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sha256:06be91764c32e73a1ad869c1f33008bb94eb078137eaf5d2834a1c2aa23ceb05 +size 2935 diff --git a/operators/mistral_op.py b/operators/mistral_op.py index bab5fa3be55469bb78199093a0b6c61757840006..8d77eb74ecc11fa7345edca55fd0b5b57521d642 100644 --- a/operators/mistral_op.py +++ b/operators/mistral_op.py @@ -6,6 +6,7 @@ import os import pyarrow as pa import numpy as np from ctransformers import AutoModelForCausalLM +import json MIN_NUMBER_LINES = 4 MAX_NUMBER_LINES = 21 @@ -80,30 +81,61 @@ class Operator: if dora_event["type"] == "INPUT": input = dora_event["value"][0].as_py() - with open(input["path"], "r", encoding="utf8") as f: - raw = f.read() - prompt = f"{raw[:400]} \n\n {input['query']}. " - print("revieved prompt: {}".format(prompt)) - output = self.ask_mistral( - "You're a python code expert. Respond with only one line of code that modify a constant variable. Keep the uppercase.", - prompt, - ) - print("output: {}".format(output)) - source_code = replace_source_code(raw, output) - send_output( - "output_file", - pa.array( - [ - { - "raw": source_code, - "path": input["path"], - "response": output, - "prompt": prompt, - } - ] - ), - dora_event["metadata"], - ) + if not "send" in input["query"]: + with open(input["path"], "r", encoding="utf8") as f: + raw = f.read() + prompt = f"{raw[:400]} \n\n {input['query']}. " + output = self.ask_mistral( + "You're a python code expert. Respond with only one line of code that modify a constant variable. Keep the uppercase.", + prompt, + ) + print("output: {}".format(output)) + + source_code = replace_source_code(raw, output) + send_output( + "output_file", + pa.array( + [ + { + "raw": source_code, + "path": input["path"], + "response": output, + "prompt": prompt, + } + ] + ), + dora_event["metadata"], + ) + else: + print("input: ", input, flush=True) + output = self.ask_mistral( + """You're a json expert. Format your response as a json with a topic field and a data field. +The schema for those json are: +- led: Int[3] (min: 0, max: 255) +- blaster: Int (min: 0, max: 128) +- control: Int[3] (min: -1, max: 1) + + +""", + input["query"], + ) + print("output: {}".format(output), flush=True) + try: + output = json.loads(output) + except: + print("Could not parse json") + # if data is not iterable, put data in a list + if not isinstance(output["data"], list): + output["data"] = [output["data"]] + + if output["topic"] in ["led", "blaster", "control"]: + print("output", output) + send_output( + output["topic"], + pa.array(output["data"]), + dora_event["metadata"], + ) + return DoraStatus.CONTINUE def ask_mistral(self, system_message, prompt): @@ -146,7 +178,7 @@ if __name__ == "__main__": { "raw": raw, "path": path, - "query": "Set rotation to 20", + "query": "Can you send red on topic led", } ] ), diff --git a/operators/planning_op.py b/operators/planning_op.py index c935c150620ea8bfda1ca7c3c5cd3b1fa32a12bd..fbcf257617189c3c7c623d7bc58121779e79abf1 100644 --- a/operators/planning_op.py +++ b/operators/planning_op.py @@ -3,21 +3,6 @@ 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 -# 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, 0] -GIMBAL_POSITION_GOAL = [PITCH, ROTATION] CAMERA_WIDTH = 960 CAMERA_HEIGHT = 540 @@ -34,7 +19,6 @@ class Operator: dora_event: dict, send_output, ) -> DoraStatus: - global X, Y, SPEED, PITCH, ROTATION, RGB, BRIGHTNESS, GOAL_OBJECTIVES, GIMBAL_POSITION_GOAL if dora_event["type"] == "INPUT": if dora_event["id"] == "tick": self.time = time.time() @@ -42,38 +26,4 @@ class Operator: 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] - direction = np.clip( - np.array(GOAL_OBJECTIVES) - 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, 0, SPEED, 0]), - dora_event["metadata"], - ) - - send_output( - "gimbal_control", - pa.array([PITCH, ROTATION, 20, 20]), - dora_event["metadata"], - ) - send_output( - "led", - pa.array(RGB), - dora_event["metadata"], - ) - send_output( - "blaster", - pa.array(BRIGHTNESS), - dora_event["metadata"], - ) - return DoraStatus.CONTINUE diff --git a/operators/robot.py b/operators/robot.py index 3b04e11cb836711e0c7651e1887220371d4ac28b..101e0a414b97647661157ed04c2be66b87687119 100644 --- a/operators/robot.py +++ b/operators/robot.py @@ -49,9 +49,9 @@ class Operator: self.event is not None and not (self.event._event.isSet() and self.event.is_completed) ): - [x, y, z, xy_speed, z_speed] = dora_event["value"].to_numpy() + [x, y, z] = dora_event["value"].to_numpy() self.event = self.ep_robot.chassis.move( - x=x, y=y, z=z, xy_speed=xy_speed, z_speed=z_speed + x=x, y=y, z=z, xy_speed=0.5, z_speed=0 ) self.position[0] += x self.position[1] += y