Simplify planning node

graphs/dataflow.yml

@@ -4,13 +4,13 @@ nodes:
       python: ../operators/robot.py
       inputs:
         blaster:
-          source: mistral/blaster
+          source: llm/blaster
           queue_size: 1
         led:
-          source: mistral/led
+          source: llm/led
           queue_size: 1
         control:
-          source: mistral/control
+          source: planning/control
           queue_size: 1
         gimbal_control:
           source: planning/gimbal_control
@@ -59,9 +59,12 @@ nodes:
       python: ../operators/plot.py
       inputs:
         image: bot_webcam/image
-        text: whisper/text
+        keyboard_buffer: keyboard/buffer
+        user_message: keyboard/submitted
+        assistant_message: llm/assistant_message
         bbox: object_detection/bbox
-  
+
+
   - id: planning
     operator:
       python: ../operators/planning_op.py
@@ -78,23 +81,22 @@ nodes:
   ## Speech to text
   - id: keyboard
     custom:
-      source: ../operators/keybinding_op.py
+      source: ../operators/keyboard_op.py
       outputs:
-        - mic_on
-        - revert
-        - failed
-        - error
+        - buffer
+        - submitted
+        - record
+        - ask
+        - send
+        - change
       inputs:
-        tick:
-          source: dora/timer/millis/50
-          queue_size: 1
-
+        recording: whisper/text
 
   - id: microphone
     operator:
       python: ../operators/microphone_op.py
       inputs:
-        mic_on: keyboard/mic_on
+        record: keyboard/record
       outputs:
         - audio
 
@@ -111,39 +113,32 @@ nodes:
     operator:
       python: ../operators/sentence_transformers_op.py
       inputs:
-        query: whisper/text
+        query: keyboard/change
         saved_file: file_saver/saved_file
       outputs:
         - raw_file
 
-  - id: mistral
+  - id: llm
     operator:
-      python: ../operators/mistral_op.py
+      python: ../operators/llm_op.py
       inputs:
-        raw_file: vectordb/raw_file
+        code_modifier: vectordb/raw_file
+        assistant: keyboard/ask
+        message_sender: keyboard/send
       outputs:
-        - output_file
+        - modified_file
+        - assistant_message
+        - line
         - control
         - led
         - blaster
+        - rotation
 
-  - id: chatgpt
-    operator:
-      python: ../operators/chatgpt_op.py
-      inputs:
-        raw_file: vectordb/raw_file
-      outputs:
-        - output_file
-  
   - id: file_saver
     operator:
       python: ../operators/file_saver_op.py
       inputs:
-        chatgpt_output_file: chatgpt/output_file
-        mistral_output_file: mistral/output_file
-        error: keyboard/error
-        revert: keyboard/revert
-        failed: keyboard/failed
+        llm_output_file: llm/modified_file
       outputs:
         - saved_file
 
@@ -151,8 +146,7 @@ nodes:
     custom:
       source: dora-record
       inputs:
-        chatgpt_output_file: chatgpt/output_file
-        mistral_output_file: mistral/output_file
+        llm_output_file: llm/modified_file
         raw_file: vectordb/raw_file
         saved_file: file_saver/saved_file
         audio: microphone/audio
@@ -170,4 +164,4 @@ nodes:
       inputs:
         image: bot_webcam/image
       outputs:
-        - encoded_image
+        - encoded_image

operators/keyboard_op.py

@@ -2,8 +2,6 @@ from pynput import keyboard
 from pynput.keyboard import Key, Events
 import pyarrow as pa
 from dora import Node
-from tkinter import Tk
-import tkinter as tk
 
 
 node = Node()
@@ -30,35 +28,8 @@ with keyboard.Events() as events:
         if event is not None and isinstance(event, Events.Press):
             if hasattr(event.key, "char"):
                 cursor = 0
-                if ctrl and event.key.char == "v":
-                    r = Tk()
-                    r.update()
-                    try:
-                        selection = r.clipboard_get()
-                        r.withdraw()
-                        r.update()
-                    except tk.TclError:
-                        selection = ""
-                    r.destroy()
-                    buffer_text += selection
-                    node.send_output("buffer", pa.array([buffer_text]))
-                elif ctrl and event.key.char == "c":
-                    r = Tk()
-                    r.clipboard_clear()
-                    r.clipboard_append(buffer_text)
-                    r.update()
-                    r.destroy()
-                elif ctrl and event.key.char == "x":
-                    r = Tk()
-                    r.clipboard_clear()
-                    r.clipboard_append(buffer_text)
-                    r.update()
-                    r.destroy()
-                    buffer_text = ""
-                    node.send_output("buffer", pa.array([buffer_text]))
-                else:
-                    buffer_text += event.key.char
-                    node.send_output("buffer", pa.array([buffer_text]))
+                buffer_text += event.key.char
+                node.send_output("buffer", pa.array([buffer_text]))
             else:
                 if event.key == Key.backspace:
                     buffer_text = buffer_text[:-1]

operators/llm_op.py

@@ -13,7 +13,7 @@ MODEL_NAME_OR_PATH = "TheBloke/deepseek-coder-6.7B-instruct-GPTQ"
 
 CODE_MODIFIER_TEMPLATE = """
 ### Instruction
-Respond with the whole modified code only in ```python block. No explaination.
+Respond with the modified code only in ```python block. No explaination.
 
 ```python
 {code}
@@ -318,19 +318,19 @@ if __name__ == "__main__":
     # Directory of the current file
     current_directory = os.path.dirname(current_file_path)
 
-    path = current_directory + "object_detection.py"
+    path = current_directory + "/planning_op.py"
     with open(path, "r", encoding="utf8") as f:
         raw = f.read()
 
     op.on_event(
         {
             "type": "INPUT",
-            "id": "message_sender",
+            "id": "code_modifier",
             "value": pa.array(
                 [
                     {
                         "path": path,
-                        "user_message": "send a star ",
+                        "user_message": "change planning to make gimbal follow bounding box ",
                     },
                 ]
             ),

operators/object_detection.py

@@ -27,8 +27,7 @@ class Operator:
                 dora_event["value"].to_numpy().reshape((CAMERA_HEIGHT, CAMERA_WIDTH, 3))
             )
             frame = frame[:, :, ::-1]  # OpenCV image (BGR to RGB)
-            results = self.model(frame, verbose=False)  # includes NMS
-            # Process results for "ABC" only
+            results = model(frame, verbose=False)  # includes NMS
             boxes = np.array(results[0].boxes.xyxy.cpu())
             conf = np.array(results[0].boxes.conf.cpu())
             label = np.array(results[0].boxes.cls.cpu())

operators/planning_op.py

@@ -3,22 +3,10 @@ import numpy as np
 import pyarrow as pa
 from dora import DoraStatus
 
-# front-back: [-1, 1]
-X = 0
-# left-right: [-1,1]
-Y = 0
-SPEED = 0.5
-Z = 0
-# pitch-axis angle in degrees(int): [-55, 55]
-PITCH = 0
-# yaw-axis angle in degrees(int): [-55, 55]
-ROTATION = 0
-# RGB LED(int) [0, 255]
-RGB = [0, 0, 0]
-BRIGHTNESS = [0]  # [0, 128]
-
-GOAL_OBJECTIVES = [X, Y, Z]
-GIMBAL_POSITION_GOAL = [PITCH, ROTATION]
+# front-back and left-right movement(float) with min: -1 and max: 1
+POSITION_GOAL = [0, 0]
+# pitch and yaw axis angle in degrees(int) with min: -55 and max: 55
+GIMBAL_GOAL = [0, 0]
 
 CAMERA_WIDTH = 960
 CAMERA_HEIGHT = 540
@@ -26,7 +14,7 @@ CAMERA_HEIGHT = 540
 
 class Operator:
     def __init__(self):
-        self.bboxs = []
+        self.bboxs = np.array([])
         self.time = time.time()
         self.position = [0, 0, 0]
 
@@ -35,35 +23,34 @@ class Operator:
         dora_event: dict,
         send_output,
     ) -> DoraStatus:
-        global X, Y, SPEED, PITCH, ROTATION, RGB, BRIGHTNESS, GOAL_OBJECTIVES, GIMBAL_POSITION_GOAL
+        global POSITION_GOAL, GIMBAL_GOAL
         if dora_event["type"] == "INPUT":
-            if dora_event["id"] == "tick":
+            id = dora_event["id"]
+            if id == "tick":
                 self.time = time.time()
-            elif dora_event["id"] == "bbox":
-                bboxs = dora_event["value"].to_numpy()
-                self.bboxs = np.reshape(bboxs, (-1, 6))
-
-            elif dora_event["id"] == "position":
-                [x, y, z, gimbal_pitch, gimbal_yaw] = dora_event["value"].to_numpy()
-                self.position = [x, y, z]
+            elif id == "bbox":
+                value = dora_event["value"].to_numpy()
+                bboxs = value
+                self.bboxs = np.reshape(
+                    bboxs, (-1, 6)
+                )  # min_x, min_y, max_x, max_y, confidence, label
+            elif id == "position":
+                value = dora_event["value"].to_numpy()
+                [x, y, _pitch, _yaw] = value
+                self.position = [x, y]
                 direction = np.clip(
-                    np.array(GOAL_OBJECTIVES) - np.array(self.position), -1, 1
+                    np.array(POSITION_GOAL) - np.array(self.position), -1, 1
                 )
 
-                if any(abs(direction) > 0.1):
-                    x = direction[0]
-                    y = direction[1]
-                    z = direction[2]
-
-                    send_output(
-                        "control",
-                        pa.array([x, y, z]),
-                        dora_event["metadata"],
-                    )
+                send_output(
+                    "control",
+                    pa.array(direction),
+                    dora_event["metadata"],
+                )
 
                 send_output(
                     "gimbal_control",
-                    pa.array([PITCH, ROTATION]),
+                    pa.array(GIMBAL_GOAL),
                     dora_event["metadata"],
                 )
 

operators/plot.py

@@ -63,17 +63,30 @@ class Operator:
                         (0, 255, 0),
                     )
 
-                cv2.putText(image, self.buffer, (20, 12 * 25), FONT, 1, (190, 250, 0))
+                cv2.putText(
+                    image, self.buffer, (20, 14 + 21 * 14), FONT, 0.5, (190, 250, 0), 1
+                )
 
-                for i, text in enumerate(self.submitted[::-1]):
+                i = 0
+                for text in self.submitted[::-1]:
+                    color = (
+                        (0, 255, 190)
+                        if text["role"] == "user_message"
+                        else (0, 190, 255)
+                    )
                     cv2.putText(
                         image,
                         text["content"],
-                        (20, 25 + (10 - i) * 25),
+                        (
+                            20,
+                            14 + (19 - i) * 14,
+                        ),
                         FONT,
+                        0.5,
+                        color,
                         1,
-                        (0, 255, 190),
                     )
+                    i += 1
 
                 for line in self.lines:
                     cv2.line(

operators/robot.py

@@ -1,16 +1,11 @@
-#!/usr/bin/env python3
-# -*- coding: utf-8 -*-
-
 from robomaster import robot, blaster, led
 from typing import Callable, Optional, Union
 
-# from robot import RobotController
+import numpy as np
 import pyarrow as pa
 
 from dora import DoraStatus
 
-# Global variables, change it to adapt your needs
-FREQ = 20
 CONN = "ap"
 
 
@@ -24,7 +19,7 @@ class Operator:
         ), "Could not start video stream"
 
         self.ep_robot.gimbal.recenter().wait_for_completed()
-        self.position = [0, 0, 0]
+        self.position = [0, 0]
         self.gimbal_position = [0, 0]
         self.event = None
         self.brightness = 0
@@ -49,13 +44,15 @@ class Operator:
                     self.event is not None
                     and not (self.event._event.isSet() and self.event.is_completed)
                 ):
-                    [x, y, z] = dora_event["value"].to_numpy()
-                    self.event = self.ep_robot.chassis.move(
-                        x=x, y=y, z=z, xy_speed=0.8, z_speed=0.8
-                    )
-                    self.position[0] += x
-                    self.position[1] += y
-                    self.position[2] += z
+                    [x, y] = dora_event["value"].to_numpy()
+
+                    if any(abs(np.array([x, y])) > 0.1):
+                        print("received command: ", x, y, flush=True)
+                        self.event = self.ep_robot.chassis.move(
+                            x=x, y=y, z=0.0, xy_speed=0.8, z_speed=0.8
+                        )
+                        self.position[0] += x
+                        self.position[1] += y
                 else:
                     print("control not completed", flush=True)
                     print("Set: ", self.event._event.isSet(), flush=True)
@@ -75,8 +72,8 @@ class Operator:
                         self.event = self.ep_robot.gimbal.moveto(
                             pitch=gimbal_pitch,
                             yaw=gimbal_yaw,
-                            pitch_speed=20,
-                            yaw_speed=20,
+                            pitch_speed=50,
+                            yaw_speed=50,
                         )
                         self.gimbal_position[0] = gimbal_pitch
                         self.gimbal_position[1] = gimbal_yaw