app.py

# --- FastAPI imports ---
from fastapi import FastAPI, Request, Query, File, UploadFile, Form

from fastapi.responses import JSONResponse
import shutil
# Add interactive loop for user input with Ctrl+C to break
app = FastAPI()


import os
import json
import tempfile
from typing import TypedDict, Annotated, List, Dict, Any
from typing import Literal, Tuple
import operator
from pydantic import BaseModel
from langchain_core.messages import AnyMessage, SystemMessage, HumanMessage, ToolMessage, AIMessage
from langchain.tools import BaseTool, StructuredTool, tool
from langgraph.graph import StateGraph, END
from langchain_mistralai import ChatMistralAI
from langchain_groq import ChatGroq
from langchain_google_genai import ChatGoogleGenerativeAI
from langgraph.checkpoint.memory import InMemorySaver
import requests
import base64
os.environ["GOOGLE_API_KEY"] = "AIzaSyD2DMFgcL0kWTQYhii8wseSHY3BRGWSebk"

def encode_image(image_path):
  with open(image_path, "rb") as image_file:
    return base64.b64encode(image_file.read()).decode('utf-8')

# llm_text = ChatGoogleGenerativeAI(model="gemini-2.0-flash")
llm = ChatGoogleGenerativeAI(model="gemini-2.5-flash")
vision_llm = ChatGoogleGenerativeAI(model="gemini-2.5-flash")
# llm = ChatGoogleGenerativeAI(model="gemini-2.5-pro")
memory = InMemorySaver()

class AgentState(TypedDict):
    messages: Annotated[list[AnyMessage], operator.add]
    agent_type: str
    user_task: str



class OneWordOutput(BaseModel):
    choice: Literal["Conversiton", "Movement"]
def decide_which_agent_to_go_node(state: AgentState) -> AgentState:
    """This node does nothing but pass state to conditional routing."""
    return state
def route_based_on_agent_type(state: AgentState) -> str:
    """This function is only used for conditional routing."""
    user_task = state.get('user_task', '')
    llm = ChatGoogleGenerativeAI(model="gemini-2.0-flash")
    llm_structured = llm.with_structured_output(OneWordOutput)
    decide_prompt = f"""
    Your job is to decide which agent node to use based on the user task.
    you have 2 options:
    1. Conversiton: Use this if the user just wants to chat, brainstorm, or discuss ideas.
    2. Movement: Use this agent for tasks that require physical movement or navigation.
    """
    decide_message = [
        SystemMessage(content=decide_prompt),
        HumanMessage(content=user_task)
        ]

    try:
        response = llm_structured.invoke(decide_message)
        agent_type = response.choice
        print(f"Agent type decision: {agent_type}")
    except Exception as e:
        print(f"Error in agent decision: {e}")
        # agent_type = "main_agent"

    state['agent_type'] = agent_type
    # ✅ Map model output to graph routing key
    if agent_type == "Conversiton":
        return "Conversiton"
    elif agent_type == "Movement":
        return "Movement"
def call_llm_Conversiton(state: AgentState):
    messages = state['messages']
    # if system_prompt_Conversiton:
    #     messages = [SystemMessage(content=system_prompt_Conversiton)] + messages
    message = llm.invoke(messages)
    return {"messages": [message]}


system_prompt_Movement = """
You are Movement agent. Your task is to assist with physical movement or navigation-related tasks. 
You must output ONLY valid JSON (without markdown, without ```json, without explanations).

Rules:
- Do not include extra text or explanations.
- Do not wrap the JSON inside code blocks.
- Output pure JSON only.

Here are valid examples:

{
  "direction": "forward",
  "4wheels": {
    "FR": {"speed": 10, "Direction": "Forward"},
    "FL": {"speed": 10, "Direction": "Forward"},
    "BR": {"speed": 10, "Direction": "Forward"},
    "BL": {"speed": 10, "Direction": "Forward"}
  }
}

{
  "direction": "left",
  "4wheels": {
    "FR": {"speed": 10, "Direction": "Forward"},
    "FL": {"speed": 5, "Direction": "Forward"},
    "BR": {"speed": 10, "Direction": "Forward"},
    "BL": {"speed": 5, "Direction": "Forward"}
  }
}
"""

def take_image_and_object():
    url = "http://192.168.1.14:8080/photo.jpg"
    r = requests.get(url)

    with open("Taken_image.jpg", "wb") as f:
        f.write(r.content)

def call_llm_Movement(state: AgentState):
    # take_image_and_object()
    file_path = "Taken_image.jpg"
    base64_image = encode_image(file_path)
    user_task = state.get('user_task', '')
    messages = [
        {"role": "system", "content": system_prompt_Movement},
        {
            "role": "user",
            "content": [
                {"type": "text", "text": user_task},
                {"type": "image_url", "image_url": {"url": f"data:image/jpeg;base64,{base64_image}"}},
            ],
        }
    ]
    message = vision_llm.invoke(messages)
    return {"messages": [message]}


graph = StateGraph(AgentState)

graph.set_entry_point('decide_agent')
graph.add_node('Conversiton', call_llm_Conversiton)
graph.add_node('Movement', call_llm_Movement)
graph.add_node('decide_agent', decide_which_agent_to_go_node)
graph.add_conditional_edges(
    'decide_agent',
    route_based_on_agent_type,
    {
        'Conversiton': 'Conversiton',
        'Movement': 'Movement'
    }
)
graph.add_edge('Conversiton', END)
graph.add_edge('Movement', END)
compiled_graph = graph.compile(checkpointer=memory)
# compiled_graph.get_graph().draw_mermaid_png(output_file_path=r"Newgraph.png")



def query_agent_with_planning(message: str, thread_id: str = "default") -> str:
    """
    Run the compiled agent graph with the given user message.
    Handles both Conversiton and Movement flows.
    """
    print(f"\n🎯 TASK RECEIVED: {message}")
    print("=" * 50)

    # Initial state for the graph
    initial_state = {
        "messages": [HumanMessage(content=message)],
        "user_task": message,  # Save user input to state['user_task']
        "agent_type": "",
    }

    config = {
        "configurable": {"thread_id": thread_id},
        "recursion_limit": 100
    }

    final_response = ""

    try:
        print("📋 RUNNING AGENT GRAPH...")
        printed_messages = set()
        for event in compiled_graph.stream(initial_state, config):
            for node_name, node_output in event.items():
                print(f"\n🔄 Executing Node: {node_name}")
                if "messages" in node_output:
                    for msg in node_output["messages"]:
                        if hasattr(msg, "content") and msg.content not in printed_messages:
                            # Try to parse msg.content as JSON
                            try:
                                json_obj = json.loads(msg.content)
                                print(json.dumps(json_obj, indent=2))
                                final_response += json.dumps(json_obj) + "\n"
                            except Exception:
                                print(f"📝 {msg.content}")
                                final_response += msg.content + "\n"
                            printed_messages.add(msg.content)

                # Show agent type decision
                if "agent_type" in node_output and node_output["agent_type"]:
                    print(f"🤖 Agent Selected: {node_output['agent_type']}")

    except Exception as e:
        error_msg = f"❌ Execution Error: {str(e)}"
        print(error_msg)
        final_response += error_msg

    return final_response.strip()




# Accept user input as a query parameter (GET or POST)

import re
import asyncio

def extract_json_from_response(response: str):
    # Try to find the first JSON object in the response string
    match = re.search(r'(\{[\s\S]*\})', response)
    if match:
        try:
            return json.loads(match.group(1))
        except Exception:
            return None
    return None

@app.get("/ask")
async def ask(user_input: str = Query(...)):
    if not user_input.strip():
        return JSONResponse(content={"error": "user_input is required"}, status_code=400)
    
    loop = asyncio.get_event_loop()
    # response = await loop.run_in_executor(None, query_agent_with_planning, user_input)
    try:
        response = await loop.run_in_executor(None, query_agent_with_planning, user_input)
    except asyncio.CancelledError:
        return JSONResponse(content={"error": "Request was cancelled"}, status_code=499)
    json_obj = extract_json_from_response(response)
    if json_obj:
        return JSONResponse(content=json_obj)
    return JSONResponse(content={"error": "No valid JSON found", "raw": response}, status_code=422)


@app.post("/ask_image")
async def ask_image(user_input: str = Form(...), image: UploadFile = File(...)):
    if not user_input.strip():
        return JSONResponse(content={"error": "user_input is required"}, status_code=400)

    # Save uploaded image in a safe temporary directory
    tmp_dir = tempfile.gettempdir()
    image_path = os.path.join(tmp_dir, "Taken_image.jpg")

    with open(image_path, "wb") as buffer:
        shutil.copyfileobj(image.file, buffer)

    # Now call the agent as usual
    loop = asyncio.get_event_loop()
    try:
        response = await loop.run_in_executor(None, query_agent_with_planning, user_input)
    except asyncio.CancelledError:
        return JSONResponse(content={"error": "Request was cancelled"}, status_code=499)

    json_obj = extract_json_from_response(response)
    if json_obj:
        return JSONResponse(content=json_obj)
    return JSONResponse(content={"error": "No valid JSON found", "raw": response}, status_code=422)


@app.post("/query")
async def query(user_input: str = Form(...), image: UploadFile = File(None)):
    """
    General endpoint:
    - If only text is provided -> behaves like /ask
    - If text + image is provided -> behaves like /ask_image
    """
    if not user_input.strip():
        return JSONResponse(content={"error": "user_input is required"}, status_code=400)

    loop = asyncio.get_event_loop()

    # Case 1: text only -> call ask logic
    if image is None:
        try:
            response = await loop.run_in_executor(None, query_agent_with_planning, user_input)
        except asyncio.CancelledError:
            return JSONResponse(content={"error": "Request was cancelled"}, status_code=499)

        json_obj = extract_json_from_response(response)
        if json_obj:
            return JSONResponse(content=json_obj)
        return JSONResponse(content={"error": "No valid JSON found", "raw": response}, status_code=422)

    # Case 2: text + image -> call ask_image logic
    tmp_dir = tempfile.gettempdir()
    image_path = os.path.join(tmp_dir, "Taken_image.jpg")

    with open(image_path, "wb") as buffer:
        shutil.copyfileobj(image.file, buffer)

    try:
        response = await loop.run_in_executor(None, query_agent_with_planning, user_input)
    except asyncio.CancelledError:
        return JSONResponse(content={"error": "Request was cancelled"}, status_code=499)

    json_obj = extract_json_from_response(response)
    if json_obj:
        return JSONResponse(content=json_obj)
    return JSONResponse(content={"error": "No valid JSON found", "raw": response}, status_code=422)