Modify data organization

README.md

@@ -3,15 +3,15 @@ configs:
   - config_name: mistral_output_file
     data_files:
       - split: train
-        path: graphs/mistral*
+        path: graphs/*/mistral_output_file.arrow
   - config_name: raw_file
     data_files:
       - split: train
-        path: graphs/raw_file*
+        path: graphs/*/raw_file.arrow
   - config_name: saved_file
     data_files:
       - split: train
-        path: graphs/saved_file*
+        path: graphs/*/saved_file.arrow
 license: apache-2.0
 language:
   - en

graphs/{mistral_output_file.arrow → 10635604-cfd4-4134-9477-c68ca69e3930/mistral_output_file.arrow}

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:764707ce8c55e898c8bd577a725af16a2fe931f83cb597cd0cb9f768214e9667
-size 29904
+oid sha256:42a0eb9953098fa6a72e28382dcecd62ca4a628f34c5686d4e2c6ce825000771
+size 10672

graphs/{raw_file.arrow → 10635604-cfd4-4134-9477-c68ca69e3930/raw_file.arrow}

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:13ea7b9c4a305d07c94616c87baa41c1c195cc67930cd57fb2e3010eea50c6d6
-size 29912
+oid sha256:8566dc6dd7ed29321a6d2dd665c435fad5929fd840d5aacab17e38ecec665126
+size 9384

graphs/{saved_file.arrow → 10635604-cfd4-4134-9477-c68ca69e3930/saved_file.arrow}

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:a0ae045e300e026d2ceccc701b0301562d8a58b4a0de2994b5fcd2e1ed87cf5b
-size 14976
+oid sha256:b7d4b3ae423e99fb56053a91b51f94e46232f7e392601764d1929fe2386ec952
+size 18144

graphs/d0d8b39d-58ae-4a5a-b5e8-d2b89af125ed/mistral_output_file.arrow

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40d5f7b5ae3c7b42f14b903aa5cb522aa4af7217cc3e80723ab5919131dc29ba
+size 15696

graphs/d0d8b39d-58ae-4a5a-b5e8-d2b89af125ed/raw_file.arrow

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d674448240e5d59e3b06cbf8a8ce8f66e864ea3e98e63aaf3dea479fc71a6c05
+size 13984

graphs/d0d8b39d-58ae-4a5a-b5e8-d2b89af125ed/saved_file.arrow

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd880b9252c382904bcd9f1746b2ade08b29a570a62268d645c2540470112731
+size 22832

graphs/dataflow.yml

@@ -88,8 +88,9 @@ nodes:
       source: ../operators/keybinding_op.py
       outputs:
         - mic_on
-        - cancel
+        - revert
         - failed
+        - error
 
   - id: microphone
     operator:
@@ -140,7 +141,8 @@ nodes:
       inputs:
         chatgpt_output_file: chatgpt/output_file
         mistral_output_file: mistral/output_file
-        cancel: keyboard/cancel
+        error: keyboard/error
+        revert: keyboard/revert
         failed: keyboard/failed
       outputs:
         - saved_file

operators/chatgpt_op.py

@@ -5,7 +5,7 @@ from openai import OpenAI
 def ask_gpt(prompt, raw):
     client = OpenAI()
 
-    Prompt = (
+    prompt = (
         "this is a python code :\n"
         + "```python\n"
         + raw
@@ -18,12 +18,12 @@ def ask_gpt(prompt, raw):
         model="gpt-4-1106-preview",
         messages=[
             {"role": "system", "content": "You are a helpful assistant."},
-            {"role": "user", "content": Prompt},
+            {"role": "user", "content": prompt},
         ],
     )
 
     answer = response.choices[0].message.content
-    return answer
+    return prompt, answer
 
 
 def extract_command(gptCommand):
@@ -76,14 +76,21 @@ class Operator:
             with open(input["path"], "r", encoding="utf8") as f:
                 raw = f.read()
             print("--- Asking chatGPT ", flush=True)
-            response = ask_gpt(input["query"], raw)
+            prompt, response = ask_gpt(input["query"], raw)
             blocks = extract_command(response)
             print(response, flush=True)
             print(blocks[0], input["path"], flush=True)
             send_output(
                 "output_file",
                 pa.array(
-                    [{"raw": blocks[0], "path": input["path"], "gen_output": response}]
+                    [
+                        {
+                            "raw": blocks[0],
+                            "path": input["path"],
+                            "response": response,
+                            "prompt": prompt,
+                        }
+                    ]
                 ),
                 dora_event["metadata"],
             )

operators/file_saver_op.py

@@ -41,7 +41,13 @@ class Operator:
                 ),
                 dora_event["metadata"],
             )
-        if dora_event["type"] == "INPUT" and dora_event["id"] in ["cancel", "failed"]:
+        if dora_event["type"] == "INPUT" and dora_event["id"] in [
+            "revert",
+            "error",
+            "failed",
+        ]:
+            if self.last_path == "":
+                return DoraStatus.CONTINUE
 
             with open(self.last_path, "w") as file:
                 file.write(self.last_file)

operators/keybinding_op.py

@@ -13,10 +13,13 @@ def on_key_release(key):
             node.send_output("mic_on", pa.array([]))
         elif key.char == "2":
             print("Key '2' pressed up")
-            node.send_output("cancel", pa.array([]))
+            node.send_output("revert", pa.array([]))
         elif key.char == "3":
             print("Key '3' pressed up")
             node.send_output("failed", pa.array([]))
+        elif key.char == "4":
+            print("Key '4' pressed up")
+            node.send_output("error", pa.array([]))
         elif key.char == "0":
             exit()
 

operators/mistral_op.py

@@ -93,7 +93,14 @@ class Operator:
             send_output(
                 "output_file",
                 pa.array(
-                    [{"raw": source_code, "path": input["path"], "gen_output": output}]
+                    [
+                        {
+                            "raw": source_code,
+                            "path": input["path"],
+                            "response": output,
+                            "prompt": prompt,
+                        }
+                    ]
                 ),
                 dora_event["metadata"],
             )

operators/planning_op.py

@@ -11,7 +11,7 @@ PITCH = 0
 # yaw-axis angle in degrees(int): [-55, 55]
 ROTATION = 0
 # RGB LED(int) [0, 255]
-RGB = [1, 0, 1] # Purple         BBOX_COLOR = [1, 0, 1] # Purple
+RGB = [0, 0, 0]
 BRIGHTNESS = [0]  # [0, 128]
 
 GOAL_OBJECTIVES = [X, Y, 0]
@@ -64,15 +64,7 @@ class Operator:
                 bboxs, (-1, 6)
             )  # [ min_x, min_y, max_x, max_y, confidence, label ]
             if len(self.bboxs) > 0:
-                # Find the bbox with the highest confidence
-                target_bbox = max(self.bboxs, key=lambda x: x[4])
-                bbox_center_x = (target_bbox[0] + target_bbox[2]) / 2.0
-                ROTATION = np.clip(
-                    int((bbox_center_x - CAMERA_WIDTH / 2) * 55 / (CAMERA_WIDTH / 2)),
-                    -55,
-                    55,
-                )
-                self.objects_distances = estimated_distance(target_bbox[3])
+                self.objects_distances = estimated_distance(self.bboxs)
 
         elif dora_event["id"] == "position":
             [x, y, z, gimbal_pitch, gimbal_yaw] = dora_event["value"].to_numpy()