorms blocks. I used the medium servo motor to drive the dispenser plate. The plate is made up of Balsa wood sheet. Attached with lego parts using glue. The PSoC6 and PCB's are attached to the lego blocks. Mini Servo motor is used to trigger the tablet.

Software

Implemented the MQTT Client and PWM on the PSoC6. To drive SERVO i have used two different PWM outputs. The TFT Display is drived using emWin Graphics driver. This kit has limited memory with 1MB so my application does not works after integration. Then i removed the Graphic animation to reduce the memory size. Finally taken the video with and without animation. AWS lambda service is used for publishing MQTT messages and sends SMS with twilio apis. Alexa skills is developed to give voice comand to trigger the lambda events.

How it works

The tablets are loaded in the slots , each slots has different colors and its defined in the AWS cloud with timing information. The time comes the amazon echo remind the user to take tablets. Asking the alexa simply by "TABLET" will dispense the tablet from corresponding slot. The timing displays and counts are displayed on the TFT screen. After taking tablets the notification sends to user2 (family member).

The working demo video is here

Schematics, diagrams and documents

Schematic

Code

Main Code

/******************************************************************************
* File Name:   mqtt_task.c
*
* Description: This file contains the task that handles initialization & 
*              connection of Wi-Fi and the MQTT client. The task then starts 
*              the subscriber and the publisher tasks. The task also handles
*              all the cleanup operations to gracefully terminate the Wi-Fi and
*              MQTT connections in case of any failure.
*
* Related Document: See README.md
*
*******************************************************************************
* (c) 2020-2021, Cypress Semiconductor Corporation. All rights reserved.
*******************************************************************************
* This software, including source code, documentation and related materials
* ("Software"), is owned by Cypress Semiconductor Corporation or one of its
* subsidiaries ("Cypress") and is protected by and subject to worldwide patent
* protection (United States and foreign), United States copyright laws and
* international treaty provisions. Therefore, you may use this Software only
* as provided in the license agreement accompanying the software package from
* which you obtained this Software ("EULA").
*
* If no EULA applies, Cypress hereby grants you a personal, non-exclusive,
* non-transferable license to copy, modify, and compile the Software source
* code solely for use in connection with Cypress's integrated circuit products.
* Any reproduction, modification, translation, compilation, or representation
* of this Software except as specified above is prohibited without the express
* written permission of Cypress.
*
* Disclaimer: THIS SOFTWARE IS PROVIDED AS-IS, WITH NO WARRANTY OF ANY KIND,
* EXPRESS OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, NONINFRINGEMENT, IMPLIED
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. Cypress
* reserves the right to make changes to the Software without notice. Cypress
* does not assume any liability arising out of the application or use of the
* Software or any product or circuit described in the Software. Cypress does
* not authorize its products for use in any products where a malfunction or
* failure of the Cypress product may reasonably be expected to result in
* significant property damage, injury or death ("High Risk Product"). By
* including Cypress's product in a High Risk Product, the manufacturer of such
* system or application assumes all risk of such use and in doing so agrees to
* indemnify Cypress against all liability.
*******************************************************************************/

#include "cyhal.h"
#include "cybsp.h"

/* FreeRTOS header files */
#include "FreeRTOS.h"
#include "task.h"

/* Task header files */
#include "mqtt_task.h"
#include "subscriber_task.h"
#include "gui_task.h"

/* Configuration file for Wi-Fi and MQTT client */
#include "wifi_config.h"
#include "mqtt_client_config.h"

/* Middleware libraries */
#include "cy_retarget_io.h"
#include "cy_wcm.h"
#include "cy_lwip.h"
#include "cy_iot_network_secured_socket.h"
#include "iot_init.h"
#include "iot_clock.h"
#include "pwm_servo_task.h"

/******************************************************************************
* Macros
******************************************************************************/
/* Queue length of a message queue that is used to communicate the status of 
 * various operations.
 */
#define MQTT_STATUS_QUEUE_LENGTH         (1u)

/* Time in milliseconds to wait before creating the publisher task. */
#define TASK_CREATION_DELAY_MS           (2000u)

/* Flag Masks for tracking which cleanup functions must be called. */
#define WCM_INITIALIZED                  (1lu << 0)
#define WIFI_CONNECTED                   (1lu << 1)
#define IOT_SDK_INITIALIZED              (1lu << 2)
#define NETWORK_STACK_INITIALIZED        (1lu << 3)
#define LIBS_INITIALIZED                 (1lu << 4)
#define CONNECTION_ESTABLISHED           (1lu << 5)

/* Macro to check if the result of an operation was successful and set the 
 * corresponding bit in the init_flag based on 'init_mask' parameter. When 
 * it has failed, print the error message and return EXIT_FAILURE to the 
 * calling function.
 */
#define CHECK_RESULT(result, init_mask, error_message...)   \
                     do                                     \
                     {                                      \
                         if ((int)result == EXIT_SUCCESS)   \
                         {                                  \
                             init_flag |= init_mask;        \
                         }                                  \
                         else                               \
                         {                                  \
                             printf(error_message);         \
                             return EXIT_FAILURE;           \
                         }                                  \
                     } while(0)

/******************************************************************************
* Global Variables
*******************************************************************************/
/* MQTT connection handle. */
IotMqttConnection_t mqttConnection = IOT_MQTT_CONNECTION_INITIALIZER;

/* Queue handle used to communicate results of various operations - MQTT 
 * Publish, MQTT Subscribe, and MQTT connection between tasks and callbacks.
 */
QueueHandle_t mqtt_status_q;

/* Flag to denote initialization status of various operations. */
uint32_t init_flag;

/* Flag to denote status of wifi and mqtt connection. */
uint8_t wifi_connected = 0;
uint8_t cloud_connected = 0;

/******************************************************************************
* Function Prototypes
*******************************************************************************/
static int wifi_connect(void);
static int mqtt_connect(void);
static void mqtt_disconnect_callback(void *pCallbackContext,
                                     IotMqttCallbackParam_t *pCallbackParam);
#if GENERATE_UNIQUE_CLIENT_ID
static int mqtt_get_unique_client_identifier(char *mqtt_client_identifier);
#endif /* GENERATE_UNIQUE_CLIENT_ID */

static void cleanup(void);

/******************************************************************************
 * Function Name: mqtt_client_task
 ******************************************************************************
 * Summary:
 *  Task for handling initialization & connection of Wi-Fi and the MQTT client.
 *  The task also creates and manages the subscriber and publisher tasks upon 
 *  successful MQTT connection.
 *
 * Parameters:
 *  void *pvParameters : Task parameter defined during task creation (unused)
 *
 * Return:
 *  void
 *
 ******************************************************************************/
void mqtt_client_task(void *pvParameters)
{
    /* Structure that stores the data received over MQTT status queue from 
     * other tasks and callbacks.
     */
    mqtt_result_t mqtt_status;

    /* To avoid compiler warnings */
    (void)pvParameters;

    /* Create a message queue to communicate MQTT operation results 
     * between various tasks and callbacks.
     */
    mqtt_status_q = xQueueCreate(MQTT_STATUS_QUEUE_LENGTH, sizeof(mqtt_result_t));

    /* Initialize the Wi-Fi STA, connect to the Wi-Fi AP, set up the MQTT 
     * client, and connect to the MQTT broker. Jump to the cleanup block if 
     * any of the operations fails.
     */
    if ( (wifi_connect() != EXIT_SUCCESS) || (mqtt_connect() != EXIT_SUCCESS) )
    {
        goto exit_cleanup;
    }

    /* Create the subscriber task and cleanup if the operation fails. */
    if (pdPASS != xTaskCreate(subscriber_task, "Subscriber task", SUBSCRIBER_TASK_STACK_SIZE,
                              NULL, SUBSCRIBER_TASK_PRIORITY, &subscriber_task_handle))
    {
        printf("Failed to create the Subscriber task!\n");
        goto exit_cleanup;
    }

    /* Wait for the subscribe operation to complete. */
    vTaskDelay(pdMS_TO_TICKS(TASK_CREATION_DELAY_MS));
#if 0
    /* Create the publisher task and cleanup if the operation fails. */
    if (pdPASS != xTaskCreate(publisher_task, "Publisher task", PUBLISHER_TASK_STACK_SIZE, 
                              NULL, PUBLISHER_TASK_PRIORITY, &publisher_task_handle))
    {
        printf("Failed to create Publisher task!\n");
        goto exit_cleanup;
    }
#endif

    while (true)
    {
        /* Wait for results of MQTT operations from other tasks and callbacks. */
        if (pdTRUE == xQueueReceive(mqtt_status_q, &mqtt_status, portMAX_DELAY))
        {
            switch(mqtt_status)
            {
                case MQTT_PUBLISH_FAILURE:
                {
                    /* Unsubscribe from the topic before cleanup. */
                    mqtt_unsubscribe();
                }
                case MQTT_SUBSCRIBE_FAILURE:
                case MQTT_DISCONNECT:
                {
                    /* Delete the subscriber and publisher tasks and go to the
                     * cleanup label as MQTT subscribe/publish has failed.
                     */
                    if (subscriber_task_handle != NULL)
                    {
                        vTaskDelete(subscriber_task_handle);
                    }
                    //if (publisher_task_handle != NULL)
                    //{
                    //    publisher_cleanup();
                    //    vTaskDelete(publisher_task_handle);
                   // }
                    if (pwm_servo_task_handle != NULL)
					{
					   vTaskDelete(pwm_servo_task_handle);
					}
                    cloud_connected = 0;

                    #if 0
                    /* Notify the gui task about MQTT connections status. */
                    xTaskNotify(gui_task_handle, GUI_STATUS, eSetValueWithoutOverwrite);
                    #endif
                    goto exit_cleanup;
                }
                default:
                    break;
            }
        }
    }

    /* Cleanup section for various operations. */
    exit_cleanup:
    cleanup();
    vTaskDelete( NULL );
}

/******************************************************************************
 * Function Name: wifi_connect
 ******************************************************************************
 * Summary:
 *  Function that initializes the Wi-Fi Connection Manager and then connects 
 *  to the Wi-Fi Access Point using the specified SSID and PASSWORD.
 *
 * Parameters:
 *  void
 *
 * Return:
 *  int : EXIT_SUCCESS on successful connection with a Wi-Fi Access Point,
 *        else EXIT_FAILURE.
 *
 ******************************************************************************/
static int wifi_connect(void)
{
    cy_rslt_t result;
    cy_wcm_connect_params_t connect_param;
    cy_wcm_ip_address_t ip_address;
    uint32_t retry_count;
    /* Configure the interface as a Wi-Fi STA (i.e. Client). */
    cy_wcm_config_t config = {.interface = CY_WCM_INTERFACE_TYPE_STA};

    /* Initialize the Wi-Fi Connection Manager and return if the operation fails. */
    result = cy_wcm_init(&config);
    CHECK_RESULT(result, WCM_INITIALIZED, "\nWi-Fi Connection Manager initialization failed!\n");
    printf("\nWi-Fi Connection Manager initialized.\n");

    /* Configure the connection parameters for the Wi-Fi interface. */
    memset(&connect_param, 0, sizeof(cy_wcm_connect_params_t));
    memcpy(connect_param.ap_credentials.SSID, WIFI_SSID, sizeof(WIFI_SSID));
    memcpy(connect_param.ap_credentials.password, WIFI_PASSWORD, sizeof(WIFI_PASSWORD));
    connect_param.ap_credentials.security = WIFI_SECURITY;

    /* Connect to the Wi-Fi AP. */
    for (retry_count = 0; retry_count < MAX_WIFI_CONN_RETRIES; retry_count++)
    {
        printf("Connecting to Wi-Fi AP '%s'\n", connect_param.ap_credentials.SSID);
        result = cy_wcm_connect_ap(&connect_param, &ip_address);

        if (result == CY_RSLT_SUCCESS)
        {
            printf("Successfully connected to Wi-Fi network '%s'.\n",
                    connect_param.ap_credentials.SSID);
            wifi_connected = 1;
			#if 0
			/* Notify the gui task about WIFI connections status. */
			xTaskNotify(gui_task_handle, GUI_STATUS, eSetValueWithoutOverwrite);
			#endif
            /* Set the appropriate bit in the init_flag to denote successful
             * Wi-Fi connection, print the assigned IP address.
             */
            init_flag |= WIFI_CONNECTED;
            if (ip_address.version == CY_WCM_IP_VER_V4)
            {
                printf("IPv4 Address Assigned: %s\n\n", ip4addr_ntoa((const ip4_addr_t *) &ip_address.ip.v4));
            }
            else if (ip_address.version == CY_WCM_IP_VER_V6)
            {
                printf("IPv6 Address Assigned: %s\n\n", ip6addr_ntoa((const ip6_addr_t *) &ip_address.ip.v6));
            }
            return EXIT_SUCCESS;
        }
        wifi_connected = 0;
		#if 0
		/* Notify the gui task about WIFI connections status. */
		xTaskNotify(gui_task_handle, GUI_STATUS, eSetValueWithoutOverwrite);
		#endif
        printf("Connection to Wi-Fi network failed with error code 0x%0X. "
                "Retrying in %d ms...\n", (int)result, WIFI_CONN_RETRY_INTERVAL_MS);
        vTaskDelay(pdMS_TO_TICKS(WIFI_CONN_RETRY_INTERVAL_MS));
    }

    printf("Exceeded maximum Wi-Fi connection attempts\n\n");
    return EXIT_FAILURE;
}

/******************************************************************************
 * Function Name: mqtt_connect
 ******************************************************************************
 * Summary:
 *  Function that initializes the IoT SDK, network stack, and the MQTT client.
 *  Upon successful initialization the MQTT connect operation is performed.
 *
 * Parameters:
 *  void
 *
 * Return:
 *  int : EXIT_SUCCESS on successful completion of MQTT connection,
 *        else EXIT_FAILURE.
 *
 ******************************************************************************/
static int mqtt_connect(void)
{
    /* Variable to indicate status of various operations. */
    int result = EXIT_SUCCESS;

    /* MQTT client identifier string. */
    char mqtt_client_identifier[MQTT_CLIENT_IDENTIFIER_MAX_LEN] = MQTT_CLIENT_IDENTIFIER;

    if (!IotSdk_Init())
    {
        result = EXIT_FAILURE;
    }
    CHECK_RESULT(result, IOT_SDK_INITIALIZED, "IoT SDK initialization failed!\n");
    printf("IoT SDK initialized successfully.\n");

    /* Initialize the Cypress Secure Sockets library. */
    result = IotNetworkSecureSockets_Init();
    CHECK_RESULT(result, NETWORK_STACK_INITIALIZED, "Network stack initialization failed!\n");
    printf("Network stack initialized successfully.\n");

    /* Initialize the MQTT library. */
    result = IotMqtt_Init();
    CHECK_RESULT(result, LIBS_INITIALIZED, "MQTT library initialization failed!\n\n");
    printf("MQTT library initialization successful.\n\n");

    /* Configure the user credentials as a part of MQTT Connect packet */
    if (strlen(MQTT_USERNAME) > 0)
    {
        connectionInfo.pUserName = MQTT_USERNAME;
        connectionInfo.pPassword = MQTT_PASSWORD;
        connectionInfo.userNameLength = sizeof(MQTT_USERNAME) - 1;
        connectionInfo.passwordLength = sizeof(MQTT_PASSWORD) - 1;
    }

    /* Configure the network interface and callback function for disconnection. */
    networkInfo.pNetworkInterface = IOT_NETWORK_INTERFACE_CY_SECURE_SOCKETS;
    networkInfo.disconnectCallback.function = mqtt_disconnect_callback;

    /* Generate a unique client identifier with 'MQTT_CLIENT_IDENTIFIER' string 
     * as a prefix based on `GENERATE_UNIQUE_CLIENT_ID` macro setting.
     */
    #if GENERATE_UNIQUE_CLIENT_ID
    result = mqtt_get_unique_client_identifier(mqtt_client_identifier);
    CHECK_RESULT(result, 0, "Failed to generate unique client identifier for the MQTT client!\n");
    #endif /* GENERATE_UNIQUE_CLIENT_ID */

    /* Set the client identifier buffer and length. */
    connectionInfo.pClientIdentifier = mqtt_client_identifier;
    connectionInfo.clientIdentifierLength = strlen(mqtt_client_identifier);

    printf("MQTT client '%.*s' connecting to MQTT broker '%s'...\n",
           connectionInfo.clientIdentifierLength,
           connectionInfo.pClientIdentifier,
           networkInfo.u.setup.pNetworkServerInfo->pHostName);

    /* Establish the MQTT connection. */
    result = IotMqtt_Connect(&networkInfo, &connectionInfo, MQTT_TIMEOUT_MS, &mqttConnection);
    CHECK_RESULT(result, CONNECTION_ESTABLISHED, "MQTT connection failed with error '%s'!\n\n", 
                 IotMqtt_strerror((IotMqttError_t) result));
    printf("MQTT connection successful.\n\n");
    cloud_connected = 1;
    #if 0
    /* Notify the gui task about MQTT connections status. */
    xTaskNotify(gui_task_handle, GUI_STATUS, eSetValueWithoutOverwrite);
    #endif
    return EXIT_SUCCESS;
}

/******************************************************************************
 * Function Name: mqtt_disconnect_callback
 ******************************************************************************
 * Summary:
 *  Callback invoked when the MQTT connection is disconnected. The function 
 *  informs the MQTT client task about the MQTT client disconnection using a
 *  message queue only if the disconnection was unexpected.
 *
 * Parameters:
 *  void *pCallbackContext : Information about expected disconnect reason (unused)
 *  IotMqttCallbackParam_t * pCallbackParam : Actual disconnection information 
 *
 * Return:
 *  void
 *
 ******************************************************************************/
static void mqtt_disconnect_callback(void *pCallbackContext,
                                     IotMqttCallbackParam_t *pCallbackParam)
{
    /* Structure that stores the data that will be sent to the MQTT client task
     * using a message queue.
     */
    mqtt_result_t mqtt_connection_status = MQTT_DISCONNECT;

    /* To avoid compiler warnings */
    (void)pCallbackContext;

    /* Inform the MQTT client task about the disconnection except when the MQTT 
     * client has invoked the MQTT disconnect function.
     */
    if (pCallbackParam->u.disconnectReason != IOT_MQTT_DISCONNECT_CALLED)
    {
        printf("MQTT client disconnected unexpectedly!\n");
        cloud_connected = 0;
        #if 0
        /* Notify the gui task about MQTT connections status. */
        xTaskNotify(gui_task_handle, GUI_STATUS, eSetValueWithoutOverwrite);
        #endif
        xQueueOverwrite(mqtt_status_q, &mqtt_connection_status);
    }
}

#if GENERATE_UNIQUE_CLIENT_ID
/******************************************************************************
 * Function Name: mqtt_get_unique_client_identifier
 ******************************************************************************
 * Summary:
 *  Function that generates unique client identifier for the MQTT client by
 *  appending a timestamp to a common prefix (MQTT_CLIENT_IDENTIFIER).
 *
 * Parameters:
 *  char *mqtt_client_identifier : Pointer to the string that stores the 
 *                                 generated unique identifier
 *
 * Return:
 *  int : EXIT_SUCCESS on successful generation of the client identifier,
 *        else EXIT_FAILURE
 *
 ******************************************************************************/
static int mqtt_get_unique_client_identifier(char *mqtt_client_identifier)
{
    int status = EXIT_SUCCESS;

    /* Check for errors from snprintf. */
    if (0 > snprintf(mqtt_client_identifier,
                     MQTT_CLIENT_IDENTIFIER_MAX_LEN,
                     MQTT_CLIENT_IDENTIFIER "%lu",
                     (long unsigned int)IotClock_GetTimeMs()))
    {
        status = EXIT_FAILURE;
    }

    return status;
}
#endif /* GENERATE_UNIQUE_CLIENT_ID */

/******************************************************************************
 * Function Name: cleanup
 ******************************************************************************
 * Summary:
 *  Function that invokes various deinit and cleanup functions for the 
 *  appropriate operations based on the init_flag.
 *
 * Parameters:
 *  void
 *
 * Return:
 *  void
 *
 ******************************************************************************/
static void cleanup(void)
{
    /* Disconnect the MQTT connection if it was established. */
    if (init_flag & CONNECTION_ESTABLISHED)
    {
        printf("Disconnecting from the MQTT Server...\n");
        IotMqtt_Disconnect(mqttConnection, 0);
    }    
    /* Clean up libraries if they were initialized. */
    if (init_flag & LIBS_INITIALIZED)
    {
        IotMqtt_Cleanup();
    }
    /* Clean up the network stack if it was initialized. */
    if (init_flag & NETWORK_STACK_INITIALIZED)
    {
        IotNetworkSecureSockets_Cleanup();
    }
    /* Clean up the IoT SDK. */
    if (init_flag & IOT_SDK_INITIALIZED)
    {
        IotSdk_Cleanup();
    }
    /* Disconnect from Wi-Fi AP. */
    if (init_flag & WIFI_CONNECTED)
    {
        if (cy_wcm_disconnect_ap() == CY_RSLT_SUCCESS)
        {
            printf("Disconnected from the Wi-Fi AP!\n");
            wifi_connected = 0;
			#if 0
			/* Notify the gui task about WIFI connections status. */
			xTaskNotify(gui_task_handle, GUI_STATUS, eSetValueWithoutOverwrite);
			#endif
        }
    }
    /* De-initialize the Wi-Fi Connection Manager. */
    if (init_flag & WCM_INITIALIZED)
    {
        cy_wcm_deinit();
    }
}

/* [] END OF FILE */

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Credits

ashokr

Hello! I’m Ashok. I’m currently working as software engineer. passionate about doing Hobbies Projects and Animations works.

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